D-Drive 25amp ESC Downloads & Info (ESCape32)

Introducing the newest 32bit opensource technology with ESCape32! We're putting 32bit technology in the palm of your hand, with multi-platform access. Whether you're at your desktop, laptop, tablet, or cell phone using the ESCape32 Wifi-Link! Cross-platform compatibility is a snap, with no special downloads required, everything you need is accessed thru the Wifi-Link.
Simply connect thru Wifi, and experience even more tuning parameters than other popular 32bit firmware in the palm of your hand. We've added even more tuning parameters to ESCape32 that will provide more precise motor control and resolution. Featuring "bare-metal" based programming, most folks reporting a much more "connected" feel than they've experienced before! All while adding easier access to tuning then the competition!  Including custom programmable startup tones that allow you to play your favorite tune, or write your own, by using the native ESCape32 music format. Or by simply uploading your favorite RTTTL ring tone file, that is converted to the native music format.

• Cross-platform Wifi access on all devices
• Simple "Plug n' Play" access thru Wifi-Link
• Custom programmable startup tones
• Future-proof Wifi-Link programmer (sold separately)
• Sensorless brushless & brushed modes
• Advanced brushed mode settings
• Sinusoidal brushless mode for slow speed crawler control
• Programmable Low-Voltage Cutoff & Drag Brake
• Current limiter, telemetry, & frequency tuning



arm: 1
Enable arming (wait for 250ms zero throttle on startup):
0 : off
1 : on

damp: 1
Enable damped mode (complementary PWM, active freewheeling):
0 : off
1 : on

revdir: 0
Reversed motor direction:
0 : off
1 : on

brushed: 0
Enable brushed mode:
0 : off
1 : on
In this mode, the ESC can be used with brushed motors connected to phases A and B (or C and B). The following settings have no effect: timing , sine_range , sine_power , freq_max , duty_spup

timing: 4
Motor timing (3.75*X degrees) [1..7].

sine_range: 0
Sine startup range (%) [0 - off, 5..25].
This value sets the portion of throttle range dedicated to sine startup mode. Additionally, increasing duty_min a notch can help smooth out transition between sine startup and normal drive.
Damped mode must be enabled (the default) before sine startup mode can
be activated.

sine_power: 8
Sine startup power (%) [1..15]. Use caution because higher values may lead to motor overheating.

freq_min: 24
Minimum PWM frequency (kHz) [16..48].

freq_max: 48
Maximum PWM frequency (kHz) [16..96].
Smooth transition from minimum to maximum PWM
frequency happens across [30..60] kERPM range.

duty_min: 1
Minimum duty cycle (%) [1..100].

duty_max: 100
Maximum duty cycle (%) [1..100].

duty_spup: 10
Maximum duty cycle during spin-up (%) [1..25].
Higher values give more power to the motor until the first sync'ed revolution, yet may increase the risk of overheating should the motor get jammed during a full throttle punch.
Do not exceed the default value unless you know what you are doing.

duty_ramp: 0
Maximum duty cycle ramp (kERPM) [0..100].
This value enables maximum power limiting between 25% and 100% based on RPM.
It is most useful for taming a throttle punch at lower RPM.

duty_rate: 25
Acceleration slew rate (0.1*X %/ms) [1..100].
This value controls the speed of power increase during acceleration.
Should the motor stutter on a full throttle punch, try decreasing this value. Alternatively, you can try increasing timing albeit at the cost of efficiency and torque.

duty_drag: 75
Drag brake amount when the motor is stopped (%) [0..100].
This value is also a starting brake amount in proportional brake mode.

throt_mode: 0
Throttle mode:
0 : forward
1 : forward/reverse
2 : forward/brake/reverse (proportional brake mode)

throt_set: 0
Preset throttle (%) [0..100].
This value also serves as minimum throttle in analog mode.
Arming must be disabled before a non-zero value can be set.
For example: 
set arm 0
set volume 0
set throt_set 10

throt_cal: 1
Automatic throttle calibration for standard servo PWM frequencies, e.g. 50Hz, 100Hz, 125Hz, 200Hz,
250Hz, 333Hz:
0 : off
1 : on
This mode works by aligning the internal clock with servo PWM period that is a multiple of 1000µs, i.e. for servo PWM frequency F=1000/n where n=3..20.
It must be disabled should a non-standard servo PWM signal be used.

throt_min: 1000
Minimum throttle in servo PWM mode (µs).

throt_mid: 1500
Middle throttle in servo PWM mode (µs).

throt_max: 2000
Maximum throttle in servo PWM mode (µs).

input_mode: 0
Input mode:
0 : servo PWM, Oneshot125, DSHOT
1 : analog
2 : serial
3 : iBUS
4 : SBUS
set arm 0
set volume 0
set throt_set 10

Analog mode:
Available on ESCs with PA2/PA6 input pin.
Throttle is unidirectional.
Minimum throttle is 0.1V (anything below is zero throttle).
Maximum throttle is 3.2V and above.

Serial mode:
Available on ESCs with PA2 input pin.
16-bit value (first low byte, then high byte) is received at 115200 baud 8N1 following by at least
one idle character.
Lower 12 bits are throttle value from -2000 (full reverse) to 2000 (full forward).
Higher 4 bits are CRC (XOR'ed nibbles).
Update rate is 40Hz or higher.
SBUS is uninverted on AT32F421 MCU.

input_chid: 0
Serial channel ID [0 - off, 1..14 - iBUS, 1..16 - SBUS].

telem_mode: 0
Telemetry mode:
0 : KISS
1 : KISS auto
2 : iBUS
3 : S.Port
In KISS auto mode, telemetry data is sent every 32ms.
S.Port is uninverted on AT32F421 MCU.

telem_phid: 0
S.Port physical ID [0 - off, 1..28].

telem_poles: 14
Number of motor poles for RPM telemetry [2..100].
prot_temp: 0
Temperature threshold (˚C) [0 - off, 60..140].
If enabled, maximum power is reduced when the ESC becomes hotter than this temperature. The lowest maximum power is 25% at 15˚C above the threshold.

prot_volt: 0
Low voltage cutoff per battery cell (V/10) [0 - off, 28..38].

prot_cells: 0
Number of battery cells [0 - auto, 1..16].

prot_curr: 0
Maximum current (A) [0..255].

Startup music.
A sequence of characters is translated into music in the following way:
An optional number in the beginning defines tempo (BPM);
_ (underscore) is a pause;
cdefgab are low notes;
CDEFGAB are high notes;
# (pound) after a note makes it a sharp note;
n (number) after a note or pause is a duration: 1 - 1/16 (default), 2 - 1/8, 3 - 3/16, 4 - 1/4, etc.
+ (plus) enables octave shift;
- (minus) disables octave shift;

volume: 25
Sound volume (%) [0..100].

beacon: 50
Beacon volume (%) [0..100].

led: 0
LED on/off bits [0..15].


Latest Firmware version of ESCape32 for 25amp D-Drive:
ESCape32 firmware Rev.8

Latest Bootloader Installer for Migration from AM32 to ESCape32:

For all information about ESCape32, 
please go to escape32.org