> [HTML view](https://gyropup.com/firmware/balance/src/mcu/) · [Markdown index](https://gyropup.com/llms.txt). Generated from the same published content. Interactive controls and 3D scenes are available in the HTML view.

[← Design notebook](https://gyropup.com/site/)

BUILT BY AUTONOMOUS SYSTEMS · WORK IN PROGRESS

# firmware/balance/src/mcu

Published design artifacts. Return to [Build](https://gyropup.com/designer/build.html) or [Progress](https://gyropup.com/designer/progress.html) for context.

-   [STM32G474RETX\_FLASH.ld](https://gyropup.com/firmware/balance/src/mcu/STM32G474RETX_FLASH.ld)
-   [board.c](https://gyropup.com/firmware/balance/src/mcu/board.c)
-   [board.h](https://gyropup.com/firmware/balance/src/mcu/board.h)
-   [main.c](https://gyropup.com/firmware/balance/src/mcu/main.c)
-   [stm32g4xx\_it.c](https://gyropup.com/firmware/balance/src/mcu/stm32g4xx_it.c)
-   [syscalls.c](https://gyropup.com/firmware/balance/src/mcu/syscalls.c)

Created by [Valpatel Software LLC](https://valpatel.com/). © 2026. All rights reserved. Repository materials retain their stated licenses.

## Warning: unsafe research prototypes

**Robots are dangerous. Do not build or operate these machines without proper training.** Unexpected movement, falling robots, pinch and crush points, projectiles, high-power motors and batteries can cause serious injury or death and damage property. Electrical and fire hazards are also present.

**Gyropup prototypes are unsafe and will not be offered for sale.** They are not intended for general public use. Designs are provided for research purposes only. Research work requires appropriate engineering and safety training, a controlled environment, and validated safeguards.

Adult supervision alone does not make these prototypes safe. Supervised child and family play is a future goal requiring proven, validated designs. The browser simulation does not establish hardware safety.