diff --git a/controller/Cargo.lock b/controller/Cargo.lock
index 87ba8f8..e64dc10 100644
--- a/controller/Cargo.lock
+++ b/controller/Cargo.lock
@@ -110,9 +110,9 @@ dependencies = [
 
 [[package]]
 name = "autocfg"
-version = "1.3.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
+checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "az"
@@ -147,7 +147,16 @@ version = "0.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0700ddab506f33b20a03b13996eccd309a48e5ff77d0d95926aa0210fb4e95f1"
 dependencies = [
- "bit-vec",
+ "bit-vec 0.6.3",
+]
+
+[[package]]
+name = "bit-set"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0481a0e032742109b1133a095184ee93d88f3dc9e0d28a5d033dc77a073f44f"
+dependencies = [
+ "bit-vec 0.7.0",
 ]
 
 [[package]]
@@ -156,6 +165,12 @@ version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
 
+[[package]]
+name = "bit-vec"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d2c54ff287cfc0a34f38a6b832ea1bd8e448a330b3e40a50859e6488bee07f22"
+
 [[package]]
 name = "bitfield"
 version = "0.13.2"
@@ -176,9 +191,9 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.6.0"
+version = "2.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
+checksum = "8f68f53c83ab957f72c32642f3868eec03eb974d1fb82e453128456482613d36"
 
 [[package]]
 name = "block-buffer"
@@ -191,12 +206,12 @@ dependencies = [
 
 [[package]]
 name = "bt-hci"
-version = "0.1.1"
+version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57a6508c63d7d137e8188833d9ed3ca97e40d676cf5217874c8c1c24851b012d"
+checksum = "d69c6b9d78fe4db539449fc8782dd2554fd4baee27f6e6dbf2e4757fcbc36139"
 dependencies = [
  "defmt",
- "embassy-sync 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "embassy-sync 0.6.2 (registry+https://github.com/rust-lang/crates.io-index)",
  "embedded-io",
  "embedded-io-async",
  "futures-intrusive",
@@ -227,9 +242,9 @@ checksum = "c3ac9f8b63eca6fd385229b3675f6cc0dc5c8a5c8a54a59d4f52ffd670d87b0c"
 
 [[package]]
 name = "bytemuck"
-version = "1.18.0"
+version = "1.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "94bbb0ad554ad961ddc5da507a12a29b14e4ae5bda06b19f575a3e6079d2e2ae"
+checksum = "ef657dfab802224e671f5818e9a4935f9b1957ed18e58292690cc39e7a4092a3"
 
 [[package]]
 name = "byteorder"
@@ -274,7 +289,6 @@ name = "controller"
 version = "0.1.0"
 dependencies = [
  "assign-resources",
- "bt-hci",
  "byte-slice-cast 1.2.2",
  "cortex-m",
  "cortex-m-rt",
@@ -290,6 +304,7 @@ dependencies = [
  "embassy-net",
  "embassy-net-wiznet",
  "embassy-rp",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-time",
  "embassy-usb",
  "embassy-usb-logger",
@@ -308,14 +323,14 @@ dependencies = [
  "mpu6050",
  "nalgebra",
  "panic-probe",
- "pio",
- "pio-proc",
+ "pio 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "pio-proc 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
  "portable-atomic",
  "rand",
  "reqwless",
  "serde",
  "serde-json-core",
- "smart-leds",
+ "smart-leds 0.3.0",
  "st7789",
  "static_cell",
  "usbd-hid",
@@ -336,29 +351,29 @@ 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 2.0.96",
 ]
 
 [[package]]
 name = "cpufeatures"
-version = "0.2.14"
+version = "0.2.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "608697df725056feaccfa42cffdaeeec3fccc4ffc38358ecd19b243e716a78e0"
+checksum = "16b80225097f2e5ae4e7179dd2266824648f3e2f49d9134d584b76389d31c4c3"
 dependencies = [
  "libc",
 ]
@@ -374,9 +389,9 @@ dependencies = [
 
 [[package]]
 name = "critical-section"
-version = "1.1.3"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f64009896348fc5af4222e9cf7d7d82a95a256c634ebcf61c53e4ea461422242"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
 
 [[package]]
 name = "crunchy"
@@ -417,8 +432,8 @@ dependencies = [
 
 [[package]]
 name = "cyw43"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.3.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "bt-hci",
  "cortex-m",
@@ -426,26 +441,26 @@ dependencies = [
  "defmt",
  "embassy-futures",
  "embassy-net-driver-channel",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-time",
  "embedded-hal 1.0.0",
  "embedded-io-async",
  "futures",
  "heapless 0.8.0",
- "num_enum",
+ "num_enum 0.5.11",
 ]
 
 [[package]]
 name = "cyw43-pio"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.3.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "cyw43",
  "defmt",
  "embassy-rp",
  "fixed",
- "pio",
- "pio-proc",
+ "pio 0.2.1 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
+ "pio-proc 0.2.2 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
 ]
 
 [[package]]
@@ -469,7 +484,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "strsim",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -480,7 +495,7 @@ checksum = "d336a2a514f6ccccaa3e09b02d41d35330c07ddf03a62165fcec10bb561c7806"
 dependencies = [
  "darling_core",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -491,9 +506,9 @@ checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
 [[package]]
 name = "defmt"
-version = "0.3.8"
+version = "0.3.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+checksum = "86f6162c53f659f65d00619fe31f14556a6e9f8752ccc4a41bd177ffcf3d6130"
 dependencies = [
  "bitflags 1.3.2",
  "defmt-macros",
@@ -501,24 +516,24 @@ dependencies = [
 
 [[package]]
 name = "defmt-macros"
-version = "0.3.9"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+checksum = "9d135dd939bad62d7490b0002602d35b358dce5fd9233a709d3c1ef467d4bde6"
 dependencies = [
  "defmt-parser",
- "proc-macro-error",
+ "proc-macro-error2",
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "defmt-parser"
-version = "0.3.4"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+checksum = "3983b127f13995e68c1e29071e5d115cd96f215ccb5e6812e3728cd6f92653b3"
 dependencies = [
- "thiserror",
+ "thiserror 2.0.11",
 ]
 
 [[package]]
@@ -632,11 +647,11 @@ dependencies = [
 
 [[package]]
 name = "embassy-embedded-hal"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.3.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "embassy-futures",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-time",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
@@ -648,38 +663,36 @@ dependencies = [
 
 [[package]]
 name = "embassy-executor"
-version = "0.6.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.7.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "cortex-m",
  "critical-section",
  "defmt",
  "document-features",
  "embassy-executor-macros",
- "embassy-time-driver",
- "embassy-time-queue-driver",
 ]
 
 [[package]]
 name = "embassy-executor-macros"
-version = "0.5.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.6.2"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "embassy-futures"
 version = "0.1.1"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 
 [[package]]
 name = "embassy-hal-internal"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -689,16 +702,16 @@ dependencies = [
 
 [[package]]
 name = "embassy-net"
-version = "0.4.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.6.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "defmt",
  "document-features",
  "embassy-net-driver",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-time",
  "embedded-io-async",
- "embedded-nal-async",
+ "embedded-nal-async 0.8.0",
  "heapless 0.8.0",
  "managed",
  "smoltcp",
@@ -707,7 +720,7 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "defmt",
 ]
@@ -715,17 +728,17 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver-channel"
 version = "0.3.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
 ]
 
 [[package]]
 name = "embassy-net-wiznet"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "defmt",
  "embassy-futures",
@@ -737,8 +750,8 @@ dependencies = [
 
 [[package]]
 name = "embassy-rp"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.3.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "atomic-polyfill",
  "cfg-if",
@@ -750,9 +763,10 @@ dependencies = [
  "embassy-embedded-hal",
  "embassy-futures",
  "embassy-hal-internal",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-time",
  "embassy-time-driver",
+ "embassy-time-queue-utils",
  "embassy-usb-driver",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
@@ -764,79 +778,84 @@ dependencies = [
  "embedded-storage-async",
  "fixed",
  "nb 1.1.0",
- "pio",
- "pio-proc",
+ "pio 0.2.1 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
+ "pio-proc 0.2.2 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
  "rand_core",
  "rp-pac",
  "rp2040-boot2",
  "sha2-const-stable",
+ "smart-leds 0.4.0",
 ]
 
 [[package]]
 name = "embassy-sync"
-version = "0.6.0"
+version = "0.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3e0c49ff02ebe324faf3a8653ba91582e2d0a7fdef5bc88f449d5aa1bfcc05c"
+checksum = "8d2c8cdff05a7a51ba0087489ea44b0b1d97a296ca6b1d6d1a33ea7423d34049"
 dependencies = [
  "cfg-if",
  "critical-section",
  "embedded-io-async",
+ "futures-sink",
  "futures-util",
  "heapless 0.8.0",
 ]
 
 [[package]]
 name = "embassy-sync"
-version = "0.6.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.6.2"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "cfg-if",
  "critical-section",
  "embedded-io-async",
+ "futures-sink",
  "futures-util",
  "heapless 0.8.0",
 ]
 
 [[package]]
 name = "embassy-time"
-version = "0.3.2"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.4.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "cfg-if",
  "critical-section",
  "defmt",
  "document-features",
  "embassy-time-driver",
- "embassy-time-queue-driver",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
  "futures-util",
- "heapless 0.8.0",
 ]
 
 [[package]]
 name = "embassy-time-driver"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "document-features",
 ]
 
 [[package]]
-name = "embassy-time-queue-driver"
+name = "embassy-time-queue-utils"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
+dependencies = [
+ "embassy-executor",
+ "heapless 0.8.0",
+]
 
 [[package]]
 name = "embassy-usb"
-version = "0.3.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.4.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "defmt",
  "embassy-futures",
  "embassy-net-driver-channel",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-usb-driver",
  "heapless 0.8.0",
  "ssmarshal",
@@ -846,18 +865,18 @@ dependencies = [
 [[package]]
 name = "embassy-usb-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "defmt",
 ]
 
 [[package]]
 name = "embassy-usb-logger"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
+version = "0.4.0"
+source = "git+https://github.com/embassy-rs/embassy#c39076724f052fed6781b056bb79c9fa576b87a3"
 dependencies = [
  "embassy-futures",
- "embassy-sync 0.6.0 (git+https://github.com/embassy-rs/embassy)",
+ "embassy-sync 0.6.2 (git+https://github.com/embassy-rs/embassy)",
  "embassy-usb",
  "log",
 ]
@@ -960,6 +979,15 @@ dependencies = [
  "no-std-net",
 ]
 
+[[package]]
+name = "embedded-nal"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c56a28be191a992f28f178ec338a0bf02f63d7803244add736d026a471e6ed77"
+dependencies = [
+ "nb 1.1.0",
+]
+
 [[package]]
 name = "embedded-nal-async"
 version = "0.7.1"
@@ -967,10 +995,20 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "72229137a4fc12d239b0b7f50f04b30790678da6d782a0f3f1909bf57ec4b759"
 dependencies = [
  "embedded-io-async",
- "embedded-nal",
+ "embedded-nal 0.8.0",
  "no-std-net",
 ]
 
+[[package]]
+name = "embedded-nal-async"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "76959917cd2b86f40a98c28dd5624eddd1fa69d746241c8257eac428d83cb211"
+dependencies = [
+ "embedded-io-async",
+ "embedded-nal 0.9.0",
+]
+
 [[package]]
 name = "embedded-sdmmc"
 version = "0.7.0"
@@ -1122,9 +1160,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "futures"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "645c6916888f6cb6350d2550b80fb63e734897a8498abe35cfb732b6487804b0"
+checksum = "65bc07b1a8bc7c85c5f2e110c476c7389b4554ba72af57d8445ea63a576b0876"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -1136,9 +1174,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eac8f7d7865dcb88bd4373ab671c8cf4508703796caa2b1985a9ca867b3fcb78"
+checksum = "2dff15bf788c671c1934e366d07e30c1814a8ef514e1af724a602e8a2fbe1b10"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -1146,9 +1184,9 @@ dependencies = [
 
 [[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-intrusive"
@@ -1162,38 +1200,38 @@ dependencies = [
 
 [[package]]
 name = "futures-io"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a44623e20b9681a318efdd71c299b6b222ed6f231972bfe2f224ebad6311f0c1"
+checksum = "9e5c1b78ca4aae1ac06c48a526a655760685149f0d465d21f37abfe57ce075c6"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
+checksum = "162ee34ebcb7c64a8abebc059ce0fee27c2262618d7b60ed8faf72fef13c3650"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9fb8e00e87438d937621c1c6269e53f536c14d3fbd6a042bb24879e57d474fb5"
+checksum = "e575fab7d1e0dcb8d0c7bcf9a63ee213816ab51902e6d244a95819acacf1d4f7"
 
 [[package]]
 name = "futures-task"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+checksum = "f90f7dce0722e95104fcb095585910c0977252f286e354b5e3bd38902cd99988"
 
 [[package]]
 name = "futures-util"
-version = "0.3.30"
+version = "0.3.31"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+checksum = "9fa08315bb612088cc391249efdc3bc77536f16c91f6cf495e6fbe85b20a4a81"
 dependencies = [
  "futures-core",
  "futures-macro",
@@ -1312,9 +1350,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.14.5"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5274423e17b7c9fc20b6e7e208532f9b19825d82dfd615708b70edd83df41f1"
+checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
 
 [[package]]
 name = "heapless"
@@ -1384,9 +1422,9 @@ dependencies = [
 
 [[package]]
 name = "httparse"
-version = "1.9.4"
+version = "1.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0fcc0b4a115bf80b728eb8ea024ad5bd707b615bfed49e0665b6e0f86fd082d9"
+checksum = "7d71d3574edd2771538b901e6549113b4006ece66150fb69c0fb6d9a2adae946"
 
 [[package]]
 name = "ident_case"
@@ -1396,12 +1434,12 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
 [[package]]
 name = "indexmap"
-version = "2.5.0"
+version = "2.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68b900aa2f7301e21c36462b170ee99994de34dff39a4a6a528e80e7376d07e5"
+checksum = "62f822373a4fe84d4bb149bf54e584a7f4abec90e072ed49cda0edea5b95471f"
 dependencies = [
  "equivalent",
- "hashbrown 0.14.5",
+ "hashbrown 0.15.2",
 ]
 
 [[package]]
@@ -1433,6 +1471,24 @@ dependencies = [
  "either",
 ]
 
+[[package]]
+name = "itertools"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "413ee7dfc52ee1a4949ceeb7dbc8a33f2d6c088194d9f922fb8318faf1f01186"
+dependencies = [
+ "either",
+]
+
+[[package]]
+name = "keccak"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ecc2af9a1119c51f12a14607e783cb977bde58bc069ff0c3da1095e635d70654"
+dependencies = [
+ "cpufeatures",
+]
+
 [[package]]
 name = "lalrpop"
 version = "0.19.12"
@@ -1440,12 +1496,12 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0a1cbf952127589f2851ab2046af368fd20645491bb4b376f04b7f94d7a9837b"
 dependencies = [
  "ascii-canvas",
- "bit-set",
+ "bit-set 0.5.3",
  "diff",
  "ena",
  "is-terminal",
- "itertools",
- "lalrpop-util",
+ "itertools 0.10.5",
+ "lalrpop-util 0.19.12",
  "petgraph",
  "regex",
  "regex-syntax 0.6.29",
@@ -1455,6 +1511,28 @@ dependencies = [
  "unicode-xid",
 ]
 
+[[package]]
+name = "lalrpop"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6e56f323e2d610628d1f5bdd39168a774674ac7989ed67011963bb3f71edd797"
+dependencies = [
+ "ascii-canvas",
+ "bit-set 0.6.0",
+ "ena",
+ "itertools 0.13.0",
+ "lalrpop-util 0.21.0",
+ "petgraph",
+ "pico-args",
+ "regex",
+ "regex-syntax 0.8.5",
+ "sha3",
+ "string_cache",
+ "term",
+ "unicode-xid",
+ "walkdir",
+]
+
 [[package]]
 name = "lalrpop-util"
 version = "0.19.12"
@@ -1465,10 +1543,19 @@ dependencies = [
 ]
 
 [[package]]
-name = "libc"
-version = "0.2.158"
+name = "lalrpop-util"
+version = "0.21.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
+checksum = "108dc8f5dabad92c65a03523055577d847f5dcc00f3e7d3a68bc4d48e01d8fe1"
+dependencies = [
+ "regex-automata",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.169"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b5aba8db14291edd000dfcc4d620c7ebfb122c613afb886ca8803fa4e128a20a"
 
 [[package]]
 name = "libm"
@@ -1482,7 +1569,7 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
  "libc",
 ]
 
@@ -1504,9 +1591,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.22"
+version = "0.4.25"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+checksum = "04cbf5b083de1c7e0222a7a51dbfdba1cbe1c6ab0b15e29fff3f6c077fd9cd9f"
 
 [[package]]
 name = "managed"
@@ -1629,7 +1716,16 @@ version = "0.5.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1f646caf906c20226733ed5b1374287eb97e3c2a5c227ce668c1f2ce20ae57c9"
 dependencies = [
- "num_enum_derive",
+ "num_enum_derive 0.5.11",
+]
+
+[[package]]
+name = "num_enum"
+version = "0.7.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e613fc340b2220f734a8595782c551f1250e969d87d3be1ae0579e8d4065179"
+dependencies = [
+ "num_enum_derive 0.7.3",
 ]
 
 [[package]]
@@ -1644,10 +1740,21 @@ dependencies = [
 ]
 
 [[package]]
-name = "once_cell"
-version = "1.19.0"
+name = "num_enum_derive"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
+checksum = "af1844ef2428cc3e1cb900be36181049ef3d3193c63e43026cfe202983b27a56"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.96",
+]
+
+[[package]]
+name = "once_cell"
+version = "1.20.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1261fe7e33c73b354eab43b1273a57c8f967d0391e80353e51f764ac02cf6775"
 
 [[package]]
 name = "opaque-debug"
@@ -1724,10 +1831,16 @@ dependencies = [
 ]
 
 [[package]]
-name = "pin-project-lite"
-version = "0.2.14"
+name = "pico-args"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+checksum = "5be167a7af36ee22fe3115051bc51f6e6c7054c9348e28deb4f49bd6f705a315"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.16"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3b3cff922bd51709b605d9ead9aa71031d81447142d828eb4a6eba76fe619f9b"
 
 [[package]]
 name = "pin-utils"
@@ -1742,7 +1855,17 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "76e09694b50f89f302ed531c1f2a7569f0be5867aee4ab4f8f729bbeec0078e3"
 dependencies = [
  "arrayvec",
- "num_enum",
+ "num_enum 0.5.11",
+ "paste",
+]
+
+[[package]]
+name = "pio"
+version = "0.2.1"
+source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
+dependencies = [
+ "arrayvec",
+ "num_enum 0.7.3",
  "paste",
 ]
 
@@ -1752,12 +1875,22 @@ version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "77532c2b8279aef98dfc7207ef15298a5a3d6b6cc76ccc8b65913d69f3a8dd6b"
 dependencies = [
- "lalrpop",
- "lalrpop-util",
- "pio",
+ "lalrpop 0.19.12",
+ "lalrpop-util 0.19.12",
+ "pio 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "regex-syntax 0.6.29",
 ]
 
+[[package]]
+name = "pio-parser"
+version = "0.2.2"
+source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
+dependencies = [
+ "lalrpop 0.21.0",
+ "lalrpop-util 0.21.0",
+ "pio 0.2.1 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
+]
+
 [[package]]
 name = "pio-proc"
 version = "0.2.2"
@@ -1765,9 +1898,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6b04dc870fb3a4fd8b3e4ca8c61b53bc8ac4eb78b66805d2b3c2e5c4829e0d7a"
 dependencies = [
  "codespan-reporting",
- "lalrpop-util",
- "pio",
- "pio-parser",
+ "lalrpop-util 0.19.12",
+ "pio 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "pio-parser 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
  "proc-macro-error",
  "proc-macro2",
  "quote",
@@ -1775,6 +1908,21 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "pio-proc"
+version = "0.2.2"
+source = "git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4#fa586448b0b223217eec8c92c19fe6823dd04cc4"
+dependencies = [
+ "codespan-reporting",
+ "lalrpop-util 0.21.0",
+ "pio 0.2.1 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
+ "pio-parser 0.2.2 (git+https://github.com/rp-rs/pio-rs?rev=fa586448b0b223217eec8c92c19fe6823dd04cc4)",
+ "proc-macro-error2",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.96",
+]
+
 [[package]]
 name = "polyval"
 version = "0.6.2"
@@ -1789,9 +1937,9 @@ dependencies = [
 
 [[package]]
 name = "portable-atomic"
-version = "1.8.0"
+version = "1.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d30538d42559de6b034bc76fd6dd4c38961b1ee5c6c56e3808c50128fdbc22ce"
+checksum = "280dc24453071f1b63954171985a0b0d30058d287960968b9b2aca264c8d4ee6"
 dependencies = [
  "critical-section",
 ]
@@ -1845,19 +1993,41 @@ dependencies = [
 ]
 
 [[package]]
-name = "proc-macro2"
-version = "1.0.86"
+name = "proc-macro-error-attr2"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
+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"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "60946a68e5f9d28b0dc1c21bb8a97ee7d018a8b322fa57838ba31cc878e22d99"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.37"
+version = "1.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5b9d34b8991d19d98081b46eacdd8eb58c6f2b201139f7c5f643cc155a633af"
+checksum = "0e4dccaaaf89514f546c693ddc140f729f958c247918a13380cccc6078391acc"
 dependencies = [
  "proc-macro2",
 ]
@@ -1889,11 +2059,11 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.4"
+version = "0.5.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0884ad60e090bf1345b93da0a5de8923c93884cd03f40dfcfddd3b4bee661853"
+checksum = "03a862b389f93e68874fbf580b9de08dd02facb9a788ebadaf4a3fd33cf58834"
 dependencies = [
- "bitflags 2.6.0",
+ "bitflags 2.8.0",
 ]
 
 [[package]]
@@ -1904,30 +2074,30 @@ checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43"
 dependencies = [
  "getrandom",
  "libredox",
- "thiserror",
+ "thiserror 1.0.69",
 ]
 
 [[package]]
 name = "regex"
-version = "1.10.6"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4219d74c6b67a3654a9fbebc4b419e22126d13d2f3c4a07ee0cb61ff79a79619"
+checksum = "b544ef1b4eac5dc2db33ea63606ae9ffcfac26c1416a2806ae0bf5f56b201191"
 dependencies = [
  "aho-corasick",
  "memchr",
  "regex-automata",
- "regex-syntax 0.8.4",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
 name = "regex-automata"
-version = "0.4.7"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "38caf58cc5ef2fed281f89292ef23f6365465ed9a41b7a7754eb4e26496c92df"
+checksum = "809e8dc61f6de73b46c85f4c96486310fe304c434cfa43669d7b40f711150908"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.8.4",
+ "regex-syntax 0.8.5",
 ]
 
 [[package]]
@@ -1938,9 +2108,9 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.4"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
+checksum = "2b15c43186be67a4fd63bee50d0303afffcef381492ebe2c5d87f324e1b8815c"
 
 [[package]]
 name = "reqwless"
@@ -1953,7 +2123,7 @@ dependencies = [
  "defmt",
  "embedded-io",
  "embedded-io-async",
- "embedded-nal-async",
+ "embedded-nal-async 0.7.1",
  "embedded-tls",
  "heapless 0.8.0",
  "hex",
@@ -1974,8 +2144,9 @@ dependencies = [
 
 [[package]]
 name = "rp-pac"
-version = "6.0.0"
-source = "git+https://github.com/embassy-rs/rp-pac.git?rev=a7f42d25517f7124ad3b4ed492dec8b0f50a0e6c#a7f42d25517f7124ad3b4ed492dec8b0f50a0e6c"
+version = "7.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8af65855c40b2c35079514c5489abffc0429347fef25d8467ff98ad84b4322d3"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
@@ -2005,14 +2176,14 @@ version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cfcb3a22ef46e85b45de6ee7e79d063319ebb6594faafcf1c225ea92ab6e9b92"
 dependencies = [
- "semver 1.0.23",
+ "semver 1.0.24",
 ]
 
 [[package]]
 name = "rustversion"
-version = "1.0.17"
+version = "1.0.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955d28af4278de8121b7ebeb796b6a45735dc01436d898801014aced2773a3d6"
+checksum = "f7c45b9784283f1b2e7fb61b42047c2fd678ef0960d4f6f1eba131594cc369d4"
 
 [[package]]
 name = "ryu"
@@ -2020,6 +2191,15 @@ version = "1.0.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
 
+[[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"
@@ -2050,9 +2230,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.23"
+version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "61697e0a1c7e512e84a621326239844a24d8207b4669b41bc18b32ea5cbf988b"
+checksum = "3cb6eb87a131f756572d7fb904f6e7b68633f09cca868c5df1c4b8d1a694bbba"
 
 [[package]]
 name = "semver-parser"
@@ -2062,9 +2242,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.210"
+version = "1.0.217"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c8e3592472072e6e22e0a54d5904d9febf8508f65fb8552499a1abc7d1078c3a"
+checksum = "02fc4265df13d6fa1d00ecff087228cc0a2b5f3c0e87e258d8b94a156e984c70"
 dependencies = [
  "serde_derive",
 ]
@@ -2082,13 +2262,13 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.210"
+version = "1.0.217"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "243902eda00fad750862fc144cea25caca5e20d615af0a81bee94ca738f1df1f"
+checksum = "5a9bf7cf98d04a2b28aead066b7496853d4779c9cc183c440dbac457641e19a0"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
@@ -2108,6 +2288,16 @@ 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"
@@ -2138,7 +2328,16 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "38dd45fa275f70b4110eac5f5182611ad384f88bb22b68b9a9c3cafd7015290b"
 dependencies = [
- "smart-leds-trait",
+ "smart-leds-trait 0.2.1",
+]
+
+[[package]]
+name = "smart-leds"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "66df34e571fa9993fa6f99131a374d58ca3d694b75f9baac93458fe0d6057bf0"
+dependencies = [
+ "smart-leds-trait 0.3.0",
 ]
 
 [[package]]
@@ -2150,10 +2349,20 @@ dependencies = [
  "rgb",
 ]
 
+[[package]]
+name = "smart-leds-trait"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bc64ee02bbbf469603016df746c0ed224f263280b6ebb49b7ebadbff375c572"
+dependencies = [
+ "rgb",
+]
+
 [[package]]
 name = "smoltcp"
-version = "0.11.0"
-source = "git+https://github.com/smoltcp-rs/smoltcp?rev=dd43c8f189178b0ab3bda798ed8578b5b0a6f094#dd43c8f189178b0ab3bda798ed8578b5b0a6f094"
+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dad095989c1533c1c266d9b1e8d70a1329dd3723c3edac6d03bbd67e7bf6f4bb"
 dependencies = [
  "bitflags 1.3.2",
  "byteorder",
@@ -2248,9 +2457,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.77"
+version = "2.0.96"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f35bcdf61fd8e7be6caf75f429fdca8beb3ed76584befb503b1569faee373ed"
+checksum = "d5d0adab1ae378d7f53bdebc67a39f1f151407ef230f0ce2883572f5d8985c80"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -2279,22 +2488,42 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.64"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d50af8abc119fb8bb6dbabcfa89656f46f84aa0ac7688088608076ad2b459a84"
+checksum = "b6aaf5339b578ea85b50e080feb250a3e8ae8cfcdff9a461c9ec2904bc923f52"
 dependencies = [
- "thiserror-impl",
+ "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",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.64"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08904e7672f5eb876eaaf87e0ce17857500934f4981c4a0ab2b4aa98baac7fc3"
+checksum = "4fee6c4efc90059e10f81e6d42c60a18f76588c3d74cb83a0b242a2b6c7504c1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "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]]
@@ -2314,9 +2543,9 @@ checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.13"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e91b56cd4cadaeb79bbf1a5645f6b4f8dc5bde8834ad5894a8db35fda9efa1fe"
+checksum = "adb9e6ca4f869e1180728b7950e35922a7fc6397f7b641499e8f3ef06e50dc83"
 
 [[package]]
 name = "unicode-width"
@@ -2424,6 +2653,16 @@ 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"
@@ -2561,7 +2800,7 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.77",
+ "syn 2.0.96",
 ]
 
 [[package]]
diff --git a/controller/Cargo.toml b/controller/Cargo.toml
index bffed1a..d9a5555 100644
--- a/controller/Cargo.toml
+++ b/controller/Cargo.toml
@@ -6,17 +6,17 @@ license = "MIT OR Apache-2.0"
 
 
 [dependencies]
-embassy-executor = { version = "0.6.0", git="https://github.com/embassy-rs/embassy", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
-embassy-time = { version = "0.3.2", git="https://github.com/embassy-rs/embassy", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-rp = { version = "0.2.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
+embassy-executor = { version = "0.7.0", git="https://github.com/embassy-rs/embassy", features = ["task-arena-size-98304", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt"] }
+embassy-time = { version = "0.4.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-rp = { version = "0.3.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "unstable-pac", "time-driver", "critical-section-impl", "rp2040"] }
 embassy-sync = { version = "0.6.2", git="https://github.com/embassy-rs/embassy" }
-embassy-usb = { version = "0.3.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
-embassy-net = { version = "0.4.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "tcp", "udp", "raw", "dhcpv4", "medium-ethernet", "dns"] }
-embassy-net-wiznet = { version = "0.1.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
+embassy-usb = { version = "0.4.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
+embassy-net = { version = "0.6.0", git="https://github.com/embassy-rs/embassy", features = ["defmt", "tcp", "udp", "raw", "dhcpv4", "medium-ethernet", "dns"] }
+embassy-net-wiznet = { version = "0.2.0", git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
 embassy-futures = { version = "0.1.0",  git="https://github.com/embassy-rs/embassy"}
-embassy-usb-logger = { version = "0.2.0",  git="https://github.com/embassy-rs/embassy" }
-cyw43 = { version = "0.2.0",   git="https://github.com/embassy-rs/embassy", features = ["defmt", "firmware-logs", "bluetooth"] }
-cyw43-pio = { version = "0.2.0",  git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
+embassy-usb-logger = { version = "0.4.0",  git="https://github.com/embassy-rs/embassy" }
+cyw43 = { version = "0.3.0",   git="https://github.com/embassy-rs/embassy", features = ["defmt", "firmware-logs", "bluetooth"] }
+cyw43-pio = { version = "0.3.0",  git="https://github.com/embassy-rs/embassy", features = ["defmt"] }
 
 defmt = "0.3"
 defmt-rtt = "0.4"
@@ -58,7 +58,6 @@ pio = "0.2.1"
 rand = { version = "0.8.5", default-features = false }
 embedded-sdmmc = "0.7.0"
 
-bt-hci = { version = "0.1.0", default-features = false, features = ["defmt"] }
 hex = { version = "0.4.3", default-features=false }
 mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
 vl53l0x = "1.0.1"
diff --git a/controller/src/main.rs b/controller/src/main.rs
index d40e121..61e2f86 100644
--- a/controller/src/main.rs
+++ b/controller/src/main.rs
@@ -11,14 +11,16 @@ use core::array;
 use core::borrow::BorrowMut;
 use core::cell::RefCell;
 use core::fmt::Formatter;
+use core::mem::transmute;
 use core::panic::PanicInfo;
 use core::str::from_utf8;
 
-use bt_hci::cmd::info;
-use cyw43_pio::PioSpi;
+use cyw43_pio::{PioSpi, DEFAULT_CLOCK_DIVIDER};
 use embassy_rp::i2c::{Async, I2c};
-use embassy_rp::multicore::spawn_core1;
+use embassy_rp::multicore::{spawn_core1, Stack};
 use embassy_rp::pwm::{self, Pwm};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::Channel;
 use embedded_hal_bus::i2c::RefCellDevice;
 use fixed::FixedU16;
 use log::*;
@@ -37,7 +39,7 @@ use embedded_io_async::Write;
 use mpu6050::Mpu6050;
 use rand::RngCore;
 use reqwless::response;
-use sensor_manager::{sensor_manager, SensorData};
+use sensor_manager::{sensor_manager, SensorData, SensorHardware};
 use static_cell::StaticCell;
 use defmt_rtt as _;
 
@@ -49,7 +51,7 @@ bind_interrupts!(struct Irqs {
 });
 
 static mut CORE1_STACK: Stack<4096> = Stack::new();
-static CHANNEL: Channel<CriticalSectionRawMutex, SensorData, 1> = Channel::new();
+pub static CHANNEL: Channel<CriticalSectionRawMutex, SensorData, 1> = Channel::new();
 
 #[embassy_executor::task]
 async fn logger_task(driver: Driver<'static, USB>) {
@@ -101,57 +103,22 @@ async fn main(spawner: Spawner) {
     let scl = p.PIN_27;
     let config = embassy_rp::i2c::Config::default();
     let bus1 = embassy_rp::i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, config);
-    let bus1 = RefCell::new(bus1);
-    let mut tof2enable = Output::new(p.PIN_16, Level::Low);
+    let tof2enable = Output::new(p.PIN_16, Level::Low);
 
+    let hardware = SensorHardware {
+        bus_tof: unsafe {transmute(bus)},
+        bus_gyro: unsafe {transmute(bus1)},
+        tof2enable,
+    };
 
     spawn_core1(
         p.CORE1, 
         unsafe { &mut *core::ptr::addr_of_mut!(CORE1_STACK) }, 
         move || {
-            sensor_manager(bus, tof2enable)
+            sensor_manager(hardware)
         }
     );
 
-    info!("made RefCell");
-
-    info!("2");
-    Timer::after_millis(1).await;
-    let mut tof = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
-    info!("3");
-    tof.set_address(0x32).unwrap();
-    info!("4");
-    tof2enable.set_high();
-    Timer::after_micros(1200).await; // DS11555 3.2
-    info!("5");
-    let mut tof2 = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
-    info!("6");
-
-
-    let mut gyro = Mpu6050::new_with_addr(bus,0x68);
-
-    Timer::after_millis(1300).await;
-    gyro.init(&mut Delay).unwrap();
-
-    gyro.set_gyro_range(mpu6050::device::GyroRange::D2000).unwrap();
-    gyro.set_accel_range(mpu6050::device::AccelRange::G16).unwrap();
-    info!("pinidtd");
-    Timer::after_millis(1300).await;
-
-    loop {
-        //info!("pos: {}", gyro.get_gyro().unwrap().x);
-        //info!("jerk: {}", gyro.get_acc().unwrap().x);
-        //info!("temp: {}", gyro.get_temp().unwrap() * (9./5.) + 32.);
-        if let Ok(dist) = tof.read_range_single_millimeters_blocking() {
-            info!("dist1: {dist}mm");
-        }
-        Timer::after_millis(3).await;
-        if let Ok(dist) = tof2.read_range_single_millimeters_blocking() {
-            info!("dist2: {dist}mm");
-        }
-        Timer::after_millis(23).await;
-    }
-
     let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
     let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");
 
@@ -165,7 +132,16 @@ async fn main(spawner: Spawner) {
     let pwr = Output::new(p.PIN_23, Level::Low);
     let cs = Output::new(p.PIN_25, Level::High);
     let mut pio = Pio::new(p.PIO0, Irqs);
-    let spi = PioSpi::new(&mut pio.common, pio.sm0, pio.irq0, cs, p.PIN_24, p.PIN_29, p.DMA_CH0);
+    let spi = PioSpi::new(
+        &mut pio.common,
+        pio.sm0,
+        DEFAULT_CLOCK_DIVIDER,
+        pio.irq0,
+        cs,
+        p.PIN_24,
+        p.PIN_29,
+        p.DMA_CH0,
+    );
 
     static STATE: StaticCell<cyw43::State> = StaticCell::new();
     let state = STATE.init(cyw43::State::new());
@@ -531,32 +507,6 @@ async fn main(spawner: Spawner) {
             let mut segs = buf[..n].trim_ascii().split(|c| *c == ' ' as u8);
 
             match char::from_u32(segs.next().unwrap()[0] as u32).unwrap() {
-                'W' => {
-                    let addr: [u8;1] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    let reg: [u8;1] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    let data: [u8;1] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    info!("writing {:?}", reg);
-                    Timer::after_millis(30).await;
-
-                    bus.write_async(addr[0] as u16, [reg[0], data[0]]).await.unwrap();
-
-                    buf[0] = b"O"[0];
-                    buf[1] = b"K"[0];
-                    n=2;
-                },
-                'R' => {
-                    let addr: [u8;1] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    let reg: [u8;1] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    info!("writing {:?}, addr {addr:?}", reg);
-
-                    let mut response: [u8;2] = [0;2];
-
-                    let _ = bus.write_read_async(addr[0] as u16, reg, &mut response).await;
-                    info!("recd {:?}", response);
-                    info!("recd {:#02x}", response[0]);
-                    let _ = hex::encode_to_slice(response, &mut buf);
-                    n = 4;
-                },
                 'D' => {
                     let left: [u8;2] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
                     let right: [u8;2] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
diff --git a/controller/src/sensor_manager.rs b/controller/src/sensor_manager.rs
index aa475ab..0b82a19 100644
--- a/controller/src/sensor_manager.rs
+++ b/controller/src/sensor_manager.rs
@@ -12,15 +12,17 @@ use log::info;
 use mpu6050::Mpu6050;
 use nalgebra::Vector3;
 
+use crate::CHANNEL;
+
 pub struct SensorHardware {
-    bus_tof: I2c<'static, I2C1, Async>,
-    bus_gyro: I2c<'static, I2C0, Async>,
-    tof2enable: Output<'static>,
+    pub bus_tof: I2c<'static, I2C1, Async>,
+    pub bus_gyro: I2c<'static, I2C0, Async>,
+    pub tof2enable: Output<'static>,
 }
 
 pub fn sensor_manager(mut hardware: SensorHardware) -> ! {
-    let executor = Executor::new();
-    let executor: &'static mut Executor = unsafe{transmute(&executor)};
+    let mut executor = Executor::new();
+    let executor: &'static mut Executor = unsafe{transmute(&mut executor)};
     executor.run(move |spawner| {
         spawner.spawn(init_sensors(hardware)).unwrap();
     });
@@ -35,7 +37,8 @@ enum PollState {
     Gyro,
 }
 
-struct SensorData {
+#[derive(Clone, Debug)]
+pub struct SensorData {
     /// distance, mm
     tof1: Option<u16>,
     /// distance, mm
@@ -95,8 +98,6 @@ async fn init_sensors(mut hardware: SensorHardware) {
         }
         POLL_STATE.store(PollState::None as u8, Ordering::SeqCst);
 
-
-
-        
+        CHANNEL.send(data.clone()).await;
     }
 }