133 lines
6.8 KiB
Markdown
133 lines
6.8 KiB
Markdown
# DShotRMT - ESP32 RMT DShot Driver
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[](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
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An Arduino IDElibrary for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). This library specifically leverages the official `rmt_bytes_encoder` API for an efficient, hardware-timed, and maintainable implementation. It provides a simple way to control brushless motors in both Arduino and ESP-IDF projects.
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The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
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### DShot300 Example Output
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Here's an example of the output from the `dshot300` example sketch:
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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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- **Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
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- **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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## ⏱️ DShot Timing Information
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The DShot protocol defines specific timing characteristics for each mode. The following table outlines the bit length, T1H (high time for a '1' bit), T0H (high time for a '0' bit), and frame length for the supported DShot modes:
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| DShot Mode | Bit Length (µs) | T1H Length (µs) | T0H Length (µs) | Frame Length (µs) |
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| :--------- | :-------------- | :-------------- | :-------------- | :---------------- |
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| DSHOT150 | 6.67 | 5.00 | 2.50 | 106.72 |
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| DSHOT300 | 3.33 | 2.50 | 1.25 | 53.28 |
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| DSHOT600 | 1.67 | 1.25 | 0.625 | 26.72 |
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| DSHOT1200 | 0.83 | 0.67 | 0.335 | 13.28 |
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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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## ⚡ Quick Start
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Here's a basic example of how to use the `DShotRMT` library to control a motor. Please use example sketches for more detailes:
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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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// Print CPU Info
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printCpuInfo(Serial);
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Serial.println("Motor initialized. Ramping up to 25% throttle...");
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}
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void loop() {
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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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// Print DShot Info
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printDShotInfo(motor, Serial);
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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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## 📚 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 = DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance.
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- `begin()`: Initializes the DShot RMT channels and encoder.
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- `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0) to the ESC.
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- `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
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- `sendCommand(uint16_t command)`: Sends a single DShot command (0-47) to the ESC.
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- `sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count = DEFAULT_CMD_REPEAT_COUNT, uint16_t delay_us = DEFAULT_CMD_DELAY_US)`: Sends a DShot command multiple times with a delay between repetitions. This is a blocking function.
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- `getTelemetry(uint16_t magnet_count = 0)`: Retrieves telemetry data from the ESC. If `magnet_count` is 0, uses the stored motor magnet count.
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- `getESCInfo()`: Sends a command to the ESC to request ESC information.
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- `setMotorSpinDirection(bool reversed)`: Sets the motor spin direction. `true` for reversed, `false` for normal.
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- `saveESCSettings()`: Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
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- `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Prints the result of a DShot operation to the specified output stream.
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- `printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Prints detailed DShot signal information for a given DShotRMT instance.
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- `printCpuInfo(Stream &output = Serial)`: Prints detailed CPU information.
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- `setMotorMagnetCount(uint16_t magnet_count)`: Sets the motor magnet count for RPM calculation.
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- `getMode()`: Gets the current DShot mode.
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- `isBidirectional()`: Checks if bidirectional DShot is enabled.
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- `getEncodedFrameValue()`: Gets the last encoded DShot frame value.
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- `getThrottleValue()`: Gets the last transmitted throttle value.
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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.
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