SerialProtocol - neoxic/ESCape32 GitHub Wiki

460800 baud, 8 data bits, no parity, 1 stop bit.
Update rate is 40Hz or higher.
Inbound frame format:
- Byte0: descriptor
  - Low nibble: value type
    - 0x0: none
    - 0x1: throttle [-2000..2000]
    - 0x2: reversed motor direction [0..1]
    - 0x3: drag brake power [0..100]
    - 0x4: LED on/off bits [0..15]
  - High nibble: request type
    - 0x0: none
    - 0x8: combined telemetry
    - 0x9: electrical revolution time (µs)
    - 0xA: ESC temperature (˚C)
    - 0xB: motor temperature (˚C)
    - 0xC: voltage (V/100)
    - 0xD: current (A/100)
    - 0xE: consumption (mAh)
- Byte1: value (low byte)
- Byte2: value (high byte)
- Byte3: CRC8 (byte0..byte2)
Outbound frame format:
- Combined telemetry (0x8):
  - Byte0: ESC temperature
  - Byte1: motor temperature
  - Byte2: voltage (low byte)
  - Byte3: voltage (high byte)
  - Byte4: current (low byte)
  - Byte5: current (high byte)
  - Byte6: consumption (low byte)
  - Byte7: consumption (high byte)
  - Byte8: electrical revolution time (low byte)
  - Byte9: electrical revolution time (high byte)
  - Byte10: CRC8 (byte0..byte9)
- Individual telemetry values (0x9..0xE):
  - Byte0: value (low byte)
  - Byte1: value (high byte)
  - Byte2: CRC8 (byte0..byte1)