SerialProtocol - neoxic/ESCape32 GitHub Wiki

460800 baud, 8 data bits, no parity, 1 stop bit.
Update rate is 40Hz or higher.
At least one idle character between frames.
Inbound frame format:
- Byte0: length (N)
- Byte1: descriptor
  - Command:
    - 0x00: throttle [-2000..2000]
    - 0x01: drag brake adjustment [0..100]
    - 0x02: normal motor direction
    - 0x03: reversed motor direction
    - 0x04: LED on/off bits [0..15]
  - Request:
    - 0x80: combined telemetry
    - 0x81: electrical revolution time (µs)
    - 0x82: temperature (˚C)
    - 0x83: voltage (V/100)
    - 0x84: current (A/100)
    - 0x85: consumption (mAh)
  - Note: Only the last descriptor can be a request.
- Byte2: value1 or low byte (if required)
- Byte3: value2 or high byte (if required)
- ...
- ByteN-1: CRC8 (byte0..byteN-2)
Outbound frame format:
- Combined telemetry (0x80):
  - Byte0: length (12)
  - Byte1: ESC temperature
  - Byte2: motor temperature
  - Byte3: voltage (low byte)
  - Byte4: voltage (high byte)
  - Byte5: current (low byte)
  - Byte6: current (high byte)
  - Byte7: consumption (low byte)
  - Byte8: consumption (high byte)
  - Byte9: electrical revolution time (low byte)
  - Byte10: electrical revolution time (high byte)
  - Byte11: CRC8 (byte0..byte10)
- Individual telemetry values (0x81..0x85):
  - Byte0: length (4)
  - Byte1: value1 or low byte
  - Byte2: value2 or high byte
  - Byte3: CRC8 (byte0..byte2)