fixed southbridge
this was a two week blocker, storing to AtomicBools hangs in some scenarios, which is really hard to debug. works now.
This commit is contained in:
parent
cc18f76e55
commit
ad1f552151
GPG key ID:
23F9463ECB67FE8C
3 changed files with 174 additions and 126 deletions
267
southbridge/Cargo.lock
generated
267
southbridge/Cargo.lock
generated
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@ -79,18 +79,18 @@ dependencies = [
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[[package]]
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name = "bit-set"
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version = "0.5.3"
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version = "0.6.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0700ddab506f33b20a03b13996eccd309a48e5ff77d0d95926aa0210fb4e95f1"
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checksum = "f0481a0e032742109b1133a095184ee93d88f3dc9e0d28a5d033dc77a073f44f"
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dependencies = [
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"bit-vec",
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]
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[[package]]
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name = "bit-vec"
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version = "0.6.3"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
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checksum = "d2c54ff287cfc0a34f38a6b832ea1bd8e448a330b3e40a50859e6488bee07f22"
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[[package]]
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name = "bitfield"
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@ -110,6 +110,15 @@ version = "2.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8f68f53c83ab957f72c32642f3868eec03eb974d1fb82e453128456482613d36"
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[[package]]
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name = "block-buffer"
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version = "0.10.4"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
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dependencies = [
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"generic-array",
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]
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[[package]]
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name = "bytemuck"
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version = "1.21.0"
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@ -184,6 +193,15 @@ dependencies = [
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"syn 2.0.96",
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]
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[[package]]
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name = "cpufeatures"
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version = "0.2.17"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "59ed5838eebb26a2bb2e58f6d5b5316989ae9d08bab10e0e6d103e656d1b0280"
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dependencies = [
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"libc",
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]
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[[package]]
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name = "crc-any"
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version = "2.5.0"
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@ -211,6 +229,16 @@ version = "0.2.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "43da5946c66ffcc7745f48db692ffbb10a83bfe0afd96235c5c2a4fb23994929"
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[[package]]
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name = "crypto-common"
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version = "0.1.6"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1bfb12502f3fc46cca1bb51ac28df9d618d813cdc3d2f25b9fe775a34af26bb3"
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dependencies = [
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"generic-array",
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"typenum",
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]
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[[package]]
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name = "darling"
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version = "0.20.10"
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@ -246,6 +274,15 @@ dependencies = [
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"syn 2.0.96",
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]
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[[package]]
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name = "dcmimu"
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version = "0.2.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "692b1c8923315ac22103c1890512597baf543b95f2eebd66f572ffb1ff8f0170"
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dependencies = [
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"libm 0.1.4",
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]
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[[package]]
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name = "debug-helper"
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version = "0.3.13"
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@ -253,10 +290,14 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
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[[package]]
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name = "diff"
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version = "0.1.13"
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name = "digest"
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version = "0.10.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "56254986775e3233ffa9c4d7d3faaf6d36a2c09d30b20687e9f88bc8bafc16c8"
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checksum = "9ed9a281f7bc9b7576e61468ba615a66a5c8cfdff42420a70aa82701a3b1e292"
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dependencies = [
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"block-buffer",
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"crypto-common",
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]
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[[package]]
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name = "dirs-next"
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@ -297,10 +338,10 @@ checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
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[[package]]
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name = "embassy-embedded-hal"
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version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "41fea5ef5bed4d3468dfd44f5c9fa4cda8f54c86d4fb4ae683eacf9d39e2ea12"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"embassy-futures",
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"embassy-hal-internal",
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"embassy-sync",
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"embassy-time",
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"embedded-hal 0.2.7",
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@ -314,8 +355,7 @@ dependencies = [
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[[package]]
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name = "embassy-executor"
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version = "0.7.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "90327bcc66333a507f89ecc4e2d911b265c45f5c9bc241f98eee076752d35ac6"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"cortex-m",
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"critical-section",
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@ -326,8 +366,7 @@ dependencies = [
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[[package]]
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name = "embassy-executor-macros"
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version = "0.6.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3577b1e9446f61381179a330fc5324b01d511624c55f25e3c66c9e3c626dbecf"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"darling",
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"proc-macro2",
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@ -338,14 +377,12 @@ dependencies = [
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[[package]]
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name = "embassy-futures"
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version = "0.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "1f878075b9794c1e4ac788c95b728f26aa6366d32eeb10c7051389f898f7d067"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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[[package]]
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name = "embassy-hal-internal"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0ef3bac31ec146321248a169e9c7b5799f1e0b3829c7a9b324cb4600a7438f59"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"cortex-m",
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"critical-section",
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@ -355,14 +392,12 @@ dependencies = [
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[[package]]
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name = "embassy-net-driver"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "524eb3c489760508f71360112bca70f6e53173e6fe48fc5f0efd0f5ab217751d"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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[[package]]
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name = "embassy-net-driver-channel"
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version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4818c32afec43e3cae234f324bad9a976c9aa7501022d26ff60a4017a1a006b7"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"embassy-futures",
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"embassy-net-driver",
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@ -372,8 +407,7 @@ dependencies = [
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[[package]]
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name = "embassy-rp"
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version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8cfe90d82ebbfed9de96d9edc6d63b6619c0977b570a3ab1724f76023e72773b"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"atomic-polyfill",
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"cfg-if",
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@ -412,8 +446,7 @@ dependencies = [
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[[package]]
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name = "embassy-sync"
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version = "0.6.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8d2c8cdff05a7a51ba0087489ea44b0b1d97a296ca6b1d6d1a33ea7423d34049"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"cfg-if",
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"critical-section",
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@ -426,8 +459,7 @@ dependencies = [
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[[package]]
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name = "embassy-time"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f820157f198ada183ad62e0a66f554c610cdcd1a9f27d4b316358103ced7a1f8"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"cfg-if",
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"critical-section",
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@ -442,8 +474,7 @@ dependencies = [
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[[package]]
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name = "embassy-time-driver"
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version = "0.2.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8d45f5d833b6d98bd2aab0c2de70b18bfaa10faf661a1578fd8e5dfb15eb7eba"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"document-features",
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]
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@ -451,8 +482,7 @@ dependencies = [
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[[package]]
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name = "embassy-time-queue-utils"
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version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "dc55c748d16908a65b166d09ce976575fb8852cf60ccd06174092b41064d8f83"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"embassy-executor",
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"heapless 0.8.0",
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@ -461,8 +491,7 @@ dependencies = [
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[[package]]
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name = "embassy-usb"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6e651b9b7b47b514e6e6d1940a6e2e300891a2c33641917130643602a0cb6386"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"embassy-futures",
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"embassy-net-driver-channel",
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@ -476,14 +505,12 @@ dependencies = [
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[[package]]
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name = "embassy-usb-driver"
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version = "0.1.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "4fc247028eae04174b6635104a35b1ed336aabef4654f5e87a8f32327d231970"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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[[package]]
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name = "embassy-usb-logger"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "ad40e3ec749d83f4b7ab0c0599c9bef0c51a73ce1c1087d8599ff2448d00c2aa"
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source = "git+https://github.com/embassy-rs/embassy/#0ce6da9706b9d929691c9292c923117fcbc2f9c6"
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dependencies = [
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"embassy-futures",
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"embassy-sync",
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"pin-utils",
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]
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[[package]]
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name = "generic-array"
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version = "0.14.7"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
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dependencies = [
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"typenum",
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"version_check",
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]
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[[package]]
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name = "getrandom"
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version = "0.2.15"
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@ -722,12 +759,6 @@ dependencies = [
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"stable_deref_trait",
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]
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[[package]]
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name = "hermit-abi"
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version = "0.4.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
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[[package]]
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name = "ident_case"
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version = "1.0.1"
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@ -744,55 +775,53 @@ dependencies = [
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"hashbrown 0.15.2",
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]
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[[package]]
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name = "is-terminal"
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version = "0.4.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e19b23d53f35ce9f56aebc7d1bb4e6ac1e9c0db7ac85c8d1760c04379edced37"
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dependencies = [
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"hermit-abi",
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"libc",
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"windows-sys",
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]
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[[package]]
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name = "itertools"
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version = "0.10.5"
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version = "0.13.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "b0fd2260e829bddf4cb6ea802289de2f86d6a7a690192fbe91b3f46e0f2c8473"
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checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
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dependencies = [
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"either",
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]
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[[package]]
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name = "lalrpop"
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version = "0.19.12"
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name = "keccak"
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version = "0.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0a1cbf952127589f2851ab2046af368fd20645491bb4b376f04b7f94d7a9837b"
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checksum = "ecc2af9a1119c51f12a14607e783cb977bde58bc069ff0c3da1095e635d70654"
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dependencies = [
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"cpufeatures",
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]
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[[package]]
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name = "lalrpop"
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version = "0.21.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "6e56f323e2d610628d1f5bdd39168a774674ac7989ed67011963bb3f71edd797"
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dependencies = [
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"ascii-canvas",
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"bit-set",
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"diff",
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"ena",
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"is-terminal",
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"itertools",
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"lalrpop-util",
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"petgraph",
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"pico-args",
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"regex",
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"regex-syntax 0.6.29",
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"regex-syntax",
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"sha3",
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"string_cache",
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"term",
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"tiny-keccak",
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"unicode-xid",
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"walkdir",
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]
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[[package]]
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name = "lalrpop-util"
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version = "0.19.12"
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version = "0.21.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "d3c48237b9604c5a4702de6b824e02006c3214327564636aef27c1028a8fa0ed"
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checksum = "108dc8f5dabad92c65a03523055577d847f5dcc00f3e7d3a68bc4d48e01d8fe1"
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dependencies = [
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"regex",
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"regex-automata",
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]
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[[package]]
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@ -801,6 +830,12 @@ version = "0.2.169"
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
|
||||
|
||||
[[package]]
|
||||
name = "libm"
|
||||
version = "0.1.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7fc7aa29613bd6a620df431842069224d8bc9011086b1db4c0e0cd47fa03ec9a"
|
||||
|
||||
[[package]]
|
||||
name = "libm"
|
||||
version = "0.2.11"
|
||||
|
|
@ -851,7 +886,7 @@ version = "0.1.6"
|
|||
source = "git+https://git.ank.dev/ank/mpu6050#32604cc16c6a604fd0a4a35bf66bd9df800da18e"
|
||||
dependencies = [
|
||||
"embedded-hal 1.0.0",
|
||||
"libm",
|
||||
"libm 0.2.11",
|
||||
"nalgebra",
|
||||
]
|
||||
|
||||
|
|
@ -931,22 +966,22 @@ dependencies = [
|
|||
|
||||
[[package]]
|
||||
name = "num_enum"
|
||||
version = "0.5.11"
|
||||
version = "0.7.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1f646caf906c20226733ed5b1374287eb97e3c2a5c227ce668c1f2ce20ae57c9"
|
||||
checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
|
||||
dependencies = [
|
||||
"num_enum_derive",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "num_enum_derive"
|
||||
version = "0.5.11"
|
||||
version = "0.7.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "dcbff9bc912032c62bf65ef1d5aea88983b420f4f839db1e9b0c281a25c9c799"
|
||||
checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
|
||||
dependencies = [
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 1.0.109",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -1003,6 +1038,12 @@ dependencies = [
|
|||
"siphasher",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "pico-args"
|
||||
version = "0.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5be167a7af36ee22fe3115051bc51f6e6c7054c9348e28deb4f49bd6f705a315"
|
||||
|
||||
[[package]]
|
||||
name = "pin-project-lite"
|
||||
version = "0.2.16"
|
||||
|
|
@ -1018,8 +1059,7 @@ checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
|
|||
[[package]]
|
||||
name = "pio"
|
||||
version = "0.2.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "76e09694b50f89f302ed531c1f2a7569f0be5867aee4ab4f8f729bbeec0078e3"
|
||||
source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
|
||||
dependencies = [
|
||||
"arrayvec",
|
||||
"num_enum",
|
||||
|
|
@ -1029,30 +1069,26 @@ dependencies = [
|
|||
[[package]]
|
||||
name = "pio-parser"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "77532c2b8279aef98dfc7207ef15298a5a3d6b6cc76ccc8b65913d69f3a8dd6b"
|
||||
source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
|
||||
dependencies = [
|
||||
"lalrpop",
|
||||
"lalrpop-util",
|
||||
"pio",
|
||||
"regex-syntax 0.6.29",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "pio-proc"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6b04dc870fb3a4fd8b3e4ca8c61b53bc8ac4eb78b66805d2b3c2e5c4829e0d7a"
|
||||
source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
|
||||
dependencies = [
|
||||
"codespan-reporting",
|
||||
"lalrpop-util",
|
||||
"pio",
|
||||
"pio-parser",
|
||||
"proc-macro-error",
|
||||
"proc-macro-error2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"regex-syntax 0.6.29",
|
||||
"syn 1.0.109",
|
||||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -1082,27 +1118,25 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "925383efa346730478fb4838dbe9137d2a47675ad789c546d150a6e1dd4ab31c"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-error"
|
||||
version = "1.0.4"
|
||||
name = "proc-macro-error-attr2"
|
||||
version = "2.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "da25490ff9892aab3fcf7c36f08cfb902dd3e71ca0f9f9517bea02a73a5ce38c"
|
||||
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 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -1164,7 +1198,7 @@ dependencies = [
|
|||
"aho-corasick",
|
||||
"memchr",
|
||||
"regex-automata",
|
||||
"regex-syntax 0.8.5",
|
||||
"regex-syntax",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -1175,15 +1209,9 @@ checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
|
|||
dependencies = [
|
||||
"aho-corasick",
|
||||
"memchr",
|
||||
"regex-syntax 0.8.5",
|
||||
"regex-syntax",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "regex-syntax"
|
||||
version = "0.6.29"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
|
||||
|
||||
[[package]]
|
||||
name = "regex-syntax"
|
||||
version = "0.8.5"
|
||||
|
|
@ -1248,6 +1276,15 @@ version = "1.0.19"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f7c45b9784283f1b2e7fb61b42047c2fd678ef0960d4f6f1eba131594cc369d4"
|
||||
|
||||
[[package]]
|
||||
name = "same-file"
|
||||
version = "1.0.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "93fc1dc3aaa9bfed95e02e6eadabb4baf7e3078b0bd1b4d7b6b0b68378900502"
|
||||
dependencies = [
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.2.0"
|
||||
|
|
@ -1301,6 +1338,16 @@ version = "0.1.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9"
|
||||
|
||||
[[package]]
|
||||
name = "sha3"
|
||||
version = "0.10.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "75872d278a8f37ef87fa0ddbda7802605cb18344497949862c0d4dcb291eba60"
|
||||
dependencies = [
|
||||
"digest",
|
||||
"keccak",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "simba"
|
||||
version = "0.7.3"
|
||||
|
|
@ -1350,6 +1397,7 @@ dependencies = [
|
|||
"common",
|
||||
"cortex-m",
|
||||
"cortex-m-rt",
|
||||
"dcmimu",
|
||||
"embassy-executor",
|
||||
"embassy-rp",
|
||||
"embassy-sync",
|
||||
|
|
@ -1486,15 +1534,6 @@ dependencies = [
|
|||
"syn 2.0.96",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tiny-keccak"
|
||||
version = "2.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2c9d3793400a45f954c52e73d068316d76b6f4e36977e3fcebb13a2721e80237"
|
||||
dependencies = [
|
||||
"crunchy",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.17.0"
|
||||
|
|
@ -1593,6 +1632,16 @@ dependencies = [
|
|||
"vcell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "walkdir"
|
||||
version = "2.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "29790946404f91d9c5d06f9874efddea1dc06c5efe94541a7d6863108e3a5e4b"
|
||||
dependencies = [
|
||||
"same-file",
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasi"
|
||||
version = "0.11.0+wasi-snapshot-preview1"
|
||||
|
|
|
|||
|
|
@ -25,9 +25,18 @@ log = "0.4"
|
|||
framed = {git = "https://git.ank.dev/ank/framed-rs", default-features=false, features = ["use_nightly"]}
|
||||
common = { path = "../common" }
|
||||
mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
|
||||
dcmimu = "0.2.2"
|
||||
nalgebra = { version = "0.31.2", default-features=false, features = ["serde-serialize-no-std"] }
|
||||
serde = { version = "1.0.203", default-features = false, features = ["derive"] }
|
||||
postcard = "1.0.0"
|
||||
static_cell = "2.1"
|
||||
portable-atomic = { version = "1.5", features = ["critical-section"] }
|
||||
heapless = "0.8"
|
||||
|
||||
[patch.crates-io]
|
||||
# https://github.com/embassy-rs/embassy/pull/3763/
|
||||
embassy-rp = { git = 'https://github.com/embassy-rs/embassy/' }
|
||||
embassy-time = { git = 'https://github.com/embassy-rs/embassy/' }
|
||||
embassy-usb-logger = { git = 'https://github.com/embassy-rs/embassy/' }
|
||||
embassy-sync = { git = 'https://github.com/embassy-rs/embassy/' }
|
||||
embassy-executor = { git = 'https://github.com/embassy-rs/embassy/' }
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@ use core::{panic::PanicInfo, sync::atomic::{AtomicU16, Ordering}};
|
|||
use common::{Response, RobotState, SensorData, BAUDRATE};
|
||||
use embassy_executor::Spawner;
|
||||
use embassy_rp::{adc::{self, Adc}, bind_interrupts, block::ImageDef, gpio::{Level, Output, Pull}, peripherals::{ADC, ADC_TEMP_SENSOR, PIN_28, UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver};
|
||||
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel, once_lock::OnceLock, watch::Watch};
|
||||
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel, mutex::Mutex, once_lock::OnceLock, pubsub::PubSubChannel, signal::Signal, watch::Watch};
|
||||
use embassy_time::{with_deadline, with_timeout, Duration, Instant, Timer};
|
||||
use embedded_io_async::{BufRead, Read, Write};
|
||||
use log::{error, info, trace, warn};
|
||||
|
|
@ -21,7 +21,7 @@ bind_interrupts!(struct Irqs {
|
|||
ADC_IRQ_FIFO => adc::InterruptHandler;
|
||||
});
|
||||
|
||||
pub static COMMANDS: Watch<CriticalSectionRawMutex, (RobotState, Instant), 5> = Watch::new();
|
||||
pub static COMMANDS: Watch<CriticalSectionRawMutex, (RobotState, Instant), 3> = Watch::new();
|
||||
pub static SENSOR_DATA: Channel<CriticalSectionRawMutex, SensorData, 5> = Channel::new();
|
||||
|
||||
pub static BUS_VOLTAGE: AtomicU16 = AtomicU16::new(u16::MAX);
|
||||
|
|
@ -38,7 +38,7 @@ pub static IMAGE_DEF: ImageDef = ImageDef::secure_exe();
|
|||
|
||||
#[embassy_executor::task]
|
||||
async fn logger_task(driver: Driver<'static, USB>) {
|
||||
embassy_usb_logger::run!(1024, log::LevelFilter::Trace, driver);
|
||||
embassy_usb_logger::run!(2048, log::LevelFilter::Trace, driver);
|
||||
}
|
||||
|
||||
#[panic_handler]
|
||||
|
|
@ -86,7 +86,7 @@ async fn main(spawner: Spawner) {
|
|||
|
||||
Timer::after_secs(13).await; // pi 0 serial ports act strange during the boot process
|
||||
|
||||
spawner.spawn(bus_voltage_monitor(p.ADC, p.PIN_28, p.ADC_TEMP_SENSOR)).unwrap();
|
||||
//spawner.spawn(bus_voltage_monitor(p.ADC, p.PIN_28, p.ADC_TEMP_SENSOR)).unwrap();
|
||||
|
||||
let config = embassy_rp::i2c::Config::default();
|
||||
let bus = embassy_rp::i2c::I2c::new_async(p.I2C1, p.PIN_19, p.PIN_18, Irqs, config);
|
||||
|
|
@ -104,8 +104,7 @@ async fn main(spawner: Spawner) {
|
|||
|
||||
spawner.spawn(decoder(rx)).unwrap();
|
||||
|
||||
static ENABLED: AtomicBool = AtomicBool::new(false);
|
||||
spawner.spawn(telemetry(tx, &ENABLED)).unwrap();
|
||||
spawner.spawn(telemetry(tx)).unwrap();
|
||||
|
||||
let watchdog_time = Duration::from_millis(150);
|
||||
|
||||
|
|
@ -120,19 +119,15 @@ async fn main(spawner: Spawner) {
|
|||
if time.elapsed() > watchdog_time {
|
||||
drive_pwm.set_config(&stopped);
|
||||
set_underglow(&mut light_pwm_rg, &mut light_pwm_b, disabled_orange.clone());
|
||||
ENABLED.store(false, Ordering::Acquire);
|
||||
commands.changed().await;
|
||||
set_underglow(&mut light_pwm_rg, &mut light_pwm_b, enabled_green.clone());
|
||||
ENABLED.store(true, Ordering::Acquire);
|
||||
continue;
|
||||
}
|
||||
|
||||
ENABLED.store(true, Ordering::Acquire);
|
||||
|
||||
|
||||
// 100% effort at 9.5v, 0% effort at 7.5v
|
||||
let brownout = ((bus_voltage()-7.5)/2.0).clamp(0., 1.);
|
||||
let command = command.brownout(brownout);
|
||||
let command = command.clone().brownout(brownout);
|
||||
|
||||
// drive motors
|
||||
let (forward, right) = command.drive;
|
||||
|
|
@ -176,18 +171,13 @@ async fn decoder(mut rx: BufferedUartRx<'static, UART1>) {
|
|||
|
||||
/// Receive data from channel and send it over UART
|
||||
#[embassy_executor::task]
|
||||
async fn telemetry(mut tx: BufferedUartTx<'static, UART1>, enabled: &'static AtomicBool) {
|
||||
async fn telemetry(mut tx: BufferedUartTx<'static, UART1>) {
|
||||
info!("Telemetry waiting...");
|
||||
//COMMANDS.receiver().unwrap().get().await;
|
||||
info!("Telemetry started...");
|
||||
loop {
|
||||
let data = with_timeout(Duration::from_millis(20), SENSOR_DATA.receive()).await.ok();
|
||||
|
||||
if !enabled.load(Ordering::Release) {
|
||||
Timer::after_millis(10).await;
|
||||
continue;
|
||||
}
|
||||
|
||||
let packet = Response {
|
||||
sensor_data: data,
|
||||
uptime_micros: Instant::now().as_micros(),
|
||||
|
|
|
|||
Loading…
Reference in a new issue