From 4ff69e98084dbcd217e92b2431521cff9a83bd56 Mon Sep 17 00:00:00 2001 From: MasterUser43 Date: Fri, 19 Jun 2026 07:54:16 -0700 Subject: [PATCH 01/14] Added .dma_buffer to bypass DTCM --- app/rev3/STM32H733XG_FLASH.ld | 12 ++++++++++++ 1 file changed, 12 insertions(+) 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 } From 521bd2675873c37dac58a554393ef39d83611e29 Mon Sep 17 00:00:00 2001 From: ETSsound <147210601+ETSsound@users.noreply.github.com> Date: Sun, 21 Jun 2026 14:01:29 -0700 Subject: [PATCH 02/14] Add legacy IMU to rev2 build // Add new IMU to rev3 build Implemented as part of testing/reviewing Isahi's PR. If you don't like this implementation on your branch, feel free to revert. --- app/rev2/Makefile | 1 + app/rev3/Makefile | 7 ++++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/app/rev2/Makefile b/app/rev2/Makefile index d849cf8e..057e6fc5 100644 --- a/app/rev2/Makefile +++ b/app/rev2/Makefile @@ -85,6 +85,7 @@ $(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_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 7af61ed1..6bc94dfa 100644 --- a/app/rev3/Makefile +++ b/app/rev3/Makefile @@ -46,6 +46,8 @@ main.c \ $(INIT_DIR)/config/Src/stm32h7xx_it.c \ $(INIT_DIR)/config/Src/stm32h7xx_hal_msp.c \ $(MOD_DIR)/error_sdr/error_sdr.c \ +$(DRIVER_DIR)/imu/imu.c \ +$(DRIVER_DIR)/imu/imu_lsm.c \ $(DRIVER_DIR)/led/led.c \ $(DRIVER_DIR)/lora/lora.c \ $(DRIVER_DIR)/usb/USB_DEVICE/App/usb_device.c \ @@ -97,6 +99,7 @@ $(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 \ $(INIT_DIR)/config/Src/syscalls.c @@ -165,6 +168,7 @@ C_INCLUDES = \ -I. \ -I$(MOD_DIR)/error_sdr \ -I$(MOD_DIR)/math_sdr \ +-I$(DRIVER_DIR)/imu \ -I$(DRIVER_DIR)/led \ -I$(DRIVER_DIR)/lora \ -I$(DRIVER_DIR)/flash \ @@ -179,7 +183,8 @@ C_INCLUDES = \ -I$(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 From 043d6c4473a2d81250b908bb2dcc410fc095fff3 Mon Sep 17 00:00:00 2001 From: MU43 Date: Tue, 23 Jun 2026 19:17:35 -0700 Subject: [PATCH 03/14] update lib submodule pointer to include NOTICE --- lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/lib b/lib index 89891eca..bf08657b 160000 --- a/lib +++ b/lib @@ -1 +1 @@ -Subproject commit 89891eca18f7c3fec96984f659aa94e40944e7ca +Subproject commit bf08657bc2b1f9502476b831d1cf16f7d0e25c97 From 5a7c8139fcaa5adee0e1e81baef430e4dba33f04 Mon Sep 17 00:00:00 2001 From: MU43 Date: Tue, 23 Jun 2026 19:28:22 -0700 Subject: [PATCH 04/14] update driver submodule pointer to latest commit --- driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driver b/driver index adb9e8b8..f64060fb 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit adb9e8b81dd73b77d144cd513cb934a6902322bd +Subproject commit f64060fb7695acca6eba6d16b3585890b294fc17 From e2fc72b8f31b8830951d17be4a05c0bd4466841b Mon Sep 17 00:00:00 2001 From: MU43 Date: Wed, 24 Jun 2026 07:37:37 -0700 Subject: [PATCH 05/14] Driver and lib submodule pointers to rebased commits --- driver | 2 +- lib | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/driver b/driver index f64060fb..41ed9398 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit f64060fb7695acca6eba6d16b3585890b294fc17 +Subproject commit 41ed939858582ddec3b470fd1afff36b51237b60 diff --git a/lib b/lib index bf08657b..2ebf78be 160000 --- a/lib +++ b/lib @@ -1 +1 @@ -Subproject commit bf08657bc2b1f9502476b831d1cf16f7d0e25c97 +Subproject commit 2ebf78be1205a4c0e9acfaf2d4a01d6314790e8b From d2b0169a9d1c06b27faa5e11a095a8425bc99157 Mon Sep 17 00:00:00 2001 From: MU43 Date: Wed, 24 Jun 2026 08:47:34 -0700 Subject: [PATCH 06/14] update driver submodule pointer to include SFLP compilation fix --- driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driver b/driver index 41ed9398..47c74f15 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit 41ed939858582ddec3b470fd1afff36b51237b60 +Subproject commit 47c74f159fb90500e2024cd1baeb21b357e7728a From bf7ac84cdc91d92f312ae4ebfc1ad5517dfffbb9 Mon Sep 17 00:00:00 2001 From: MU43 Date: Thu, 25 Jun 2026 13:41:24 -0700 Subject: [PATCH 07/14] Added debug_sdr + timer in make. Revert if like --- app/rev3/Makefile | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/app/rev3/Makefile b/app/rev3/Makefile index 25612a88..13eba5de 100644 --- a/app/rev3/Makefile +++ b/app/rev3/Makefile @@ -46,8 +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.c \ $(DRIVER_DIR)/imu/imu_lsm.c \ +$(DRIVER_DIR)/timer/timer.c \ $(DRIVER_DIR)/led/led.c \ $(DRIVER_DIR)/lora/lora.c \ $(DRIVER_DIR)/usb/USB_DEVICE/App/usb_device.c \ @@ -168,6 +170,7 @@ AS_INCLUDES = C_INCLUDES = \ -I. \ -I$(MOD_DIR)/error_sdr \ +-I$(MOD_DIR)/debug_sdr \ -I$(MOD_DIR)/math_sdr \ -I$(DRIVER_DIR)/imu \ -I$(DRIVER_DIR)/led \ @@ -178,6 +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 \ From a6098a9522142fa0945ae8bd5d4f9e4bd1795891 Mon Sep 17 00:00:00 2001 From: MU43 Date: Thu, 25 Jun 2026 13:43:21 -0700 Subject: [PATCH 08/14] Pull up driver --- driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driver b/driver index 47c74f15..cbf947f9 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit 47c74f159fb90500e2024cd1baeb21b357e7728a +Subproject commit cbf947f945ee7a18e97d2c5b5610cf3df0ad41ef From 8a129a536bab97bd8d9648fffe0ced2653c546b0 Mon Sep 17 00:00:00 2001 From: MU43 Date: Thu, 25 Jun 2026 14:11:45 -0700 Subject: [PATCH 09/14] Pull up driver (2) --- driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driver b/driver index cbf947f9..1092dd86 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit cbf947f945ee7a18e97d2c5b5610cf3df0ad41ef +Subproject commit 1092dd863950a1f1c6f0e0fbc4523b1b36d320b9 From 860d3d99d8d0f66872913d0ae51d8abfa56669c9 Mon Sep 17 00:00:00 2001 From: MU43 Date: Tue, 30 Jun 2026 09:43:16 -0700 Subject: [PATCH 10/14] DMA IMU driver, pin vendor submodule, and update Makefiles --- app/rev2/Makefile | 2 +- app/rev3/Makefile | 2 +- driver | 2 +- lib | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/app/rev2/Makefile b/app/rev2/Makefile index 3f06e414..c0b96861 100644 --- a/app/rev2/Makefile +++ b/app/rev2/Makefile @@ -85,7 +85,7 @@ $(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 \ diff --git a/app/rev3/Makefile b/app/rev3/Makefile index 13eba5de..4baa6c40 100644 --- a/app/rev3/Makefile +++ b/app/rev3/Makefile @@ -47,7 +47,7 @@ $(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.c \ +$(DRIVER_DIR)/imu/imu_dflt.c \ $(DRIVER_DIR)/imu/imu_lsm.c \ $(DRIVER_DIR)/timer/timer.c \ $(DRIVER_DIR)/led/led.c \ diff --git a/driver b/driver index 1092dd86..611e9fff 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit 1092dd863950a1f1c6f0e0fbc4523b1b36d320b9 +Subproject commit 611e9fffaf816577a789f8665030168df89ca977 diff --git a/lib b/lib index 2ebf78be..a1441a2b 160000 --- a/lib +++ b/lib @@ -1 +1 @@ -Subproject commit 2ebf78be1205a4c0e9acfaf2d4a01d6314790e8b +Subproject commit a1441a2b70c612a05e21c528e4ca91d076138b21 From a95498f58e8d925b48bf5aa41d51a34205d4ee53 Mon Sep 17 00:00:00 2001 From: MU43 Date: Sun, 12 Jul 2026 22:56:48 -0700 Subject: [PATCH 11/14] Pull-up driver --- driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driver b/driver index 611e9fff..61bf97aa 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit 611e9fffaf816577a789f8665030168df89ca977 +Subproject commit 61bf97aa6e7453099208d5f1bddba120d006e94f From c0e5828f1be89831fb84d593d78d6651547421a1 Mon Sep 17 00:00:00 2001 From: MU43 Date: Mon, 13 Jul 2026 07:35:15 -0700 Subject: [PATCH 12/14] Pull up (2) --- driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/driver b/driver index 61bf97aa..0b05b1a1 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit 61bf97aa6e7453099208d5f1bddba120d006e94f +Subproject commit 0b05b1a13bd29d1c5ce820d6434642087008bbe5 From b4f416417480c58bbf838af6bdc895fdaed333ea Mon Sep 17 00:00:00 2001 From: MU43 Date: Mon, 13 Jul 2026 07:45:08 -0700 Subject: [PATCH 13/14] Changed rev1 flag to rev2 --- test/app/rev2/main/Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From 2e3c52a646079230228171bf1862d579e5389f2b Mon Sep 17 00:00:00 2001 From: MU43 Date: Mon, 20 Jul 2026 09:16:02 -0700 Subject: [PATCH 14/14] Lib/Driver pull-up --- driver | 2 +- lib | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/driver b/driver index 0b05b1a1..2a5de224 160000 --- a/driver +++ b/driver @@ -1 +1 @@ -Subproject commit 0b05b1a13bd29d1c5ce820d6434642087008bbe5 +Subproject commit 2a5de224c17f6e842f6eb95313b7453b883ce7f0 diff --git a/lib b/lib index a1441a2b..2a0e5f11 160000 --- a/lib +++ b/lib @@ -1 +1 @@ -Subproject commit a1441a2b70c612a05e21c528e4ca91d076138b21 +Subproject commit 2a0e5f11d4e86a5d74690f9fdaf198f03b9af8d9