Struct DshotCommandFrame 

pub struct DshotCommandFrame(/* private fields */);

DshotCommandFrame: transmitted from the Flight Controller(FC) to the ESC.

Whenever the FC wants the motor to spin, beep, or change direction, it transmits a 16-bit DshotCommandFrame.
Bits 0–10 (11 bits): Throttle value or Command, values 48 to 2047 for motor speed (throttle), values 1 to 47 for commands.
Bit 11 (1 bit): Telemetry Request Flag.
Bits 12–15 (4 bits): Checksum (technically a 4-bit Longitudinal Redundancy Check (LRC)).

Operational Aspect	Unidirectional (Throttle)	Unidirectional (Commands)	Bidirectional (Throttle & Commands)
Telemetry Bit	false (Set to 0)	true (Set to 1)	true (Set to 1)
XOR Checksum Mode	Standard	Bitwise Inverted	Bitwise Inverted
ESC Action	Executes throttle Remains silent	Executes command Returns a ghost reply	Executes command Returns a telemetry frame
FC Pin Mode	Permanent Output	Permanent Output	Flips from Output to Input right after TX
Repetition Gate	Streams continuously	Must repeat ~10 times to execute	Commands must repeat ~10 times to execute
FC Software Action	Fire-and-forget stream	Fire-and-forget stream	Transmits, then pauses ~30µs to capture GcrFrame

Implementations

impl DshotCommandFrame

pub const NO_TELEMETRY: bool = false

pub const WITH_TELEMETRY: bool = true

pub const UNI_DIRECTIONAL: bool = false

pub const BI_DIRECTIONAL: bool = true

pub const MAX_RAW_VALUE: u16 = 2047

pub const THROTTLE_OFFSET: u16 = 48

pub const THROTTLE_MIN: u16 = 48

pub const THROTTLE_MAX: u16 = 2047

pub const fn new(value: u16) -> Self

pub const fn from_raw(value: u16) -> Self

pub const fn from_command(command: DshotCommand) -> Self

pub const fn raw(self) -> u16

pub const fn value(self) -> u16

Extracts the original 11-bit command/throttle value from the processed 16-bit frame.

pub const fn is_telemetry_enabled(self) -> bool

pub const fn checksum(self) -> u16

pub const fn calculate_checksum(frame_raw: u16) -> u16

Calculates the standard 4-bit XOR outbound checksum.

pub const fn encode_raw(value: u16, with_telemetry: bool) -> Self

Assembles an 11-bit command and a telemetry flag into a complete 16-bit Dshot transmission word.

pub fn from_throttle_unidirectional(throttle: f32) -> Self

Converts a throttle scale [0.0, 1.0] directly to the Dshot frame range [48, 2047]. In unidirectional mode the telemetry bit is not set and the checksum is not inverted.

pub fn from_throttle_bidirectional(throttle: f32) -> Self

Converts a throttle scale [0.0, 1.0] directly to the Dshot frame range [48, 2047]. In bidirectional mode the telemetry bit is not set and the checksum is not inverted.

pub fn from_throttle(throttle: f32, bidirectional: bool) -> Self

impl DshotCommandFrame

pub fn to_gcr20(self) -> u32

pub fn gcr20_to_nrzi21(input: u32) -> u32

Map the GCR to a 21-bit NRZI value, this new value starts with a 0 and the rest of the bits are set by the following two rules:

1. If the current input bit in GCR data is a 1 then the output bit is the inverse of the previous output bit
2. If the current input bit in GCR data is a 0 then the output bit is the same as the previous output

pub fn gcr_encode(self) -> u32

Methods from Deref<Target = u16>

pub const MIN: u16 = 0

pub const MAX: u16

pub const BITS: u32

Trait Implementations

impl Clone for DshotCommandFrame

fn clone(&self) -> DshotCommandFrame

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for DshotCommandFrame

impl Debug for DshotCommandFrame

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for DshotCommandFrame

fn default() -> DshotCommandFrame

Returns the “default value” for a type.

impl Deref for DshotCommandFrame

type Target = u16

The resulting type after dereferencing.

fn deref(&self) -> &Self::Target

Dereferences the value.

impl Eq for DshotCommandFrame

impl From<DshotCommandFrame> for u16

fn from(frame: DshotCommandFrame) -> Self

Converts to this type from the input type.

impl Ord for DshotCommandFrame

fn cmp(&self, other: &DshotCommandFrame) -> Ordering

This method returns an Ordering between self and other.

fn max(self, other: Self) -> Self

where Self: Sized,

Compares and returns the maximum of two values.

fn min(self, other: Self) -> Self

where Self: Sized,

Compares and returns the minimum of two values.

fn clamp(self, min: Self, max: Self) -> Self

where Self: Sized,

Restrict a value to a certain interval.

fn clamp_to<R>(self, range: R) -> Self

where Self: Sized, R: ClampBounds<Self>,

🔬This is a nightly-only experimental API. (clamp_to)

Restrict a value to a certain range.

impl PartialEq for DshotCommandFrame

fn eq(&self, other: &DshotCommandFrame) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl PartialOrd for DshotCommandFrame

fn partial_cmp(&self, other: &DshotCommandFrame) -> Option<Ordering>

This method returns an ordering between self and other values if one exists.

fn lt(&self, other: &Rhs) -> bool

Tests less than (for self and other) and is used by the < operator.

fn le(&self, other: &Rhs) -> bool

Tests less than or equal to (for self and other) and is used by the <= operator.

fn gt(&self, other: &Rhs) -> bool

Tests greater than (for self and other) and is used by the > operator.

fn ge(&self, other: &Rhs) -> bool

Tests greater than or equal to (for self and other) and is used by the >= operator.

impl StructuralPartialEq for DshotCommandFrame

impl TryFrom<u16> for DshotCommandFrame

type Error = u16

The type returned in the event of a conversion error.

fn try_from(value: u16) -> Result<Self, u16>

Performs the conversion.