Struct DshotTelemetryFrame 

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

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

If Bidirectional Dshot is enabled and the Flight Controller sends a DshotCommandFrame with the telemetry request bit set, the FC shifts its signal pin to an input right after transmission finishes. The ESC then responds with a DshotTelemetryFrame.

This frame can be interpreted either as an eRPM (Electronic RPM) value, or an EDT (Extended Dshot Telemetry) sensor payload.

eRPM Interpretation

When parsed as an eRPM frame, the 16-bit word uses the layout:

eeem mmmm mmmm cccc

• e: 3-bit exponent
• m: 9-bit mantissa
• c: 4-bit inverted XOR checksum

The 9-bit mantissa value (M) is shifted left by the exponent (E) to calculate the core commutation period in microseconds (M << E). This yields a period range of 1 µs to 65,408 µs, translating to a minimum e-frequency of 15.29 Hz (for a standard 14-pole motor with 7 pole-pairs, this represents a mechanical rotation frequency of 2.18 Hz).

EDT Interpretation

When parsed as an EDT frame, the 16-bit word uses the layout:

ttt0 dddd dddd cccc

• t: 3-bit data type identifier (ie, 1 for Temperature, 2 for Voltage, etc)
• 0: Static zero bit (forces the 4-bit prefix to evaluate as an even number)
• d: 8-bit sensor data payload
• c: 4-bit inverted XOR checksum

Differentiating Frames via the Prefix

The framework determines whether a packet represents an eRPM or EDT sequence by inspecting the highest 4 bits of the 16-bit word (bits 12–15), known as the prefix:

pppp xxxx xxxx cccc

This strategy capitalizes on GCR encoding redundancies, where a given commutation period can mathematically be written in multiple ways. To prevent collisions, the ESC normalizes eRPM values to guarantee an odd or zero prefix pattern.

• It is an eRPM frame if: The lower bit of the prefix is 1 (odd prefix), or the prefix evaluates to 0.
• It is an EDT frame if: The prefix evaluates to a non-zero, even number (meaning its lower bit is 0).

Implementations

impl DshotTelemetryFrame

pub const fn from_raw_12(raw_12: u16) -> Self

pub fn try_from_raw_16(raw_16: u16) -> Result<Self, DshotError>

Errors

pub const fn raw_16(self) -> u16

pub const fn calculate_checksum(raw_12: u16) -> u16

pub const fn checksum(self) -> u16

pub const fn checksum_is_ok(self) -> bool

Check if checksum is ok (XOR of all 4 nibbles must equal 0x0F).

pub const fn from_exponent_mantissa(exponent: u16, mantissa: u16) -> Self

pub fn from_type_value(data_type: u8, value: u8) -> Self

pub const fn mantissa(self) -> u16

pub const fn exponent(self) -> u16

pub fn erpm(self) -> u32

pub fn erpm_f32(self) -> f32

pub const fn is_erpm_frame(self) -> bool

Helper method to safely identify whether the frame contains eRPM or EDT data.

pub fn try_decode_erpm(self) -> Result<u32, DshotError>

Errors

pub fn try_decode_telemetry(self) -> Result<Telemetry, DshotError>

Errors

Methods from Deref<Target = u16>

pub const MIN: u16 = 0

pub const MAX: u16

pub const BITS: u32

Trait Implementations

impl Clone for DshotTelemetryFrame

fn clone(&self) -> DshotTelemetryFrame

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for DshotTelemetryFrame

impl Debug for DshotTelemetryFrame

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

Formats the value using the given formatter.

impl Default for DshotTelemetryFrame

fn default() -> Self

Returns the “default value” for a type.

impl Deref for DshotTelemetryFrame

type Target = u16

The resulting type after dereferencing.

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

Dereferences the value.

impl Eq for DshotTelemetryFrame

impl From<DshotTelemetryFrame> for u16

fn from(frame: DshotTelemetryFrame) -> Self

Converts to this type from the input type.

impl Ord for DshotTelemetryFrame

fn cmp(&self, other: &DshotTelemetryFrame) -> 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 DshotTelemetryFrame

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

Equality operator ==.

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

Inequality operator !=.

impl PartialOrd for DshotTelemetryFrame

fn partial_cmp(&self, other: &DshotTelemetryFrame) -> 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 DshotTelemetryFrame

impl TryFrom<u16> for DshotTelemetryFrame

type Error = DshotError

The type returned in the event of a conversion error.

fn try_from(raw_16: u16) -> Result<Self, DshotError>

Performs the conversion.