UBCFormulaElectric · Aditya-Dhiman4 · May 10, 2026 · May 10, 2026 · May 11, 2026
diff --git a/firmware/hexray/RSM/CMakeLists.txt b/firmware/hexray/RSM/CMakeLists.txt
@@ -105,6 +105,7 @@ if ("${TARGET}" STREQUAL "binary")
             "stm32h5xx_hal_pcd_ex.c"
             "stm32h5xx_ll_usb.c"
             "stm32h5xx_hal_iwdg.c"
+            "stm32h5xx_hal_icache.c"
     )
     stm32h562xx_cube_library(
             "hexray_RSM_stm32"

diff --git a/firmware/hexray/RSM/src/cubemx/Inc/stm32h5xx_hal_conf.h b/firmware/hexray/RSM/src/cubemx/Inc/stm32h5xx_hal_conf.h
@@ -88,7 +88,7 @@ extern "C"
 /*#define HAL_USART_MODULE_ENABLED */
 /*#define HAL_WWDG_MODULE_ENABLED */
 /*#define HAL_PSSI_MODULE_ENABLED */
-/*#define HAL_ICACHE_MODULE_ENABLED */
+#define HAL_ICACHE_MODULE_ENABLED
 #define HAL_PCD_MODULE_ENABLED
 #define HAL_GPIO_MODULE_ENABLED
 #define HAL_EXTI_MODULE_ENABLED

diff --git a/firmware/hexray/RSM/src/cubemx/RSM.ioc b/firmware/hexray/RSM/src/cubemx/RSM.ioc
@@ -73,23 +73,24 @@ Mcu.ContextProject=TrustZoneDisabled
 Mcu.Family=STM32H5
 Mcu.IP0=ADC1
 Mcu.IP1=BOOTPATH
-Mcu.IP10=PWR
-Mcu.IP11=RCC
-Mcu.IP12=SPI3
-Mcu.IP13=SYS
-Mcu.IP14=TIM1
-Mcu.IP15=TIM3
-Mcu.IP16=TIM7
-Mcu.IP17=USB
+Mcu.IP10=NVIC
+Mcu.IP11=PWR
+Mcu.IP12=RCC
+Mcu.IP13=SPI3
+Mcu.IP14=SYS
+Mcu.IP15=TIM1
+Mcu.IP16=TIM3
+Mcu.IP17=TIM7
+Mcu.IP18=USB
 Mcu.IP2=CORTEX_M33_NS
 Mcu.IP3=DEBUG
 Mcu.IP4=FDCAN1
 Mcu.IP5=GPDMA1
 Mcu.IP6=I2C2
-Mcu.IP7=IWDG
-Mcu.IP8=MEMORYMAP
-Mcu.IP9=NVIC
-Mcu.IPNb=18
+Mcu.IP7=ICACHE
+Mcu.IP8=IWDG
+Mcu.IP9=MEMORYMAP
+Mcu.IPNb=19
 Mcu.Name=STM32H562RITx
 Mcu.Package=LQFP64
 Mcu.Pin0=PH0-OSC_IN(PH0)
@@ -120,23 +121,24 @@ Mcu.Pin30=PB7
 Mcu.Pin31=PB8
 Mcu.Pin32=VP_CORTEX_M33_NS_VS_Hclk
 Mcu.Pin33=VP_GPDMA1_VS_GPDMACH0
-Mcu.Pin34=VP_IWDG_VS_IWDG
-Mcu.Pin35=VP_PWR_VS_SECSignals
-Mcu.Pin36=VP_PWR_VS_LPOM
-Mcu.Pin37=VP_SYS_VS_tim6
-Mcu.Pin38=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin39=VP_TIM1_VS_indirect_ch1
+Mcu.Pin34=VP_ICACHE_VS_ICACHE
+Mcu.Pin35=VP_IWDG_VS_IWDG
+Mcu.Pin36=VP_PWR_VS_SECSignals
+Mcu.Pin37=VP_PWR_VS_LPOM
+Mcu.Pin38=VP_SYS_VS_tim6
+Mcu.Pin39=VP_TIM1_VS_ClockSourceINT
 Mcu.Pin4=PA2
-Mcu.Pin40=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin41=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin42=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin43=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin40=VP_TIM1_VS_indirect_ch1
+Mcu.Pin41=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin42=VP_TIM7_VS_ClockSourceINT
+Mcu.Pin43=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin44=VP_MEMORYMAP_VS_MEMORYMAP
 Mcu.Pin5=PA3
 Mcu.Pin6=PA4
 Mcu.Pin7=PA5
 Mcu.Pin8=PA6
 Mcu.Pin9=PA7
-Mcu.PinsNb=44
+Mcu.PinsNb=45
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=TIM1_FREQUENCY,1000;TIM3_PRESCALER,250;TIM3_ARR,(TIMx_FREQUENCY / TIM3_PRESCALER / TIM3_FREQUENCY);TIM3_FREQUENCY,10000;TIM1_ARR,(TIMx_FREQUENCY / TIM1_PRESCALER / TIM1_FREQUENCY);LSI_FREQUENCY,32000;TIM1_PRESCALER,250;TIMx_FREQUENCY,250000000;IWDG_RESET_FREQUENCY,5;IWDG_PRESCALER,4
 Mcu.UserName=STM32H562RITx
@@ -321,7 +323,7 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_FDCAN1_Init-FDCAN1-false-HAL-true,6-MX_I2C2_Init-I2C2-false-HAL-true,7-MX_SPI3_Init-SPI3-false-HAL-true,8-MX_USB_PCD_Init-USB-false-HAL-true,9-MX_TIM1_Init-TIM1-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_IWDG_Init-IWDG-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_FDCAN1_Init-FDCAN1-false-HAL-true,6-MX_I2C2_Init-I2C2-false-HAL-true,7-MX_SPI3_Init-SPI3-false-HAL-true,8-MX_USB_PCD_Init-USB-false-HAL-true,9-MX_TIM1_Init-TIM1-false-HAL-true,10-MX_TIM3_Init-TIM3-false-HAL-true,11-MX_IWDG_Init-IWDG-false-HAL-true,12-MX_TIM7_Init-TIM7-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
 RCC.ADCFreq_Value=96000000
 RCC.AHBFreq_Value=96000000
 RCC.APB1Freq_Value=96000000
@@ -451,6 +453,8 @@ VP_CORTEX_M33_NS_VS_Hclk.Mode=Hclk_Mode
 VP_CORTEX_M33_NS_VS_Hclk.Signal=CORTEX_M33_NS_VS_Hclk
 VP_GPDMA1_VS_GPDMACH0.Mode=SIMPLEREQUEST_GPDMACH0
 VP_GPDMA1_VS_GPDMACH0.Signal=GPDMA1_VS_GPDMACH0
+VP_ICACHE_VS_ICACHE.Mode=DefaultMode
+VP_ICACHE_VS_ICACHE.Signal=ICACHE_VS_ICACHE
 VP_IWDG_VS_IWDG.Mode=IWDG_Activate
 VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg

diff --git a/firmware/hexray/RSM/src/cubemx/RSM.ioc.md5 b/firmware/hexray/RSM/src/cubemx/RSM.ioc.md5
@@ -1 +1 @@
-e59443c64f7b2420719cca874c88c17a
+d7f9cecba97c088fca3381d5238fa598
diff --git a/firmware/hexray/RSM/src/cubemx/Src/main.c b/firmware/hexray/RSM/src/cubemx/Src/main.c
@@ -79,6 +79,7 @@ static void MX_TIM1_Init(void);
 static void MX_TIM3_Init(void);
 static void MX_IWDG_Init(void);
 static void MX_TIM7_Init(void);
+static void MX_ICACHE_Init(void);
 /* USER CODE BEGIN PFP */
 
 /* USER CODE END PFP */
@@ -126,6 +127,7 @@ int main(void)
     MX_TIM3_Init();
     MX_IWDG_Init();
     MX_TIM7_Init();
+    MX_ICACHE_Init();
     /* USER CODE BEGIN 2 */
     HAL_GPIO_WritePin(BRAKE_LIGHT_EN_3V3_GPIO_Port, BRAKE_LIGHT_EN_3V3_Pin, GPIO_PIN_RESET);
     ;
@@ -403,6 +405,32 @@ static void MX_I2C2_Init(void)
     /* USER CODE END I2C2_Init 2 */
 }
 
+/**
+ * @brief ICACHE Initialization Function
+ * @param None
+ * @retval None
+ */
+static void MX_ICACHE_Init(void)
+{
+    /* USER CODE BEGIN ICACHE_Init 0 */
+
+    /* USER CODE END ICACHE_Init 0 */
+
+    /* USER CODE BEGIN ICACHE_Init 1 */
+
+    /* USER CODE END ICACHE_Init 1 */
+
+    /** Enable instruction cache (default 2-ways set associative cache)
+     */
+    if (HAL_ICACHE_Enable() != HAL_OK)
+    {
+        Error_Handler();
+    }
+    /* USER CODE BEGIN ICACHE_Init 2 */
+
+    /* USER CODE END ICACHE_Init 2 */
+}
+
 /**
  * @brief IWDG Initialization Function
  * @param None

diff --git a/firmware/hexray/VC/src/cubemx/Src/main.c b/firmware/hexray/VC/src/cubemx/Src/main.c
@@ -103,6 +103,11 @@ int main(void)
     tasks_preInit();
     /* USER CODE END 1 */
 
+    /* Enable the CPU Cache */
+
+    /* Enable I-Cache---------------------------------------------------------*/
+    SCB_EnableICache();
+
     /* MCU Configuration--------------------------------------------------------*/
 
     /* Reset of all peripherals, Initializes the Flash interface and the Systick. */

diff --git a/firmware/hexray/VC/src/cubemx/VC.ioc b/firmware/hexray/VC/src/cubemx/VC.ioc
@@ -70,6 +70,11 @@ ADC2.SamplingTime-5\#ChannelRegularConversion=ADC_SAMPLETIME_1CYCLE_5
 CAD.formats=
 CAD.pinconfig=
 CAD.provider=
+CORTEX_M7.CPU_DCache=Disabled
+CORTEX_M7.CPU_ICache=Enabled
+CORTEX_M7.IPParameters=CPU_ICache,CPU_DCache,default_mode_Activation,MPU_Control
+CORTEX_M7.MPU_Control=__NULL
+CORTEX_M7.default_mode_Activation=1
 FDCAN1.AutoRetransmission=ENABLE
 FDCAN1.CalculateBaudRateNominal=1000000
 FDCAN1.CalculateTimeBitNominal=1000

diff --git a/firmware/hexray/VC/src/cubemx/VC.ioc.md5 b/firmware/hexray/VC/src/cubemx/VC.ioc.md5
@@ -1 +1 @@
-e8b7471a71be545faa2268e4776b5693
+c8dbe170d5fecca21265218c991c6c75
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		e59443c64f7b2420719cca874c88c17a
		d7f9cecba97c088fca3381d5238fa598
Original file line number	Diff line number	Diff line change
		@@ -1 +1 @@
		e8b7471a71be545faa2268e4776b5693
		c8dbe170d5fecca21265218c991c6c75