BLHeli/BLHeli_32 ARM/BLHeli_32 Firmware specs/Digital_Cmd_Spec.txt

0  DIGITAL_CMD_MOTOR_STOP 		      // Currently not implemented
1  DIGITAL_CMD_BEEP1 			      // Wait at least length of beep (260ms) before next command
2  DIGITAL_CMD_BEEP2 			      // Wait at least length of beep (260ms) before next command
3  DIGITAL_CMD_BEEP3 			      // Wait at least length of beep (280ms) before next command
4  DIGITAL_CMD_BEEP4 			      // Wait at least length of beep (280ms) before next command
5  DIGITAL_CMD_BEEP5 			      // Wait at least length of beep (1020ms) before next command
6  DIGITAL_CMD_ESC_INFO  		      // Wait at least 12ms before next command
7  DIGITAL_CMD_SPIN_DIRECTION_1 	      // Need 6x, no wait required
8  DIGITAL_CMD_SPIN_DIRECTION_2 	      // Need 6x, no wait required
9  DIGITAL_CMD_3D_MODE_OFF 		      // Need 6x, no wait required
10 DIGITAL_CMD_3D_MODE_ON  		      // Need 6x, no wait required
11 DIGITAL_CMD_SETTINGS_REQUEST  	      // Currently not implemented
12 DIGITAL_CMD_SAVE_SETTINGS  		      // Need 6x, wait at least 35ms before next command
20 DIGITAL_CMD_SPIN_DIRECTION_NORMAL 	      // Need 6x, no wait required
21 DIGITAL_CMD_SPIN_DIRECTION_REVERSED 	      // Need 6x, no wait required
22 DIGITAL_CMD_LED0_ON 			      // No wait required
23 DIGITAL_CMD_LED1_ON 			      // No wait required
24 DIGITAL_CMD_LED2_ON 			      // No wait required
25 DIGITAL_CMD_LED3_ON 			      // No wait required
26 DIGITAL_CMD_LED0_OFF 		      // No wait required
27 DIGITAL_CMD_LED1_OFF 		      // No wait required
28 DIGITAL_CMD_LED2_OFF 		      // No wait required
29 DIGITAL_CMD_LED3_OFF 		      // No wait required
30 Audio_Stream mode on/Off		      // Currently not implemented
31 Silent Mode on/Off			      // Currently not implemented
32 DIGITAL_CMD_SIGNAL_LINE_TELEMETRY_DISABLE                  // Need 6x, no wait required
33 DIGITAL_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY          // Need 6x, no wait required
Commands are only executed when motors are stopped

Commands are valid for Dshot and Proshot input signals

DIGITAL_CMD_SIGNAL_LINE_ERPM_TELEMETRY: 100erpm per LSB, 409500erpm max


ESC_INFO layout for BLHeli_32:
1-12: ESC SN
13: Indicates which response version is used. 254 is for BLHeli_32 version.
14: FW revision (32 = 32)
15: FW sub revision (10 = xx.1, 11 = xx.11)
16: Unused
17: Rotation direction reversed by dshot command or not (1:0)
18: 3D mode active or not (1:0)
19: Low voltage protection limit [0.1V] (255 = not capable, 0 = disabled)
20: Current protection limit [A] (255 = not capable, 0 = disabled)
21: LED0 on or not (1:0, 255 = LED0 not present)
22: LED1 on or not (1:0, 255 = LED1 not present)
23: LED2 on or not (1:0, 255 = LED2 not present)
24: LED3 on or not (1:0, 255 = LED3 not present)
25-31: Unused
32-63: ESC signature
64: CRC (same CRC as is used for telemetry)