diff --git a/lib/CMSIS/Device/ST/STM32F7xx/Include/stm32f722xx.h b/lib/CMSIS/Device/ST/STM32F7xx/Include/stm32f722xx.h
index 92742840..a2fa045c 100644
--- a/lib/CMSIS/Device/ST/STM32F7xx/Include/stm32f722xx.h
+++ b/lib/CMSIS/Device/ST/STM32F7xx/Include/stm32f722xx.h
@@ -9,7 +9,7 @@
   *          This file contains:
   *           - Data structures and the address mapping for all peripherals
   *           - Peripheral's registers declarations and bits definition
-  *           - Macros to access peripheral’s registers hardware
+  *           - Macros to access peripheral�s registers hardware
   *
   ******************************************************************************
   * @attention
diff --git a/lib/STM32F0xx_HAL_Driver/Inc/stm32_assert_template.h b/lib/STM32F0xx_HAL_Driver/Inc/stm32_assert_template.h
index 1ec32703..cd2bab25 100644
--- a/lib/STM32F0xx_HAL_Driver/Inc/stm32_assert_template.h
+++ b/lib/STM32F0xx_HAL_Driver/Inc/stm32_assert_template.h
@@ -62,7 +62,9 @@
 /* Exported functions ------------------------------------------------------- */
   void assert_failed(uint8_t* file, uint32_t line);
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */
 
 #ifdef __cplusplus
diff --git a/lib/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_conf_template.h b/lib/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_conf_template.h
index 4c42f155..22520b37 100644
--- a/lib/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_conf_template.h
+++ b/lib/STM32F0xx_HAL_Driver/Inc/stm32f0xx_hal_conf_template.h
@@ -300,7 +300,9 @@
 /* Exported functions ------------------------------------------------------- */
   void assert_failed(uint8_t* file, uint32_t line);
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */    
     
 #ifdef __cplusplus
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_adc.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_adc.c
index 1818f8b8..bcfc8934 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_adc.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_adc.c
@@ -43,7 +43,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif
 
 /** @addtogroup STM32F0xx_LL_Driver
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_comp.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_comp.c
index e02a5cd7..09438133 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_comp.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_comp.c
@@ -42,7 +42,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif
 
 /** @addtogroup STM32F0xx_LL_Driver
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_crc.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_crc.c
index 482d7aea..4b606d54 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_crc.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_crc.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dac.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dac.c
index f647912d..f0efe4d4 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dac.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dac.c
@@ -43,7 +43,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif
 
 /** @addtogroup STM32F0xx_LL_Driver
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dma.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dma.c
index c142b08d..04c67305 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dma.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_dma.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_exti.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_exti.c
index b11740c8..5d89221b 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_exti.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_exti.c
@@ -41,8 +41,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_gpio.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_gpio.c
index 7f9d5c8c..3fb88660 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_gpio.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_gpio.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_i2c.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_i2c.c
index 84d7691a..003406ac 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_i2c.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_i2c.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rcc.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rcc.c
index df2d1ecc..eb112440 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rcc.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rcc.c
@@ -41,7 +41,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rtc.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rtc.c
index e43857d9..60fd100e 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rtc.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_rtc.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_spi.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_spi.c
index bf24ce8c..863634e3 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_spi.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_spi.c
@@ -44,8 +44,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_tim.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_tim.c
index a1f2e1ee..2a89e2d5 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_tim.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_tim.c
@@ -43,8 +43,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_usart.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_usart.c
index 452f0cf6..41dcf85a 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_usart.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_usart.c
@@ -43,8 +43,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_utils.c b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_utils.c
index d92ae80b..4fa8bfcc 100644
--- a/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_utils.c
+++ b/lib/STM32F0xx_HAL_Driver/Src/stm32f0xx_ll_utils.c
@@ -41,8 +41,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F0xx_LL_Driver
   * @{
diff --git a/lib/STM32F3xx_HAL_Driver/Inc/stm32_assert_template.h b/lib/STM32F3xx_HAL_Driver/Inc/stm32_assert_template.h
index 1bba96ae..af4d9170 100644
--- a/lib/STM32F3xx_HAL_Driver/Inc/stm32_assert_template.h
+++ b/lib/STM32F3xx_HAL_Driver/Inc/stm32_assert_template.h
@@ -62,7 +62,9 @@
 /* Exported functions ------------------------------------------------------- */
   void assert_failed(uint8_t* file, uint32_t line);
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */
 
 #ifdef __cplusplus
diff --git a/lib/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_conf_template.h b/lib/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_conf_template.h
index 2e50b6af..ba65732a 100644
--- a/lib/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_conf_template.h
+++ b/lib/STM32F3xx_HAL_Driver/Inc/stm32f3xx_hal_conf_template.h
@@ -325,7 +325,9 @@
 /* Exported functions ------------------------------------------------------- */
   void assert_failed(uint8_t* file, uint32_t line);
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */    
     
 #ifdef __cplusplus
diff --git a/lib/STM32F7xx_HAL_Driver/Inc/stm32_assert_template.h b/lib/STM32F7xx_HAL_Driver/Inc/stm32_assert_template.h
index b08bbd34..b62a9d3d 100644
--- a/lib/STM32F7xx_HAL_Driver/Inc/stm32_assert_template.h
+++ b/lib/STM32F7xx_HAL_Driver/Inc/stm32_assert_template.h
@@ -62,7 +62,9 @@
 /* Exported functions ------------------------------------------------------- */
   void assert_failed(uint8_t* file, uint32_t line);
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */
 
 #ifdef __cplusplus
diff --git a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_adc.h b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_adc.h
index 696628ad..50f20b8b 100644
--- a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_adc.h
+++ b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_adc.h
@@ -4365,6 +4365,7 @@ __STATIC_INLINE void LL_ADC_ClearFlag_AWD1(ADC_TypeDef *ADCx)
   */
 __STATIC_INLINE uint32_t LL_ADC_IsActiveFlag_MST_EOCS(ADC_Common_TypeDef *ADCxy_COMMON)
 {
+  (void)(ADCxy_COMMON);
   return (READ_BIT(ADC1->SR, LL_ADC_FLAG_EOCS) == (LL_ADC_FLAG_EOCS));
 }
 
diff --git a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_crc.h b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_crc.h
index f100cadd..7976da59 100644
--- a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_crc.h
+++ b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_crc.h
@@ -352,10 +352,13 @@ __STATIC_INLINE void LL_CRC_FeedData32(CRC_TypeDef *CRCx, uint32_t InData)
   * @param  InData 16 bit value to be provided to CRC calculator between between Min_Data=0 and Max_Data=0xFFFF
   * @retval None
   */
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
 __STATIC_INLINE void LL_CRC_FeedData16(CRC_TypeDef *CRCx, uint16_t InData)
 {
   *(uint16_t __IO *)(&CRCx->DR) = (uint16_t) InData;
 }
+#pragma GCC diagnostic pop
 
 /**
   * @brief  Write given 8-bit data to the CRC calculator
diff --git a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rcc.h b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rcc.h
index b3fa6eb9..f3031b12 100644
--- a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rcc.h
+++ b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rcc.h
@@ -2757,6 +2757,7 @@ __STATIC_INLINE uint32_t LL_RCC_GetI2CClockSource(uint32_t I2Cx)
   */
 __STATIC_INLINE uint32_t LL_RCC_GetLPTIMClockSource(uint32_t LPTIMx)
 {
+  (void)(LPTIMx);
   return (uint32_t)(READ_BIT(RCC->DCKCFGR2, RCC_DCKCFGR2_LPTIM1SEL));
 }
 
diff --git a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rtc.h b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rtc.h
index 417ca4ce..00b5a9ef 100644
--- a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rtc.h
+++ b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_rtc.h
@@ -2077,6 +2077,7 @@ __STATIC_INLINE void LL_RTC_ALMB_DisableWeekday(RTC_TypeDef *RTCx)
   */
 __STATIC_INLINE void LL_RTC_ALMB_SetDay(RTC_TypeDef *RTCx, uint32_t Day)
 {
+  (void)(RTCx);
   MODIFY_REG(RTC->ALRMBR, (RTC_ALRMBR_DT | RTC_ALRMBR_DU),
              (((Day & 0xF0U) << (RTC_ALRMBR_DT_Pos - 4U)) | ((Day & 0x0FU) << RTC_ALRMBR_DU_Pos)));
 }
diff --git a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_spi.h b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_spi.h
index d0b4a208..af711342 100644
--- a/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_spi.h
+++ b/lib/STM32F7xx_HAL_Driver/Inc/stm32f7xx_ll_spi.h
@@ -1385,10 +1385,13 @@ __STATIC_INLINE void LL_SPI_TransmitData8(SPI_TypeDef *SPIx, uint8_t TxData)
   * @param  TxData Value between Min_Data=0x00 and Max_Data=0xFFFF
   * @retval None
   */
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
 __STATIC_INLINE void LL_SPI_TransmitData16(SPI_TypeDef *SPIx, uint16_t TxData)
 {
   *((__IO uint16_t *)&SPIx->DR) = TxData;
 }
+#pragma GCC diagnostic pop
 
 /**
   * @}
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_crc.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_crc.c
index 1e482624..1e9f511d 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_crc.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_crc.c
@@ -415,6 +415,8 @@ uint32_t HAL_CRC_Calculate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t
   * @param  BufferLength: input data buffer length
   * @retval uint32_t CRC (returned value LSBs for CRC shorter than 32 bits)
   */
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
 static uint32_t CRC_Handle_8(CRC_HandleTypeDef *hcrc, uint8_t pBuffer[], uint32_t BufferLength)
 {
   uint32_t i = 0; /* input data buffer index */
@@ -475,6 +477,7 @@ static uint32_t CRC_Handle_16(CRC_HandleTypeDef *hcrc, uint16_t pBuffer[], uint3
   /* Return the CRC computed value */ 
   return hcrc->Instance->DR;
 }
+#pragma GCC diagnostic pop
 
 /**
   * @}
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pcd.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pcd.c
index 9fd5838c..f707a819 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pcd.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pcd.c
@@ -1251,9 +1251,9 @@ static HAL_StatusTypeDef PCD_WriteEmptyTxFifo(PCD_HandleTypeDef *hpcd, uint32_t
 {
   USB_OTG_GlobalTypeDef *USBx = hpcd->Instance;  
   USB_OTG_EPTypeDef *ep;
-  int32_t len = 0;
-  int32_t len32b;
-  int32_t fifoemptymsk = 0;
+  uint32_t len = 0;
+  uint32_t len32b;
+  uint32_t fifoemptymsk = 0;
 
   ep = &hpcd->IN_ep[epnum];
   len = ep->xfer_len - ep->xfer_count;
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c
index 7416ed62..7dc88e88 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c
@@ -2117,6 +2117,7 @@ __weak void HAL_TIM_OnePulse_MspDeInit(TIM_HandleTypeDef *htim)
   */
 HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t OutputChannel)
 {
+  (void)(OutputChannel);
   /* Enable the Capture compare and the Input Capture channels 
     (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2)
     if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and
@@ -2151,6 +2152,7 @@ HAL_StatusTypeDef HAL_TIM_OnePulse_Start(TIM_HandleTypeDef *htim, uint32_t Outpu
   */
 HAL_StatusTypeDef HAL_TIM_OnePulse_Stop(TIM_HandleTypeDef *htim, uint32_t OutputChannel)
 {
+  (void)(OutputChannel);
   /* Disable the Capture compare and the Input Capture channels 
   (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2)
   if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and
@@ -2185,6 +2187,7 @@ HAL_StatusTypeDef HAL_TIM_OnePulse_Stop(TIM_HandleTypeDef *htim, uint32_t Output
   */
 HAL_StatusTypeDef HAL_TIM_OnePulse_Start_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel)
 {
+  (void)(OutputChannel);
   /* Enable the Capture compare and the Input Capture channels 
     (in the OPM Mode the two possible channels that can be used are TIM_CHANNEL_1 and TIM_CHANNEL_2)
     if TIM_CHANNEL_1 is used as output, the TIM_CHANNEL_2 will be used as input and
@@ -2225,6 +2228,7 @@ HAL_StatusTypeDef HAL_TIM_OnePulse_Start_IT(TIM_HandleTypeDef *htim, uint32_t Ou
   */
 HAL_StatusTypeDef HAL_TIM_OnePulse_Stop_IT(TIM_HandleTypeDef *htim, uint32_t OutputChannel)
 {
+  (void)(OutputChannel);
   /* Disable the TIM Capture/Compare 1 interrupt */
   __HAL_TIM_DISABLE_IT(htim, TIM_IT_CC1);  
   
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_adc.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_adc.c
index 653691ab..a7e95e0d 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_adc.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_adc.c
@@ -43,7 +43,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+  #ifndef assert_param
+    #define assert_param(expr) ((void)0U)
+  #endif
 #endif
 
 /** @addtogroup STM32F7xx_LL_Driver
@@ -301,6 +303,7 @@
   */
 ErrorStatus LL_ADC_CommonDeInit(ADC_Common_TypeDef *ADCxy_COMMON)
 {
+  (void)(ADCxy_COMMON);
   /* Check the parameters */
   assert_param(IS_ADC_COMMON_INSTANCE(ADCxy_COMMON));
   
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_crc.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_crc.c
index 7b67999c..1d80b835 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_crc.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_crc.c
@@ -43,8 +43,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dac.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dac.c
index fa81ec0b..7f1bf187 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dac.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dac.c
@@ -43,7 +43,9 @@
 #ifdef USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+  #ifndef assert_param
+    #define assert_param(expr) ((void)0U)
+  #endif
 #endif
 
 /** @addtogroup STM32F7xx_LL_Driver
@@ -146,6 +148,7 @@
   */
 ErrorStatus LL_DAC_DeInit(DAC_TypeDef *DACx)
 {
+  (void)(DACx);
   /* Check the parameters */
   assert_param(IS_DAC_ALL_INSTANCE(DACx));
   
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma.c
index c0b1d240..25462ba1 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma2d.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma2d.c
index 4ac3bcf4..e40f29ae 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma2d.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_dma2d.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_exti.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_exti.c
index 9df522df..6293dfcb 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_exti.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_exti.c
@@ -41,8 +41,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_gpio.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_gpio.c
index b37b1d74..c82d4b19 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_gpio.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_gpio.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_i2c.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_i2c.c
index 83485f8a..d5848111 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_i2c.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_i2c.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_lptim.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_lptim.c
index 0751157d..74a354ad 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_lptim.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_lptim.c
@@ -43,7 +43,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif
 
 /** @addtogroup STM32F7xx_LL_Driver
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rcc.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rcc.c
index c3e7b836..86ea6676 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rcc.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rcc.c
@@ -41,7 +41,9 @@
 #ifdef  USE_FULL_ASSERT
   #include "stm32_assert.h"
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif
 
 /** @addtogroup STM32F7xx_LL_Driver
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rng.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rng.c
index 58f3dbf7..1986ec07 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rng.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rng.c
@@ -43,8 +43,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
@@ -80,6 +82,7 @@
   */
 ErrorStatus LL_RNG_DeInit(RNG_TypeDef *RNGx)
 {
+  (void)(RNGx);
   /* Check the parameters */
   assert_param(IS_RNG_ALL_INSTANCE(RNGx));
 
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rtc.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rtc.c
index 0a367e46..87a6abc6 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rtc.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_rtc.c
@@ -42,8 +42,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_spi.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_spi.c
index c1f386dc..9528145a 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_spi.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_spi.c
@@ -44,8 +44,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_tim.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_tim.c
index f942a24e..d1f7891c 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_tim.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_tim.c
@@ -43,8 +43,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usart.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usart.c
index 34fc2e32..6b0775e8 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usart.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usart.c
@@ -43,8 +43,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32F7xx_LL_Driver
   * @{
diff --git a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_utils.c b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_utils.c
index acc2289a..a10216e6 100644
--- a/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_utils.c
+++ b/lib/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_utils.c
@@ -42,7 +42,9 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */
 
 /** @addtogroup STM32F7xx_LL_Driver
diff --git a/make.py b/make.py
index 10510d56..5f13ee4e 100755
--- a/make.py
+++ b/make.py
@@ -163,6 +163,33 @@ def configure_target(TARGET):
         FEATURES.extend(["usb_fs"])
         OPTIMIZE_FLAGS = "-Og"
 
+    elif TARGET == "STRIXF10":
+        FC_NAME = "STRIXF10"
+        TARGET_DEVICE_LC = "stm32f722xx"
+        PROJECT = "flight_controller"
+        TARGET_DEVICE = "STM32F722xx"
+        TARGET_SCRIPT = "stm32_flash_f722.ld"
+        TARGET_PROCESSOR_TYPE = "f7"
+        FEATURES.extend(["usb_otg_fs"])
+        FEATURES.extend(["imuf9001/spi"])
+        OPTIMIZE_FLAGS = "-O3"
+        THIS_ADDRESS = str(0x08020000)
+        EXTRA_DEF_FLAGS = ""
+        STM32F7_ARCH_FLAGS_ADD = ""
+
+    elif TARGET == "STRIXF10_nrecovery":
+        FC_NAME = "STRIXF10"
+        TARGET_DEVICE_LC = "stm32f722xx"
+        PROJECT = "new_bootloader"
+        TARGET_DEVICE = "STM32F722xx"
+        TARGET_SCRIPT = "stm32_flash_f722_recovery.ld"
+        TARGET_PROCESSOR_TYPE = "f7"
+        FEATURES.extend(["usb_otg_fs"])
+        OPTIMIZE_FLAGS = "-Os"
+        THIS_ADDRESS = str(0x08000000)
+        EXTRA_DEF_FLAGS = ""
+        STM32F7_ARCH_FLAGS_ADD = ""
+
     elif TARGET == "HELIO_SPRING":
         if args.debug:
             os.system("PID=\"$(ps -elf | grep  openocd | grep -v 'grep' | sed -e 's/    / /g' | sed -e 's/   / /g' | sed -e 's/  / /g' | cut -d ' ' -f 3)\";kill $PID")
@@ -179,7 +206,6 @@ def configure_target(TARGET):
         THIS_ADDRESS = str(0x08020000)
         EXTRA_DEF_FLAGS = ""
         STM32F4_ARCH_FLAGS_ADD = ""
-        #STM32F4_ARCH_FLAGS_ADD = "-s -fdata-sections -ffunction-sections -flto"
 
     elif TARGET == "HELIO_SPRING_nrecovery":
         if args.debug:
@@ -348,13 +374,13 @@ def configure_target(TARGET):
     STM32F3_ARCH_FLAGS = "-mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16"
 
     if TARGET_DEVICE == "STM32F446xx":
-        STM32F4_DEF_FLAGS = "-DUSE_HAL_DRIVER -DHSE_VALUE=12000000 -D" + FC_NAME +" -D" + TARGET_DEVICE + " -DARM_MATH_CM4 -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE + EXTRA_DEF_FLAGS
+        STM32F4_DEF_FLAGS = "-DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DHSE_VALUE=12000000 -D" + FC_NAME +" -D" + TARGET_DEVICE + " -DARM_MATH_CM4 -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE + EXTRA_DEF_FLAGS
         STM32F4_ARCH_FLAGS = "-mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -mtune=cortex-m4"
     else:
-        STM32F4_DEF_FLAGS = "-DUSE_HAL_DRIVER -DHSE_VALUE=8000000 -D" + FC_NAME +" -D" + TARGET_DEVICE + " -DARM_MATH_CM4 -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE + EXTRA_DEF_FLAGS
+        STM32F4_DEF_FLAGS = "-DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DHSE_VALUE=8000000 -D" + FC_NAME +" -D" + TARGET_DEVICE + " -DARM_MATH_CM4 -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE + EXTRA_DEF_FLAGS
         STM32F4_ARCH_FLAGS = "-mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -mtune=cortex-m4" + " " + STM32F4_ARCH_FLAGS_ADD
 
-    STM32F7_DEF_FLAGS = "-DUSE_HAL_DRIVER -DHSE_VALUE=8000000 -D" + FC_NAME +" -D" + TARGET_DEVICE + " -DARM_MATH_CM7 -DUSE_HAL_DRIVER -D__FPU_PRESENT -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE + EXTRA_DEF_FLAGS
+    STM32F7_DEF_FLAGS = "-DUSE_HAL_DRIVER -DUSE_FULL_LL_DRIVER -DHSE_VALUE=8000000 -D" + FC_NAME +" -D" + TARGET_DEVICE + " -DARM_MATH_CM7 -DUSE_HAL_DRIVER -D__FPU_PRESENT -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE + EXTRA_DEF_FLAGS
 #    STM32F7_DEF_FLAGS  = "-DUSE_HAL_DRIVER -DHSE_VALUE=8000000 -D" + TARGET_DEVICE + " -DARM_MATH_CM7=1 -D" + TARGET + " -D" + TARGET_DEVICE_LC + " -D" + TARGET_PROCESSOR_TYPE
     STM32F7_ARCH_FLAGS = "-mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fsingle-precision-constant -mtune=cortex-m7"
 
@@ -404,6 +430,7 @@ def configure_target(TARGET):
 
     INCLUDE_DIRS = [
         "src/low_level_driver/" + MCU_FAMILY,
+        "src/low_level_driver/",
         MCU_DIR,
         "src/%s/inc" % PROJECT,
         "lib/CMSIS/Include",
diff --git a/src/flight_controller/inc/drivers/serial.h b/src/flight_controller/inc/drivers/serial.h
index 59fca674..92212b14 100644
--- a/src/flight_controller/inc/drivers/serial.h
+++ b/src/flight_controller/inc/drivers/serial.h
@@ -3,6 +3,9 @@
 
 extern uint32_t lastRXPacket;
 extern volatile int32_t processRxCodeNow;
+extern uint8_t  uartRxBuffer[MAX_USARTS][RXBUFFERSIZE];
+extern uint8_t  serialBuffer[];
+extern uint32_t iiiii;
 
 unsigned char txTransimissionReady;
 
@@ -16,4 +19,5 @@ extern void USARTx_DMA_RX_IRQHandler(void);
 extern void USARTx_DMA_TX_IRQHandler(void);
 extern void USARTx_IRQHandler(void);
 extern void SerialTxCallback(uint32_t callbackNumber);
-extern void ProcessSerialRx(void);
\ No newline at end of file
+extern void ProcessSerialRx(void);
+extern void UsartIrqCallback(uint32_t serialNumber);
\ No newline at end of file
diff --git a/src/flight_controller/inc/includes.h b/src/flight_controller/inc/includes.h
index 2cbb65b5..bcf603fd 100644
--- a/src/flight_controller/inc/includes.h
+++ b/src/flight_controller/inc/includes.h
@@ -18,7 +18,7 @@ extern volatile int retValChk;
 #include "usb_device.h"
 
 //low level drivers and driver based functions
-#include "../../low_level_driver/boarddef.h"
+#include "boarddef.h"
 #include "mcu_include.h"
 #include "general_functions.h"
 #include "exti.h"
diff --git a/src/flight_controller/src/config.c b/src/flight_controller/src/config.c
index eceb4974..b3cd2302 100644
--- a/src/flight_controller/src/config.c
+++ b/src/flight_controller/src/config.c
@@ -210,7 +210,6 @@ const config_variables_rec valueTable[] = {
 		{ "man_gy_yaw_angle", 	typeFLOAT, "gyro", &mainConfig.gyroConfig.minorBoardRotation[Z], 		-360.0f, 360.0f, 0, "" },
 		{ "imuf_filter_mode", 	typeUINT,  "gyro", &mainConfig.gyroConfig.imufMode, 					0, 255, GTBCM_DEFAULT, "" },
 
-
 		{ "rf_loop_ctrl", 		typeUINT,   "gyro", &mainConfig.gyroConfig.loopCtrl, 						0, LOOP_UH32, LOOP_UH32, "" },
 		{ "drunk", 				typeINT,    "gyro", &mainConfig.gyroConfig.drunk, 							0, 2, 1, "" },
 		{ "skunk", 				typeINT,    "gyro", &mainConfig.gyroConfig.skunk, 							0, 2, 2, "" },
@@ -248,9 +247,9 @@ const config_variables_rec valueTable[] = {
  		{ "sld1", 				typeFLOAT,  "pids", &mainConfig.tuneProfile[0].pidConfig[PITCH].sld, 		0, 0.90, 0.03, "" },
  
 		{ "res_redux1",			typeINT,   "filt", &mainConfig.tuneProfile[0].filterConfig[0].resRedux,		0, 1, 0, "" },
- 		{ "yaw_rap1", 			typeUINT,  "filt", &mainConfig.tuneProfile[0].filterConfig[YAW].gyro.w, 	0, 300, 6.0f, "" },
- 		{ "roll_rap1", 			typeUINT,  "filt", &mainConfig.tuneProfile[0].filterConfig[ROLL].gyro.w, 	0, 300, 6.0f, "" },
- 		{ "pitch_rap1", 		typeUINT,  "filt", &mainConfig.tuneProfile[0].filterConfig[PITCH].gyro.w, 	0, 300, 6.0f, "" },
+ 		{ "yaw_rap1", 			typeUINT,  "filt", &mainConfig.tuneProfile[0].filterConfig[YAW].gyro.w, 	0, 300, 32.0f, "" },
+ 		{ "roll_rap1", 			typeUINT,  "filt", &mainConfig.tuneProfile[0].filterConfig[ROLL].gyro.w, 	0, 300, 32.0f, "" },
+ 		{ "pitch_rap1", 		typeUINT,  "filt", &mainConfig.tuneProfile[0].filterConfig[PITCH].gyro.w, 	0, 300, 32.0f, "" },
 		{ "yaw_lpf1", 			typeFLOAT, "filt", &mainConfig.tuneProfile[0].filterConfig[YAW].gyro.lpf, 	0, 1000, 150.0f, "" },
  		{ "roll_lpf1", 			typeFLOAT, "filt", &mainConfig.tuneProfile[0].filterConfig[ROLL].gyro.lpf, 	0, 1000, 150.0f, "" },
  		{ "pitch_lpf1", 		typeFLOAT, "filt", &mainConfig.tuneProfile[0].filterConfig[PITCH].gyro.lpf, 0, 1000, 150.0f, "" },
@@ -309,9 +308,9 @@ const config_variables_rec valueTable[] = {
  		{ "sld2", 				typeFLOAT,  "pids", &mainConfig.tuneProfile[1].pidConfig[PITCH].sld, 		0, 0.90, 0.03, "" },
  
 		{ "res_redux2",			typeINT,   "filt", &mainConfig.tuneProfile[1].filterConfig[0].resRedux,		0, 1, 0, "" },
- 		{ "yaw_rap2", 			typeUINT,  "filt", &mainConfig.tuneProfile[1].filterConfig[YAW].gyro.w, 	0, 300, 10.0f, "" },
- 		{ "roll_rap2", 			typeUINT,  "filt", &mainConfig.tuneProfile[1].filterConfig[ROLL].gyro.w, 	0, 300, 10.0f, "" },
- 		{ "pitch_rap2", 		typeUINT,  "filt", &mainConfig.tuneProfile[1].filterConfig[PITCH].gyro.w, 	0, 300, 10.0f, "" },
+ 		{ "yaw_rap2", 			typeUINT,  "filt", &mainConfig.tuneProfile[1].filterConfig[YAW].gyro.w, 	0, 300, 32.0f, "" },
+ 		{ "roll_rap2", 			typeUINT,  "filt", &mainConfig.tuneProfile[1].filterConfig[ROLL].gyro.w, 	0, 300, 32.0f, "" },
+ 		{ "pitch_rap2", 		typeUINT,  "filt", &mainConfig.tuneProfile[1].filterConfig[PITCH].gyro.w, 	0, 300, 32.0f, "" },
 		{ "yaw_lpf2", 			typeFLOAT, "filt", &mainConfig.tuneProfile[1].filterConfig[YAW].gyro.lpf, 	0, 1000, 150.0f, "" },
  		{ "roll_lpf2", 			typeFLOAT, "filt", &mainConfig.tuneProfile[1].filterConfig[ROLL].gyro.lpf, 	0, 1000, 150.0f, "" },
  		{ "pitch_lpf2", 		typeFLOAT, "filt", &mainConfig.tuneProfile[1].filterConfig[PITCH].gyro.lpf, 0, 1000, 150.0f, "" },
@@ -371,9 +370,9 @@ const config_variables_rec valueTable[] = {
  		{ "sld3", 				typeFLOAT,  "pids", &mainConfig.tuneProfile[2].pidConfig[PITCH].sld, 		0, 0.90, 0.03, "" },
 
 		{ "res_redux3",			typeINT,   "filt", &mainConfig.tuneProfile[2].filterConfig[0].resRedux,		0, 1, 0, "" },
- 		{ "yaw_rap3", 			typeUINT,  "filt", &mainConfig.tuneProfile[2].filterConfig[YAW].gyro.w, 	0, 300, 10.0f, "" },
- 		{ "roll_rap3", 			typeUINT,  "filt", &mainConfig.tuneProfile[2].filterConfig[ROLL].gyro.w, 	0, 300, 10.0f, "" },
- 		{ "pitch_rap3", 		typeUINT,  "filt", &mainConfig.tuneProfile[2].filterConfig[PITCH].gyro.w, 	0, 300, 10.0f, "" },
+ 		{ "yaw_rap3", 			typeUINT,  "filt", &mainConfig.tuneProfile[2].filterConfig[YAW].gyro.w, 	0, 300, 32.0f, "" },
+ 		{ "roll_rap3", 			typeUINT,  "filt", &mainConfig.tuneProfile[2].filterConfig[ROLL].gyro.w, 	0, 300, 32.0f, "" },
+ 		{ "pitch_rap3", 		typeUINT,  "filt", &mainConfig.tuneProfile[2].filterConfig[PITCH].gyro.w, 	0, 300, 32.0f, "" },
 		{ "yaw_lpf3", 			typeFLOAT, "filt", &mainConfig.tuneProfile[2].filterConfig[YAW].gyro.lpf, 	0, 1000, 150.0f, "" },
  		{ "roll_lpf3", 			typeFLOAT, "filt", &mainConfig.tuneProfile[2].filterConfig[ROLL].gyro.lpf, 	0, 1000, 150.0f, "" },
  		{ "pitch_lpf3", 		typeFLOAT, "filt", &mainConfig.tuneProfile[2].filterConfig[PITCH].gyro.lpf, 0, 1000, 150.0f, "" },
diff --git a/src/flight_controller/src/drivers/adc.c b/src/flight_controller/src/drivers/adc.c
index 90797fff..ad0c377f 100644
--- a/src/flight_controller/src/drivers/adc.c
+++ b/src/flight_controller/src/drivers/adc.c
@@ -1,4 +1,5 @@
 #include "includes.h"
+#include "stm32f722xx.h"
 
 #define CHARGED_VOLTAGE 4.0
 #define RUNNING_VOLTAGE 3.80
@@ -210,7 +211,7 @@ void InitAdc(void)
 	HAL_GPIO_Init(ports[board.boardADC[0].port], &gpioInit);
 
 	//##-1- Configure the ADC peripheral #######################################
-	adcHandle[board.boardADC[1].adcHandle].Instance                   = adcInstance[board.boardADC[1].adcInstance];
+	adcHandle[board.boardADC[1].adcHandle].Instance                   = ADC3;
 	adcHandle[board.boardADC[1].adcHandle].Init.ClockPrescaler        = ADC_CLOCKPRESCALER_PCLK_DIV2;
 	adcHandle[board.boardADC[1].adcHandle].Init.Resolution            = ADC_RESOLUTION_12B;
 	adcHandle[board.boardADC[1].adcHandle].Init.ScanConvMode          = ENABLE;
@@ -271,7 +272,7 @@ void InitAdc(void)
 	board.dmasActive[ENUM_DMA2_STREAM_1].priority           = 6;
 
 	//set DMA handle
-	dmaHandles[board.dmasActive[ENUM_DMA2_STREAM_1].dmaHandle].Instance                 = dmaStream[board.dmasActive[ENUM_DMA2_STREAM_1].dmaStream];
+	dmaHandles[board.dmasActive[ENUM_DMA2_STREAM_1].dmaHandle].Instance                 = DMA2_Stream1;
 	dmaHandles[board.dmasActive[ENUM_DMA2_STREAM_1].dmaHandle].Init.Channel             = board.dmasActive[ENUM_DMA2_STREAM_1].dmaChannel;
 	dmaHandles[board.dmasActive[ENUM_DMA2_STREAM_1].dmaHandle].Init.Direction           = board.dmasActive[ENUM_DMA2_STREAM_1].dmaDirection;
 	dmaHandles[board.dmasActive[ENUM_DMA2_STREAM_1].dmaHandle].Init.PeriphInc           = board.dmasActive[ENUM_DMA2_STREAM_1].dmaPeriphInc;
diff --git a/src/flight_controller/src/drivers/serial.c b/src/flight_controller/src/drivers/serial.c
index 3d9c3420..c29f5dec 100644
--- a/src/flight_controller/src/drivers/serial.c
+++ b/src/flight_controller/src/drivers/serial.c
@@ -1,22 +1,260 @@
 #include "includes.h"
 
-uint8_t  dmaRxBuffer[MAX_USARTS] = {0,};
+uint32_t iiiii = 0;
+uint8_t  serialBuffer[RXBUFFERSIZE] = {0,};
+uint8_t  dmaRxBuffer[MAX_USARTS][RXBUFFERSIZE] = {0,};
 uint32_t dmaIndex[MAX_USARTS] = {0,}; //todo: change assumption that we have 6 usarts
 uint32_t dmaTxCallbackToUsartHandle[IRQH_FP_TOT] =  { 0 };
 volatile int32_t processRxCodeNow = -1;
 
 uint32_t lastRXPacket;
 
-void UsartInit(uint32_t serialNumber)
+static USART_TypeDef* getUsartFromSerialNumber(uint32_t serialNumber);
+
+
+static inline USART_TypeDef* getUsartFromSerialNumber(uint32_t serialNumber)
+{
+	switch (serialNumber)
+	{
+		case 0:
+			return USART1; //Should be defined in the target H file
+		break;
+		case 1:
+			return USART2; //Should be defined in the target H file
+		break;
+		case 2:
+			return USART3; //Should be defined in the target H file
+		break;
+		case 3:
+			return UART4; //Should be defined in the target H file
+		break;
+		case 4:
+			return UART5; //Should be defined in the target H file
+		break;
+		case 5:
+		default:
+			return USART6; //Should be defined in the target H file
+		break;
+	}
+}
+
+static void ll_hardware_init(USART_TypeDef *usart, uint32_t irqN, GPIO_TypeDef *txPort, uint32_t txPin, uint32_t txInv, uint8_t txAlt, GPIO_TypeDef *rxPort, uint32_t rxPin, uint32_t rxInv, uint8_t rxAlt, uint32_t baudrate, uint32_t wordlength, uint32_t stopbits, uint32_t parity, uint32_t flow, uint32_t mode)
 {
 
 	GPIO_InitTypeDef  GPIO_InitStruct;
+	LL_USART_InitTypeDef USART_InitStruct;
+	//LL_DMA_InitTypeDef DMA_InitStruct;
+
+	//#######################################################################
+	//## 1 Configure peripheral GPIO ########################################
+	//#######################################################################
+	if (mode != UART_MODE_RX)
+		HAL_GPIO_DeInit(txPort, txPin); //no need for TX pin is serial is in RX only mode.
+
+	if (mode != UART_MODE_TX)
+		HAL_GPIO_DeInit(rxPort, rxPin);
+
+	if (mode != UART_MODE_RX)
+		GPIO_InitStruct.Pin       = txPin; //no need for TX pin is serial is in RX only mode.
+
+	GPIO_InitStruct.Mode      = GPIO_MODE_AF_PP;
+	GPIO_InitStruct.Speed     = GPIO_SPEED_HIGH;
+	GPIO_InitStruct.Alternate = txAlt;
+	#ifdef USART_USED_ADVANCED //f0,f3,f7
+	  GPIO_InitStruct.Pull    = (txInv) ? GPIO_PULLDOWN : GPIO_PULLUP; //tx pin inverted or not?
+	#else
+	  GPIO_InitStruct.Pull    = GPIO_PULLUP;
+	#endif
+
+	// UART TX GPIO pin configuration
+	if (mode != UART_MODE_RX)
+		HAL_GPIO_Init(txPort, &GPIO_InitStruct);
+
+	// UART RX GPIO pin configuration
+	if (mode != UART_MODE_TX)
+	{
+		GPIO_InitStruct.Pin = rxPin;
+		GPIO_InitStruct.Alternate = rxAlt;
+		#ifdef USART_USED_ADVANCED //f0,f3,f7
+		  GPIO_InitStruct.Pull    = (rxInv) ? GPIO_PULLDOWN : GPIO_PULLUP; //rx pin inverted or not?
+		#else
+		  GPIO_InitStruct.Pull    = GPIO_PULLUP;
+		#endif
+		HAL_GPIO_Init(rxPort, &GPIO_InitStruct);
+	}
+	//#######################################################################
+	//## 1 Configure peripheral GPIO ########################################
+	//#######################################################################
+
 
-	uint32_t txPin;
-	uint32_t rxPin;
+
+	//#######################################################################
+	//## 2 Configure the UART peripheral ####################################
+	//#######################################################################
+
+    LL_USART_Disable(usart);
+    LL_USART_DeInit(usart);
+
+   	LL_USART_StructInit(&USART_InitStruct);
+    USART_InitStruct.BaudRate            = baudrate;
+    USART_InitStruct.DataWidth           = wordlength;
+    USART_InitStruct.StopBits            = stopbits;
+    USART_InitStruct.Parity              = parity;
+    USART_InitStruct.HardwareFlowControl = flow;
+    USART_InitStruct.TransferDirection   = mode;
+    USART_InitStruct.OverSampling        = LL_USART_OVERSAMPLING_16;
+    LL_USART_Init(usart, &USART_InitStruct);
+
+    // Enable USART and enable interrupt for IDLE line detection
+    LL_USART_Enable(usart);
+
+	//give USART time to init.
+	DelayMs(3);
+	// // Polling USART initialisation
+	// while((!(LL_USART_IsActiveFlag_TEACK(usart))) || (!(LL_USART_IsActiveFlag_REACK(usart))))
+	// {
+	// 	//TODO: timeout with error?
+	// }
+
+	#ifdef USART_USED_ADVANCED //f0,f3,f7
+
+		if(rxInv)
+			LL_USART_SetRXPinLevel(usart, LL_USART_RXPIN_LEVEL_INVERTED);
+		else
+			LL_USART_SetRXPinLevel(usart, LL_USART_RXPIN_LEVEL_STANDARD);
+
+		if(txInv)
+			LL_USART_SetTXPinLevel(usart, LL_USART_TXPIN_LEVEL_INVERTED);
+		else
+			LL_USART_SetTXPinLevel(usart, LL_USART_TXPIN_LEVEL_STANDARD);
+
+	#endif
+
+	// Clear Overrun flag, in case characters have already been sent to USART
+  	LL_USART_ClearFlag_ORE(usart);
+
+    //LL_USART_EnableDMAReq_RX(usart);
+    //LL_USART_EnableIT_IDLE(usart);
+
+	// Enable RXNE and Error interrupts
+	LL_USART_EnableIT_RXNE(usart);
+	//LL_USART_EnableIT_ERROR(usart);
+
+    // Enable USART global interrupts
+    NVIC_SetPriority(irqN, 1);
+    NVIC_EnableIRQ(irqN);
+
+	//#######################################################################
+	//## 2 Configure the UART peripheral ####################################
+	//#######################################################################
+
+
+	//     /* Configure DMA for USART RX */
+    // LL_DMA_StructInit(&DMA_InitStruct);
+    // DMA_InitStruct.Channel = LL_DMA_CHANNEL_4;
+    // DMA_InitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
+    // DMA_InitStruct.MemoryOrM2MDstAddress = (uint32_t)DMA_RX_Buffer;
+    // DMA_InitStruct.NbData = DMA_RX_BUFFER_SIZE;
+    // DMA_InitStruct.MemoryOrM2MDstIncMode = LL_DMA_MEMORY_INCREMENT;
+    // DMA_InitStruct.PeriphOrM2MSrcAddress = (uint32_t)&USART2->DR;
+    // LL_DMA_Init(DMA1, LL_DMA_STREAM_5, &DMA_InitStruct);
+    
+    // LL_DMA_EnableIT_TC(DMA1, LL_DMA_STREAM_5);
+    // LL_DMA_EnableStream(DMA1, LL_DMA_STREAM_5);
+    
+    // /* Enable global DMA stream interrupts */
+    // NVIC_SetPriority(DMA1_Stream5_IRQn, 0);
+    // NVIC_EnableIRQ(DMA1_Stream5_IRQn);
+    
+    // while (1) {
+    //     if (Read != Write) {
+    //         LL_USART_TransmitData8(USART2, UART_Buffer[Read++]);
+    //         while (!LL_USART_IsActiveFlag_TXE(USART2)) {}
+    //         if (Read == UART_BUFFER_SIZE) {
+    //             Read = 0;
+    //         }
+    //     }
+    // }
+
+}
+
+void UsartInit(uint32_t serialNumber)
+{
+
+	uint32_t txPin, rxPin, txAlt, rxAlt, irqN;
 	GPIO_TypeDef *txPort;
 	GPIO_TypeDef *rxPort;
+	USART_TypeDef *usartToUse;
 
+	//fillout USART and PIN settings
+	switch (serialNumber)
+	{
+		case 0:
+			usartToUse = USART1; //Should be defined in the target H file
+			txPin      = USART1_TXPIN_N;
+			txPort     = USART1_TXPORT_N;
+			txAlt      = USART1_TXALT;
+			rxPin      = USART1_RXPIN_N;
+			rxPort     = USART1_RXPORT_N;
+			rxAlt      = USART1_RXALT;
+			irqN       = USART1_RXTX_IRQn;
+		break;
+		case 1:
+			usartToUse = USART2; //Should be defined in the target H file
+			txPin      = USART2_TXPIN_N;
+			txPort     = USART2_TXPORT_N;
+			txAlt      = USART2_TXALT;
+			rxPin      = USART2_RXPIN_N;
+			rxPort     = USART2_RXPORT_N;
+			rxAlt      = USART2_RXALT;
+			irqN       = USART2_RXTX_IRQn;
+		break;
+		case 2:
+			usartToUse = USART3; //Should be defined in the target H file
+			txPin      = USART3_TXPIN_N;
+			txPort     = USART3_TXPORT_N;
+			txAlt      = USART3_TXALT;
+			rxPin      = USART3_RXPIN_N;
+			rxPort     = USART3_RXPORT_N;
+			rxAlt      = USART3_RXALT;
+			irqN       = USART3_RXTX_IRQn;
+		break;
+		case 3:
+			usartToUse = UART4; //Should be defined in the target H file
+			txPin      = USART4_TXPIN_N;
+			txPort     = USART4_TXPORT_N;
+			txAlt      = USART4_TXALT;
+			rxPin      = USART4_RXPIN_N;
+			rxPort     = USART4_RXPORT_N;
+			rxAlt      = USART4_RXALT;
+			irqN       = USART4_RXTX_IRQn;
+		break;
+		case 4:
+			usartToUse = UART5; //Should be defined in the target H file
+			txPin      = USART5_TXPIN_N;
+			txPort     = USART5_TXPORT_N;
+			txAlt      = USART5_TXALT;
+			rxPin      = USART5_RXPIN_N;
+			rxPort     = USART5_RXPORT_N;
+			rxAlt      = USART5_RXALT;
+			irqN       = USART5_RXTX_IRQn;
+		break;
+		case 5:
+			usartToUse = USART6; //Should be defined in the target H file
+			txPin      = USART6_TXPIN_N;
+			txPort     = USART6_TXPORT_N;
+			txAlt      = USART6_TXALT;
+			rxPin      = USART6_RXPIN_N;
+			rxPort     = USART6_RXPORT_N;
+			rxAlt      = USART6_RXALT;
+			irqN       = USART6_RXTX_IRQn;
+		break;
+		default:
+		//no usart exist!!!!
+		return;
+	}
+
+	//init serial based on protocol
 	switch (board.serials[serialNumber].Protocol)
 	{
 		case USING_SPEK_R:
@@ -28,10 +266,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 		case USING_SPEK_T:
 		case USING_DSM2_T:
@@ -42,62 +276,24 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_SBUS_R:
+			ll_hardware_init(usartToUse, irqN, txPort, txPin, 1, txAlt, rxPort, rxPin, 1, rxAlt, 100000, LL_USART_DATAWIDTH_8B, LL_USART_STOPBITS_2, LL_USART_PARITY_EVEN, LL_USART_HWCONTROL_NONE, LL_USART_DIRECTION_RX);
 			board.serials[serialNumber].FrameSize  = 25;
-			board.serials[serialNumber].BaudRate   = 100000;
-			board.serials[serialNumber].WordLength = UART_WORDLENGTH_8B;
-			board.serials[serialNumber].StopBits   = UART_STOPBITS_2;
-			board.serials[serialNumber].Parity     = UART_PARITY_EVEN;
-			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
-			board.serials[serialNumber].Mode       = UART_MODE_RX; //sbus only has input, TX is handled via soft serial
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 		case USING_SBUS_T:
+			//TX AND RX PINS THE SAME since we're using the TX pin as an RX pin.
+			ll_hardware_init(usartToUse, irqN, txPort, txPin, 1, txAlt, txPort, txPin, 1, txAlt, 100000, LL_USART_DATAWIDTH_8B, LL_USART_STOPBITS_2, LL_USART_PARITY_EVEN, LL_USART_HWCONTROL_NONE, LL_USART_DIRECTION_TX_RX);
 			board.serials[serialNumber].FrameSize  = 25;
-			board.serials[serialNumber].BaudRate   = 100000;
-			board.serials[serialNumber].WordLength = UART_WORDLENGTH_8B;
-			board.serials[serialNumber].StopBits   = UART_STOPBITS_2;
-			board.serials[serialNumber].Parity     = UART_PARITY_EVEN;
-			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
-			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_SUMD_R:
+			ll_hardware_init(usartToUse, irqN, txPort, txPin, 0, txAlt, rxPort, rxPin, 0, rxAlt, 115200, LL_USART_DATAWIDTH_8B, LL_USART_STOPBITS_1, LL_USART_PARITY_NONE, LL_USART_HWCONTROL_NONE, LL_USART_DIRECTION_RX);
 			board.serials[serialNumber].FrameSize  = 21; //variable packet size. Will be set based on data
-			board.serials[serialNumber].BaudRate   = 115200;
-			board.serials[serialNumber].WordLength = UART_WORDLENGTH_8B;
-			board.serials[serialNumber].StopBits   = UART_STOPBITS_1;
-			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
-			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
-			board.serials[serialNumber].Mode       = UART_MODE_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 		case USING_SUMD_T:
+			//TX AND RX PINS THE SAME since we're using the TX pin as an RX pin.
+			ll_hardware_init(usartToUse, irqN, txPort, txPin, 0, txAlt, txPort, txPin, 0, txAlt, 115200, LL_USART_DATAWIDTH_8B, LL_USART_STOPBITS_1, LL_USART_PARITY_NONE, LL_USART_HWCONTROL_NONE, LL_USART_DIRECTION_TX_RX);
 			board.serials[serialNumber].FrameSize  = 21; //variable packet size. Will be set based on data
-			board.serials[serialNumber].BaudRate   = 115200;
-			board.serials[serialNumber].WordLength = UART_WORDLENGTH_8B;
-			board.serials[serialNumber].StopBits   = UART_STOPBITS_1;
-			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
-			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
-			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_IBUS_T:
 			board.serials[serialNumber].FrameSize  = 32;
@@ -107,10 +303,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_CRSF_R:
 			board.serials[serialNumber].FrameSize  = 26;  //variable
@@ -120,10 +312,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 		case USING_CRSF_T:
 			board.serials[serialNumber].FrameSize  = 26;  //variable
@@ -133,10 +321,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_CRSF_TELEM:
 			board.serials[serialNumber].FrameSize  = 26;  //variable
@@ -146,10 +330,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_TX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_CRSF_B:
 			board.serials[serialNumber].FrameSize  = 26;  //variable
@@ -159,10 +339,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_TX_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 		case USING_IBUS_R:
 			board.serials[serialNumber].FrameSize  = 32;
@@ -172,10 +348,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity     = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl  = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode       = UART_MODE_RX;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 		case USING_TRAMP:
 			board.serials[serialNumber].enabled          = 1;
@@ -186,12 +358,6 @@ void UsartInit(uint32_t serialNumber)
 			board.serials[serialNumber].Parity           = UART_PARITY_NONE;
 			board.serials[serialNumber].HwFlowCtl        = UART_HWCONTROL_NONE;
 			board.serials[serialNumber].Mode             = UART_MODE_TX_RX;
-			board.serials[serialNumber].serialTxInverted = 0;
-			board.serials[serialNumber].serialRxInverted = 0;
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].TXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].TXPort];
 			break;
 		case USING_MSP:
 		case USING_RFOSD:
@@ -200,98 +366,175 @@ void UsartInit(uint32_t serialNumber)
 		case USING_SMARTAUDIO:
 		case USING_MANUAL:
 		default:
-			txPin  = board.serials[serialNumber].TXPin;
-			rxPin  = board.serials[serialNumber].RXPin;
-			txPort = ports[board.serials[serialNumber].TXPort];
-			rxPort = ports[board.serials[serialNumber].RXPort];
 			break;
 	}
 
-	if ( (serialNumber == 0) && (mainConfig.rcControlsConfig.rxInvertDirection) )
-		PowerInveter(ENUM_PORTC, GPIO_PIN_0, mainConfig.rcControlsConfig.rxInvertDirection);
 
-	/*##-2- Configure peripheral GPIO ##########################################*/
-	if (board.serials[serialNumber].Mode != UART_MODE_RX)
-		HAL_GPIO_DeInit(txPort, txPin); //no need for TX pin is serial is in RX only mode.
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	DelayMs(100);
+	//ll_hardware_init(usartToUse, txPort, txPin, txInv, rxPort, rxPin, rxInv, baudrate, wordlength, stopbits, parity, flow, mode);
+	//ll_hardware_init(USART_TypeDef *usart, GPIO_TypeDef *txPort, uint32_t txPin, uint32_t txInv, GPIO_TypeDef *rxPort, uint32_t rxPin, uint32_t rxInv, uint32_t baudrate, uint32_t wordlength, uint32_t stopbits, uint32_t parity, uint32_t flow, uint32_t mode );
+	//GPIO_TypeDef *
+	return;
+
+
+// 	/*##-1- Configure the UART peripheral ######################################*/
+// 	/* Put the USART peripheral in the Asynchronous mode (UART Mode) */
+// 	uartHandles[board.serials[serialNumber].usartHandle].Instance = usarts[board.serials[serialNumber].SerialInstance].port;
+
+// 	uartHandles[board.serials[serialNumber].usartHandle].Init.BaudRate     = board.serials[serialNumber].BaudRate;
+// 	uartHandles[board.serials[serialNumber].usartHandle].Init.WordLength   = board.serials[serialNumber].WordLength;
+// 	uartHandles[board.serials[serialNumber].usartHandle].Init.StopBits     = board.serials[serialNumber].StopBits;
+// 	uartHandles[board.serials[serialNumber].usartHandle].Init.Parity       = board.serials[serialNumber].Parity;
+// 	uartHandles[board.serials[serialNumber].usartHandle].Init.HwFlowCtl    = board.serials[serialNumber].HwFlowCtl;
+// 	uartHandles[board.serials[serialNumber].usartHandle].Init.Mode         = board.serials[serialNumber].Mode;
+
+// #ifdef USART_USED_ADVANCED
+// 	//f0, f3, f7 usart advanced features.
+// 	//setup inversion
+// 	uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
+// 	if (board.serials[serialNumber].serialTxInverted)
+// 	{
+// 		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_TXINVERT_INIT;
+// 		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.TxPinLevelInvert = UART_ADVFEATURE_TXINV_ENABLE;
+// 	}
+// 	if (board.serials[serialNumber].serialRxInverted)
+// 	{
+// 		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit |= UART_ADVFEATURE_RXINVERT_INIT;
+// 		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.RxPinLevelInvert = UART_ADVFEATURE_RXINV_ENABLE;
+// 	}
+// #endif
+
+// 	//uartHandle.Init.OverSampling = UART_OVERSAMPLING_16;
+
+
+// 	//Config uart as  half duplex if TX and RX pins are the same
+// 	if ( (txPin == rxPin) && (txPort == rxPort) )
+// 	{
+// 		if (HAL_HalfDuplex_Init(&uartHandles[board.serials[serialNumber].usartHandle]) != HAL_OK)
+// 		{
+// 			ErrorHandler(SERIAL_HALF_DUPLEX_INIT_FAILURE);
+// 		}
+// 	}
+// 	else
+// 	{
+// 		if(HAL_UART_Init(&uartHandles[board.serials[serialNumber].usartHandle]) != HAL_OK)
+// 		{
+// 			ErrorHandler(SERIAL_INIT_FAILURE);
+// 		}
+// 	}
+
+// 	//only enable DMA if the DMA is supposed to be enabled
+// 	if ( (board.dmasSerial[board.serials[serialNumber].TXDma].enabled) || (board.dmasSerial[board.serials[serialNumber].RXDma].enabled))
+// 	{
+
+// 		__HAL_UART_FLUSH_DRREGISTER(&uartHandles[board.serials[serialNumber].usartHandle]);
+// 		UsartDmaInit(serialNumber);
+// 		if (board.serials[serialNumber].Mode != UART_MODE_TX) //need to receive via DMA
+// 		{
+
+
+// 			if(HAL_UART_Receive(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], 20, 50000) != HAL_OK)
+// 			{
+// 				//Error_Handler();  
+// 			}
+			
+// 			HAL_NVIC_SetPriority(USART2_RXTX_IRQn, 0, 1);
+// 			HAL_NVIC_EnableIRQ(USART2_RXTX_IRQn);
+// 			HAL_UART_Receive_IT(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], RXBUFFERSIZE);
+
+// 			//HAL_UART_Receive_DMA(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], RXBUFFERSIZE);   // Start reception
+// 			//HAL_UART_Receive_DMA(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], RXBUFFERSIZE); // Start reception
+// 			//HAL_UART_Receive_DMA(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], 20); // Start reception
+// 			//__HAL_UART_ENABLE_IT(&uartHandles[board.serials[serialNumber].usartHandle], UART_IT_IDLE);                            // enable idle line interrupt
+//   			//__HAL_DMA_ENABLE_IT(&dmaHandles[board.dmasActive[board.serials[serialNumber].RXDma].dmaHandle], DMA_IT_TC);           // enable DMA Tx cplt interrupt
+// 			//dmaHandles[board.dmasActive[board.serials[serialNumber].RXDma].dmaHandle].Instance->CR &= ~DMA_SxCR_HTIE;             // disable uart half tx interrupt
+
+// 		}
+// 	}
 
-	if (board.serials[serialNumber].Mode != UART_MODE_TX)
-		HAL_GPIO_DeInit(rxPort, rxPin);
+}
 
-	/* UART TX GPIO pin configuration  */
-	if (board.serials[serialNumber].Mode != UART_MODE_RX)
-		GPIO_InitStruct.Pin       = txPin; //no need for TX pin is serial is in RX only mode.
+void UsartIrqCallback(uint32_t serialNumber)
+{
 
-	GPIO_InitStruct.Mode      = board.serials[serialNumber].PinMode;
-	GPIO_InitStruct.Pull      = board.serials[serialNumber].Pull;
-	GPIO_InitStruct.Speed     = board.serials[serialNumber].Speed;
-	GPIO_InitStruct.Alternate = board.serials[serialNumber].TXAlternate;
+	volatile uint32_t tmp1, tmp2, tmpIsr, tmpIcr, tmpCr1;
+	//get the peripheral
+	USART_TypeDef* usart = getUsartFromSerialNumber(serialNumber);
 
-	if (board.serials[serialNumber].Mode != UART_MODE_RX)
-		HAL_GPIO_Init(txPort, &GPIO_InitStruct);
+//0000. 0000. 0100. 0010. 0000 0000 1100  0010
+//            0100  0010  0000 0000 1101  1011
 
-	/* UART RX GPIO pin configuration  */
-	if (board.serials[serialNumber].Mode != UART_MODE_TX)
-	{
-		GPIO_InitStruct.Pin = rxPin;
-		GPIO_InitStruct.Alternate = board.serials[serialNumber].RXAlternate;
+//USART_ISR_FE     Framing Error 
+//USART_ISR_TXE    Transmit Data Register Empty 
+//USART_ISR_LBDF   LIN Break Detection Flag
 
-		HAL_GPIO_Init(rxPort, &GPIO_InitStruct);
-	}
+//USART_ISR_SBKF   Send Break Flag   
 
+	tmpIsr = usart->ISR;
+	tmpIcr = usart->ICR;
+	tmpCr1 = usart->CR1;
+    if((tmpIsr & USART_ISR_RXNE) == USART_ISR_RXNE)
+    {
+        volatile char t = usart->RDR;
+		serialBuffer[iiiii++] = t;
+    }
 
-	/*##-1- Configure the UART peripheral ######################################*/
-	/* Put the USART peripheral in the Asynchronous mode (UART Mode) */
-	uartHandles[board.serials[serialNumber].usartHandle].Instance = usarts[board.serials[serialNumber].SerialInstance].port;
+    if( LL_USART_IsEnabledIT_IDLE(usart) && (tmpIsr & USART_ISR_IDLE) == USART_ISR_IDLE)
+    {
+        volatile char f = usart->RDR;
+		serialBuffer[iiiii++] = f;
+		iiiii = 0;
+    }
 
-	uartHandles[board.serials[serialNumber].usartHandle].Init.BaudRate     = board.serials[serialNumber].BaudRate;
-	uartHandles[board.serials[serialNumber].usartHandle].Init.WordLength   = board.serials[serialNumber].WordLength;
-	uartHandles[board.serials[serialNumber].usartHandle].Init.StopBits     = board.serials[serialNumber].StopBits;
-	uartHandles[board.serials[serialNumber].usartHandle].Init.Parity       = board.serials[serialNumber].Parity;
-	uartHandles[board.serials[serialNumber].usartHandle].Init.HwFlowCtl    = board.serials[serialNumber].HwFlowCtl;
-	uartHandles[board.serials[serialNumber].usartHandle].Init.Mode         = board.serials[serialNumber].Mode;
+    if((tmpIsr & USART_ISR_ORE) == USART_ISR_ORE)
+    {
+        volatile char g = usart->RDR;
+		serialBuffer[iiiii++] = g;
+    }
 
-#ifdef USART_USED_ADVANCED
-	//f0, f3, f7 usart advanced features.
-	//setup inversion
-	uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
-	if (board.serials[serialNumber].serialTxInverted)
-	{
-		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_TXINVERT_INIT;
-		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.TxPinLevelInvert = UART_ADVFEATURE_TXINV_ENABLE;
-	}
-	if (board.serials[serialNumber].serialRxInverted)
+	if(iiiii > 20)
 	{
-		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit = (uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.AdvFeatureInit | UART_ADVFEATURE_RXINVERT_INIT);
-		uartHandles[board.serials[serialNumber].usartHandle].AdvancedInit.RxPinLevelInvert = UART_ADVFEATURE_RXINV_ENABLE;
+		iiiii = 0;
 	}
-#endif
+	return;
 
-	//uartHandle.Init.OverSampling = UART_OVERSAMPLING_16;
+    if (LL_USART_IsActiveFlag_RXNE(usart) || LL_USART_IsActiveFlag_ORE(usart))
+        LL_USART_ReceiveData8(usart);
 
+	return;
 
-	//Config uart as  half duplex if TX and RX pins are the same
-	if ( (txPin == rxPin) && (txPort == rxPort) )
+	if ( LL_USART_IsActiveFlag_ORE(usart) )
 	{
-		if (HAL_HalfDuplex_Init(&uartHandles[board.serials[serialNumber].usartHandle]) != HAL_OK)
+		if ( !LL_USART_IsEnabledIT_RXNE(usart) )
 		{
-			ErrorHandler(SERIAL_HALF_DUPLEX_INIT_FAILURE);
+			LL_USART_ReceiveData8(usart);
 		}
 	}
 	else
 	{
-		if(HAL_UART_Init(&uartHandles[board.serials[serialNumber].usartHandle]) != HAL_OK)
-		{
-			ErrorHandler(SERIAL_INIT_FAILURE);
+		tmp1 = LL_USART_IsActiveFlag_IDLE(usart);
+		if (tmp1) {
+			LL_USART_ClearFlag_IDLE(usart);
+			serialBuffer[iiiii++] = tmp2 = LL_USART_ReceiveData8(usart);
+			iiiii = 0;
+			//LL_DMA_DisableStream(DMA1, LL_DMA_STREAM_5);
 		}
-	}
 
-	//only enable DMA if the DMA is supposed to be enabled
-	if ( (board.dmasSerial[board.serials[serialNumber].TXDma].enabled) || (board.dmasSerial[board.serials[serialNumber].RXDma].enabled))
-	{
-		UsartDmaInit(serialNumber);
-		__HAL_UART_FLUSH_DRREGISTER(&uartHandles[board.serials[serialNumber].usartHandle]);
-		if (board.serials[serialNumber].Mode != UART_MODE_TX)
-			HAL_UART_Receive_DMA(&uartHandles[board.serials[serialNumber].usartHandle], &dmaRxBuffer[serialNumber], 1);
+		tmp1 = LL_USART_IsActiveFlag_RXNE(usart);
+		if ( tmp1 && LL_USART_IsEnabledIT_RXNE(usart) )
+		{
+			//receive into buffer
+			serialBuffer[iiiii++] = tmp2 = LL_USART_ReceiveData8(usart);
+		}
 	}
 
 }
@@ -580,7 +823,7 @@ void InitBoardUsarts (void)
 		    {
 		    	board.dmasSerial[board.serials[serialNumber].RXDma].dmaDirection       = DMA_PERIPH_TO_MEMORY;
 				board.dmasSerial[board.serials[serialNumber].RXDma].dmaPeriphInc       = DMA_PINC_DISABLE;
-				board.dmasSerial[board.serials[serialNumber].RXDma].dmaMemInc          = DMA_MINC_DISABLE;
+				board.dmasSerial[board.serials[serialNumber].RXDma].dmaMemInc          = DMA_MINC_ENABLE;
 				board.dmasSerial[board.serials[serialNumber].RXDma].dmaPeriphAlignment = DMA_PDATAALIGN_BYTE;
 				board.dmasSerial[board.serials[serialNumber].RXDma].dmaMemAlignment    = DMA_MDATAALIGN_BYTE;
 				board.dmasSerial[board.serials[serialNumber].RXDma].dmaMode            = DMA_CIRCULAR;
@@ -683,19 +926,21 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 
 	//works for all serials, we check huart against each serial handle to decide which one has interrupted then deal with it.
 	//todo move arrays to init function
-    volatile uint32_t timeSinceLastPacket[MAX_USARTS] = {0,};
-    uint32_t currentTime;
-    static uint32_t timeOfLastPacket[MAX_USARTS] = {0,};
+    //volatile uint32_t timeSinceLastPacket[MAX_USARTS] = {0,};
+    //uint32_t currentTime;
+    //static uint32_t timeOfLastPacket[MAX_USARTS] = {0,};
 
-    currentTime = InlineMillis();
+    //currentTime = InlineMillis();
 
+	
 	for (uint32_t serialNumber = 0;serialNumber<MAX_USARTS;serialNumber++)
 	{
 		if (huart == &uartHandles[board.serials[serialNumber].usartHandle])
 		{
+			HAL_UART_Receive_IT(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], RXBUFFERSIZE);
 			//todo: How do we handle multiple RXs with this?
-			timeSinceLastPacket[serialNumber] = (currentTime - timeOfLastPacket[serialNumber]); //todo: How do we handle multiple RXs with this?
-			timeOfLastPacket[serialNumber]    = currentTime; //todo: How do we handle multiple RXs with this?
+			//timeSinceLastPacket[serialNumber] = (currentTime - timeOfLastPacket[serialNumber]); //todo: How do we handle multiple RXs with this?
+			//timeOfLastPacket[serialNumber]    = currentTime; //todo: How do we handle multiple RXs with this?
 						/*
 			The basic structure for each frame is the same. There is a range of ​Types​ with an extended header which will have the first few bytes of payload standardized. This is required to route frame across multiple devices for point to point communication.  
 			Broadcast Frames​: <​Device address​ or Sync Byte> <Frame length> <​Type​><Payload> <​CRC​> 
@@ -721,29 +966,36 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
 			{
 				//Sumd packet 2 (third one) is number of channels.
 				//total frame length is header (3) + number of channels * 2 (variable) + crc length (2).
-				board.serials[serialNumber].FrameSize = CONSTRAIN( (5 + (dmaRxBuffer[serialNumber] * 2) ), 9, 47); //sumd can be between 7 and 37 long
+//				board.serials[serialNumber].FrameSize = CONSTRAIN( (5 + (dmaRxBuffer[serialNumber] * 2) ), 9, 47); //sumd can be between 7 and 37 long
 			}
 
-			if (timeSinceLastPacket[serialNumber] > 3)
-			{
-				if (dmaIndex[serialNumber] < board.serials[serialNumber].FrameSize)
-				{
-					__HAL_UART_FLUSH_DRREGISTER(&uartHandles[board.serials[serialNumber].usartHandle]); // Clear the buffer to prevent overrun
-				}
+		//	if (timeSinceLastPacket[serialNumber] > 3)
+		//	{
+		//		if (dmaIndex[serialNumber] < board.serials[serialNumber].FrameSize)
+		//		{
+		//			__HAL_UART_FLUSH_DRREGISTER(&uartHandles[board.serials[serialNumber].usartHandle]); // Clear the buffer to prevent overrun
+		//		}
+//
+//				dmaIndex[serialNumber] = 0;
+//
+//			}
 
-				dmaIndex[serialNumber] = 0;
 
-			}
-
-
-			serialRxBuffer[board.serials[serialNumber].serialRxBuffer-1][dmaIndex[serialNumber]++] = dmaRxBuffer[serialNumber]; // Add that character to the string
+			memcpy(serialRxBuffer[board.serials[serialNumber].serialRxBuffer-1], dmaRxBuffer[serialNumber], RXBUFFERSIZE);
+			memset(dmaRxBuffer[serialNumber], 0, RXBUFFERSIZE);
+			//serialRxBuffer[board.serials[serialNumber].serialRxBuffer-1][dmaIndex[serialNumber]++] = dmaRxBuffer[serialNumber]; // Add that character to the string
 
-			if (dmaIndex[serialNumber] >= board.serials[serialNumber].FrameSize)
-			{
+			//if (dmaIndex[serialNumber] >= board.serials[serialNumber].FrameSize)
+			//{
 				processRxCodeNow = serialNumber;
 				ProcessSerialRx();
 				dmaIndex[serialNumber] = 0;
-			}
+			//}
+			//UsartDmaInit(serialNumber);
+			//UART_HandleTypeDef *huart = &uartHandles[board.serials[serialNumber].usartHandle];
+			//HAL_UART_Receive_DMA(&uartHandles[board.serials[serialNumber].usartHandle], dmaRxBuffer[serialNumber], RXBUFFERSIZE);
+			//__HAL_UART_ENABLE_IT(&uartHandles[board.serials[serialNumber].usartHandle], UART_IT_IDLE);   // enable idle line interrupt
+  			//__HAL_DMA_ENABLE_IT(huart->hdmarx, DMA_IT_TC);  // enable DMA Tx cplt interrupt
 			break;
 		}
 	}
diff --git a/src/flight_controller/src/drivers/spring_imuf9001.c b/src/flight_controller/src/drivers/spring_imuf9001.c
index efdae7ec..28a77cfb 100644
--- a/src/flight_controller/src/drivers/spring_imuf9001.c
+++ b/src/flight_controller/src/drivers/spring_imuf9001.c
@@ -3,7 +3,7 @@
 #define IMUF_COMMAND_HEADER 'h'
 #define IMUF_COMMAND_RST '13'
 
-static const uint16_t imufCurrentVersion = 106;
+static uint16_t imufCurrentVersion = 106;
 
 volatile gyroToBoardCommMode_t currentCommMode;
 
@@ -227,17 +227,29 @@ int AccGyroDeviceInit(loopCtrl_e gyroLoop)
     imufCommand_t reply;
     imufCommand_t data;
 
-    mainConfig.gyroConfig.imufMode = VerifyAllowedCommMode(mainConfig.gyroConfig.imufMode);
-
-    data.param1 = mainConfig.gyroConfig.imufMode; //todo verify this is allowed
-    data.param2 = (   (uint16_t)2 << 16) ; //speed, 1 = 32KHz, 2 = 16 KHz, 3 = 8 KHz, 4 = 4 KHz, does nothing right now
-    data.param3 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.q)   << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.w;
-    data.param4 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.q)    << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.w;
-    data.param5 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.q)     << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.w;
-    data.param6 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.lpf) << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.lpf;
-    data.param7 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.lpf)   << 16 ) | 0;
-    data.param8 = (   (int16_t)mainConfig.gyroConfig.minorBoardRotation[X] << 16 )                          | (uint16_t)mainConfig.gyroConfig.gyroRotation;
-    data.param9 = (   (int16_t)mainConfig.gyroConfig.minorBoardRotation[Z] << 16 )                          | (int16_t)mainConfig.gyroConfig.minorBoardRotation[Y];
+    data.param1 = mainConfig.gyroConfig.imufMode = VerifyAllowedCommMode(mainConfig.gyroConfig.imufMode);
+
+    if (imufCurrentVersion < 107) {
+        //backwards compatibility for Caprica
+        data.param2 = ( (uint16_t)2 << 16) ; //speed, 1 = 32KHz, 2 = 16 KHz, 3 = 8 KHz, 4 = 4 KHz, does nothing right now
+        data.param3 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.q)   << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.w;
+        data.param4 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.q)   << 16 )  | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.w;
+        data.param5 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.q)   << 16 )   | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.w;
+        data.param6 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.lpf) << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.lpf;
+        data.param7 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.lpf)   << 16 ) | 0;
+        data.param8 = (   (int16_t)mainConfig.gyroConfig.minorBoardRotation[X] << 16 )                          | (uint16_t)mainConfig.gyroConfig.gyroRotation;
+        data.param9 = (   (int16_t)mainConfig.gyroConfig.minorBoardRotation[Z] << 16 )                          | (int16_t)mainConfig.gyroConfig.minorBoardRotation[Y];
+    } else {
+        //Odin contract.
+        data.param2 = ( (uint16_t)2 << 16) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.w;
+        data.param3 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.q)    << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.q;
+        data.param4 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.q)     << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[ROLL].gyro.lpf;
+        data.param5 = ( ( (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[PITCH].gyro.lpf) << 16 ) | (uint16_t)mainConfig.tuneProfile[activeProfile].filterConfig[YAW].gyro.lpf;
+        data.param6 = 0;
+        data.param7 = 0;
+        data.param8 = (   (int16_t)mainConfig.gyroConfig.minorBoardRotation[X] << 16 )                         | (uint16_t)mainConfig.gyroConfig.gyroRotation;
+        data.param9 = (   (int16_t)mainConfig.gyroConfig.minorBoardRotation[Z] << 16 )                         | (int16_t)mainConfig.gyroConfig.minorBoardRotation[Y];
+    }
 
     for (attempt = 0; attempt < 4; attempt++)
     {
@@ -280,6 +292,7 @@ int AccGyroDeviceDetect(void)
 
     //init crc
     CrcHandle.Instance = CRC;
+    CrcHandle.InputDataFormat = CRC_INPUTDATA_FORMAT_WORDS;
     HAL_CRC_Init(&CrcHandle);
 
     for (attempt = 0; attempt < 4; attempt++)
@@ -300,7 +313,7 @@ int AccGyroDeviceDetect(void)
                 SystemReset();
                 deviceWhoAmI = 6662;
             } else {
-                deviceWhoAmI = (*(imufVersion_t *)&(reply.param1)).firmware;
+                imufCurrentVersion = deviceWhoAmI = (*(imufVersion_t *)&(reply.param1)).firmware;
                 return deviceWhoAmI;
             }
         }
@@ -308,6 +321,8 @@ int AccGyroDeviceDetect(void)
     return (0);
 }
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
 void ImuDeviceRead(void)
 {
     //need to calibrate the imuf, we wait 1000 cycles to do it, or about 7ms at 16 KHz input.
@@ -329,6 +344,7 @@ void ImuDeviceRead(void)
     inlineDigitalLo(ports[board.gyros[0].csPort], board.gyros[0].csPin);
     AccGyroReadWriteData((uint8_t*)&imuTxCommFrame.gyroFrame, (uint8_t*)&imuRxCommFrame.gyroFrame, currentCommMode, 1);
 }
+#pragma GCC diagnostic pop
 
 void ImuDeviceReadComplete(void)
 {
@@ -347,21 +363,21 @@ void ImuDeviceReadComplete(void)
         else
         {
             julian[1]++;
+            dpsGyroArray[0]     = -imuRxCommFrame.gyroFrame.gyroZ;
+            dpsGyroArray[1]     =  imuRxCommFrame.gyroFrame.gyroX;
+            dpsGyroArray[2]     = -imuRxCommFrame.gyroFrame.gyroY;
+            geeForceAccArray[0] =  imuRxCommFrame.gyroFrame.accelX;
+            geeForceAccArray[1] =  imuRxCommFrame.gyroFrame.accelY;
+            geeForceAccArray[2] =  imuRxCommFrame.gyroFrame.accelZ;
+
+            if(currentCommMode == GTBCM_GYRO_ACC_QUAT_FILTER_F)
+            {
+                attitudeFrameQuat.w =  imuRxCommFrame.imuFrame.w;
+                attitudeFrameQuat.x =  imuRxCommFrame.imuFrame.x;
+                attitudeFrameQuat.y =  imuRxCommFrame.imuFrame.y;
+                attitudeFrameQuat.z =  imuRxCommFrame.imuFrame.z;
+            }
+            InlineFlightCode(dpsGyroArray);
         }
-        dpsGyroArray[0]     = -imuRxCommFrame.gyroFrame.gyroZ;
-        dpsGyroArray[1]     =  imuRxCommFrame.gyroFrame.gyroX;
-        dpsGyroArray[2]     = -imuRxCommFrame.gyroFrame.gyroY;
-        geeForceAccArray[0] =  imuRxCommFrame.gyroFrame.accelX;
-        geeForceAccArray[1] =  imuRxCommFrame.gyroFrame.accelY;
-        geeForceAccArray[2] =  imuRxCommFrame.gyroFrame.accelZ;
-
-        if(currentCommMode == GTBCM_GYRO_ACC_QUAT_FILTER_F)
-        {
-            attitudeFrameQuat.w =  imuRxCommFrame.imuFrame.w;
-            attitudeFrameQuat.x =  imuRxCommFrame.imuFrame.x;
-            attitudeFrameQuat.y =  imuRxCommFrame.imuFrame.y;
-            attitudeFrameQuat.z =  imuRxCommFrame.imuFrame.z;
-        }
-        InlineFlightCode(dpsGyroArray);
     }
 }
\ No newline at end of file
diff --git a/src/flight_controller/src/flight.c b/src/flight_controller/src/flight.c
index 7ebf055e..4f830c80 100644
--- a/src/flight_controller/src/flight.c
+++ b/src/flight_controller/src/flight.c
@@ -645,7 +645,8 @@ void InlineFlightCode(float dpsGyroArray[])
 	static uint32_t gyroStdDeviationLatch = 0;
 	int32_t axis;
 
-//	inlineDigitalHi(ports[ENUM_PORTB], GPIO_PIN_0);
+//inlineDigitalHi(ports[ENUM_PORTB], GPIO_PIN_0);
+//inlineDigitalHi(ports[ENUM_PORTC], GPIO_PIN_9);
 
 	//Gyro routine:
 	//gyro interrupts
@@ -991,6 +992,7 @@ void InlineFlightCode(float dpsGyroArray[])
 
 	}
 
+//inlineDigitalLo(ports[ENUM_PORTC], GPIO_PIN_9);
 //inlineDigitalLo(ports[ACTUATOR1_GPIO], ACTUATOR1_PIN);
 	if(usedSkunk == 2 || currentCommMode == GTBCM_GYRO_ACC_QUAT_FILTER_F )
 		return;
@@ -1138,7 +1140,7 @@ int InitFlight(void)
     InitBoardUsarts();    //most important thing is activated last, the ability to control the craft.
 
 	//needs to run before InitTelemtry and InitFlashChip
-	InitMaxOsd();
+	//InitMaxOsd();
 
 	if (board.flash[0].enabled)
     {
diff --git a/src/flight_controller/src/main.c b/src/flight_controller/src/main.c
index de8a27c1..e917b8e2 100644
--- a/src/flight_controller/src/main.c
+++ b/src/flight_controller/src/main.c
@@ -10,15 +10,129 @@ int main(void)
     int count = 16;
 
     //TODO: Make automatic
-	retValChk = VectorIrqInit(THIS_ADDRESS);
+	  retValChk = VectorIrqInit(THIS_ADDRESS);
 
-	//TODO Needs to pull parameters from flash here. For now we use defines
-	retValChk = GetBoardHardwareDefs();
+	  //TODO Needs to pull parameters from flash here. For now we use defines
+	  retValChk = GetBoardHardwareDefs();
 
     retValChk = InitializeMCUSettings();
 
     retValChk = BoardInit();
 
+  //SystemCoreClock = 240000000;
+  RCC_ClkInitTypeDef RCC_ClkInitStruct;
+  RCC_OscInitTypeDef RCC_OscInitStruct;
+  RCC_PeriphCLKInitTypeDef PeriphClkInitStruct;
+  
+  /* Enable HSE Oscillator and activate PLL with HSE as source */
+
+  __HAL_RCC_PWR_CLK_ENABLE();
+
+  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+
+    /**Initializes the CPU, AHB and APB busses clocks 
+    */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
+  RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM       = FC_PLLM;
+  RCC_OscInitStruct.PLL.PLLN       = FC_PLLN;
+  RCC_OscInitStruct.PLL.PLLP       = FC_PLLP;
+  RCC_OscInitStruct.PLL.PLLQ       = FC_PLLQ;
+  
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    while(1);
+  }
+
+  if(HAL_PWREx_EnableOverDrive() != HAL_OK)
+  {
+    while(1);
+  }
+
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7) != HAL_OK)
+  {
+    while(1);
+  }
+
+	PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2|RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_USART6|RCC_PERIPHCLK_UART4|RCC_PERIPHCLK_UART5|RCC_PERIPHCLK_UART7|RCC_PERIPHCLK_UART8|RCC_PERIPHCLK_I2C1|RCC_PERIPHCLK_I2C3|RCC_PERIPHCLK_I2C2|RCC_PERIPHCLK_I2C4|RCC_PERIPHCLK_CLK48;
+	PeriphClkInitStruct.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
+	PeriphClkInitStruct.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
+	PeriphClkInitStruct.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
+	PeriphClkInitStruct.Uart4ClockSelection  = RCC_UART4CLKSOURCE_PCLK1;
+	PeriphClkInitStruct.Uart5ClockSelection  = RCC_UART5CLKSOURCE_PCLK1;
+	PeriphClkInitStruct.Usart6ClockSelection = RCC_USART6CLKSOURCE_PCLK2;
+	PeriphClkInitStruct.Uart7ClockSelection  = RCC_UART7CLKSOURCE_PCLK1;
+	PeriphClkInitStruct.Uart8ClockSelection  = RCC_UART8CLKSOURCE_PCLK1;
+	PeriphClkInitStruct.I2c1ClockSelection   = RCC_I2C1CLKSOURCE_SYSCLK;
+	PeriphClkInitStruct.I2c2ClockSelection   = RCC_I2C2CLKSOURCE_SYSCLK;
+	PeriphClkInitStruct.I2c3ClockSelection   = RCC_I2C3CLKSOURCE_SYSCLK;
+  #ifdef RCC_DCKCFGR2_I2C4SEL_0
+	PeriphClkInitStruct.I2c4ClockSelection   = RCC_I2C4CLKSOURCE_SYSCLK;
+  #endif
+  PeriphClkInitStruct.PLLSAI.PLLSAIN       = 384;
+  #if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)
+  PeriphClkInitStruct.PLLSAI.PLLSAIR       = 2;
+  PeriphClkInitStruct.PLLSAI.PLLSAIQ       = 2;  
+  #endif
+  #if defined (STM32F722xx) 
+  PeriphClkInitStruct.PLLSAI.PLLSAIQ       = 7; 
+  #endif
+  
+  PeriphClkInitStruct.PLLSAI.PLLSAIP       = RCC_PLLSAIP_DIV8;
+  PeriphClkInitStruct.PLLSAIDivQ           = 1;
+  PeriphClkInitStruct.PLLSAIDivR           = RCC_PLLSAIDIVR_2;
+  PeriphClkInitStruct.Clk48ClockSelection  = RCC_CLK48SOURCE_PLLSAIP;
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CLK48;
+
+  if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct)  != HAL_OK)
+  {
+    while(1);
+  }
+
+   systemUsTicks = (HAL_RCC_GetHCLKFreq()/1000000);
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    __HAL_RCC_GPIOB_CLK_ENABLE();
+    __HAL_RCC_GPIOC_CLK_ENABLE();
+    __HAL_RCC_GPIOD_CLK_ENABLE();
+    __HAL_RCC_GPIOE_CLK_ENABLE();
+    __HAL_RCC_GPIOF_CLK_ENABLE();
+    __HAL_RCC_GPIOG_CLK_ENABLE();
+    __HAL_RCC_GPIOH_CLK_ENABLE();
+    __HAL_RCC_GPIOI_CLK_ENABLE();
+
+    __HAL_RCC_ADC1_CLK_ENABLE();
+    __HAL_RCC_ADC2_CLK_ENABLE();
+    __HAL_RCC_ADC3_CLK_ENABLE();
+
+    __HAL_RCC_DMA1_CLK_ENABLE();
+    __HAL_RCC_DMA2_CLK_ENABLE();
+
+    __HAL_RCC_TIM1_CLK_ENABLE();
+    __HAL_RCC_TIM2_CLK_ENABLE();
+    __HAL_RCC_TIM3_CLK_ENABLE();
+    __HAL_RCC_TIM4_CLK_ENABLE();
+    __HAL_RCC_TIM5_CLK_ENABLE();
+    __HAL_RCC_TIM6_CLK_ENABLE();
+    __HAL_RCC_TIM7_CLK_ENABLE();
+    __HAL_RCC_TIM8_CLK_ENABLE();
+
+    __USART1_CLK_ENABLE();
+    __USART2_CLK_ENABLE();
+    __USART3_CLK_ENABLE();
+    __UART4_CLK_ENABLE();
+    __UART5_CLK_ENABLE();
+    __USART6_CLK_ENABLE();
+
+    __HAL_RCC_CRC_CLK_ENABLE();
     //DshotInit(1);
     
     retValChk = HandleRfbl();
@@ -45,8 +159,8 @@ int main(void)
 
     //DeInitActuators();
     //DelayMs(10);
-    //InitializeGpio(ports[ACTUATOR1_GPIO], ACTUATOR1_PIN, 0);
-    //inlineDigitalLo(ports[ACTUATOR1_GPIO], ACTUATOR1_PIN);
+    //InitializeGpio(ports[ENUM_PORTC], GPIO_PIN_9, 0);
+    //inlineDigitalLo(ports[ENUM_PORTC], GPIO_PIN_9);
     //InitializeGpio(ports[ENUM_PORTB], GPIO_PIN_0, 0);
 
     while (1)
diff --git a/src/flight_controller/src/usb/usbd_desc.c b/src/flight_controller/src/usb/usbd_desc.c
index efe08f61..31455346 100644
--- a/src/flight_controller/src/usb/usbd_desc.c
+++ b/src/flight_controller/src/usb/usbd_desc.c
@@ -245,9 +245,9 @@ static void IntToUnicode(uint32_t value, uint8_t *pbuf, uint8_t len)
   */
 static void Get_SerialNum(void)
 {
-    uint32_t  deviceserial0 = *(uint32_t*)DEVICE_ID1;
-    uint32_t  deviceserial1 = *(uint32_t*)DEVICE_ID2;
-    uint32_t  deviceserial2 = *(uint32_t*)DEVICE_ID3;
+    uint32_t  deviceserial0 = 111;//*(uint32_t*)DEVICE_ID1;
+    uint32_t  deviceserial1 = 111;//*(uint32_t*)DEVICE_ID2;
+    uint32_t  deviceserial2 = 111;//*(uint32_t*)DEVICE_ID3;
 
     deviceserial0 += deviceserial2;
 
diff --git a/src/flight_controller/src/wizard.c b/src/flight_controller/src/wizard.c
index 2066dc8d..552d6968 100644
--- a/src/flight_controller/src/wizard.c
+++ b/src/flight_controller/src/wizard.c
@@ -565,25 +565,6 @@ void HandleWizRx(void)
 
 		for (y=0;y<MAX_USARTS;y++)
 		{
-			//todo: make changes for helio sring	
-			#if defined(REVOLT)
-			//only check usart 1 and usart 3
-			if( y==0 )
-			{
-
-			}
-			else if( y==2 )
-			{
-
-			}
-			else
-			{
-				continue;
-			}
-			//if( !(y==0 || y==2) )
-			//	continue;
-			#endif
-
 			if (z == wizardStatus.currentStep)
 			{
 				wizardStatus.currentStep++;
diff --git a/src/low_level_driver/STRIXF10.h b/src/low_level_driver/STRIXF10.h
new file mode 100644
index 00000000..eac1ec63
--- /dev/null
+++ b/src/low_level_driver/STRIXF10.h
@@ -0,0 +1,515 @@
+#pragma once
+
+#include "mcu_include.h"
+
+//USB config
+#define RFFW_HID_PRODUCT_STRING "RaceFlight FC"
+#define RFBL_HID_PRODUCT_STRING "RaceFlight Boot Loader"
+#define RFRC_HID_PRODUCT_STRING "RaceFlight Recovery"
+
+#define FC_NAME "Strix F10"
+
+//MCU config
+#define FC_PLLM                 8
+#define FC_PLLN	                432
+#define FC_PLLP	                RCC_PLLP_DIV2
+#define FC_PLLQ	                9
+#define FC_PLL_SAIN             384
+#define FC_PLL_SAIQ             7
+#define FC_PLL_SAIP             RCC_PLLSAIP_DIV8
+
+//LED config
+#define LED1_ENABLED			1
+#define LED1_GPIO_Port          ENUM_PORTB
+#define LED1_GPIO_Pin           GPIO_PIN_7
+#define LED1_INVERTED			0
+
+#define LED2_ENABLED			0
+#define LED2_GPIO_Port          0
+#define LED2_GPIO_Pin           0
+#define LED2_INVERTED			0
+
+#define LED3_ENABLED			0
+#define LED3_GPIO_Port          0
+#define LED3_GPIO_Pin           0
+#define LED3_INVERTED			0
+
+//buzzer setup
+#define BUZZER_GPIO_Port        ENUM_PORTC
+#define BUZZER_GPIO_Pin         GPIO_PIN_15
+#define BUZZER_TIM				0
+#define BUZZER_ALTERNATE		0
+#define BUZZER_TIM_CH			0
+#define BUZZER_TIM_CCR			0
+#define BUZZER_POLARITY			0
+
+//Gyro Config
+#define USE_EXTERNAL_IMUF
+#define GYRO_SPI_NUMBER			ENUM_SPI1
+#define GYRO_SPI_TX_ENUM		ENUM_DMA2_STREAM_3
+#define GYRO_SPI_RX_ENUM		ENUM_DMA2_STREAM_0
+#define GYRO_SPI_CS_GPIO_Port   ENUM_PORTB
+#define GYRO_SPI_CS_GPIO_Pin    GPIO_PIN_1
+#define GYRO_RESET_GPIO_Port    ENUM_PORTA
+#define GYRO_RESET_GPIO_Pin     GPIO_PIN_4
+#define GYRO_RX_DMA_FP          FP_DMA2_S0
+
+#define GYRO_SPI_FAST_BAUD      SPI_BAUDRATEPRESCALER_4 //24.0 MHz
+#define GYRO_SPI_SLOW_BAUD      SPI_BAUDRATEPRESCALER_4 //6 MHz
+
+#define GYRO_EXTI
+#define GYRO_EXTI_GPIO_Port     ENUM_PORTB
+#define GYRO_EXTI_GPIO_Pin      GPIO_PIN_0
+#define GYRO_EXTI_IRQn          EXTI0_IRQn
+#define GYRO_EXTI_IRQn_FP       FP_EXTI0
+
+//Sbus inverter config
+#undef SBUS_HARDWARE_INVERTER
+#define SBUS_HARDWARE_GPIO			0
+#define SBUS_HARDWARE_PIN			0
+#define SBUS_INVERTER_USART			0
+
+//Serial Config
+#define VBUS_SENSING
+#define VBUS_SENSING_GPIO			ENUM_PORTC
+#define VBUS_SENSING_PIN			GPIO_PIN_5
+
+//ADC Config
+#define ADC0_TYPE					ADC_CURRENT
+#define ADC0_PORT					ENUM_PORTA
+#define ADC0_PIN					GPIO_PIN_1
+#define ADC0_INSTANCE				ENUM_ADC3
+#define ADC0_CHANNEL				ADC_CHANNEL_1
+
+#define ADC1_TYPE					ADC_VOLTAGE
+#define ADC1_PORT					ENUM_PORTA
+#define ADC1_PIN					GPIO_PIN_0
+#define ADC1_INSTANCE				ENUM_ADC3
+#define ADC1_CHANNEL				ADC_CHANNEL_0
+
+#define ADC2_TYPE					ADC_DISABLED
+#define ADC2_PORT					0
+#define ADC2_PIN					0
+#define ADC2_INSTANCE				0
+#define ADC2_CHANNEL				0
+
+//START SPI defines------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+#define SPI1_ENABLE						SERIAL_ENABLED_TX | SERIAL_ENABLED_RX | SERIAL_DMA_TX | SERIAL_DMA_RX
+#define SPI1_NSS_STYLE					NSS_SOFT
+#define SPI1_NSS_PIN					GPIO_PIN_1
+#define SPI1_SCK_PIN					GPIO_PIN_3
+#define SPI1_MISO_PIN					GPIO_PIN_6
+#define SPI1_MOSI_PIN					GPIO_PIN_7
+#define SPI1_NSS_GPIO_PORT				ENUM_PORTB
+#define SPI1_SCK_GPIO_PORT				ENUM_PORTB
+#define SPI1_MISO_GPIO_PORT				ENUM_PORTA
+#define SPI1_MOSI_GPIO_PORT				ENUM_PORTA
+#define SPI1_NSS_AF						0
+#define SPI1_MISO_AF					GPIO_AF5_SPI1
+#define SPI1_MOSI_AF					GPIO_AF5_SPI1
+#define SPI1_SCK_AF						GPIO_AF5_SPI1
+#define SPI1_PRIORITY					1
+#define SPI1_TX_DMA_STREAM				ENUM_DMA2_STREAM_3
+#define SPI1_TX_DMA_CHANNEL				DMA_CHANNEL_3
+#define SPI1_TX_DMA_IRQn				DMA2_Stream3_IRQn
+#define SPI1_TX_DMA_PRIORITY			1
+#define SPI1_RX_DMA_STREAM				ENUM_DMA2_STREAM_0
+#define SPI1_RX_DMA_CHANNEL				DMA_CHANNEL_3
+#define SPI1_RX_DMA_IRQn				DMA2_Stream0_IRQn
+#define SPI1_RX_DMA_PRIORITY			1
+#define SPI1_SCK_PULL					GPIO_PULLUP
+
+#define SPI2_ENABLE						SERIAL_ENABLED_TX | SERIAL_ENABLED_RX | SERIAL_DMA_TX | SERIAL_DMA_RX
+#define SPI2_NSS_STYLE					NSS_HARD
+#define SPI2_NSS_PIN					GPIO_PIN_12
+#define SPI2_SCK_PIN					GPIO_PIN_13
+#define SPI2_MISO_PIN					GPIO_PIN_2
+#define SPI2_MOSI_PIN					GPIO_PIN_3
+#define SPI2_NSS_GPIO_PORT				ENUM_PORTB
+#define SPI2_SCK_GPIO_PORT				ENUM_PORTB
+#define SPI2_MISO_GPIO_PORT				ENUM_PORTC
+#define SPI2_MOSI_GPIO_PORT				ENUM_PORTC
+#define SPI2_NSS_AF						GPIO_AF5_SPI2
+#define SPI2_MISO_AF					GPIO_AF5_SPI2
+#define SPI2_MOSI_AF					GPIO_AF5_SPI2
+#define SPI2_SCK_AF						GPIO_AF5_SPI2
+#define SPI2_PRIORITY					8
+#define SPI2_TX_DMA_STREAM				ENUM_DMA1_STREAM_4
+#define SPI2_TX_DMA_CHANNEL				DMA_CHANNEL_0
+#define SPI2_TX_DMA_IRQn				DMA1_Stream4_IRQn
+#define SPI2_TX_DMA_PRIORITY			8
+#define SPI2_RX_DMA_STREAM				ENUM_DMA1_STREAM_3
+#define SPI2_RX_DMA_CHANNEL				DMA_CHANNEL_0
+#define SPI2_RX_DMA_IRQn				DMA1_Stream3_IRQn
+#define SPI2_RX_DMA_PRIORITY			8
+#define SPI2_SCK_PULL					GPIO_PULLUP
+
+#define SPI3_ENABLE						SERIAL_ENABLED_TX | SERIAL_ENABLED_RX | SERIAL_DMA_TX | SERIAL_DMA_RX
+#define SPI3_NSS_STYLE					NSS_SOFT
+#define SPI3_NSS_PIN					0
+#define SPI3_SCK_PIN					GPIO_PIN_10
+#define SPI3_MISO_PIN					GPIO_PIN_4
+#define SPI3_MOSI_PIN					GPIO_PIN_5
+#define SPI3_NSS_GPIO_PORT				0
+#define SPI3_SCK_GPIO_PORT				ENUM_PORTC
+#define SPI3_MISO_GPIO_PORT				ENUM_PORTB
+#define SPI3_MOSI_GPIO_PORT				ENUM_PORTB
+#define SPI3_NSS_AF						0
+#define SPI3_MISO_AF					GPIO_AF6_SPI3
+#define SPI3_MOSI_AF					GPIO_AF6_SPI3
+#define SPI3_SCK_AF						GPIO_AF6_SPI3
+#define SPI3_PRIORITY					4
+#define SPI3_TX_DMA_STREAM				ENUM_DMA1_STREAM_7
+#define SPI3_TX_DMA_CHANNEL				DMA_CHANNEL_0
+#define SPI3_TX_DMA_IRQn				DMA1_Stream7_IRQn
+#define SPI3_TX_DMA_PRIORITY			5
+#define SPI3_RX_DMA_STREAM				ENUM_DMA1_STREAM_0
+#define SPI3_RX_DMA_CHANNEL				DMA_CHANNEL_0
+#define SPI3_RX_DMA_IRQn				DMA1_Stream0_IRQn
+#define SPI3_RX_DMA_PRIORITY			4
+#define SPI3_SCK_PULL					GPIO_PULLUP
+//END SPI defines------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+
+//START USART defines------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+#ifndef USART_USED_ADVANCED
+#define USART_USED_ADVANCED
+#endif
+
+#define USART1_ENABLED					SERIAL_ENABLED_TX | SERIAL_ENABLED_RX | SERIAL_DMA_TX | SERIAL_DMA_RX
+#define USART1_PINMODE					GPIO_MODE_AF_PP
+#define USART1_PINPULL					GPIO_PULLUP
+#define USART1_TXALT					GPIO_AF7_USART1
+#define USART1_TXPIN					GPIO_PIN_9
+#define USART1_TXPORT					ENUM_PORTA
+#define USART1_TXDMA					ENUM_DMA2_STREAM_7
+#define USART1_TXDMA_IRQN				DMA2_Stream7_IRQn
+#define USART1_TXDMA_CHANNEL			DMA_CHANNEL_4
+#define USART1_RXALT					GPIO_AF7_USART1
+#define USART1_RXPIN					GPIO_PIN_10
+#define USART1_RXPORT					ENUM_PORTA
+#define USART1_RXDMA					ENUM_DMA2_STREAM_2
+#define USART1_RXDMA_IRQN				DMA2_Stream2_IRQn
+#define USART1_RXDMA_CHANNEL			DMA_CHANNEL_4
+#define USART1_TXPIN_N					GPIO_PIN_9
+#define USART1_TXPORT_N					GPIOA
+#define USART1_RXPIN_N					GPIO_PIN_10
+#define USART1_RXPORT_N					GPIOA
+#define USART1_RXTX_IRQn                USART1_IRQn
+
+#define USART2_ENABLED					SERIAL_ENABLED_TX | SERIAL_ENABLED_RX | SERIAL_DMA_TX | SERIAL_DMA_RX
+#define USART2_PINMODE					GPIO_MODE_AF_PP
+#define USART2_PINPULL					GPIO_PULLUP
+#define USART2_TXALT					GPIO_AF7_USART2
+#define USART2_TXPIN					GPIO_PIN_2
+#define USART2_TXPORT					ENUM_PORTA
+#define USART2_TXDMA					ENUM_DMA1_STREAM_6
+#define USART2_TXDMA_IRQN				DMA1_Stream6_IRQn
+#define USART2_TXDMA_CHANNEL			DMA_CHANNEL_4
+#define USART2_RXALT					GPIO_AF7_USART2
+#define USART2_RXPIN					GPIO_PIN_3
+#define USART2_RXPORT					ENUM_PORTA
+#define USART2_RXDMA					ENUM_DMA1_STREAM_5
+#define USART2_RXDMA_IRQN				DMA1_Stream5_IRQn
+#define USART2_RXDMA_CHANNEL			DMA_CHANNEL_4
+#define USART2_TXPIN_N					GPIO_PIN_2
+#define USART2_TXPORT_N					GPIOA
+#define USART2_RXPIN_N					GPIO_PIN_3
+#define USART2_RXPORT_N					GPIOA
+#define USART2_RXTX_IRQn                USART2_IRQn
+
+#define USART3_ENABLED					SERIAL_ENABLED_TX | SERIAL_ENABLED_RX
+#define USART3_PINMODE					GPIO_MODE_AF_PP
+#define USART3_PINPULL					GPIO_PULLUP
+#define USART3_TXALT					GPIO_AF7_USART3
+#define USART3_TXPIN					GPIO_PIN_10
+#define USART3_TXPORT					ENUM_PORTB
+#define USART3_TXDMA					0
+#define USART3_TXDMA_IRQN				0
+#define USART3_TXDMA_CHANNEL			0
+#define USART3_RXALT					GPIO_AF7_USART3
+#define USART3_RXPIN					GPIO_PIN_11
+#define USART3_RXPORT					ENUM_PORTB
+#define USART3_RXDMA					0
+#define USART3_RXDMA_IRQN				0
+#define USART3_RXDMA_CHANNEL			0
+#define USART3_TXPIN_N					GPIO_PIN_10
+#define USART3_TXPORT_N					GPIOB
+#define USART3_RXPIN_N					GPIO_PIN_11
+#define USART3_RXPORT_N					GPIOB
+#define USART3_RXTX_IRQn                USART3_IRQn
+
+#define USART4_ENABLED					SERIAL_ENABLED_RX | SERIAL_DMA_RX
+#define USART4_PINMODE					GPIO_MODE_AF_PP
+#define USART4_PINPULL					GPIO_PULLUP
+#define USART4_TXALT					0
+#define USART4_TXPIN					0
+#define USART4_TXPORT					0
+#define USART4_TXDMA					0
+#define USART4_TXDMA_IRQN				0
+#define USART4_TXDMA_CHANNEL			0
+#define USART4_RXALT					GPIO_AF8_UART4
+#define USART4_RXPIN					GPIO_PIN_11
+#define USART4_RXPORT					ENUM_PORTC
+#define USART4_RXDMA					ENUM_DMA1_STREAM_2
+#define USART4_RXDMA_IRQN				DMA1_Stream2_IRQn
+#define USART4_RXDMA_CHANNEL			DMA_CHANNEL_4
+#define USART4_RXTX_IRQn                UART4_IRQn
+#define USART4_TXPIN_N					0
+#define USART4_TXPORT_N					0
+#define USART4_RXPIN_N					GPIO_PIN_11
+#define USART4_RXPORT_N					GPIOC
+#define USART4_RXTX_IRQn                UART4_IRQn
+
+#define USART5_ENABLED					SERIAL_ENABLED_TX | SERIAL_ENABLED_RX
+#define USART5_PINMODE					GPIO_MODE_AF_PP
+#define USART5_PINPULL					GPIO_PULLUP
+#define USART5_TXALT					GPIO_AF8_UART5
+#define USART5_TXPIN					GPIO_PIN_11
+#define USART5_TXPORT					ENUM_PORTC
+#define USART5_TXDMA					0
+#define USART5_TXDMA_IRQN				0
+#define USART5_TXDMA_CHANNEL			0
+#define USART5_RXALT					GPIO_AF8_UART5
+#define USART5_RXPIN					GPIO_PIN_2
+#define USART5_RXPORT					ENUM_PORTD
+#define USART5_RXDMA					0
+#define USART5_RXDMA_IRQN				0
+#define USART5_RXDMA_CHANNEL			0
+#define USART5_TXPIN_N					GPIO_PIN_11
+#define USART5_TXPORT_N					GPIOC
+#define USART5_RXPIN_N					GPIO_PIN_2
+#define USART5_RXPORT_N					GPIOD
+#define USART5_RXTX_IRQn                UART5_IRQn
+
+#define USART6_ENABLED					SERIAL_DISABLED
+#define USART6_PINMODE					0
+#define USART6_PINPULL					0
+#define USART6_TXALT					0
+#define USART6_TXPIN					0
+#define USART6_TXPORT					0
+#define USART6_TXDMA					0
+#define USART6_TXDMA_IRQN				0
+#define USART6_TXDMA_CHANNEL			0
+#define USART6_RXALT					0
+#define USART6_RXPIN					0
+#define USART6_RXPORT					0
+#define USART6_RXDMA					0
+#define USART6_RXDMA_IRQN				0
+#define USART6_RXDMA_CHANNEL			0
+#define USART6_TXPIN_N					0
+#define USART6_TXPORT_N					0
+#define USART6_RXPIN_N					0
+#define USART6_RXPORT_N					0
+#define USART6_RXTX_IRQn                USART6_IRQn
+
+
+//END USART defines------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+//TODO 
+//General Timer Config
+#define GENERAL_TIMER1					ENUM_TIM6
+#define GENERAL_TIMER1_IRQN				TIM6_DAC_IRQn
+#define GENERAL_TIMER2					ENUM_TIM7
+#define GENERAL_TIMER2_IRQN				TIM7_IRQn
+
+#define SPRING_DSHOT                    1
+#define SPRING_MOTOR_PORT               ENUM_PORTC
+#define MOTOR_1_MASK                    GPIO_PIN_9
+#define MOTOR_2_MASK                    GPIO_PIN_7
+#define MOTOR_3_MASK                    GPIO_PIN_6
+#define MOTOR_4_MASK                    GPIO_PIN_8
+
+#define ACTUATOR1_TYPE					ENUM_ACTUATOR_TYPE_MOTOR
+#define ACTUATOR1_TIM					ENUM_TIM3
+#define ACTUATOR1_PIN					GPIO_PIN_9
+#define ACTUATOR1_GPIO					ENUM_PORTC
+#define ACTUATOR1_ALTERNATE				GPIO_AF2_TIM3
+#define ACTUATOR1_TIM_CH				TIM_CHANNEL_4
+#define ACTUATOR1_TIM_CCR				ENUM_TIM3CCR4
+#define ACTUATOR1_POLARITY				TIM_OCPOLARITY_LOW
+#define ACTUATOR1_ACTIVE_TIM			HAL_TIM_ACTIVE_CHANNEL_4
+#define ACTUATOR1_DMA_ENABLED			1
+#define ACTUATOR1_DMA					ENUM_DMA1_STREAM_2
+#define ACTUATOR1_DMA_IRQN				DMA1_Stream2_IRQn
+#define ACTUATOR1_DMA_CHANNEL			DMA_CHANNEL_5
+#define ACTUATOR1_DMA_HANDLE			TIM_DMA_ID_CC4
+#define ACTUATOR1_DMACALLBACK			FP_DMA1_S2
+#define ACTUATOR1_IRQN					TIM3_IRQn
+#define ACTUATOR1_EXTIN					EXTI9_5_IRQn
+#define ACTUATOR1_EXTICALLBACK			FP_EXTI9_5
+
+#define ACTUATOR2_TYPE					ENUM_ACTUATOR_TYPE_MOTOR
+#define ACTUATOR2_TIM					ENUM_TIM3
+#define ACTUATOR2_PIN					GPIO_PIN_7
+#define ACTUATOR2_GPIO					ENUM_PORTC
+#define ACTUATOR2_ALTERNATE				GPIO_AF2_TIM3
+#define ACTUATOR2_TIM_CH				TIM_CHANNEL_2
+#define ACTUATOR2_TIM_CCR				ENUM_TIM3CCR2
+#define ACTUATOR2_POLARITY				TIM_OCPOLARITY_LOW
+#define ACTUATOR2_ACTIVE_TIM			HAL_TIM_ACTIVE_CHANNEL_2
+#define ACTUATOR2_DMA_ENABLED			1
+#define ACTUATOR2_DMA					ENUM_DMA1_STREAM_5
+#define ACTUATOR2_DMA_IRQN				DMA1_Stream5_IRQn
+#define ACTUATOR2_DMA_CHANNEL			DMA_CHANNEL_5
+#define ACTUATOR2_DMA_HANDLE			TIM_DMA_ID_CC2
+#define ACTUATOR2_DMACALLBACK			FP_DMA1_S5
+#define ACTUATOR2_IRQN					TIM3_IRQn
+#define ACTUATOR2_EXTIN					EXTI9_5_IRQn
+#define ACTUATOR2_EXTICALLBACK			FP_EXTI9_5
+
+#define ACTUATOR3_TYPE					ENUM_ACTUATOR_TYPE_MOTOR
+#define ACTUATOR3_TIM					ENUM_TIM3
+#define ACTUATOR3_PIN					GPIO_PIN_6
+#define ACTUATOR3_GPIO					ENUM_PORTC
+#define ACTUATOR3_ALTERNATE				GPIO_AF2_TIM3
+#define ACTUATOR3_TIM_CH				TIM_CHANNEL_1
+#define ACTUATOR3_TIM_CCR				ENUM_TIM3CCR1
+#define ACTUATOR3_POLARITY				TIM_OCPOLARITY_LOW
+#define ACTUATOR3_ACTIVE_TIM			HAL_TIM_ACTIVE_CHANNEL_1
+#define ACTUATOR3_DMA_ENABLED			1
+#define ACTUATOR3_DMA					ENUM_DMA1_STREAM_4
+#define ACTUATOR3_DMA_IRQN				DMA1_Stream4_IRQn
+#define ACTUATOR3_DMA_CHANNEL			DMA_CHANNEL_5
+#define ACTUATOR3_DMA_HANDLE			TIM_DMA_ID_CC1
+#define ACTUATOR3_DMACALLBACK			FP_DMA1_S4
+#define ACTUATOR3_IRQN					TIM3_IRQn
+#define ACTUATOR3_EXTIN					EXTI9_5_IRQn
+#define ACTUATOR3_EXTICALLBACK			FP_EXTI9_5
+
+#define ACTUATOR4_TYPE					ENUM_ACTUATOR_TYPE_MOTOR
+#define ACTUATOR4_TIM					ENUM_TIM3
+#define ACTUATOR4_PIN					GPIO_PIN_8
+#define ACTUATOR4_GPIO					ENUM_PORTC
+#define ACTUATOR4_ALTERNATE				GPIO_AF2_TIM3
+#define ACTUATOR4_TIM_CH				TIM_CHANNEL_3
+#define ACTUATOR4_TIM_CCR				ENUM_TIM3CCR3
+#define ACTUATOR4_POLARITY				TIM_OCPOLARITY_LOW
+#define ACTUATOR4_ACTIVE_TIM			HAL_TIM_ACTIVE_CHANNEL_3
+#define ACTUATOR4_DMA_ENABLED			1
+#define ACTUATOR4_DMA					ENUM_DMA1_STREAM_7
+#define ACTUATOR4_DMA_IRQN				DMA1_Stream7_IRQn
+#define ACTUATOR4_DMA_CHANNEL			DMA_CHANNEL_5
+#define ACTUATOR4_DMA_HANDLE			TIM_DMA_ID_CC3
+#define ACTUATOR4_DMACALLBACK			FP_DMA1_S7
+#define ACTUATOR4_IRQN					TIM3_IRQn
+#define ACTUATOR4_EXTIN					EXTI9_5_IRQn
+#define ACTUATOR4_EXTICALLBACK			FP_EXTI9_5
+
+#define ACTUATOR5_TYPE					0
+#define ACTUATOR5_TIM					0
+#define ACTUATOR5_PIN					0
+#define ACTUATOR5_GPIO					0
+#define ACTUATOR5_ALTERNATE				0
+#define ACTUATOR5_TIM_CH				0
+#define ACTUATOR5_TIM_CCR				0
+#define ACTUATOR5_POLARITY				0
+#define ACTUATOR5_ACTIVE_TIM			0
+#define ACTUATOR5_DMA_ENABLED			0
+#define ACTUATOR5_DMA					0
+#define ACTUATOR5_DMA_IRQN				0
+#define ACTUATOR5_DMA_CHANNEL			0
+#define ACTUATOR5_DMA_HANDLE			0
+#define ACTUATOR5_DMACALLBACK			0
+#define ACTUATOR5_IRQN					0
+#define ACTUATOR5_EXTIN					0
+#define ACTUATOR5_EXTICALLBACK			0
+
+#define ACTUATOR6_TYPE					0
+#define ACTUATOR6_TIM					0
+#define ACTUATOR6_PIN					0
+#define ACTUATOR6_GPIO					0
+#define ACTUATOR6_ALTERNATE				0
+#define ACTUATOR6_TIM_CH				0
+#define ACTUATOR6_TIM_CCR				0
+#define ACTUATOR6_POLARITY				0
+#define ACTUATOR6_ACTIVE_TIM			0
+#define ACTUATOR6_DMA_ENABLED			0
+#define ACTUATOR6_DMA					0
+#define ACTUATOR6_DMA_IRQN				0
+#define ACTUATOR6_DMA_CHANNEL			0
+#define ACTUATOR6_DMA_HANDLE			0
+#define ACTUATOR6_DMACALLBACK			0
+#define ACTUATOR6_IRQN					0
+#define ACTUATOR6_IRQN_BRK				0
+#define ACTUATOR6_IRQN_UP				0
+#define ACTUATOR6_IRQN_TRG				0
+#define ACTUATOR6_IRQN_CC				0
+#define ACTUATOR6_EXTIN					0
+#define ACTUATOR6_EXTICALLBACK			0
+
+#define ACTUATOR7_TYPE					ENUM_ACTUATOR_TYPE_WS2812
+#define ACTUATOR7_TIM					ENUM_TIM1
+#define ACTUATOR7_PIN					GPIO_PIN_8
+#define ACTUATOR7_GPIO					ENUM_PORTA
+#define ACTUATOR7_ALTERNATE				GPIO_AF1_TIM1
+#define ACTUATOR7_TIM_CH				TIM_CHANNEL_1
+#define ACTUATOR7_TIM_CCR				ENUM_TIM1CCR1
+#define ACTUATOR7_POLARITY				TIM_OCPOLARITY_LOW
+#define ACTUATOR7_ACTIVE_TIM			HAL_TIM_ACTIVE_CHANNEL_1
+#define ACTUATOR7_DMA_ENABLED			1
+#define ACTUATOR7_DMA					ENUM_DMA2_STREAM_6
+#define ACTUATOR7_DMA_IRQN				DMA2_Stream6_IRQn
+#define ACTUATOR7_DMA_CHANNEL			DMA_CHANNEL_0
+#define ACTUATOR7_DMA_HANDLE			TIM_DMA_ID_CC1
+#define ACTUATOR7_DMACALLBACK			0
+#define ACTUATOR7_IRQN					0
+#define ACTUATOR7_EXTIN					0
+#define ACTUATOR7_EXTICALLBACK			0
+
+#define ACTUATOR8_TYPE					0
+#define ACTUATOR8_TIM					0
+#define ACTUATOR8_PIN					0
+#define ACTUATOR8_GPIO					0
+#define ACTUATOR8_ALTERNATE				0
+#define ACTUATOR8_TIM_CH				0
+#define ACTUATOR8_TIM_CCR				0
+#define ACTUATOR8_POLARITY				0
+#define ACTUATOR8_ACTIVE_TIM			0
+#define ACTUATOR8_DMA_ENABLED			0
+#define ACTUATOR8_DMA					0
+#define ACTUATOR8_DMA_IRQN				0
+#define ACTUATOR8_DMA_CHANNEL			0
+#define ACTUATOR8_DMA_HANDLE			0
+#define ACTUATOR8_DMACALLBACK			0
+#define ACTUATOR8_IRQN					0
+#define ACTUATOR8_EXTIN					0
+#define ACTUATOR8_EXTICALLBACK			0
+
+//Max OSD Config
+#define MAX_OSD_ENABLED                 1
+#define MAX_OSD_SPI_NUMBER				ENUM_SPI3
+#define MAX_OSD_SPI_CS_GPIO_Pin			GPIO_PIN_15
+#define MAX_OSD_SPI_CS_GPIO_Port		ENUM_PORTA
+#define MAX_OSD_SPI_SCK_PIN				SPI3_SCK_PIN
+#define MAX_OSD_SPI_SCK_GPIO_PORT		SPI3_SCK_GPIO_PORT
+#define MAX_OSD_SPI_SCK_AF				SPI3_SCK_AF
+#define MAX_OSD_SPI_MISO_PIN			SPI3_MISO_PIN
+#define MAX_OSD_SPI_MISO_GPIO_PORT		SPI3_MISO_GPIO_PORT
+#define MAX_OSD_SPI_MISO_AF				SPI3_MISO_AF
+#define MAX_OSD_SPI_MOSI_PIN			SPI3_MOSI_PIN
+#define MAX_OSD_SPI_MOSI_GPIO_PORT		SPI3_MOSI_GPIO_PORT
+#define MAX_OSD_SPI_MOSI_AF				SPI3_MOSI_AF
+#define MAX_OSD_RX_DMA_FP				FP_DMA1_S0
+
+#define MAX_OSD_SPI_FAST_BAUD           SPI_BAUDRATEPRESCALER_8
+#define MAX_OSD_SPI_SLOW_BAUD			SPI_BAUDRATEPRESCALER_8
+
+//Flash Config
+#define FLASH_ENABLED                   1
+#define FLASH_SPI_NUMBER				ENUM_SPI3
+#define FLASH_SPI_CS_GPIO_Pin			GPIO_PIN_14
+#define FLASH_SPI_CS_GPIO_Port			ENUM_PORTC
+#define FLASH_SPI_SCK_PIN				SPI3_SCK_PIN
+#define FLASH_SPI_SCK_GPIO_PORT			SPI3_SCK_GPIO_PORT
+#define FLASH_SPI_SCK_AF				SPI3_SCK_AF
+#define FLASH_SPI_MISO_PIN				SPI3_MISO_PIN
+#define FLASH_SPI_MISO_GPIO_PORT		SPI3_MISO_GPIO_PORT
+#define FLASH_SPI_MISO_AF				SPI3_MISO_AF
+#define FLASH_SPI_MOSI_PIN				SPI3_MOSI_PIN
+#define FLASH_SPI_MOSI_GPIO_PORT		SPI3_MOSI_GPIO_PORT
+#define FLASH_SPI_MOSI_AF				SPI3_MOSI_AF
+#define FLASH_RX_DMA_FP					FP_DMA1_S0
+
+#define FLASH_SPI_FAST_BAUD				SPI_BAUDRATEPRESCALER_8
+#define FLASH_SPI_SLOW_BAUD				SPI_BAUDRATEPRESCALER_8
\ No newline at end of file
diff --git a/src/low_level_driver/boarddef.h b/src/low_level_driver/boarddef.h
index 718d969f..1b32a472 100644
--- a/src/low_level_driver/boarddef.h
+++ b/src/low_level_driver/boarddef.h
@@ -269,6 +269,8 @@ enum {
 	#include "HELIO_SPRING.h"
 #elif defined(REVOLTF7)
 	#include "REVOLTF7.h"
+#elif defined(STRIXF10)
+	#include "STRIXF10.h"
 #elif defined(REVOLT)
 	#include "REVOLT.h"
 #elif defined(MICROVOLT)
diff --git a/src/low_level_driver/stm32_flash_f722.ld b/src/low_level_driver/stm32_flash_f722.ld
new file mode 100644
index 00000000..273ece1a
--- /dev/null
+++ b/src/low_level_driver/stm32_flash_f722.ld
@@ -0,0 +1,170 @@
+/*
+*****************************************************************************
+**
+
+**  File        : LinkerScript.ld
+**
+**  Abstract    : Linker script for STM32F746NGHx Device with
+**                1024KByte FLASH, 320KByte RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**
+**  Distribution: The file is distributed as is, without any warranty
+**                of any kind.
+**
+**  (c)Copyright Ac6.
+**  You may use this file as-is or modify it according to the needs of your
+**  project. Distribution of this file (unmodified or modified) is not
+**  permitted. Ac6 permit registered System Workbench for MCU users the
+**  rights to distribute the assembled, compiled & linked contents of this
+**  file as part of an application binary file, provided that it is built
+**  using the System Workbench for MCU toolchain.
+**
+*****************************************************************************
+*/
+
+/* Entry Point */
+ENTRY(Reset_Handler)
+
+/* Highest address of the user mode stack */
+_estack = 0x20040000;    /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x200;      /* required amount of heap  */
+_Min_Stack_Size = 0x460; /* required amount of stack */
+
+/* Specify the memory areas */
+MEMORY
+{
+FLASH (rx)        : ORIGIN = 0x08020000, LENGTH = 0x60000
+/* TCM (rwx)         : ORIGIN = 0x20000000, LENGTH = 64K */
+/* RAM (rwx)         : ORIGIN = 0x20000000, LENGTH = 256K */
+RAM (rwx)         : ORIGIN = 0x20000000, LENGTH = 170K
+MEMORY_B1 (rx)    : ORIGIN = 0x60000000, LENGTH = 0K
+}
+
+/* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+
+  /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+
+    KEEP (*(.init))
+    KEEP (*(.fini))
+
+    . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+
+  /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+
+  .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+
+  /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+
+  /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : 
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+
+    . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM AT> FLASH
+
+  
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+
+    . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+
+  /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+
+  
+
+  /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+
+  .ARM.attributes 0 : { *(.ARM.attributes) }
+}
\ No newline at end of file
diff --git a/src/low_level_driver/stm32_flash_f722_recovery.ld b/src/low_level_driver/stm32_flash_f722_recovery.ld
new file mode 100644
index 00000000..9595dc2a
--- /dev/null
+++ b/src/low_level_driver/stm32_flash_f722_recovery.ld
@@ -0,0 +1,149 @@
+/*
+*****************************************************************************
+**
+ **  File        : LinkerScript.ld
+**
+**  Abstract    : Linker script for STM32F746NGHx Device with
+**                1024KByte FLASH, 320KByte RAM
+**
+**                Set heap size, stack size and stack location according
+**                to application requirements.
+**
+**                Set memory bank area and size if external memory is used.
+**
+**  Target      : STMicroelectronics STM32
+**
+**
+**  Distribution: The file is distributed as is, without any warranty
+**                of any kind.
+**
+**  (c)Copyright Ac6.
+**  You may use this file as-is or modify it according to the needs of your
+**  project. Distribution of this file (unmodified or modified) is not
+**  permitted. Ac6 permit registered System Workbench for MCU users the
+**  rights to distribute the assembled, compiled & linked contents of this
+**  file as part of an application binary file, provided that it is built
+**  using the System Workbench for MCU toolchain.
+**
+*****************************************************************************
+*/
+ /* Entry Point */
+ENTRY(Reset_Handler)
+ /* Highest address of the user mode stack */
+_estack = 0x20040000;    /* end of RAM */
+/* Generate a link error if heap and stack don't fit into RAM */
+_Min_Heap_Size = 0x200;      /* required amount of heap  */
+_Min_Stack_Size = 0x460; /* required amount of stack */
+ /* Specify the memory areas */
+MEMORY
+{
+FLASH (rx)        : ORIGIN = 0x08000000, LENGTH = 0x8000
+/* TCM (rwx)         : ORIGIN = 0x20000000, LENGTH = 64K */
+RAM (rwx)         : ORIGIN = 0x20010000, LENGTH = 176K
+MEMORY_B1 (rx)    : ORIGIN = 0x60000000, LENGTH = 0K
+}
+ /* Define output sections */
+SECTIONS
+{
+  /* The startup code goes first into FLASH */
+  .isr_vector :
+  {
+    . = ALIGN(4);
+    KEEP(*(.isr_vector)) /* Startup code */
+    . = ALIGN(4);
+  } >FLASH
+   /* The program code and other data goes into FLASH */
+  .text :
+  {
+    . = ALIGN(4);
+    *(.text)           /* .text sections (code) */
+    *(.text*)          /* .text* sections (code) */
+    *(.glue_7)         /* glue arm to thumb code */
+    *(.glue_7t)        /* glue thumb to arm code */
+    *(.eh_frame)
+     KEEP (*(.init))
+    KEEP (*(.fini))
+     . = ALIGN(4);
+    _etext = .;        /* define a global symbols at end of code */
+  } >FLASH
+   /* Constant data goes into FLASH */
+  .rodata :
+  {
+    . = ALIGN(4);
+    *(.rodata)         /* .rodata sections (constants, strings, etc.) */
+    *(.rodata*)        /* .rodata* sections (constants, strings, etc.) */
+    . = ALIGN(4);
+  } >FLASH
+   .ARM.extab   : { *(.ARM.extab* .gnu.linkonce.armextab.*) } >FLASH
+  .ARM : {
+    __exidx_start = .;
+    *(.ARM.exidx*)
+    __exidx_end = .;
+  } >FLASH
+   .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array*))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  } >FLASH
+  .init_array :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array*))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  } >FLASH
+  .fini_array :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array*))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  } >FLASH
+   /* used by the startup to initialize data */
+  _sidata = LOADADDR(.data);
+   /* Initialized data sections goes into RAM, load LMA copy after code */
+  .data : 
+  {
+    . = ALIGN(4);
+    _sdata = .;        /* create a global symbol at data start */
+    *(.data)           /* .data sections */
+    *(.data*)          /* .data* sections */
+     . = ALIGN(4);
+    _edata = .;        /* define a global symbol at data end */
+  } >RAM AT> FLASH
+   
+  /* Uninitialized data section */
+  . = ALIGN(4);
+  .bss :
+  {
+    /* This is used by the startup in order to initialize the .bss secion */
+    _sbss = .;         /* define a global symbol at bss start */
+    __bss_start__ = _sbss;
+    *(.bss)
+    *(.bss*)
+    *(COMMON)
+     . = ALIGN(4);
+    _ebss = .;         /* define a global symbol at bss end */
+    __bss_end__ = _ebss;
+  } >RAM
+   /* User_heap_stack section, used to check that there is enough RAM left */
+  ._user_heap_stack :
+  {
+    . = ALIGN(8);
+    PROVIDE ( end = . );
+    PROVIDE ( _end = . );
+    . = . + _Min_Heap_Size;
+    . = . + _Min_Stack_Size;
+    . = ALIGN(8);
+  } >RAM
+   
+   /* Remove information from the standard libraries */
+  /DISCARD/ :
+  {
+    libc.a ( * )
+    libm.a ( * )
+    libgcc.a ( * )
+  }
+   .ARM.attributes 0 : { *(.ARM.attributes) }
+}
\ No newline at end of file
diff --git a/src/low_level_driver/stm32_startup/startup_stm32f722xx.s b/src/low_level_driver/stm32_startup/startup_stm32f722xx.s
new file mode 100644
index 00000000..a59ab6f5
--- /dev/null
+++ b/src/low_level_driver/stm32_startup/startup_stm32f722xx.s
@@ -0,0 +1,554 @@
+/**
+  ******************************************************************************
+  * @file      startup_stm32f722xx.s
+  * @author    MCD Application Team
+  * @version   V1.2.0
+  * @date      30-December-2016
+  * @brief     STM32F722xx Devices vector table for GCC based toolchain. 
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M7 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+    
+  .syntax unified
+  .cpu cortex-m7
+  .fpu softvfp
+  .thumb
+
+.global  g_pfnVectors
+.global  Default_Handler
+
+/* start address for the initialization values of the .data section. 
+defined in linker script */
+.word  _sidata
+/* start address for the .data section. defined in linker script */  
+.word  _sdata
+/* end address for the .data section. defined in linker script */
+.word  _edata
+/* start address for the .bss section. defined in linker script */
+.word  _sbss
+/* end address for the .bss section. defined in linker script */
+.word  _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called. 
+ * @param  None
+ * @retval : None
+*/
+
+    .section  .text.Reset_Handler
+  .weak  Reset_Handler
+  .type  Reset_Handler, %function
+Reset_Handler:  
+  ldr   sp, =_estack      /* set stack pointer */
+
+/* Copy the data segment initializers from flash to SRAM */  
+  movs  r1, #0
+  b  LoopCopyDataInit
+
+CopyDataInit:
+  ldr  r3, =_sidata
+  ldr  r3, [r3, r1]
+  str  r3, [r0, r1]
+  adds  r1, r1, #4
+    
+LoopCopyDataInit:
+  ldr  r0, =_sdata
+  ldr  r3, =_edata
+  adds  r2, r0, r1
+  cmp  r2, r3
+  bcc  CopyDataInit
+  ldr  r2, =_sbss
+  b  LoopFillZerobss
+/* Zero fill the bss segment. */  
+FillZerobss:
+  movs  r3, #0
+  str  r3, [r2], #4
+    
+LoopFillZerobss:
+  ldr  r3, = _ebss
+  cmp  r2, r3
+  bcc  FillZerobss
+
+/* Call the clock system intitialization function.*/
+  bl  SystemInit   
+/* Call static constructors */
+/*    bl __libc_init_array */
+/* Call the application's entry point.*/
+  bl  main
+  bx  lr    
+.size  Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an 
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ * @param  None     
+ * @retval None       
+*/
+    .section  .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b  Infinite_Loop
+  .size  Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M7. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+* 
+*******************************************************************************/
+   .section  .isr_vector,"a",%progbits
+  .type  g_pfnVectors, %object
+  .size  g_pfnVectors, .-g_pfnVectors
+   
+   
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  MemManage_Handler
+  .word  BusFault_Handler
+  .word  UsageFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  DebugMon_Handler
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler
+  
+  /* External Interrupts */
+  .word     WWDG_IRQHandler                   /* Window WatchDog              */                                        
+  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */                        
+  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */            
+  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */                      
+  .word     FLASH_IRQHandler                  /* FLASH                        */                                          
+  .word     RCC_IRQHandler                    /* RCC                          */                                            
+  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */                        
+  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */                          
+  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */                          
+  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */                          
+  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */                          
+  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */                  
+  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */                   
+  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */                   
+  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */                   
+  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */                   
+  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */                   
+  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */                   
+  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */                   
+  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */                         
+  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */                          
+  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */                          
+  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */                          
+  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */                          
+  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */         
+  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */         
+  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
+  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */                          
+  .word     TIM2_IRQHandler                   /* TIM2                         */                   
+  .word     TIM3_IRQHandler                   /* TIM3                         */                   
+  .word     TIM4_IRQHandler                   /* TIM4                         */                   
+  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */                          
+  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */                          
+  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */                          
+  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */                            
+  .word     SPI1_IRQHandler                   /* SPI1                         */                   
+  .word     SPI2_IRQHandler                   /* SPI2                         */                   
+  .word     USART1_IRQHandler                 /* USART1                       */                   
+  .word     USART2_IRQHandler                 /* USART2                       */                   
+  .word     USART3_IRQHandler                 /* USART3                       */                   
+  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */                          
+  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */                 
+  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */                       
+  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */         
+  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */         
+  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
+  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */                          
+  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */                          
+  .word     FMC_IRQHandler                    /* FMC                          */                   
+  .word     SDMMC1_IRQHandler                 /* SDMMC1                       */                   
+  .word     TIM5_IRQHandler                   /* TIM5                         */                   
+  .word     SPI3_IRQHandler                   /* SPI3                         */                   
+  .word     UART4_IRQHandler                  /* UART4                        */                   
+  .word     UART5_IRQHandler                  /* UART5                        */                   
+  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */                   
+  .word     TIM7_IRQHandler                   /* TIM7                         */
+  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */                   
+  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */                   
+  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */                   
+  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */                   
+  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */                   
+  .word     0                                 /* Reserved                     */                   
+  .word     0                                 /* Reserved                     */                    
+  .word     0                                 /* Reserved                     */                          
+  .word     0                                 /* Reserved                     */                          
+  .word     0                                 /* Reserved                     */                          
+  .word     0                                 /* Reserved                     */                          
+  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */                   
+  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */                   
+  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */                   
+  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */                   
+  .word     USART6_IRQHandler                 /* USART6                       */                    
+  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */                          
+  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */                          
+  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */                   
+  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */                   
+  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */                         
+  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */                   
+  .word     0                                 /* Reserved                     */                   
+  .word     0                                 /* Reserved                     */                   
+  .word     RNG_IRQHandler                    /* RNG                          */
+  .word     FPU_IRQHandler                    /* FPU                          */
+  .word     UART7_IRQHandler                  /* UART7                        */      
+  .word     UART8_IRQHandler                  /* UART8                        */
+  .word     SPI4_IRQHandler                   /* SPI4                         */
+  .word     SPI5_IRQHandler                   /* SPI5                         */
+  .word     0                                 /* Reserved                     */
+  .word     SAI1_IRQHandler                   /* SAI1                         */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     SAI2_IRQHandler                   /* SAI2                         */
+  .word     QUADSPI_IRQHandler                /* QUADSPI                      */
+  .word     LPTIM1_IRQHandler                 /* LPTIM1                       */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     0                                 /* Reserved                     */
+  .word     SDMMC2_IRQHandler                 /* SDMMC2                       */ 
+  
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler. 
+* As they are weak aliases, any function with the same name will override 
+* this definition.
+* 
+*******************************************************************************/
+   .weak      NMI_Handler
+   .thumb_set NMI_Handler,Default_Handler
+  
+   .weak      HardFault_Handler
+   .thumb_set HardFault_Handler,Default_Handler
+  
+   .weak      MemManage_Handler
+   .thumb_set MemManage_Handler,Default_Handler
+  
+   .weak      BusFault_Handler
+   .thumb_set BusFault_Handler,Default_Handler
+
+   .weak      UsageFault_Handler
+   .thumb_set UsageFault_Handler,Default_Handler
+
+   .weak      SVC_Handler
+   .thumb_set SVC_Handler,Default_Handler
+
+   .weak      DebugMon_Handler
+   .thumb_set DebugMon_Handler,Default_Handler
+
+   .weak      PendSV_Handler
+   .thumb_set PendSV_Handler,Default_Handler
+
+   .weak      SysTick_Handler
+   .thumb_set SysTick_Handler,Default_Handler              
+  
+   .weak      WWDG_IRQHandler                   
+   .thumb_set WWDG_IRQHandler,Default_Handler      
+                  
+   .weak      PVD_IRQHandler      
+   .thumb_set PVD_IRQHandler,Default_Handler
+               
+   .weak      TAMP_STAMP_IRQHandler            
+   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+            
+   .weak      RTC_WKUP_IRQHandler                  
+   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+            
+   .weak      FLASH_IRQHandler         
+   .thumb_set FLASH_IRQHandler,Default_Handler
+                  
+   .weak      RCC_IRQHandler      
+   .thumb_set RCC_IRQHandler,Default_Handler
+                  
+   .weak      EXTI0_IRQHandler         
+   .thumb_set EXTI0_IRQHandler,Default_Handler
+                  
+   .weak      EXTI1_IRQHandler         
+   .thumb_set EXTI1_IRQHandler,Default_Handler
+                     
+   .weak      EXTI2_IRQHandler         
+   .thumb_set EXTI2_IRQHandler,Default_Handler 
+                 
+   .weak      EXTI3_IRQHandler         
+   .thumb_set EXTI3_IRQHandler,Default_Handler
+                        
+   .weak      EXTI4_IRQHandler         
+   .thumb_set EXTI4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream0_IRQHandler               
+   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+         
+   .weak      DMA1_Stream1_IRQHandler               
+   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream2_IRQHandler               
+   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream3_IRQHandler               
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
+                 
+   .weak      DMA1_Stream4_IRQHandler              
+   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream5_IRQHandler               
+   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream6_IRQHandler               
+   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      ADC_IRQHandler      
+   .thumb_set ADC_IRQHandler,Default_Handler
+               
+   .weak      CAN1_TX_IRQHandler   
+   .thumb_set CAN1_TX_IRQHandler,Default_Handler
+            
+   .weak      CAN1_RX0_IRQHandler                  
+   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
+                           
+   .weak      CAN1_RX1_IRQHandler                  
+   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+            
+   .weak      CAN1_SCE_IRQHandler                  
+   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+            
+   .weak      EXTI9_5_IRQHandler   
+   .thumb_set EXTI9_5_IRQHandler,Default_Handler
+            
+   .weak      TIM1_BRK_TIM9_IRQHandler            
+   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
+            
+   .weak      TIM1_UP_TIM10_IRQHandler            
+   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
+
+   .weak      TIM1_TRG_COM_TIM11_IRQHandler      
+   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
+      
+   .weak      TIM1_CC_IRQHandler   
+   .thumb_set TIM1_CC_IRQHandler,Default_Handler
+                  
+   .weak      TIM2_IRQHandler            
+   .thumb_set TIM2_IRQHandler,Default_Handler
+                  
+   .weak      TIM3_IRQHandler            
+   .thumb_set TIM3_IRQHandler,Default_Handler
+                  
+   .weak      TIM4_IRQHandler            
+   .thumb_set TIM4_IRQHandler,Default_Handler
+                  
+   .weak      I2C1_EV_IRQHandler   
+   .thumb_set I2C1_EV_IRQHandler,Default_Handler
+                     
+   .weak      I2C1_ER_IRQHandler   
+   .thumb_set I2C1_ER_IRQHandler,Default_Handler
+                     
+   .weak      I2C2_EV_IRQHandler   
+   .thumb_set I2C2_EV_IRQHandler,Default_Handler
+                  
+   .weak      I2C2_ER_IRQHandler   
+   .thumb_set I2C2_ER_IRQHandler,Default_Handler
+                           
+   .weak      SPI1_IRQHandler            
+   .thumb_set SPI1_IRQHandler,Default_Handler
+                        
+   .weak      SPI2_IRQHandler            
+   .thumb_set SPI2_IRQHandler,Default_Handler
+                  
+   .weak      USART1_IRQHandler      
+   .thumb_set USART1_IRQHandler,Default_Handler
+                     
+   .weak      USART2_IRQHandler      
+   .thumb_set USART2_IRQHandler,Default_Handler
+                     
+   .weak      USART3_IRQHandler      
+   .thumb_set USART3_IRQHandler,Default_Handler
+                  
+   .weak      EXTI15_10_IRQHandler               
+   .thumb_set EXTI15_10_IRQHandler,Default_Handler
+               
+   .weak      RTC_Alarm_IRQHandler               
+   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+            
+   .weak      OTG_FS_WKUP_IRQHandler         
+   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      TIM8_BRK_TIM12_IRQHandler         
+   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+         
+   .weak      TIM8_UP_TIM13_IRQHandler            
+   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+         
+   .weak      TIM8_TRG_COM_TIM14_IRQHandler      
+   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+      
+   .weak      TIM8_CC_IRQHandler   
+   .thumb_set TIM8_CC_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream7_IRQHandler               
+   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+                     
+   .weak      FMC_IRQHandler            
+   .thumb_set FMC_IRQHandler,Default_Handler
+                     
+   .weak      SDMMC1_IRQHandler            
+   .thumb_set SDMMC1_IRQHandler,Default_Handler
+                     
+   .weak      TIM5_IRQHandler            
+   .thumb_set TIM5_IRQHandler,Default_Handler
+                     
+   .weak      SPI3_IRQHandler            
+   .thumb_set SPI3_IRQHandler,Default_Handler
+                     
+   .weak      UART4_IRQHandler         
+   .thumb_set UART4_IRQHandler,Default_Handler
+                  
+   .weak      UART5_IRQHandler         
+   .thumb_set UART5_IRQHandler,Default_Handler
+                  
+   .weak      TIM6_DAC_IRQHandler                  
+   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+               
+   .weak      TIM7_IRQHandler            
+   .thumb_set TIM7_IRQHandler,Default_Handler
+         
+   .weak      DMA2_Stream0_IRQHandler               
+   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+               
+   .weak      DMA2_Stream1_IRQHandler               
+   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream2_IRQHandler               
+   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream3_IRQHandler               
+   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream4_IRQHandler               
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+   
+   .weak      DMA2_Stream4_IRQHandler               
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler   
+                           
+   .weak      OTG_FS_IRQHandler      
+   .thumb_set OTG_FS_IRQHandler,Default_Handler
+                     
+   .weak      DMA2_Stream5_IRQHandler               
+   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream6_IRQHandler               
+   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream7_IRQHandler               
+   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+                  
+   .weak      USART6_IRQHandler      
+   .thumb_set USART6_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_EV_IRQHandler   
+   .thumb_set I2C3_EV_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_ER_IRQHandler   
+   .thumb_set I2C3_ER_IRQHandler,Default_Handler
+                        
+   .weak      OTG_HS_EP1_OUT_IRQHandler         
+   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_EP1_IN_IRQHandler            
+   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_WKUP_IRQHandler         
+   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      OTG_HS_IRQHandler      
+   .thumb_set OTG_HS_IRQHandler,Default_Handler
+
+   .weak      RNG_IRQHandler            
+   .thumb_set RNG_IRQHandler,Default_Handler   
+
+   .weak      FPU_IRQHandler                  
+   .thumb_set FPU_IRQHandler,Default_Handler
+
+   .weak      UART7_IRQHandler                  
+   .thumb_set UART7_IRQHandler,Default_Handler
+
+   .weak      UART8_IRQHandler                  
+   .thumb_set UART8_IRQHandler,Default_Handler   
+
+   .weak      SPI4_IRQHandler            
+   .thumb_set SPI4_IRQHandler,Default_Handler
+   
+   .weak      SPI5_IRQHandler            
+   .thumb_set SPI5_IRQHandler,Default_Handler  
+
+   .weak      SAI1_IRQHandler            
+   .thumb_set SAI1_IRQHandler,Default_Handler
+
+   .weak      SAI2_IRQHandler            
+   .thumb_set SAI2_IRQHandler,Default_Handler
+   
+   .weak      QUADSPI_IRQHandler            
+   .thumb_set QUADSPI_IRQHandler,Default_Handler
+ 
+   .weak      LPTIM1_IRQHandler            
+   .thumb_set LPTIM1_IRQHandler,Default_Handler
+
+   .weak      SDMMC2_IRQHandler            
+   .thumb_set SDMMC2_IRQHandler,Default_Handler  
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/     
\ No newline at end of file
diff --git a/src/low_level_driver/stm32f0/stm32f0.c b/src/low_level_driver/stm32f0/stm32f0.c
index b0bfabaa..6a2b57a8 100644
--- a/src/low_level_driver/stm32f0/stm32f0.c
+++ b/src/low_level_driver/stm32f0/stm32f0.c
@@ -47,7 +47,7 @@ void SystemClock_Config(void)
   systemUsTicks = (HAL_RCC_GetHCLKFreq()/1000000);
 }
 
- void BoardInit(void)
+ int BoardInit(void)
 {
 	SCB->VTOR = ADDRESS_FLASH_START; //set vector register to firmware start
 	__enable_irq(); // enable interrupts
@@ -61,6 +61,7 @@ void SystemClock_Config(void)
 	__HAL_RCC_GPIOC_CLK_ENABLE();
 	__HAL_RCC_GPIOD_CLK_ENABLE();
 
+  return(0);
 }
 
  inline void inlineDigitalHi(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin) {
diff --git a/src/low_level_driver/stm32f0/stm32f0xx_hal_conf.h b/src/low_level_driver/stm32f0/stm32f0xx_hal_conf.h
index 0868f4fb..585d9e9b 100644
--- a/src/low_level_driver/stm32f0/stm32f0xx_hal_conf.h
+++ b/src/low_level_driver/stm32f0/stm32f0xx_hal_conf.h
@@ -297,7 +297,9 @@
 /* Exported functions ------------------------------------------------------- */
   void assert_failed(uint8_t* file, uint32_t line);
 #else
-  #define assert_param(expr) ((void)0U)
+#ifndef assert_param
+#define assert_param(expr) ((void)0U)
+#endif
 #endif /* USE_FULL_ASSERT */    
     
 #ifdef __cplusplus
diff --git a/src/low_level_driver/stm32f3/stm32f3.c b/src/low_level_driver/stm32f3/stm32f3.c
index 7bbcd742..3c44a69a 100644
--- a/src/low_level_driver/stm32f3/stm32f3.c
+++ b/src/low_level_driver/stm32f3/stm32f3.c
@@ -49,7 +49,7 @@ void SystemClock_Config(void)
   systemUsTicks = (HAL_RCC_GetHCLKFreq()/1000000);
 }
 
-void BoardInit(void)
+int BoardInit(void)
 {
 	SCB->VTOR = ADDRESS_FLASH_START; //set vector register to firmware start
 	__enable_irq(); // enable interrupts
@@ -79,6 +79,7 @@ void BoardInit(void)
   __HAL_RCC_TIM2_CLK_ENABLE();
   __HAL_RCC_TIM6_CLK_ENABLE();
 
+  return(0);
 }
 
 void VectorIrqInit(uint32_t address)
diff --git a/src/low_level_driver/stm32f4/mcu_include.h b/src/low_level_driver/stm32f4/mcu_include.h
index 16656c0c..80b51321 100644
--- a/src/low_level_driver/stm32f4/mcu_include.h
+++ b/src/low_level_driver/stm32f4/mcu_include.h
@@ -2,6 +2,11 @@
 
 #include "stm32f4xx.h"
 #include "stm32f4xx_hal.h"
+#include "stm32f4xx_ll_dma.h"
+#include "stm32f4xx_ll_usart.h"
+#include "stm32f4xx_ll_gpio.h"
+#include "stm32f4xx_ll_rcc.h"
+#include "stm32f4xx_ll_bus.h"
 #include "stm32f4xx_it.h"
 #include "stm32f4xx_hal_conf.h"
 #include "flash.h"
diff --git a/src/low_level_driver/stm32f4/stm32f4xx_it.c b/src/low_level_driver/stm32f4/stm32f4xx_it.c
index d93a2f68..08983a2e 100644
--- a/src/low_level_driver/stm32f4/stm32f4xx_it.c
+++ b/src/low_level_driver/stm32f4/stm32f4xx_it.c
@@ -411,3 +411,33 @@ void ADC_IRQHandler(void)
 	//only need to use one ADC handle for now
 	HAL_ADC_IRQHandler(&adcHandle[board.boardADC[1].adcHandle]);
 }
+
+void USART1_IRQHandler(void)
+{
+	UsartIrqCallback(0);
+}
+
+void USART2_IRQHandler(void)
+{
+	UsartIrqCallback(1);
+}
+
+void USART3_IRQHandler(void)
+{
+	UsartIrqCallback(2);
+}
+
+void UART4_IRQHandler(void)
+{
+	UsartIrqCallback(3);
+}
+
+void UART5_IRQHandler(void)
+{
+	UsartIrqCallback(4);
+}
+
+void USART6_IRQHandler(void)
+{
+	UsartIrqCallback(5);
+}
\ No newline at end of file
diff --git a/src/low_level_driver/stm32f7/flash.h b/src/low_level_driver/stm32f7/flash.h
index 8fbf910b..8c5b07d1 100644
--- a/src/low_level_driver/stm32f7/flash.h
+++ b/src/low_level_driver/stm32f7/flash.h
@@ -2,6 +2,18 @@
 
 #include <stdbool.h>
 
+/*
+Sector 0    0x08000000 - 0x08003FFF 16 Kbytes
+Sector 1    0x08004000 - 0x08007FFF 16 Kbytes
+Sector 2    0x08008000 - 0x0800BFFF 16 Kbytes
+Sector 3    0x0800C000 - 0x0800FFFF 16 Kbytes
+Sector 4    0x08010000 - 0x0801FFFF 64 Kbytes
+Sector 5    0x08020000 - 0x0803FFFF 128 Kbytes
+Sector 6    0x08040000 - 0x0805FFFF 128 Kbytes
+Sector 7    0x08060000 - 0x0807FFFF 128 Kbytes
+*/
+
+#if defined(stm32f745xx) || defined(STM32F745xx)
 /* Base address of the Flash sectors */
 #define ADDR_FLASH_SECTOR_0     ((uint32_t)0x08000000) /* Base @ of Sector 0, 32 Kbytes */
 #define ADDR_FLASH_SECTOR_1     ((uint32_t)0x08008000) /* Base @ of Sector 1, 32 Kbytes */
@@ -12,8 +24,21 @@
 #define ADDR_FLASH_SECTOR_6     ((uint32_t)0x08080000) /* Base @ of Sector 6, 256 Kbytes */
 #define ADDR_FLASH_SECTOR_7     ((uint32_t)0x080C0000) /* Base @ of Sector 7, 256 Kbytes */
 
+#elif defined(stm32f722xx)
+/* Base address of the Flash sectors */
+#define ADDR_FLASH_SECTOR_0     ((uint32_t)0x08000000) /* Base @ of Sector 0, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_1     ((uint32_t)0x08004000) /* Base @ of Sector 1, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_2     ((uint32_t)0x08008000) /* Base @ of Sector 2, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_3     ((uint32_t)0x0800C000) /* Base @ of Sector 3, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_4     ((uint32_t)0x08010000) /* Base @ of Sector 4, 64 Kbytes */
+#define ADDR_FLASH_SECTOR_5     ((uint32_t)0x08020000) /* Base @ of Sector 5, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_6     ((uint32_t)0x08040000) /* Base @ of Sector 6, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_7     ((uint32_t)0x08060000) /* Base @ of Sector 7, 128 Kbytes */
+
+#endif
+
 void PrepareFlash(void);
 void FinishFlash(void);
 int WriteFlash(uint32_t data32, uint32_t flashAddress );
 int EraseFlash(uint32_t flashStart, uint32_t flashEnd);
-uint32_t GetFlashSector(uint32_t flashAddress);
+uint32_t GetFlashSector(uint32_t flashAddress);
\ No newline at end of file
diff --git a/src/low_level_driver/stm32f7/mcu_include.h b/src/low_level_driver/stm32f7/mcu_include.h
index 8002ff62..2b31c93a 100644
--- a/src/low_level_driver/stm32f7/mcu_include.h
+++ b/src/low_level_driver/stm32f7/mcu_include.h
@@ -2,6 +2,11 @@
 
 #include "stm32f7xx.h"
 #include "stm32f7xx_hal.h"
+#include "stm32f7xx_ll_dma.h"
+#include "stm32f7xx_ll_usart.h"
+#include "stm32f7xx_ll_gpio.h"
+#include "stm32f7xx_ll_rcc.h"
+#include "stm32f7xx_ll_bus.h"
 #include "stm32f7xx_it.h"
 #include "stm32f7xx_hal_conf.h"
 #include "flash.h"
@@ -57,8 +62,6 @@ extern int FULL_32;
 #define _GPIOG GPIOG
 #define _GPIOH GPIOH
 #define _GPIOI GPIOI
-#define _GPIOJ GPIOJ
-#define _GPIOK GPIOK
 
 #define _PORTA 0
 #define _PORTB 1
@@ -82,15 +85,42 @@ extern int FULL_32;
 #define _USART5s 0
 #define _USART6 USART6
 #define _USART6s 1
-#define _USART7 USART7
-#define _USART7s 1
 
 #define STM32_UUID ((uint32_t *)0x1FF0F420)
 
 #if defined(stm32f745xx) || defined(STM32F745xx)
 
 #include <stm32f745xx.h>
+
+#define _USART7 USART7 
+#define _USART7s 1
+
+#define _GPIOJ GPIOJ
+#define _GPIOK GPIOK
+
 //STM32F4 UID address
+#define DEVICE_ID1					0x1FF07A10
+#define DEVICE_ID2					0x1FF07A14
+#define DEVICE_ID3					0x1FF07A18
+
+#define USE_RFBL
+#define ADDRESS_FLASH_START		(uint32_t)(0x08000000)
+#define ADDRESS_RECOVERY_START	(uint32_t)(0x08000000)
+#define ADDRESS_RFBL_START		(uint32_t)(0x08008000)
+#define ADDRESS_CONFIG_START	(uint32_t)(0x08010000)
+#define ADDRESS_RFFW_START		(uint32_t)(0x08020000)
+#define ADDRESS_ESC_START		(uint32_t)(0x08060000)
+#define ADDRESS_FLASH_END		(uint32_t)(0x0807FFF0)
+
+
+#elif defined(stm32f722xx)
+
+#include <stm32f722xx.h>
+//STM32F4 UID address
+
+#define _GPIOJ NULL
+#define _GPIOK NULL
+
 #define DEVICE_ID1					0x1FF0F420
 #define DEVICE_ID2					0x1FF0F424
 #define DEVICE_ID3					0x1FF0F428
@@ -101,10 +131,9 @@ extern int FULL_32;
 #define ADDRESS_RFBL_START		(uint32_t)(0x08008000)
 #define ADDRESS_CONFIG_START	(uint32_t)(0x08010000)
 #define ADDRESS_RFFW_START		(uint32_t)(0x08020000)
-#define ADDRESS_ESC_START		(uint32_t)(0x08060000)
-#define ADDRESS_FLASH_END		(uint32_t)(0x080FFFF0)
-
+#define ADDRESS_ESC_START		(uint32_t)(0x08058000)
+#define ADDRESS_FLASH_END		(uint32_t)(0x0807FFF0)
 
 #endif
 
-extern uint32_t TimerPrescalerDivisor(uint32_t timer);
+extern uint32_t TimerPrescalerDivisor(uint32_t timer);
\ No newline at end of file
diff --git a/src/low_level_driver/stm32f7/stm32f7.c b/src/low_level_driver/stm32f7/stm32f7.c
index 65b67647..a2859489 100644
--- a/src/low_level_driver/stm32f7/stm32f7.c
+++ b/src/low_level_driver/stm32f7/stm32f7.c
@@ -79,185 +79,55 @@ void SystemClock_Config(void)
 	PeriphClkInitStruct.I2c1ClockSelection   = RCC_I2C1CLKSOURCE_SYSCLK;
 	PeriphClkInitStruct.I2c2ClockSelection   = RCC_I2C2CLKSOURCE_SYSCLK;
 	PeriphClkInitStruct.I2c3ClockSelection   = RCC_I2C3CLKSOURCE_SYSCLK;
+  #ifdef RCC_DCKCFGR2_I2C4SEL_0
 	PeriphClkInitStruct.I2c4ClockSelection   = RCC_I2C4CLKSOURCE_SYSCLK;
+  #endif
   PeriphClkInitStruct.PLLSAI.PLLSAIN       = 384;
+  #if defined (STM32F745xx) || defined (STM32F746xx) || defined (STM32F756xx) || defined (STM32F765xx) || defined (STM32F767xx) || defined (STM32F769xx) || defined (STM32F777xx) || defined (STM32F779xx)
   PeriphClkInitStruct.PLLSAI.PLLSAIR       = 2;
-  PeriphClkInitStruct.PLLSAI.PLLSAIQ       = 2;
+  PeriphClkInitStruct.PLLSAI.PLLSAIQ       = 2;  
+  #endif
+  #if defined (STM32F722xx) 
+  PeriphClkInitStruct.PLLSAI.PLLSAIQ       = 7; 
+  #endif
+  
   PeriphClkInitStruct.PLLSAI.PLLSAIP       = RCC_PLLSAIP_DIV8;
   PeriphClkInitStruct.PLLSAIDivQ           = 1;
   PeriphClkInitStruct.PLLSAIDivR           = RCC_PLLSAIDIVR_2;
   PeriphClkInitStruct.Clk48ClockSelection  = RCC_CLK48SOURCE_PLLSAIP;
+  PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_CLK48;
 
   if(HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct)  != HAL_OK)
   {
     while(1);
   }
 
-  /*
-  #define FC_PLLM 8
-#define FC_PLLN 432
-#define FC_PLLP RCC_PLLP_DIV2
-#define FC_PLLQ 9
-#define FC_PLL_SAIN 384
-#define FC_PLL_SAIQ 7
-#define FC_PLL_SAIP RCC_PLLSAIP_DIV8
-
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-  RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
-  RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLM       = FC_PLLM;
-  RCC_OscInitStruct.PLL.PLLN       = FC_PLLN;
-  RCC_OscInitStruct.PLL.PLLP       = FC_PLLP;
-  RCC_OscInitStruct.PLL.PLLQ       = FC_PLLQ;
-
-  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
-  RCC_OscInitStruct.HSEState       = RCC_HSE_ON;
-  RCC_OscInitStruct.PLL.PLLState   = RCC_PLL_ON;
-  RCC_OscInitStruct.PLL.PLLSource  = RCC_PLLSOURCE_HSE;
-  RCC_OscInitStruct.PLL.PLLM       = 8;
-  RCC_OscInitStruct.PLL.PLLN       = 432;
-  RCC_OscInitStruct.PLL.PLLP       = RCC_PLLP_DIV2;
-  RCC_OscInitStruct.PLL.PLLQ       = 9;
-  if(HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
-  {
-    while(1);
-  }
-    */
-  /* Activate the OverDrive to reach the 216 Mhz Frequency */
-  /*
-  if(HAL_PWREx_EnableOverDrive() != HAL_OK)
-  {
-    while(1);
-  }
-
-#define RCC_CLK48CLKSOURCE_PLLQ              ((uint32_t)0x00000000U)
-*/
-  /* Select PLLSAI output as USB clock source */
-  /*
-  PeriphClkInitStruct.PLLSAI.PLLSAIN       = 384;
-  PeriphClkInitStruct.PLLSAI.PLLSAIQ       = 7;
-  PeriphClkInitStruct.PLLSAI.PLLSAIP       = 8;
-  PeriphClkInitStruct.PeriphClockSelection = RCC_CLK48CLKSOURCE_PLLQ;
-  PeriphClkInitStruct.Clk48ClockSelection  = RCC_CLK48SOURCE_PLLSAIP;
-*/
-
-  /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2 
-     clocks dividers */
-     /*
-  RCC_ClkInitStruct.ClockType      = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
-  RCC_ClkInitStruct.SYSCLKSource   = RCC_SYSCLKSOURCE_PLLCLK;
-  RCC_ClkInitStruct.AHBCLKDivider  = RCC_SYSCLK_DIV1;
-  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
-  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
-  if(HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_7) != HAL_OK)
-  {
-    while(1);
-  }
-
-
-	PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2|RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_USART6|RCC_PERIPHCLK_UART4|RCC_PERIPHCLK_UART5|RCC_PERIPHCLK_UART7|RCC_PERIPHCLK_UART8|RCC_PERIPHCLK_I2C1|RCC_PERIPHCLK_I2C3|RCC_PERIPHCLK_I2C2|RCC_PERIPHCLK_I2C4;
-	PeriphClkInitStruct.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
-	PeriphClkInitStruct.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
-	PeriphClkInitStruct.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
-	PeriphClkInitStruct.Uart4ClockSelection  = RCC_UART4CLKSOURCE_PCLK1;
-	PeriphClkInitStruct.Uart5ClockSelection  = RCC_UART5CLKSOURCE_PCLK1;
-	PeriphClkInitStruct.Usart6ClockSelection = RCC_USART6CLKSOURCE_PCLK2;
-	PeriphClkInitStruct.Uart7ClockSelection  = RCC_UART7CLKSOURCE_PCLK1;
-	PeriphClkInitStruct.Uart8ClockSelection  = RCC_UART8CLKSOURCE_PCLK1;
-	PeriphClkInitStruct.I2c1ClockSelection   = RCC_I2C1CLKSOURCE_SYSCLK;
-	PeriphClkInitStruct.I2c2ClockSelection   = RCC_I2C2CLKSOURCE_SYSCLK;
-	PeriphClkInitStruct.I2c3ClockSelection   = RCC_I2C3CLKSOURCE_SYSCLK;
-	PeriphClkInitStruct.I2c4ClockSelection   = RCC_I2C4CLKSOURCE_SYSCLK;
-	if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
-	{
-	   while(1);
-	}
-
-  // Activating the timerprescalers while the APBx prescalers are 1/2/4 will connect the TIMxCLK to HCLK which has been configured to 216MHz
-  __HAL_RCC_TIMCLKPRESCALER(RCC_TIMPRES_ACTIVATED);
-*/
-  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
-
-    /**Configure the Systick 
-    */
-  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
-
-  /* SysTick_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
-
-//  SystemCoreClockUpdate();
-
-//  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
-
-//  HAL_InitTick(0);
-
-//  SysTick_Config(HAL_RCC_GetHCLKFreq()/500);
-
-  systemUsTicks = (HAL_RCC_GetHCLKFreq()/1000000);
-
+   systemUsTicks = (HAL_RCC_GetHCLKFreq()/1000000);
 }
 
-void VectorIrqInit(uint32_t address)
+int VectorIrqInit(uint32_t address)
 {
 	SCB->VTOR = address; //set vector register to firmware start
 	__enable_irq(); // enable interrupts
+  //return(0); //#MD add to debug F722
 
 	CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
-	DWT->LAR = 0xC5ACCE55; 
+	//DWT->LAR = 0xC5ACCE55; //commented out for debugging F722 #MD
 	DWT->CYCCNT = 0;
 	DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
+  return(0);
 }
 
-void BoardInit(void)
+int BoardInit(void)
 {
-	//SCB->VTOR = ADDRESS_FLASH_START; //set vector register to firmware start
-	//__enable_irq(); // enable interrupts
-  SCB_EnableICache();
-  SCB_EnableDCache();
 
-	HAL_Init();
+    //SCB_EnableICache();
+    //SCB_EnableDCache();
 
-	SystemClock_Config();
+    HAL_Init();
 
 
-  //HAL_InitTick(TICK_INT_PRIORITY);
-
-	__HAL_RCC_GPIOA_CLK_ENABLE();
-	__HAL_RCC_GPIOB_CLK_ENABLE();
-	__HAL_RCC_GPIOC_CLK_ENABLE();
-	__HAL_RCC_GPIOD_CLK_ENABLE();
-	__HAL_RCC_GPIOE_CLK_ENABLE();
-	__HAL_RCC_GPIOF_CLK_ENABLE();
-	__HAL_RCC_GPIOG_CLK_ENABLE();
-	__HAL_RCC_GPIOH_CLK_ENABLE();
-	__HAL_RCC_GPIOI_CLK_ENABLE();
-
-  __HAL_RCC_ADC1_CLK_ENABLE();
-  __HAL_RCC_ADC2_CLK_ENABLE();
-  __HAL_RCC_ADC3_CLK_ENABLE();
-
-	__HAL_RCC_DMA1_CLK_ENABLE();
-	__HAL_RCC_DMA2_CLK_ENABLE();
-
-	__HAL_RCC_TIM1_CLK_ENABLE();
-	__HAL_RCC_TIM2_CLK_ENABLE();
-	__HAL_RCC_TIM3_CLK_ENABLE();
-	__HAL_RCC_TIM4_CLK_ENABLE();
-	__HAL_RCC_TIM5_CLK_ENABLE();
-	__HAL_RCC_TIM6_CLK_ENABLE();
-	__HAL_RCC_TIM7_CLK_ENABLE();
-	__HAL_RCC_TIM8_CLK_ENABLE();
-
-  __USART1_CLK_ENABLE();
-  __USART2_CLK_ENABLE();
-  __USART3_CLK_ENABLE();
-  __UART4_CLK_ENABLE();
-  __UART5_CLK_ENABLE();
-  __USART6_CLK_ENABLE();
-
-  __HAL_RCC_CRC_CLK_ENABLE();
-
+    return(1);
 }
 
 void USBInit(void)
@@ -307,4 +177,4 @@ uint32_t TimerPrescalerDivisor(uint32_t timer)
 {
 	(void)(timer);
 	return(1);
-}
+}
\ No newline at end of file
diff --git a/src/low_level_driver/stm32f7/stm32f7xx_hal_msp.c b/src/low_level_driver/stm32f7/stm32f7xx_hal_msp.c
new file mode 100644
index 00000000..77f7bdf4
--- /dev/null
+++ b/src/low_level_driver/stm32f7/stm32f7xx_hal_msp.c
@@ -0,0 +1,90 @@
+/**
+  ******************************************************************************
+  * File Name          : stm32f7xx_hal_msp.c
+  * Description        : This file provides code for the MSP Initialization 
+  *                      and de-Initialization codes.
+  ******************************************************************************
+  ** This notice applies to any and all portions of this file
+  * that are not between comment pairs USER CODE BEGIN and
+  * USER CODE END. Other portions of this file, whether 
+  * inserted by the user or by software development tools
+  * are owned by their respective copyright owners.
+  *
+  * COPYRIGHT(c) 2017 STMicroelectronics
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f7xx_hal.h"
+
+extern void _Error_Handler(char *, int);
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+/**
+  * Initializes the Global MSP.
+  */
+void HAL_MspInit(void)
+{
+  /* USER CODE BEGIN MspInit 0 */
+
+  /* USER CODE END MspInit 0 */
+
+  HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
+
+  /* System interrupt init*/
+  /* MemoryManagement_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(MemoryManagement_IRQn, 0, 0);
+  /* BusFault_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(BusFault_IRQn, 0, 0);
+  /* UsageFault_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(UsageFault_IRQn, 0, 0);
+  /* SVCall_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(SVCall_IRQn, 0, 0);
+  /* DebugMonitor_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DebugMonitor_IRQn, 0, 0);
+  /* PendSV_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(PendSV_IRQn, 0, 0);
+  /* SysTick_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+
+  /* USER CODE BEGIN MspInit 1 */
+
+  /* USER CODE END MspInit 1 */
+}
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
diff --git a/src/low_level_driver/stm32f7/stm32f7xx_it.c b/src/low_level_driver/stm32f7/stm32f7xx_it.c
index 528e7d2e..304ecdb4 100644
--- a/src/low_level_driver/stm32f7/stm32f7xx_it.c
+++ b/src/low_level_driver/stm32f7/stm32f7xx_it.c
@@ -43,7 +43,11 @@
 #include "stm32f7xx_hal.h"
 #include "stm32f7xx.h"
 #include "stm32f7xx_it.h"
-
+#include "stm32f7xx_ll_dma.h"
+#include "stm32f7xx_ll_usart.h"
+#include "stm32f7xx_ll_gpio.h"
+#include "stm32f7xx_ll_rcc.h"
+#include "stm32f7xx_ll_bus.h"
 extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
 
 /* Private typedef -----------------------------------------------------------*/
@@ -155,7 +159,7 @@ void OTG_FS_IRQHandler(void)
 void OTG_HS_IRQHandler(void)
 #endif
 {
-//  HAL_PCD_IRQHandler(&hpcd);
+  HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
 }
 
 /**
@@ -369,24 +373,21 @@ void DMA2_Stream2_IRQHandler(void) {
 		callbackFunctionArray[FP_DMA2_S2](FP_DMA2_S2);
 }
 
-void DMA2_Stream3_IRQHandler(void)
-{
+void DMA2_Stream3_IRQHandler(void){
     HAL_NVIC_ClearPendingIRQ(DMA2_Stream3_IRQn);
     HAL_DMA_IRQHandler(&dmaHandles[ENUM_DMA2_STREAM_3]);
     if (callbackFunctionArray[FP_DMA2_S3])
 		callbackFunctionArray[FP_DMA2_S3](FP_DMA2_S3);
 }
 
-void DMA2_Stream4_IRQHandler(void)
-{
+void DMA2_Stream4_IRQHandler(void){
     HAL_NVIC_ClearPendingIRQ(DMA2_Stream4_IRQn);
     HAL_DMA_IRQHandler(&dmaHandles[ENUM_DMA2_STREAM_4]);
     if (callbackFunctionArray[FP_DMA2_S4])
 		callbackFunctionArray[FP_DMA2_S4](FP_DMA2_S4);
 }
 
-void DMA2_Stream5_IRQHandler(void)
-{
+void DMA2_Stream5_IRQHandler(void){
     HAL_NVIC_ClearPendingIRQ(DMA2_Stream5_IRQn);
     HAL_DMA_IRQHandler(&dmaHandles[ENUM_DMA2_STREAM_5]);
     if (callbackFunctionArray[FP_DMA2_S5])
@@ -455,5 +456,42 @@ void EXTI15_10_IRQHandler(void)
 
 void ADC_IRQHandler(void)
 {
-  //HAL_ADC_IRQHandler(&adcHandleT);
+	//only need to use one ADC handle for now
+	HAL_ADC_IRQHandler(&adcHandle[board.boardADC[1].adcHandle]);
 }
+
+void USART1_IRQHandler(void)
+{
+	UsartIrqCallback(0);
+	HAL_NVIC_ClearPendingIRQ(USART1_IRQn);
+}
+
+void USART2_IRQHandler(void)
+{
+	UsartIrqCallback(1);
+	//HAL_NVIC_ClearPendingIRQ(USART2_IRQn);
+}
+
+void USART3_IRQHandler(void)
+{
+	UsartIrqCallback(2);
+	HAL_NVIC_ClearPendingIRQ(USART3_IRQn);
+}
+
+void UART4_IRQHandler(void)
+{
+	UsartIrqCallback(3);
+	HAL_NVIC_ClearPendingIRQ(UART4_IRQn);
+}
+
+void UART5_IRQHandler(void)
+{
+	UsartIrqCallback(4);
+	HAL_NVIC_ClearPendingIRQ(UART5_IRQn);
+}
+
+void USART6_IRQHandler(void)
+{
+	UsartIrqCallback(5);
+	HAL_NVIC_ClearPendingIRQ(USART6_IRQn);
+}
\ No newline at end of file
diff --git a/src/new_bootloader/src/scheduler.c b/src/new_bootloader/src/scheduler.c
index a36a7d17..690ed4bd 100644
--- a/src/new_bootloader/src/scheduler.c
+++ b/src/new_bootloader/src/scheduler.c
@@ -21,7 +21,8 @@ inline void Scheduler(int32_t count)
 
 void ErrorHandler(uint32_t error)
 {
-	(void)(error);
+	static volatile uint32_t superError = 0;
+	superError = error;
     while (1)
     {
         DoLed(1, 1);
diff --git a/src/new_bootloader/src/usb/usbd_desc.c b/src/new_bootloader/src/usb/usbd_desc.c
index 1be3d525..3fadffd7 100644
--- a/src/new_bootloader/src/usb/usbd_desc.c
+++ b/src/new_bootloader/src/usb/usbd_desc.c
@@ -245,9 +245,9 @@ static void IntToUnicode(uint32_t value, uint8_t *pbuf, uint8_t len)
   */
 static void Get_SerialNum(void)
 {
-    uint32_t  deviceserial0 = *(uint32_t*)DEVICE_ID1;
-    uint32_t  deviceserial1 = *(uint32_t*)DEVICE_ID2;
-    uint32_t  deviceserial2 = *(uint32_t*)DEVICE_ID3;
+    uint32_t  deviceserial0 = 111;//*(uint32_t*)DEVICE_ID1;
+    uint32_t  deviceserial1 = 111;//*(uint32_t*)DEVICE_ID2;
+    uint32_t  deviceserial2 = 111;//*(uint32_t*)DEVICE_ID3;
 
     deviceserial0 += deviceserial2;
 
diff --git a/src/passthru/inc/includes.h b/src/passthru/inc/includes.h
index b23fa465..66256732 100644
--- a/src/passthru/inc/includes.h
+++ b/src/passthru/inc/includes.h
@@ -1,4 +1,4 @@
-#pragma once
+b #pragma once
 
 #include <stdbool.h>
 #include <stdint.h>