Release 106

Spectral BLDC firmware V106 — application image for flashing via the Spectral bootloader.

CAN bus

• The controller now drains up to 8 CAN messages per pass instead of just 1, so short bursts (multiple commands sent back-to-back, or a busy multi-node bus) no longer silently drop messages once the 3-deep hardware FIFO fills.
• A CAN peripheral that fails to initialize no longer bricks the board — UART stays fully usable, only the CAN bus is skipped.

Safety

• Added a hardware watchdog (100ms). If the control loop ever stops running, the board resets instead of leaving the motor driven at a stale duty cycle.
• Fixed a bug where Torque_mode could silently overwrite your commanded Iq setpoint when clamping to the current limit — reading it back after clamping now shows what you actually asked for, and raising the current limit afterward immediately restores the original commanded torque instead of requiring the command to be resent.
• Fixed undefined behavior in a serial-protocol integer conversion (fourBytesToInt).
• Synced default configuration values that had drifted between two locations in the code, so a fresh #Default and a freshly-flashed board's built-in defaults now agree.

EEPROM / configuration integrity

• Added CRC validation over the saved configuration, split into two independent halves: calibration data (resistance, inductance, Kt/KV, angle offset, current-loop gains, etc.) and settings (PID tuning, limits, watchdog config, CAN ID, etc.).
• This means a corrupted save (e.g. from a power loss mid-write) is detected and safely defaulted instead of silently running with garbage values — and critically, a future firmware update that only adds a new setting can no longer wipe your calibration, since the two are validated independently.
• Boards upgrading from older, pre-CRC firmware keep their existing calibration automatically — no need to recalibrate after this update.
• A few unused slots were reserved in the calibration block for upcoming features (e.g. magnet alignment), so those can be added later without another migration.

Performance

• PWM output no longer re-resolves which timer/channel it's writing to on every single call (it was doing this 4x per control tick) — resolved once and cached, freeing up ISR headroom.
• Velocity calculation switched from a floating-point divide to an integer multiply.

Usability

• New #Help command — prints a summary of the available commands.
• Serial now responds with "Unknown command" for unrecognized input instead of silently ignoring it.
• Calibration now prints progress during the angle-offset search (previously up to ~40 seconds of silence that could look like the board had hung).
• #Info now always reports live ISR execution time, useful for checking control-loop headroom on the bench.
• Fixed a leftover calibration-failure message that incorrectly suggested swapping motor phases — that failure mode no longer exists (reversed wiring has been auto-detected/compensated in software since V105); the message now accurately describes what actually happened (a commutation/current-response check, not a wiring-direction problem).

Assets

• spectral-bldc-firmware-V106.bin — application firmware image (flash at 0x08003000, target STM32F103CB).
• firmware.json — manifest with version, size, and SHA-256 for download verification by the web flasher.

Integrity

• SHA-256: edb06ca112a7d24b0581e0b157a4524928067a46f8dc850ce22df8128092a758
• Size: 94908 bytes

Built from commit e1f8611 on Bootloader_main.

Release 105

Spectral BLDC firmware V105 — reversed-wiring auto-calibration

#Cal now auto-detects reversed motor phase wiring during the open-loop spin and compensates it in software as a phase B<->C reflection, instead of failing and telling you to physically swap phases. Angle-offset calibration is now found automatically as part of #Cal itself (deterministic rotor-lock + verify + symmetry-sweep), so the standalone #Calangle command has been removed. #Info now reports the true firmware version instead of a stale EEPROM value. Existing calibrated units are unaffected and do not need #Default.

Assets

• spectral-bldc-firmware-V105.bin — application firmware image (flash at 0x08003000, target STM32F103CB).
• firmware.json — manifest with version, size, and SHA-256 for download verification by the web flasher.

Integrity

• SHA-256: 0bd80ea038b8497fca8ab6a613b083d28e3473b360fa152b512b8ab0304dedb5
• Size: 91732 bytes

Built from commit b7dded3 on Bootloader_main. Includes reversed-wiring auto-calibration (commutation_dir detection + phase B<->C reflection) and deterministic rotor-lock angle-offset calibration.

Release 104

Spectral BLDC firmware V104 — bootloader build.

Assets

• spectral-bldc-firmware-V104.bin — firmware image (90,968 bytes).
• firmware.json — manifest with version, size, and SHA-256.

Integrity

• SHA-256: 76d70a6091218d74021eeef55c31d39f19fe97f68e2b236169f84c708518a360
• Size: 90968 bytes

Built from commit 20765c9 on Bootloader_main. Includes CAN Vlim command and bootloader support.

Software version 101

Some small fixes added based on STEPFOC code that is a clone of this code.

1. Added theta_offset calib.
2. Fixed some issues related to gripper mode where it vibrates

NOTE added another entry to EEPROM memory. Loading this code to update your previous code you will need to run #Default to
load that new entry in EEPROM!

Software version 100

Software version 100