Skip to content
cd ../projects

Spectraloop — Hyperloop Pod Control Software

STM32-based control software for a TEKNOFEST Hyperloop pod: CAN Bus, linear motor drive over Modbus RTU, and a fail-safe architecture. 1st place in Türkiye in the Technology Demonstration category in 2026.

Period
2023 – present
Stack
STM32 · CAN Bus · Modbus RTU · RS-485 · I²C · Watchdog · React · WebSocket

Architecture

Spectraloop pod software architectureSensors (BNO055 IMU over I²C, Omron optical sensors via hardware interrupts) connect to the master STM32, which handles decisions, fail-safe logic and the watchdog and sends telemetry to a React, Node.js and WebSocket ground station. The master talks to a slave STM32, the motor STM32 and the BMS master (STM32F411, 24 slaves, 144S Li-ion) over CAN bus. The motor STM32 acts as Modbus RTU master on an RS-485 line and drives two Delta MS300 VFDs (slaves 1 and 2), which run the linear motor at up to 150 Hz.SensorsBNO055 (I²C) · Omron (EXTI)Master STM32decisions · fail-safe · watchdogGround stationReact · Node.js · WebSockettelemetryCANSlave STM32subsystem controlMotor STM32Modbus RTU masterBMS Master (F411)24 slave · 144S Li-ionRS-485MS300 VFD #1slave 1MS300 VFD #2slave 2Linear motorup to 150 Hz

Problem

A pod propelled by a linear motor has to communicate reliably under heavy EMI, know its position and speed accurately, and fall back to a safe state on any fault.

My contribution

  • Linear motor drive: I developed the STM32 firmware that drives two Delta MS300 VFDs over Modbus RTU on a single RS-485 line (9600 baud, 8N1, slaves 1 and 2): forward/reverse/stop control words and frequencies up to 150 Hz. I ported the code from the STM32F407 to the Nucleo-F401RE.
  • Field validation: I verified the VFD parameters (frequency and run-command source set to RS-485, upper frequency limit) through on-site testing. I added a Python serial↔WebSocket bridge and a live control panel.
  • Team management: I split the 11-person team into 6 subsystem groups (sensors, CAN, navigation, BMS, RTOS, telemetry) and coordinated the Technical Design Report process.

What we built as a team

  • CAN Bus between master and slave STM32s; twisted-pair cabling + 120 Ω termination for EMI resilience
  • BNO055 IMU (I²C) + dual Omron optical sensors, with position cross-checked via hardware interrupts
  • Fail-safe behavior with a hardware Watchdog; a CAN-based BMS with 24 slaves for the 144S battery
  • React + Node.js + WebSocket ground station

Results — TEKNOFEST 2026

CategoryRanking
Technology Demonstration1st place in Türkiye
Performance3rd place in Türkiye
Defined Problem Solving3rd place in Türkiye
Performance — Technical Design Report1st place