diff --git a/southbridge/.cargo/config.toml b/southbridge/.cargo/config.toml
index 3ca7868..6e392c3 100644
--- a/southbridge/.cargo/config.toml
+++ b/southbridge/.cargo/config.toml
@@ -1,8 +1,5 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "probe-rs run --chip RP2040"
+runner = "elf2uf2-rs --deploy --serial --verbose"
 
 [build]
 target = "thumbv6m-none-eabi"
-
-[env]
-DEFMT_LOG = "info"
diff --git a/southbridge/Cargo.lock b/southbridge/Cargo.lock
index 4673d7a..6414175 100644
--- a/southbridge/Cargo.lock
+++ b/southbridge/Cargo.lock
@@ -2,6 +2,18 @@
 # It is not intended for manual editing.
 version = 4
 
+[[package]]
+name = "ahash"
+version = "0.8.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e89da841a80418a9b391ebaea17f5c112ffaaa96f621d2c285b5174da76b9011"
+dependencies = [
+ "cfg-if",
+ "once_cell",
+ "version_check",
+ "zerocopy",
+]
+
 [[package]]
 name = "aho-corasick"
 version = "1.1.3"
@@ -11,6 +23,15 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "approx"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "arrayvec"
 version = "0.7.6"
@@ -53,7 +74,7 @@ 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]]
@@ -78,10 +99,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
 
 [[package]]
-name = "bitflags"
-version = "1.3.2"
+name = "bitfield"
+version = "0.14.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
+checksum = "2d7e60934ceec538daadb9d8432424ed043a904d8e0243f3c6446bce549a46ac"
 
 [[package]]
 name = "bitflags"
@@ -107,6 +128,12 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67ba02a97a2bd10f4b59b25c7973101c79642302776489e030cd13cdab09ed15"
+
 [[package]]
 name = "codespan-reporting"
 version = "0.11.1"
@@ -117,6 +144,16 @@ dependencies = [
  "unicode-width",
 ]
 
+[[package]]
+name = "common"
+version = "0.1.0"
+dependencies = [
+ "framed 0.4.3",
+ "nalgebra",
+ "postcard",
+ "serde",
+]
+
 [[package]]
 name = "cortex-m"
 version = "0.7.7"
@@ -124,7 +161,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal",
- "bitfield",
+ "bitfield 0.13.2",
  "embedded-hal 0.2.7",
  "volatile-register",
 ]
@@ -158,6 +195,12 @@ dependencies = [
  "debug-helper",
 ]
 
+[[package]]
+name = "crc16"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "338089f42c427b86394a5ee60ff321da23a5c89c9d89514c829687b26359fcff"
+
 [[package]]
 name = "critical-section"
 version = "1.2.0"
@@ -211,48 +254,6 @@ version = "0.3.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
-[[package]]
-name = "defmt"
-version = "0.3.10"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86f6162c53f659f65d00619fe31f14556a6e9f8752ccc4a41bd177ffcf3d6130"
-dependencies = [
- "bitflags 1.3.2",
- "defmt-macros",
-]
-
-[[package]]
-name = "defmt-macros"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d135dd939bad62d7490b0002602d35b358dce5fd9233a709d3c1ef467d4bde6"
-dependencies = [
- "defmt-parser",
- "proc-macro-error2",
- "proc-macro2",
- "quote",
- "syn 2.0.96",
-]
-
-[[package]]
-name = "defmt-parser"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3983b127f13995e68c1e29071e5d115cd96f215ccb5e6812e3728cd6f92653b3"
-dependencies = [
- "thiserror 2.0.11",
-]
-
-[[package]]
-name = "defmt-rtt"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bab697b3dbbc1750b7c8b821aa6f6e7f2480b47a99bc057a2ed7b170ebef0c51"
-dependencies = [
- "critical-section",
- "defmt",
-]
-
 [[package]]
 name = "diff"
 version = "0.1.13"
@@ -320,7 +321,6 @@ checksum = "90327bcc66333a507f89ecc4e2d911b265c45f5c9bc241f98eee076752d35ac6"
 dependencies = [
  "cortex-m",
  "critical-section",
- "defmt",
  "document-features",
  "embassy-executor-macros",
 ]
@@ -351,10 +351,26 @@ checksum = "0ef3bac31ec146321248a169e9c7b5799f1e0b3829c7a9b324cb4600a7438f59"
 dependencies = [
  "cortex-m",
  "critical-section",
- "defmt",
  "num-traits",
 ]
 
+[[package]]
+name = "embassy-net-driver"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "524eb3c489760508f71360112bca70f6e53173e6fe48fc5f0efd0f5ab217751d"
+
+[[package]]
+name = "embassy-net-driver-channel"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4818c32afec43e3cae234f324bad9a976c9aa7501022d26ff60a4017a1a006b7"
+dependencies = [
+ "embassy-futures",
+ "embassy-net-driver",
+ "embassy-sync",
+]
+
 [[package]]
 name = "embassy-rp"
 version = "0.3.0"
@@ -366,7 +382,6 @@ dependencies = [
  "cortex-m",
  "cortex-m-rt",
  "critical-section",
- "defmt",
  "document-features",
  "embassy-embedded-hal",
  "embassy-futures",
@@ -406,7 +421,7 @@ dependencies = [
  "embedded-io-async",
  "futures-sink",
  "futures-util",
- "heapless",
+ "heapless 0.8.0",
 ]
 
 [[package]]
@@ -417,7 +432,6 @@ checksum = "f820157f198ada183ad62e0a66f554c610cdcd1a9f27d4b316358103ced7a1f8"
 dependencies = [
  "cfg-if",
  "critical-section",
- "defmt",
  "document-features",
  "embassy-time-driver",
  "embedded-hal 0.2.7",
@@ -442,7 +456,22 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dc55c748d16908a65b166d09ce976575fb8852cf60ccd06174092b41064d8f83"
 dependencies = [
  "embassy-executor",
- "heapless",
+ "heapless 0.8.0",
+]
+
+[[package]]
+name = "embassy-usb"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e651b9b7b47b514e6e6d1940a6e2e300891a2c33641917130643602a0cb6386"
+dependencies = [
+ "embassy-futures",
+ "embassy-net-driver-channel",
+ "embassy-sync",
+ "embassy-usb-driver",
+ "heapless 0.8.0",
+ "ssmarshal",
+ "usbd-hid",
 ]
 
 [[package]]
@@ -450,8 +479,17 @@ name = "embassy-usb-driver"
 version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4fc247028eae04174b6635104a35b1ed336aabef4654f5e87a8f32327d231970"
+
+[[package]]
+name = "embassy-usb-logger"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ad40e3ec749d83f4b7ab0c0599c9bef0c51a73ce1c1087d8599ff2448d00c2aa"
 dependencies = [
- "defmt",
+ "embassy-futures",
+ "embassy-sync",
+ "embassy-usb",
+ "log",
 ]
 
 [[package]]
@@ -528,6 +566,12 @@ dependencies = [
  "log",
 ]
 
+[[package]]
+name = "encode_unicode"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
+
 [[package]]
 name = "equivalent"
 version = "1.0.1"
@@ -558,6 +602,31 @@ version = "1.0.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
+[[package]]
+name = "framed"
+version = "0.4.3"
+dependencies = [
+ "byteorder",
+ "cobs",
+ "crc16",
+ "ref_slice",
+ "serde",
+ "ssmarshal",
+]
+
+[[package]]
+name = "framed"
+version = "0.4.3"
+source = "git+https://git.ank.dev/ank/framed-rs#c76d988fad14da2d62716f4aed68037b0c25cb31"
+dependencies = [
+ "byteorder",
+ "cobs",
+ "crc16",
+ "ref_slice",
+ "serde",
+ "ssmarshal",
+]
+
 [[package]]
 name = "futures-core"
 version = "0.3.31"
@@ -609,6 +678,15 @@ dependencies = [
  "crunchy",
 ]
 
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hash32"
 version = "0.3.1"
@@ -618,19 +696,42 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "hashbrown"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "43a3c133739dddd0d2990f9a4bdf8eb4b21ef50e4851ca85ab661199821d510e"
+dependencies = [
+ "ahash",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
 
+[[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",
+ "hash32 0.3.1",
  "stable_deref_trait",
 ]
 
@@ -653,7 +754,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8c9c992b02b5b4c94ea26e32fe5bccb7aa7d9f390ab5c1221ff895bc7ea8b652"
 dependencies = [
  "equivalent",
- "hashbrown",
+ "hashbrown 0.15.2",
 ]
 
 [[package]]
@@ -713,13 +814,19 @@ version = "0.2.169"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
 
+[[package]]
+name = "libm"
+version = "0.2.11"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8355be11b20d696c8f18f6cc018c4e372165b1fa8126cef092399c9951984ffa"
+
 [[package]]
 name = "libredox"
 version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
 dependencies = [
- "bitflags 2.8.0",
+ "bitflags",
  "libc",
 ]
 
@@ -751,6 +858,31 @@ version = "2.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
+[[package]]
+name = "mpu6050"
+version = "0.1.6"
+source = "git+https://git.ank.dev/ank/mpu6050#32604cc16c6a604fd0a4a35bf66bd9df800da18e"
+dependencies = [
+ "embedded-hal 1.0.0",
+ "libm",
+ "nalgebra",
+]
+
+[[package]]
+name = "nalgebra"
+version = "0.31.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "20bd243ab3dbb395b39ee730402d2e5405e448c75133ec49cc977762c4cba3d1"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "serde",
+ "simba",
+ "typenum",
+]
+
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -772,6 +904,35 @@ version = "1.0.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "650eef8c711430f1a879fdd01d4745a7deea475becfb90269c06775983bbf086"
 
+[[package]]
+name = "num-complex"
+version = "0.4.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
+dependencies = [
+ "num-traits",
+ "serde",
+]
+
+[[package]]
+name = "num-integer"
+version = "0.1.46"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
+dependencies = [
+ "num-traits",
+]
+
+[[package]]
+name = "num-rational"
+version = "0.4.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
+dependencies = [
+ "num-integer",
+ "num-traits",
+]
+
 [[package]]
 name = "num-traits"
 version = "0.2.19"
@@ -807,16 +968,6 @@ version = "1.20.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1261fe7e33c73b354eab43b1273a57c8f967d0391e80353e51f764ac02cf6775"
 
-[[package]]
-name = "panic-probe"
-version = "0.3.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
-dependencies = [
- "cortex-m",
- "defmt",
-]
-
 [[package]]
 name = "parking_lot"
 version = "0.12.3"
@@ -917,6 +1068,23 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "portable-atomic"
+version = "1.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
+
+[[package]]
+name = "postcard"
+version = "1.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "170a2601f67cc9dba8edd8c4870b15f71a6a2dc196daec8c83f72b59dff628a8"
+dependencies = [
+ "cobs",
+ "heapless 0.7.17",
+ "serde",
+]
+
 [[package]]
 name = "precomputed-hash"
 version = "0.1.1"
@@ -947,28 +1115,6 @@ dependencies = [
  "version_check",
 ]
 
-[[package]]
-name = "proc-macro-error-attr2"
-version = "2.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
-dependencies = [
- "proc-macro2",
- "quote",
-]
-
-[[package]]
-name = "proc-macro-error2"
-version = "2.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
-dependencies = [
- "proc-macro-error-attr2",
- "proc-macro2",
- "quote",
- "syn 2.0.96",
-]
-
 [[package]]
 name = "proc-macro2"
 version = "1.0.93"
@@ -999,7 +1145,7 @@ version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "03a862b389f93e68874fbf580b9de08dd02facb9a788ebadaf4a3fd33cf58834"
 dependencies = [
- "bitflags 2.8.0",
+ "bitflags",
 ]
 
 [[package]]
@@ -1010,9 +1156,15 @@ checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43"
 dependencies = [
  "getrandom",
  "libredox",
- "thiserror 1.0.69",
+ "thiserror",
 ]
 
+[[package]]
+name = "ref_slice"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f4ed1d73fb92eba9b841ba2aef69533a060ccc0d3ec71c90aeda5996d4afb7a9"
+
 [[package]]
 name = "regex"
 version = "1.11.1"
@@ -1082,7 +1234,16 @@ 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 1.0.25",
 ]
 
 [[package]]
@@ -1106,18 +1267,56 @@ dependencies = [
  "semver-parser",
 ]
 
+[[package]]
+name = "semver"
+version = "1.0.25"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f79dfe2d285b0488816f30e700a7438c5a73d816b5b7d3ac72fbc48b0d185e03"
+
 [[package]]
 name = "semver-parser"
 version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
+[[package]]
+name = "serde"
+version = "1.0.217"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "02fc4265df13d6fa1d00ecff087228cc0a2b5f3c0e87e258d8b94a156e984c70"
+dependencies = [
+ "serde_derive",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.217"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a9bf7cf98d04a2b28aead066b7496853d4779c9cc183c440dbac457641e19a0"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.96",
+]
+
 [[package]]
 name = "sha2-const-stable"
 version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9"
 
+[[package]]
+name = "simba"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+]
+
 [[package]]
 name = "siphasher"
 version = "0.3.11"
@@ -1152,20 +1351,44 @@ dependencies = [
 name = "southbridge"
 version = "0.1.0"
 dependencies = [
+ "common",
  "cortex-m",
  "cortex-m-rt",
- "defmt",
- "defmt-rtt",
  "embassy-executor",
  "embassy-rp",
  "embassy-sync",
  "embassy-time",
+ "embassy-usb-logger",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
  "embedded-io",
  "embedded-io-async",
  "embedded-storage",
- "panic-probe",
+ "framed 0.4.3 (git+https://git.ank.dev/ank/framed-rs)",
+ "log",
+ "mpu6050",
+ "nalgebra",
+ "postcard",
+ "serde",
+]
+
+[[package]]
+name = "spin"
+version = "0.9.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6980e8d7511241f8acf4aebddbb1ff938df5eebe98691418c4468d0b72a96a67"
+dependencies = [
+ "lock_api",
+]
+
+[[package]]
+name = "ssmarshal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f3e6ad23b128192ed337dfa4f1b8099ced0c2bf30d61e551b65fda5916dbb850"
+dependencies = [
+ "encode_unicode",
+ "serde",
 ]
 
 [[package]]
@@ -1241,16 +1464,7 @@ version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
 dependencies = [
- "thiserror-impl 1.0.69",
-]
-
-[[package]]
-name = "thiserror"
-version = "2.0.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d452f284b73e6d76dd36758a0c8684b1d5be31f92b89d07fd5822175732206fc"
-dependencies = [
- "thiserror-impl 2.0.11",
+ "thiserror-impl",
 ]
 
 [[package]]
@@ -1264,17 +1478,6 @@ dependencies = [
  "syn 2.0.96",
 ]
 
-[[package]]
-name = "thiserror-impl"
-version = "2.0.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26afc1baea8a989337eeb52b6e72a039780ce45c3edfcc9c5b9d112feeb173c2"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.96",
-]
-
 [[package]]
 name = "tiny-keccak"
 version = "2.0.2"
@@ -1308,6 +1511,53 @@ version = "0.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853"
 
+[[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-hid"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e6f291ab53d428685cc780f08a2eb9d5d6ff58622db2b36e239a4f715f1e184c"
+dependencies = [
+ "serde",
+ "ssmarshal",
+ "usb-device",
+ "usbd-hid-macros",
+]
+
+[[package]]
+name = "usbd-hid-descriptors"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0eee54712c5d778d2fb2da43b1ce5a7b5060886ef7b09891baeb4bf36910a3ed"
+dependencies = [
+ "bitfield 0.14.0",
+]
+
+[[package]]
+name = "usbd-hid-macros"
+version = "0.8.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bb573c76e7884035ac5e1ab4a81234c187a82b6100140af0ab45757650ccda38"
+dependencies = [
+ "byteorder",
+ "hashbrown 0.13.2",
+ "log",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "syn 1.0.109",
+ "usbd-hid-descriptors",
+]
+
 [[package]]
 name = "vcell"
 version = "0.1.3"
@@ -1444,3 +1694,23 @@ name = "windows_x86_64_msvc"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
+
+[[package]]
+name = "zerocopy"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1b9b4fd18abc82b8136838da5d50bae7bdea537c574d8dc1a34ed098d6c166f0"
+dependencies = [
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.35"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.96",
+]
diff --git a/southbridge/Cargo.toml b/southbridge/Cargo.toml
index f1672da..947f32b 100644
--- a/southbridge/Cargo.toml
+++ b/southbridge/Cargo.toml
@@ -2,14 +2,9 @@
 edition = "2021"
 name = "southbridge"
 version = "0.1.0"
-authors = ["Andy Killorin <37423245+Speedy6451@users.noreply.github.com>"]
 resolver = "2"
 
 [dependencies]
-defmt = "0.3"
-defmt-rtt = "0.4"
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-
 embedded-hal = "1.0.0"
 embedded-hal-async = "1.0.0"
 embedded-io = "0.6.1"
@@ -18,8 +13,18 @@ embedded-storage = "0.3.1"
 
 cortex-m-rt = "0.7.3"
 
-embassy-executor = { version = "0.7", features = ["task-arena-size-1024", "arch-cortex-m", "executor-thread", "defmt", "executor-interrupt"] }
+embassy-executor = { version = "0.7", features = ["task-arena-size-1024", "arch-cortex-m", "executor-thread", "executor-interrupt"] }
 embassy-sync = { version = "0.6" }
-embassy-time = { version = "0.4", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-time = { version = "0.4" }
 cortex-m = { version = "0.7.6" }
-embassy-rp = { version = "0.3", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
+embassy-rp = { version = "0.3", features = ["unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
+embassy-usb-logger = "0.4.0"
+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" }
+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"
diff --git a/southbridge/build.rs b/southbridge/build.rs
index 318688b..1f25630 100644
--- a/southbridge/build.rs
+++ b/southbridge/build.rs
@@ -31,6 +31,5 @@ fn main() {
 
     println!("cargo:rustc-link-arg-bins=--nmagic");
     println!("cargo:rustc-link-arg-bins=-Tlink.x");
-    println!("cargo:rustc-link-arg-bins=-Tdefmt.x");
 println!("cargo:rustc-link-arg-bins=-Tlink-rp.x");
 }
diff --git a/southbridge/src/main.rs b/southbridge/src/main.rs
index 8bfdcff..4cb248a 100644
--- a/southbridge/src/main.rs
+++ b/southbridge/src/main.rs
@@ -1,15 +1,48 @@
 #![no_std]
 #![no_main]
 
+use core::panic::PanicInfo;
+
 use embassy_executor::Spawner;
+use embassy_rp::{bind_interrupts, peripherals::USB, pwm::{self, Pwm}, usb::Driver};
 use embassy_time::{Duration, Timer};
-use {defmt_rtt as _, panic_probe as _};
+use log::{error, info};
+
+bind_interrupts!(struct Irqs {
+    I2C0_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C0>;
+    USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
+});
+
+#[embassy_executor::task]
+async fn logger_task(driver: Driver<'static, USB>) {
+    embassy_usb_logger::run!(1024, log::LevelFilter::Debug, driver);
+}
+
+#[panic_handler]
+fn panic( info: &PanicInfo) -> ! {
+    error!("{}", info);
+    loop { }
+}
 
 #[embassy_executor::main]
-async fn main(_spawner: Spawner) {
-    let _p = embassy_rp::init(Default::default());
+async fn main(spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+
+    let driver = Driver::new(p.USB, Irqs);
+    spawner.spawn(logger_task(driver)).unwrap();
+
+    let mut drive_conf: pwm::Config = Default::default();
+    drive_conf.divider = 40.into();
+    drive_conf.top = 62500; // 20ms
+    drive_conf.compare_b = 4687; // 1.5ms
+    drive_conf.compare_a = 4687; // 1.5ms
+    let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, drive_conf.clone());
+
+    let config = embassy_rp::i2c::Config::default();
+    let bus = embassy_rp::i2c::I2c::new_async(p.I2C0, p.PIN_21, p.PIN_20, Irqs, config);
+
     loop {
-        defmt::info!("Blink");
+        info!("Blink");
         Timer::after(Duration::from_millis(100)).await;
     }
 }