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51 lines
2.7 KiB

  1. 0 DIGITAL_CMD_MOTOR_STOP // Currently not implemented
  2. 1 DIGITAL_CMD_BEEP1 // Wait at least length of beep (260ms) before next command
  3. 2 DIGITAL_CMD_BEEP2 // Wait at least length of beep (260ms) before next command
  4. 3 DIGITAL_CMD_BEEP3 // Wait at least length of beep (280ms) before next command
  5. 4 DIGITAL_CMD_BEEP4 // Wait at least length of beep (280ms) before next command
  6. 5 DIGITAL_CMD_BEEP5 // Wait at least length of beep (1020ms) before next command
  7. 6 DIGITAL_CMD_ESC_INFO // Wait at least 12ms before next command
  8. 7 DIGITAL_CMD_SPIN_DIRECTION_1 // Need 6x, no wait required
  9. 8 DIGITAL_CMD_SPIN_DIRECTION_2 // Need 6x, no wait required
  10. 9 DIGITAL_CMD_3D_MODE_OFF // Need 6x, no wait required
  11. 10 DIGITAL_CMD_3D_MODE_ON // Need 6x, no wait required
  12. 11 DIGITAL_CMD_SETTINGS_REQUEST // Currently not implemented
  13. 12 DIGITAL_CMD_SAVE_SETTINGS // Need 6x, wait at least 35ms before next command
  14. 20 DIGITAL_CMD_SPIN_DIRECTION_NORMAL // Need 6x, no wait required
  15. 21 DIGITAL_CMD_SPIN_DIRECTION_REVERSED // Need 6x, no wait required
  16. 22 DIGITAL_CMD_LED0_ON // No wait required
  17. 23 DIGITAL_CMD_LED1_ON // No wait required
  18. 24 DIGITAL_CMD_LED2_ON // No wait required
  19. 25 DIGITAL_CMD_LED3_ON // No wait required
  20. 26 DIGITAL_CMD_LED0_OFF // No wait required
  21. 27 DIGITAL_CMD_LED1_OFF // No wait required
  22. 28 DIGITAL_CMD_LED2_OFF // No wait required
  23. 29 DIGITAL_CMD_LED3_OFF // No wait required
  24. 30 Audio_Stream mode on/Off // Currently not implemented
  25. 31 Silent Mode on/Off // Currently not implemented
  26. 32 DIGITAL_CMD_SIGNAL_LINE_TELEMETRY_DISABLE // Need 6x, no wait required
  27. 33 DIGITAL_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY // Need 6x, no wait required
  28. Commands are only executed when motors are stopped
  29. Commands are valid for Dshot and Proshot input signals
  30. DIGITAL_CMD_SIGNAL_LINE_ERPM_TELEMETRY: 100erpm per LSB, 409500erpm max
  31. ESC_INFO layout for BLHeli_32:
  32. 1-12: ESC SN
  33. 13: Indicates which response version is used. 254 is for BLHeli_32 version.
  34. 14: FW revision (32 = 32)
  35. 15: FW sub revision (10 = xx.1, 11 = xx.11)
  36. 16: Unused
  37. 17: Rotation direction reversed by dshot command or not (1:0)
  38. 18: 3D mode active or not (1:0)
  39. 19: Low voltage protection limit [0.1V] (255 = not capable, 0 = disabled)
  40. 20: Current protection limit [A] (255 = not capable, 0 = disabled)
  41. 21: LED0 on or not (1:0, 255 = LED0 not present)
  42. 22: LED1 on or not (1:0, 255 = LED1 not present)
  43. 23: LED2 on or not (1:0, 255 = LED2 not present)
  44. 24: LED3 on or not (1:0, 255 = LED3 not present)
  45. 25-31: Unused
  46. 32-63: ESC signature
  47. 64: CRC (same CRC as is used for telemetry)