This C library allows to control BLDC motors (brushless DC motors) from a Raspberry Pi Pico connected to one or multiple ESC (electronic speed controller) using the DSHOT protocol [1]. Both transmission and telemetry reception (EDT/eRPM) are supported. One PIO statemachine per controller is used to send and receive the DSHOT data. DSHOT bitrates from 150 to 1200 kbit/s and beyond are supported. One controller can control multiple channels (frames are sent interleaved).
[1] https://brushlesswhoop.com/dshot-and-bidirectional-dshot/
- Add this repository as a submodule into your project, e.g.
modules/dshot - Add the the subdirectory and link the library to your app in your CMakeLists.txt:
add_subdirectory(modules/dshot)
target_link_libraries(myappname ... dshot)
The ESC needs to support inverted DSHOT / bidirectional DSHOT, which is the case for BLHeli_32, BLHeli_S, Bluejay and others. Not all firmwares support Extended DSHOT Telemetry (EDT) for report Voltage, Current and temperature. BLHeli_32 supports EDT with version 32.10.0.0 and forward. Bluejay should also support EDT, but has not been tested.
Examples can be found in the examples directory
mkdir -p build
cd build
cmake .. -DPICO_SDK_PATH=/path/to/pico-sdk
make -C examples
cd ..
You'll find uf2 binaries in build/examples/
Minimal example with one controller and one channel (GPIO pin 2), with DSHOT600. Sends a beep command once a second.
Signal Analyzer view:
More sophisticated example with one controller and four channels (GPIO pin 2 to 5). Telemetry data is interpreted and the result is printed on USB stdout. Note that the controller sends to the channel interleaved. Note also the time gap caused by the printing.
Signal Analyzer view (only channel 0 is connected/working, the others are not receiving telemetry data):
Similar to example 2, but using an asynchronous loop with four channels, one controller per channel. DSHOT1200 is used. The four channels are roughly sending at the same time, with some delay caused by the setup of each channel.
Signal Analyzer view (only channel 0 is connected/working, the others are not receiving telemetry data):
