VOXL Mini 4-in-1 ESC Datasheet

Hardware Overview

This Mini ESC is designed for aerial vehicles under 750g (under 500g for FPV racing applications). For larger slow flying vehicles up to 1500g, please use the VOXL 4-in-1 ESC. For FPV racers exceeding 500g, please use VOXL 4-in-1 FPV ESC.

Dimensions

M0129 VOXL Mini 4-in-1 ESC 3D CAD

Specifications

	Details
Power Input	2-4S Lipo (6-18V) : M0129-3 and M0129-5 variants. Supports 4S LiHV
	2-6S Lipo (6-26V) : M0129-63 and M0129-65 variants. Supports 6S LiHV

Main Power Output	3.8V (M0129-3, M0129-63) or 5.0V (M0129-5, M0129-65) @ 5A - (select correct version)
AUX Power Output	3.3V or 5.0V @ 500mA (default 3.3V, SW-controlled)

Features	Open-loop control (set desired % power)
	Closed-loop RPM control (set desired RPM), used in PX4 driver
	Regenerative braking
	Smooth sinusoidal spin-up
	Tone generation using motors
	Real-time RPM, temperature, voltage, current feedback via UART
Communications	Supported by VOXL 2, VOXL 2 Mini, VOXL Flight, VOXL and Flight Core
	Dual Bi-directional UART up to 2Mbit/s (3.3VDC logic-level)

Connectors	4-pin JST GH for UART communication, solder pads for 3.8V output

Hardware	MCU : STM32F051K86 @ 48Mhz, 64KB Flash
	Mosfet Driver : MP6531
	Mosfets : CSD17575Q3 (N-channel)
	Current Sensing : 0.5mOhm + INA186 (total current only)
	ESD Protection : Yes (on UART and PWM I/O)
	Temperature Sensing : Yes
	On-board Status LEDs : Yes
	Weight (no wires) : 5.87g
	Motor Connectors: N/A (solder pads)
PX4 Integration	Supported in PX4 1.12 and higher
	Available here
Resources	Manual
	PX4 Integration User Guide

Connector Information and Pin-outs

UART Connector J1

Used for UART communication with the ESC
Connector on board : BM04B-GHS-TBT
Mating connector : GHR-04V-S
Pre-crimped wires : (Digikey) AGHGH28K152 or similar
3.3V signals (5.0V input is acceptable)

Pin >	1	2	3	4
Function >	N/C	UART RX (IN)	UART TX (OUT)	GND

Neopixel LED Support

Single Neopixel RGB LED outputs is available, up to 32 LEDs
Use test point labeled ⬇️ (pointing into center of the board) in the AUX UART section of the ESC (AUX UART is not used)
The I/O pin is connected to ESC ID0 PB6 (3.3V levels)
➕ output provides 3.3V output for the LED array
Test tools: voxl-esc-neopixel-test.py
Integration with PX4 is done via voxl_esc driver and modal_io_bridge

PWM Inputs / Outputs

Four independent PWM input / output pins are available, one pin per ESC channel
Use test points G (GND), A0, A1, A2, A3
PWM pin A0 is connected to ESC ID0, A1 -> ESC ID1, and so on (3.3V levels)
⚠️Solder carefully to test points and use strain relief to avoid damaging the pads
PWM input enabled in ESC firmware 39.13 or later, PWM output in 39.18 or later
Operating mode of PWM pins
- Default mode of PWM pins is PWM input. In absence of UART communication, PWM pins can be used to control the ESC power using standard PWM signal (1-2ms)
- Upon detecting any UART communication by ESC, PWM input is disabled until power reset
- PWM output can be enabled by sending specific message to the ESC via UART interface
PWM output mode specifications
- 3 frequency modes (50hz, 200hz, 400hz)
- enable or disable timeout (0.5s). If timeout is enabled, PWM output will be disabled (set to low state) after 0.5s of no commands
- output range 0-2200 us with 0.05us resolution, special value of 2201us will force HIGH state (can be used as GPIO)
Test tools: voxl-esc-pwm.py
- this tool can only be used while PX4 is not running, since it needs direct access to the UART port
Integration with PX4 is done via voxl_esc px4 driver and modal-io-server . voxl-send-esc-pwm-cmd
- this tool will send a control message to PX4 (voxl_esc driver) and the driver will forward the PWM command to the ESC

GPIO

Available in ESC firmware 39.19 or later
Test tools: voxl-esc-gpio.py

Signal Name	MCU Pin	Function
AUX_VREG_ENABLE	CH0 PC13	AUX 3.3 / 5.0V Regulator Power Control
AUX_VREG_ADJUST	CH0 PC14	AUX 3.3 / 5.0V Regulator Voltage Select (disabled)