somewhat works

firmware/modularkbd/Core/Src/main.c

@@ -38,7 +38,7 @@ typedef struct {
   uint8_t MODIFIER;       // Modifier keys (e.g., Ctrl, Shift, Alt, GUI/Win)
   uint8_t RESERVED;       // Reserved for alignment, always set to 0
   uint8_t KEYPRESS[12];   // Array holding up to 12 keycodes being pressed
-} HIDReport;
+} __attribute__((packed)) HIDReport;
 
 
 // Switch pin mapping structure
@@ -53,7 +53,7 @@ typedef struct {
   uint16_t DEPTH;         // Custom field: could represent queue depth, layer, or message size
   uint16_t TYPE;          // Message type identifier (defines what kind of message this is)
   uint8_t KEYPRESS[12];   // Keypress data (similar to HIDReport, but for UART transmission)
-} UARTMessage;
+} __attribute__((packed)) UARTMessage;
 
 /* USER CODE END PTD */
 
@@ -100,7 +100,7 @@ SwitchPins COLUMN_PINS[COL] = {
 	{GPIOC, GPIO_PIN_9},
 	{GPIOC, GPIO_PIN_8},
     {GPIOC, GPIO_PIN_7},
-	{GPIOC, GPIO_PIN_5}
+	{GPIOC, GPIO_PIN_6}
 };
 
 // Initialize keycodes array
@@ -187,7 +187,6 @@ int main(void)
   HAL_UART_Receive_DMA(&huart2, (uint8_t*)&RX2Msg, sizeof(UARTMessage));
   HAL_UART_Receive_DMA(&huart4, (uint8_t*)&RX4Msg, sizeof(UARTMessage));
   HAL_UART_Receive_DMA(&huart5, (uint8_t*)&RX5Msg, sizeof(UARTMessage));
-  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);
   /* USER CODE END 2 */
 
   /* Infinite loop */
@@ -229,8 +228,8 @@ int main(void)
 		  break;
 
 	  case MODE_MAINBOARD:
-		  resetReport();
-		  matrixScan();
+		  resetReport(); //Something related to this making the key stick. Likely due to race conditions
+		  matrixScan(); //Removing resetReport() makes the modules inputs works but makes the key stick
 		  USBD_HID_SendReport(&hUsbDeviceFS, (uint8_t*)&REPORT, sizeof(REPORT));
 		  break;
 
@@ -313,6 +312,23 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
     }
 }
 
+void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart) {
+    // Restart DMA on error
+    if (huart->Instance == USART1) {
+        HAL_UART_Receive_DMA(&huart1, (uint8_t*)&RX1Msg, sizeof(UARTMessage));
+    }
+    else if (huart->Instance == USART2) {
+        HAL_UART_Receive_DMA(&huart2, (uint8_t*)&RX2Msg, sizeof(UARTMessage));
+    }
+    else if (huart->Instance == UART4) {
+        HAL_UART_Receive_DMA(&huart4, (uint8_t*)&RX4Msg, sizeof(UARTMessage));
+    }
+    else if (huart->Instance == UART5) {
+        HAL_UART_Receive_DMA(&huart5, (uint8_t*)&RX5Msg, sizeof(UARTMessage));
+    }
+}
+
+
 
 void findBestParent(){
   //Find least depth parent

firmware/modularkbd/Core/Src/usart.c

@@ -214,7 +214,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart4_tx);
 
     /* UART4 interrupt Init */
-    HAL_NVIC_SetPriority(UART4_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(UART4_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(UART4_IRQn);
   /* USER CODE BEGIN UART4_MspInit 1 */
 
@@ -286,7 +286,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_uart5_tx);
 
     /* UART5 interrupt Init */
-    HAL_NVIC_SetPriority(UART5_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(UART5_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(UART5_IRQn);
   /* USER CODE BEGIN UART5_MspInit 1 */
 
@@ -350,7 +350,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart1_tx);
 
     /* USART1 interrupt Init */
-    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART1_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
@@ -414,7 +414,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
 
     /* USART2 interrupt Init */
-    HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
+    HAL_NVIC_SetPriority(USART2_IRQn, 5, 0);
     HAL_NVIC_EnableIRQ(USART2_IRQn);
   /* USER CODE BEGIN USART2_MspInit 1 */
 

firmware/modularkbd/Debug/Core/Src/main.cyclo

@@ -1,9 +1,10 @@
-../Core/Src/main.c:149:5:main	6
-../Core/Src/main.c:253:6:SystemClock_Config	3
-../Core/Src/main.c:297:6:HAL_UART_RxCpltCallback	5
-../Core/Src/main.c:317:6:findBestParent	4
-../Core/Src/main.c:338:6:handleUARTMessages	12
-../Core/Src/main.c:386:6:addUSBReport	3
-../Core/Src/main.c:394:6:matrixScan	4
-../Core/Src/main.c:407:6:resetReport	1
-../Core/Src/main.c:418:6:Error_Handler	1
+../Core/Src/main.c:150:5:main	7
+../Core/Src/main.c:256:6:SystemClock_Config	3
+../Core/Src/main.c:300:6:HAL_UART_RxCpltCallback	5
+../Core/Src/main.c:319:6:HAL_UART_ErrorCallback	5
+../Core/Src/main.c:337:6:findBestParent	4
+../Core/Src/main.c:358:6:handleUARTMessages	11
+../Core/Src/main.c:403:6:addUSBReport	3
+../Core/Src/main.c:411:6:matrixScan	4
+../Core/Src/main.c:424:6:resetReport	1
+../Core/Src/main.c:435:6:Error_Handler	1

firmware/modularkbd/Debug/Core/Src/main.su

@@ -1,9 +1,10 @@
-../Core/Src/main.c:149:5:main	40	static
-../Core/Src/main.c:253:6:SystemClock_Config	88	static
-../Core/Src/main.c:297:6:HAL_UART_RxCpltCallback	16	static
-../Core/Src/main.c:317:6:findBestParent	24	static
-../Core/Src/main.c:338:6:handleUARTMessages	56	static
-../Core/Src/main.c:386:6:addUSBReport	24	static
-../Core/Src/main.c:394:6:matrixScan	16	static
-../Core/Src/main.c:407:6:resetReport	8	static
-../Core/Src/main.c:418:6:Error_Handler	4	static,ignoring_inline_asm
+../Core/Src/main.c:150:5:main	48	static
+../Core/Src/main.c:256:6:SystemClock_Config	88	static
+../Core/Src/main.c:300:6:HAL_UART_RxCpltCallback	16	static
+../Core/Src/main.c:319:6:HAL_UART_ErrorCallback	16	static
+../Core/Src/main.c:337:6:findBestParent	24	static
+../Core/Src/main.c:358:6:handleUARTMessages	56	static
+../Core/Src/main.c:403:6:addUSBReport	24	static
+../Core/Src/main.c:411:6:matrixScan	16	static
+../Core/Src/main.c:424:6:resetReport	8	static
+../Core/Src/main.c:435:6:Error_Handler	4	static,ignoring_inline_asm