Cansat
/
DShotRMT
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update README.md

This commit is contained in:
Wastl Kraus 2023-03-29 22:12:08 +02:00 committed by GitHub
parent 2ae00296ba
commit c23c9d3f19
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 18 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
README.md
View File

@ -3,13 +3,12 @@
### The DShot Protocol
The DSHOT protocol consists of transmitting 16-bit packets to the ESCs: 11-bit throttle value, 1-bit to request telemetry and a 4-bit checksum. There are three major protocol speeds: DSHOT150, DSHOT300 and DSHOT600.
#### DShot -Timing:
DSHOT | Bitrate | TH1 | TH0 | Bit Time µs | Frame Time µs
--------:|---------:|-------:|-------:|------------:|-------------:
**150** | 150kbit/s| 5.00 | 2.50 | 6.67 | 106.72
**300** | 300kbit/s| 2.50 | 1.25 | 3.33 | 53.28
**600** | 600kbit/s| 1.25 | 0.625 | 1.67 | 26.72
**1200** |1200kbit/s| 0.625 | 0.313 | 0.83 | 13.28
| DSHOT | Bitrate | TH1 | TH0 | Bit Time µs | Frame Time µs |
|-------|----------|-------|--------|-------------|-----------------|
| 150 | 150kbit/s | 5.00 | 2.50 | 6.67 | 106.72 |
| 300 | 300kbit/s | 2.50 | 1.25 | 3.33 | 53.28 |
| 600 | 600kbit/s | 1.25 | 0.625 | 1.67 | 26.72 |
| 1200 | 1200kbit/s| 0.625 | 0.313 | 0.83 | 13.28 |
#### Calculating the CRC
The checksum is calculated over the throttle value and the telemetry bit, so the “first” 12 bits our value in the following example:
@ -24,9 +23,18 @@ The calculation of the checksum is basically the same, just before the last step
crc = (~(value ^ (value >> 4) ^ (value >> 8))) & 0x0F;
----
### Using RMT on ESP32
The RMT (Remote Control) is a peripheral designed to generate accurate and stable signals to control external devices such as LEDs, motors, and other peripherals. It is well suited for generating the DShot signals in a high-performance and accurate way on the ESP32 platform.
*References:*
#### Advantages of using RMT
- Generates accurate signals
- Supports programmable timing
- Configurable number of channels
#### DShot RMT Library for ESP32
The DShot RMT Library for ESP32 provides a convenient way of generating DShot signals using the RMT peripheral on the ESP32 platform. The library supports all three major DShot speeds: DSHOT150, DSHOT300, and DSHOT600.
#### References
- [DSHOT - the missing Handbook](https://brushlesswhoop.com/dshot-and-bidirectional-dshot/)
- [DSHOT in the Dark](https://dmrlawson.co.uk/index.php/2017/12/04/dshot-in-the-dark/)
- [ESP32 Technical Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf)