Driver Task Execution

This document describes how to issue task execution commands through the ESCx driver API.

info

• All datagram types listed here are unicast with SID = 24
• All payloads listed here use big-endian byte order

warning

Payload byte positions do not correspond directly to byte positions in the transfer layer (CAN, UART, USB, Bluetooth...) Before proceeding, carefully review how to create messages for:

• CAN BUS
• UART

Message - Execute Task

Payload byte	Description
0	0x04
1	Task ID

Task ID List

Task ID	Description
1	Driver reinit
2	Execute identlin
3	Execute identrun
128	Save parameters
129	Load parameters from flash
255	Request task result
Other	Unsupported command

Response

Task is Being Executed

Payload byte	Description
0	0x44
1	Task ID

Task Result Response

Payload byte	Description
0	0x44
1	Task ID
2-5	Task return value

The return value indicates the execution result of the task/command. A value of 0 always indicates successful completion.

Return value	Description
0	Success
-1	Task not supported
Other	Task specific return value - error

Message - Motor Beep

This message allows playing a single tone using the motor.

Payload byte	Description
0	0x06
1-2	[int16] Beep volume
3-4	[int16] Beep tone

This message does not generate a response