ESCape32

Firmware for 32-bit BLDC motor electronic speed controllers that aims for simplicity. It is designed to deliver smooth and efficient motor drive, fast transitions from a complete stop to full throttle, robust direction reversals, and maximum hardware support.

Features

• Servo PWM, Oneshot125, automatic throttle calibration
• DSHOT 300/600/1200, bidirectional DSHOT, extended telemetry
• Analog/serial/iBUS/SBUS/SBUS2/CRSF/EXBUS/HoTT input mode
• KISS/iBUS/S.Port/CRSF/MSB/HoTT telemetry
• DSHOT 3D mode, turtle mode, beacon, LED, programming
• Sine startup mode, brushed mode, hybrid mode (sensored/sensorless)
• Proportional brake, adjustable drag brake
• Temperature/voltage/current/stall protection
• Variable PWM frequency, active freewheeling
• Customizable startup music/sounds

Installation

The list of compatible ESCs can be found here.

The latest release can be downloaded here.

Visit the ESCape32 Wiki for more information.

Dependencies

• cmake
• arm-none-eabi-gcc
• arm-none-eabi-binutils
• arm-none-eabi-newlib
• libopencm3
• stlink

Building from source

Use LIBOPENCM3_DIR to specify a path to LibOpenCM3 if it is not in the system root:

git clone https://github.com/libopencm3/libopencm3.git
make -C libopencm3 TARGETS='stm32/f0 stm32/g0 stm32/g4 stm32/l4'
cmake -B build -D LIBOPENCM3_DIR=libopencm3

Use CMAKE_INSTALL_PREFIX to specify an alternative system root:

cmake -B build -D CMAKE_INSTALL_PREFIX=~/local

To build all targets, run:

cmake -B build
cd build
make

To flash a particular target using an ST-LINK programmer, run:

make flash-<target>

Building on GitHub

• Fork the repository.
• Go to Actions.
• Run the Build ESCape32 workflow.