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

# Provenance

> What the Delta firmware derives from, and how it relates to the upstream VESC project.

The Delta firmware is a derivative of the open source [VESC project](https://github.com/vedderb/bldc) by Benjamin Vedder, adapted by Intrusive Robotics for the Delta GaN ESC hardware.

## Build

| Property | Value |
| - | - |
| Firmware version | IR\_FW1\_5 |
| Upstream VESC base | 6.05 |
| Build target | `fw_vesc_gan` |
| MCU | STM32F405RGT6 |

## Relationship to upstream

> **[Upstream source](https://github.com/vedderb/bldc)**
>
> `vedderb/bldc` — the VESC firmware the Delta derives from.

> **[Delta source](https://github.com/IntrusiveRobotics/Delta)**
>
> `IntrusiveRobotics/Delta` — this firmware, including hardware support for the Delta.

The Delta firmware adds hardware support for the Delta GaN ESC — the GaN gate drive stage, thermal management for the 70 A rating, and board-specific pin and peripheral configuration. It remains compatible with VESC Tool for configuration, tuning, and firmware operations.

> [!NOTE]
>
> The Delta is **sensorless only**. There is no encoder input on this hardware, so encoder-related functionality present in upstream VESC does not apply.

## Licensing

Because the firmware derives from a GPL v3 work, it is distributed under GPL v3. See [license](https://docs.intrusiverobotics.com/legal/license.md).

## Trademarks

VESC® is a registered trademark. The Delta is compatible with VESC software but is not a VESC-branded product and is not affiliated with or endorsed by Benjamin Vedder or the VESC project. See [trademarks](https://docs.intrusiverobotics.com/legal/trademarks.md).


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