This project allows to generate DSHOT protocol to control ESCs via the
GPIO pins of  a Raspberry Pi 5.  It uses  'piolib' and RP1 coprocessor
to generate the signal.  It works well even if the  main CPU is loaded
by other tasks.

It supports up to 26 motors.  However, motors shall be connected to up
to 4 continuous ranges of GPIO numbers.

All versions  of DSHOT  (150 / 300  / 600 /  1200) are  supported. The
specific version has  to be set into 'dshotVersion'  variable prior to
the initialization.

You  will need  the  newest  version of  Raspbian  OS  and the  newest
bootloader version (see the ‘Advanced Options’ of raspi-config) to run
this code.

To compile and run a simple test that spins 4 motors connected to GPIO
16, 19, 20 and 21 (two continuos ranges of GPIOs) , type:

    	   make test
	   sudo ./test 16 19 20 21

If it does not work for your  ESC you may need to edit 'motor-dshot.c'
and adjust DSHOT_CLOCK_DIVIDER_FACTOR macro.