> ## Documentation Index
> Fetch the complete documentation index at: https://mintlify.com/vedderb/bldc/llms.txt
> Use this file to discover all available pages before exploring further.

# Introduction

> An open source DC/BLDC/FOC motor controller firmware for electric vehicles, robotics, and beyond.

# Introduction

VESC firmware is an open source motor controller firmware developed by Benjamin Vedder. It runs on a wide range of STM32-based hardware targets and supports DC, BLDC, and FOC (Field-Oriented Control) motor control modes. The project lives at [github.com/vedderb/bldc](https://github.com/vedderb/bldc) and is licensed under the GNU General Public License v3.0.

## What VESC solves

Controlling brushless motors well requires precise, real-time current and position sensing, configurable protection limits, and a reliable communication layer. VESC firmware provides all of this in a single, auditable codebase:

* **Field-Oriented Control (FOC)** — smooth, efficient torque control with sensor or sensorless operation
* **BLDC mode** — traditional six-step commutation for simpler setups
* **DC motor support** — for brush motor applications
* **CAN bus networking** — chain multiple controllers together with a single CAN cable
* **Extensive protection** — over-current, over-voltage, over-temperature, and configurable hardware limits
* **Custom UI support** — embed QML interfaces directly into VESC Tool via `conf_general.h`
* **Open hardware abstraction** — a clean `hwconf/` layer makes porting to new boards straightforward

## Who it is for

<CardGroup cols={3}>
  <Card title="Hobbyists" icon="wrench">
    Build electric skateboards, scooters, and DIY e-bikes. Dozens of off-the-shelf boards are supported out of the box.
  </Card>

  <Card title="Engineers" icon="cpu">
    Integrate VESC firmware into robotics, industrial actuators, and custom hardware using the documented hardware abstraction layer.
  </Card>

  <Card title="EV builders" icon="zap">
    High-voltage targets such as the Trampa 100/500 and Ubox 126V handle serious electric vehicle drivetrains.
  </Card>
</CardGroup>

## Project structure

The repository is organized as follows:

```text theme={null}
bldc/
├── hwconf/              # Hardware configuration files, one folder per manufacturer
│   ├── trampa/          # Trampa boards (VESC 6, 75/300, 100/250, 100/500, …)
│   ├── vesc/            # VESC-branded boards (Basic, Classic, Duet, Maxim, …)
│   ├── flipsky/         # Flipsky 75/100, 75/300 community boards
│   ├── flipsky_official/# Flipsky V4, V6, 110-series official boards
│   ├── makerx/          # MakerX GO-FOC series
│   ├── Ubox/            # Ubox 75V, 100V, 126V controllers
│   ├── stormcore/       # Stormcore 60D, 100D, 100S
│   ├── shaman/          # Cheap FOCer 2, Little FOCer series
│   ├── teamtriforceuk/  # A50S, A100S, A200S series
│   └── …                # Many more manufacturers
├── conf_general.h       # Global firmware configuration and version defines
├── datatypes.h          # Core data types shared across the firmware
├── mcconf_default.h     # Default motor controller configuration
├── appconf_default.h    # Default application configuration
├── Makefile             # Build system entry point
├── make/                # OS-specific and toolchain makefiles
├── tools/               # Downloaded toolchain (ARM GCC, Qt)
└── build/               # Compiled firmware output
```

The firmware version is defined in `conf_general.h`:

```c theme={null}
#define FW_VERSION_MAJOR        7
#define FW_VERSION_MINOR        00
```

Every hardware target provides a `hw_<target>.h` header and a `hw_<target>.c` source file. The build system discovers all targets automatically by scanning `hwconf/` for `hw_*.h` files.

## Where to go next

<CardGroup cols={2}>
  <Card title="Quickstart" icon="rocket" href="/quickstart">
    Clone the repo, install the ARM toolchain, build your first firmware image, and flash it to your controller.
  </Card>

  <Card title="Supported hardware" icon="microchip" href="/supported-hardware">
    Browse the full list of supported boards grouped by manufacturer.
  </Card>

  <Card title="Motor control" icon="settings" href="/motor-control/overview">
    Learn about FOC, BLDC, and DC control modes and how to tune them.
  </Card>

  <Card title="Communication" icon="radio" href="/communication/can-bus">
    CAN bus, UART, USB, and the VESC serial protocol.
  </Card>
</CardGroup>

<Note>
  The VESC community is active on the [VESC Project forums](https://vesc-project.com/forum) and on [Discord](https://discord.gg/JgvV5NwYts). Both are good places to ask hardware-specific questions.
</Note>