Castle ESC Telemetry (Live Link)

Instead of providing telemetry on a separate serial port, Castle Creations ESCs provide telemetry on the same wire as the throttle. To use this, you must use the Castle Link software to enable Live Link on the ESC.

In addition, you must add a pull-up resistor between the throttle line and the ESC power line (or some other source of power if not using the ESC BEC). The size of this resistor must be such as to provide a logic 1 on the input port (V_Ih) but not to exceed the voltage tolerance on the port. The Castle ESC includes a 6.65Kohm pull-down, so an 8.2Kohm pull-up resistor will work for 5V-11V on a 5V tolerant pin, and up to 7.4V on a 3.3V pin.

Once this is done, enable CASTLE PWM mode with

set motor_pwm_protocol = CASTLE

The motor_pwm_rate is limited to a maximum of 100Hz when using CASTLE PWM mode.

Leave the serial ESC sensor protocol off:

set esc_sensor_protocol = OFF

ESC Telemetry will be automatically collected from the Castle ESC when the CASTLE PWM protocol is selected.

Note that some Castle ESCs do not provide current values.