Read/Write Driver Parameters
This document describes how to read or write most driver parameters of the ESCx controller.
tip
This protocol is not designed for service configuration, such as motor characterization, etc. That is why only some parameters are exposed. Always use the SWTools to gain full access to the service settings.
info
- All listed datagram types are unicast with SID = 24
- All listed payloads use big-endian format
warning
Message - Read Parameter with Index
Retrieves Driver parameters with array indexing support.
| Payload byte | Description |
|---|---|
| 0 | 0x02 |
| 1 | ID of requested parameter |
| 2 | Array member index. Use 0x00 for non-array items. Value 0xFF is reserved for error indication. |
Response
| Payload byte | Description |
|---|---|
| 0 | 0x42 |
| 1 | ID of requested parameter |
| 2 | Array member index. Use 0x00 for non-array items. Value 0xFF indicates error code in following two bytes. |
| 3-6 | Data (length depends on parameter datatype, big-endian, MSB first) |
Message - Write Parameter with Index
Modifies Driver parameters with array indexing support.
| Payload byte | Description |
|---|---|
| 0 | 0x03 |
| 1 | ID of requested parameter |
| 2 | Array member index. Use 0x00 for non-array items. Value 0xFF is reserved for error indication. |
| 3-6 | Data (length depends on parameter datatype, big-endian, MSB first) |
Response
| Payload byte | Description |
|---|---|
| 0 | 0x43 |
| 1 | ID of requested parameter |
| 2 | Array member index. Use 0x00 for non-array items. Value 0xFF indicates error code in following two bytes. |
| 3-4 | Omitted if successful. Otherwise contains parameter error response. |
Message - Read Parameter with Index and Datatype Conversion
Retrieves Driver parameters with datatype conversion support.
| Payload byte | Description |
|---|---|
| 0 | 0x12 |
| 1 | ID of requested parameter |
| 2 | Type code. Use 0x00 for native format; other values request conversion to specified format when possible. |
Response
| Payload byte | Description |
|---|---|
| 0 | 0x52 |
| 1 | ID of requested parameter |
| 2 | Array member index. Use 0x00 for non-array items. Value 0xFF indicates error code in following two bytes. |
| 3-6 | Data (length depends on parameter datatype, big-endian, MSB first) |
Message - Write Parameter with Index and Datatype Conversion
Modifies Driver parameters with datatype conversion support.
| Payload byte | Description |
|---|---|
| 0 | 0x13 |
| 1 | ID of requested parameter |
| 2 | Type code. Use 0x00 for native format; other values specify input data format. |
| 3-6 | Data (length depends on parameter datatype, big-endian, MSB first) |
Response
| Payload byte | Description |
|---|---|
| 0 | 0x53 |
| 1 | ID of requested parameter |
| 2 | Array member index. Use 0x00 for non-array items. Value 0xFF indicates error code in following two bytes. |
| 3-4 | Omitted if successful. Otherwise contains parameter error response. |
Datatypes Code
| Code | Datatype |
|---|---|
| 0x00 | Not specified (native datatype) |
| 0x01 | int8 |
| 0x02 | uint8 |
| 0x03 | int16 |
| 0x04 | uint16 |
| 0x05 | int32 |
| 0x06 | uint32 |
| 0x09 | float |
| 0x0B | string |
Parameter Error Response
| Code | Description |
|---|---|
| -1 | Parameter ID out of range (invalid value) |
| -2 | Parameter does not exist |
| -3 | Variable exists but is not a parameter (write not allowed) |
| -4 | Value below parameter minimum |
| -5 | Value above parameter maximum |
| -6 | Invalid value for discrete parameter |
Message - Read API Version and Driver Type
| Payload byte | Description |
|---|---|
| 0 | 0x00 |
Response
| Payload byte | Description |
|---|---|
| 0 | 0x40 |
| 1 | Driver type: VECTOR = 0x20, BLDC = 0x10 |
| 2-5 | [uint32] Driver API version |
Current API version: 2