diff --git a/hwconf/shaman/Little_FOCer_4/hw_Little_FOCer_V4.c b/hwconf/shaman/Little_FOCer_4/hw_Little_FOCer_V4.c
new file mode 100644
index 00000000..c036bb5b
--- /dev/null
+++ b/hwconf/shaman/Little_FOCer_4/hw_Little_FOCer_V4.c
@@ -0,0 +1,286 @@
+/*
+ Copyright 2012-2016 Benjamin Vedder benjamin@vedder.se
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#include "hw.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "utils.h"
+#ifdef HW_HAS_DRV8323S
+#include "drv8323s.h"
+#endif
+#include "terminal.h"
+#include "commands.h"
+#include "mc_interface.h"
+
+// Variables
+static volatile bool i2c_running = false;
+static mutex_t shutdown_mutex;
+static bool shutdown_pressed = false;
+static int shutdown_pressed_time = 0;
+
+// I2C configuration
+static const I2CConfig i2cfg = {
+ OPMODE_I2C,
+ 100000,
+ STD_DUTY_CYCLE
+};
+
+
+void hw_init_gpio(void) {
+ // GPIO clock enable
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+
+ // LEDs
+ palSetPadMode(GPIOB, 0,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ palSetPadMode(GPIOB, 1,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // ENABLE_GATE
+ palSetPadMode(GPIOB, 5,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // Disable DCCAL
+ palSetPadMode(GPIOD, 2,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ palClearPad(GPIOD, 2);
+
+ ENABLE_GATE();
+
+ // GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
+ palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ // Hall sensors
+ palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
+
+ // Current filter
+ palSetPadMode(GPIOD, 2,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ CURRENT_FILTER_OFF();
+
+#ifdef HW_HAS_PHASE_FILTERS
+ // Phase filters
+ palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ PHASE_FILTER_OFF();
+#endif
+
+ // Fault pin
+ palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
+
+ // ADC Pins
+ palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
+
+ palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+
+ // Shutdown
+ chMtxObjectInit(&shutdown_mutex);
+ palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL);
+ palSetPadMode(HW_SHUTDOWN_SENSE_GPIO, HW_SHUTDOWN_SENSE_PIN, PAL_MODE_INPUT_PULLDOWN);
+
+#ifdef HW_HAS_DRV8323S
+ drv8323s_init();
+#endif
+}
+
+void hw_setup_adc_channels(void) {
+ // ADC1 regular channels
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles);
+
+ // ADC2 regular channels
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles);
+
+ // ADC3 regular channels
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles);
+
+ // Injected channels
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
+}
+
+void hw_start_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (!i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+ i2c_running = true;
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+void hw_stop_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
+
+ i2cStop(&HW_I2C_DEV);
+ i2c_running = false;
+
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+/**
+ * Try to restore the i2c bus
+ */
+void hw_try_restore_i2c(void) {
+ if (i2c_running) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ chThdSleep(1);
+
+ for(int i = 0;i < 16;i++) {
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ }
+
+ // Generate start then stop condition
+ palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+ chThdSleep(1);
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ HW_I2C_DEV.state = I2C_STOP;
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+
+ i2cReleaseBus(&HW_I2C_DEV);
+ }
+}
+
+bool hw_sample_shutdown_button(void) {
+
+ chMtxLock(&shutdown_mutex);
+ shutdown_pressed = palReadPad(HW_SHUTDOWN_SENSE_GPIO, HW_SHUTDOWN_SENSE_PIN) == PAL_HIGH;
+ chMtxUnlock(&shutdown_mutex);
+ if(shutdown_pressed){
+ shutdown_pressed_time += 10;
+ return true;
+ }else{
+ if(shutdown_pressed_time > 1000){
+ shutdown_pressed_time = 0;
+ return false;
+ }else{
+ shutdown_pressed_time = 0;
+ return true;
+ }
+ }
+}
diff --git a/hwconf/shaman/Little_FOCer_4/hw_Little_FOCer_V4.h b/hwconf/shaman/Little_FOCer_4/hw_Little_FOCer_V4.h
new file mode 100644
index 00000000..f2373f29
--- /dev/null
+++ b/hwconf/shaman/Little_FOCer_4/hw_Little_FOCer_V4.h
@@ -0,0 +1,309 @@
+/*
+ Copyright 2016 Benjamin Vedder benjamin@vedder.se
+
+ This file is part of the VESC firmware.
+
+ The VESC firmware is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ The VESC firmware is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#ifndef HW_LITTLE_FOCER_v4_H_
+#define HW_LITTLE_FOCER_v4_H_
+
+
+
+ #define HW_NAME "Little_FOCer_V4"
+
+
+// HW properties
+
+
+#define HW_HAS_3_SHUNTS
+
+
+// HW properties
+//#define CURRENT_FILTER_ON() palSetPad(GPIOD, 2)
+#define CURRENT_FILTER_OFF() palClearPad(GPIOD, 2)
+
+#define HW_HAS_PHASE_FILTERS
+#define PHASE_FILTER_GPIO GPIOC
+#define PHASE_FILTER_PIN 13
+#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#define HW_DEAD_TIME_NSEC 600.0
+
+// Macros
+#define LED_GREEN_ON() palSetPad(GPIOB, 0)
+#define LED_GREEN_OFF() palClearPad(GPIOB, 0)
+#define LED_RED_ON() palSetPad(GPIOB, 1)
+#define LED_RED_OFF() palClearPad(GPIOB, 1)
+
+#define HW_SHUTDOWN_GPIO GPIOC
+#define HW_SHUTDOWN_PIN 5
+#define HW_SHUTDOWN_SENSE_GPIO GPIOC
+#define HW_SHUTDOWN_SENSE_PIN 12
+#define HW_SHUTDOWN_HOLD_ON() palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
+#define HW_SHUTDOWN_HOLD_OFF() palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
+#define HW_SAMPLE_SHUTDOWN() hw_sample_shutdown_button()
+
+/*
+ * ADC Vector
+ *
+ * 0: IN0 SENS1
+ * 1: IN1 SENS2
+ * 2: IN2 SENS3
+ * 3: IN10 CURR1
+ * 4: IN11 CURR2
+ * 5: IN12 CURR3
+ * 6: IN5 ADC_EXT1
+ * 7: IN6 ADC_EXT2
+ * 8: IN3 TEMP_PCB
+ * 9: IN14 TEMP_MOTOR
+ * 10: IN15 Shutdown
+ * 11: IN13 AN_IN
+ * 12: Vrefint
+ * 13: IN0 SENS1
+ * 14: IN1 SENS2
+ */
+
+#define HW_ADC_CHANNELS 15
+#define HW_ADC_INJ_CHANNELS 3
+#define HW_ADC_NBR_CONV 5
+
+// ADC Indexes
+#define ADC_IND_SENS1 0
+#define ADC_IND_SENS2 1
+#define ADC_IND_SENS3 2
+#define ADC_IND_CURR1 3
+#define ADC_IND_CURR2 4
+#define ADC_IND_CURR3 5
+#define ADC_IND_VIN_SENS 11
+#define ADC_IND_EXT 6
+#define ADC_IND_EXT2 7
+#define ADC_IND_TEMP_MOS 8
+#define ADC_IND_TEMP_MOTOR 9
+#define ADC_IND_VREFINT 12
+#define ADC_IND_SHUTDOWN 10
+
+// ADC macros and settings
+
+// Component parameters (can be overridden)
+#ifndef V_REG
+#define V_REG 3.3
+#endif
+#ifndef VIN_R1
+#define VIN_R1 68000.0
+#endif
+#ifndef VIN_R2
+#define VIN_R2 2200.0
+#endif
+#ifndef CURRENT_AMP_GAIN
+#define CURRENT_AMP_GAIN 20.0
+#endif
+#ifndef CURRENT_SHUNT_RES
+#define CURRENT_SHUNT_RES 0.0002
+#endif
+
+// Input voltage
+#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
+
+// NTC Termistors
+#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
+#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
+
+#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
+#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
+
+// Voltage on ADC channel
+#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
+
+// Double samples in beginning and end for positive current measurement.
+// Useful when the shunt sense traces have noise that causes offset.
+#ifndef CURR1_DOUBLE_SAMPLE
+#define CURR1_DOUBLE_SAMPLE 0
+#endif
+#ifndef CURR2_DOUBLE_SAMPLE
+#define CURR2_DOUBLE_SAMPLE 0
+#endif
+#ifndef CURR3_DOUBLE_SAMPLE
+#define CURR3_DOUBLE_SAMPLE 0
+#endif
+
+// COMM-port ADC GPIOs
+#define HW_ADC_EXT_GPIO GPIOA
+#define HW_ADC_EXT_PIN 5
+#define HW_ADC_EXT2_GPIO GPIOA
+#define HW_ADC_EXT2_PIN 6
+
+// UART Peripheral
+#define HW_UART_DEV SD3
+#define HW_UART_GPIO_AF GPIO_AF_USART3
+#define HW_UART_TX_PORT GPIOB
+#define HW_UART_TX_PIN 10
+#define HW_UART_RX_PORT GPIOB
+#define HW_UART_RX_PIN 11
+
+// Permanent UART Peripheral (for NRF51)
+#define HW_UART_P_BAUD 115200
+#define HW_UART_P_DEV SD4
+#define HW_UART_P_GPIO_AF GPIO_AF_UART4
+#define HW_UART_P_TX_PORT GPIOC
+#define HW_UART_P_TX_PIN 10
+#define HW_UART_P_RX_PORT GPIOC
+#define HW_UART_P_RX_PIN 11
+
+// ICU Peripheral for servo decoding
+#define HW_USE_SERVO_TIM4
+#define HW_ICU_TIMER TIM4
+#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ICU_DEV ICUD4
+#define HW_ICU_CHANNEL ICU_CHANNEL_1
+#define HW_ICU_GPIO_AF GPIO_AF_TIM4
+#define HW_ICU_GPIO GPIOB
+#define HW_ICU_PIN 6
+
+// I2C Peripheral
+#define HW_I2C_DEV I2CD2
+#define HW_I2C_GPIO_AF GPIO_AF_I2C2
+#define HW_I2C_SCL_PORT GPIOB
+#define HW_I2C_SCL_PIN 10
+#define HW_I2C_SDA_PORT GPIOB
+#define HW_I2C_SDA_PIN 11
+
+// Hall/encoder pins
+#define HW_HALL_ENC_GPIO1 GPIOC
+#define HW_HALL_ENC_PIN1 6
+#define HW_HALL_ENC_GPIO2 GPIOC
+#define HW_HALL_ENC_PIN2 7
+#define HW_HALL_ENC_GPIO3 GPIOC
+#define HW_HALL_ENC_PIN3 8
+#define HW_ENC_TIM TIM3
+#define HW_ENC_TIM_AF GPIO_AF_TIM3
+#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
+#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
+#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
+#define HW_ENC_EXTI_CH EXTI9_5_IRQn
+#define HW_ENC_EXTI_LINE EXTI_Line8
+#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
+#define HW_ENC_TIM_ISR_CH TIM3_IRQn
+#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
+
+// SPI pins
+#define HW_SPI_DEV SPID1
+#define HW_SPI_GPIO_AF GPIO_AF_SPI1
+#define HW_SPI_PORT_NSS GPIOA
+#define HW_SPI_PIN_NSS 4
+#define HW_SPI_PORT_SCK GPIOA
+#define HW_SPI_PIN_SCK 5
+#define HW_SPI_PORT_MOSI GPIOA
+#define HW_SPI_PIN_MOSI 7
+#define HW_SPI_PORT_MISO GPIOA
+#define HW_SPI_PIN_MISO 6
+
+#ifdef HW_HAS_DRV8323S
+// SPI for DRV8323S rev2
+#define DRV8323S_MOSI_GPIO GPIOC
+#define DRV8323S_MOSI_PIN 12
+#define DRV8323S_MISO_GPIO GPIOD
+#define DRV8323S_MISO_PIN 2
+#define DRV8323S_SCK_GPIO GPIOC
+#define DRV8323S_SCK_PIN 13
+#define DRV8323S_CS_GPIO GPIOC
+#define DRV8323S_CS_PIN 9
+#endif
+
+// IMU:
+
+// LSM6DS3
+#define LSM6DS3_SDA_GPIO GPIOB
+#define LSM6DS3_SDA_PIN 2
+#define LSM6DS3_SCL_GPIO GPIOA
+#define LSM6DS3_SCL_PIN 15
+
+
+// NRF SWD
+#define NRF5x_SWDIO_GPIO GPIOB
+#define NRF5x_SWDIO_PIN 4
+#define NRF5x_SWCLK_GPIO GPIOB
+#define NRF5x_SWCLK_PIN 3
+
+// Measurement macros
+#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
+#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
+#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
+#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
+
+// Macros
+#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
+#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
+#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
+
+// Default setting overrides
+#ifndef MCCONF_L_MIN_VOLTAGE
+#define MCCONF_L_MIN_VOLTAGE 18.0 // Minimum input voltage
+#endif
+#ifndef MCCONF_L_MAX_VOLTAGE
+#define MCCONF_L_MAX_VOLTAGE 95.0 // Maximum input voltage
+#endif
+#ifndef MCCONF_L_CURRENT_MAX
+#ifdef LFOC_IS_V3
+#define MCCONF_L_CURRENT_MAX 100.0 // Current limit in Amperes (Upper)
+#else
+#define MCCONF_L_CURRENT_MAX 70.0 // Current limit in Amperes (Upper)
+#endif
+#endif
+#ifndef MCCONF_L_CURRENT_MIN
+#define MCCONF_L_CURRENT_MIN -50.0 // Current limit in Amperes (Lower)
+#endif
+#ifndef MCCONF_L_IN_CURRENT_MAX
+#define MCCONF_L_IN_CURRENT_MAX 60.0 // Input current limit in Amperes (Upper)
+#endif
+#ifndef MCCONF_L_IN_CURRENT_MIN
+#define MCCONF_L_IN_CURRENT_MIN -60.0 // Input current limit in Amperes (Lower)
+#endif
+#ifndef MCCONF_L_MAX_ABS_CURRENT
+#ifdef LFOC_IS_V3
+#define MCCONF_L_MAX_ABS_CURRENT 300.0 // The maximum absolute current above which a fault is generated
+#else
+#define MCCONF_L_MAX_ABS_CURRENT 130.0 // The maximum absolute current above which a fault is generated
+#endif
+#endif
+#ifndef MCCONF_L_LIM_TEMP_FET_START
+#define MCCONF_L_LIM_TEMP_FET_START 80.0 // MOSFET temperature where current limiting should begin
+#endif
+#ifndef MCCONF_L_LIM_TEMP_FET_END
+#define MCCONF_L_LIM_TEMP_FET_END 100.0 // MOSFET temperature where everything should be shut off
+#endif
+#ifndef MCCONF_DEFAULT_MOTOR_TYPE
+#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
+#endif
+#ifndef MCCONF_FOC_F_ZV
+#define MCCONF_FOC_F_ZV 25000.0
+#endif
+
+// Setting limits
+
+#define HW_LIM_CURRENT -250.0, 250.0
+#define HW_LIM_CURRENT_IN -100.0, 100.0
+#define HW_LIM_CURRENT_ABS 0.0, 350.0
+
+#define HW_LIM_VIN 18.0, 95.0
+#define HW_LIM_ERPM -200e3, 200e3
+#define HW_LIM_DUTY_MIN 0.0, 0.1
+#define HW_LIM_DUTY_MAX 0.0, 0.99
+#define HW_LIM_TEMP_FET -40.0, 110.0
+
+// Functions
+bool hw_sample_shutdown_button(void);
+
+#endif /* HW_LITTLE_FOCER_H_ */
diff --git a/package_firmware.py b/package_firmware.py
index 2c84edcb..0044b144 100755
--- a/package_firmware.py
+++ b/package_firmware.py
@@ -98,6 +98,7 @@ package_dict["STORMCORE_100S"] = [['stormcore_100s', default_name],
package_dict["Little_FOCer"] = [['Little_FOCer', default_name]]
package_dict["Little_FOCer_V3"] = [['Little_FOCer_V3', default_name]]
package_dict["Little_FOCer_V3_1"] = [['Little_FOCer_V3_1', default_name]]
+package_dict["Little_FOCer_4"] = [['Little_FOCer_4', default_name]]
package_dict["Thor300"] = [['Thor_300_20s', default_name]]
package_dict["UXV_SR"] = [['uxv_sr', default_name]]
package_dict["GESC"] = [['gesc', default_name]]