Release 107

Spectral BLDC firmware V107 — application image for flashing via the Spectral bootloader.

CAN bus

• Fixed IN_DATA_PACK_PD writing the commanded speed into Feedforward_speed instead of Velocity_setpoint — PD mode's KD (velocity-damping) term was being evaluated against a stale/zero setpoint, so it silently ignored the commanded speed.
• Added a generic mask+value settings command (IN_SETTINGS) for CAN-unreachable boolean settings, starting with idle-mode brake/coast selection.

Usability

• Idle mode can now be set to brake (driver stays enabled, phases held shorted via a zero-voltage PWM vector) or coast (Hi-Z, previous/default behavior), via IN_SETTINGS over CAN or #Brake <0|1> over UART.

Calibration

• Fixed #Cal spuriously failing with "Commutation/alignment check failed!" on some individual motor units. The pre-check that confirms the motor responds to a current command was driving a fixed voltage at the raw (uncalibrated) encoder angle; whether that produced torque depended on each unit's random magnet-to-encoder mounting angle. It now retries once at a 90-degree angle bias before failing.

Assets

• spectral-bldc-firmware-V107.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: 2ca1f2e3ad3ee7848cf47d8733b084be2daa87fc2e49f954dd41c76405d48ada
• Size: 95404 bytes

Built from commit 2e7febc on Bootloader_main.