embassy-dshot

DShot ESC protocol driver for embassy-rp (RP2040/RP2350).

Uses PIO to control up to 4 ESCs per PIO block.

Features

• Async/await with Embassy
• RP2040 and RP2350 support
• 1-4 motors per PIO block
• Type-safe frames via dshot-frame
• no_std

Usage

# For RP2040
embassy-dshot = { version = "0.1", features = ["rp2040"] }

# For RP2350
embassy-dshot = { version = "0.1", features = ["rp2350"] }

Example

use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::PIO0;
use embassy_rp::pio::InterruptHandler;
use embassy_dshot::dshot_embassy_rp::DshotPio;
use embassy_dshot::{DshotPioAsync, Command};

bind_interrupts!(struct Irqs {
    PIO0_IRQ_0 => InterruptHandler<PIO0>;
});

#[embassy_executor::main]
async fn main(_spawner: Spawner) {
    let p = embassy_rp::init(Default::default());

    let mut dshot = DshotPio::<4, _>::new(
        p.PIO0,
        Irqs,
        p.PIN_13,
        p.PIN_7,
        p.PIN_6,
        p.PIN_12,
        (52, 0) // Clock divider for DShot600 @ 125MHz
    );

    dshot.send_command_async(Command::MotorStop).await;
    dshot.throttle_async([1000, 1000, 1000, 1000]).await?;
}

Clock Divider

clock_divider = system_clock / (8 * dshot_speed * 1000)

Format: (integer_part, fractional_part) where fractional = (remainder * 256) as u8.

API

Sync (DshotPioTrait)

• throttle_clamp(&mut self, throttle: [u16; N])
• send_command(&mut self, cmd: Command)
• throttle_minimum(&mut self)

Async (DshotPioAsync)

• throttle_async(&mut self, throttle: [u16; N])
• send_command_async(&mut self, cmd: Command)
• throttle_minimum_async(&mut self)

Credits

Based on peterkrull/dshot-pio.

License

MIT or Apache-2.0, at your option.