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ES2ESC

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flowswitch edited this page Jun 20, 2019 · 8 revisions

Ninebot ES2 ESC (motor controller)

Memory map

Addr Name
08000000 bootloader
08001000 app
0800E800 update
0801C000 app_config
0801F800 upd_config

MCU I/O ports

I/O Pin Mode Periph Function
PA0 10 AIN ADC1 ESC temperature NTC - not installed
PA1 11 AIN ADC1 Motor supply rail V
PA6 16 AIN ADC1 Int battery V
PA7 17 AIN ADC1 Ext battery V
PB2 20 AIN ? BOOT1 10k to GND
PD0 5 OPP - Ext battery FET
PD1 6 OPP - Int battery FET
PB9 46 AFOD TIM2 Tail light
PB4 40 IN TIM3 HALL_A
PB5 41 IN TIM3 HALL_B
PB0 18 IN TIM3 HALL_C
PB3 39 AFPP DMA1 Bottom lights? J4.blue
PA15 38 OPP - LED
PA8 29 AFPP TIM1 MOTOR_H_A
PA9 30 AFPP TIM1 MOTOR_H_B
PA10 31 AFPP TIM1 MOTOR_H_C
PB13 26 AFPP TIM1 MOTOR_L_A
PB14 27 AFPP TIM1 MOTOR_L_B
PB15 28 AFPP TIM1 MOTOR_L_C
PA11 32 OPP - PS_HOLD
PA12 33 IN - Power button
PA3 13 AIN ADC1/2 IA
PA4 14 AIN ADC1/2 IB
PA5 15 AIN ADC1/2 IC
PA2 12 AFOD USART2 BLE RxTx "port 1", 115200
PB10 21 AFPP USART3 INT BMS TxD, 115200, "port 0"
PB11 22 IN USART3 INT BMS RxD
PB6 42 AFOD USART1 EXT BMS TxD, 115200, "port 2"
PB7 43 IN USART1 EXT BMS RxD

Error codes

Code Description
10 No communication with BLE board
11 Motor phase A current out of range
12 Motor phase B current out of range
13 Motor phase C current out of range
14 Throttle handle position out of range
15 Brake handle position out of range
18 Motor Hall sensors stuck at 0/1
19 Internal battery voltage out of range
20 External battery voltage out of range
21 No communication with internal BMS
22 Internal BMS config invalid
23 Internal BMS not activated (has default S/N)
24 Supply voltage out of range
27 ESC config invalid
32 No communication with IoT device
35 ESC not activated (has default S/N)
36 Internal BMS - ???
37 Internal BMS - ???
38 Charging overcurrent
39 Internal battery overheat
41 External battery overheat
42 No communication with external BMS
43 External BMS config invalid
44 External BMS not activated (has default S/N)
45 Internal BMS deep cell discharge
46 External BMS deep cell discharge
47 Internal BMS - ???
48 External BMS - ???
49 Internal BMS firmware version mismatch
50 External BMS firmware version mismatch

Registers

Index Size Permission Description
00 U16 R Magic 0x515C
0D U16 R Motor phase A current
0E U16 R Motor phase B current
0F U16 R Motor phase C current
10 14xU8 R ESC serial number
17 6xU8 R/W Scooter PIN
1A U16 R ESC firmware version
1B U16 R Error code
1C U16 R Alarm code
1D U16 R ESC status (boolean state word)
1F U16 R Current operation mode, 0 NORMAL; 1 ECO; 2 SPORT
20 U16 R Volume of storage battery 1
21 S16 R Volume of storage battery 2
22 U16 R Battery level, 0-100%
24 S16 R Remaining mileage x0.8, km*100 (unit:10m)
25 S16 R Predicted remaining mileage, km*100 (unit:10m)
26 S16 R Current speed, 0.1km/h
29 S32 R Total mileage, m
2F S16 R Current mileage,10m
32 S32 R Total operation time, sec
34 S32 R Total riding rime, sec
3A S16 R Single operation time, sec
3B S16 R Single riding time, sec
3E S16 R Frame temperature, 0.1C
3F S16 R Battery 1 temperature, 0.1C
40 S16 R Battery 2 temperature, 0.1C
41 S16 R MOS pipe temperature, 0.1C
47 S16 R ESC supply voltage (measured by ESC)
48 S16 R Battery voltage (from BMS)
49 S16 R Battery current (from BMS)
50 S16 R External battery temperature 2, 1C
53 S16 R Motor phase current, 0.01A
65 S16 R Average speed, 0.1km/h
66 U16 R External battery firmware version
67 U16 R Internal battery firmware version
68 U16 R BLE firmware version
70 S16 R/W Lock command (write 1 to lock), scooter reset automatically
71 S16 R/W Unlock command (write 1 to unlock), scooter reset automatically
72 S16 R/W Speed limit or speed limit release
73 S16 R/W Speed limit value in normal mode, 0.1km/h
74 S16 R/W Speed limit value in eco mode, 0.1km/h
75 S16 R/W Operating mode: 0 NORMAL; 1 ECO; 2 SPORT;
77 S16 R/W Start or shut down the engine
78 S16 R/W Reboot command (write 1 to reboot)
79 S16 R/W Powerdown command (write 1 to power off)
7A S16 R/W ?
7B S16 R/W KERS level
7C S16 R/W Cruise control enable
7D S16 W Tail light on
B0 S16 R Error code
B1 S16 R Alarm code
B2 S16 R ESC status (boolean state word)
B3 S16 R Volume of battery 1 and battery 2. Lower 8 for #1, higher for #2. 0-100%
B4 S16 R Battery level, 0-100%
B5 S16 R Current speed, 100m/h (1=0.1km/h)
B6 S16 R Average speed, 100m/h (1=0.1km/h)
B7 S32 R Total mileage, m
B9 S16 R Single mileage, m*10
BA S16 R Single operation time
BB S16 R Frame temperature, 0.1C
BC S16 R Current speed limit value, with the lower 8b for current and higher 8b for full range, 0.1km/h
BD S16 R Scooter power, unit:W
BE S16 R Previous alarm code (for delay reset)
BF S16 R Predicted remaining mileage, km*100 (unit:10m)
C6 S16 ? Display mode of chassis lamp strip
C8 2xS16 R/W Color of chassis lamp strip 1
CA 2xS16 R/W Color of chassis lamp strip 2
CC 2xS16 R/W Color of chassis lamp strip 3
CE 2xS16 R/W Color of chassis lamp strip 4
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