diff --git a/app/rev2/Makefile b/app/rev2/Makefile
index fc105fea..c0b96861 100644
--- a/app/rev2/Makefile
+++ b/app/rev2/Makefile
@@ -85,7 +85,8 @@ $(MOD_DIR)/error_sdr/error_sdr.c	                                  \
 $(MOD_DIR)/math_sdr/math_sdr.c										  \
 $(DRIVER_DIR)/flash/flash.c                                              \
 $(DRIVER_DIR)/ignition/ignition.c                                        \
-$(DRIVER_DIR)/imu/imu.c                                                  \
+$(DRIVER_DIR)/imu/imu_dflt.c                                                  \
+$(DRIVER_DIR)/imu/imu_legacy.c 											 \
 $(DRIVER_DIR)/led/led.c                                                  \
 $(DRIVER_DIR)/lora/lora.c                                                  \
 $(MOD_DIR)/sensor/sensor.c                                            \
diff --git a/app/rev3/Makefile b/app/rev3/Makefile
index 7bff3b26..4baa6c40 100644
--- a/app/rev3/Makefile
+++ b/app/rev3/Makefile
@@ -46,6 +46,10 @@ main.c \
 $(INIT_DIR)/config/Src/stm32h7xx_it.c \
 $(INIT_DIR)/config/Src/stm32h7xx_hal_msp.c \
 $(MOD_DIR)/error_sdr/error_sdr.c 			\
+$(MOD_DIR)/debug_sdr/debug_sdr.c 			\
+$(DRIVER_DIR)/imu/imu_dflt.c				\
+$(DRIVER_DIR)/imu/imu_lsm.c					\
+$(DRIVER_DIR)/timer/timer.c						\
 $(DRIVER_DIR)/led/led.c						\
 $(DRIVER_DIR)/lora/lora.c					\
 $(DRIVER_DIR)/usb/USB_DEVICE/App/usb_device.c \
@@ -98,6 +102,7 @@ $(LIB_DIR)/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \
 $(LIB_DIR)/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c \
 $(LIB_DIR)/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c \
 $(LIB_DIR)/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
+$(LIB_DIR)/lsm6dsv320x-pid/lsm6dsv320x_reg.c \
 $(INIT_DIR)/config/Src/sysmem.c \
 $(INIT_DIR)/config/Src/syscalls.c
 
@@ -165,7 +170,9 @@ AS_INCLUDES =
 C_INCLUDES =  \
 -I.									\
 -I$(MOD_DIR)/error_sdr   			\
+-I$(MOD_DIR)/debug_sdr   			\
 -I$(MOD_DIR)/math_sdr   			\
+-I$(DRIVER_DIR)/imu					\
 -I$(DRIVER_DIR)/led					\
 -I$(DRIVER_DIR)/lora					\
 -I$(DRIVER_DIR)/flash				\
@@ -174,6 +181,7 @@ C_INCLUDES =  \
 -I$(DRIVER_DIR)/usb/USB_DEVICE/Target \
 -I$(DRIVER_DIR)/gps					     \
 -I$(DRIVER_DIR)/buzzer					 \
+-I$(DRIVER_DIR)/timer					 \
 -I$(INIT_DIR)/config/Inc \
 -I$(LIB_DIR)								\
 -I$(LIB_DIR)/Drivers/STM32H7xx_HAL_Driver/Inc \
@@ -181,7 +189,8 @@ C_INCLUDES =  \
 -I$(LIB_DIR)/Middlewares/ST/STM32_USB_Device_Library/Core/Inc \
 -I$(LIB_DIR)/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc \
 -I$(LIB_DIR)/Drivers/CMSIS/Device/ST/STM32H7xx/Include \
--I$(LIB_DIR)/Drivers/CMSIS/Include
+-I$(LIB_DIR)/Drivers/CMSIS/Include \
+-I$(LIB_DIR)/lsm6dsv320x-pid/
 
 
 # compile gcc flags
diff --git a/app/rev3/STM32H733XG_FLASH.ld b/app/rev3/STM32H733XG_FLASH.ld
index df7c2e4c..75abca9d 100644
--- a/app/rev3/STM32H733XG_FLASH.ld
+++ b/app/rev3/STM32H733XG_FLASH.ld
@@ -205,6 +205,18 @@ SECTIONS
     libm.a ( * )
     libgcc.a ( * )
   }
+  
+  /* 
+   * DMA-safe buffers in D2 SRAM (0x30000000). DTCM is unreachable by DMA1/DMA2.
+   * 32-byte alignment prevents L1 D-Cache coherency corruption.
+   * Usage: __ALIGNED(32) __attribute__((section(".dma_buffer")))
+   */
+  .dma_buffer (NOLOAD) :
+  {
+    . = ALIGN(32);
+    *(.dma_buffer)
+    . = ALIGN(32);
+  } >RAM_D2
 
 }
 
diff --git a/driver b/driver
index 42a63d0f..2a5de224 160000
--- a/driver
+++ b/driver
@@ -1 +1 @@
-Subproject commit 42a63d0fda862aa673b210b20bf40402efcf655b
+Subproject commit 2a5de224c17f6e842f6eb95313b7453b883ce7f0
diff --git a/lib b/lib
index 329661c2..2a0e5f11 160000
--- a/lib
+++ b/lib
@@ -1 +1 @@
-Subproject commit 329661c209c264c96f162741d5776e7433ee4fa9
+Subproject commit 2a0e5f11d4e86a5d74690f9fdaf198f03b9af8d9
diff --git a/test/app/rev2/main/Makefile b/test/app/rev2/main/Makefile
index 8121a0ce..42ea4b20 100644
--- a/test/app/rev2/main/Makefile
+++ b/test/app/rev2/main/Makefile
@@ -110,7 +110,7 @@ C_DEFS =         \
 -DSTM32H750xx    \
 -DFLIGHT_COMPUTER \
 -DUNIT_TEST	\
--DA0002_REV1
+-DA0002_REV2
 
 CFLAGS = $(C_INCLUDES) $(C_DEFS) $(OPT) -Wall -g