ARM

A sequel to the first STM32H750 tracker post. After the C++ port was proven in production, I spent a week of evenings cutting dead vendor code, splitting the algorithm out to host for unit tests, wiring the LCD SPI through DMA to let the CPU run the tracker in parallel with the blit, unlocking the camera’s real frame rate, chasing a subtle BB-drift bug back to a too-wide SAD search, and finally building an offline A/B harness that compares SAD, NCC, and MOSSE on four synthetic scenarios so the next tracker port is a data decision, not a vibes one.

A long, honest retrospective on turning a WeAct STM32H750 board, a cheap OV7725 IR camera, and an Xbox controller into a live template-matching tracker. Every dead end, every wrong assumption, every fix — and what I’d do differently next time.

A day-long battle fixing a CI pipeline that builds Docker images on a self-hosted Jetson Xavier runner. From stale git submodules to GCC-15 assembler errors, expired tokens, DNS failures inside Docker, and deleted upstream branches — every layer of the stack had something broken.