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) and features continuous frame transmission with configurable pause.
Now with BiDirectional DShot support!
The legacy version (using the old
rmt.hAPI) is still available in theoldAPIbranch.
- All DShot Modes: DSHOT150, DSHOT300 (default), DSHOT600, (DSHOT1200)
- BiDirectional DShot: Experimental support for RPM feedback
- Continuous Frames: Independent timed, Hardware signal generation
- Configurable Pause: Ensures ESCs can reliably detect frame boundaries
- Simple API: Easy integration into your Arduino or ESP-IDF project
Clone this repository and add it to your Arduino libraries or ESP-IDF components.
git clone https://github.com/derdoktor667/DShotRMT.gitUse "dshot300.ino" example sketchDShot transmits 16-bit packets to brushless ESCs:
- 11 bits: Throttle value
- 1 bit: Telemetry request
- 4 bits: Checksum (CRC)
Data is sent MSB-first. Pulse timing depends on the selected DShot mode.
| 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 |
Each frame is followed by a pause to help ESCs detect separate frames.
The checksum is calculated over the first 12 bits (throttle + telemetry):
crc = (value ^ (value >> 4) ^ (value >> 8)) & 0x0F;Bidirectional DSHOT (sometimes called "inverted DSHOT") inverts the signal level:
A logical '1' is low, and a '0' is high. This signals the ESC to send telemetry packets back.
Bidirectional CRC:
crc = (~(value ^ (value >> 4) ^ (value >> 8))) & 0x0F;Note: Bidirectional DShot is experimental. Further hardware testing is needed.
The RMT (Remote Control) peripheral generates accurate, hardware-timed signals for controlling external devices.
Perfect for DShot:
- Utilizes latest ESP-IDF APIs
- Hardware-timed pulses
- CPU-independent
- Loop mode with inter-frame pause
- Reliable under system load
DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)void begin()void sendThrottle(uint16_t throttle)
See examples/dshot300/dshot300.ino for a more informations.
MIT License – see LICENSE
Wastl Kraus
GitHub: @derdoktor667
Website: wir-sind-die-matrix.de