Recoil BESC firmware

Recoil provides motor-controller firmware for the STM32 B-G431B-ESC1 board. Its source includes controller initialization and a motor configuration header, while the short README mainly points to the board. This is a firmware research reference, not an inspected manufacturing release or a complete build/flash/calibration guide. [1] [4] [5]

The selected header chooses MOTORPROFILE_MAD_M6C12_150KV, CAN ID 1, a 12-bit encoder setting and nominal 12 V bus voltage. It sets 10 kHz commutation and 2 kHz position updates. All three loading flags—LOAD_ID_FROM_FLASH, LOAD_CONFIG_FROM_FLASH and LOAD_CALIBRATION_FROM_FLASH—are enabled. Consequently, compile-time constants alone do not establish the actual deployed configuration. Inspect the selected motor profile, flash contents and calibration procedure together before interpreting current/position commands. No board state was read. [4]

The initialization source sets a disabled mode, initializes CAN, encoder, power stage and controllers, accumulates HAL status and records the first failing step. Its failure branch reports an initialization error and enters a reporting loop. That is concrete behavior to inspect against the selected board and peripherals, not evidence of successful initialization or validated motor protection. [5]

A bounded starting point is the board-specific motor_controller_conf.h and controller source under Recoil-Motor-Controller-B-G431B-ESC1. Resolve the actual STM32 project/toolchain, flashing, stored configuration, motor/encoder wiring and zeroing before attempting operation. The repository's source availability does not supply those missing commissioning results. [1] [4] [5]

The project notice is MIT; ST tools, bought-in board/motor and external libraries retain separate terms. A watchdog-enabled flag and a listed frequency are source settings, not measured timing or recovery guarantees. No upstream build, firmware upload, flash recovery, calibration, CAN transaction, motor movement or performance test was performed. [2] [4]