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@IntrusiveRobotics IntrusiveRobotics released this 01 Sep 15:44
IR_FW3_11
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Learn about vigilant mode.

Intrusive Robotics Delta firmware IR_FW3_11.

Based on VESC firmware 6.05. Compatible with VESC® software.

Requires a rev 2 board. This build uses the rev 2 voltage divider
(VIN_R1 = 68.1 kΩ). On a rev 1 board (43.2 kΩ) it will misreport input and
phase voltages.

Flashing (ST-Link):

st-flash --reset write Delta_IR_FW3_11.bin 0x08000000

On a fresh chip, flash the generic VESC bootloader to 0x080E0000 first.

Changes since IR_FW1_5

Hardware

  • Board rev 2 voltage divider — VIN_R1 43.2 kΩ → 68.1 kΩ. Shared by the VBAT
    sense and all three phase-voltage senses, so all four scale together. Full-scale
    sense range 68.1 V → 105.4 V; the 93 V HW_LIM_VIN remains the binding limit.
  • Board NTC beta 3380 K → 4067 K, confirmed by bench measurement 2026-08-31.
    The board temperature reading — and therefore the FET derating limits below — is
    referenced to a real temperature.

Firmware

  • FOC switching frequency 60 kHz → 30 kHz. Fixes an independent-watchdog reset
    during the FOC detection "apply settings" step.
  • FET thermal derating raised: start 85 → 95 °C, cutoff 100 → 115 °C.
  • Phase filters now default off (hardware unchanged, still toggleable in VESC Tool).
  • Phase-filter max ERPM 4000 → 500.
  • Motor temperature sensor defaults to disabled — no motor thermistor is fitted,
    and a floating input could otherwise fake a hot reading.
  • Dead time 60 ns → 40 ns nominal. Note this quantises to DTG=6 → 35.7 ns
    actual     at 168 MHz. If you are commissioning a new board, scope the switch nodes.

Full detail in CHANGELOG.IR.md.

Checksums (SHA-256)

ac83d530d93ee1ef7b4ed091b7f04ff7dfd188d3e9023cf4e9e6a27fc3894617  Delta_IR_FW3_11.bin
df307ccc70b7a46938e4649be8d1ed943b6e09050270f0b1a0e3205c1291edcb  Delta_IR_FW3_11.hex
03dbd482dd3985362b50345b31adfa5ce18742c8aa62a87688793bc9b491d798  Delta_IR_FW3_11_src.zip

Complete corresponding source is this repository at tag IR_FW3_11 (GPL v3);
Delta_IR_FW3_11_src.zip is a snapshot of that tag for convenience.

Not affiliated with or endorsed by Benjamin Vedder or the VESC project.

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