diff --git a/STM32H723XG_FLASH.ld b/STM32H723XG_FLASH.ld
index 05a611a..4ac8d60 100644
--- a/STM32H723XG_FLASH.ld
+++ b/STM32H723XG_FLASH.ld
@@ -241,7 +241,14 @@ SECTIONS
     . = ALIGN(8);
   } >DTCMRAM
 
-
+  /* DMA-accessible buffers in RAM_D1 (SRAM). DTCM is not reachable by DMA */
+  .dma_buf (NOLOAD) :
+  {
+    . = ALIGN(4);
+    *(.dma_buf)
+    *(.dma_buf*)
+    . = ALIGN(4);
+  } >RAM_D1
 
   /* Remove information from the standard libraries */
   /DISCARD/ :
diff --git a/application/cmd/robot_cmd.c b/application/cmd/robot_cmd.c
index 3a38266..cf8d182 100644
--- a/application/cmd/robot_cmd.c
+++ b/application/cmd/robot_cmd.c
@@ -228,7 +228,7 @@ void RobotCMDInit()
     PIDInit(&vision_pitch_pid, &pitch_vpid_config);
     VisionKalmanFilterInit();
 
-    Vision_Uart_Init(&huart10);
+    Vision_Uart_Init(&huart1);
     laser_off();
 }
 
diff --git a/bsp/usart/bsp_usart.c b/bsp/usart/bsp_usart.c
index ccefeb3..e27a942 100644
--- a/bsp/usart/bsp_usart.c
+++ b/bsp/usart/bsp_usart.c
@@ -10,9 +10,12 @@
  */
 #include "bsp_usart.h"
 #include "bsp_log.h"
-#include "stdlib.h"
 #include "memory.h"
 
+/* Static pool in RAM_D1 (.dma_buf section) for DMA-accessible USART instances.
+   DTCM is not reachable by DMA, so malloc'd instances would cause bus errors. */
+static USARTInstance usart_pool[DEVICE_USART_CNT] __attribute__((section(".dma_buf")));
+
 /* usart service instance, modules' info would be recoreded here using USARTRegister() */
 /* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
 static uint8_t idx;
@@ -28,7 +31,7 @@ static USARTInstance *usart_instance[DEVICE_USART_CNT] = {NULL};
  */
 void USARTServiceInit(USARTInstance *_instance)
 {
-    HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, _instance->recv_buff_size);
+    HAL_UARTEx_ReceiveToIdle_DMA(_instance->usart_handle, _instance->recv_buff, USART_RXBUFF_LIMIT);
     // 关闭dma half transfer中断防止两次进入HAL_UARTEx_RxEventCallback()
     // 这是HAL库的一个设计失误,发生DMA传输完成/半完成以及串口IDLE中断都会触发HAL_UARTEx_RxEventCallback()
     // 我们只希望处理第一种和第三种情况,因此直接关闭DMA半传输中断
@@ -46,11 +49,10 @@ USARTInstance *USARTRegister(USART_Init_Config_s *init_config)
             while (1)
                 LOGERROR("[bsp_usart] USART instance already registered!");
 
-    USARTInstance *instance = (USARTInstance *)malloc(sizeof(USARTInstance));
+    USARTInstance *instance = &usart_pool[idx];
     memset(instance, 0, sizeof(USARTInstance));
 
     instance->usart_handle = init_config->usart_handle;
-    instance->recv_buff_size = init_config->recv_buff_size;
     instance->module_callback = init_config->module_callback;
 
     usart_instance[idx++] = instance;
@@ -102,17 +104,18 @@ uint8_t USARTIsReady(USARTInstance *_instance)
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
     for (uint8_t i = 0; i < idx; ++i)
-    { // find the instance which is being handled
+    {
         if (huart == usart_instance[i]->usart_handle)
-        { // call the callback function if it is not NULL
+        {
+            usart_instance[i]->recv_buff_size = Size; // 实际接收到的数据量
             if (usart_instance[i]->module_callback != NULL)
             {
                 usart_instance[i]->module_callback();
-                memset(usart_instance[i]->recv_buff, 0, Size); // 接收结束后清空buffer,对于变长数据是必要的
+                memset(usart_instance[i]->recv_buff, 0, Size);
             }
-            HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
+            HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, USART_RXBUFF_LIMIT);
             __HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
-            return; // break the loop
+            return;
         }
     }
 }
@@ -130,9 +133,19 @@ void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
     {
         if (huart == usart_instance[i]->usart_handle)
         {
-            HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, usart_instance[i]->recv_buff_size);
+            LOGWARNING("[bsp_usart] USART error callback, idx [%d], ErrorCode: 0x%02X", i, huart->ErrorCode);
+
+            /* Flush RDR and clear error flags before restarting DMA */
+            (void)READ_REG(huart->Instance->RDR);
+            __HAL_UART_CLEAR_FLAG(huart, UART_CLEAR_OREF | UART_CLEAR_FEF | UART_CLEAR_NEF | UART_CLEAR_PEF);
+            huart->ErrorCode = HAL_UART_ERROR_NONE;
+
+            /* Clear stale DMAR to avoid a residual DMA request triggering a
+               bus error when UART_Start_Receive_DMA re-enables the stream */
+            ATOMIC_CLEAR_BIT(huart->Instance->CR3, USART_CR3_DMAR);
+
+            HAL_UARTEx_ReceiveToIdle_DMA(usart_instance[i]->usart_handle, usart_instance[i]->recv_buff, USART_RXBUFF_LIMIT);
             __HAL_DMA_DISABLE_IT(usart_instance[i]->usart_handle->hdmarx, DMA_IT_HT);
-            LOGWARNING("[bsp_usart] USART error callback triggered, instance idx [%d]", i);
             return;
         }
     }
diff --git a/bsp/usart/bsp_usart.h b/bsp/usart/bsp_usart.h
index f8c5a43..ffeefe6 100644
--- a/bsp/usart/bsp_usart.h
+++ b/bsp/usart/bsp_usart.h
@@ -24,7 +24,7 @@ typedef enum
 typedef struct
 {
     uint8_t recv_buff[USART_RXBUFF_LIMIT]; // 预先定义的最大buff大小,如果太小请修改USART_RXBUFF_LIMIT
-    uint8_t recv_buff_size;                // 模块接收一包数据的大小
+    uint16_t recv_buff_size;               // 实际接收到的数据量(由RxEventCallback赋值)
     UART_HandleTypeDef *usart_handle;      // 实例对应的usart_handle
     usart_module_callback module_callback; // 解析收到的数据的回调函数
 } USARTInstance;
@@ -32,7 +32,6 @@ typedef struct
 /* usart 初始化配置结构体 */
 typedef struct
 {
-    uint8_t recv_buff_size;                // 模块接收一包数据的大小
     UART_HandleTypeDef *usart_handle;      // 实例对应的usart_handle
     usart_module_callback module_callback; // 解析收到的数据的回调函数
 } USART_Init_Config_s;
diff --git a/modules/bluetooth/HC05.c b/modules/bluetooth/HC05.c
index 2d170d6..eadc530 100644
--- a/modules/bluetooth/HC05.c
+++ b/modules/bluetooth/HC05.c
@@ -33,7 +33,6 @@ HC05 *HC05Init(UART_HandleTypeDef *hc05_usart_handle)
     USART_Init_Config_s conf;
     conf.module_callback = HC05RxCallback;
     conf.usart_handle = hc05_usart_handle;
-    conf.recv_buff_size = HC05_BUFFERSIZE;
     hc05_usart_instance = USARTRegister(&conf);
 
     hc05_init_flag = 1;
diff --git a/modules/master_machine/master_machine.c b/modules/master_machine/master_machine.c
index 9a548b0..1a5ab46 100644
--- a/modules/master_machine/master_machine.c
+++ b/modules/master_machine/master_machine.c
@@ -80,7 +80,6 @@ void Vision_Uart_Init(UART_HandleTypeDef *_handle)
 {
     USART_Init_Config_s conf = {
         .module_callback = DecodeVision,
-        .recv_buff_size  = 64,
         .usart_handle    = _handle,
     };
     cv_usart_instance = USARTRegister(&conf);
diff --git a/modules/referee/rm_referee.c b/modules/referee/rm_referee.c
index 2743d7d..4a9cc0e 100644
--- a/modules/referee/rm_referee.c
+++ b/modules/referee/rm_referee.c
@@ -125,7 +125,6 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
 	USART_Init_Config_s conf;
 	conf.module_callback = RefereeRxCallback;
 	conf.usart_handle = referee_usart_handle;
-	conf.recv_buff_size = RE_RX_BUFFER_SIZE; // mx 255(u8)
 	referee_usart_instance = USARTRegister(&conf);
 
 	Daemon_Init_Config_s daemon_conf = {
diff --git a/modules/remote/remote_control.c b/modules/remote/remote_control.c
index e45f03d..b2197c9 100644
--- a/modules/remote/remote_control.c
+++ b/modules/remote/remote_control.c
@@ -229,7 +229,6 @@ RC_ctrl_t *RemoteControlInit(UART_HandleTypeDef *rc_usart_handle)
     USART_Init_Config_s conf;
     conf.module_callback = RemoteControlRxCallback;
     conf.usart_handle = rc_usart_handle;
-    conf.recv_buff_size = REMOTE_CONTROL_FRAME_SIZE;
     rc_usart_instance = USARTRegister(&conf);
 
     // 进行守护进程的注册,用于定时检查遥控器是否正常工作
diff --git a/modules/timachine/board_comm.c b/modules/timachine/board_comm.c
index 549de5b..eafccde 100644
--- a/modules/timachine/board_comm.c
+++ b/modules/timachine/board_comm.c
@@ -59,7 +59,6 @@ board_comm_data_t* BoardCommInit(UART_HandleTypeDef *uart_handle)
     USART_Init_Config_s conf;
     conf.module_callback = BoardCommRxCallback;
     conf.usart_handle = uart_handle;
-    conf.recv_buff_size = BOARD_COMM_FRAME_SIZE;
     board_comm_usart_instance = USARTRegister(&conf);
 
     // 暂时注释掉 daemon 注册，专注于数据传输