upgrade to latest embassy

.cargo/config.toml

@@ -5,7 +5,7 @@ runner = 'probe-rs run --chip STM32F405RGTx'
 target = "thumbv7em-none-eabi"
 
 [env]
-DEFMT_LOG = "trace"
+DEFMT_LOG = "info"
 
 [unstable]
 build-std-features = ["panic_immediate_abort"]

.github/workflows/rust-ci.yml

@@ -1,29 +1,31 @@
 name: Rust CI
 
 on:
-   push:
-      branches:
-         - main
-         - develop
-   pull_request:
-      branches:
-         - main
-         - develop
+  push:
+    branches:
+      - main
+      - develop
+  pull_request:
+    branches:
+      - main
+      - develop
 
 jobs:
-   build:
-      runs-on: ubuntu-latest
+  build:
+    runs-on: ubuntu-latest
 
-      steps:
-         - name: Setup Rust
-           uses: actions/checkout@v3
-           with:
-            submodules: recursive
-         - name: Build
-           run: cargo build --verbose --workspace --all --all-features
-        #  - name: Test
-        #    run: cargo test --verbose
-         - name: Clippy
-           run: cargo clippy --all-features --all --workspace
-         - name: Format
-           run: cargo fmt --verbose --all --check
+    steps:
+      - name: Clone repo
+        uses: actions/checkout@v6
+        with:
+          submodules: recursive
+      - name: Setup Rust
+        uses: actions-rust-lang/setup-rust-toolchain@v1
+      - name: Build
+        run: cargo build --verbose --workspace --all --all-features
+      #  - name: Test
+      #    run: cargo test --verbose
+      - name: Clippy
+        run: cargo clippy --all-features --all --workspace
+      - name: Format
+        run: cargo fmt --verbose --all --check

Cargo.toml

@@ -1,41 +1,30 @@
 [workspace]
 members = ["msb-fw-rs","crates/*"]
-resolver = "2"
+resolver = "3"
 
 [workspace.dependencies]
-embassy-stm32 = { version = "0.1.0", features = ["defmt", "stm32f405rg", "unstable-pac", "memory-x", "time", "time-driver-any", "exti"] }
-embassy-sync = { version = "0.6.1", features = ["defmt"] }
-embassy-executor = { version = "0.7.0", features = ["nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
-embassy-time = { version = "0.4.0",  features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
-embassy-embedded-hal = { version = "0.2.0", features = ["defmt"] }
-embassy-futures = { version = "0.1.1", features = ["defmt"] }
-
-defmt = "0.3.10"
-defmt-rtt = "0.4.1"
-
-cortex-m = { version = "0.7.7", features = ["inline-asm", "critical-section-single-core"] }
-cortex-m-rt = "0.7.5"
-embedded-hal = { version = "1.0.0", features = ["defmt-03"] }
-embedded-hal-bus = { version = "0.2", features = ["async", "defmt-03"] }
-embedded-io = { version = "0.6.1", features = ["defmt-03"] }
-embedded-io-async = { version = "0.6.1", features = ["defmt-03"] }
-panic-probe = { version = "0.3.2", features = ["print-defmt", "defmt-error"] }
-heapless = { version = "0.8.0", default-features = false }
-static_cell = "2.1.0"
+embassy-stm32 = { version = "0.6.0", features = ["defmt", "stm32f405rg", "unstable-pac", "memory-x", "time", "time-driver-any", "exti"] }
+embassy-sync = { version = "0.8.0", features = ["defmt"] }
+embassy-executor = { version = "0.10.0", features = ["executor-thread", "executor-interrupt", "defmt", "embassy-time-driver", "platform-cortex-m"] }
+embassy-time = { version = "0.5.1",  features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
+embassy-embedded-hal = { version = "0.6.0", features = ["defmt", "time"] }
+embassy-futures = { version = "0.1.2", features = ["defmt"] }
+
+defmt = "1"
+defmt-rtt = "1"
+
+cortex-m = { version = "0.7", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m-rt = "0.7"
+embedded-hal = { version = "1", features = ["defmt-03"] }
+embedded-hal-bus = { version = "0.3", features = ["async", "defmt-03"] }
+embedded-io = { version = "0.7", features = ["defmt"] }
+embedded-io-async = { version = "0.7", features = ["defmt"] }
+panic-probe = { version = "1", features = ["print-defmt", "defmt-error"] }
+heapless = { version = "0.9", default-features = false }
+static_cell = "2.1"
 #chrono = { version = "^0.4", default-features = false}
-embedded-hal-async = {version = "1.0.0", features = ["defmt-03"] }
-bitfield = "^0.17.0"
-
-
-[patch.crates-io]
-embassy-stm32 = {git = "https://github.com/embassy-rs/embassy", rev = "b127ca9844a7e4e9079800be81d173e2725066c6"}
-embassy-sync = {git = "https://github.com/embassy-rs/embassy", rev = "b127ca9844a7e4e9079800be81d173e2725066c6"}
-embassy-executor = {git = "https://github.com/embassy-rs/embassy", rev = "b127ca9844a7e4e9079800be81d173e2725066c6"}
-embassy-time = {git = "https://github.com/embassy-rs/embassy", rev = "b127ca9844a7e4e9079800be81d173e2725066c6"}
-embassy-embedded-hal = {git = "https://github.com/embassy-rs/embassy", rev = "b127ca9844a7e4e9079800be81d173e2725066c6"}
-embassy-futures = {git = "https://github.com/embassy-rs/embassy", rev = "b127ca9844a7e4e9079800be81d173e2725066c6"}
-
-
+embedded-hal-async = {version = "1", features = ["defmt-03"] }
+bitfield = "0.19"
 
 [profile.release]
 opt-level = "s"

README.md

@@ -21,13 +21,13 @@ To lint and check stuff, run `cargo clippy`.
 ###  On car stuff
 
 To run a RTT terminal dedicated:
-`cargo embed --release --config rtt`
+`cargo embed --release rtt`
 
 To run a GDB terminal dedicated:
-`cargo embed --release --config gdb`
+`cargo embed --release gdb`
 
 To flash and leave code:
-`cargo embed --release --config `
+`cargo embed --release`
 
 
 
@@ -56,3 +56,14 @@ This structure has multiple benefits, including:
 - Shared `target` folder meaning a shared build cache for quicker and space-saving builds
 - Other quirks, such as vscode `settings.json` and `config.toml`, are shared between projects
 
+
+### Versioning
+
+Updating versions is as follows
+
+1. Update the rust-toolchain to the version found in embassy repo
+2. Update all embassy versions to the versions found in the embassy repo, use x.y.z, in main Cargo.toml
+3. Update all features, especially ones that say the version in them (ex. "defmt-03")
+3. Update major package versions of other projects, use x.y, in main Cargo.toml
+4. Update package versions of other projects, in individual Cargo.toml
+4. Fix any build issues

crates/lsm6dso-ner/Cargo.toml

@@ -1,10 +1,8 @@
 [package]
 name = "lsm6dso-ner"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 
 [dependencies]
 arrayref = "0.3.8"
 embedded-hal-async.workspace = true
-
-

crates/pca9539-ner/Cargo.toml

@@ -1,8 +1,8 @@
 [package]
 name = "pca9539-ner"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 
 [dependencies]
 embedded-hal-async.workspace = true
-embedded-hal.workspace = true
+embedded-hal.workspace = true

crates/sht3x-ner/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "sht3x-ner"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 
 [dependencies]
 defmt.workspace = true

crates/vl6180x-ner/Cargo.toml

@@ -1,10 +1,10 @@
 [package]
 name = "vl6180x-ner"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 
 [dependencies]
 embedded-hal-async.workspace = true
 embedded-hal.workspace = true
 int-enum = {version = "1.1.2", default-features = false}
-#int-enum-impl = "0.5.0"
+#int-enum-impl = "0.5.0"

crates/vl6180x-ner/src/config.rs

@@ -139,7 +139,7 @@ impl Config {
     pub fn set_range_inter_measurement_period(&mut self, time_ms: u16) -> Result<(), Error<()>> {
         let min_eq_val = ((self.range_max_convergence_time + 5) as f32 / 0.9) as u16;
         let min = if 10 < min_eq_val { min_eq_val } else { 10 };
-        if time_ms % 10 != 0 || time_ms < min || time_ms > 2550 {
+        if !time_ms.is_multiple_of(10) || time_ms < min || time_ms > 2550 {
             return Err(Error::InvalidConfigurationValue(time_ms));
         }
         self.range_inter_measurement_period = time_ms;
@@ -257,7 +257,7 @@ impl Config {
     pub fn set_ambient_inter_measurement_period(&mut self, time_ms: u16) -> Result<(), Error<()>> {
         let min_eq_val = ((self.ambient_integration_period as f32 * 1.1) / 0.9) as u16;
         let min = if 10 < min_eq_val { min_eq_val } else { 10 };
-        if time_ms % 10 != 0 || time_ms < min || time_ms > 2560 {
+        if !time_ms.is_multiple_of(10) || time_ms < min || time_ms > 2560 {
             return Err(Error::InvalidConfigurationValue(time_ms));
         }
         self.ambient_inter_measurement_period = time_ms;

crates/vl6180x-ner/src/device_status.rs

@@ -95,10 +95,10 @@ where
 
     async fn wait_device_booted(&mut self) -> Result<(), E> {
         loop {
-            if let Ok(result) = self.read_named_register(SYSTEM__FRESH_OUT_OF_RESET).await {
-                if result == 0x01 {
-                    break;
-                }
+            if let Ok(result) = self.read_named_register(SYSTEM__FRESH_OUT_OF_RESET).await
+                && result == 0x01
+            {
+                break;
             }
         }
         Ok(())

crates/vl6180x-ner/src/i2c_interface.rs

@@ -1,7 +1,7 @@
 use embedded_hal_async::i2c::I2c;
 
 use super::*;
-use crate::register::{Register16Bit, Register8Bit};
+use crate::register::{Register8Bit, Register16Bit};
 
 impl<MODE, I2C, E> VL6180X<MODE, I2C>
 where

crates/vl6180x-ner/src/init.rs

@@ -2,8 +2,8 @@ use embedded_hal_async::i2c::I2c;
 
 use super::VL6180X;
 use crate::register::{
-    Register16Bit::*, Register8Bit::*, SysModeGpio1Polarity, SysModeGpio1Select,
-    AMBIENT_ANALOGUE_GAIN_CODE, RANGE_SCALAR_CODE,
+    AMBIENT_ANALOGUE_GAIN_CODE, RANGE_SCALAR_CODE, Register8Bit::*, Register16Bit::*,
+    SysModeGpio1Polarity, SysModeGpio1Select,
 };
 
 impl<MODE, I2C, E> VL6180X<MODE, I2C>

crates/vl6180x-ner/src/mode.rs

@@ -10,8 +10,8 @@ use embedded_hal_async::i2c::I2c;
 pub use powered_off::*;
 pub use ready::*;
 
-use crate::error::Error;
 use crate::VL6180X;
+use crate::error::Error;
 
 impl<MODE, I2C, E> VL6180X<MODE, I2C>
 where
@@ -93,12 +93,12 @@ where
     ///
     /// Does not return the result. To get the measured value the host has the following options:
     /// 1. Check regularly to see if the result is ready with [`read_ambient_lux`](VL6180X::read_ambient_lux)
-    ///     or [`read_ambient`](VL6180X::read_ambient)
+    ///    or [`read_ambient`](VL6180X::read_ambient)
     /// 2. Call [`read_ambient_lux_blocking`](VL6180X::read_ambient_lux_blocking) or
-    ///     [`read_ambient_blocking`](VL6180X::read_ambient_blocking) to have the driver
-    ///     perform the regular checks in a blocking way.
+    ///    [`read_ambient_blocking`](VL6180X::read_ambient_blocking) to have the driver
+    ///    perform the regular checks in a blocking way.
     /// 3. Wait for the ambient interrupt to be triggered, indicating that the
-    ///     new sample is ready, then call the methods listed in option 1.
+    ///    new sample is ready, then call the methods listed in option 1.
     pub async fn start_ambient_single(&mut self) -> Result<(), Error<E>> {
         self.start_ambient_single_direct().await?;
         Ok(())
@@ -115,9 +115,9 @@ where
     /// Does not return the result. To get the measured value the host has the following options:
     /// 1. Check regularly to see if the result is ready with [`read_range_mm()`](VL6180X::read_range_mm)
     /// 2. Call [`read_range_mm_blocking()`](VL6180X::read_range_mm_blocking) to have the driver
-    ///     perform the regular checks in a blocking way.
+    ///    perform the regular checks in a blocking way.
     /// 3. Wait for the range interrupt to be triggered, indicating that the
-    ///     new sample is ready, then call [`read_range_mm()`](VL6180X::read_range_mm).
+    ///    new sample is ready, then call [`read_range_mm()`](VL6180X::read_range_mm).
     pub async fn start_range_single(&mut self) -> Result<(), Error<E>> {
         self.start_range_single_direct().await?;
         Ok(())

crates/vl6180x-ner/src/mode/continuous.rs

@@ -1,6 +1,6 @@
 use embedded_hal_async::i2c::I2c;
 
-use crate::{error::Error, AllowCommunication, VL6180X};
+use crate::{AllowCommunication, VL6180X, error::Error};
 
 use super::{AllowReadMeasurement, AllowStartAmbientSingle, AllowStartRangeSingle, ReadyMode};
 

crates/vl6180x-ner/src/mode/dynamic.rs

@@ -1,8 +1,8 @@
-use crate::error::{Error, Error2};
 use crate::VL6180X;
+use crate::error::{Error, Error2};
+use OperatingMode::*;
 use embedded_hal::digital::OutputPin;
 use embedded_hal_async::i2c::I2c;
-use OperatingMode::*;
 
 /// A mode where the state is kept track of at runtime, instead of being
 /// encoded into the type. Thus allowing you to change the mode often,

crates/vl6180x-ner/src/mode/powered_off.rs

@@ -1,7 +1,7 @@
 use embedded_hal::digital::OutputPin;
 use embedded_hal_async::i2c::I2c;
 
-use crate::{error::Error2, VL6180X};
+use crate::{VL6180X, error::Error2};
 
 use super::ReadyMode;
 

crates/vl6180x-ner/src/mode/ready.rs

@@ -1,7 +1,7 @@
 use embedded_hal_async::i2c::I2c;
 
-use crate::{error::Error, Config};
 use crate::{AllowCommunication, VL6180X};
+use crate::{Config, error::Error};
 
 use super::{
     AllowReadMeasurement, AllowStartAmbientSingle, AllowStartRangeSingle, AmbientContinuousMode,

crates/vl6180x-ner/src/read_measurements.rs

@@ -3,12 +3,12 @@ use core::convert::TryFrom;
 use embedded_hal_async::i2c::I2c;
 
 use crate::{
+    VL6180X,
     error::Error,
     register::{
-        self, AmbientStatusErrorCode, RangeStatusErrorCode, Register16Bit, Register8Bit,
+        self, AmbientStatusErrorCode, RangeStatusErrorCode, Register8Bit, Register16Bit,
         ResultInterruptStatusGpioCode,
     },
-    VL6180X,
 };
 
 impl<MODE, I2C, E> VL6180X<MODE, I2C>

crates/vl6180x-ner/src/start_stop_measurements.rs

@@ -1,9 +1,9 @@
 use embedded_hal_async::i2c::I2c;
 
 use crate::{
+    VL6180X,
     error::Error,
     register::{InterleavedModeEnableCode, Register8Bit, SysAmbientStartCode, SysRangeStartCode},
-    VL6180X,
 };
 
 impl<MODE, I2C, E> VL6180X<MODE, I2C>

msb-fw-rs/Cargo.toml

@@ -1,5 +1,5 @@
 [package]
-edition = "2021"
+edition = "2024"
 name = "msb-fw-rs"
 version = "0.1.0"
 
@@ -24,4 +24,4 @@ vl6180x-ner = { version = "0.1.0", path = "../crates/vl6180x-ner", optional = tr
 default = ["temp-sensor", "imu-sensor"]
 tof-sensor =  ["dep:vl6180x-ner"]
 temp-sensor = ["dep:sht3x-ner"]
-imu-sensor = ["dep:lsm6dso-ner"]
+imu-sensor = ["dep:lsm6dso-ner"]

msb-fw-rs/src/controllers.rs

@@ -13,7 +13,7 @@ pub async fn control_leds(
 ) {
     let mut i = 0u8;
     loop {
-        if i % 8 == 0 {
+        if i.is_multiple_of(8) {
             match device_loc {
                 DeviceLocation::FrontLeft => {
                     led1.set_low();

msb-fw-rs/src/lib.rs

@@ -1,5 +1,4 @@
 #![no_std]
-#![feature(impl_trait_in_assoc_type)]
 
 // declare all files in this project except main
 pub mod can_handler;
@@ -12,7 +11,7 @@ pub mod readers;
 // dont import anything in a lib.rs file, instead use fully resolved definitions
 pub type SharedI2c3 = embassy_sync::mutex::Mutex<
     embassy_sync::blocking_mutex::raw::NoopRawMutex,
-    embassy_stm32::i2c::I2c<'static, embassy_stm32::mode::Async>,
+    embassy_stm32::i2c::I2c<'static, embassy_stm32::mode::Async, embassy_stm32::i2c::Master>,
 >;
 #[derive(Clone, defmt::Format)]
 pub enum DeviceLocation {