For anyone else interested, I ran a diff between the hw_mksesc_75_100_old and hw_mksesc_75_100_v2_old firmware and TL;DR, there is essentially no difference between them. If the VESC tool shows you are running Hw: MKSESC_75_100_OLD then you may as well stick with it. So if you are like me and have a “MKSESC 75100” from AliExpress (more info in this post here) there isn’t any real benefit moving to the v2_old firmware.
EDIT: With that being said, there are a handful of differences between the hw_mksesc_75_100_old and flipsky hw_75_100_V2 However, they seem to be almost functionally identical, thus the almost identical-looking PCBs between the Flipsky 75100V202 and the Makerbase MKSESC 75100. Due to these small differences, however, I would still recommend sticking with whatever firmware type your ESC originally came with.
Full diff as of 4/25/2026 f2865b5:
===== DIFF: hwconf/makerbase/75_100/hw_mksesc_75_100_old.h <-> hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_old.h =====
diff --git a/hwconf/makerbase/75_100/hw_mksesc_75_100_old.h b/hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_old.h
index 06f09532..fd4a5ced 100644
--- a/hwconf/makerbase/75_100/hw_mksesc_75_100_old.h
+++ b/hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_old.h
@@ -18,10 +18,10 @@
*/
-#ifndef HW_MKSESC_75_100_OLD_H_
-#define HW_MKSESC_75_100_OLD_H_
+#ifndef HW_MKSESC_75_100_V2_OLD_H_
+#define HW_MKSESC_75_100_V2_OLD_H_
-#define HW75_100_OLD
+#define HW75_100_V2_OLD
-#include "hw_mksesc_75_100_core.h"
+#include "hw_mksesc_75_100_v2_core.h"
-#endif /* HW_MKSESC_75_100_OLD_H_ */
+#endif /* HW_MKSESC_75_100_V2_OLD_H_ */
===== DIFF: hwconf/makerbase/75_100/hw_mksesc_75_100_core.h <-> hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_core.h =====
diff --git a/hwconf/makerbase/75_100/hw_mksesc_75_100_core.h b/hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_core.h
index a3a39062..c8a434fc 100644
--- a/hwconf/makerbase/75_100/hw_mksesc_75_100_core.h
+++ b/hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_core.h
@@ -18,17 +18,19 @@
*/
-#ifndef HW_MKSESC_75_100_CORE_H_
-#define HW_MKSESC_75_100_CORE_H_
+#ifndef HW_MKSESC_75_100_V2_CORE_H_
+#define HW_MKSESC_75_100_V2_CORE_H_
//Makerbase reminds you: When choosing to compile a board,
//you need to confirm the motherboard model you have,
//because burning the wrong firmware may cause damage to the board.
-////It is highly recommended to contact the merchant for confirmation.
+//It is highly recommended to contact the merchant for confirmation.
//hardware version
-#ifdef HW75_100_OLD
-#define HW_NAME "MKSESC_75_100_OLD"
-#elif defined(HW75_100)
-#define HW_NAME "MKSESC_75_100"
+#ifdef HW75_100_V2_OLD
+#define HW_NAME "MKSESC_75_100_V2_OLD"
+#elif defined(HW75_100_V2)
+#define HW_NAME "MKSESC_75_100_V2"
+#else
+#error "Must include hardware type"
#endif
@@ -49,6 +51,8 @@
#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
-//MKSESC 75100 version with phase filter is being designed, please wait patiently.
-#if defined (HW75_100)
+//MKSESC 75100 V2_003 adds many new features, including phase filtering.
+//You can determine which version of MKSESC 75100 V2 you have by observing the appearance.
+//The most obvious feature is that 003 has a toggle switch.
+#if defined (HW75_100_V2)
#define HW_HAS_PHASE_FILTERS
#define PHASE_FILTER_GPIO GPIOC
@@ -56,12 +60,23 @@
#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+
+// Shutdown pin
+#define HW_SHUTDOWN_GPIO GPIOC
+#define HW_SHUTDOWN_PIN 5
+#define HW_SHUTDOWN_HOLD_ON() palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
+#define HW_SHUTDOWN_HOLD_OFF() palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
+#define HW_SAMPLE_SHUTDOWN() hw_sample_shutdown_button()
+
+// Hold shutdown pin early to wake up on short pulses
+#define HW_EARLY_INIT() palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL); \
+ HW_SHUTDOWN_HOLD_ON();
#endif
-//MKSESC 75100 is also expected to add a current filter,
-//but since it is low-test sampling, we set this configuration to off by default,
-//leaving only the circuit as an expansion function.
-#define CURRENT_FILTER_GPIO GPIOD
-//#define CURRENT_FILTER_ON() palSetPad(CURRENT_FILTER_GPIO, 2)
-#define CURRENT_FILTER_OFF() palClearPad(CURRENT_FILTER_GPIO, 2)
+//MKSESC 75100 V2_003 added phase filtering and
+//current filtering in November 2023. However, since it is low-end sampling,
+//we do not recommend turning on the current filtering function, so it is set to off here.
+#define CURRENT_FILTER_GPIO GPIOD
+// #define CURRENT_FILTER_ON() palSetPad(CURRENT_FILTER_GPIO, 2)
+#define CURRENT_FILTER_OFF() palClearPad(CURRENT_FILTER_GPIO, 2)
/*
@@ -78,5 +93,5 @@
* 8 (3): IN3 TEMP_MOS
* 9 (1): IN14 TEMP_MOTOR
- * 10 (2): IN15 ADC_EXT3
+ * 10 (2): IN15 SHUTDOWN
* 11 (3): IN13 AN_IN
* 12 (1): Vrefint
@@ -100,7 +115,7 @@
#define ADC_IND_CURR3 5
#define ADC_IND_VIN_SENS 11
-#define ADC_IND_EXT 6
+#define ADC_IND_EXT 6
#define ADC_IND_EXT2 7
-#define ADC_IND_EXT3 10
+#define ADC_IND_SHUTDOWN 10
#define ADC_IND_TEMP_MOS 8
//#define ADC_IND_TEMP_MOS_2 15
@@ -115,5 +130,4 @@
#define V_REG 3.34
#endif
-//The voltage dividing acquisition circuit on the Makerbase VESC motherboard is 560K and 21.5K resistors.
#ifndef VIN_R1
#define VIN_R1 56000.0
@@ -122,5 +136,4 @@
#define VIN_R2 2200.0
#endif
-
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN 20.0
@@ -135,8 +148,8 @@
// NTC Termistors
#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
-#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3435.0) + (1.0 / 298.15)) - 273.15)
+#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
-#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
-#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
+#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
+#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
// Voltage on ADC channel
@@ -242,27 +255,26 @@
// Default setting overrides
#ifndef MCCONF_L_MIN_VOLTAGE
-//Since the gate drive voltage is 12V, the bus power supply must be greater than 12V to keep the DC-DC in normal working condition.
-#define MCCONF_L_MIN_VOLTAGE 12.0 // Minimum input voltage
+#define MCCONF_L_MIN_VOLTAGE 12.0 // Minimum input voltage
#endif
#ifndef MCCONF_L_MAX_VOLTAGE
-#define MCCONF_L_MAX_VOLTAGE 90.0 // Maximum input voltage
+#define MCCONF_L_MAX_VOLTAGE 90.0 // Maximum input voltage
#endif
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
-#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
+#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
#endif
#ifndef MCCONF_FOC_F_ZV
-#define MCCONF_FOC_F_ZV 30000.0
+#define MCCONF_FOC_F_ZV 30000.0
#endif
#ifndef MCCONF_L_MAX_ABS_CURRENT
-#define MCCONF_L_MAX_ABS_CURRENT 150.0 // The maximum absolute current above which a fault is generated
+#define MCCONF_L_MAX_ABS_CURRENT 150.0 // The maximum absolute current above which a fault is generated
#endif
#ifndef MCCONF_FOC_SAMPLE_V0_V7
-#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
+#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
#endif
#ifndef MCCONF_L_IN_CURRENT_MAX
-#define MCCONF_L_IN_CURRENT_MAX 100.0 // Input current limit in Amperes (Upper)
+#define MCCONF_L_IN_CURRENT_MAX 100.0 // Input current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_IN_CURRENT_MIN
-#define MCCONF_L_IN_CURRENT_MIN -20.0 // Input current limit in Amperes (Lower)
+#define MCCONF_L_IN_CURRENT_MIN -20.0 // Input current limit in Amperes (Lower)
#endif
@@ -271,6 +283,6 @@
#define HW_LIM_CURRENT_IN -120.0, 120.0
#define HW_LIM_CURRENT_ABS 0.0, 200
-#define HW_LIM_VIN 6.0, 120.0
-#define HW_LIM_ERPM -200e3, 200e3
+#define HW_LIM_VIN 6.0, 120.0
+#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.99
@@ -278,4 +290,5 @@
// HW-specific functions
+bool hw_sample_shutdown_button(void);
-#endif /* HW_MKSESC_75_100_CORE_H_ */
+#endif /* HW_MKSESC_75_100_V2_CORE_H_ */
===== DIFF: hwconf/makerbase/75_100/hw_mksesc_75_100_core.c <-> hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_core.c =====
diff --git a/hwconf/makerbase/75_100/hw_mksesc_75_100_core.c b/hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_core.c
index 6b8c980f..98b7a31b 100644
--- a/hwconf/makerbase/75_100/hw_mksesc_75_100_core.c
+++ b/hwconf/makerbase/75_100_V2/hw_mksesc_75_100_v2_core.c
@@ -13,5 +13,5 @@
*/
-//
+// V2
#include "hw.h"
@@ -25,4 +25,8 @@
// Variables
static volatile bool i2c_running = false;
+#if defined (HW75_100_V2)
+ static mutex_t shutdown_mutex;
+ static float bt_diff = 0.0;
+#endif
// I2C configuration
@@ -34,4 +38,7 @@ static const I2CConfig i2cfg = {
void hw_init_gpio(void) {
+ #if defined (HW75_100_V2)
+ chMtxObjectInit(&shutdown_mutex);
+ #endif
// GPIO clock enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
@@ -75,5 +82,5 @@ void hw_init_gpio(void) {
// Phase filters
- #if defined (HW75_100)
+ #if defined (HW75_100_V2)
palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
@@ -110,5 +117,7 @@ void hw_init_gpio(void) {
palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+ #if defined (HW75_100_V2_OLD)
palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
+ #endif
}
@@ -243,2 +252,26 @@ void hw_try_restore_i2c(void) {
}
}
+
+#if defined(HW75_100_V2)
+bool hw_sample_shutdown_button(void) {
+ chMtxLock(&shutdown_mutex);
+
+ bt_diff = 0.0;
+
+ for (int i = 0;i < 3;i++) {
+ palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_INPUT_ANALOG);
+ chThdSleep(5);
+ float val1 = ADC_VOLTS(ADC_IND_SHUTDOWN);
+ chThdSleepMilliseconds(1);
+ float val2 = ADC_VOLTS(ADC_IND_SHUTDOWN);
+ palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL);
+ chThdSleepMilliseconds(1);
+
+ bt_diff += (val1 - val2);
+ }
+
+ chMtxUnlock(&shutdown_mutex);
+
+ return (bt_diff > 0.12);
+}
+#endif
