diff --git a/.gitignore b/.gitignore
index 4713399..3bf03d9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 /target
-/*/output.log
\ No newline at end of file
+/*/output.log
+*.bin
\ No newline at end of file
diff --git a/Cargo.lock b/Cargo.lock
index 67e6a78..8eb3a32 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,27 +1,62 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
-version = 3
+version = 4
 
 [[package]]
-name = "addr2line"
-version = "0.22.0"
+name = "anstream"
+version = "0.6.21"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e4503c46a5c0c7844e948c9a4d6acd9f50cccb4de1c48eb9e291ea17470c678"
+checksum = "43d5b281e737544384e969a5ccad3f1cdd24b48086a0fc1b2a5262a26b8f4f4a"
 dependencies = [
- "gimli",
+ "anstyle",
+ "anstyle-parse",
+ "anstyle-query",
+ "anstyle-wincon",
+ "colorchoice",
+ "is_terminal_polyfill",
+ "utf8parse",
 ]
 
 [[package]]
-name = "adler"
-version = "1.0.2"
+name = "anstyle"
+version = "1.0.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
+checksum = "5192cca8006f1fd4f7237516f40fa183bb07f8fbdfedaa0036de5ea9b0b45e78"
+
+[[package]]
+name = "anstyle-parse"
+version = "0.2.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e7644824f0aa2c7b9384579234ef10eb7efb6a0deb83f9630a49594dd9c15c2"
+dependencies = [
+ "utf8parse",
+]
+
+[[package]]
+name = "anstyle-query"
+version = "1.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "40c48f72fd53cd289104fc64099abca73db4166ad86ea0b4341abe65af83dadc"
+dependencies = [
+ "windows-sys 0.61.2",
+]
+
+[[package]]
+name = "anstyle-wincon"
+version = "3.0.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "291e6a250ff86cd4a820112fb8898808a366d8f9f58ce16d1f538353ad55747d"
+dependencies = [
+ "anstyle",
+ "once_cell_polyfill",
+ "windows-sys 0.61.2",
+]
 
 [[package]]
 name = "anyhow"
-version = "1.0.86"
+version = "1.0.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3d1d046238990b9cf5bcde22a3fb3584ee5cf65fb2765f454ed428c7a0063da"
+checksum = "a23eb6b1614318a8071c9b2521f36b424b2c83db5eb3a0fead4a6c0809af6e61"
 
 [[package]]
 name = "as5048a"
@@ -31,17 +66,6 @@ dependencies = [
  "embedded-hal 0.2.7",
 ]
 
-[[package]]
-name = "async-trait"
-version = "0.1.81"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6e0c28dcc82d7c8ead5cb13beb15405b57b8546e93215673ff8ca0349a028107"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.72",
-]
-
 [[package]]
 name = "atomic-polyfill"
 version = "1.0.3"
@@ -52,21 +76,27 @@ dependencies = [
 ]
 
 [[package]]
-name = "autocfg"
-version = "1.3.0"
+name = "atomic-waker"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
+
+[[package]]
+name = "autocfg"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c08606f8c3cbf4ce6ec8e28fb0014a2c086708fe954eaa885384a6165172e7e8"
 
 [[package]]
 name = "axum"
-version = "0.7.5"
+version = "0.8.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3a6c9af12842a67734c9a2e355436e5d03b22383ed60cf13cd0c18fbfe3dcbcf"
+checksum = "8b52af3cb4058c895d37317bb27508dccc8e5f2d39454016b297bf4a400597b8"
 dependencies = [
- "async-trait",
  "axum-core",
  "axum-macros",
  "bytes",
+ "form_urlencoded",
  "futures-util",
  "http",
  "http-body",
@@ -79,12 +109,11 @@ dependencies = [
  "mime",
  "percent-encoding",
  "pin-project-lite",
- "rustversion",
- "serde",
+ "serde_core",
  "serde_json",
  "serde_path_to_error",
  "serde_urlencoded",
- "sync_wrapper 1.0.1",
+ "sync_wrapper",
  "tokio",
  "tower",
  "tower-layer",
@@ -94,20 +123,18 @@ dependencies = [
 
 [[package]]
 name = "axum-core"
-version = "0.4.3"
+version = "0.5.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a15c63fd72d41492dc4f497196f5da1fb04fb7529e631d73630d1b491e47a2e3"
+checksum = "08c78f31d7b1291f7ee735c1c6780ccde7785daae9a9206026862dab7d8792d1"
 dependencies = [
- "async-trait",
  "bytes",
- "futures-util",
+ "futures-core",
  "http",
  "http-body",
  "http-body-util",
  "mime",
  "pin-project-lite",
- "rustversion",
- "sync_wrapper 0.1.2",
+ "sync_wrapper",
  "tower-layer",
  "tower-service",
  "tracing",
@@ -115,29 +142,13 @@ dependencies = [
 
 [[package]]
 name = "axum-macros"
-version = "0.4.1"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "00c055ee2d014ae5981ce1016374e8213682aa14d9bf40e48ab48b5f3ef20eaa"
+checksum = "604fde5e028fea851ce1d8570bbdc034bec850d157f7569d10f347d06808c05c"
 dependencies = [
- "heck",
  "proc-macro2",
  "quote",
- "syn 2.0.72",
-]
-
-[[package]]
-name = "backtrace"
-version = "0.3.73"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5cc23269a4f8976d0a4d2e7109211a419fe30e8d88d677cd60b6bc79c5732e0a"
-dependencies = [
- "addr2line",
- "cc",
- "cfg-if",
- "libc",
- "miniz_oxide",
- "object",
- "rustc-demangle",
+ "syn 2.0.111",
 ]
 
 [[package]]
@@ -146,7 +157,7 @@ version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5deb64efa5bd81e31fcd1938615a6d98c82eafcbcd787162b6f63b91d6bac5b3"
 dependencies = [
- "rustc_version",
+ "rustc_version 0.2.3",
 ]
 
 [[package]]
@@ -169,39 +180,144 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.6.0"
+version = "2.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3"
+
+[[package]]
+name = "bumpalo"
+version = "3.19.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5dd9dc738b7a8311c7ade152424974d8115f2cdad61e8dab8dac9f2362298510"
+
+[[package]]
+name = "byteorder"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.6.1"
+version = "1.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
+checksum = "b35204fbdc0b3f4446b89fc1ac2cf84a8a68971995d0bf2e925ec7cd960f9cb3"
 
 [[package]]
 name = "cc"
-version = "1.1.6"
+version = "1.2.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2aba8f4e9906c7ce3c73463f62a7f0c65183ada1a2d47e397cc8810827f9694f"
+checksum = "7a0aeaff4ff1a90589618835a598e545176939b97874f7abc7851caa0618f203"
+dependencies = [
+ "find-msvc-tools",
+ "shlex",
+]
 
 [[package]]
 name = "cfg-if"
-version = "1.0.0"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+checksum = "9330f8b2ff13f34540b44e946ef35111825727b38d33286ef986142615121801"
+
+[[package]]
+name = "cfg_aliases"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "613afe47fcd5fac7ccf1db93babcb082c5994d996f20b8b159f2ad1658eb5724"
+
+[[package]]
+name = "clap"
+version = "4.5.53"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c9e340e012a1bf4935f5282ed1436d1489548e8f72308207ea5df0e23d2d03f8"
+dependencies = [
+ "clap_builder",
+ "clap_derive",
+]
+
+[[package]]
+name = "clap_builder"
+version = "4.5.53"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d76b5d13eaa18c901fd2f7fca939fefe3a0727a953561fefdf3b2922b8569d00"
+dependencies = [
+ "anstream",
+ "anstyle",
+ "clap_lex",
+ "strsim",
+]
+
+[[package]]
+name = "clap_derive"
+version = "4.5.49"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2a0b5487afeab2deb2ff4e03a807ad1a03ac532ff5a2cee5d86884440c7f7671"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
+[[package]]
+name = "clap_lex"
+version = "0.7.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a1d728cc89cf3aee9ff92b05e62b19ee65a02b5702cff7d5a377e32c6ae29d8d"
+
+[[package]]
+name = "cobs"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0fa961b519f0b462e3a3b4a34b64d119eeaca1d59af726fe450bbba07a9fc0a1"
+dependencies = [
+ "thiserror 2.0.17",
+]
+
+[[package]]
+name = "colorchoice"
+version = "1.0.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b05b61dc5112cbb17e4b6cd61790d9845d13888356391624cbe7e41efeac1e75"
 
 [[package]]
 name = "colored"
-version = "1.9.4"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a5f741c91823341bebf717d4c71bda820630ce065443b58bd1b7451af008355"
+checksum = "117725a109d387c937a1533ce01b450cbde6b88abceea8473c4d7a85853cda3c"
 dependencies = [
- "is-terminal",
  "lazy_static",
- "winapi",
+ "windows-sys 0.59.0",
 ]
 
+[[package]]
+name = "console"
+version = "0.16.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03e45a4a8926227e4197636ba97a9fc9b00477e9f4bd711395687c5f0734bec4"
+dependencies = [
+ "encode_unicode",
+ "libc",
+ "once_cell",
+ "unicode-width",
+ "windows-sys 0.61.2",
+]
+
+[[package]]
+name = "core-foundation"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b55271e5c8c478ad3f38ad24ef34923091e0548492a266d19b3c0b4d82574c63"
+dependencies = [
+ "core-foundation-sys",
+ "libc",
+]
+
+[[package]]
+name = "core-foundation-sys"
+version = "0.8.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
+
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -217,35 +333,44 @@ dependencies = [
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.3"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
+checksum = "801d4dec46b34c299ccf6b036717ae0fce602faa4f4fe816d9013b9a7c9f5ba6"
 dependencies = [
  "cortex-m-rt-macros",
 ]
 
 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.7.0"
+version = "0.7.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
+checksum = "e37549a379a9e0e6e576fd208ee60394ccb8be963889eebba3ffe0980364f472"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 
 [[package]]
 name = "defmt"
-version = "0.3.8"
+version = "0.3.100"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+checksum = "f0963443817029b2024136fc4dd07a5107eb8f977eaf18fcd1fdeb11306b64ad"
+dependencies = [
+ "defmt 1.0.1",
+]
+
+[[package]]
+name = "defmt"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "548d977b6da32fa1d1fda2876453da1e7df63ad0304c8b3dae4dbe7b96f39b78"
 dependencies = [
  "bitflags 1.3.2",
  "defmt-macros",
@@ -258,55 +383,90 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
 dependencies = [
  "critical-section",
- "defmt",
+ "defmt 0.3.100",
 ]
 
 [[package]]
 name = "defmt-macros"
-version = "0.3.9"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+checksum = "3d4fc12a85bcf441cfe44344c4b72d58493178ce635338a3f3b78943aceb258e"
 dependencies = [
  "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "defmt-parser"
-version = "0.3.4"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+checksum = "10d60334b3b2e7c9d91ef8150abfb6fa4c1c39ebbcf4a81c2e346aad939fee3e"
 dependencies = [
- "thiserror",
+ "thiserror 2.0.17",
 ]
 
 [[package]]
 name = "defmt-rtt"
-version = "0.4.1"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bab697b3dbbc1750b7c8b821aa6f6e7f2480b47a99bc057a2ed7b170ebef0c51"
+checksum = "93d5a25c99d89c40f5676bec8cefe0614f17f0f40e916f98e345dae941807f9e"
 dependencies = [
  "critical-section",
- "defmt",
+ "defmt 1.0.1",
 ]
 
 [[package]]
 name = "deranged"
-version = "0.3.11"
+version = "0.5.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b42b6fa04a440b495c8b04d0e71b707c585f83cb9cb28cf8cd0d976c315e31b4"
+checksum = "ececcb659e7ba858fb4f10388c250a7252eb0a27373f1a72b8748afdd248e587"
 dependencies = [
  "powerfmt",
 ]
 
 [[package]]
-name = "document-features"
-version = "0.2.10"
+name = "dfu-core"
+version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cb6969eaabd2421f8a2775cfd2471a2b634372b4a25d41e3bd647b79912850a0"
+checksum = "d0fff68a4cf37c95054fc71faac1d30beefece378b1a7b204f82d6a267218ec4"
+dependencies = [
+ "bytes",
+ "displaydoc",
+ "log",
+ "pretty-hex",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "dfu-libusb"
+version = "0.5.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d7fdcc0466c461fba888e62cda3e27a2413b56e99712cea36ddc1353c1cc67fd"
+dependencies = [
+ "dfu-core",
+ "rusb",
+ "thiserror 1.0.69",
+]
+
+[[package]]
+name = "displaydoc"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97369cbbc041bc366949bc74d34658d6cda5621039731c6310521892a3a20ae0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
+[[package]]
+name = "document-features"
+version = "0.2.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d4b8a88685455ed29a21542a33abd9cb6510b6b129abadabdcef0f4c55bc8f61"
 dependencies = [
  "litrs",
 ]
@@ -355,6 +515,18 @@ dependencies = [
  "nb 1.1.0",
 ]
 
+[[package]]
+name = "embedded-io"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
+
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "embedded-storage"
 version = "0.3.1"
@@ -362,61 +534,77 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
 
 [[package]]
-name = "enumflags2"
-version = "0.7.10"
+name = "encode_unicode"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d232db7f5956f3f14313dc2f87985c58bd2c695ce124c8cdd984e08e15ac133d"
+checksum = "34aa73646ffb006b8f5147f3dc182bd4bcb190227ce861fc4a4844bf8e3cb2c0"
+
+[[package]]
+name = "enumflags2"
+version = "0.7.12"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1027f7680c853e056ebcec683615fb6fbbc07dbaa13b4d5d9442b146ded4ecef"
 dependencies = [
  "enumflags2_derive",
 ]
 
 [[package]]
 name = "enumflags2_derive"
-version = "0.7.10"
+version = "0.7.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de0d48a183585823424a4ce1aa132d174a6a81bd540895822eb4c8373a8e49e8"
+checksum = "67c78a4d8fdf9953a5c9d458f9efe940fd97a0cab0941c075a813ac594733827"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "equivalent"
-version = "1.0.1"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
+
+[[package]]
+name = "errno"
+version = "0.3.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+dependencies = [
+ "libc",
+ "windows-sys 0.61.2",
+]
 
 [[package]]
 name = "fern"
-version = "0.6.2"
+version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9f0c14694cbd524c8720dd69b0e3179344f04ebb5f90f2e4a440c6ea3b2f1ee"
+checksum = "4316185f709b23713e41e3195f90edef7fb00c3ed4adc79769cf09cc762a3b29"
 dependencies = [
  "colored",
  "log",
 ]
 
 [[package]]
-name = "fnv"
-version = "1.0.7"
+name = "find-msvc-tools"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
+checksum = "645cbb3a84e60b7531617d5ae4e57f7e27308f6445f5abf653209ea76dec8dff"
 
 [[package]]
 name = "form_urlencoded"
-version = "1.2.1"
+version = "1.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e13624c2627564efccf4934284bdd98cbaa14e79b0b5a141218e507b3a823456"
+checksum = "cb4cb245038516f5f85277875cdaa4f7d2c9a0fa0468de06ed190163b1581fcf"
 dependencies = [
  "percent-encoding",
 ]
 
 [[package]]
 name = "fugit"
-version = "0.3.7"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
+checksum = "4e639847d312d9a82d2e75b0edcc1e934efcc64e6cb7aa94f0b1fbec0bc231d6"
 dependencies = [
  "gcd",
 ]
@@ -432,42 +620,92 @@ dependencies = [
 ]
 
 [[package]]
-name = "futures-channel"
-version = "0.3.30"
+name = "futures"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-executor",
+ "futures-io",
+ "futures-sink",
+ "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-channel"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
 dependencies = [
  "futures-core",
+ "futures-sink",
 ]
 
 [[package]]
 name = "futures-core"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+checksum = "05f29059c0c2090612e8d742178b0580d2dc940c837851ad723096f87af6663e"
 
 [[package]]
-name = "futures-sink"
-version = "0.3.30"
+name = "futures-executor"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
-
-[[package]]
-name = "futures-task"
-version = "0.3.30"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
-
-[[package]]
-name = "futures-util"
-version = "0.3.30"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "1e28d1d997f585e54aebc3f97d39e72338912123a67330d723fdbb564d646c9f"
 dependencies = [
  "futures-core",
  "futures-task",
+ "futures-util",
+]
+
+[[package]]
+name = "futures-io"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
+
+[[package]]
+name = "futures-macro"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
+[[package]]
+name = "futures-sink"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
+
+[[package]]
+name = "futures-task"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
+
+[[package]]
+name = "futures-util"
+version = "0.3.31"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
+dependencies = [
+ "futures-channel",
+ "futures-core",
+ "futures-io",
+ "futures-macro",
+ "futures-sink",
+ "futures-task",
+ "memchr",
  "pin-project-lite",
  "pin-utils",
+ "slab",
 ]
 
 [[package]]
@@ -477,37 +715,78 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
-name = "gimli"
-version = "0.29.0"
+name = "hash32"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "40ecd4077b5ae9fd2e9e169b102c6c330d0605168eb0e8bf79952b256dbefffd"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
 
 [[package]]
 name = "hashbrown"
-version = "0.14.5"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+checksum = "841d1cc9bed7f9236f321df977030373f4a4163ae1a7dbfe1a51a2c1a51d9100"
+
+[[package]]
+name = "heapless"
+version = "0.7.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
+ "rustc_version 0.4.1",
+ "serde",
+ "spin",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32 0.3.1",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "heapless"
+version = "0.9.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2af2455f757db2b292a9b1768c4b70186d443bcb3b316252d6b540aec1cd89ed"
+dependencies = [
+ "defmt 1.0.1",
+ "hash32 0.3.1",
+ "serde_core",
+ "stable_deref_trait",
+]
 
 [[package]]
 name = "heck"
-version = "0.4.1"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "95505c38b4572b2d910cecb0281560f54b440a19336cbbcb27bf6ce6adc6f5a8"
-
-[[package]]
-name = "hermit-abi"
-version = "0.3.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
 
 [[package]]
 name = "http"
-version = "1.1.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "21b9ddb458710bc376481b842f5da65cdf31522de232c1ca8146abce2a358258"
+checksum = "e3ba2a386d7f85a81f119ad7498ebe444d2e22c2af0b86b069416ace48b3311a"
 dependencies = [
  "bytes",
- "fnv",
  "itoa",
 ]
 
@@ -523,12 +802,12 @@ dependencies = [
 
 [[package]]
 name = "http-body-util"
-version = "0.1.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "793429d76616a256bcb62c2a2ec2bed781c8307e797e2598c50010f2bee2544f"
+checksum = "b021d93e26becf5dc7e1b75b1bed1fd93124b374ceb73f43d4d4eafec896a64a"
 dependencies = [
  "bytes",
- "futures-util",
+ "futures-core",
  "http",
  "http-body",
  "pin-project-lite",
@@ -536,15 +815,15 @@ dependencies = [
 
 [[package]]
 name = "http-range-header"
-version = "0.4.1"
+version = "0.4.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08a397c49fec283e3d6211adbe480be95aae5f304cfb923e9970e08956d5168a"
+checksum = "9171a2ea8a68358193d15dd5d70c1c10a2afc3e7e4c5bc92bc9f025cebd7359c"
 
 [[package]]
 name = "httparse"
-version = "1.9.4"
+version = "1.10.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fcc0b4a115bf80b728eb8ea024ad5bd707b615bfed49e0665b6e0f86fd082d9"
+checksum = "6dbf3de79e51f3d586ab4cb9d5c3e2c14aa28ed23d180cf89b4df0454a69cc87"
 
 [[package]]
 name = "httpdate"
@@ -554,70 +833,101 @@ checksum = "df3b46402a9d5adb4c86a0cf463f42e19994e3ee891101b1841f30a545cb49a9"
 
 [[package]]
 name = "humantime"
-version = "2.1.0"
+version = "2.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a3a5bfb195931eeb336b2a7b4d761daec841b97f947d34394601737a7bba5e4"
+checksum = "135b12329e5e3ce057a9f972339ea52bc954fe1e9358ef27f95e89716fbc5424"
 
 [[package]]
 name = "hyper"
-version = "1.4.1"
+version = "1.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50dfd22e0e76d0f662d429a5f80fcaf3855009297eab6a0a9f8543834744ba05"
+checksum = "2ab2d4f250c3d7b1c9fcdff1cece94ea4e2dfbec68614f7b87cb205f24ca9d11"
 dependencies = [
+ "atomic-waker",
  "bytes",
  "futures-channel",
- "futures-util",
+ "futures-core",
  "http",
  "http-body",
  "httparse",
  "httpdate",
  "itoa",
  "pin-project-lite",
+ "pin-utils",
  "smallvec",
  "tokio",
 ]
 
 [[package]]
 name = "hyper-util"
-version = "0.1.6"
+version = "0.1.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ab92f4f49ee4fb4f997c784b7a2e0fa70050211e0b6a287f898c3c9785ca956"
+checksum = "727805d60e7938b76b826a6ef209eb70eaa1812794f9424d4a4e2d740662df5f"
 dependencies = [
  "bytes",
- "futures-util",
+ "futures-core",
  "http",
  "http-body",
  "hyper",
  "pin-project-lite",
  "tokio",
+ "tower-service",
 ]
 
 [[package]]
 name = "indexmap"
-version = "2.2.6"
+version = "2.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+checksum = "0ad4bb2b565bca0645f4d68c5c9af97fba094e9791da685bf83cb5f3ce74acf2"
 dependencies = [
  "equivalent",
  "hashbrown",
 ]
 
 [[package]]
-name = "is-terminal"
-version = "0.4.12"
+name = "indicatif"
+version = "0.18.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
+checksum = "9375e112e4b463ec1b1c6c011953545c65a30164fbab5b581df32b3abf0dcb88"
 dependencies = [
- "hermit-abi",
- "libc",
- "windows-sys",
+ "console",
+ "portable-atomic",
+ "unicode-width",
+ "unit-prefix",
+ "web-time",
 ]
 
 [[package]]
-name = "itoa"
-version = "1.0.11"
+name = "io-kit-sys"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
+checksum = "617ee6cf8e3f66f3b4ea67a4058564628cde41901316e19f559e14c7c72c5e7b"
+dependencies = [
+ "core-foundation-sys",
+ "mach2",
+]
+
+[[package]]
+name = "is_terminal_polyfill"
+version = "1.70.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a6cb138bb79a146c1bd460005623e142ef0181e3d0219cb493e02f7d08a35695"
+
+[[package]]
+name = "itoa"
+version = "1.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "92ecc6618181def0457392ccd0ee51198e065e016d1d527a7ac1b6dc7c1f09d2"
+
+[[package]]
+name = "js-sys"
+version = "0.3.83"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "464a3709c7f55f1f721e5389aa6ea4e3bc6aba669353300af094b29ffbdde1d8"
+dependencies = [
+ "once_cell",
+ "wasm-bindgen",
+]
 
 [[package]]
 name = "lazy_static"
@@ -627,49 +937,89 @@ checksum = "bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe"
 
 [[package]]
 name = "libc"
-version = "0.2.155"
+version = "0.2.178"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "97b3888a4aecf77e811145cadf6eef5901f4782c53886191b2f693f24761847c"
+checksum = "37c93d8daa9d8a012fd8ab92f088405fb202ea0b6ab73ee2482ae66af4f42091"
 
 [[package]]
 name = "libm"
-version = "0.2.8"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
+checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
+
+[[package]]
+name = "libudev"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "78b324152da65df7bb95acfcaab55e3097ceaab02fb19b228a9eb74d55f135e0"
+dependencies = [
+ "libc",
+ "libudev-sys",
+]
+
+[[package]]
+name = "libudev-sys"
+version = "0.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c8469b4a23b962c1396b9b451dda50ef5b283e8dd309d69033475fa9b334324"
+dependencies = [
+ "libc",
+ "pkg-config",
+]
+
+[[package]]
+name = "libusb1-sys"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da050ade7ac4ff1ba5379af847a10a10a8e284181e060105bf8d86960ce9ce0f"
+dependencies = [
+ "cc",
+ "libc",
+ "pkg-config",
+ "vcpkg",
+]
 
 [[package]]
 name = "litrs"
-version = "0.4.1"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
+checksum = "11d3d7f243d5c5a8b9bb5d6dd2b1602c0cb0b9db1621bafc7ed66e35ff9fe092"
 
 [[package]]
 name = "lock_api"
-version = "0.4.12"
+version = "0.4.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "07af8b9cdd281b7915f413fa73f29ebd5d55d0d3f0155584dade1ff18cea1b17"
+checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965"
 dependencies = [
- "autocfg",
  "scopeguard",
 ]
 
 [[package]]
 name = "log"
-version = "0.4.22"
+version = "0.4.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+checksum = "5e5032e24019045c762d3c0f28f5b6b8bbf38563a65908389bf7978758920897"
+
+[[package]]
+name = "mach2"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d640282b302c0bb0a2a8e0233ead9035e3bed871f0b7e81fe4a1ec829765db44"
+dependencies = [
+ "libc",
+]
 
 [[package]]
 name = "matchit"
-version = "0.7.3"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0e7465ac9959cc2b1404e8e2367b43684a6d13790fe23056cc8c6c5a6b7bcb94"
+checksum = "47e1ffaa40ddd1f3ed91f717a33c8c0ee23fff369e3aa8772b9605cc1d22f4c3"
 
 [[package]]
 name = "memchr"
-version = "2.7.4"
+version = "2.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
+checksum = "f52b00d39961fc5b2736ea853c9cc86238e165017a493d1d5c8eac6bdc4cc273"
 
 [[package]]
 name = "mime"
@@ -688,30 +1038,28 @@ dependencies = [
 ]
 
 [[package]]
-name = "minimal-lexical"
-version = "0.2.1"
+name = "mio"
+version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68354c5c6bd36d73ff3feceb05efa59b6acb7626617f4962be322a825e61f79a"
-
-[[package]]
-name = "miniz_oxide"
-version = "0.7.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8a240ddb74feaf34a79a7add65a741f3167852fba007066dcac1ca548d89c08"
+checksum = "a69bcab0ad47271a0234d9422b131806bf3968021e5dc9328caf2d4cd58557fc"
 dependencies = [
- "adler",
+ "libc",
+ "log",
+ "wasi",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
-name = "mio"
-version = "1.0.1"
+name = "mio-serial"
+version = "5.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4569e456d394deccd22ce1c1913e6ea0e54519f577285001215d33557431afe4"
+checksum = "029e1f407e261176a983a6599c084efd322d9301028055c87174beac71397ba3"
 dependencies = [
- "hermit-abi",
- "libc",
- "wasi",
- "windows-sys",
+ "log",
+ "mio",
+ "nix 0.29.0",
+ "serialport",
+ "winapi",
 ]
 
 [[package]]
@@ -730,23 +1078,53 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
 [[package]]
-name = "nom"
-version = "7.1.3"
+name = "nix"
+version = "0.26.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d273983c5a657a70a3e8f2a01329822f3b8c8172b73826411a55751e404a0a4a"
+checksum = "598beaf3cc6fdd9a5dfb1630c2800c7acd31df7aaf0f565796fba2b53ca1af1b"
+dependencies = [
+ "bitflags 1.3.2",
+ "cfg-if",
+ "libc",
+]
+
+[[package]]
+name = "nix"
+version = "0.29.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "71e2746dc3a24dd78b3cfcb7be93368c6de9963d30f43a6a73998a9cf4b17b46"
+dependencies = [
+ "bitflags 2.10.0",
+ "cfg-if",
+ "cfg_aliases",
+ "libc",
+]
+
+[[package]]
+name = "nom"
+version = "8.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df9761775871bdef83bee530e60050f7e54b1105350d6884eb0fb4f46c2f9405"
 dependencies = [
  "memchr",
- "minimal-lexical",
+]
+
+[[package]]
+name = "nom-language"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2de2bc5b451bfedaef92c90b8939a8fff5770bdcc1fafd6239d086aab8fa6b29"
+dependencies = [
+ "nom",
 ]
 
 [[package]]
 name = "nu-ansi-term"
-version = "0.46.0"
+version = "0.50.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "77a8165726e8236064dbb45459242600304b42a5ea24ee2948e18e023bf7ba84"
+checksum = "7957b9740744892f114936ab4a57b3f487491bbeafaf8083688b16841a4240e5"
 dependencies = [
- "overload",
- "winapi",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
@@ -817,42 +1195,33 @@ dependencies = [
  "libm",
 ]
 
-[[package]]
-name = "object"
-version = "0.36.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f203fa8daa7bb185f760ae12bd8e097f63d17041dcdcaf675ac54cdf863170e"
-dependencies = [
- "memchr",
-]
-
 [[package]]
 name = "once_cell"
-version = "1.19.0"
+version = "1.21.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
+checksum = "42f5e15c9953c5e4ccceeb2e7382a716482c34515315f7b03532b8b4e8393d2d"
 
 [[package]]
-name = "overload"
-version = "0.1.1"
+name = "once_cell_polyfill"
+version = "1.70.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b15813163c1d831bf4a13c3610c05c0d03b39feb07f7e09fa234dac9b15aaf39"
+checksum = "384b8ab6d37215f3c5301a95a4accb5d64aa607f1fcb26a11b5303878451b4fe"
 
 [[package]]
 name = "panic-probe"
-version = "0.3.2"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
+checksum = "fd402d00b0fb94c5aee000029204a46884b1262e0c443f166d86d2c0747e1a1a"
 dependencies = [
  "cortex-m",
- "defmt",
+ "defmt 1.0.1",
 ]
 
 [[package]]
 name = "parking_lot"
-version = "0.12.3"
+version = "0.12.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1bf18183cf54e8d6059647fc3063646a1801cf30896933ec2311622cc4b9a27"
+checksum = "93857453250e3077bd71ff98b6a65ea6621a19bb0f559a85248955ac12c45a1a"
 dependencies = [
  "lock_api",
  "parking_lot_core",
@@ -860,48 +1229,28 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.10"
+version = "0.9.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
+checksum = "2621685985a2ebf1c516881c026032ac7deafcda1a2c9b7850dc81e3dfcb64c1"
 dependencies = [
  "cfg-if",
  "libc",
  "redox_syscall",
  "smallvec",
- "windows-targets",
+ "windows-link",
 ]
 
 [[package]]
 name = "percent-encoding"
-version = "2.3.1"
+version = "2.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
-
-[[package]]
-name = "pin-project"
-version = "1.1.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6bf43b791c5b9e34c3d182969b4abb522f9343702850a2e57f460d00d09b4b3"
-dependencies = [
- "pin-project-internal",
-]
-
-[[package]]
-name = "pin-project-internal"
-version = "1.1.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2f38a4412a78282e09a2cf38d195ea5420d15ba0602cb375210efbc877243965"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.72",
-]
+checksum = "9b4f627cb1b25917193a259e49bdad08f671f8d9708acfd5fe0a8c1455d87220"
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
 
 [[package]]
 name = "pin-utils"
@@ -910,10 +1259,30 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
-name = "portable-atomic"
-version = "1.7.0"
+name = "pkg-config"
+version = "0.3.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da544ee218f0d287a911e9c99a39a8c9bc8fcad3cb8db5959940044ecfc67265"
+checksum = "7edddbd0b52d732b21ad9a5fab5c704c14cd949e5e9a1ec5929a24fded1b904c"
+
+[[package]]
+name = "portable-atomic"
+version = "1.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f89776e4d69bb58bc6993e99ffa1d11f228b839984854c7daeb5d37f87cbe950"
+
+[[package]]
+name = "postcard"
+version = "1.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6764c3b5dd454e283a30e6dfe78e9b31096d9e32036b5d1eaac7a6119ccb9a24"
+dependencies = [
+ "cobs",
+ "defmt 1.0.1",
+ "embedded-io 0.4.0",
+ "embedded-io 0.6.1",
+ "heapless 0.7.17",
+ "serde",
+]
 
 [[package]]
 name = "powerfmt"
@@ -922,34 +1291,38 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
 
 [[package]]
-name = "proc-macro-error"
-version = "1.0.4"
+name = "pretty-hex"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
+checksum = "c6fa0831dd7cc608c38a5e323422a0077678fa5744aa2be4ad91c4ece8eec8d5"
+
+[[package]]
+name = "proc-macro-error-attr2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
 dependencies = [
- "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
- "version_check",
 ]
 
 [[package]]
-name = "proc-macro-error-attr"
-version = "1.0.4"
+name = "proc-macro-error2"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1be40180e52ecc98ad80b184934baf3d0d29f979574e439af5a55274b35f869"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
 dependencies = [
+ "proc-macro-error-attr2",
  "proc-macro2",
  "quote",
- "version_check",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.86"
+version = "1.0.104"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
+checksum = "9695f8df41bb4f3d222c95a67532365f569318332d03d5f3f67f37b20e6ebdf0"
 dependencies = [
  "unicode-ident",
 ]
@@ -957,17 +1330,16 @@ dependencies = [
 [[package]]
 name = "qmc5883l"
 version = "0.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d3c1eccef44c00b214bee71a965c661b1460867983f6dace5e8d506154a3cef2"
+source = "git+https://github.com/patrickelectric/qmc5883l?rev=62b8a64b54e0f843ddf0c5942f8ed218b5f3e492#62b8a64b54e0f843ddf0c5942f8ed218b5f3e492"
 dependencies = [
- "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.36"
+version = "1.0.40"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fa76aaf39101c457836aec0ce2316dbdc3ab723cdda1c6bd4e6ad4208acaca7"
+checksum = "1885c039570dc00dcb4ff087a89e185fd56bae234ddc7f056a945bf36467248d"
 dependencies = [
  "proc-macro2",
 ]
@@ -978,35 +1350,59 @@ version = "0.1.0"
 dependencies = [
  "as5048a",
  "cortex-m",
- "defmt",
+ "defmt 1.0.1",
  "defmt-brtt",
  "defmt-rtt",
  "embedded-hal 1.0.0",
+ "heapless 0.9.2",
  "nb 1.1.0",
  "num",
  "num-traits",
  "panic-probe",
+ "postcard",
  "qmc5883l",
+ "radomctl-protocol",
  "rtic",
  "rtic-monotonics",
  "stm32f4xx-hal",
  "ufmt",
+ "usb-device",
+ "usbd-serial",
  "xca9548a",
 ]
 
+[[package]]
+name = "radomctl-protocol"
+version = "0.1.0"
+dependencies = [
+ "heapless 0.9.2",
+ "serde",
+]
+
 [[package]]
 name = "radomctld"
 version = "0.1.0"
 dependencies = [
  "anyhow",
  "axum",
+ "bytes",
+ "clap",
+ "dfu-libusb",
  "fern",
+ "futures",
  "humantime",
+ "indicatif",
  "log",
  "nom",
+ "nom-language",
+ "postcard",
+ "radomctl-protocol",
+ "rusb",
  "serde_json",
+ "serialport",
  "tokio",
- "tokio-macros 0.2.6",
+ "tokio-serial",
+ "tokio-util",
  "tower-http",
  "tracing",
  "tracing-subscriber",
@@ -1019,35 +1415,42 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
-name = "redox_syscall"
-version = "0.5.3"
+name = "rand_core"
+version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2a908a6e00f1fdd0dfd9c0eb08ce85126f6d8bbda50017e74bc4a4b7d4a926a4"
+checksum = "99d9a13982dcf210057a8a78572b2217b667c3beacbf3a0d8b454f6f82837d38"
+
+[[package]]
+name = "redox_syscall"
+version = "0.5.18"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed2bf2547551a7053d6fdfafda3f938979645c44812fbfcda098faae3f1a362d"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.10.0",
 ]
 
 [[package]]
 name = "rtic"
-version = "2.1.1"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+checksum = "6bc68b1fa2eefbb7ad6747b299b79c8fca92163dfa46f0e279f39109cf272186"
 dependencies = [
- "atomic-polyfill",
  "bare-metal 1.0.0",
  "cortex-m",
  "critical-section",
+ "portable-atomic",
  "rtic-core",
  "rtic-macros",
 ]
 
 [[package]]
 name = "rtic-common"
-version = "1.0.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+checksum = "67caeecca87cb20e1101eb104b0f05604633b7ab1035cce777417c6fb7c8f9a0"
 dependencies = [
  "critical-section",
+ "portable-atomic",
 ]
 
 [[package]]
@@ -1058,22 +1461,22 @@ checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
 name = "rtic-macros"
-version = "2.1.0"
+version = "2.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+checksum = "f387b12bd6c01d2c9d4776dddeefaf0ae51b9497c83c0186b1693f6821ff3c4a"
 dependencies = [
  "indexmap",
- "proc-macro-error",
+ "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "2.0.2"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e17f88319061d17d3b99997263397b176e3260177e2b4ff4ffed0078d97894c"
+checksum = "99f9923ce32637ee40c0cb28fbbc2fad880d8aebea2d545918c6971ae9be3d17"
 dependencies = [
  "cfg-if",
  "cortex-m",
@@ -1084,9 +1487,9 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "2.0.0"
+version = "2.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
+checksum = "61485474f5a23247ae1d4875f2bfe860be9b3030dbf87c232e50799e021429a1"
 dependencies = [
  "critical-section",
  "embedded-hal 1.0.0",
@@ -1097,10 +1500,14 @@ dependencies = [
 ]
 
 [[package]]
-name = "rustc-demangle"
-version = "0.1.24"
+name = "rusb"
+version = "0.9.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "719b953e2095829ee67db738b3bfa9fa368c94900df327b3f07fe6e794d2fe1f"
+checksum = "ab9f9ff05b63a786553a4c02943b74b34a988448671001e9a27e2f0565cc05a4"
+dependencies = [
+ "libc",
+ "libusb1-sys",
+]
 
 [[package]]
 name = "rustc_version"
@@ -1108,20 +1515,29 @@ version = "0.2.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
 dependencies = [
- "semver",
+ "semver 0.9.0",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
+dependencies = [
+ "semver 1.0.27",
 ]
 
 [[package]]
 name = "rustversion"
-version = "1.0.17"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955d28af4278de8121b7ebeb796b6a45735dc01436d898801014aced2773a3d6"
+checksum = "b39cdef0fa800fc44525c84ccb54a029961a8215f9619753635a9c0d2538d46d"
 
 [[package]]
 name = "ryu"
-version = "1.0.18"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
+checksum = "a50f4cf475b65d88e057964e0e9bb1f0aa9bbb2036dc65c64596b42932536984"
 
 [[package]]
 name = "scopeguard"
@@ -1138,6 +1554,12 @@ dependencies = [
  "semver-parser",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.27"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d767eb0aabc880b29956c35734170f26ed551a859dbd361d140cdbeca61ab1e2"
+
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
@@ -1146,43 +1568,56 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.204"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bc76f558e0cbb2a839d37354c575f1dc3fdc6546b5be373ba43d95f231bf7c12"
+checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+dependencies = [
+ "serde_core",
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_core"
+version = "1.0.228"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.204"
+version = "1.0.228"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0cd7e117be63d3c3678776753929474f3b04a43a080c744d6b0ae2a8c28e222"
+checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "serde_json"
-version = "1.0.120"
+version = "1.0.148"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e0d21c9a8cae1235ad58a00c11cb40d4b1e5c784f1ef2c537876ed6ffd8b7c5"
+checksum = "3084b546a1dd6289475996f182a22aba973866ea8e8b02c51d9f46b1336a22da"
 dependencies = [
  "itoa",
- "ryu",
+ "memchr",
  "serde",
+ "serde_core",
+ "zmij",
 ]
 
 [[package]]
 name = "serde_path_to_error"
-version = "0.1.16"
+version = "0.1.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "af99884400da37c88f5e9146b7f1fd0fbcae8f6eec4e9da38b67d05486f814a6"
+checksum = "10a9ff822e371bb5403e391ecd83e182e0e77ba7f6fe0160b795797109d1b457"
 dependencies = [
  "itoa",
  "serde",
+ "serde_core",
 ]
 
 [[package]]
@@ -1197,6 +1632,26 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "serialport"
+version = "4.8.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "21f60a586160667241d7702c420fc223939fb3c0bb8d3fac84f78768e8970dee"
+dependencies = [
+ "bitflags 2.10.0",
+ "cfg-if",
+ "core-foundation",
+ "core-foundation-sys",
+ "io-kit-sys",
+ "libudev",
+ "mach2",
+ "nix 0.26.4",
+ "quote",
+ "scopeguard",
+ "unescaper",
+ "windows-sys 0.52.0",
+]
+
 [[package]]
 name = "sharded-slab"
 version = "0.1.7"
@@ -1207,53 +1662,76 @@ dependencies = [
 ]
 
 [[package]]
-name = "signal-hook-registry"
-version = "1.4.2"
+name = "shlex"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a9e9e0b4211b72e7b8b6e85c807d36c212bdb33ea8587f7569562a84df5465b1"
+checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
+
+[[package]]
+name = "signal-hook-registry"
+version = "1.4.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c4db69cba1110affc0e9f7bcd48bbf87b3f4fc7c61fc9155afd4c469eb3d6c1b"
 dependencies = [
+ "errno",
  "libc",
 ]
 
 [[package]]
-name = "smallvec"
-version = "1.13.2"
+name = "slab"
+version = "0.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+checksum = "7a2ae44ef20feb57a68b23d846850f861394c2e02dc425a50098ae8c90267589"
+
+[[package]]
+name = "smallvec"
+version = "1.15.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
 
 [[package]]
 name = "socket2"
-version = "0.5.7"
+version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ce305eb0b4296696835b71df73eb912e0f1ffd2556a501fcede6e0c50349191c"
+checksum = "17129e116933cf371d018bb80ae557e889637989d8638274fb25622827b03881"
 dependencies = [
  "libc",
- "windows-sys",
+ "windows-sys 0.60.2",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
 ]
 
 [[package]]
 name = "stable_deref_trait"
-version = "1.2.0"
+version = "1.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
+checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
 
 [[package]]
 name = "stm32f4"
-version = "0.15.1"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb94729242cd1aebe6dab42a2ca0131985ae93bc3ab2751b680df724bb35528d"
+checksum = "c41bd8922df364cb7054cae71a95dcbb32cffd25b5c0f9c00272ef8c82279a65"
 dependencies = [
- "bare-metal 1.0.0",
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
+ "portable-atomic",
  "vcell",
 ]
 
 [[package]]
 name = "stm32f4xx-hal"
-version = "0.21.0"
+version = "0.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ceed60591531f4da636d828701c74861a3d100e5c4e36677cadbd2eb6f46eb67"
+checksum = "4b5b520616b1ebd18b3ac2d809b8ae47851b14efc63aea7c85d8a45c1daa6fbb"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
@@ -1263,18 +1741,26 @@ dependencies = [
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-nb",
+ "embedded-io 0.6.1",
  "embedded-storage",
  "enumflags2",
  "fugit",
  "fugit-timer",
  "nb 1.1.0",
- "rand_core",
+ "rand_core 0.6.4",
+ "rand_core 0.9.3",
  "stm32f4",
+ "synopsys-usb-otg",
  "time",
- "vcell",
  "void",
 ]
 
+[[package]]
+name = "strsim"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
+
 [[package]]
 name = "syn"
 version = "1.0.109"
@@ -1288,9 +1774,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.72"
+version = "2.0.111"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dc4b9b9bf2add8093d3f2c0204471e951b2285580335de42f9d2534f3ae7a8af"
+checksum = "390cc9a294ab71bdb1aa2e99d13be9c753cd2d7bd6560c77118597410c4d2e87"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1299,51 +1785,76 @@ dependencies = [
 
 [[package]]
 name = "sync_wrapper"
-version = "0.1.2"
+version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2047c6ded9c721764247e62cd3b03c09ffc529b2ba5b10ec482ae507a4a70160"
+checksum = "0bf256ce5efdfa370213c1dabab5935a12e49f2c58d15e9eac2870d3b4f27263"
 
 [[package]]
-name = "sync_wrapper"
-version = "1.0.1"
+name = "synopsys-usb-otg"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7065abeca94b6a8a577f9bd45aa0867a2238b74e8eb67cf10d492bc39351394"
+checksum = "e948d523b316939545d8b21a48c27aef150ce25321b9f95ff7978647a806a6fe"
+dependencies = [
+ "cortex-m",
+ "embedded-hal 0.2.7",
+ "usb-device",
+ "vcell",
+]
 
 [[package]]
 name = "thiserror"
-version = "1.0.63"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0342370b38b6a11b6cc11d6a805569958d54cfa061a29969c3b5ce2ea405724"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
 dependencies = [
- "thiserror-impl",
+ "thiserror-impl 1.0.69",
+]
+
+[[package]]
+name = "thiserror"
+version = "2.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
+dependencies = [
+ "thiserror-impl 2.0.17",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.63"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.111",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "2.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "thread_local"
-version = "1.1.8"
+version = "1.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b9ef9bad013ada3808854ceac7b46812a6465ba368859a37e2100283d2d719c"
+checksum = "f60246a4944f24f6e018aa17cdeffb7818b76356965d03b07d6a9886e8962185"
 dependencies = [
  "cfg-if",
- "once_cell",
 ]
 
 [[package]]
 name = "time"
-version = "0.3.36"
+version = "0.3.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5dfd88e563464686c916c7e46e623e520ddc6d79fa6641390f2e3fa86e83e885"
+checksum = "91e7d9e3bb61134e77bde20dd4825b97c010155709965fedf0f49bb138e52a9d"
 dependencies = [
  "deranged",
  "num-conv",
@@ -1353,17 +1864,16 @@ dependencies = [
 
 [[package]]
 name = "time-core"
-version = "0.1.2"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
+checksum = "40868e7c1d2f0b8d73e4a8c7f0ff63af4f6d19be117e90bd73eb1d62cf831c6b"
 
 [[package]]
 name = "tokio"
-version = "1.39.2"
+version = "1.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "daa4fb1bc778bd6f04cbfc4bb2d06a7396a8f299dc33ea1900cedaa316f467b1"
+checksum = "ff360e02eab121e0bc37a2d3b4d4dc622e6eda3a8e5253d5435ecf5bd4c68408"
 dependencies = [
- "backtrace",
  "bytes",
  "libc",
  "mio",
@@ -1371,55 +1881,61 @@ dependencies = [
  "pin-project-lite",
  "signal-hook-registry",
  "socket2",
- "tokio-macros 2.4.0",
- "windows-sys",
+ "tokio-macros",
+ "windows-sys 0.61.2",
 ]
 
 [[package]]
 name = "tokio-macros"
-version = "0.2.6"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e44da00bfc73a25f814cd8d7e57a68a5c31b74b3152a0a1d1f590c97ed06265a"
+checksum = "af407857209536a95c8e56f8231ef2c2e2aff839b22e07a1ffcbc617e9db9fa5"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.111",
 ]
 
 [[package]]
-name = "tokio-macros"
-version = "2.4.0"
+name = "tokio-serial"
+version = "5.4.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "693d596312e88961bc67d7f1f97af8a70227d9f90c31bba5806eec004978d752"
+checksum = "aa1d5427f11ba7c5e6384521cfd76f2d64572ff29f3f4f7aa0f496282923fdc8"
 dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.72",
+ "bytes",
+ "cfg-if",
+ "futures",
+ "log",
+ "mio-serial",
+ "serialport",
+ "tokio",
+ "tokio-util",
 ]
 
 [[package]]
 name = "tokio-util"
-version = "0.7.11"
+version = "0.7.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cf6b47b3771c49ac75ad09a6162f53ad4b8088b76ac60e8ec1455b31a189fe1"
+checksum = "2efa149fe76073d6e8fd97ef4f4eca7b67f599660115591483572e406e165594"
 dependencies = [
  "bytes",
  "futures-core",
  "futures-sink",
+ "futures-util",
  "pin-project-lite",
  "tokio",
 ]
 
 [[package]]
 name = "tower"
-version = "0.4.13"
+version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b8fa9be0de6cf49e536ce1851f987bd21a43b771b09473c3549a6c853db37c1c"
+checksum = "d039ad9159c98b70ecfd540b2573b97f7f52c3e8d9f8ad57a24b916a536975f9"
 dependencies = [
  "futures-core",
  "futures-util",
- "pin-project",
  "pin-project-lite",
+ "sync_wrapper",
  "tokio",
  "tower-layer",
  "tower-service",
@@ -1428,12 +1944,13 @@ dependencies = [
 
 [[package]]
 name = "tower-http"
-version = "0.5.2"
+version = "0.6.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e9cd434a998747dd2c4276bc96ee2e0c7a2eadf3cae88e52be55a05fa9053f5"
+checksum = "d4e6559d53cc268e5031cd8429d05415bc4cb4aefc4aa5d6cc35fbf5b924a1f8"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.10.0",
  "bytes",
+ "futures-core",
  "futures-util",
  "http",
  "http-body",
@@ -1453,21 +1970,21 @@ dependencies = [
 
 [[package]]
 name = "tower-layer"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c20c8dbed6283a09604c3e69b4b7eeb54e298b8a600d4d5ecb5ad39de609f1d0"
+checksum = "121c2a6cda46980bb0fcd1647ffaf6cd3fc79a013de288782836f6df9c48780e"
 
 [[package]]
 name = "tower-service"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6bc1c9ce2b5135ac7f93c72918fc37feb872bdc6a5533a8b85eb4b86bfdae52"
+checksum = "8df9b6e13f2d32c91b9bd719c00d1958837bc7dec474d94952798cc8e69eeec3"
 
 [[package]]
 name = "tracing"
-version = "0.1.40"
+version = "0.1.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef"
+checksum = "63e71662fa4b2a2c3a26f570f037eb95bb1f85397f3cd8076caed2f026a6d100"
 dependencies = [
  "log",
  "pin-project-lite",
@@ -1477,20 +1994,20 @@ dependencies = [
 
 [[package]]
 name = "tracing-attributes"
-version = "0.1.27"
+version = "0.1.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
+checksum = "7490cfa5ec963746568740651ac6781f701c9c5ea257c58e057f3ba8cf69e8da"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.72",
+ "syn 2.0.111",
 ]
 
 [[package]]
 name = "tracing-core"
-version = "0.1.32"
+version = "0.1.36"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c06d3da6113f116aaee68e4d601191614c9053067f9ab7f6edbcb161237daa54"
+checksum = "db97caf9d906fbde555dd62fa95ddba9eecfd14cb388e4f491a66d74cd5fb79a"
 dependencies = [
  "once_cell",
  "valuable",
@@ -1509,9 +2026,9 @@ dependencies = [
 
 [[package]]
 name = "tracing-subscriber"
-version = "0.3.18"
+version = "0.3.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ad0f048c97dbd9faa9b7df56362b8ebcaa52adb06b498c050d2f4e32f90a7a8b"
+checksum = "2f30143827ddab0d256fd843b7a66d164e9f271cfa0dde49142c5ca0ca291f1e"
 dependencies = [
  "nu-ansi-term",
  "sharded-slab",
@@ -1549,25 +2066,71 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e87a2ed6b42ec5e28cc3b94c09982969e9227600b2e3dcbc1db927a84c06bd69"
 
 [[package]]
-name = "unicase"
-version = "2.7.0"
+name = "unescaper"
+version = "0.1.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7d2d4dafb69621809a81864c9c1b864479e1235c0dd4e199924b9742439ed89"
+checksum = "4064ed685c487dbc25bd3f0e9548f2e34bab9d18cefc700f9ec2dba74ba1138e"
 dependencies = [
- "version_check",
+ "thiserror 2.0.17",
 ]
 
 [[package]]
-name = "unicode-ident"
-version = "1.0.12"
+name = "unicase"
+version = "2.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
+checksum = "75b844d17643ee918803943289730bec8aac480150456169e647ed0b576ba539"
+
+[[package]]
+name = "unicode-ident"
+version = "1.0.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9312f7c4f6ff9069b165498234ce8be658059c6728633667c526e27dc2cf1df5"
+
+[[package]]
+name = "unicode-width"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4ac048d71ede7ee76d585517add45da530660ef4390e49b098733c6e897f254"
+
+[[package]]
+name = "unit-prefix"
+version = "0.5.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "81e544489bf3d8ef66c953931f56617f423cd4b5494be343d9b9d3dda037b9a3"
+
+[[package]]
+name = "usb-device"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
+dependencies = [
+ "heapless 0.8.0",
+ "portable-atomic",
+]
+
+[[package]]
+name = "usbd-serial"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
+dependencies = [
+ "embedded-hal 0.2.7",
+ "embedded-io 0.6.1",
+ "nb 1.1.0",
+ "usb-device",
+]
+
+[[package]]
+name = "utf8parse"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "06abde3611657adf66d383f00b093d7faecc7fa57071cce2578660c9f1010821"
 
 [[package]]
 name = "valuable"
-version = "0.1.0"
+version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "830b7e5d4d90034032940e4ace0d9a9a057e7a45cd94e6c007832e39edb82f6d"
+checksum = "ba73ea9cf16a25df0c8caa16c51acb937d5712a8429db78a3ee29d5dcacd3a65"
 
 [[package]]
 name = "vcell"
@@ -1576,10 +2139,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 
 [[package]]
-name = "version_check"
-version = "0.9.5"
+name = "vcpkg"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
+checksum = "accd4ea62f7bb7a82fe23066fb0957d48ef677f6eeb8215f372f52e48bb32426"
 
 [[package]]
 name = "void"
@@ -1598,9 +2161,64 @@ dependencies = [
 
 [[package]]
 name = "wasi"
-version = "0.11.0+wasi-snapshot-preview1"
+version = "0.11.1+wasi-snapshot-preview1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423"
+checksum = "ccf3ec651a847eb01de73ccad15eb7d99f80485de043efb2f370cd654f4ea44b"
+
+[[package]]
+name = "wasm-bindgen"
+version = "0.2.106"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0d759f433fa64a2d763d1340820e46e111a7a5ab75f993d1852d70b03dbb80fd"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+ "rustversion",
+ "wasm-bindgen-macro",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-macro"
+version = "0.2.106"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "48cb0d2638f8baedbc542ed444afc0644a29166f1595371af4fecf8ce1e7eeb3"
+dependencies = [
+ "quote",
+ "wasm-bindgen-macro-support",
+]
+
+[[package]]
+name = "wasm-bindgen-macro-support"
+version = "0.2.106"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cefb59d5cd5f92d9dcf80e4683949f15ca4b511f4ac0a6e14d4e1ac60c6ecd40"
+dependencies = [
+ "bumpalo",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-shared"
+version = "0.2.106"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cbc538057e648b67f72a982e708d485b2efa771e1ac05fec311f9f63e5800db4"
+dependencies = [
+ "unicode-ident",
+]
+
+[[package]]
+name = "web-time"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a6580f308b1fad9207618087a65c04e7a10bc77e02c8e84e9b00dd4b12fa0bb"
+dependencies = [
+ "js-sys",
+ "wasm-bindgen",
+]
 
 [[package]]
 name = "winapi"
@@ -1624,13 +2242,46 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
+[[package]]
+name = "windows-link"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0805222e57f7521d6a62e36fa9163bc891acd422f971defe97d64e70d0a4fe5"
+
 [[package]]
 name = "windows-sys"
 version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
 dependencies = [
- "windows-targets",
+ "windows-targets 0.52.6",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.59.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
+dependencies = [
+ "windows-targets 0.52.6",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.60.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f2f500e4d28234f72040990ec9d39e3a6b950f9f22d3dba18416c35882612bcb"
+dependencies = [
+ "windows-targets 0.53.5",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.61.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
+dependencies = [
+ "windows-link",
 ]
 
 [[package]]
@@ -1639,14 +2290,31 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
 dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
+ "windows_aarch64_gnullvm 0.52.6",
+ "windows_aarch64_msvc 0.52.6",
+ "windows_i686_gnu 0.52.6",
+ "windows_i686_gnullvm 0.52.6",
+ "windows_i686_msvc 0.52.6",
+ "windows_x86_64_gnu 0.52.6",
+ "windows_x86_64_gnullvm 0.52.6",
+ "windows_x86_64_msvc 0.52.6",
+]
+
+[[package]]
+name = "windows-targets"
+version = "0.53.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4945f9f551b88e0d65f3db0bc25c33b8acea4d9e41163edf90dcd0b19f9069f3"
+dependencies = [
+ "windows-link",
+ "windows_aarch64_gnullvm 0.53.1",
+ "windows_aarch64_msvc 0.53.1",
+ "windows_i686_gnu 0.53.1",
+ "windows_i686_gnullvm 0.53.1",
+ "windows_i686_msvc 0.53.1",
+ "windows_x86_64_gnu 0.53.1",
+ "windows_x86_64_gnullvm 0.53.1",
+ "windows_x86_64_msvc 0.53.1",
 ]
 
 [[package]]
@@ -1655,42 +2323,84 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a9d8416fa8b42f5c947f8482c43e7d89e73a173cead56d044f6a56104a6d1b53"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b9d782e804c2f632e395708e99a94275910eb9100b2114651e04744e9b125006"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "960e6da069d81e09becb0ca57a65220ddff016ff2d6af6a223cf372a506593a3"
+
 [[package]]
 name = "windows_i686_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa7359d10048f68ab8b09fa71c3daccfb0e9b559aed648a8f95469c27057180c"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e7ac75179f18232fe9c285163565a57ef8d3c89254a30685b57d83a38d326c2"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9c3842cdd74a865a8066ab39c8a7a473c0778a3f29370b5fd6b4b9aa7df4a499"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.53.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ffa179e2d07eee8ad8f57493436566c7cc30ac536a3379fdf008f47f6bb7ae1"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.52.6"
@@ -1698,10 +2408,22 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
-name = "xca9548a"
-version = "0.2.1"
+name = "windows_x86_64_msvc"
+version = "0.53.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c56ce64000e6ecc101bedb2786273b8fc39f6f4e261097cf8200f89936ce108"
+checksum = "d6bbff5f0aada427a1e5a6da5f1f98158182f26556f345ac9e04d36d0ebed650"
+
+[[package]]
+name = "xca9548a"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "df94495e7f28d551b72b2bf5304267fbb0075d78b182b49fbfb74f8910d63fec"
 dependencies = [
- "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
 ]
+
+[[package]]
+name = "zmij"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6d6085d62852e35540689d1f97ad663e3971fc19cf5eceab364d62c646ea167"
diff --git a/Cargo.toml b/Cargo.toml
index fe5402c..ed7d23d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -4,6 +4,7 @@ resolver = "2"
 members = [ 
     "daemon",
     "firmware",
+    "protocol",
 ]
 
 
diff --git a/daemon/Cargo.toml b/daemon/Cargo.toml
index 8f34f13..79b7d20 100644
--- a/daemon/Cargo.toml
+++ b/daemon/Cargo.toml
@@ -5,14 +5,26 @@ edition = "2021"
 
 [dependencies]
 anyhow = "1.0.83"
-axum = { version = "0.7.5", features = ["macros"] }
-fern = { version = "0.6.2", features = ["colored"] }
+axum = { version = "0.8.8", features = ["macros"] }
+fern = { version = "0.7.1", features = ["colored"] }
 humantime = "2.1.0"
 log = "0.4.21"
-nom = "7.1.3"
+nom = "8.0.0"
 serde_json = "1.0.118"
+serialport = "4.5.1"
 tokio = {version = "1.37.0", features = ["full"]}
-tokio-macros = { version = "0.2.0-alpha.6" }
-tower-http = { version = "0.5.2", features = ["fs", "trace"] }
+tower-http = { version = "0.6.8", features = ["fs", "trace"] }
+dfu-libusb = "0.5.5"
+rusb = "0.9"
+clap = { version = "4.5.19", features = ["derive"] }
+indicatif = "0.18.3"
+tokio-serial = {version = "5.4.4", features = ["codec", "rt"] }
+tokio-util = { version = "0.7.13", features = ["codec", "rt"] }
+bytes = "1.9.0"
+futures = "0.3.31"
+nom-language = "0.1.0"
 tracing = "0.1.40"
 tracing-subscriber = "0.3.18"
+radomctl-protocol = { path = "../protocol" }
+postcard = {version = "1.0.10", features = ["use-std"]}
+
diff --git a/daemon/src/bin/flash-dfu.rs b/daemon/src/bin/flash-dfu.rs
new file mode 100644
index 0000000..16f7677
--- /dev/null
+++ b/daemon/src/bin/flash-dfu.rs
@@ -0,0 +1,111 @@
+use std::{
+    io::{self, Seek},
+    thread,
+    time::{self, Duration},
+};
+
+use anyhow::{anyhow, Context};
+use clap::Parser;
+use dfu_libusb::{Dfu, DfuLibusb};
+use postcard::to_stdvec_cobs;
+use radomctl_protocol::*;
+
+#[derive(Parser)]
+struct Cli {
+    /// The usb serial number of the radom-controller
+    #[arg(short, long)]
+    serialnumber: String,
+
+    /// The firmware file to flash
+    #[arg(short, long)]
+    firmware: std::path::PathBuf,
+}
+
+pub fn main() -> anyhow::Result<()> {
+    let args = Cli::parse();
+
+    let ports = serialport::available_ports().unwrap_or(Vec::<serialport::SerialPortInfo>::new());
+
+    let mut radom_port: Option<String> = None;
+    for port in ports {
+        match port.port_type {
+            serialport::SerialPortType::UsbPort(usb_port_info) => {
+                match usb_port_info.serial_number {
+                    Some(serial) => {
+                        if serial == args.serialnumber {
+                            radom_port = Some(port.port_name.to_owned());
+                            println!("Found radom-controller as {}", port.port_name)
+                        }
+                    }
+                    None => continue,
+                }
+            }
+            _ => continue,
+        }
+    }
+
+    let radom_port = match radom_port {
+        Some(port) => port,
+        _ => {
+            return Err(anyhow!("No matching port found."));
+        }
+    };
+
+    println!("Setting radom-controller to dfu boot...");
+
+    let mut port = serialport::new(radom_port, 115_200)
+        .timeout(Duration::from_millis(10))
+        .open()
+        .expect("Failed to open port");
+
+    let host_msg = HostMessage::TriggerDFUBootloader;
+    let msg_bytes = to_stdvec_cobs(&host_msg).unwrap();
+    port.write_all(&msg_bytes).unwrap();
+    drop(port);
+
+    let context = rusb::Context::new()?;
+    let mut file = std::fs::File::open(args.firmware).context("firmware file not found")?;
+
+    thread::sleep(time::Duration::from_millis(2000));
+
+    let file_size =
+        u32::try_from(file.seek(io::SeekFrom::End(0))?).context("the firmware file is too big")?;
+    file.seek(io::SeekFrom::Start(0))?;
+
+    let vid = 0x0483;
+    let pid = 0xdf11;
+    let intf = 0;
+    let alt = 0;
+    let mut device: Dfu<rusb::Context> =
+        DfuLibusb::open(&context, vid, pid, intf, alt).context("could not open device")?;
+
+    println!("Flashing radom-controller ...");
+
+    let bar = indicatif::ProgressBar::new(file_size as u64);
+    bar.set_style(
+        indicatif::ProgressStyle::default_bar()
+            .template(
+                "{spinner:.green} [{elapsed_precise}] [{bar}] \
+                        {bytes}/{total_bytes} ({bytes_per_sec}) ({eta}) {msg:10}",
+            )?
+            .progress_chars("=>-"),
+    );
+
+    device.with_progress({
+        let bar = bar.clone();
+        move |count| {
+            bar.inc(count as u64);
+            if bar.position() == file_size as u64 {
+                bar.finish();
+            }
+        }
+    });
+
+    device
+        .download(file, file_size)
+        .context("could not write firmware to the device")?;
+
+    println!("Done!");
+
+    Ok(())
+}
diff --git a/daemon/src/bin/trigger-dfu.rs b/daemon/src/bin/trigger-dfu.rs
new file mode 100644
index 0000000..472f081
--- /dev/null
+++ b/daemon/src/bin/trigger-dfu.rs
@@ -0,0 +1,16 @@
+use std::time::Duration;
+
+use postcard::{from_bytes_cobs, to_stdvec_cobs};
+use radomctl_protocol::*;
+use radomctld::logger::setup_logger;
+
+pub fn main() -> () {
+    let mut port = serialport::new("/dev/ttyACM0", 115_200)
+        .timeout(Duration::from_millis(10))
+        .open()
+        .expect("Failed to open port");
+
+    let host_msg = HostMessage::TriggerDFUBootloader;
+    let msg_bytes = to_stdvec_cobs(&host_msg).unwrap();
+    port.write_all(&msg_bytes).unwrap();
+}
diff --git a/daemon/src/lib.rs b/daemon/src/lib.rs
new file mode 100644
index 0000000..85f9e01
--- /dev/null
+++ b/daemon/src/lib.rs
@@ -0,0 +1,3 @@
+pub mod logger;
+pub mod rotctlprotocol;
+pub mod rotor;
diff --git a/daemon/src/logger.rs b/daemon/src/logger.rs
index 204e75e..f1fb34d 100644
--- a/daemon/src/logger.rs
+++ b/daemon/src/logger.rs
@@ -1,7 +1,5 @@
 use anyhow::Result;
 use fern::colors::{Color, ColoredLevelConfig};
-use log::{debug, error, info, warn};
-use std::io;
 
 pub fn setup_logger() -> Result<()> {
     let colors = ColoredLevelConfig::new()
diff --git a/daemon/src/main.rs b/daemon/src/main.rs
index 5698a6c..c4aad25 100644
--- a/daemon/src/main.rs
+++ b/daemon/src/main.rs
@@ -1,12 +1,9 @@
-mod logger;
-mod rotctlprotocol;
-mod rotor;
-
+use anyhow::anyhow;
 use anyhow::Result;
-use fern::colors::{Color, ColoredLevelConfig};
-use log::{debug, error, info, warn, Level};
+use axum::{extract::State, routing::get, Json, Router};
+use clap::Parser;
+use log::{debug, error, info};
 use serde_json::{json, Value};
-use std::{borrow::Borrow, io};
 use tokio::{
     self,
     io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
@@ -14,27 +11,23 @@ use tokio::{
     sync::{mpsc, watch},
     task::JoinSet,
 };
+use tokio_serial;
 
-use axum::{
-    extract::State,
-    http::StatusCode,
-    routing::{get, post},
-    Json, Router,
+use radomctld::{
+    logger::setup_logger,
+    rotctlprotocol::{parse_command, Command},
+    rotor::control_rotor,
 };
 use tower_http::{
     services::{ServeDir, ServeFile},
     trace::TraceLayer,
 };
 
-use logger::setup_logger;
-use rotor::control_rotor;
-
-use rotctlprotocol::{parse_command, Command};
 
 async fn process_socket(
     socket: TcpStream,
     cmd_tx: mpsc::Sender<Command>,
-    mut pos_rx: watch::Receiver<(f32, f32)>,
+    pos_rx: watch::Receiver<(f32, f32)>,
 ) {
     let mut stream = BufStream::new(socket);
 
@@ -89,16 +82,61 @@ struct AxumAppState {
     pos_rx: watch::Receiver<(f32, f32)>,
 }
 
+#[derive(Parser)]
+struct Cli {
+    /// The usb serial number of the radom-controller
+    #[arg(short, long)]
+    serialnumber: String,
+
+    /// Listen address for the webserver
+    #[arg(short, long, default_value = "0.0.0.0:8000")]
+    web_listen_address: String,
+
+    /// Listen address for rotctl
+    #[arg(short, long, default_value = "0.0.0.0:1337")]
+    rotctl_listen_address: String,
+}
+
 #[tokio::main]
 async fn main() -> Result<()> {
     setup_logger()?;
 
+    let args = Cli::parse();
+
+    let ports = tokio_serial::available_ports().unwrap_or(Vec::<serialport::SerialPortInfo>::new());
+
+    let mut radom_port: Option<String> = None;
+    for port in ports {
+        match port.port_type {
+            serialport::SerialPortType::UsbPort(usb_port_info) => {
+                match usb_port_info.serial_number {
+                    Some(serial) => {
+                        debug!("Found a serial port with: {}", serial);
+                        if serial == args.serialnumber {
+                            radom_port = Some(port.port_name.to_owned());
+                            info!("Found radom-controller as {}", port.port_name)
+                        }
+                    }
+                    None => continue,
+                }
+            }
+            _ => continue,
+        }
+    }
+
+    let radom_port = match radom_port {
+        Some(port) => port,
+        _ => {
+            return Err(anyhow!("No matching port found."));
+        }
+    };
+
     let (cmd_tx, cmd_rx) = mpsc::channel::<Command>(16);
     let (pos_tx, pos_rx) = watch::channel::<(f32, f32)>((0.0, 0.0));
 
     let mut tasks = JoinSet::new();
 
-    tasks.spawn(async move { control_rotor(cmd_rx, pos_tx).await });
+    tasks.spawn(async move { control_rotor(cmd_rx, pos_tx, radom_port).await });
 
     let state = AxumAppState {
         pos_rx: pos_rx.clone(),
@@ -111,14 +149,14 @@ async fn main() -> Result<()> {
             .with_state(state)
             .layer(TraceLayer::new_for_http());
 
-        let listener = tokio::net::TcpListener::bind("0.0.0.0:8000").await?;
+        let listener = tokio::net::TcpListener::bind(args.web_listen_address).await?;
         axum::serve(listener, app).await?;
 
         Ok(())
     });
 
     tasks.spawn(async move {
-        let listener = TcpListener::bind("127.0.0.1:1337").await?;
+        let listener = TcpListener::bind(args.rotctl_listen_address).await?;
 
         loop {
             let (socket, _) = listener.accept().await?;
diff --git a/daemon/src/rotctlprotocol.rs b/daemon/src/rotctlprotocol.rs
index fc70ab3..c788810 100644
--- a/daemon/src/rotctlprotocol.rs
+++ b/daemon/src/rotctlprotocol.rs
@@ -4,13 +4,14 @@ use nom::{
     character::complete::{
         alphanumeric1, i8, multispace0, multispace1, newline, none_of, not_line_ending, space1,
     },
-    combinator::{all_consuming, map, opt, recognize, rest},
-    error::{context, convert_error, VerboseError},
-    multi::{many0, many1},
+    combinator::{all_consuming, map, opt, recognize},
+    error::context,
+    multi::many1,
     number::complete::float,
     sequence::{preceded, separated_pair, terminated},
     Err as NomErr, IResult, Parser,
 };
+use nom_language::error::{convert_error, VerboseError};
 
 #[derive(PartialEq, Debug)]
 pub enum Command {
diff --git a/daemon/src/rotor.rs b/daemon/src/rotor.rs
index 3c9b769..f5eb29b 100644
--- a/daemon/src/rotor.rs
+++ b/daemon/src/rotor.rs
@@ -1,52 +1,91 @@
 use anyhow::Result;
-use log::{debug, error, info, warn};
+use bytes::{BufMut, BytesMut};
+use futures::{stream::StreamExt, SinkExt};
+use postcard::{from_bytes_cobs, to_stdvec_cobs};
+use radomctl_protocol::{HostMessage, PositionTarget, RadomMessage};
+use std::{io, time::Duration};
 use tokio::{
     self,
-    io::{AsyncBufReadExt, AsyncWriteExt, BufStream},
-    net::{TcpListener, TcpStream},
-    sync::{self, mpsc, watch},
+    io::AsyncBufReadExt,
+    sync::{mpsc, watch},
     time,
 };
+use tokio_serial::SerialPortBuilderExt;
+use tokio_util::codec::{Decoder, Encoder};
 
-use crate::rotctlprotocol::{parse_command, Command};
+use crate::rotctlprotocol::Command;
+
+struct ProtocolCodec;
+
+impl Decoder for ProtocolCodec {
+    type Item = RadomMessage;
+    type Error = io::Error;
+
+    fn decode(&mut self, src: &mut BytesMut) -> Result<Option<Self::Item>, Self::Error> {
+        let frame_end = src.as_ref().iter().position(|b| *b == 0);
+        if let Some(n) = frame_end {
+            let mut frame = src.split_to(n + 1);
+            let host_msg = from_bytes_cobs::<RadomMessage>(&mut frame).unwrap();
+            return Ok(Some(host_msg));
+        }
+        Ok(None)
+    }
+}
+
+impl Encoder<HostMessage> for ProtocolCodec {
+    type Error = io::Error;
+
+    fn encode(&mut self, item: HostMessage, dst: &mut BytesMut) -> Result<(), Self::Error> {
+        let msg_bytes = to_stdvec_cobs(&item).unwrap();
+        dst.put(msg_bytes.as_slice());
+        dst.put_u8(0);
+        Ok(())
+    }
+}
 
 pub async fn control_rotor(
     mut rx_cmd: mpsc::Receiver<Command>,
     pos_tx: watch::Sender<(f32, f32)>,
+    radom_port: String,
 ) -> Result<()> {
-    let mut actual_az = 0.0;
-    let mut actual_el = 0.0;
+    let port = tokio_serial::new(radom_port, 115_200)
+        .timeout(Duration::from_millis(10))
+        .open_native_async()
+        .expect("Failed to open port");
 
-    let mut target_az = 0.0;
-    let mut target_el = 0.0;
+    let (mut port_writer, mut port_reader) = ProtocolCodec.framed(port).split();
 
     loop {
         tokio::select! {
             Some(command) = rx_cmd.recv() => {
                 match command {
                     Command::SetPos(az, el) => {
-                        info!("Received set pos {} {}", az, el);
-                        target_az = az;
-                        target_el = el;
+                        //info!("Received set pos {} {}", az, el);
+                        port_writer.send(HostMessage::SetTarget(PositionTarget { az, el })).await?;
                     }
                     _ => {}
                 }
             },
+
             _ = time::sleep(time::Duration::from_millis(100)) => {
-                if target_az < actual_az {
-                    actual_az -= 1.0;
-                } else if  target_az > actual_az  {
-                    actual_az += 1.0;
-                }
-
-                if target_el < actual_el {
-                    actual_el -= 1.0;
-                } else if  target_el > actual_el  {
-                    actual_el += 1.0;
-                }
-
-                pos_tx.send((actual_az, actual_el)).unwrap();
+                    //info!("Requesting status");
+                    port_writer.send(HostMessage::RequestStatus).await?;
             },
+
+            msg = port_reader.next() => {
+                match msg {
+                    Some(Ok(msg)) => {
+                        match msg {
+                            RadomMessage::Status(status) => {
+                                //info!("Received status {:?}", status);
+                                pos_tx.send((status.position.az, status.position.el)).unwrap();
+                            }
+                            _ => {}
+                        }
+                    }
+                    _ => {}
+                }
+            }
             else => return Ok(())
         };
     }
diff --git a/firmware/.cargo/config.toml b/firmware/.cargo/config.toml
index d190172..c543591 100644
--- a/firmware/.cargo/config.toml
+++ b/firmware/.cargo/config.toml
@@ -1,6 +1,6 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
 # TODO(2) replace `$CHIP` with your chip's name (see `probe-run --list-chips` output)
-runner = "probe-run --chip STM32F401CCU6"
+runner = "probe-rs run --chip STM32F401CCUx"
 rustflags = [
   "-C", "linker=flip-link",
   "-C", "link-arg=-Tlink.x",
@@ -18,4 +18,45 @@ rb = "run --bin"
 rrb = "run --release --bin"
 
 [env]
-DEFMT_LOG = "debug"
\ No newline at end of file
+DEFMT_LOG = "debug"
+
+
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
diff --git a/firmware/Cargo.toml b/firmware/Cargo.toml
index ff5f101..06b0e1b 100644
--- a/firmware/Cargo.toml
+++ b/firmware/Cargo.toml
@@ -5,21 +5,27 @@ 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"] }
+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 = "0.9.2", features = ["defmt"]}
+radomctl-protocol = { path = "../protocol" }
+
 
 [features]
 # set logging levels here
@@ -32,50 +38,3 @@ defmt-debug = []
 defmt-info = []
 defmt-warn = []
 defmt-error = []
-
-# cargo build/run
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 'z'         # <-
-overflow-checks = true  # <-
-
-# cargo test
-[profile.test]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 3           # <-
-overflow-checks = true  # <-
-
-# cargo build/run --release
-[profile.release]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-# cargo test --release
-[profile.bench]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-
-# uncomment this to switch from the crates.io version of defmt to its git version
-# check app-template's README for instructions
-# [patch.crates-io]
-# defmt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# defmt-rtt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# defmt-test = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# panic-probe = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
diff --git a/firmware/flash-dfu.sh b/firmware/flash-dfu.sh
new file mode 100755
index 0000000..9f1f583
--- /dev/null
+++ b/firmware/flash-dfu.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+cargo build --release && \
+arm-none-eabi-objcopy -O binary ../target/thumbv7em-none-eabihf/release/radomctl-firmware radomctl-firmware.bin && \
+dfu-util --alt 0 -s 0x08000000:leave -D radomctl-firmware.bin
\ No newline at end of file
diff --git a/firmware/src/bootloader.rs b/firmware/src/bootloader.rs
new file mode 100644
index 0000000..0c87fe3
--- /dev/null
+++ b/firmware/src/bootloader.rs
@@ -0,0 +1,60 @@
+use core::mem::MaybeUninit;
+use core::ptr::addr_of_mut;
+use stm32f4xx_hal::pac;
+
+fn jump_to_bootloader() {
+    unsafe {
+        cortex_m::interrupt::disable();
+
+        let address: u32 = 0x1FFF0000;
+
+        let device = pac::Peripherals::steal();
+        device.SYSCFG.memrmp().modify(|_, w| w.bits(0x01));
+
+        let mut p = cortex_m::Peripherals::steal();
+        p.SCB.invalidate_icache();
+        p.SCB.vtor.write(address as u32);
+
+        cortex_m::interrupt::enable();
+
+        cortex_m::asm::bootload(address as *const u32);
+    }
+}
+
+const BOOTLOADER_REQUESTED: u32 = 0xdecafbad;
+
+fn magic_mut_ptr() -> *mut u32 {
+    extern "C" {
+        #[link_name = "_dfu_magic"]
+        static mut magic: u32;
+    }
+
+    unsafe { addr_of_mut!(magic) }
+}
+
+fn get_bootloader_flag() -> u32 {
+    unsafe { magic_mut_ptr().read_volatile() }
+}
+
+fn set_bootloader_flag() {
+    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
+}
+
+fn clear_bootloader_flag() {
+    unsafe { magic_mut_ptr().write_volatile(BOOTLOADER_REQUESTED) };
+}
+
+pub fn init() {
+    let requested = get_bootloader_flag() == BOOTLOADER_REQUESTED;
+    if requested {
+        jump_to_bootloader();
+    }
+
+    clear_bootloader_flag();
+}
+
+pub fn reboot_to_bootloader() -> ! {
+    defmt::info!("Rebooting into the bootloader");
+    set_bootloader_flag();
+    cortex_m::peripheral::SCB::sys_reset();
+}
diff --git a/firmware/src/main.rs b/firmware/src/main.rs
index ac5a199..a651168 100644
--- a/firmware/src/main.rs
+++ b/firmware/src/main.rs
@@ -6,6 +6,8 @@ use defmt_brtt as _; // global logger
 use panic_probe as _;
 use stm32f4xx_hal as _;
 
+mod bootloader;
+
 // same panicking *behavior* as `panic-probe` but doesn't print a panic message
 // this prevents the panic message being printed *twice* when `defmt::panic` is invoked
 #[defmt::panic_handler]
@@ -13,39 +15,50 @@ fn panic() -> ! {
     cortex_m::asm::udf()
 }
 
-
 #[rtic::app(
     device = stm32f4xx_hal::pac,
     dispatchers = [SPI3]
 )]
 mod app {
 
-    
-
     use as5048a::AS5048A;
-    
+
+    use crate::bootloader;
+    use core::fmt::Write;
+    use heapless::{String, Vec};
+    use num_traits::{Float, FloatConst};
+    use postcard::{from_bytes_cobs, to_vec_cobs};
+    use qmc5883l::{self, QMC5883L};
+    use radomctl_protocol::*;
+    use radomctl_protocol::{HostMessage, *};
+    use rtic_monotonics::systick::prelude::*;
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
         i2c,
+        otg_fs::{UsbBus, UsbBusType, USB},
         pac::{I2C1, SPI1},
         prelude::*,
-        spi,
+        rcc::Config,
+        signature, spi,
     };
-
-    use num_traits::{Float, FloatConst};
-
+    use usb_device::prelude::*;
+    use usb_device::{class_prelude::UsbBusAllocator, device};
+    use usbd_serial::SerialPort;
     use xca9548a::{SlaveAddr, Xca9548a};
 
-    use qmc5883l::{self, QMC5883L};
-
-    use rtic_monotonics::systick::prelude::*;
-
     systick_monotonic!(Mono, 1000);
 
+    const USB_BUFFER_SIZE: usize = 64;
+
     // Shared resources go here
     #[shared]
     struct Shared {
         az_angle: i32,
+        az_compass: i32,
+        az_target: i32,
+
+        el_angle: i32,
+        el_target: i32,
     }
 
     // Local resources go here
@@ -60,46 +73,80 @@ mod app {
         spi_cs3: gpiob::PB15<Output<PushPull>>,
         spi1: spi::Spi<SPI1>,
 
-        az_enable: gpioa::PA12<Output<PushPull>>,
+        az_enable: gpiob::PB8<Output<PushPull>>,
         az_dir: gpioa::PA15<Output<PushPull>>,
         az_step: gpiob::PB3<Output<PushPull>>,
 
         el_enable: gpiob::PB4<Output<PushPull>>,
         el_dir: gpioa::PA8<Output<PushPull>>,
         el_step: gpioa::PA9<Output<PushPull>>,
+
+        usb_dev: UsbDevice<'static, UsbBusType>,
+        usb_serial: SerialPort<'static, UsbBusType>,
+        usb_buffer: Vec<u8, USB_BUFFER_SIZE>,
     }
 
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
+        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())
-            .require_pll48clk()
-            .sysclk(84.MHz())
-            .hclk(84.MHz())
-            .pclk1(42.MHz())
-            .pclk2(84.MHz())
-            .freeze();
-
-        Mono::start(cx.core.SYST, clocks.sysclk().to_Hz());
-
-        defmt::info!("Clock Setup done");
+        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();
 
+        defmt::info!("Basic gpio setup done");
+
+        static mut EP_MEMORY: [u32; 1024] = [0; 1024];
+        static mut USB_BUS: Option<usb_device::bus::UsbBusAllocator<UsbBusType>> = None;
+
+        let usb = USB::new(
+            (
+                cx.device.OTG_FS_GLOBAL,
+                cx.device.OTG_FS_DEVICE,
+                cx.device.OTG_FS_PWRCLK,
+            ),
+            (gpioa.pa11, gpioa.pa12),
+            &rcc.clocks,
+        );
+
+        unsafe {
+            USB_BUS.replace(UsbBus::new(usb, &mut EP_MEMORY));
+        }
+
+        let usb_serial = usbd_serial::SerialPort::new(unsafe { USB_BUS.as_ref().unwrap() });
+
+        let uid = signature::Uid::get();
+
+        static mut SERIAL: String<16> = String::new();
+        unsafe {
+            write!(SERIAL, "{}{:x}{:x}", uid.lot_num(), uid.x(), uid.y()).unwrap();
+        }
+
+        let usb_dev = unsafe {
+            UsbDeviceBuilder::new(USB_BUS.as_ref().unwrap(), UsbVidPid(0x16c0, 0x27dd))
+                .device_class(usbd_serial::USB_CLASS_CDC)
+                .strings(&[StringDescriptors::default()
+                    .manufacturer("Amteurfunk Forschungs Gruppe")
+                    .product("Radom Controler")
+                    .serial_number(SERIAL.as_ref())])
+                .unwrap()
+                .build()
+        };
+        defmt::info!("USB Setup done");
+
         // Todo: Check if internal pullups work here
         let scl = gpiob.pb6.into_alternate_open_drain();
         let sda = gpiob.pb7.into_alternate_open_drain();
@@ -109,13 +156,13 @@ mod app {
             i2c::Mode::Standard {
                 frequency: 400.kHz(),
             },
-            &clocks,
+            &mut rcc,
         );
 
         defmt::info!("I2C Setup done");
 
         let mut i2cmux = Xca9548a::new(i2c, SlaveAddr::default());
-        i2cmux.select_channels(0b0000_0001).unwrap();
+        //i2cmux.select_channels(0b0000_0001).unwrap();
 
         defmt::info!("I2C MUX Setup done");
 
@@ -133,22 +180,24 @@ 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::CaptureOnFirstTransition,
+                phase: spi::Phase::CaptureOnSecondTransition,
             },
             8.MHz(),
-            &clocks,
+            &mut rcc,
         );
 
         defmt::info!("SPI Setup done");
 
-        let az_enable = gpioa.pa12.into_push_pull_output();
+        let mut az_enable = gpiob.pb8.into_push_pull_output();
+        az_enable.set_high();
         let az_dir = gpioa.pa15.into_push_pull_output();
         let az_step = gpiob.pb3.into_push_pull_output();
 
-        let el_enable = gpiob.pb4.into_push_pull_output();
+        let mut el_enable = gpiob.pb4.into_push_pull_output();
+        el_enable.set_high();
         let el_dir = gpioa.pa8.into_push_pull_output();
         let el_step = gpioa.pa9.into_push_pull_output();
 
@@ -156,9 +205,17 @@ mod app {
 
         poll_i2c::spawn().ok();
         poll_spi::spawn().ok();
+        move_az::spawn().ok();
+        move_el::spawn().ok();
 
         (
-            Shared { az_angle: 0 },
+            Shared {
+                az_angle: 0,
+                az_target: 0,
+                el_angle: 0,
+                el_target: 0,
+                az_compass: 0,
+            },
             Local {
                 i2cmux,
                 board_led,
@@ -175,12 +232,16 @@ mod app {
                 el_enable,
                 el_dir,
                 el_step,
+
+                usb_dev,
+                usb_serial,
+                usb_buffer: Vec::new(),
             },
         )
     }
 
-    #[task(local = [i2cmux, board_led])]
-    async fn poll_i2c(cx: poll_i2c::Context) {
+    #[task(local = [i2cmux, board_led], shared = [az_compass])]
+    async fn poll_i2c(mut cx: poll_i2c::Context) {
         let i2cmux = cx.local.i2cmux;
         let board_led = cx.local.board_led;
 
@@ -212,6 +273,11 @@ mod app {
                             heading -= 2.0 * f32::PI();
                         }
                         let heading_degrees = heading * 180.0 / f32::PI();
+
+                        cx.shared.az_compass.lock(|az_compass| {
+                            *az_compass = heading_degrees as i32 * 10;
+                        });
+
                         defmt::info!("Heading1 {}", heading_degrees);
                         break;
                     }
@@ -253,16 +319,18 @@ mod app {
         }
     }
 
-    #[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle])]
+    #[task(local = [spi1, encoder_az, encoder_el, spi_cs2, spi_cs3], shared = [az_angle, el_angle])]
     async fn poll_spi(mut cx: poll_spi::Context) {
         let spi1 = cx.local.spi1;
         let encoder_az = cx.local.encoder_az;
+        let encoder_el = cx.local.encoder_el;
 
         loop {
+            /*
             let (diag, gain) = encoder_az.diag_gain(spi1).unwrap();
             defmt::info!("diag: {:08b} gain: {}", diag, gain);
             defmt::info!("magnitude: {:?}", encoder_az.magnitude(spi1).unwrap());
-
+            */
             let raw_angle = encoder_az.angle(spi1).unwrap();
             let angle_deg = raw_angle as i32 * 3600 / 16384;
 
@@ -270,39 +338,173 @@ mod app {
                 *az_angle = angle_deg;
             });
 
-            defmt::info!("angle: {:?}", angle_deg);
+            defmt::info!("az angle: {:?}", angle_deg);
 
-            Mono::delay(50.millis()).await;
+            let raw_angle = encoder_el.angle(spi1).unwrap();
+            let angle_deg = raw_angle as i32 * 3600 / 16384;
+
+            cx.shared.el_angle.lock(|el_angle| {
+                *el_angle = angle_deg;
+            });
+
+            defmt::info!("el angle: {:?}", angle_deg);
+
+            Mono::delay(1.millis()).await;
         }
     }
 
-    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle])]
+    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_target])]
     async fn move_az(mut cx: move_az::Context) {
         let az_enable = cx.local.az_enable;
         let az_dir = cx.local.az_dir;
         let az_step = cx.local.az_step;
 
-        let az_target = 42i32;
-
         loop {
+            let az_target = cx.shared.az_target.lock(|az_target| *az_target);
             let az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
             let diff = az_angle - az_target;
-            if diff.abs() > 2 {
-                az_enable.set_high();
 
-                if diff > 0 {
+            defmt::info!(
+                "angle diff/target/actual: {:?}/{:?}/{:?}",
+                diff,
+                az_target,
+                az_angle
+            );
+
+            let delay = if diff.abs() < 10 {
+                10.millis()
+            } else if diff < 100 {
+                5.millis()
+            } else {
+                1.millis()
+            };
+
+            if diff.abs() > 50 {
+                az_enable.set_low();
+                if diff < 0 {
                     az_dir.set_high();
                 } else {
                     az_dir.set_low();
                 }
 
-                az_step.set_high();
-                Mono::delay(250.micros()).await;
                 az_step.set_low();
-                Mono::delay(250.micros()).await;
+                Mono::delay(delay / 2).await;
+                az_step.set_high();
+                Mono::delay(delay / 2).await;
             } else {
-                az_enable.set_low();
-                Mono::delay(500.micros()).await;
+                az_enable.set_high();
+                Mono::delay(delay).await;
+            }
+        }
+    }
+
+    #[task(local = [el_enable, el_dir, el_step], shared = [el_angle, el_target])]
+    async fn move_el(mut cx: move_el::Context) {
+        let el_enable = cx.local.el_enable;
+        let el_dir = cx.local.el_dir;
+        let el_step = cx.local.el_step;
+
+        loop {
+            let el_target = cx.shared.el_target.lock(|el_target| *el_target);
+            let el_angle = cx.shared.el_angle.lock(|el_angle| *el_angle);
+            let diff = el_angle - el_target;
+
+            defmt::info!(
+                "angle diff/target/actual: {:?}/{:?}/{:?}",
+                diff,
+                el_target,
+                el_angle
+            );
+
+            let delay = if diff.abs() < 10 {
+                10.millis()
+            } else if diff < 100 {
+                5.millis()
+            } else {
+                1.millis()
+            };
+
+            if diff.abs() > 50 {
+                el_enable.set_low();
+                if diff < 0 {
+                    el_dir.set_high();
+                } else {
+                    el_dir.set_low();
+                }
+
+                el_step.set_low();
+                Mono::delay(delay / 2).await;
+                el_step.set_high();
+                Mono::delay(delay / 2).await;
+            } else {
+                el_enable.set_high();
+                Mono::delay(delay).await;
+            }
+        }
+    }
+
+    #[task(binds=OTG_FS, local=[usb_dev, usb_serial, usb_buffer], shared=[az_target, el_target, az_angle, el_angle])]
+    fn usb_fs(mut cx: usb_fs::Context) {
+        let usb_dev = cx.local.usb_dev;
+        let serial = cx.local.usb_serial;
+        let buffer = cx.local.usb_buffer;
+
+        if !usb_dev.poll(&mut [serial]) {
+            return;
+        }
+
+        let mut tmp = [0u8; 16];
+        match serial.read(&mut tmp) {
+            Ok(count) if count > 0 => {
+                if buffer.extend_from_slice(&tmp[0..count]).is_err() {
+                    buffer.clear();
+                    defmt::error!("Buffer overflow while waiting for the end of the packet");
+                }
+            }
+            _ => {}
+        }
+
+        loop {
+            if let Some(idx) = buffer.iter().position(|&x| x == 0) {
+                let (msg, rest) = buffer.split_at(idx + 1);
+
+                let mut message = [0u8; 128];
+                message[0..msg.len()].clone_from_slice(msg);
+                let host_msg = from_bytes_cobs::<HostMessage>(&mut message);
+
+                match host_msg {
+                    Ok(host_msg) => match host_msg {
+                        HostMessage::RequestStatus => {
+                            let status = StatusMessage {
+                                position: Position {
+                                    az: cx.shared.az_angle.lock(|az| (*az / 10) as f32),
+                                    el: cx.shared.el_angle.lock(|el| (*el / 10) as f32),
+                                    az_endcoder: 0.0,
+                                    el_encoder: 0.0,
+                                    az_magnetic: 0.0,
+                                    el_magnetic: 0.0,
+                                },
+                                alarms: Vec::new(),
+                            };
+                            let device_msg = RadomMessage::Status(status);
+                            let bytes =
+                                to_vec_cobs::<RadomMessage, USB_BUFFER_SIZE>(&device_msg).unwrap();
+                            serial.write(bytes.as_slice()).unwrap();
+                        }
+                        HostMessage::SetTarget(pos) => {
+                            cx.shared.az_target.lock(|az| *az = (pos.az * 10.0) as i32);
+                            cx.shared.el_target.lock(|el| *el = (pos.el * 10.0) as i32);
+                        }
+                        HostMessage::TriggerDFUBootloader => {
+                            bootloader::reboot_to_bootloader();
+                        }
+                    },
+                    Err(err) => defmt::error!("Unable to parse host message"),
+                };
+
+                *buffer = Vec::<u8, USB_BUFFER_SIZE>::from_slice(rest).unwrap();
+            } else {
+                break;
             }
         }
     }
diff --git a/memory.x b/memory.x
index dfe3ff3..33fd2a3 100644
--- a/memory.x
+++ b/memory.x
@@ -1,10 +1,23 @@
 MEMORY
 {
-  /* NOTE K = KiBi = 1024 bytes */
   FLASH : ORIGIN = 0x08000000, LENGTH = 256K 
-  RAM : ORIGIN = 0x20000000, LENGTH = 64K
+  UNINIT : ORIGIN = 0x20000000, LENGTH = 0x10
+  RAM : ORIGIN = 0x20000010, LENGTH = 64K - LENGTH(UNINIT)
 }
 
+SECTIONS {
+  .uninit_flags (NOLOAD) : ALIGN(4)
+  {
+    . = ALIGN(4);
+    __suninit_flags = .;
+    _dfu_magic = .; . += 4;
+    *(.uninit_flags .uninit_flags.*)
+    . = ALIGN(4);
+    __euninit_flags = .;
+  } > UNINIT
+}
+
+
 /* This is where the call stack will be allocated. */
 /* The stack is of the full descending type. */
 /* NOTE Do NOT modify `_stack_start` unless you know what you are doing */
diff --git a/protocol/Cargo.toml b/protocol/Cargo.toml
new file mode 100644
index 0000000..26161a1
--- /dev/null
+++ b/protocol/Cargo.toml
@@ -0,0 +1,10 @@
+[package]
+name = "radomctl-protocol"
+version = "0.1.0"
+edition = "2021"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+serde = {version = "1.0.193", default-features = false, features = ["derive"]}
+heapless = {version = "0.9.2", features = ["serde"]}
diff --git a/protocol/src/lib.rs b/protocol/src/lib.rs
new file mode 100644
index 0000000..1da7752
--- /dev/null
+++ b/protocol/src/lib.rs
@@ -0,0 +1,44 @@
+#![no_std]
+use heapless::Vec;
+
+use serde::{Deserialize, Serialize};
+
+#[derive(Serialize, Deserialize, Debug, PartialEq)]
+pub enum RadomMessage {
+    Status(StatusMessage),
+}
+
+#[derive(Serialize, Deserialize, Debug, PartialEq)]
+pub enum HostMessage {
+    RequestStatus,
+    SetTarget(PositionTarget),
+    TriggerDFUBootloader,
+}
+
+#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
+pub struct StatusMessage {
+    pub position: Position,
+    pub alarms: Vec<Alarm, 64>,
+}
+
+#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
+pub struct Position {
+    pub az: f32,
+    pub el: f32,
+    pub az_endcoder: f32,
+    pub el_encoder: f32,
+    pub az_magnetic: f32,
+    pub el_magnetic: f32,
+}
+
+#[derive(Serialize, Deserialize, Debug, PartialEq, Clone)]
+pub enum Alarm {
+    AZEncoderFault,
+    ELEncoderFault,
+}
+
+#[derive(Serialize, Deserialize, Debug, PartialEq)]
+pub struct PositionTarget {
+    pub az: f32,
+    pub el: f32,
+}