Release Release 108 · Source-Robotics/STEPFOC-stepper-controller

STEPFOC firmware V108 — application image for flashing via the Spectral bootloader.

Fixed calibration (#Cal) spuriously failing with Phase order is wrong! on otherwise-healthy motors. The "confirm commutation" pre-check (before the real angle-offset search) commands a pure torque-axis voltage using the not-yet-calibrated encoder angle — depending on a given unit's actual rotor-to-encoder mounting angle, that command could land almost entirely on the wrong axis and produce ~zero torque, failing the check even though nothing was actually broken. Bench-confirmed on a real unit.
Fix: retry the pre-check once at a 90° angle bias before declaring failure — guaranteed to land within 45° of the true torque axis on at least one of the two tries. The downstream angle-offset search is unaffected and already independent of this pre-check.
Added Spin-confirm delta / Vbus diagnostics to #Cal's failure report, for the rare case both tries still fail.

stepfoc-firmware-V108.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.

Built from commit 46b4911 on bootloader-version. Includes bootloader entry support (CAN/UART reset-into-bootloader).

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