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      "title": "{JALUR NON REGULER – MAGANG IT} OPTIMASI AKSES DATA IMU 9DOF ICM_20948 DENGAN\r\nDMA PADA ESP32 S3 DENGAN FREE RTOS",
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      "abstract": "Laporan ini menjelaskan tentang implementasi metode DMA pada sistem \r\nRTOS menggunakan ESP32-S3 untuk mengoptimalkan akuisisi data sensor IMU\r\n9DOF ICM-20948. Metode DMA menjadi krusial pada sistem embedded untuk\r\nmengakses data pada memori tanpa intervensi CPU, sehingga CPU dapat fokus\r\npada tugas kendali drone yang membutuhkan kinerja dan akurasi tinggi. DMA\r\ncontroller bertindak sebagai jembatan komunikasi antara sensor dan flight control\r\nmenggunakan mekanisme antrean queue untuk memastikan integritas data secara\r\nnon blocking.\r\nHasil pengujian kuantitatif menunjukkan bahwa implementasi DMA\r\nberhasil mengoptimalkan waktu akuisisi data menjadi 65 μs, yang jauh lebih cepat\r\ndibandingkan target awal sebesar 1.060 ms. Selain itu, sistem menunjukkan\r\nstabilitas yang tinggi dengan keberhasilan pengujian beban kontinu selama 4 jam\r\ntanpa kegagalan transmisi. Optimasi ini membuktikan bahwa penggunaan DMA\r\npada arsitektur RTOS secara signifikan meningkatkan efisiensi pemrosesan data\r\nuntuk aplikasi kendali terbang drone yang presisi.",
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