....update

.vscode/c_cpp_properties.json

@@ -111,7 +111,7 @@
                 "C:\\Users\\derdoktor667\\AppData\\Local\\Arduino15\\packages\\esp32\\hardware\\esp32\\1.0.6\\tools\\sdk\\include\\fb_gfx",
                 "C:\\Users\\derdoktor667\\AppData\\Local\\Arduino15\\packages\\esp32\\hardware\\esp32\\1.0.6\\cores\\esp32",
                 "C:\\Users\\derdoktor667\\AppData\\Local\\Arduino15\\packages\\esp32\\hardware\\esp32\\1.0.6\\variants\\esp32",
-                "C:\\Users\\derdoktor667\\Documents\\Arduino\\libraries\\DShotRMT\\src",
+                "C:\\Users\\derdoktor667\\Documents\\Arduino\\libraries\\src",
                 "c:\\users\\derdoktor667\\appdata\\local\\arduino15\\packages\\esp32\\tools\\xtensa-esp32-elf-gcc\\1.22.0-97-gc752ad5-5.2.0\\xtensa-esp32-elf\\include\\c++\\5.2.0",
                 "c:\\users\\derdoktor667\\appdata\\local\\arduino15\\packages\\esp32\\tools\\xtensa-esp32-elf-gcc\\1.22.0-97-gc752ad5-5.2.0\\xtensa-esp32-elf\\include\\c++\\5.2.0\\xtensa-esp32-elf",
                 "c:\\users\\derdoktor667\\appdata\\local\\arduino15\\packages\\esp32\\tools\\xtensa-esp32-elf-gcc\\1.22.0-97-gc752ad5-5.2.0\\xtensa-esp32-elf\\include\\c++\\5.2.0\\backward",

README.md

@@ -1,6 +1,32 @@
-# README
+## DShot ESP32 Library utilizing RMT
 
-This library can control a BlHeli_S by using encoded DShot commands.
+### The DShot Protocol
-More to come
+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
+
+#### 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:
+
+    crc = (value ^ (value >> 4) ^ (value >> 8)) & 0x0F;
+
+### Bidirectional DSHOT
+Biderictional DSHOT is also known as inverted DSHOT, because the signal level is inverted, so 1 is low and a 0 is high. This is done in order to let the ESC know, that we are operating in bidirectional mode and that it should be sending back eRPM telemetry packages.
+
+#### Calculating the Bidirectional CRC
+The calculation of the checksum is basically the same, just before the last step the values are inverted:
+
+    crc = (~(value ^ (value >> 4) ^ (value >> 8))) & 0x0F;
+
+----
+
+*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/)

examples/dshot300/dshot300.ino

@@ -1,7 +1,7 @@
 // ...some very simple DShot example generating a DShot300 signal.
 
 #include <Arduino.h>
-#include "DShotRMT.h"
+#include <DShotRMT.h>
 
 // ...clearly name usb port
 #ifdef SERIAL

keywords.txt

@@ -5,7 +5,7 @@
 #######################################
 # Datatypes (KEYWORD1)
 #######################################
-DShot_Lib	                    KEYWORD1
+DShotRMT	                    KEYWORD1
 dshot_mode_t                    KEYWORD1
 telemetric_request_t            KEYWORD1
 dshot_packet_t                  KEYWORD1

src/DShotRMT.cpp

@@ -6,9 +6,6 @@
 
 #include "DShotRMT.h"
 
-DShotRMT* DShotFirst = nullptr;
-DShotRMT* DShotNext = nullptr;
-
 DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel) {
 	dshot_config.gpio_num = gpio;
 	dshot_config.pin_num = uint8_t(gpio);
@@ -45,27 +42,27 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
 
 	switch (dshot_config.mode) {
 		case DSHOT150:
-			dshot_config.ticks_per_bit = 64; // ...Bit Period Time 6.67 <EFBFBD>s
+			dshot_config.ticks_per_bit = 64; // ...Bit Period Time 6.67 us
-			dshot_config.ticks_zero_high = 24; // ...zero time 2.50 <EFBFBD>s
+			dshot_config.ticks_zero_high = 24; // ...zero time 2.50 us
-			dshot_config.ticks_one_high = 48; // ...one time 5.00 <EFBFBD>s
+			dshot_config.ticks_one_high = 48; // ...one time 5.00 us
 			break;
 
 		case DSHOT300:
-			dshot_config.ticks_per_bit = 32; // ...Bit Period Time 3.33 <EFBFBD>s
+			dshot_config.ticks_per_bit = 32; // ...Bit Period Time 3.33 us
-			dshot_config.ticks_zero_high = 12; // ...zero time 1.25 <EFBFBD>s
+			dshot_config.ticks_zero_high = 12; // ...zero time 1.25 us
-			dshot_config.ticks_one_high = 24; // ...one time 2.50 <EFBFBD>s
+			dshot_config.ticks_one_high = 24; // ...one time 2.50 us
 			break;
 
 		case DSHOT600:
-			dshot_config.ticks_per_bit = 16; // ...Bit Period Time 1.67 <EFBFBD>s
+			dshot_config.ticks_per_bit = 16; // ...Bit Period Time 1.67 us
-			dshot_config.ticks_zero_high = 6; // ...zero time 0.625 <EFBFBD>s
+			dshot_config.ticks_zero_high = 6; // ...zero time 0.625 us
-			dshot_config.ticks_one_high = 12; // ...one time 1.25 <EFBFBD>s
+			dshot_config.ticks_one_high = 12; // ...one time 1.25 us
 			break;
 
 		case DSHOT1200:
-			dshot_config.ticks_per_bit = 8; // ...Bit Period Time 0.83 <EFBFBD>s
+			dshot_config.ticks_per_bit = 8; // ...Bit Period Time 0.83 us
-			dshot_config.ticks_zero_high = 3; // ...zero time 0.313 <EFBFBD>s
+			dshot_config.ticks_zero_high = 3; // ...zero time 0.313 us
-			dshot_config.ticks_one_high = 6; // ...one time 0.625 <EFBFBD>s
+			dshot_config.ticks_one_high = 6; // ...one time 0.625 us
 			break;
 
 		// ...because having a default is "good style"
@@ -95,7 +92,7 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
 	rmt_config(&rmt_dshot_config);
 
 	// ...essential step, return the result
-    return rmt_driver_install(rmt_dshot_config.channel, 0, 0);
+	return rmt_driver_install(rmt_dshot_config.channel, 0, 0);
 }
 
 //´...the config part is done, now the calculating and sending part