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DShotRMT - ESP32 RMT DShot Driver

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 leverages the standard rmt_bytes_encoder to ensure an efficient, hardware-timed, and maintainable implementation. The library provides a simple 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.

🚀 Core Features

Multiple DShot Modes: Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
Bidirectional DShot Support: Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution.
Hardware-Timed Signals: Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
Simple API: Easy-to-use C++ class with intuitive methods like sendThrottlePercent().
Robust Error Handling: Provides detailed feedback on operation success or failure via dshot_result_t.
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

Open the Arduino Library Manager (Sketch > Include Library > Manage Libraries...).
Search for "DShotRMT" and click "Install".
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 the following to your platformio.ini file:

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:

#include <Arduino.h>
#include <DShotRMT.h> // Include the DShotRMT library

// 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();

  // Print CPU Info
  DShotRMT::printCpuInfo(Serial);

  Serial.println("Motor initialized. Ramping up to 25% throttle...");
  
  // Ramp up to 25% throttle over 2.5 seconds
  for (int i = 0; i <= 25; i++) {
    motor.sendThrottlePercent(i);
    delay(100);
  }
  
  Serial.println("Stopping motor.");
  motor.sendThrottlePercent(0);

  // Print DShot Info
  DShotRMT::printDShotInfo(motor, Serial);
}

void loop() {
  // Your main code here
}

🎮 Examples

The examples folder contains more advanced examples:

throttle_percent: A focused example showing how to control motor speed using percentage values (0-100) via the serial monitor.
dshot300: A more advanced example demonstrating how to send raw 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:

You can install these libraries using the Arduino Library Manager or by adding them to your platformio.ini file:

lib_deps = 
    https://github.com/derdoktor667/DShotRMT.git
    https://github.com/bblanchon/ArduinoJson
    https://github.com/ESP32Async/ESPAsyncWebServer
    https://github.com/ESP32Async/AsyncTCP

📚 API Reference

The main class is DShotRMT. Here are the most important methods:

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.)
begin(): Initializes the RMT peripheral and the DShot encoder.
sendThrottlePercent(float percent): Sends a throttle value as a percentage (0.0-100.0).
sendThrottle(uint16_t throttle): Sends a raw 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, which is currently not officially supported).
printDShotResult(dshot_result_t &result, Stream &output = Serial): Helper function to print DShot operation results and telemetry to a specified serial output.
DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial): Static helper function to print detailed DShot signal information for a given DShotRMT instance.
DShotRMT::printCpuInfo(Stream &output = Serial): Static helper function to print detailed CPU information.

🤝 Contributing

Contributions are welcome! Please fork the repository, create a feature branch, and submit a pull request.

📄 License

This project is licensed under the MIT License. See the LICENSE file for details.

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