ES2ESC - etransport/ninebot-docs GitHub Wiki

Ninebot ES2 ESC (motor controller)

Memory map

Addr	Name
08000000	bootloader
08001000	app
0800E800	update
0801C000	app_config
0801F800	upd_config

MCU I/O ports

I/O	Pin	Mode	Periph	Function
PA0	10	AIN	ADC1	ESC temperature NTC - not installed
PA1	11	AIN	ADC1	Motor supply rail V
PA6	16	AIN	ADC1	Int battery V
PA7	17	AIN	ADC1	Ext battery V
PB2	20	AIN	?	BOOT1 10k to GND
PD0	5	OPP	-	Ext battery FET
PD1	6	OPP	-	Int battery FET
PB9	46	AFOD	TIM2	Tail light
PB4	40	IN	TIM3	HALL_A
PB5	41	IN	TIM3	HALL_B
PB0	18	IN	TIM3	HALL_C
PB3	39	AFPP	DMA1	Bottom lights? J4.blue
PA15	38	OPP	-	LED
PA8	29	AFPP	TIM1	MOTOR_H_A
PA9	30	AFPP	TIM1	MOTOR_H_B
PA10	31	AFPP	TIM1	MOTOR_H_C
PB13	26	AFPP	TIM1	MOTOR_L_A
PB14	27	AFPP	TIM1	MOTOR_L_B
PB15	28	AFPP	TIM1	MOTOR_L_C
PA11	32	OPP	-	PS_HOLD
PA12	33	IN	-	Power button
PA3	13	AIN	ADC1/2	IA
PA4	14	AIN	ADC1/2	IB
PA5	15	AIN	ADC1/2	IC
PA2	12	AFOD	USART2	BLE RxTx "port 1", 115200
PB10	21	AFPP	USART3	INT BMS TxD, 115200, "port 0"
PB11	22	IN	USART3	INT BMS RxD
PB6	42	AFOD	USART1	EXT BMS TxD, 115200, "port 2"
PB7	43	IN	USART1	EXT BMS RxD

Error codes

Code	Description
10	No communication with BLE board
11	Motor phase A current out of range
12	Motor phase B current out of range
13	Motor phase C current out of range
14	Throttle handle position out of range
15	Brake handle position out of range
18	Motor Hall sensors stuck at 0/1
19	Internal battery voltage out of range
20	External battery voltage out of range
21	No communication with internal BMS
22	Internal BMS config invalid
23	Internal BMS not activated (has default S/N)
24	Supply voltage out of range
27	ESC config invalid
32	No communication with IoT device
35	ESC not activated (has default S/N)
36	Internal BMS - ???
37	Internal BMS - ???
38	Charging overcurrent
39	Internal battery overheat
41	External battery overheat
42	No communication with external BMS
43	External BMS config invalid
44	External BMS not activated (has default S/N)
45	Internal BMS deep cell discharge
46	External BMS deep cell discharge
47	Internal BMS - ???
48	External BMS - ???
49	Internal BMS firmware version mismatch
50	External BMS firmware version mismatch

Registers

Index	Size	Permission	Description
00	U16	R	Magic 0x515C
0D	U16	R	Motor phase A current
0E	U16	R	Motor phase B current
0F	U16	R	Motor phase C current
10	14xU8	R	ESC serial number
17	6xU8	R/W	Scooter PIN
1A	U16	R	ESC firmware version
1B	U16	R	Error code
1C	U16	R	Alarm code
1D	U16	R	ESC status (boolean state word)
1F	U16	R	Current operation mode, 0 NORMAL; 1 ECO; 2 SPORT
20	U16	R	Volume of storage battery 1
21	S16	R	Volume of storage battery 2
22	U16	R	Battery level, 0-100%
24	S16	R	Remaining mileage x0.8, km*100 (unit:10m)
25	S16	R	Predicted remaining mileage, km*100 (unit:10m)
26	S16	R	Current speed, 0.1km/h
29	S32	R	Total mileage, m
2F	S16	R	Current mileage,10m
32	S32	R	Total operation time, sec
34	S32	R	Total riding rime, sec
3A	S16	R	Single operation time, sec
3B	S16	R	Single riding time, sec
3E	S16	R	Frame temperature, 0.1C
3F	S16	R	Battery 1 temperature, 0.1C
40	S16	R	Battery 2 temperature, 0.1C
41	S16	R	MOS pipe temperature, 0.1C
47	S16	R	ESC supply voltage (measured by ESC)
48	S16	R	Battery voltage (from BMS)
49	S16	R	Battery current (from BMS)
50	S16	R	External battery temperature 2, 1C
53	S16	R	Motor phase current, 0.01A
65	S16	R	Average speed, 0.1km/h
66	U16	R	External battery firmware version
67	U16	R	Internal battery firmware version
68	U16	R	BLE firmware version
70	S16	R/W	Lock command (write 1 to lock), scooter reset automatically
71	S16	R/W	Unlock command (write 1 to unlock), scooter reset automatically
72	S16	R/W	Speed limit or speed limit release
73	S16	R/W	Speed limit value in normal mode, 0.1km/h
74	S16	R/W	Speed limit value in eco mode, 0.1km/h
75	S16	R/W	Operating mode: 0 NORMAL; 1 ECO; 2 SPORT;
77	S16	R/W	Start or shut down the engine
78	S16	R/W	Reboot command (write 1 to reboot)
79	S16	R/W	Powerdown command (write 1 to power off)
7A	S16	R/W	?
7B	S16	R/W	KERS level
7C	S16	R/W	Cruise control enable
7D	S16	W	Tail light on
B0	S16	R	Error code
B1	S16	R	Alarm code
B2	S16	R	ESC status (boolean state word)
B3	S16	R	Volume of battery 1 and battery 2. Lower 8 for #1, higher for #2. 0-100%
B4	S16	R	Battery level, 0-100%
B5	S16	R	Current speed, 100m/h (1=0.1km/h)
B6	S16	R	Average speed, 100m/h (1=0.1km/h)
B7	S32	R	Total mileage, m
B9	S16	R	Single mileage, m*10
BA	S16	R	Single operation time
BB	S16	R	Frame temperature, 0.1C
BC	S16	R	Current speed limit value, with the lower 8b for current and higher 8b for full range, 0.1km/h
BD	S16	R	Scooter power, unit:W
BE	S16	R	Previous alarm code (for delay reset)
BF	S16	R	Predicted remaining mileage, km*100 (unit:10m)
C6	S16	?	Display mode of chassis lamp strip
C8	2xS16	R/W	Color of chassis lamp strip 1
CA	2xS16	R/W	Color of chassis lamp strip 2
CC	2xS16	R/W	Color of chassis lamp strip 3
CE	2xS16	R/W	Color of chassis lamp strip 4