From 047e4135df711b34737fa87b33322db5fc4d692d Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 2 Jan 2025 18:23:43 -0800
Subject: [PATCH 01/14] set up ADC dual mode

---
 .../hw_layer/ports/stm32/stm32_adc_v4.cpp     | 87 +++++++++++++++----
 .../ports/stm32/stm32h7/cfg/mcuconf.h         |  2 +-
 2 files changed, 72 insertions(+), 17 deletions(-)

diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
index b279658522..ca8b87a491 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
@@ -71,8 +71,8 @@ static void adc_callback(ADCDriver *adcp) {
 // (25 * 64) / 25MHz -> 64 microseconds to sample all channels
 #define ADC_SAMPLING_SLOW ADC_SMPR_SMP_16P5
 
-// Sample the 16 channels that line up with the STM32F4/F7
-constexpr size_t slowChannelCount = 16;
+// Sample the 16 channels that line up with the STM32F4/F7, plus PF11/12/13/14
+constexpr size_t slowChannelCount = 20;
 
 // Conversion group for slow channels
 // This simply samples every channel in sequence
@@ -89,8 +89,7 @@ static constexpr ADCConversionGroup convGroupSlow = {
 	.pcsel				= 0xFFFFFFFF, // enable analog switches on all channels
 	// Thresholds aren't used
 	.ltr1 = 0, .htr1 = 0, .ltr2 = 0, .htr2 = 0, .ltr3 = 0, .htr3 = 0,
-	.awd2cr = 0,
-	.awd3cr = 0,
+	.awd2cr = 0, .awd3cr = 0,
 	.smpr = {
 		// Configure all channels to use ADC_SAMPLING_SLOW time
 		ADC_SMPR1_SMP_AN0(ADC_SAMPLING_SLOW) |
@@ -115,27 +114,71 @@ static constexpr ADCConversionGroup convGroupSlow = {
 		ADC_SMPR2_SMP_AN19(ADC_SAMPLING_SLOW)
 	},
 	.sqr = {
-		// The seemingly insane values here exist to put the values
-		// in the buffer in the same order as the ADCv2 (F4/F7) ADC
+		// ADC1 samples the first 10 channels: PA0-5, PB0-1, PF11-12
 		ADC_SQR1_SQ1_N(16) |	// PA0 (aka PA0_C)
 		ADC_SQR1_SQ2_N(17) |	// PA1 (aka PA1_C)
 		ADC_SQR1_SQ3_N(14) |	// PA2
 		ADC_SQR1_SQ4_N(15),		// PA3
 		ADC_SQR2_SQ5_N(18) |	// PA4
 		ADC_SQR2_SQ6_N(19) |	// PA5
-		ADC_SQR2_SQ7_N(3) |		// PA6
-		ADC_SQR2_SQ8_N(7) |		// PA7
-		ADC_SQR2_SQ9_N(9),		// PB0
-		ADC_SQR3_SQ10_N(5) |	// PB1
-		ADC_SQR3_SQ11_N(10) |	// PC0
-		ADC_SQR3_SQ12_N(11) |	// PC1
-		ADC_SQR3_SQ13_N(12) |	// PC2 (aka PC2_C)
-		ADC_SQR3_SQ14_N(13),	// PC3 (aka PC3_C)
-		ADC_SQR4_SQ15_N(4) |	// PC4
-		ADC_SQR4_SQ16_N(8)		// PC5
+		ADC_SQR2_SQ7_N(9) |		// PB0
+		ADC_SQR2_SQ8_N(5) |		// PB1
+		ADC_SQR2_SQ9_N(2),		// PF11
+		ADC_SQR3_SQ10_N(6),		// PF12
+		0
+	},
+
+	// Thresholds aren't used
+	.sltr1 = 0, .shtr1 = 0, .sltr2 = 0, .shtr2 = 0, .sltr3 = 0, .shtr3 = 0,
+	.sawd2cr = 0, .sawd3cr = 0,
+	.ssmpr = {
+		// Configure all channels to use ADC_SAMPLING_SLOW time
+		ADC_SMPR1_SMP_AN0(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN1(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN2(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN3(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN4(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN5(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN6(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN7(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN8(ADC_SAMPLING_SLOW) |
+		ADC_SMPR1_SMP_AN9(ADC_SAMPLING_SLOW),
+		ADC_SMPR2_SMP_AN10(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN11(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN12(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN13(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN14(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN15(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN16(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN17(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN18(ADC_SAMPLING_SLOW) |
+		ADC_SMPR2_SMP_AN19(ADC_SAMPLING_SLOW)
+	},
+	.ssqr = {
+		// ADC2 samples the second 10 channels: PA6-7, PC0-5, PF11-14
+		ADC_SQR1_SQ1_N(3) |	// PA6 (aka PA0_C)
+		ADC_SQR1_SQ2_N(7) |	// PA7 (aka PA1_C)
+		ADC_SQR1_SQ3_N(10) |	// PC0
+		ADC_SQR1_SQ4_N(11),		// PC1
+		ADC_SQR2_SQ5_N(12) |	// PC2
+		ADC_SQR2_SQ6_N(13) |	// PC3
+		ADC_SQR2_SQ7_N(4) |		// PC4
+		ADC_SQR2_SQ8_N(8) |		// PC5
+		ADC_SQR2_SQ9_N(2),		// PF13
+		ADC_SQR3_SQ10_N(6),		// PF14
+		0
 	},
 };
 
+static const uint8_t adcChannelScramble[20] = {
+	0, 1, 2, 3, 4, 5,		// ADC1: PA0-5
+	10, 11,					// ADC2: PA6/7
+	6, 7,					// ADC1: PB0/1
+	12, 13, 14, 15, 16, 17,	// ADC2: PC0-5
+	8, 9,					// ADC1: PF11/12
+	18, 19					// ADC2: PF13/14
+};
+
 static bool didStart = false;
 
 bool readSlowAnalogInputs(adcsample_t* convertedSamples) {
@@ -251,6 +294,12 @@ static const ADCConversionGroup adcConvGroupCh1 = {
 		0,
 		0
 	},
+
+	// Dual mode isn't used on knock ADC, so all zeroes
+	.sltr1 = 0, .shtr1 = 0, .sltr2 = 0, .shtr2 = 0, .sltr3 = 0, .shtr3 = 0,
+	.sawd2cr = 0, .sawd3cr = 0,
+	.ssmpr = {0, 0},
+	.ssqr = {0, 0, 0, 0},
 };
 
 // Not all boards have a second channel - configure it if it exists
@@ -276,6 +325,12 @@ static const ADCConversionGroup adcConvGroupCh2 = {
 		0,
 		0
 	},
+
+	// Dual mode isn't used on knock ADC, so all zeroes
+	.sltr1 = 0, .shtr1 = 0, .sltr2 = 0, .shtr2 = 0, .sltr3 = 0, .shtr3 = 0,
+	.sawd2cr = 0, .sawd3cr = 0,
+	.ssmpr = {0, 0},
+	.ssqr = {0, 0, 0, 0},
 };
 #endif // KNOCK_HAS_CH2
 
diff --git a/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h b/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
index 2231726750..739a27a3f8 100644
--- a/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
+++ b/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
@@ -251,7 +251,7 @@
 /*
  * ADC driver system settings.
  */
-#define STM32_ADC_DUAL_MODE                 FALSE
+#define STM32_ADC_DUAL_MODE                 TRUE
 #define STM32_ADC_COMPACT_SAMPLES           FALSE
 #define STM32_ADC_USE_ADC12                 TRUE
 

From a52f57eeb04bfa633ea0a5a3c67c8d4a1ba09aff Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 2 Jan 2025 18:23:49 -0800
Subject: [PATCH 02/14] new pins

---
 firmware/hw_layer/ports/stm32/stm32_common.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/firmware/hw_layer/ports/stm32/stm32_common.cpp b/firmware/hw_layer/ports/stm32/stm32_common.cpp
index fa12f9d738..5da03a32a0 100644
--- a/firmware/hw_layer/ports/stm32/stm32_common.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_common.cpp
@@ -89,6 +89,16 @@ brain_pin_e getAdcChannelBrainPin(const char*, adc_channel_e hwChannel) {
 		return Gpio::C4;
 	case EFI_ADC_15:
 		return Gpio::C5;
+#ifdef STM32H7XX
+	case EFI_ADC_16:
+		return Gpio::F11;
+	case EFI_ADC_17:
+		return Gpio::F12;
+	case EFI_ADC_18:
+		return Gpio::F13;
+	case EFI_ADC_19:
+		return Gpio::F14;
+#endif // STM32H7xx
 	default:
 /* todo: what is upper range ADC is used while lower range ADC is not used? how do we still mark pin used?
 external muxes for internal ADC #3350

From 62fcece9bfc8d2a134990c36a95caf420d375fe2 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 2 Jan 2025 18:33:45 -0800
Subject: [PATCH 03/14] adc channel scrambler

---
 firmware/hw_layer/adc/adc_inputs.cpp           | 4 ++--
 firmware/hw_layer/adc/adc_subscription.cpp     | 2 +-
 firmware/hw_layer/ports/mpu_util.h             | 3 +++
 firmware/hw_layer/ports/stm32/stm32_adc_v2.cpp | 4 ++++
 firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp | 4 ++++
 5 files changed, 14 insertions(+), 3 deletions(-)

diff --git a/firmware/hw_layer/adc/adc_inputs.cpp b/firmware/hw_layer/adc/adc_inputs.cpp
index 2f81834db8..a8c1f43f95 100644
--- a/firmware/hw_layer/adc/adc_inputs.cpp
+++ b/firmware/hw_layer/adc/adc_inputs.cpp
@@ -22,7 +22,7 @@
 #include "pch.h"
 
 float __attribute__((weak)) getAnalogInputDividerCoefficient(adc_channel_e) {
-    return engineConfiguration->analogInputDividerCoefficient;
+	return engineConfiguration->analogInputDividerCoefficient;
 }
 
 #if HAL_USE_ADC
@@ -109,7 +109,7 @@ int getInternalAdcValue(const char *msg, adc_channel_e hwChannel) {
 	}
 #endif // EFI_USE_FAST_ADC
 
-	return slowAdcSamples[hwChannel - EFI_ADC_0];
+	return slowAdcSamples[indexForSlowAdcChannel(hwChannel)];
 }
 
 #if EFI_USE_FAST_ADC
diff --git a/firmware/hw_layer/adc/adc_subscription.cpp b/firmware/hw_layer/adc/adc_subscription.cpp
index 9d88f72489..9717715186 100644
--- a/firmware/hw_layer/adc/adc_subscription.cpp
+++ b/firmware/hw_layer/adc/adc_subscription.cpp
@@ -83,7 +83,7 @@ TODO: this code is similar to initIfValid, what is the plan? shall we extract he
 	brain_pin_e pin = getAdcChannelBrainPin(name, channel);
 	if (pin != Gpio::Invalid) {
 	// todo: external muxes for internal ADC #3350
-	    efiSetPadMode(name, pin, PAL_MODE_INPUT_ANALOG);
+		efiSetPadMode(name, pin, PAL_MODE_INPUT_ANALOG);
 	}
 
 	// if 0, default to the board's divider coefficient for given channel
diff --git a/firmware/hw_layer/ports/mpu_util.h b/firmware/hw_layer/ports/mpu_util.h
index b89cadd42b..0fb106d897 100644
--- a/firmware/hw_layer/ports/mpu_util.h
+++ b/firmware/hw_layer/ports/mpu_util.h
@@ -25,6 +25,9 @@ void portInitAdc();
 float getMcuTemperature();
 // Convert all slow ADC inputs.  Returns true if the conversion succeeded, false if a failure occured.
 bool readSlowAnalogInputs(adcsample_t* convertedSamples);
+
+// Get the position of samples for this channel in the sample buffer
+size_t indexForSlowAdcChannel(adc_channel_e channel);
 #endif
 
 // CAN bus
diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v2.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v2.cpp
index 68de8cc234..da11ca93e3 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v2.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v2.cpp
@@ -211,6 +211,10 @@ bool readSlowAnalogInputs(adcsample_t* convertedSamples) {
 	return result;
 }
 
+size_t indexForSlowAdcChannel(adc_channel_e channel) {
+	return channel - EFI_ADC_0;
+}
+
 #if EFI_USE_FAST_ADC
 
 #include "AdcConfiguration.h"
diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
index ca8b87a491..d9261e7978 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
@@ -179,6 +179,10 @@ static const uint8_t adcChannelScramble[20] = {
 	18, 19					// ADC2: PF13/14
 };
 
+size_t indexForSlowAdcChannel(adc_channel_e channel) {
+	return adcChannelScramble[channel - EFI_ADC_0];
+}
+
 static bool didStart = false;
 
 bool readSlowAnalogInputs(adcsample_t* convertedSamples) {

From 2e35037a3a090eaaa810fbf962871690ef075077 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Tue, 4 Feb 2025 01:41:00 -0800
Subject: [PATCH 04/14] decode packed master/slave ADC readings

---
 firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
index 02a993834a..baea8e729e 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
@@ -207,13 +207,13 @@ static const uint8_t adcChannelScramble[20] = {
 	18, 19					// ADC2: PF13/14
 };
 
-size_t indexForSlowAdcChannel(adc_channel_e channel) {
+static size_t indexForSlowAdcChannel(adc_channel_e channel) {
 	return adcChannelScramble[channel - EFI_ADC_0];
 }
 
 static bool didStart = false;
 
-static NO_CACHE adcsample_t adcSampleBuffer[SLOW_ADC_CHANNEL_COUNT];
+static NO_CACHE adcsample_t adcSampleBuffer[slowChannelCount];
 
 bool readSlowAnalogInputs() {
 	// This only needs to happen once, as the timer will continue firing the ADC and writing to the buffer without our help
@@ -248,7 +248,14 @@ bool readSlowAnalogInputs() {
 }
 
 adcsample_t getSlowAdcSample(adc_channel_e channel) {
-	return adcSampleBuffer[channel - EFI_ADC_0];
+	auto index = indexForSlowAdcChannel(channel);
+
+	if (index >= 10) {
+		// Top half of channels were sampled by the slave ADC, therefore are in the upper half of the 32-bit word
+		return (adcSampleBuffer[index - 10] >> 16) & 0xFFFF;
+	} else {
+		return adcSampleBuffer[index] & 0xFFFF;
+	}
 }
 
 static constexpr FastAdcToken invalidToken = (FastAdcToken)(-1);

From 6587aa718db48592bfe93a497958ca50f25b541e Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 01:10:19 -0800
Subject: [PATCH 05/14] bump submodule

---
 firmware/ChibiOS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/ChibiOS b/firmware/ChibiOS
index 7077f35b0e..b94a2146a2 160000
--- a/firmware/ChibiOS
+++ b/firmware/ChibiOS
@@ -1 +1 @@
-Subproject commit 7077f35b0ef5c027a264572bbd311431907da189
+Subproject commit b94a2146a2802471ed520465b3ad6201a7e47572

From ac387a5eb5794771e34ff61e49cacebd5bfaaa05 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 01:12:11 -0800
Subject: [PATCH 06/14] bump chibios again

---
 firmware/ChibiOS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/ChibiOS b/firmware/ChibiOS
index b94a2146a2..e2d1d8fffe 160000
--- a/firmware/ChibiOS
+++ b/firmware/ChibiOS
@@ -1 +1 @@
-Subproject commit b94a2146a2802471ed520465b3ad6201a7e47572
+Subproject commit e2d1d8fffeb6586347eda306c69bbd0b9d5a1f58

From a2f61922cc93add29103134bde038874fdfec250 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 01:20:36 -0800
Subject: [PATCH 07/14] bump chibios

---
 firmware/ChibiOS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/ChibiOS b/firmware/ChibiOS
index e2d1d8fffe..cb6ccf3649 160000
--- a/firmware/ChibiOS
+++ b/firmware/ChibiOS
@@ -1 +1 @@
-Subproject commit e2d1d8fffeb6586347eda306c69bbd0b9d5a1f58
+Subproject commit cb6ccf3649156c10c0535ce4490636bad33c92a4

From 184b6dc97d751d92b2fe0da2766622f0a271aa69 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 17:44:45 -0800
Subject: [PATCH 08/14] use a union to get out interleaved samples

---
 .../hw_layer/ports/stm32/stm32_adc_v4.cpp     | 22 ++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
index fd61ea974c..b42318251d 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
@@ -215,7 +215,13 @@ static size_t indexForSlowAdcChannel(adc_channel_e channel) {
 
 static bool didStart = false;
 
-static NO_CACHE adcsample_t adcSampleBuffer[slowChannelCount];
+// In dual mode, each 32-bit DMA transfer contains two 16-bit samples:
+// lower 16 bits from ADC1, upper 16 bits from ADC2.
+// Use a union to provide both views of the buffer.
+static NO_CACHE union {
+	adcsample_t samples32[slowChannelCount / 2];  // 32-bit view for HAL/DMA
+	uint16_t samples16[slowChannelCount];          // 16-bit view for reading
+} sampleBuffer;
 
 bool readSlowAnalogInputs() {
 	// This only needs to happen once, as the timer will continue firing the ADC and writing to the buffer without our help
@@ -224,10 +230,13 @@ bool readSlowAnalogInputs() {
 	}
 	didStart = true;
 
+	setArrayValues(sampleBuffer.samples16, 0);
+
 	{
 		chibios_rt::CriticalSectionLocker csl;
 		// Oversampling and right-shift happen in hardware, so we can sample directly to the output buffer
-		adcStartConversionI(&ADCD1, &convGroupSlow, adcSampleBuffer, 1);
+		// Pass the 32-bit view to the HAL - it will receive slowChannelCount/2 32-bit samples in dual mode
+		adcStartConversionI(&ADCD1, &convGroupSlow, sampleBuffer.samples32, 1);
 	}
 
 	constexpr uint32_t samplingRate = H7_ADC_SPEED;
@@ -252,11 +261,14 @@ bool readSlowAnalogInputs() {
 adcsample_t getSlowAdcSample(adc_channel_e channel) {
 	auto index = indexForSlowAdcChannel(channel);
 
+	// In dual mode, the 16-bit samples are interleaved: ADC1, ADC2, ADC1, ADC2, ...
+	// The scramble table returns 0-9 for ADC1 channels and 10-19 for ADC2 channels.
 	if (index >= 10) {
-		// Top half of channels were sampled by the slave ADC, therefore are in the upper half of the 32-bit word
-		return (adcSampleBuffer[index - 10] >> 16) & 0xFFFF;
+		// ADC2 channels: odd indices in the interleaved 16-bit array
+		return sampleBuffer.samples16[(index - 10) * 2 + 1];
 	} else {
-		return adcSampleBuffer[index] & 0xFFFF;
+		// ADC1 channels: even indices in the interleaved 16-bit array
+		return sampleBuffer.samples16[index * 2];
 	}
 }
 

From 830c5dbcc5e1a9ce2ac426ad08112156db10cc43 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 17:46:18 -0800
Subject: [PATCH 09/14] enable MR/5v sensors

---
 firmware/config/boards/atlas/board_configuration.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/firmware/config/boards/atlas/board_configuration.cpp b/firmware/config/boards/atlas/board_configuration.cpp
index 2ef9f6a0b5..f73f26287c 100644
--- a/firmware/config/boards/atlas/board_configuration.cpp
+++ b/firmware/config/boards/atlas/board_configuration.cpp
@@ -196,19 +196,19 @@ void initBoardSensors() {
 		mrSenseFunc.configure(0, 0, 1, mrSenseRatio, 0, 50);
 		mrSenseSensor.setFunction(mrSenseFunc);
 		AdcSubscription::SubscribeSensor(mrSenseSensor, EFI_ADC_16, /*bandwidth*/ 20, /*ratio*/ 1);
-		// mrSenseSensor.Register();
+		mrSenseSensor.Register();
 	}
 
 	{
 		static LinearFunc sensor5vFunc;
 		static FunctionalSensor sensor5vSensor(SensorType::Sensor5vVoltage, MS2NT(100));
 
-		const float sensor5vRatio = 2;;
+		const float sensor5vRatio = 2;
 
 		sensor5vFunc.configure(0, 0, 1, sensor5vRatio, 0, 50);
 		sensor5vSensor.setFunction(sensor5vFunc);
 		AdcSubscription::SubscribeSensor(sensor5vSensor, EFI_ADC_17, /*bandwidth*/ 20, /*ratio*/ 1);
-		// sensor5vSensor.Register();
+		sensor5vSensor.Register();
 	}
 }
 #endif

From c0e1e5a5e334d618150cff55486289515fc6769b Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 17:47:03 -0800
Subject: [PATCH 10/14] bump ChibiOS (again)

---
 firmware/ChibiOS | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/ChibiOS b/firmware/ChibiOS
index cb6ccf3649..bbe0c138e6 160000
--- a/firmware/ChibiOS
+++ b/firmware/ChibiOS
@@ -1 +1 @@
-Subproject commit cb6ccf3649156c10c0535ce4490636bad33c92a4
+Subproject commit bbe0c138e622001f38552758490cbecfaa8f0c5e

From b1066c874ba3c9883ffbf3c0e6ea5412089bcf4b Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 17:54:05 -0800
Subject: [PATCH 11/14] simplify scramble table

---
 .../hw_layer/ports/stm32/stm32_adc_v4.cpp     | 39 +++++++------------
 1 file changed, 15 insertions(+), 24 deletions(-)

diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
index b42318251d..32246b86c0 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
@@ -200,19 +200,6 @@ static constexpr ADCConversionGroup convGroupSlow = {
 	},
 };
 
-static const uint8_t adcChannelScramble[20] = {
-	0, 1, 2, 3, 4, 5,		// ADC1: PA0-5
-	10, 11,					// ADC2: PA6/7
-	6, 7,					// ADC1: PB0/1
-	12, 13, 14, 15, 16, 17,	// ADC2: PC0-5
-	8, 9,					// ADC1: PF11/12
-	18, 19					// ADC2: PF13/14
-};
-
-static size_t indexForSlowAdcChannel(adc_channel_e channel) {
-	return adcChannelScramble[channel - EFI_ADC_0];
-}
-
 static bool didStart = false;
 
 // In dual mode, each 32-bit DMA transfer contains two 16-bit samples:
@@ -259,17 +246,21 @@ bool readSlowAnalogInputs() {
 }
 
 adcsample_t getSlowAdcSample(adc_channel_e channel) {
-	auto index = indexForSlowAdcChannel(channel);
-
-	// In dual mode, the 16-bit samples are interleaved: ADC1, ADC2, ADC1, ADC2, ...
-	// The scramble table returns 0-9 for ADC1 channels and 10-19 for ADC2 channels.
-	if (index >= 10) {
-		// ADC2 channels: odd indices in the interleaved 16-bit array
-		return sampleBuffer.samples16[(index - 10) * 2 + 1];
-	} else {
-		// ADC1 channels: even indices in the interleaved 16-bit array
-		return sampleBuffer.samples16[index * 2];
-	}
+	// Maps ADC channel to index in the interleaved 16-bit sample buffer.
+	// In dual mode, samples are interleaved: ADC1[0], ADC2[0], ADC1[1], ADC2[1], ...
+	// ADC1 channels (seq 0-9) map to even indices, ADC2 channels (seq 0-9) map to odd indices.
+	static const uint8_t descramble[20] = {
+		0, 2, 4, 6, 8, 10,		// ADC1: PA0-5 (seq 0-5 -> indices 0,2,4,6,8,10)
+		1, 3,					// ADC2: PA6/7 (seq 0-1 -> indices 1,3)
+		12, 14,					// ADC1: PB0/1 (seq 6-7 -> indices 12,14)
+		5, 7, 9, 11, 13, 15,	// ADC2: PC0-5 (seq 2-7 -> indices 5,7,9,11,13,15)
+		16, 18,					// ADC1: PF11/12 (seq 8-9 -> indices 16,18)
+		17, 19					// ADC2: PF13/14 (seq 8-9 -> indices 17,19)
+	};
+
+	auto channelIndex = channel - EFI_ADC_0;
+	auto bufferPosition = descramble[channelIndex];
+	return sampleBuffer.samples16[bufferPosition];
 }
 
 static constexpr FastAdcToken invalidToken = (FastAdcToken)(-1);

From 6c6317dd1b19791851f249e6b0b6e90fb748f744 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 18:13:19 -0800
Subject: [PATCH 12/14] I think we've been accidentally overclocking the ADC
 all this time

---
 firmware/ChibiOS                                    | 2 +-
 firmware/config/boards/atlas/knock_config.h         | 2 +-
 firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp      | 2 +-
 firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/firmware/ChibiOS b/firmware/ChibiOS
index bbe0c138e6..7d899700cb 160000
--- a/firmware/ChibiOS
+++ b/firmware/ChibiOS
@@ -1 +1 @@
-Subproject commit bbe0c138e622001f38552758490cbecfaa8f0c5e
+Subproject commit 7d899700cb960292d54afc125d436a56d4cdf74f
diff --git a/firmware/config/boards/atlas/knock_config.h b/firmware/config/boards/atlas/knock_config.h
index 2a7f705e8f..03c0aed959 100644
--- a/firmware/config/boards/atlas/knock_config.h
+++ b/firmware/config/boards/atlas/knock_config.h
@@ -22,5 +22,5 @@
 #define KNOCK_SAMPLE_RATE (STM32_ADC3_CLOCK / (H7_KNOCK_OVERSAMPLE * (32 + 8)))
 
 static_assert(KNOCK_SAMPLE_RATE == 250000);
-static_assert(STM32_ADCCLK == 80000000);
+static_assert(STM32_ADCCLK == 40000000);
 static_assert(STM32_ADC3_CLOCK == 40000000);
diff --git a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
index 32246b86c0..054d5fd4a5 100644
--- a/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
+++ b/firmware/hw_layer/ports/stm32/stm32_adc_v4.cpp
@@ -14,7 +14,7 @@
 
 #include "mpu_util.h"
 
-// Both ADCs should be running at 25MHz
+// All ADCs should be running at 40MHz
 static_assert(STM32_ADC12_CLOCK == 40000000);
 static_assert(STM32_ADC3_CLOCK == 40000000);
 
diff --git a/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h b/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
index dfafb69ec4..3abccf8143 100644
--- a/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
+++ b/firmware/hw_layer/ports/stm32/stm32h7/cfg/mcuconf.h
@@ -127,7 +127,7 @@
 #define STM32_PLL3_FRACN_VALUE              0
 #define STM32_PLL3_DIVP_VALUE               2
 #define STM32_PLL3_DIVQ_VALUE               20
-#define STM32_PLL3_DIVR_VALUE               12
+#define STM32_PLL3_DIVR_VALUE               24
 
 /*
  * Core clocks dynamic settings (can be changed at runtime).

From 7dc6d4a0f0226f1c2504823890e8db8642701705 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 22:29:48 -0800
Subject: [PATCH 13/14] proteus H7 knock adc assertions

---
 firmware/config/boards/proteus/knock_config.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/config/boards/proteus/knock_config.h b/firmware/config/boards/proteus/knock_config.h
index c7b5085cb8..f6891f8917 100644
--- a/firmware/config/boards/proteus/knock_config.h
+++ b/firmware/config/boards/proteus/knock_config.h
@@ -25,7 +25,7 @@
 	#define KNOCK_SAMPLE_RATE (STM32_ADC3_CLOCK / (H7_KNOCK_OVERSAMPLE * (32 + 8)))
 
 	static_assert(KNOCK_SAMPLE_RATE == 250000);
-	static_assert(STM32_ADCCLK == 80000000);
+	static_assert(STM32_ADCCLK == 40000000);
 	static_assert(STM32_ADC3_CLOCK == 40000000);
 
 #else

From 568d8d0df9d51998a0c818b92b9e4f4e411eaef7 Mon Sep 17 00:00:00 2001
From: Matthew Kennedy <matthewkennedy@outlook.com>
Date: Thu, 22 Jan 2026 22:46:06 -0800
Subject: [PATCH 14/14] add vboost sensor

---
 .../config/boards/atlas/board_configuration.cpp     | 13 +++++++++++++
 firmware/controllers/sensors/sensor_type.h          |  1 +
 2 files changed, 14 insertions(+)

diff --git a/firmware/config/boards/atlas/board_configuration.cpp b/firmware/config/boards/atlas/board_configuration.cpp
index f73f26287c..3225279092 100644
--- a/firmware/config/boards/atlas/board_configuration.cpp
+++ b/firmware/config/boards/atlas/board_configuration.cpp
@@ -210,5 +210,18 @@ void initBoardSensors() {
 		AdcSubscription::SubscribeSensor(sensor5vSensor, EFI_ADC_17, /*bandwidth*/ 20, /*ratio*/ 1);
 		sensor5vSensor.Register();
 	}
+
+	{
+		static LinearFunc vboostFunc;
+		static FunctionalSensor vboostSensor(SensorType::VboostVoltage, MS2NT(100));
+
+		// 82k high side/10k low side = 9.2
+		const float vboostRatio = (92.0f / 10.0f);
+
+		vboostFunc.configure(0, 0, 1, vboostRatio, 0, 50);
+		vboostSensor.setFunction(vboostFunc);
+		AdcSubscription::SubscribeSensor(vboostSensor, EFI_ADC_18, /*bandwidth*/ 20, /*ratio*/ 1);
+		vboostSensor.Register();
+	}
 }
 #endif
diff --git a/firmware/controllers/sensors/sensor_type.h b/firmware/controllers/sensors/sensor_type.h
index 84f8f438e9..5d004449c6 100644
--- a/firmware/controllers/sensors/sensor_type.h
+++ b/firmware/controllers/sensors/sensor_type.h
@@ -74,6 +74,7 @@ enum class SensorType : unsigned char {
 	BatteryVoltage,
 	MainRelayVoltage,
 	Sensor5vVoltage,
+	VboostVoltage,
 
 	BarometricPressure,