M365ESC - etransport/ninebot-docs GitHub Wiki

Xiaomi M365 ESC (motor controller)

Hardware

Ref	Name	Manufacturer	Function
U3	TPS563200	TI	DC-DC step-down converter (12V->5V)
U4	TPS54160A	TI	DC-DC step-down converter (VBAT->12V)
U5	SPX3819M5-L-3-3	Exar	3.3V LDO (5V->3V)
U6	STM32F103C8T6	ST	Cortex-M3 MCU

MCU I/O ports

I/O	Pin	Mode	Periph	Function
PD1	6	OPP	-	LED
PA2	12	AIN	ADC1	VBatt
PA0	10	AIN	ADC1	ESC temperature NTC
PA15	38	AFOD	TIM2	Tail light
PC14	3	INF	-	Power button
PC15	4	OPP	-	PS_HOLD
PB4	40	INF	TIM3	HALL_A
PB5	41	INF	TIM3	HALL_B
PB0	18	INF	TIM3	HALL_C
PA8	29	AFPP	TIM1	MOTOR_HFET_A
PA9	30	AFPP	TIM1	MOTOR_HFET_B
PA10	31	AFPP	TIM1	MOTOR_HFET_C
PB13	26	AFPP	TIM1	MOTOR_LFET_A
PB14	27	AFPP	TIM1	MOTOR_LFET_B
PB15	28	AFPP	TIM1	MOTOR_LFET_C
PA3	13	AIN	ADC1/2	IA
PA4	14	AIN	ADC1/2	IB
PA5	15	AIN	ADC1/2	IC
PA6	16	AIN	ADC1/2	VA
PA7	17	AIN	ADC1/2	VB (not used)
PA9	19	AIN	ADC1/2	VC (not processed
PB6	42	AFOD	USART1	BLE RxTx, 115200, single wire half-duplex
PB7	43	INF	USART1	Not used
PB11	22	INF	USART3	BMS RxD, 115200
PB10	21	AFPP	USART3	BMS TxD

Memory map

Addr	Name
08000000	bootloader
08001000	app
08008400	update
0800F800	app_config
0800FC00	upd_config

Error codes

Code	Description
1	Boot: UpdConfig.size invalid
2	Boot: Flash erase failed
3	Boot: Flash program failed
4	Boot: WriteUpdConfig failed
5	Boot: App MSP invalid
6	Boot: Update MSP invalid
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
21	No communication with BMS
22	BMS config invalid
23	BMS not activated (has default S/N)
24	Supply voltage out of range
27	ESC config invalid
28	Motor overvoltage in idle
29	Motor voltage out of range
35	ESC not activated (has default S/N)
39	Battery overheat
40	ESC overheat

Registers

Index	Size	Writable	Description
00	2	-	Magic 0x515C
0D	2	-	Motor phase A current
0E	2	-	Motor phase B current
0F	2	-	Motor phase C current
10	E	-	ESC serial number
17	6	+	Scooter PIN
1A	2	-	ESC firmware version
1B	2	-	Error code
1C	2	-	Warning code
1D	2	-	ESC status
1F	2	-	?
22	2	-	Battery level, %
24	2	-	Remaining mileage x0.8, km*100
25	2	-	Remaining mileage, km*100
26	2	-	Speed
29	4	-	Total mileage, m
2F	2	-	Current mileage
32	4	-	Total run time
34	4	-	? some run time
3A	2	-	? trip time
3B	2	-	? trip time
3E	2	-	Frame temperature
47	2	-	ESC supply voltage (measured by ESC)
48	2	-	Battery voltage (from BMS)
50	2	-	Battery current (from BMS)
53	2	-	?
65	2	-	Average speed
67	2	-	BMS firmware version
68	2	-	BLE firmware version
69	2	-	?
70	2	+	Lock command (write 1 to lock)
71	2	+	Unlock command (write 1 to unlock)
74	2	+	?
75	2	+	Eco mode
78	2	+	Reboot command (write 1 to reboot)
79	2	+	Powerdown command (write 1 to power off)
7A	2	+	?
7B	2	+	KERS level
7C	2	+	Cruise control enable
7D	2	+	Tail light on
B0	2	-	Error code
B1	2	-	Warning code
B2	2	-	ESC status
B3	2	-	?
B4	2	-	Battery level, %
B5	2	-	Speed, m/h
B6	2	-	Average speed
B7	4	-	Total mileage, m
B9	2	-	Trip distance, m*10
BA	2	-	?
BB	2	-	Frame temperature
BE	2	+	Previous warning code
C6	2	-	?
C8	2	-	?
CA	2	-	?
CC	2	-	?
CE	2	-	?
DA	C	-	MCU UID copy (ESC activation)