From c1bbdb551f968536877d84b611535d7fd1938961 Mon Sep 17 00:00:00 2001 From: sskaug Date: Fri, 11 Aug 2017 17:30:47 +0200 Subject: [PATCH] Dshotprog specs --- BLHeli_32 ARM/Dshotprog spec.txt | 61 +++++++++++++++++++ .../Dshotprog spec BLHeli_S.txt | 11 ++-- 2 files changed, 67 insertions(+), 5 deletions(-) create mode 100644 BLHeli_32 ARM/Dshotprog spec.txt diff --git a/BLHeli_32 ARM/Dshotprog spec.txt b/BLHeli_32 ARM/Dshotprog spec.txt new file mode 100644 index 00000000..758676bf --- /dev/null +++ b/BLHeli_32 ARM/Dshotprog spec.txt @@ -0,0 +1,61 @@ +0 DSHOT_CMD_MOTOR_STOP, +1 DSHOT_CMD_BEEP1, // Wait length of beep before next command +2 DSHOT_CMD_BEEP2, +3 DSHOT_CMD_BEEP3, +4 DSHOT_CMD_BEEP4, +5 DSHOT_CMD_BEEP5, +6 DSHOT_CMD_ESC_INFO, // Wait at least 10ms before next command +7 DSHOT_CMD_SPIN_DIRECTION_1, // Need 9x +8 DSHOT_CMD_SPIN_DIRECTION_2, // Need 9x +9 DSHOT_CMD_3D_MODE_OFF, // Need 9x +10 DSHOT_CMD_3D_MODE_ON, // Need 9x +11 DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented +12 DSHOT_CMD_SAVE_SETTINGS, // Need 9x +20 DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 9x +21 DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 9x +22 DSHOT_CMD_LED0_ON, +23 DSHOT_CMD_LED1_ON, +24 DSHOT_CMD_LED2_ON, +25 DSHOT_CMD_LED3_ON, +26 DSHOT_CMD_LED0_OFF, +27 DSHOT_CMD_LED1_OFF, +28 DSHOT_CMD_LED2_OFF, +29 DSHOT_CMD_LED3_OFF, + DSHOT_CMD_MAX = 47 + +ESC_INFO layout 1 (KISS): +1-12: ESC SN +13: EEprom/version (1.01 == 101) +14, bit 8-6: ESC Type +14, bit 5-1: ESC sub version (a-z) +15: crc (same crc as is used for telemetry) + +ESC_INFO layout 2 (KISS): +1-12: ESC SN +13: now idicates if the new response is used. so if its 255 it is the new version. +14: EEprom/version (1.01 == 101) +15: ESC type (0-0x7F for KISS) +16: ESC sub version letter +17: rotation direction reversed by dshot command or not (1:0) +18: 3D mode active or not (1:0) +19: unused for now.. maybe used for new settings +20: unused for now.. maybe used for new settings +21: crc (same crc as is used for telemetry) + +ESC_INFO layout 3 (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) diff --git a/BLHeli_S SiLabs/Rev16.61 Dshotprog test code/Dshotprog spec BLHeli_S.txt b/BLHeli_S SiLabs/Rev16.61 Dshotprog test code/Dshotprog spec BLHeli_S.txt index b794dad8..64cf067d 100644 --- a/BLHeli_S SiLabs/Rev16.61 Dshotprog test code/Dshotprog spec BLHeli_S.txt +++ b/BLHeli_S SiLabs/Rev16.61 Dshotprog test code/Dshotprog spec BLHeli_S.txt @@ -1,9 +1,9 @@ 0 DSHOT_CMD_MOTOR_STOP, -1 DSHOT_CMD_BEEP1, -2 DSHOT_CMD_BEEP2, -3 DSHOT_CMD_BEEP3, -4 DSHOT_CMD_BEEP4, -5 DSHOT_CMD_BEEP5, +1 DSHOT_CMD_BEEP1, // Wait length of beep plus 100ms before next command +2 DSHOT_CMD_BEEP2, // Wait length of beep plus 100ms before next command +3 DSHOT_CMD_BEEP3, // Wait length of beep plus 100ms before next command +4 DSHOT_CMD_BEEP4, // Wait length of beep plus 100ms before next command +5 DSHOT_CMD_BEEP5, // Wait length of beep plus 100ms before next command 6 DSHOT_CMD_ESC_INFO, // Currently not implemented 7 DSHOT_CMD_SPIN_DIRECTION_1, // Need 9x 8 DSHOT_CMD_SPIN_DIRECTION_2, // Need 9x @@ -24,3 +24,4 @@ DSHOT_CMD_MAX = 47 +