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Added .dma_buffer to bypass DTCM #291

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Merged
MasterUser43 merged 15 commits into from
Jul 21, 2026
Merged

Added .dma_buffer to bypass DTCM #291

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4ff69e9
Added .dma_buffer to bypass DTCM
MasterUser43 Jun 19, 2026
521bd26
Add legacy IMU to rev2 build // Add new IMU to rev3 build
ETSells Jun 21, 2026
043d6c4
update lib submodule pointer to include NOTICE
MasterUser43 Jun 24, 2026
5a7c813
update driver submodule pointer to latest commit
MasterUser43 Jun 24, 2026
9c2cbd4
merge: resolve submodule conflicts by keeping latest PR pointers
MasterUser43 Jun 24, 2026
e2fc72b
Driver and lib submodule pointers to rebased commits
MasterUser43 Jun 24, 2026
d2b0169
update driver submodule pointer to include SFLP compilation fix
MasterUser43 Jun 24, 2026
bf7ac84
Added debug_sdr + timer in make. Revert if like
MasterUser43 Jun 25, 2026
a6098a9
Pull up driver
MasterUser43 Jun 25, 2026
8a129a5
Pull up driver (2)
MasterUser43 Jun 25, 2026
860d3d9
DMA IMU driver, pin vendor submodule, and update Makefiles
MasterUser43 Jun 30, 2026
a95498f
Pull-up driver
MasterUser43 Jul 13, 2026
c0e5828
Pull up (2)
MasterUser43 Jul 13, 2026
b4f4164
Changed rev1 flag to rev2
MasterUser43 Jul 13, 2026
2e3c52a
Lib/Driver pull-up
MasterUser43 Jul 20, 2026
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3 changes: 2 additions & 1 deletion app/rev2/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -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 \
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11 changes: 10 additions & 1 deletion app/rev3/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -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 \
Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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$(DRIVER_DIR)/flash \
Expand All @@ -174,14 +181,16 @@ C_INCLUDES = \
-I$(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 \
-I$(LIB_DIR)/Drivers/STM32H7xx_HAL_Driver/Inc/Legacy \
-I$(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
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12 changes: 12 additions & 0 deletions app/rev3/STM32H733XG_FLASH.ld
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@ETSells ETSells Jun 29, 2026

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You might want to confirm that there's no startup script modifications required to get data to be properly placed in this region. This might also be something we'll want to modify through the .ioc for parity. I'm happy enough with this to accept for now, but it'll need follow-on when we get to integration.

Ref: SunDevilRocketry/Ground-Station-Firmware#7

@MasterUser43 MasterUser43 Jun 30, 2026 •
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Pretty sure the NOLOAD saves any need for modification. Only worst concern would be .ioc & MPU cache config for RAM_D2.

Original file line number Diff line number Diff line change
Expand Up @@ -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

}

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2 changes: 1 addition & 1 deletion driver
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Submodule driver updated 6 files
+52 −499 imu/imu.h
+204 −0 imu/imu_dflt.c
+298 −389 imu/imu_legacy.c
+548 −0 imu/imu_legacy.h
+1,720 −0 imu/imu_lsm.c
+493 −0 imu/imu_lsm.h
2 changes: 1 addition & 1 deletion lib
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Submodule lib updated 4 files
+3 −0 .gitmodules
+3 −1 NOTICE
+1 −0 lsm6dsv320x-pid
+3 −1 sdr_pin_defines_A0010.h
2 changes: 1 addition & 1 deletion test/app/rev2/main/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ C_DEFS = \
-DSTM32H750xx \
-DFLIGHT_COMPUTER \
-DUNIT_TEST \
-DA0002_REV1
-DA0002_REV2

CFLAGS = $(C_INCLUDES) $(C_DEFS) $(OPT) -Wall -g

Expand Down
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