Updated crates for the fimrware part

firmware/Cargo.toml

@@ -5,25 +5,25 @@ version = "0.1.0"
 
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
-defmt = { version = "0.3", features = ["encoding-rzcobs"] }
+defmt = { version = "1.0", features = ["encoding-rzcobs"] }
 defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+panic-probe = { version = "1.0", features = ["print-defmt"] }
 rtic = { version = "2.0.1", features = [ "thumbv7-backend" ] }
-defmt-rtt = "0.4"
-stm32f4xx-hal = { version = "0.21.0", features = ["stm32f401", "usb_fs"] }
+defmt-rtt = "1.1"
+stm32f4xx-hal = { version = "0.23.0", features = ["stm32f401", "usb_fs"] }
 embedded-hal = {version = "1.0.0"}
 nb = "1.0.0"
 num-traits = { version = "0.2", default-features = false, features = ["libm"] }
 num = {version = "0.4", default-features = false}
 ufmt = "0.2.0"
-qmc5883l = "0.0.1"
+qmc5883l = {version = "0.0.1", git="https://github.com/patrickelectric/qmc5883l", rev="62b8a64b54e0f843ddf0c5942f8ed218b5f3e492"}
 rtic-monotonics = {version = "2.0.2", features = ["cortex-m-systick"]}
-xca9548a = "0.2.1"
+xca9548a = "1.0.0"
 as5048a = { git = "https://github.com/LongHairedHacker/as5048a", rev="b15d716bf47ce4975a6cefebf82006c9b09e8fea"}
 usb-device = "0.3.2"
 usbd-serial = "0.2.2"
 postcard = {version = "1.0.10", features = ["use-defmt"]} 
-heapless = {version = "0.8.0", features = ["defmt-03"]}
+heapless = {version = "0.9.2", features = ["defmt"]}
 radomctl-protocol = { path = "../protocol" }
 
 

firmware/src/bootloader.rs

@@ -1,4 +1,4 @@
-use core::{mem::MaybeUninit, ptr::addr_of_mut};
+use core::mem::MaybeUninit;
 
 use stm32f4xx_hal::pac;
 
@@ -9,7 +9,7 @@ fn jump_to_bootloader() {
         let address: u32 = 0x1FFF0000;
 
         let device = pac::Peripherals::steal();
-        device.SYSCFG.memrm.modify(|_, w| w.bits(0x01));
+        device.SYSCFG.memrmp().modify(|_, w| w.bits(0x01));
 
         let mut p = cortex_m::Peripherals::steal();
         p.SCB.invalidate_icache();

firmware/src/main.rs

@@ -33,6 +33,7 @@ mod app {
         otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
+        rcc::Config,
         signature, spi,
     };
     use usb_device::prelude::*;
@@ -93,26 +94,19 @@ mod app {
         bootloader::init();
 
         defmt::info!("init");
+        let mut rcc = cx
+            .device
+            .RCC
+            .freeze(Config::hse(25.MHz()).sysclk(84.MHz()).require_pll48clk());
 
-        let rcc = cx.device.RCC.constrain();
-
-        // Freeze the configuration of all the clocks in the system and store the frozen frequencies in
-        // `clocks`
-        let clocks = rcc
-            .cfgr
-            .use_hse(25.MHz())
-            .sysclk(84.MHz())
-            .require_pll48clk()
-            .freeze();
-
-        Mono::start(cx.core.SYST, clocks.sysclk().to_Hz());
+        Mono::start(cx.core.SYST, rcc.clocks.sysclk().to_Hz());
 
         defmt::info!("Clock Setup done");
 
         // Acquire the GPIO peripherials
-        let gpioa = cx.device.GPIOA.split();
-        let gpiob = cx.device.GPIOB.split();
-        let gpioc = cx.device.GPIOC.split();
+        let gpioa = cx.device.GPIOA.split(&mut rcc);
+        let gpiob = cx.device.GPIOB.split(&mut rcc);
+        let gpioc = cx.device.GPIOC.split(&mut rcc);
 
         let board_led = gpioc.pc13.into_push_pull_output();
 
@@ -128,7 +122,7 @@ mod app {
                 cx.device.OTG_FS_PWRCLK,
             ),
             (gpioa.pa11, gpioa.pa12),
-            &clocks,
+            &rcc.clocks,
         );
 
         unsafe {
@@ -177,7 +171,7 @@ mod app {
             i2c::Mode::Standard {
                 frequency: 400.kHz(),
             },
-            &clocks,
+            &mut rcc,
         );
 
         defmt::info!("I2C Setup done");
@@ -201,13 +195,13 @@ mod app {
         let pico = gpioa.pa7.into_push_pull_output();
         let spi1 = spi::Spi::new(
             cx.device.SPI1,
-            (sck, poci, pico),
+            (Some(sck), Some(poci), Some(pico)),
             spi::Mode {
                 polarity: spi::Polarity::IdleLow,
                 phase: spi::Phase::CaptureOnSecondTransition,
             },
             8.MHz(),
-            &clocks,
+            &mut rcc,
         );
 
         defmt::info!("SPI Setup done");

protocol/Cargo.toml

@@ -7,4 +7,4 @@ edition = "2021"
 
 [dependencies]
 serde = {version = "1.0.193", default-features = false, features = ["derive"]}
-heapless = {version = "0.8.0", features = ["serde"]}
+heapless = {version = "0.9.2", features = ["serde"]}