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VOXL Mini 4-in-1 ESC Datasheet

Hardware Overview

This Mini ESC is targeted for aerial vehicles under 750g. For vehicles up to 1500g, please use the VOXL 4-in-1 ESC.

m0129-labels.jpg

Dimensions

M0129 VOXL Mini 4-in-1 ESC 3D CAD m0129-dimensions.jpg

Specifications

 Details
Power Input2-4S 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 Output3.8V (M0129-3, M0129-63) or 5.0V (M0129-5, M0129-65) @ 5A - (select correct version)
AUX Power Output3.3V or 5.0V @ 500mA (default 3.3V, SW-controlled)
  
FeaturesOpen-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
CommunicationsSupported by VOXL 2, VOXL 2 Mini, VOXL Flight, VOXL and Flight Core
 Dual Bi-directional UART up to 2Mbit/s (3.3VDC logic-level)
  
Connectors4-pin JST GH for UART communication, solder pads for 3.8V output
  
HardwareMCU : 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 IntegrationSupported in PX4 1.12 and higher
 Available here
ResourcesManual
 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 >1234
Function >N/CUART RX (IN)UART TX (OUT)GND

Neopixel LED Support

m0129-neopixel.jpg

  • 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

m0129-pwm.jpg

  • 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

Signal NameMCU PinFunction
AUX_VREG_ENABLECH0 PC13AUX 3.3 / 5.0V Regulator Power Control
AUX_VREG_ADJUSTCH0 PC14AUX 3.3 / 5.0V Regulator Voltage Select (disabled)