From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 11 Feb 2020 11:04:57 +0000 (+0100)
Subject: dma tests
X-Git-Url: http://git.leonardobizzoni.com/?a=commitdiff_plain;h=80b326956c0cf5c97f4ad725f3440fc9649ffdde;p=pioneer-stm32

dma tests
---

diff --git a/otto_controller/.mxproject b/otto_controller/.mxproject
index b4aeebb..d4029ca 100644
--- a/otto_controller/.mxproject
+++ b/otto_controller/.mxproject
@@ -1,33 +1,31 @@
 [PreviousGenFiles]
 AdvancedFolderStructure=true
-HeaderFileListSize=7
+HeaderFileListSize=6
 HeaderFiles#0=/home/fdila/Projects/otto/otto_controller/Core/Inc/gpio.h
-HeaderFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Inc/dma.h
-HeaderFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Inc/tim.h
+HeaderFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Inc/tim.h
+HeaderFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Inc/usart.h
 HeaderFolderListSize=1
 HeaderPath#0=/home/fdila/Projects/otto/otto_controller/Core/Inc
-SourceFileListSize=7
+SourceFileListSize=6
 SourceFiles#0=/home/fdila/Projects/otto/otto_controller/Core/Src/gpio.c
-SourceFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Src/dma.c
-SourceFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Src/tim.c
+SourceFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Src/tim.c
+SourceFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Src/usart.c
 SourceFolderListSize=1
 SourcePath#0=/home/fdila/Projects/otto/otto_controller/Core/Src
-HeaderFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Inc/usart.h
-HeaderFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_it.h
-HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_hal_conf.h
-SourceFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Src/usart.c
-SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c
-SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c
+HeaderFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_it.h
+HeaderFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_hal_conf.h
+HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h
+SourceFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c
+SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c
+SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c
 HeaderFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h
 SourceFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c
-HeaderFiles=;
-SourceFiles=;
 
 [PreviousLibFiles]
 LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;
 
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/dma.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/stm32f7xx_it.c;Core/Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;
+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/stm32f7xx_it.c;Core/Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;
 HeaderPath=Drivers/STM32F7xx_HAL_Driver/Inc;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32F7xx/Include;Drivers/CMSIS/Include;Core/Inc;
 CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/otto_controller/Core/Inc/dma.h b/otto_controller/Core/Inc/dma.h
deleted file mode 100644
index 16bb88c..0000000
--- a/otto_controller/Core/Inc/dma.h
+++ /dev/null
@@ -1,56 +0,0 @@
-/**
-  ******************************************************************************
-  * File Name          : dma.h
-  * Description        : This file contains all the function prototypes for
-  *                      the dma.c file
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                        opensource.org/licenses/BSD-3-Clause
-  *
-  ******************************************************************************
-  */
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __dma_H
-#define __dma_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "main.h"
-
-/* DMA memory to memory transfer handles -------------------------------------*/
-
-/* USER CODE BEGIN Includes */
-
-/* USER CODE END Includes */
-
-/* USER CODE BEGIN Private defines */
-
-/* USER CODE END Private defines */
-
-void MX_DMA_Init(void);
-
-/* USER CODE BEGIN Prototypes */
-
-/* USER CODE END Prototypes */
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __dma_H */
-
-/**
-  * @}
-  */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/otto_controller/Core/Inc/main.h b/otto_controller/Core/Inc/main.h
index 80943f3..fb0a3d8 100644
--- a/otto_controller/Core/Inc/main.h
+++ b/otto_controller/Core/Inc/main.h
@@ -58,9 +58,6 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
-#define user_button_Pin GPIO_PIN_13
-#define user_button_GPIO_Port GPIOC
-#define user_button_EXTI_IRQn EXTI15_10_IRQn
 #define current2_Pin GPIO_PIN_0
 #define current2_GPIO_Port GPIOC
 #define encoder_dx1_Pin GPIO_PIN_0
diff --git a/otto_controller/Core/Inc/stm32f7xx_it.h b/otto_controller/Core/Inc/stm32f7xx_it.h
index d1e7824..f138f64 100644
--- a/otto_controller/Core/Inc/stm32f7xx_it.h
+++ b/otto_controller/Core/Inc/stm32f7xx_it.h
@@ -59,8 +59,6 @@ void SysTick_Handler(void);
 void TIM3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
-void DMA2_Stream1_IRQHandler(void);
-void DMA2_Stream6_IRQHandler(void);
 void USART6_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/otto_controller/Core/Src/dma.c b/otto_controller/Core/Src/dma.c
deleted file mode 100644
index 35f0a1b..0000000
--- a/otto_controller/Core/Src/dma.c
+++ /dev/null
@@ -1,66 +0,0 @@
-/**
-  ******************************************************************************
-  * File Name          : dma.c
-  * Description        : This file provides code for the configuration
-  *                      of all the requested memory to memory DMA transfers.
-  ******************************************************************************
-  * @attention
-  *
-  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
-  * All rights reserved.</center></h2>
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                        opensource.org/licenses/BSD-3-Clause
-  *
-  ******************************************************************************
-  */
-
-/* Includes ------------------------------------------------------------------*/
-#include "dma.h"
-
-/* USER CODE BEGIN 0 */
-
-/* USER CODE END 0 */
-
-/*----------------------------------------------------------------------------*/
-/* Configure DMA                                                              */
-/*----------------------------------------------------------------------------*/
-
-/* USER CODE BEGIN 1 */
-
-/* USER CODE END 1 */
-
-/** 
-  * Enable DMA controller clock
-  */
-void MX_DMA_Init(void) 
-{
-
-  /* DMA controller clock enable */
-  __HAL_RCC_DMA2_CLK_ENABLE();
-
-  /* DMA interrupt init */
-  /* DMA2_Stream1_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
-  /* DMA2_Stream6_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
-
-}
-
-/* USER CODE BEGIN 2 */
-
-/* USER CODE END 2 */
-
-/**
-  * @}
-  */
-
-/**
-  * @}
-  */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/otto_controller/Core/Src/gpio.c b/otto_controller/Core/Src/gpio.c
index 7c99329..b3dac9b 100644
--- a/otto_controller/Core/Src/gpio.c
+++ b/otto_controller/Core/Src/gpio.c
@@ -56,11 +56,11 @@ void MX_GPIO_Init(void)
   /*Configure GPIO pin Output Level */
   HAL_GPIO_WritePin(GPIOF, sleep2_Pin|sleep1_Pin, GPIO_PIN_SET);
 
-  /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = user_button_Pin;
+  /*Configure GPIO pin : PC13 */
+  GPIO_InitStruct.Pin = GPIO_PIN_13;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(user_button_GPIO_Port, &GPIO_InitStruct);
+  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
   /*Configure GPIO pin : PtPin */
   GPIO_InitStruct.Pin = current2_Pin;
diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index 5a65853..813b6f9 100644
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -20,7 +20,6 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
-#include "dma.h"
 #include "tim.h"
 #include "usart.h"
 #include "gpio.h"
@@ -142,7 +141,7 @@ int main(void)
   /* USER CODE END SysInit */
 
   /* Initialize all configured peripherals */
-  MX_DMA_Init();
+  MX_GPIO_Init();
   MX_TIM2_Init();
   MX_TIM3_Init();
   MX_TIM4_Init();
@@ -175,9 +174,11 @@ int main(void)
   rx_buffer = (uint8_t*) &vel_msg;
 
   //Enables UART RX interrupt
-  HAL_UART_Receive_DMA(&huart6, rx_buffer, 8);
+  HAL_UART_Receive_IT(&huart6, rx_buffer, 8);
 
   /* USER CODE END 2 */
+ 
+ 
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
@@ -304,7 +305,6 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
   //Blue user button on the NUCLEO board
   if (GPIO_Pin == GPIO_PIN_13) {
-    mode++;
     if (mode == 0) {
       mode = 1;
       //Enables TIM3 interrupt (used for PID control)
diff --git a/otto_controller/Core/Src/stm32f7xx_it.c b/otto_controller/Core/Src/stm32f7xx_it.c
index d3abde0..88e7f7d 100644
--- a/otto_controller/Core/Src/stm32f7xx_it.c
+++ b/otto_controller/Core/Src/stm32f7xx_it.c
@@ -58,8 +58,6 @@
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim6;
-extern DMA_HandleTypeDef hdma_usart6_tx;
-extern DMA_HandleTypeDef hdma_usart6_rx;
 extern UART_HandleTypeDef huart6;
 /* USER CODE BEGIN EV */
 
@@ -243,34 +241,6 @@ void TIM6_DAC_IRQHandler(void)
   /* USER CODE END TIM6_DAC_IRQn 1 */
 }
 
-/**
-  * @brief This function handles DMA2 stream1 global interrupt.
-  */
-void DMA2_Stream1_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream1_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart6_rx);
-  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream1_IRQn 1 */
-}
-
-/**
-  * @brief This function handles DMA2 stream6 global interrupt.
-  */
-void DMA2_Stream6_IRQHandler(void)
-{
-  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
-
-  /* USER CODE END DMA2_Stream6_IRQn 0 */
-  HAL_DMA_IRQHandler(&hdma_usart6_tx);
-  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
-
-  /* USER CODE END DMA2_Stream6_IRQn 1 */
-}
-
 /**
   * @brief This function handles USART6 global interrupt.
   */
diff --git a/otto_controller/Core/Src/usart.c b/otto_controller/Core/Src/usart.c
index 6f25222..7b56c72 100644
--- a/otto_controller/Core/Src/usart.c
+++ b/otto_controller/Core/Src/usart.c
@@ -25,8 +25,6 @@
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart6;
-DMA_HandleTypeDef hdma_usart6_tx;
-DMA_HandleTypeDef hdma_usart6_rx;
 
 /* USART6 init function */
 
@@ -74,43 +72,6 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
-    /* USART6 DMA Init */
-    /* USART6_TX Init */
-    hdma_usart6_tx.Instance = DMA2_Stream6;
-    hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
-    hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx);
-
-    /* USART6_RX Init */
-    hdma_usart6_rx.Instance = DMA2_Stream1;
-    hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
-    hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
-    hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart6_rx.Init.Mode = DMA_NORMAL;
-    hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
-    hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
-    if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
-    {
-      Error_Handler();
-    }
-
-    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
-
   /* USER CODE BEGIN USART6_MspInit 1 */
 
   /* USER CODE END USART6_MspInit 1 */
@@ -134,10 +95,6 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
 
-    /* USART6 DMA DeInit */
-    HAL_DMA_DeInit(uartHandle->hdmatx);
-    HAL_DMA_DeInit(uartHandle->hdmarx);
-
     /* USART6 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART6_IRQn);
   /* USER CODE BEGIN USART6_MspDeInit 1 */
diff --git a/otto_controller/otto_controller.ioc b/otto_controller/otto_controller.ioc
index 6ae6302..9b04d16 100644
--- a/otto_controller/otto_controller.ioc
+++ b/otto_controller/otto_controller.ioc
@@ -1,42 +1,18 @@
 #MicroXplorer Configuration settings - do not modify
-Dma.Request0=USART6_TX
-Dma.Request1=USART6_RX
-Dma.RequestsNb=2
-Dma.USART6_RX.1.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART6_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_RX.1.Instance=DMA2_Stream1
-Dma.USART6_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_RX.1.MemInc=DMA_MINC_ENABLE
-Dma.USART6_RX.1.Mode=DMA_NORMAL
-Dma.USART6_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_RX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_RX.1.Priority=DMA_PRIORITY_LOW
-Dma.USART6_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_TX.0.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART6_TX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_TX.0.Instance=DMA2_Stream6
-Dma.USART6_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_TX.0.MemInc=DMA_MINC_ENABLE
-Dma.USART6_TX.0.Mode=DMA_NORMAL
-Dma.USART6_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_TX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_TX.0.Priority=DMA_PRIORITY_LOW
-Dma.USART6_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F7
 Mcu.IP0=CORTEX_M7
-Mcu.IP1=DMA
-Mcu.IP10=USART6
-Mcu.IP2=NVIC
-Mcu.IP3=RCC
-Mcu.IP4=SYS
-Mcu.IP5=TIM2
-Mcu.IP6=TIM3
-Mcu.IP7=TIM4
-Mcu.IP8=TIM5
-Mcu.IP9=TIM6
-Mcu.IPNb=11
+Mcu.IP1=NVIC
+Mcu.IP2=RCC
+Mcu.IP3=SYS
+Mcu.IP4=TIM2
+Mcu.IP5=TIM3
+Mcu.IP6=TIM4
+Mcu.IP7=TIM5
+Mcu.IP8=TIM6
+Mcu.IP9=USART6
+Mcu.IPNb=10
 Mcu.Name=STM32F767ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC13
@@ -66,11 +42,9 @@ Mcu.PinsNb=23
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F767ZITx
-MxCube.Version=5.4.0
-MxDb.Version=DB.5.0.40
+MxCube.Version=5.5.0
+MxDb.Version=DB.5.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
-NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
-NVIC.DMA2_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
@@ -117,8 +91,6 @@ PC0.GPIOParameters=GPIO_Label
 PC0.GPIO_Label=current2
 PC0.Locked=true
 PC0.Signal=GPIO_Analog
-PC13.GPIOParameters=GPIO_Label
-PC13.GPIO_Label=user_button
 PC13.Locked=true
 PC13.Signal=GPXTI13
 PC6.Mode=Asynchronous
@@ -193,7 +165,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,1-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM2_Init-TIM2-false-HAL-true,4-MX_TIM3_Init-TIM3-false-HAL-true,5-MX_TIM4_Init-TIM4-false-HAL-true,6-MX_TIM5_Init-TIM5-false-HAL-true,7-MX_USART6_UART_Init-USART6-false-HAL-true,8-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true,9-MX_TIM6_Init-TIM6-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,2-MX_DMA_Init-DMA-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_TIM5_Init-TIM5-false-HAL-true,8-MX_USART6_UART_Init-USART6-false-HAL-true,9-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true,10-MX_TIM6_Init-TIM6-false-HAL-true
 RCC.CECFreq_Value=32786.88524590164
 RCC.DFSDMFreq_Value=16000000
 RCC.FamilyName=M
diff --git a/test_dma/.mxproject b/test_dma/.mxproject
index 50c3c83..6aebfd2 100644
--- a/test_dma/.mxproject
+++ b/test_dma/.mxproject
@@ -12,8 +12,6 @@ SourceFiles#1=/home/fdila/Projects/otto/test_dma/Core/Src/stm32f7xx_hal_msp.c
 SourceFiles#2=/home/fdila/Projects/otto/test_dma/Core/Src/main.c
 SourceFolderListSize=1
 SourcePath#0=/home/fdila/Projects/otto/test_dma/Core/Src
-HeaderFiles=;
-SourceFiles=;
 
 [PreviousLibFiles]
 LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;
diff --git a/test_dma/Core/Src/main.c b/test_dma/Core/Src/main.c
index 932f5d5..7b20a1b 100644
--- a/test_dma/Core/Src/main.c
+++ b/test_dma/Core/Src/main.c
@@ -105,6 +105,8 @@ int main(void)
   HAL_UART_Receive_DMA(&huart6, rx_buffer, 8);
 
   /* USER CODE END 2 */
+ 
+ 
 
   /* Infinite loop */
   /* USER CODE BEGIN WHILE */
@@ -250,6 +252,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
 }
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
   HAL_UART_Receive_DMA(&huart6, rx_buffer, 8);
+  mode++;
 }
 
 /* USER CODE END 4 */
diff --git a/test_dma/test_dma.ioc b/test_dma/test_dma.ioc
index 309018a..721fdbe 100644
--- a/test_dma/test_dma.ioc
+++ b/test_dma/test_dma.ioc
@@ -43,7 +43,7 @@ Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F767ZITx
 MxCube.Version=5.5.0
-MxDb.Version=DB.5.0.40
+MxDb.Version=DB.5.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.DMA2_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true