116 lines
5.0 KiB
Markdown
116 lines
5.0 KiB
Markdown
# DShotRMT - ESP32 RMT DShot Driver
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[](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
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A C++ library for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). It provides a simple, efficient, and hardware-timed way to control brushless motors in both Arduino and ESP-IDF projects. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
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## 🚀 Core Features
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- **Multiple DShot Modes:** Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
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- **Bidirectional DShot Support:** Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution.
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- **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
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- **Simple API:** Easy-to-use C++ class with intuitive methods like `sendThrottlePercent()`.
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- **Robust Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
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- **Efficient and Lightweight:** The core library has no external dependencies.
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- **Arduino and ESP-IDF Compatible:** Can be used in both Arduino and ESP-IDF projects.
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## 📦 Installation
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### Arduino IDE
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1. Open the Arduino Library Manager (`Sketch` > `Include Library` > `Manage Libraries...`).
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2. Search for "DShotRMT" and click "Install".
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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/`).
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### PlatformIO
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Add the following to your `platformio.ini` file:
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```ini
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lib_deps =
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https://github.com/derdoktor667/DShotRMT.git
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```
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## ⚡ Quick Start
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Here's a basic example of how to use the `DShotRMT` library to control a motor:
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```cpp
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#include <Arduino.h>
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#include <DShotRMT.h> // Include the DShotRMT library
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// Define the GPIO pin connected to the motor ESC
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const gpio_num_t MOTOR_PIN = GPIO_NUM_27;
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// Create a DShotRMT instance for DSHOT300
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DShotRMT motor(MOTOR_PIN, DSHOT300);
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void setup() {
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Serial.begin(115200);
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// Initialize the DShot motor
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motor.begin();
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Serial.println("Motor initialized. Ramping up to 25% throttle...");
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// Ramp up to 25% throttle over 2.5 seconds
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for (int i = 0; i <= 25; i++) {
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motor.sendThrottlePercent(i);
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delay(100);
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}
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Serial.println("Stopping motor.");
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motor.sendThrottlePercent(0);
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}
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void loop() {
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// Your main code here
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}
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```
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## 🎮 Examples
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The `examples` folder contains more advanced examples:
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- **`throttle_percent`:** A focused example showing how to control motor speed using percentage values (0-100) via the serial monitor.
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- **`dshot300`:** A more advanced example demonstrating how to send raw DShot commands and receive telemetry via the serial monitor.
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- **`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.
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- **`web_client`:** A variation of the `web_control` example that connects to an existing WiFi network instead of creating its own access point.
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### Dependencies for Web Examples
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The `web_control` and `web_client` examples require the following additional libraries:
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- [ArduinoJson](https://github.com/bblanchon/ArduinoJson)
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- [ESPAsyncWebServer](https://github.com/ESP32Async/ESPAsyncWebServer)
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- [AsyncTCP](https://github.com/ESP32Async/AsyncTCP)
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You can install these libraries using the Arduino Library Manager or by adding them to your `platformio.ini` file:
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```ini
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lib_deps =
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https://github.com/derdoktor667/DShotRMT.git
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https://github.com/bblanchon/ArduinoJson
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https://github.com/ESP32Async/ESPAsyncWebServer
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https://github.com/ESP32Async/AsyncTCP
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```
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## 📚 API Reference
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The main class is `DShotRMT`. Here are the most important methods:
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- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance. (Note: Bidirectional DShot is currently not officially supported.)
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- `begin()`: Initializes the RMT peripheral and the DShot encoder.
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- `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0).
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- `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the motor.
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- `sendCommand(uint16_t command)`: Sends a DShot command (0-47) to the motor.
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- `getTelemetry(uint16_t magnet_count)`: Receives and parses telemetry data from the motor (for bidirectional DShot, which is currently not officially supported).
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- `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Helper function to print DShot operation results and telemetry to a specified serial output.
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## 🤝 Contributing
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Contributions are welcome! Please fork the repository, create a feature branch, and submit a pull request.
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## 📄 License
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This project is licensed under the MIT License. See the [LICENSE](LICENSE) file for details. |