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This commit is contained in:
Wastl Kraus 2025-09-20 15:41:08 +02:00
parent 5d3cbea388
commit e912b7ec50
4 changed files with 93 additions and 692 deletions
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444
.vscode/c_cpp_properties.json vendored
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@ -450,450 +450,6 @@
"RMT_CLK_SRC_DEFAULT = SOC_MOD_CLK_APB",
"USBCON"
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}

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README.md
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@ -1,44 +1,92 @@
# DShotRMT - ESP32 RMT DShot Driver
[![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml/badge.svg)](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
# DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)
A C++ library for generating DShot signals on ESP32 microcontrollers using the RMT (Remote Control) peripheral. It's designed for both Arduino and ESP-IDF projects, providing a simple and efficient way to control brushless motors.
A simple Arduino IDE / C++ library for generating DShot signals on the ESP32 (`fqbn: esp32:esp32:esp32`) using the ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`).
Supports all standard DShot modes (150, 300, 600, 1200) and features signal generation and frame transmission with configurable timing.
This library is a rewrite using the modern ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`) for improved performance and flexibility. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
**Now with BiDirectional DShot support, advanced command management, and modern web control interface!**
## 🚀 Core Features
> The legacy version (using the old `rmt.h` API) is still available in the `oldAPI` branch.
---
## 🚀 Features
- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600, DSHOT1200
- **BiDirectional DShot:** Full support for RPM telemetry feedback
- **Web Control Interface:** Modern responsive web UI with WiFi access point
- **Safety Features:** Arming/disarming system with motor lockout protection
- **Dual Control Options:** Web interface and serial console control
- **Real-time Telemetry:** Live RPM monitoring and data display
- **Hardware-Timed Signals:** Independent, precise signal generation using ESP32 RMT peripheral
- **Configurable Timing:** Ensures ESCs can reliably detect frame boundaries
- **Error Handling:** Comprehensive result reporting with success/failure status
- **Simple API:** Easy integration into your Arduino or ESP-IDF project
---
- **Multiple DShot Modes:** Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
- **Bidirectional DShot:** Full support for RPM telemetry feedback.
- **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
- **Simple API:** Easy-to-use C++ class for sending throttle commands and receiving telemetry data.
- **Efficient and Lightweight:** The core library has no external dependencies.
- **Arduino and ESP-IDF Compatible:** Can be used in both Arduino and ESP-IDF projects.
## 📦 Installation
### Arduino IDE
1. Search "Arduino Library Manager" for "DShotRMT"
or
1. Clone this repository or download as ZIP
2. Place in your Arduino libraries folder (`~/Arduino/libraries/DShotRMT/`)
3. Restart Arduino IDE
1. Open the Arduino Library Manager (`Sketch` > `Include Library` > `Manage Libraries...`).
2. Search for "DShotRMT" and click "Install".
3. Alternatively, you can clone this repository or download it as a ZIP file and place it in your Arduino libraries folder (`~/Arduino/libraries/DShotRMT/`).
### PlatformIO
Add to your `platformio.ini`:
Add the following to your `platformio.ini` file:
```ini
lib_deps =
https://github.com/derdoktor667/DShotRMT.git
```
## ⚡ Quick Start
Here's a basic example of how to use the `DShotRMT` library to control a motor:
```cpp
#include <Arduino.h>
#include <DShotRMT.h>
// Define the GPIO pin connected to the motor ESC
const gpio_num_t MOTOR_PIN = GPIO_NUM_27;
// Create a DShotRMT instance for DSHOT300
DShotRMT motor(MOTOR_PIN, DSHOT300);
void setup() {
Serial.begin(115200);
// Initialize the DShot motor
motor.begin();
Serial.println("Motor initialized. Sending low throttle for 5 seconds...");
// Send a low throttle command for 5 seconds
for (int i = 0; i < 500; i++) {
motor.sendThrottle(100);
delay(10);
}
Serial.println("Stopping motor.");
motor.sendThrottle(0);
}
void loop() {
// Your main code here
}
```
## 🎮 Examples
The `examples` folder contains more advanced examples:
- **`dshot300`:** A simple example demonstrating how to send DShot commands and receive telemetry via the serial monitor.
- **`web_control`:** A full-featured web application for controlling a motor from a web browser. It creates a WiFi access point and serves a web page with a throttle slider and arming switch.
- **`web_client`:** A variation of the `web_control` example that connects to an existing WiFi network instead of creating its own access point.
### Dependencies for Web Examples
The `web_control` and `web_client` examples require the following additional libraries:
- [ArduinoJson](https://github.com/bblanchon/ArduinoJson)
- [ESPAsyncWebServer](https://github.com/ESP32Async/ESPAsyncWebServer)
- [AsyncTCP](https://github.com/ESP32Async/AsyncTCP)
You can install these libraries using the Arduino Library Manager or by adding them to your `platformio.ini` file:
```ini
lib_deps =
https://github.com/derdoktor667/DShotRMT.git
@ -47,228 +95,22 @@ lib_deps =
https://github.com/ESP32Async/AsyncTCP
```
### Manual Installation
```sh
git clone https://github.com/derdoktor667/DShotRMT.git
```
## 📚 API Reference
### Dependencies
The main class is `DShotRMT`. Here are the most important methods:
There are no dependencies for the main library. The extended
example sketches are using these libraries:
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false)`: Constructor to create a new DShotRMT instance.
- `begin()`: Initializes the RMT peripheral and the DShot encoder.
- `sendThrottle(uint16_t throttle)`: Sends a throttle value (48-2047) to the motor.
- `sendCommand(uint16_t command)`: Sends a DShot command (0-47) to the motor.
- `getTelemetry(uint16_t magnet_count)`: Receives and parses telemetry data from the motor (for bidirectional DShot).
**Web Interface Examples (web_control.ino / web_client.ino):**
```ini
lib_deps =
https://github.com/derdoktor667/DShotRMT
https://github.com/bblanchon/ArduinoJson
https://github.com/ESP32Async/ESPAsyncWebServer
https://github.com/ESP32Async/AsyncTCP
```
---
## ⚡ Quick Start
### Basic Usage (DShotRMT)
```cpp
// Generate "dshot300" example sketch with Arduino IDE / CLI.
```
---
## 🌐 Web Control Interface
The DShotRMT library now includes a modern web interface for wireless motor control:
### Features
- **Responsive Design:** Works on mobile phones, tablets, and desktop computers
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" (Password: 12345678)
- **Safety System:** Arming/disarming switch prevents accidental motor activation
- **Real-time Control:** Instant throttle response via WebSocket communication
- **Live Telemetry:** Real-time RPM display (bidirectional mode only)
- **Auto-reconnect:** Automatically reconnects on connection loss
### Web Interface Access
1. Connect to WiFi network: **"DShotRMT Control"**
2. Password: **12345678**
3. Open browser and navigate to: **http://10.10.10.1**
### Web Client Mode
1. Setup SSID and Password in web_client.ino
2. Open serial for IP
3. Open browser, http://IP
### Safety Features
- Motor control is **disabled by default** (disarmed state)
- Toggle the **ARMING SWITCH** to enable motor control
- Throttle slider is **locked** when disarmed
- **Emergency stop** resets all values to safe state
### Technical Implementation
- **AsyncWebServer** for HTTP requests
- **WebSocket** communication for real-time data
- **JSON** message format for data exchange
- **WiFi SoftAP** mode for standalone operation
- **Automatic client cleanup** prevents memory leaks
### ⚠️ Known Issus
Make sure you are using these libraries for [ESPAsyncWebServer](https://github.com/ESP32Async/ESPAsyncWebServer) and [AsyncTCP](https://github.com/ESP32Async/AsyncTCP) to use "web_control.ino" example sketch.
---
## 📚 Extras
### Basic DShot Control with Web Interface (`web_control.ino`)
- **Web Control Interface:** Modern responsive web UI accessible at `http://10.10.10.1`
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" for wireless control
- **Safety Features:** Arming/disarming system with motor safety lockout
- **Real-time Data:** Live RPM telemetry display (bidirectional mode)
- **Dual Control:** Both web interface and serial console control
- **WebSocket Communication:** Real-time bidirectional data exchange
**Web Interface Features:**
- Responsive design optimized for mobile and desktop
- Visual arming switch with safety lockout
- Smooth throttle slider with real-time feedback
- Live RPM monitoring display
- Automatic reconnection on connection loss
---
## 🔧 Hardware Configuration
### Supported DShot Modes
| DSHOT | Bitrate | TH1 | TH0 | Bit Time (µs) | Frame Time (µs) |
|-------|-------------|-------|--------|---------------|-----------------|
| 150 | 150 kbit/s | 5.00 | 2.50 | 6.67 | ~106.72 |
| **300** | **300 kbit/s** | **2.50** | **1.25** | **3.33** | **~53.28** |
| 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 |
For DShot, T1H length is always double T0H length.
### GPIO Configuration
```cpp
// Using GPIO number
DShotRMT motor(17, DSHOT300);
// Using GPIO enum
DShotRMT motor(GPIO_NUM_17, DSHOT300);
// With bidirectional support
DShotRMT motor(17, DSHOT300, true);
// Also possible, defaults (17, DSHOT300, false)
DShotRMT motor();
```
---
## 🎯 DShot Commands (experimental)
| Command | Value | Description | Usage |
|---------|-------|-------------|-------|
| MOTOR_STOP | 0 | Stop motor | Always available |
| BEACON 1 - 5 | 1 - 5 | Motor beeping | Motor identification |
| ESC_INFO | 6 | Request ESC info | Get ESC version/settings |
| SPIN_DIRECTION_1/2 | 7 - 8 | Set spin direction | Motor configuration |
| 3D_MODE_OFF/ON | 9 - 10 | 3D mode control | Bidirectional flight |
| SAVE_SETTINGS | 12 | Save to EEPROM | Permanent configuration |
| EXTENDED_TELEMETRY_ENABLE/DISABLE | 13 - 14 | Telemetry control | Data transmission |
| SPIN_DIRECTION_NORMAL/REVERSED | 20 - 21 | Spin direction | Alias commands |
| LED 0-3_ON/OFF | 22 - 29 | LED control | BLHeli32 only |
| AUDIO_STREAM_MODE | 30 | Audio mode toggle | KISS ESCs |
| SILENT_MODE | 31 | Silent mode toggle | KISS ESCs |
---
## 📚 DShot Protocol Details
![DShotRMT](https://raw.githubusercontent.com/derdoktor667/DShotRMT/refs/heads/main/img/dshot300.png)
### Packet Structure
Each DShot frame consists of 16 bits:
- **11 bits:** Throttle/command value (0-2047)
- **1 bit:** Telemetry request flag
- **4 bits:** CRC checksum
### Checksum Calculation
```cpp
// Standard DShot CRC
uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & 0x0F;
// Bidirectional DShot (inverted CRC)
uint16_t crc = (~(data ^ (data >> 4) ^ (data >> 8))) & 0x0F;
```
### Bidirectional DShot
- **Inverted Logic:** High/low levels are inverted
- **GCR Encoding:** Telemetry uses Group Code Recording
- **21-bit Response:** 1 start + 16 data + 4 CRC bits
- **eRPM Data:** Electrical RPM transmitted back to controller
---
## 🛠️ ESP32 RMT Peripheral
The library utilizes the ESP32's RMT (Remote Control) peripheral for precise signal generation:
### Advantages
- **Hardware Timing:** No CPU intervention during transmission
- **Concurrent Operation:** Multiple channels can run simultaneously
- **DMA Support:** Efficient, automatic memory-to-peripheral transfers
---
## 📖 References & Documentation
### DShot Protocol
- [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/)
- [Betaflight DShot Implementation](https://github.com/betaflight/betaflight)
### ESP32 Documentation
- [ESP32 Technical Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf)
- [ESP-IDF RMT Driver](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/rmt.html)
- [Arduino ESP32 Core](https://github.com/espressif/arduino-esp32)
---
For more details, please refer to the `DShotRMT.h` header file.
## 🤝 Contributing
We welcome contributions! Please:
1. Fork the repository
2. Create a feature branch
3. Make your changes with tests
4. Submit a pull request
### Development Guidelines
- Follow existing code style
- Add documentation for new features
- Include examples where appropriate
- Test with real hardware when possible
### Reporting Issues
When reporting issues, please include:
- ESP32 board type and version
- Arduino/ESP-IDF version
- ESC type and firmware
- Complete error messages
- Minimal reproduction code
---
Contributions are welcome! Please fork the repository, create a feature branch, and submit a pull request.
## 📄 License
MIT License – see [LICENSE](LICENSE)
---
## 👤 Author
**Wastl Kraus**
- GitHub: [@derdoktor667](https://github.com/derdoktor667)
- Website: [wir-sind-die-matrix.de](https://wir-sind-die-matrix.de)
This project is licensed under the MIT License. See the [LICENSE](LICENSE) file for details.

4
examples/dshot300/dshot300.ino
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@ -14,14 +14,14 @@ static constexpr auto &USB_SERIAL = Serial0;
static constexpr auto USB_SERIAL_BAUD = 115200;
// Motor configuration - Pin number or GPIO_PIN
static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
// static constexpr auto MOTOR01_PIN = 17;
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
// BiDirectional DShot Support (default: false)
static constexpr auto IS_BIDIRECTIONAL = false;
static constexpr auto IS_BIDIRECTIONAL = true;
// Motor magnet count for RPM calculation
static constexpr auto MOTOR01_MAGNET_COUNT = 14;

3
src/DShotRMT.cpp
View File

@ -62,6 +62,9 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
// Pre-calculate timing and bit positions for performance
_preCalculateRMTTicks();
_preCalculateBitPositions();
// Activate internal pullup resistor
gpio_set_pull_mode(_gpio, GPIO_PULLUP_ONLY);
}
// Constructor using pin number