- DSHOT communication with ESC using Teensy 3.5 or Teensy 4.0 development boards
- DSHOT600 is generated using DMA
- Telemetry is received through UART at 115200bps
- Velocity PID control running at 500Hz is implemented for up to 6 motors
- ESCPID: code running on the Teensy
- DSHOT.cpp: DSHOT600 communication.
- AWPID.cpp: Anti-Windup PID.
- ESCCMD.cpp: Bidirectional communication between Teensy and ESC.
- ESCPID.ino: main program.
- host: code running on a Linux platform connected to the teensy.
- docs: useful documentation (MCU datasheets, DSHOT command description, telemetry protocol explanation, PID description...).
Velocity reference and PID parameters.
Data structure containing telemetry data, error code and last DSHOT command.
- ESCCMD_ESC_EMULATION (ESCCMD.cpp): flag to enable or disable ESC emulation. When enabled, the telemetry data is emulated. Packet loss can also be emulated. This helps to debug the code without ESC.
- ESCPID_NB_ESC (ESCPID.h): define the number of ESCs that are handled by teensySHOT.
- ESCPID_PID_MAX (ESCPID.h): Maximum PID control value. The maximum allowed is 999. A lower value may limit the motor maximum RPM in case of controller instability. Start testing with a low value and when everything is ok, raise it to the max.
teensySHOT can communicate with up to 6 ESCs. The following pins are to be used with the current version. It is possible to change some DSHOT pins using muxing options of the MCU (tutorial in progress).
| Teensy 3.5 | Teensy 4.0 | |||
| DSHOT | TLM/RX | DSHOT | TLM/RX | |
| 1 | 22 | 0 | 4 | 0 |
| 2 | 23 | 9 | 8 | 7 |
| 3 | 6 | 7 | 24 | 15 |
| 4 | 20 | 31 | 22 | 16 |
| 5 | 21 | 34 | 23 | 21 |
| 6 | 5 | 47 | 9 | 25 |
- Arda Yiğit: DMA programming and ESC communication
- Jacques Gangloff: higher level API, debugging