diff --git a/com/xckj/esc/20110.CmdControl.uavcan b/com/xckj/esc/20110.CmdControl.uavcan
new file mode 100644
index 0000000..c2e97cc
--- /dev/null
+++ b/com/xckj/esc/20110.CmdControl.uavcan
@@ -0,0 +1,12 @@
+OVERRIDE_SIGNATURE 0x4fdf12a8708a2030
+
+uint8 NODECMD_DIS_ALL_UP = 0        
+uint8 NODECMD_DIS_UP     = 1    
+uint8 NODECMD_TRIG_HB    = 10    
+uint8 NODECMD_EN_ALLUP   = 100    
+uint8 NODECMD_RST        = 0xFE    
+uint8 NodeCmd
+
+uint8 CmdNodeId          
+
+uint8 reserved
diff --git a/com/xckj/esc/20111.OperateId.uavcan b/com/xckj/esc/20111.OperateId.uavcan
new file mode 100644
index 0000000..f5ad240
--- /dev/null
+++ b/com/xckj/esc/20111.OperateId.uavcan
@@ -0,0 +1,3 @@
+OVERRIDE_SIGNATURE 0x4df8b5792b8e676a
+
+uint8[<=3] payload
diff --git a/com/xckj/esc/20130.AutoUpMsg1.uavcan b/com/xckj/esc/20130.AutoUpMsg1.uavcan
new file mode 100644
index 0000000..39095bb
--- /dev/null
+++ b/com/xckj/esc/20130.AutoUpMsg1.uavcan
@@ -0,0 +1,5 @@
+OVERRIDE_SIGNATURE 0xb95f98a2bb955035
+
+uint16 rpm
+uint16 current
+uint16 runstatus
diff --git a/com/xckj/esc/20131.AutoUpMsg2.uavcan b/com/xckj/esc/20131.AutoUpMsg2.uavcan
new file mode 100644
index 0000000..db1be76
--- /dev/null
+++ b/com/xckj/esc/20131.AutoUpMsg2.uavcan
@@ -0,0 +1,7 @@
+OVERRIDE_SIGNATURE 0x2c8e7c3aaca9e11e
+
+uint16 PWM
+uint16 voltage
+uint8 MOS_T
+uint8 CAP_T
+uint8 Motor_T
diff --git a/com/xckj/esc/20150.ThrotGroup1.uavcan b/com/xckj/esc/20150.ThrotGroup1.uavcan
new file mode 100644
index 0000000..d786981
--- /dev/null
+++ b/com/xckj/esc/20150.ThrotGroup1.uavcan
@@ -0,0 +1,3 @@
+OVERRIDE_SIGNATURE 0x8dfd4ad6e74b6207
+
+uint14[<=4] command
diff --git a/com/xckj/esc/20151.ThrotGroup2.uavcan b/com/xckj/esc/20151.ThrotGroup2.uavcan
new file mode 100644
index 0000000..e5a4107
--- /dev/null
+++ b/com/xckj/esc/20151.ThrotGroup2.uavcan
@@ -0,0 +1,3 @@
+OVERRIDE_SIGNATURE 0xa28b683d1286d1fc
+
+uint14[<=4] command
diff --git a/com/xckj/esc/222.SetBaud.uavcan b/com/xckj/esc/222.SetBaud.uavcan
new file mode 100644
index 0000000..018dc1e
--- /dev/null
+++ b/com/xckj/esc/222.SetBaud.uavcan
@@ -0,0 +1,5 @@
+OVERRIDE_SIGNATURE 0x278afc50d7f6f50d
+
+uint8 baud
+---
+uint8 ok
diff --git a/com/xckj/esc/README.md b/com/xckj/esc/README.md
new file mode 100644
index 0000000..8ec65f1
--- /dev/null
+++ b/com/xckj/esc/README.md
@@ -0,0 +1,9 @@
+XC TECHNOLOGY CAN ESC
+=====================
+
+These messages are applicable to the CAN ESCs of Shenzhen Xiongcai Technology Co., Ltd. (http://www.xc-bldc.com/).
+
+note:
+the default CAN baud rate of these Xiongcai Technology ESCs is 500,000, but it can be changed using the "SetBaud" command.
+
+The default CAN node ID is 0x10, and it can be changed using the "SetID" command.