0.9.0

Changelog

Added

• Centralized DSHOT_BITS_PER_FRAME definition in dshot_definitions.h.

Changed

• Comment Style Refactoring: Converted Doxygen-style comments to simple English line comments across src/DShotRMT.h and src/DShotRMT.cpp for improved readability and adherence to project guidelines.
• Constant Definition Modernization: Replaced all #define directives with static constexpr in src/dshot_definitions.h for enhanced type safety and modern C++ practices.
• API Consistency: Renamed _get_result_code_str to get_result_code_str in src/dshot_utils.h and updated its call sites for better API consistency.
• Documentation:
  • Updated README.md to reflect current API descriptions and removed outdated information.
  • Updated GEMINI.md to accurately describe the constant definition style and README.md generation process.

Fixed

• Resolved compilation errors related to conflicting constant declarations by centralizing definitions in src/dshot_definitions.h.
• Corrected _on_rx_done scope error in src/DShotRMT.h by properly declaring it as a static member function.

0.8.9 Hotfix Release

--- Fixing reboot loops, sorry ---

DShotRMT - ESP32 RMT DShot Driver

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.

The legacy version using the old rmt.h API is available in the oldAPI branch.

DShot300 Example Output

Here's an example of the output from the dshot300 example sketch:

🚀 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().
• Error Handling: Provides detailed feedback on operation success or failure via dshot_result_t.
• Lightweight: The core library has no external dependencies.
• Arduino and ESP-IDF Compatible: Can be used in both Arduino and ESP-IDF projects.

⏱️ DShot Timing Information

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:

DShot Mode	Bit Length (µs)	T1H Length (µs)	T0H Length (µs)	Frame Length (µs)
DSHOT150	6.67	5.00	2.50	106.72
DSHOT300	3.33	2.50	1.25	53.28
DSHOT600	1.67	1.25	0.625	26.72
DSHOT1200	0.83	0.67	0.335	13.28

📦 Installation

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/).

⚡ Quick Start

Here's a basic example of how to use the DShotRMT library to control a motor. Please use example sketches for more detailes:

#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
  printCpuInfo(Serial);

  Serial.println("Motor initialized. Ramping up to 25% throttle...");
  
}

void loop() {
  // 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
  printDShotInfo(motor, Serial);
}

🎮 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:

• ArduinoJson
• ESPAsyncWebServer
• AsyncTCP

📚 API Reference

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

• 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.
• begin(): Initializes the DShot RMT channels and encoder.
• sendThrottlePercent(float percent): Sends a throttle value as a percentage (0.0-100.0) to the ESC.
• sendThrottle(uint16_t throttle): Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
• sendCommand(uint16_t command): Sends a single DShot command (0-47) to the ESC.
• 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.
• getTelemetry(uint16_t magnet_count = 0): Retrieves telemetry data from the ESC. If magnet_count is 0, uses the stored motor magnet count.
• getESCInfo(): Sends a command to the ESC to request ESC information.
• setMotorSpinDirection(bool reversed): Sets the motor spin direction. true for reversed, false for normal.
• saveESCSettings(): Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
• printDShotResult(dshot_result_t &result, Stream &output = Serial): Prints the result of a DShot operation to the specified output stream.
• printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial): Prints detailed DShot signal information for a given DShotRMT instance.
• printCpuInfo(Stream &output = Serial): Prints detailed CPU information.
• setMotorMagnetCount(uint16_t magnet_count): Sets the motor magnet count for RPM calculation.
• getMode(): Gets the current DShot mode.
• isBidirectional(): Checks if bidirectional DShot is enabled.
• getEncodedFrameValue(): Gets the last encoded DShot frame value.
• getThrottleValue(): Gets the last transmitted throttle value.

🤝 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.

0.8.8

Changelog Version 0.8.8

✨ New Features & Improvements

• Simplified API for Helper Functions: The helper functions printDShotInfo(), printCpuInfo(), and printDShotResult() are now directly callable (e.g., printCpuInfo(Serial)) instead of being static methods of the DShotRMT class. This simplifies the API and improves readability.
• Improved Readability of Results: A new function getDShotMsg() has been added to get a textual description of the result code.
• Simplified dshot_mode_t Usage: The dshot_mode_t enum is now a standard enum, so modes can be used directly (e.g., DSHOT300 instead of dshot_mode_t::DSHOT300).

Refactoring

• Extraction of Helper Functions: All helper functions have been moved to a new, dedicated file src/dshot_utils.h to structure the codebase and focus the DShotRMT class on its core functionality.
• Code Modernization: The code has been modernized by using C++11 features such as direct initialization of member variables in the header and improved const correctness. This increases code quality and safety.

📚 Documentation

DShotRMT - ESP32 RMT DShot Driver

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.

The legacy version using the old rmt.h API is available in the oldAPI branch.

DShot300 Example Output

Here's an example of the output from the dshot300 example sketch:

🚀 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().
• Error Handling: Provides detailed feedback on operation success or failure via dshot_result_t.
• Lightweight: The core library has no external dependencies.
• Arduino and ESP-IDF Compatible: Can be used in both Arduino and ESP-IDF projects.

⏱️ DShot Timing Information

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:

DShot Mode	Bit Length (µs)	T1H Length (µs)	T0H Length (µs)	Frame Length (µs)
DSHOT150	6.67	5.00	2.50	106.72
DSHOT300	3.33	2.50	1.25	53.28
DSHOT600	1.67	1.25	0.625	26.72
DSHOT1200	0.83	0.67	0.335	13.28

📦 Installation

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/).

⚡ Quick Start

Here's a basic example of how to use the DShotRMT library to control a motor. Please use example sketches for more detailes:

#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
  printCpuInfo(Serial);

  Serial.println("Motor initialized. Ramping up to 25% throttle...");
  
}

void loop() {
  // 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
  printDShotInfo(motor, Serial);
}

🎮 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:

• ArduinoJson
• ESPAsyncWebServer
• AsyncTCP

📚 API Reference

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

• 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.
• begin(): Initializes the DShot RMT channels and encoder.
• sendThrottlePercent(float percent): Sends a throttle value as a percentage (0.0-100.0) to the ESC.
• sendThrottle(uint16_t throttle): Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
• sendCommand(uint16_t command): Sends a single DShot command (0-47) to the ESC.
• 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.
• getTelemetry(uint16_t magnet_count = 0): Retrieves telemetry data from the ESC. If magnet_count is 0, uses the stored motor magnet count.
• getESCInfo(): Sends a command to the ESC to request ESC information.
• setMotorSpinDirection(bool reversed): Sets the motor spin direction. true for reversed, false for normal.
• saveESCSettings(): Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
• printDShotResult(dshot_result_t &result, Stream &output = Serial): Prints the result of a DShot operation to the specified output stream.
• printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial): Prints detailed DShot signal information for a given DShotRMT instance.
• printCpuInfo(Stream &output = Serial): Prints detailed CPU information.
• setMotorMagnetCount(uint16_t magnet_count): Sets the motor magnet count for RPM calculation.
• getMode(): Gets the current DShot mode.
• isBidirectional(): Checks if bidirectional DShot is enabled.
• getEncodedFrameValue(): Gets the last encoded DShot frame value.
• getThrottleValue(): Gets the last transmitted throttle value.

🤝 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.

0.8.7

DShotRMT - ESP32 RMT DShot Driver

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.

The legacy version using the old rmt.h API is available in the oldAPI branch.

DShot300 Example Output

Here's an example of the output from the dshot300 example sketch:

🚀 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().
• Error Handling: Provides detailed feedback on operation success or failure via dshot_result_t.
• Lightweight: The core library has no external dependencies.
• Arduino and ESP-IDF Compatible: Can be used in both Arduino and ESP-IDF projects.

⏱️ DShot Timing Information

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:

DShot Mode	Bit Length (µs)	T1H Length (µs)	T0H Length (µs)	Frame Length (µs)
DSHOT150	6.67	5.00	2.50	106.72
DSHOT300	3.33	2.50	1.25	53.28
DSHOT600	1.67	1.25	0.625	26.72
DSHOT1200	0.83	0.67	0.335	13.28

📦 Installation

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/).

⚡ Quick Start

Here's a basic example of how to use the DShotRMT library to control a motor. Please use example sketches for more detailes:

#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...");
  
}

void loop() {
  // 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);
}

🎮 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:

• ArduinoJson
• ESPAsyncWebServer
• AsyncTCP

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.
• begin(): Initializes the DShot RMT channels and encoder.
• sendThrottlePercent(float percent): Sends a throttle value as a percentage (0.0-100.0) to the ESC.
• sendThrottle(uint16_t throttle): Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
• sendCommand(uint16_t command): Sends a single DShot command (0-47) to the ESC.
• 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.
• getTelemetry(uint16_t magnet_count = 0): Retrieves telemetry data from the ESC. If magnet_count is 0, uses the stored motor magnet count.
• getESCInfo(): Sends a command to the ESC to request ESC information.
• setMotorSpinDirection(bool reversed): Sets the motor spin direction. true for reversed, false for normal.
• saveESCSettings(): Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
• printDShotResult(dshot_result_t &result, Stream &output = Serial): Prints the result of a DShot operation to the specified output stream.
• DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial): Prints detailed DShot signal information for a given DShotRMT instance.
• DShotRMT::printCpuInfo(Stream &output = Serial): Prints detailed CPU information.
• setMotorMagnetCount(uint16_t magnet_count): Sets the motor magnet count for RPM calculation.
• getMode(): Gets the current DShot mode.
• isBidirectional(): Checks if bidirectional DShot is enabled.
• getEncodedFrameValue(): Gets the last encoded DShot frame value.
• getThrottleValue(): Gets the last transmitted throttle value.

🤝 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.

0.8.6

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). 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. The legacy version using the old rmt.h API is available in the oldAPI branch.

DShot300 Example Output

Here's an example of the output from the dshot300 example sketch:

🚀 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.

⏱️ DShot Timing Information

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:

DShot Mode	Bit Length (µs)	T1H Length (µs)	T0H Length (µs)	Frame Length (µs)
DSHOT150	6.67	5.00	2.50	106.72
DSHOT300	3.33	2.50	1.25	53.28
DSHOT600	1.67	1.25	0.625	26.72
DSHOT1200	0.83	0.67	0.335	13.28

📦 Installation

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 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:

• ArduinoJson
• ESPAsyncWebServer
• AsyncTCP

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.
• begin(): Initializes the DShot RMT channels and encoder.
• sendThrottlePercent(float percent): Sends a throttle value as a percentage (0.0-100.0) to the ESC.
• sendThrottle(uint16_t throttle): Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
• sendCommand(uint16_t command): Sends a single DShot command (0-47) to the ESC.
• 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.
• getTelemetry(uint16_t magnet_count = 0): Retrieves telemetry data from the ESC. If magnet_count is 0, uses the stored motor magnet count.
• getESCInfo(): Sends a command to the ESC to request ESC information.
• setMotorSpinDirection(bool reversed): Sets the motor spin direction. true for reversed, false for normal.
• saveESCSettings(): Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
• printDShotResult(dshot_result_t &result, Stream &output = Serial): Prints the result of a DShot operation to the specified output stream.
• DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial): Prints detailed DShot signal information for a given DShotRMT instance.
• DShotRMT::printCpuInfo(Stream &output = Serial): Prints detailed CPU information.
• setMotorMagnetCount(uint16_t magnet_count): Sets the motor magnet count for RPM calculation.
• getMode(): Gets the current DShot mode.
• isBidirectional(): Checks if bidirectional DShot is enabled.
• getEncodedFrameValue(): Gets the last encoded DShot frame value.
• getThrottleValue(): Gets the last transmitted throttle value.

🤝 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.

0.8.3

DShotRMT - ESP32 RMT DShot Driver

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.

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.

🚀 Core Features

• Multiple DShot Modes: Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
• Bidirectional DShot: Implemented, but currently not officially supported due to instability and external hardware requirements.
• 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().
• 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. 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 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>

// 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. 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);
}

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:

• ArduinoJson
• ESPAsyncWebServer
• AsyncTCP

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): 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).

⚡ Changes

Library Refactoring: The "DShotCommandManager" class and its associated examples have been removed, simplifying the library's API and reducing its footprint.
Enhanced Web Examples: The web examples ("web_client", "web_control") now include Over-The-Air (OTA) update functionality, allowing for convenient firmware updates directly through the web interface.
Improved Throttle Control: A new "sendThrottlePercent()" method has been added to the "DShotRMT" class, providing a more intuitive way to control motor speed using percentage values.
Updated Documentation: The "README.md" has been thoroughly revised to reflect the API changes, clarify the status of bidirectional DShot support, and provide updated quick start guides and examples.
Internal RMT Optimizations: The core "DShotRMT" class has undergone internal optimizations, including refined RMT channel initialization, improved GCR decoding for telemetry, and pre-calculation of bit positions for better performance.

0.8.0

DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)

A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (rmt_tx.h / rmt_rx.h).
Supports all standard DShot modes (150, 300, 600, 1200) and features continuous frame transmission with configurable timing.

Now with BiDirectional DShot support, advanced command management, and modern web control interface!

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
• Advanced Command Manager: High-level API for ESC configuration and control
• 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

---

📦 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

PlatformIO

Add to your platformio.ini:

lib_deps = 
    https://github.com/derdoktor667/DShotRMT.git

Manual Installation

git clone https://github.com/derdoktor667/DShotRMT.git

Dependencies

The library requires these additional libraries for full functionality:

Core DShotRMT (always required):

• ESP32 Arduino Core

Web Interface Example (web_control.ino / web_client.ino):

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

Command Manager Example:

• No additional dependencies required

---

⚡ Quick Start

Basic Usage (DShotRMT)

#include <DShotRMT.h>

// Create motor instance (GPIO 17, DSHOT300, non-bidirectional)
DShotRMT motor(17, DSHOT300, false);

void setup() {
    Serial.begin(115200);
    
    // Initialize the motor
    dshot_result_t result = motor.begin();
    if (result.success) {
        Serial.println("Motor initialized successfully");
    } else {
        Serial.printf("Motor init failed: %s\n", result.msg);
    }
}

void loop() {
    // Send throttle value (48-2047)
    dshot_result_t result = motor.sendThrottle(1000);
    if (!result.success) {
        Serial.printf("Throttle command failed: %s\n", result.msg);
    }
}

---

🌐 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

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 and AsyncTCP to use "web_control.ino" example sketch.

---

📚 Examples

The library includes comprehensive examples:

1. 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

2. Advanced Command Management (command_manager.ino)

Interactive ESC control with full menu system:

=== DShot Command Manager Menu ===
 1 - Stop Motor
 2 - Activate Beacon 1
 3 - Set Normal Spin Direction
 4 - Set Reversed Spin Direction
 5 - Get ESC Info
 6 - Turn LED 0 ON
 7 - Turn LED 0 OFF
 0 - Emergency Stop

Advanced Commands:
 cmd <number>       - Send DShot command (0 - 47)
 throttle <value>   - Set throttle (48 - 2047)
 repeat cmd <num> count <count> - Repeat command

---

🔧 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

// Using GPIO number
DShotRMT motor(17, DSHOT300);

// Using GPIO enum
DShotRMT motor(GPIO_NUM_17, DSHOT300);

// With bidirectional support
DShotRMT motor(17, DSHOT300, true);

---

🎯 DShot Commands

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

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

// 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
• DSHOT in the Dark
• Betaflight DShot Implementation

ESP32 Documentation

• ESP32 Technical Reference Manual
• ESP-IDF RMT Driver
• Arduino ESP32 Core

---

🤝 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...

0.7.6

DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)

A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (rmt_tx.h / rmt_rx.h).
Supports all standard DShot modes (150, 300, 600, 1200) and features continuous frame transmission with configurable timing.

Now with BiDirectional DShot support, advanced command management, and modern web control interface!

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
• Advanced Command Manager: High-level API for ESC configuration and control
• 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

---

📦 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

PlatformIO

Add to your platformio.ini:

lib_deps = 
    https://github.com/derdoktor667/DShotRMT.git

Manual Installation

git clone https://github.com/derdoktor667/DShotRMT.git

Dependencies

The library requires these additional libraries for full functionality:

Core DShotRMT (always required):

• ESP32 Arduino Core

Web Interface Example (dshot300.ino):

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

Command Manager Example:

• No additional dependencies required

---

⚡ Quick Start

Basic Usage (DShotRMT)

#include <DShotRMT.h>

// Create motor instance (GPIO 17, DSHOT300, non-bidirectional)
DShotRMT motor(17, DSHOT300, false);

void setup() {
    Serial.begin(115200);
    
    // Initialize the motor
    dshot_result_t result = motor.begin();
    if (result.success) {
        Serial.println("Motor initialized successfully");
    } else {
        Serial.printf("Motor init failed: %s\n", result.msg);
    }
}

void loop() {
    // Send throttle value (48-2047)
    dshot_result_t result = motor.sendThrottle(1000);
    if (!result.success) {
        Serial.printf("Throttle command failed: %s\n", result.msg);
    }
}

Web Control Interface

#include <DShotRMT.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>

DShotRMT motor(17, DSHOT300, false);
AsyncWebServer server(80);
AsyncWebSocket ws("/ws");

void setup() {
    // Initialize motor
    motor.begin();
    
    // Create WiFi Access Point
    WiFi.softAP("DShotRMT Control", "12345678");
    
    // Setup web interface
    ws.onEvent(onWsEvent);
    server.addHandler(&ws);
    server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
        request->send_P(200, "text/html", index_html);
    });
    server.begin();
    
    // Access at http://10.10.10.1
}

void loop() {
    // Handle WebSocket communication and motor control
    ws.cleanupClients();
}

Advanced Command Management

#include <DShotRMT.h>
#include <DShotCommandManager.h>

DShotRMT motor(17, DSHOT300, false);
DShotCommandManager cmdManager(motor);

void setup() {
    motor.begin();
    cmdManager.begin();
}

void loop() {
    // High-level ESC control
    cmdManager.stopMotor();
    cmdManager.activateBeacon(1);
    cmdManager.setSpinDirection(false);
    cmdManager.executeInitSequence();
}

Bidirectional DShot (RPM Telemetry)

#include <DShotRMT.h>

// Enable bidirectional mode for telemetry
DShotRMT motor(17, DSHOT300, true);

void setup() {
    Serial.begin(115200);
    motor.begin();
}

void loop() {
    // Send throttle
    motor.sendThrottle(1000);
    
    // Get telemetry data
    dshot_telemetry_result_t telemetry = motor.getTelemetry(14); // 14 magnets
    if (telemetry.success) {
        Serial.printf("eRPM: %u, Motor RPM: %u\n", 
          telemetry.erpm, 
          telemetry.motor_rpm);
    }
}

---

🌐 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

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 and AsyncTCP to use "web_control.ino" example sketch.

---

📚 Examples

The library includes comprehensive examples:

1. Basic DShot Control with Web Interface (dshot300.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

2. Advanced Command Management (command_manager.ino)

Interactive ESC control with full menu system:

=== DShot Command Manager Menu ===
 1 - Stop Motor
 2 - Activate Beacon 1
 3 - Set Normal Spin Direction
 4 - Set Reversed Spin Direction
 5 - Get ESC Info
 6 - Turn LED 0 ON
 7 - Turn LED 0 OFF
 0 - Emergency Stop

Advanced Commands:
 cmd <number>       - Send DShot command (0-47)
 throttle <value>   - Set throttle (48-2047)
 repeat cmd <num> count <count> - Repeat command

---

🔧 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

GPIO Configuration

// Using GPIO number
DShotRMT motor(17, DSHOT300);

// Using GPIO enum
DShotRMT motor(GPIO_NUM_17, DSHOT300);

// With bidirectional support
DShotRMT motor(17, DSHOT300, true);

---

🎯 DShot Commands

Command	Value	Description	Usage
MOTOR_STOP	0	Stop motor	Always available
BEACON1 - 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
LED0-3_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

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

// 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

• **In...

0.7.5

DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)

A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (rmt_tx.h / rmt_rx.h).
Supports all standard DShot modes (150, 300, 600, 1200) and features continuous frame transmission with configurable timing.

Now with BiDirectional DShot support, advanced command management, and modern web control interface!

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
• Advanced Command Manager: High-level API for ESC configuration and control
• 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

---

📦 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

PlatformIO

Add to your platformio.ini:

lib_deps = 
    https://github.com/derdoktor667/DShotRMT.git

Manual Installation

git clone https://github.com/derdoktor667/DShotRMT.git

Dependencies

The library requires these additional libraries for full functionality:

Core DShotRMT (always required):

• ESP32 Arduino Core

Web Interface Example (dshot300.ino):

lib_deps = 
    https://github.com/derdoktor667/DShotRMT
    bblanchon/ArduinoJson
    https://github.com/ESP32Async/ESPAsyncWebServer
    https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP

Command Manager Example:

• No additional dependencies required

---

⚡ Quick Start

Basic Usage (DShotRMT)

#include <DShotRMT.h>

// Create motor instance (GPIO 17, DSHOT300, non-bidirectional)
DShotRMT motor(17, DSHOT300, false);

void setup() {
    Serial.begin(115200);
    
    // Initialize the motor
    dshot_result_t result = motor.begin();
    if (result.success) {
        Serial.println("Motor initialized successfully");
    } else {
        Serial.printf("Motor init failed: %s\n", result.msg);
    }
}

void loop() {
    // Send throttle value (48-2047)
    dshot_result_t result = motor.sendThrottle(1000);
    if (!result.success) {
        Serial.printf("Throttle command failed: %s\n", result.msg);
    }
}

Web Control Interface

#include <DShotRMT.h>
#include <WiFi.h>
#include <ESPAsyncWebServer.h>

DShotRMT motor(17, DSHOT300, false);
AsyncWebServer server(80);
AsyncWebSocket ws("/ws");

void setup() {
    // Initialize motor
    motor.begin();
    
    // Create WiFi Access Point
    WiFi.softAP("DShotRMT Control", "12345678");
    
    // Setup web interface
    ws.onEvent(onWsEvent);
    server.addHandler(&ws);
    server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
        request->send_P(200, "text/html", index_html);
    });
    server.begin();
    
    // Access at http://10.10.10.1
}

void loop() {
    // Handle WebSocket communication and motor control
    ws.cleanupClients();
}

Advanced Command Management

#include <DShotRMT.h>
#include <DShotCommandManager.h>

DShotRMT motor(17, DSHOT300, false);
DShotCommandManager cmdManager(motor);

void setup() {
    motor.begin();
    cmdManager.begin();
}

void loop() {
    // High-level ESC control
    cmdManager.stopMotor();
    cmdManager.activateBeacon(1);
    cmdManager.setSpinDirection(false);
    cmdManager.executeInitSequence();
}

Bidirectional DShot (RPM Telemetry)

#include <DShotRMT.h>

// Enable bidirectional mode for telemetry
DShotRMT motor(17, DSHOT300, true);

void setup() {
    Serial.begin(115200);
    motor.begin();
}

void loop() {
    // Send throttle
    motor.sendThrottle(1000);
    
    // Get telemetry data
    dshot_telemetry_result_t telemetry = motor.getTelemetry(14); // 14 magnets
    if (telemetry.success) {
        Serial.printf("eRPM: %u, Motor RPM: %u\n", 
          telemetry.erpm, 
          telemetry.motor_rpm);
    }
}

---

🌐 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

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 and AsyncTCP to use "web_control.ino" example sketch.

---

📚 Examples

The library includes comprehensive examples:

1. Basic DShot Control with Web Interface (dshot300.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

2. Advanced Command Management (command_manager.ino)

Interactive ESC control with full menu system:

=== DShot Command Manager Menu ===
 1 - Stop Motor
 2 - Activate Beacon 1
 3 - Set Normal Spin Direction
 4 - Set Reversed Spin Direction
 5 - Get ESC Info
 6 - Turn LED 0 ON
 7 - Turn LED 0 OFF
 0 - Emergency Stop

Advanced Commands:
 cmd <number>       - Send DShot command (0-47)
 throttle <value>   - Set throttle (48-2047)
 repeat cmd <num> count <count> - Repeat command

---

🔧 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

GPIO Configuration

// Using GPIO number
DShotRMT motor(17, DSHOT300);

// Using GPIO enum
DShotRMT motor(GPIO_NUM_17, DSHOT300);

// With bidirectional support
DShotRMT motor(17, DSHOT300, true);

---

🎯 DShot Commands

Command	Value	Description	Usage
MOTOR_STOP	0	Stop motor	Always available
BEACON1 - 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
LED0-3_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

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

// 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 DSh...

0.7.2

DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)

A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (rmt_tx.h / rmt_rx.h).
Supports all standard DShot modes (150, 300, 600, 1200) and features continuous frame transmission with configurable timing.
Now with BiDirectional DShot support and advanced command management!

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
• Advanced Command Manager: High-level API for ESC configuration and control
• Command Sequences: Predefined initialization and calibration sequences
• 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

---

📦 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

PlatformIO

Add to your platformio.ini:

lib_deps = 
    https://github.com/derdoktor667/DShotRMT.git

Manual Installation

git clone https://github.com/derdoktor667/DShotRMT.git

---

⚡ Quick Start

Basic Usage (DShotRMT)

#include <DShotRMT.h>

// Create motor instance (GPIO 17, DSHOT300, non-bidirectional)
DShotRMT motor(17, DSHOT300, false);

void setup() {
    Serial.begin(115200);
    
    // Initialize the motor
    dshot_result_t result = motor.begin();
    if (result.success) {
        Serial.println("Motor initialized successfully");
    } else {
        Serial.printf("Motor init failed: %s\n", result.msg);
    }
}

void loop() {
    // Send throttle value (48-2047)
    dshot_result_t result = motor.sendThrottle(1000);
    if (!result.success) {
        Serial.printf("Throttle command failed: %s\n", result.msg);
    }
}

Bidirectional DShot (RPM Telemetry)

#include <DShotRMT.h>

// Enable bidirectional mode for telemetry
DShotRMT motor(17, DSHOT300, true);

void setup() {
    Serial.begin(115200);
    motor.begin();
}

void loop() {
    // Send throttle
    motor.sendThrottle(1000);
    
    // Get telemetry data
    dshot_telemetry_result_t telemetry = motor.getTelemetry(14); // 14 magnets
    if (telemetry.success) {
        Serial.printf("eRPM: %u, Motor RPM: %u\n", 
          telemetry.erpm, 
          telemetry.motor_rpm);
    }
}

---

📚 Examples

The library includes comprehensive examples:

1. Basic DShot Control (dshot300.ino)

• Simple throttle control
• Command execution
• Serial interface for testing
• Telemetry reading (if bidirectional enabled)

2. Advanced Command Management (command_manager.ino)

Interactive ESC control with full menu system:

=== DShot Command Manager Menu ===
 1 - Stop Motor
 2 - Activate Beacon 1
 3 - Set Normal Spin Direction
 4 - Set Reversed Spin Direction
 5 - Get ESC Info
 6 - Turn LED 0 ON
 7 - Turn LED 0 OFF
 0 - Emergency Stop

Advanced Commands:
 cmd <number>       - Send DShot command (0-47)
 throttle <value>   - Set throttle (48-2047)
 repeat cmd <num> count <count> - Repeat command

---

🔧 Hardware Configuration

Supported DShot Modes

Mode	Bitrate	Bit Time	Frame Time	Use Case
DSHOT150	150 kbit/s	6.67 µs	~107 µs	Long wires, EMI-prone
DSHOT300	300 kbit/s	3.33 µs	~53 µs	Standard (recommended)
DSHOT600	600 kbit/s	1.67 µs	~27 µs	High performance
DSHOT1200	1200 kbit/s	0.83 µs	~13 µs	Racing applications

GPIO Configuration

// Using GPIO number
DShotRMT motor(17, DSHOT300);

// Using GPIO enum
DShotRMT motor(GPIO_NUM_17, DSHOT300);

// With bidirectional support
DShotRMT motor(17, DSHOT300, true);

---

🎯 DShot Commands

Command	Value	Description	Usage
MOTOR_STOP	0	Stop motor	Always available
BEACON1 - 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
LED0-3_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

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

// 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 memory-to-peripheral transfers

---

📖 References & Documentation

DShot Protocol

• DSHOT – the missing Handbook
• DSHOT in the Dark
• Betaflight DShot Implementation

ESP32 Documentation

• ESP32 Technical Reference Manual
• ESP-IDF RMT Driver
• Arduino ESP32 Core

---

🤝 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

---

📄 License

MIT License – see LICENSE

---

👤 Author

Wastl Kraus

• GitHub: @derdoktor667
• Website: wir-sind-die-matrix.de