{
    "definition": "openesc",
    "messages": {
        "set": {
            "set_device_id": {
                "id": "100",
                "description": "Set the device ID.",
                "payload": [
                    {
                        "name": "device_id",
                        "type": "u8",
                        "description": "Device ID (0-254). 255 is reserved for broadcast messages."
                    }
                ]
            },
            "set_throttle": {
                "id": "101",
                "description": "set the throttle signal (12bit)",
                "payload": [
                    {
                        "name": "throttle_signal",
                        "type": "u16",
                        "description": "the throttle signal! the throttle controls the duty (torque)"
                    }
                ]
            }
        },
        "get": {
            "state": {
                "id": "110",
                "description": "esc state information",
                "payload": [
                    {
                        "name": "phaseA",
                        "type": "u16",
                        "description": "phase A adc reading"
                    },
                    {
                        "name": "phaseB",
                        "type": "u16",
                        "description": "phase B adc reading"
                    },
                    {
                        "name": "phaseC",
                        "type": "u16",
                        "description": "phase C adc reading"
                    },
                    {
                        "name": "neutral",
                        "type": "u16",
                        "description": "virtual neutral point adc reading"
                    },
                    {
                        "name": "voltage",
                        "type": "u16",
                        "description": "voltage adc reading"
                    },
                    {
                        "name": "current",
                        "type": "u16",
                        "description": "current adc reading"
                    },
                    {
                        "name": "throttle",
                        "type": "u16",
                        "description": "throttle signal"
                    },
                    {
                        "name": "commutation_period",
                        "type": "u16",
                        "description": "commutation timer period (auto-reload ARR register value)"
                    },
                    {
                        "name": "flags",
                        "type": "u16",
                        "description": "development flags; bit0: comparator state"
                    },
                    {
                        "name": "comparator_step",
                        "type": "u8",
                        "description": "comparator step"
                    },
                    {
                        "name": "bridge_step",
                        "type": "u8",
                        "description": "bridge step"
                    }
                ]
            }
        },
        "control": {}
    }
}