Defaults¶

The settings of the firmware, read from its source at the release this site describes. The table leaves out the firmware's internal state (counters, flags, scratch variables).

Start value is the value in the firmware's structures (common.h). At power-up the firmware loads the saved settings from the EEPROM over it, so for a setting that #Save keeps the start value only shows until the EEPROM is read.
After #Default is what the driver runs with after #Default, which writes the factory values to the EEPROM and loads them. A fresh board, and a board whose saved configuration fails its check at power-up, gets the same values.
Kept by #Save says whether the setting survives a power cycle. No means the driver starts with the start value again after every power-up.

#Default also erases the calibration; from firmware 109 it keeps a valid stored CAN node ID (existing_id in the table; 0 when none is stored); see Saving the configuration. A name after a value, such as 160 (CURRENT_BANDWIDTH_DEFAULT), is the constant in constants.h the value comes from. 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	1111 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	24092024	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 BLDC motor	11	7	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
`brake_coast` Idle-mode (Controller_mode == 0) phase behavior: 0 = coast (driver disabled, Hi-Z), 1 = brake (driver stays enabled, zero-voltage PWM vector shorts the phases together)	0	0 (BRAKE_COAST_DEFAULT)	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 (0 = off)	234 (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	100 (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	0	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
`calibration_offset_current`	300	—	no
`Voltage_limit` Voltage limit for Ud and Uq voltages. If 0 value of controller.VBUS_mV will be used	0	0	yes
`Reset_integral_accumulator`	0	0	yes
`Kp_p`	11	11	yes
`Position_setpoint`	0	—	no
`Kp_v` 0.006 basic values that work for most motors but not optimal	0.03	0.03	yes
`Ki_v` 0.0001 basic values that work for most motors but not optimal	0.0003	0.0003	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	20000000	—	no
`Kp_id`	3	3	yes
`Ki_id`	1.5	1.5	yes
`Id_setpoint`	0	—	no
`Kp_iq`	3	3	yes
`Ki_iq`	1.5	1.5	yes
`Iq_current_limit`	1000	1000	yes
`Id_current_limit`	0	0	yes
`Feedforward_current`	0	—	no
`KD` [Nm*s/rad] KD 0.002800	0.002800	0.0028	yes
`KP` [Nm/rad] KP 0.14000	0.14000	0.1400	yes
`Uq_setpoint`	0	—	no
`Ud_setpoint`	0	—	no
`position_setpoint`	0	—	no
`speed_setpoint`	20	—	no
`current_setpoint`	200	—	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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