MEMORY
{
  FLASH : ORIGIN = 0x08000000, LENGTH = 512K

  /*
   * STM32F722 RAM totals 256 KiB:
   * - DTCM:  64 KiB at 0x2000_0000; inaccessible to DMA1 and DMA2.
   * - SRAM1: 176 KiB at 0x2001_0000; contiguous and DMA2-accessible.
   * - SRAM2:  16 KiB at 0x2004_C000; a separate bank after an address gap.
   *
  * Why use SRAM1 as the only default RAM region: the MPU6000 SPI DMA buffers
  * and USART1 TX DMA frames are ordinary RTIC task-local/static allocations.
  * Mapping `RAM` to DTCM would let the linker place those buffers where DMA2
  * cannot read or write them which would lead transfer faults or corrupted data.
  *
  * Therefore all default allocations use SRAM1 to make DMA reachability the
  * safe default rather than a per-buffer convention.
   */
  RAM : ORIGIN = 0x20010000, LENGTH = 176K
}