ESCape32 release 12

Firmware revision 12 (patch 3)

• Hybrid mode (sensored/sensorless)
• Active drag brake (motor lock)
• Forward-only proportional brake mode
• Combine DSHOT commands 43/44 into one
• Change default "duty_rate" to 30
• Fix possible RPM jump on the way from sine to trap
• Fix missing drag brake after low voltage cutoff
• Fix critical bug in music playing routine (!!!)

Bootloader revision 3

• Add IO/MCU info

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Backward incompatible changes:

• SBUS2 telemetry slot numbers have been changed to accommodate for motor temperature
• Native serial telemetry has been amended to include motor temperature

Please refer to the Wiki for more information: wiki.escape32.org

ESCape32 release 11

Firmware revision 11

• Stall protection
• 15/16 degree timing resolution
• Configurable analog throttle setpoints
• Default duty_spup is reverted back to 15 with maximum capped removed
• Symmetric duty_rate

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Changes to configuration parameters:

• timing is now in 15/16 (0.9375) degree increments (in order to convert an old value to a new value, multiply by 4)

Please refer to the Wiki for more information: wiki.escape32.org

ESCape32 release 10

Firmware revision 10

Technical release that brings improvements for high RPM applications, temperature protection improvements, minor bug fixes and support for STM32G431 MCUs.

ESCape32 release 9

Firmware revision 9

• New native bidirectional serial protocol
• Support for SBUS2/CRSF input and telemetry
• Support for multiple ESCs on iBUS telemetry bus via telem_chid
• Require power cycle for telem_mode to take effect
• Engage drag brake only after rotor has stopped
• Take lowest ramp point from duty_spup rather than fixed 25%
• Maximum duty_spup is 50 (was 25)
• Default duty_drag is 0 (was 75)

Bootloader revision 2 (patch 1)

• PA2 pass control faster on invalid signal

ESCape32 release 8

Firmware revision 8

• Music format extensions to better accommodate for RTTTL
• Fix bug when watchdog reset was delayed while playing music
• Fix brushed mode (broken in Rev7)
• Require power cycling for brushed mode

ESCape32 release 7

Firmware revision 7

• Maximum duty cycle ramp
• Fixed throttle mode

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Changes to configuration parameters:

• duty_ramp is now maximum duty cycle RPM-based ramp
• duty_rate is now acceleration slew rate (formerly duty_ramp)

Changes to DSHOT commands:

• Command 42 now selects maximum duty cycle ramp value in tens of kERPM
• Commands 43/44 increase/decrease acceleration slew rate

Please refer to the Wiki for more information: http://wiki.escape32.org

ESCape32 release 6

Firmware revision 6

• Brushed mode
• Drag brake at 75% by default
• DSHOT command 40 (select timing)
• DSHOT command 41 (select PWM frequency)

ESCape32 release 5

Firmware revision 5

• DSHOT 1200
• Servo PWM up to 500Hz
• Oneshot125 up to 4kHz

ESCape32 release 4

Firmware revision 4

• Improved acceleration and desync detection
• Maximum duty_spup at 25% for safety
• Fractional duty_ramp
• CLI reset command saves settings
• DSHOT command 47 resets settings
• Audio feedback tones for better simultaneous beeping
• Account for HV lipos during cell count autodetection

ESCape32 release 3

Firmware revision 3

• Sine startup mode