sl-firmware
81d76e4770
Root cause 1 (IWDG reset loop): safety_init() was called before mpu6000_init() — IWDG 50ms timeout fires during ~510ms IMU init, causing infinite MCU reset. Moved safety_init() to after all peripheral inits (IMU, hoverboard, balance). Root cause 2 (DCache coherency): USB TX/RX buffers merged into a single 512B-aligned struct in usbd_cdc_if.c. MPU Region 0 configured non-cacheable (TEX=1, C=0, B=0) in usbd_conf.c USBD_LL_Init() before HAL_PCD_Init(). DCache stays ON globally — MPU handles coherency. Removed SCB_DisableDCache() from main.c (caused boot crash). Also: fix safety.c IWDG_RELOAD macro (float literals not valid in #if); add crsf.c stub so crsf_state links (UART not yet wired). Fixes issue #9. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>