Defaults¶

The settings of the firmware at the release this site describes: their start values in common.h, and what EEPROM.cpp does with each.

Start value: the value in common.h. A setting the EEPROM does not keep starts from it at every power-up. A kept setting is replaced at power-up by the value in the EEPROM, so its start value is only seen before that.
After #Default: what #Default writes to the EEPROM and loads; — means #Default does not change it.
Kept by #Save: whether #Save (Send_Save_config) stores it, so that it survives a power cycle.

Internal state (error flags, counters, calibration steps, scratch variables) is left out; the error flags are in Errors and LED states. A name after a value, such as 160 (CURRENT_BANDWIDTH_DEFAULT), is the constant in constants.h the value comes from. existing_id for the CAN ID means that #Default keeps a valid stored ID (0 when none is stored). The settings of firmware 109 that are parameters, the anti-cogging and the encoder table among them, are in the parameter table with their defaults.

Variable and firmware comment	Start value	After `#Default`	Kept by `#Save`
`SERIAL_NUMBER`	1	111 in the EEPROM, not read back	written, not read back
`HARDWARE_VERSION` Version of the Spectral BLDC driver PCB	1	1	yes
`BATCH_DATE` Date the batch was produced	1	125	yes
`SOFTWARE_VERSION` Software release	1	110	no: set by the firmware
`I_AM_GRIPPER` Is motor controller gripper (1) or not (0)	1	0	yes
`LED_ON_OFF` Use LED for status indication	1	1	yes
`theta_offset` will be determined at calibration	0.0f	0	yes
`pole_pairs` Number of pole pairs of your Stepper motor	50	0	yes
`current_control_bandwidth` Hz: the current PI gains come from R, L	160 (CURRENT_BANDWIDTH_DEFAULT)	—	no
`DIR_` When looking at the magnetic encoder counter-clockwise is POSITIVE rotation.	1	0	yes
`Phase_order`	2	0	yes
`commutation_dir` +1 or -1, auto-detected at calibration so +Iq/+velocity/+rotation map to +encoder rotation	1	1	yes
`Thermistor_on_off` Are we taking termistor mesurements? 0 is off, 1 is on	0	0	yes
`Resistance` Resistance of SINGLE PHASE of your BLDC motor	0	0	yes
`Total_Resistance` = 2 * Resistance + 2 * R_sense + 2 *Rdson	0	0	yes
`Inductance` Inductance of SINGLE PHASE of your BLDC motor	0	0	yes
`Kt` Torque constant of your BLDC motor	0	0	yes
`flux_linkage` Flux linkage of your BLDC motor	0	0	yes
`KV`	0	0	yes
`Max_temperature` Max temperature in degrees	75	75	yes
`Min_temperature` Min temperature in degrees	-20	—	no
`Max_Vbus` Max vbus voltage in mV	29500	29000	yes
`Min_Vbus` Min vbus voltage in mV	9000	—	no
`watchdog_time_ms`	0	0	yes
`watchdog_action` 0 legacy, 1 hold, 2 brake, 3 coast, 4 descend (watchdog_action.h)	0	0	yes
`wd_fallback_time_ms` how long hold/descend may run before the after-action	2000	2000	yes
`wd_fallback_current` mA, descend: the current applied (signed)	0	0	yes
`wd_fallback_speed` ticks/s, descend: the speed cap in either direction	1000	1000	yes
`wd_after_action` after hold/descend: 0 legacy, 2 brake, 3 coast	0	0 (WD_ACTION_LEGACY)	yes
`calibration_id` parameter 87: new at every successful calibration	0	0 in the EEPROM, not read back	written, not read back
`tool_id` what the drive is built into: 0 none, 1 SSG-48, 11-33 MSG, 200-254 custom	0	0	yes
`board_product` product lock stamp in block 2: 1 STEPFOC, 2 Spectral, 0 none	0	0	yes
`sense1_offset` current-sense zero of channel 1, ADC counts from 2048 (start-up)	0	—	no
`sense2_offset` current-sense zero of channel 2	0	—	no
`comm_delay_us` parameter 64: commutation delay compensation, us	166 (COMM_DELAY_DEFAULT_US)	—	no
`input_filter_hz` parameter 74: the position input filter, Hz (0 = off)	0	—	no
`vel_int_deadband` parameter 75: the velocity integral's deadband, ticks (0 = off)	0	—	no
`sound_limit_mv` parameter 81: the sound's voltage at most (batch 22)	2000 (SOUND_LIMIT_DEFAULT_MV)	—	no
`sound_axis` parameter 82: 1 the q axis (default: much louder on the bench), 0 the d axis	1	—	no
`fast_trig` parameter 65: 1 the transforms' sin/cos from the integer table (it was	0	—	no
`speed_estimator` parameter 50	2 (SPEED_ESTIMATOR_DEFAULT)	—	no
`speed_pll_bandwidth` parameter 51, Hz	60 (SPEED_PLL_BANDWIDTH_DEFAULT)	—	no
`Heartbeat_rate_ms` Motor controller will send data every Heartbeat_rate_ms	0	0	yes
`Calibrated` 0 if motor is not calibrated, 1 if it is calibrated	1	0	yes
`Resistance_calc_voltage` Voltage used to calculate resistance //1000	1000	—	no
`Calibration_power` Max power that can dissipate during inductance test.	12	—	no
`Open_loop_voltage` Voltage to use when spinning the motor open loop. In mV	5000	—	no
`Open_loop_speed` Speed to be used when spinning the motor open loop. In RAD/s	20.0	—	no
`Phase_voltage` Max voltage to be used during Kv calculation	5000	—	no
`cyclic_period` We send messages every cyclic_period	0	—	no
`CAN_ID` CAN id of THIS motor driver! No 2 motor drivers can share the same ID.	0	existing_id	yes
`brake_coast` 1 is brake 0 is coast	1	1 (BRAKE_COAST_DEFAULT)	yes
`trigger_value` 0=low level, 1=high level, 2=any edge	0	—	no
`calibration_offset_current`	500	—	no
`microstep`	16	—	no
`gosteps`	0	—	no
`step_interval` step interval in microseconds	1000	—	no
`Voltage_limit` Voltage limit for Ud and Uq voltages. If 0 value of controller.VBUS_mV will be used	6000	6000	yes
`Reset_integral_accumulator`	0	0	yes
`Kp_p`	5	5	yes
`Position_setpoint`	0	—	no
`Kp_v` bench 2026-11-08: a bare NEMA 17 vibrates at 0.056 (speed PLL) or 0.04	0.02	0.02	yes
`Ki_v` bench 2026-11-08 (kiv_sweep.py, KPV 0.02): rings at 0.004; 0.001 halves the	0.001	0.001	yes
`Velocity_setpoint` -1.5	0	—	no
`Velocity_limit` Clamp integrals to this [TICKS/s]	800000	800000	yes
`Velocity_limit_error` [TICKS/s] ; Velocity when we will report error / For stepper speed runout is around 250 nfo000	30000000	—	no
`Kp_id` motor1	7	7	yes
`Ki_id` motor1	3	3	yes
`Id_setpoint`	0	—	no
`Kp_iq` motor1	3	3	yes
`Ki_iq` motor1	0.3	0.3	yes
`Iq_current_limit`	1700	1700	yes
`Id_current_limit`	0	0	yes
`Feedforward_current`	0	—	no
`KD` [Nm*s/rad]	0.0028	0.0028	yes
`KP` [Nm/rad]	0.1400	0.1400	yes
`Uq_setpoint`	0	—	no
`Ud_setpoint`	0	—	no
`position_setpoint`	0	—	no
`speed_setpoint`	50	—	no
`current_setpoint`	400	—	no
`action_status` -0 Stopped(or performing activation /automatic release).	0	—	no
`activated`	0	—	no
`release_direction`	0	—	no
`estop_status`	0	—	no

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