From a62334fae44a7e86da971d549e1f08d65f44e060 Mon Sep 17 00:00:00 2001
From: Ryan Butler <thebutlah@gmail.com>
Date: Sun, 5 Nov 2023 20:12:55 -0500
Subject: [PATCH 1/4] upgrade rust toolchain

---
 firmware/rust-toolchain.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/rust-toolchain.toml b/firmware/rust-toolchain.toml
index 7d60a4cd..162e07d6 100644
--- a/firmware/rust-toolchain.toml
+++ b/firmware/rust-toolchain.toml
@@ -1,5 +1,5 @@
 [toolchain]
-channel = "nightly-2022-12-18"
+channel = "nightly-2023-08-26"
 # channel = "esp" # for when compiling to xtensa targets
 targets = [
 	"riscv32imc-unknown-none-elf",

From 0d5bfba7b7a0abd6682446dd4ae0f7218d566780 Mon Sep 17 00:00:00 2001
From: Ryan Butler <thebutlah@gmail.com>
Date: Sun, 5 Nov 2023 22:50:37 -0500
Subject: [PATCH 2/4] Fix CAS in esp-wifi

---
 firmware/Cargo.lock | 736 +++++++++++++++++++++++++++++++++-----------
 firmware/Cargo.toml |  24 +-
 2 files changed, 572 insertions(+), 188 deletions(-)

diff --git a/firmware/Cargo.lock b/firmware/Cargo.lock
index 7cde0829..e08905c0 100644
--- a/firmware/Cargo.lock
+++ b/firmware/Cargo.lock
@@ -48,9 +48,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.70"
+version = "1.0.75"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7de8ce5e0f9f8d88245311066a578d72b7af3e7088f32783804676302df237e4"
+checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
 
 [[package]]
 name = "approx"
@@ -112,6 +112,25 @@ dependencies = [
  "stable_deref_trait",
 ]
 
+[[package]]
+name = "atomic-waker"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1505bd5d3d116872e7271a6d4e16d81d0c8570876c8de68093a09ac269d8aac0"
+dependencies = [
+ "portable-atomic",
+]
+
+[[package]]
+name = "atomic_enum"
+version = "0.2.0"
+source = "git+https://github.com/thebutlah/atomic_enum?rev=3c90118#3c901189fa4b7abeb500483468f9640e811fd161"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "autocfg"
 version = "1.1.0"
@@ -134,8 +153,8 @@ dependencies = [
  "cc",
  "cfg-if",
  "libc",
- "miniz_oxide",
- "object",
+ "miniz_oxide 0.6.2",
+ "object 0.30.3",
  "rustc-demangle",
 ]
 
@@ -154,6 +173,15 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f8fe8f5a8a398345e52358e18ff07cc17a568fbca5c6f73873d3a62056309603"
 
+[[package]]
+name = "basic-toml"
+version = "0.1.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2f2139706359229bfa8f19142ac1155b4b80beafb7a60471ac5dd109d4a19778"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "bbqueue"
 version = "0.5.1"
@@ -175,12 +203,24 @@ version = "0.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
 
+[[package]]
+name = "bitfield"
+version = "0.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2d7e60934ceec538daadb9d8432424ed043a904d8e0243f3c6446bce549a46ac"
+
 [[package]]
 name = "bitflags"
 version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
+[[package]]
+name = "bitflags"
+version = "2.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
+
 [[package]]
 name = "bitvec"
 version = "1.1.0"
@@ -206,7 +246,7 @@ name = "bleps-macros"
 version = "0.1.0"
 source = "git+https://github.com/bjoernQ/bleps?rev=33fde67#33fde67257bfbc6c0aebf7649fd302c82ed94c64"
 dependencies = [
- "litrs",
+ "litrs 0.2.3",
  "proc-macro2",
  "quote",
  "syn 1.0.109",
@@ -287,8 +327,8 @@ dependencies = [
  "anyhow",
  "enum-as-inner",
  "regex",
- "strum",
- "strum_macros",
+ "strum 0.24.1",
+ "strum_macros 0.24.3",
 ]
 
 [[package]]
@@ -298,7 +338,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
- "bitfield",
+ "bitfield 0.13.2",
  "critical-section",
  "embedded-hal 0.2.7",
  "volatile-register",
@@ -324,11 +364,20 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "crc32fast"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
+dependencies = [
+ "cfg-if",
+]
+
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "crunchy"
@@ -356,6 +405,16 @@ dependencies = [
  "darling_macro 0.14.4",
 ]
 
+[[package]]
+name = "darling"
+version = "0.20.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0209d94da627ab5605dcccf08bb18afa5009cfbef48d8a8b7d7bdbc79be25c5e"
+dependencies = [
+ "darling_core 0.20.3",
+ "darling_macro 0.20.3",
+]
+
 [[package]]
 name = "darling_core"
 version = "0.13.4"
@@ -384,6 +443,20 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "darling_core"
+version = "0.20.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "177e3443818124b357d8e76f53be906d60937f0d3a90773a664fa63fa253e621"
+dependencies = [
+ "fnv",
+ "ident_case",
+ "proc-macro2",
+ "quote",
+ "strsim",
+ "syn 2.0.38",
+]
+
 [[package]]
 name = "darling_macro"
 version = "0.13.4"
@@ -406,6 +479,17 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "darling_macro"
+version = "0.20.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "836a9bbc7ad63342d6d6e7b815ccab164bc77a2d95d84bc3117a8c0d5c98e2d5"
+dependencies = [
+ "darling_core 0.20.3",
+ "quote",
+ "syn 2.0.38",
+]
+
 [[package]]
 name = "dcmimu"
 version = "0.2.2"
@@ -421,7 +505,7 @@ version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d03193cde597714ff8a5005ccd61cd1b7aff5616eaca7c67905982cb6f347ff4"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "defmt-macros",
 ]
 
@@ -514,47 +598,32 @@ version = "0.15.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1aaf95b3e5c8f23aa320147307562d361db0ae0d51242340f558153b4eb2439b"
 
-[[package]]
-name = "embassy-cortex-m"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
-dependencies = [
- "atomic-polyfill 1.0.2",
- "cfg-if",
- "cortex-m",
- "critical-section",
- "embassy-executor",
- "embassy-hal-common",
- "embassy-macros",
- "embassy-sync",
-]
-
 [[package]]
 name = "embassy-embedded-hal"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
- "embassy-sync",
+ "embassy-futures 0.1.0 (git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c)",
+ "embassy-sync 0.4.0",
+ "embassy-time",
  "embedded-hal 0.2.7",
- "embedded-hal 1.0.0-alpha.9",
+ "embedded-hal 1.0.0-rc.1",
  "embedded-hal-async",
  "embedded-storage",
- "embedded-storage-async",
+ "embedded-storage-async 0.4.0",
  "nb 1.1.0",
 ]
 
 [[package]]
 name = "embassy-executor"
-version = "0.1.1"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+version = "0.3.1"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
  "atomic-polyfill 1.0.2",
- "cfg-if",
  "critical-section",
  "embassy-macros",
  "embassy-time",
  "futures-util",
- "static_cell",
 ]
 
 [[package]]
@@ -566,39 +635,40 @@ checksum = "47e5367165d347c039360f784812f493b001583ab6a3dd8622f4ce9c30374ec3"
 [[package]]
 name = "embassy-futures"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 
 [[package]]
-name = "embassy-hal-common"
+name = "embassy-hal-internal"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
+ "cortex-m",
+ "critical-section",
  "num-traits",
 ]
 
 [[package]]
 name = "embassy-macros"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+version = "0.2.1"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
- "darling 0.13.4",
+ "darling 0.20.3",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.38",
 ]
 
 [[package]]
 name = "embassy-net"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+version = "0.2.1"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
  "as-slice 0.2.1",
- "atomic-polyfill 1.0.2",
  "atomic-pool",
  "embassy-net-driver",
- "embassy-sync",
+ "embassy-sync 0.4.0",
  "embassy-time",
- "embedded-io 0.4.0",
+ "embedded-io-async",
  "embedded-nal-async",
  "futures",
  "generic-array 0.14.7",
@@ -610,42 +680,41 @@ dependencies = [
 
 [[package]]
 name = "embassy-net-driver"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 
 [[package]]
 name = "embassy-net-driver-channel"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
- "embassy-futures 0.1.0 (git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a)",
+ "embassy-futures 0.1.0 (git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c)",
  "embassy-net-driver",
- "embassy-sync",
+ "embassy-sync 0.4.0",
 ]
 
 [[package]]
 name = "embassy-nrf"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
  "cfg-if",
  "cortex-m",
  "cortex-m-rt",
  "critical-section",
- "embassy-cortex-m",
  "embassy-embedded-hal",
- "embassy-hal-common",
- "embassy-sync",
+ "embassy-hal-internal",
+ "embassy-sync 0.4.0",
  "embassy-time",
  "embassy-usb-driver",
  "embedded-hal 0.2.7",
- "embedded-hal 1.0.0-alpha.9",
+ "embedded-hal 1.0.0-rc.1",
  "embedded-hal-async",
- "embedded-io 0.4.0",
+ "embedded-io 0.6.1",
+ "embedded-io-async",
  "embedded-storage",
- "embedded-storage-async",
+ "embedded-storage-async 0.4.0",
  "fixed",
- "futures",
  "nrf52832-pac",
  "nrf52840-pac",
  "rand_core",
@@ -654,24 +723,47 @@ dependencies = [
 [[package]]
 name = "embassy-sync"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6ea38e6ea5d0361d087680f786c19a1454becb06174790280534a3be05ed839"
+dependencies = [
+ "atomic-polyfill 1.0.2",
+ "cfg-if",
+ "critical-section",
+ "embedded-io 0.3.1",
+ "futures-util",
+ "heapless",
+]
+
+[[package]]
+name = "embassy-sync"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f0525b466ca3ace30b57f2db868a35215dfaecd038d8668cb2db03feb7c069a0"
+dependencies = [
+ "cfg-if",
+ "critical-section",
+ "futures-util",
+ "heapless",
+]
+
+[[package]]
+name = "embassy-sync"
+version = "0.4.0"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
  "cfg-if",
  "critical-section",
- "embedded-io 0.4.0",
  "futures-util",
  "heapless",
 ]
 
 [[package]]
 name = "embassy-time"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+version = "0.1.5"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
- "atomic-polyfill 1.0.2",
  "cfg-if",
  "critical-section",
- "embassy-sync",
  "embedded-hal 0.2.7",
  "embedded-hal-async",
  "futures-util",
@@ -681,11 +773,11 @@ dependencies = [
 [[package]]
 name = "embassy-usb"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
- "embassy-futures 0.1.0 (git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a)",
+ "embassy-futures 0.1.0 (git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c)",
  "embassy-net-driver-channel",
- "embassy-sync",
+ "embassy-sync 0.4.0",
  "embassy-usb-driver",
  "heapless",
  "ssmarshal",
@@ -695,7 +787,7 @@ dependencies = [
 [[package]]
 name = "embassy-usb-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy?rev=26474ce6eb759e5add1c137f3417845e0797df3a#26474ce6eb759e5add1c137f3417845e0797df3a"
+source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 
 [[package]]
 name = "embedded-can"
@@ -727,26 +819,26 @@ dependencies = [
 
 [[package]]
 name = "embedded-hal"
-version = "1.0.0-alpha.9"
+version = "1.0.0-rc.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "129b101ddfee640565f7c07b301a31d95aa21e5acef21a491c307139f5fa4c91"
+checksum = "2894bc2f0457b8ca3d6b8ab8aad64d9337583672494013457f86c5a9146c0e22"
 
 [[package]]
 name = "embedded-hal-async"
-version = "0.2.0-alpha.0"
+version = "1.0.0-rc.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "608a322808d65da06715e03109c0cb69f79a5459af756fba393ab83e875d4969"
+checksum = "76a8a3517745342155b3b00895a0f78417a453fb800d97a8bf4777d5720acde9"
 dependencies = [
- "embedded-hal 1.0.0-alpha.9",
+ "embedded-hal 1.0.0-rc.1",
 ]
 
 [[package]]
 name = "embedded-hal-nb"
-version = "1.0.0-alpha.1"
+version = "1.0.0-rc.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e0760ec0a3bf76859d5e33f39542af103f157d5b2ecfb00ace56dd461472e3a"
+checksum = "257e3bb0163c69195acb0ebe0083b017b963235861d5ea9741626abdc55f39c9"
 dependencies = [
- "embedded-hal 1.0.0-alpha.9",
+ "embedded-hal 1.0.0-rc.1",
  "nb 1.1.0",
 ]
 
@@ -763,23 +855,38 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
 
 [[package]]
-name = "embedded-nal"
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
+[[package]]
+name = "embedded-io-async"
 version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db9efecb57ab54fa918730f2874d7d37647169c50fa1357fecb81abee840b113"
+checksum = "de03527d6fb488b2d7c7a4dc81dfb6a657efe264256bfc70bb899746821666b1"
+dependencies = [
+ "embedded-io 0.6.1",
+]
+
+[[package]]
+name = "embedded-nal"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "447416d161ba378782c13e82b11b267d6d2104b4913679a7c5640e7e94f96ea7"
 dependencies = [
  "heapless",
  "nb 1.1.0",
- "no-std-net 0.5.0",
+ "no-std-net 0.6.0",
 ]
 
 [[package]]
 name = "embedded-nal-async"
-version = "0.3.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0dc8f5d837a6e95e9ecad9b5503fff6ef12e16407706abed1d33fc61eaf90da8"
+checksum = "a0f75f0ac83505f354443332324ef1399463902718b95b4ce153ae9b3660f341"
 dependencies = [
- "embedded-io 0.4.0",
+ "embedded-io-async",
  "embedded-nal",
  "heapless",
  "no-std-net 0.6.0",
@@ -800,6 +907,15 @@ dependencies = [
  "embedded-storage",
 ]
 
+[[package]]
+name = "embedded-storage-async"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "052997a894670d0cde873faa7405bc98e2fd29f569d2acd568561bc1c396b35a"
+dependencies = [
+ "embedded-storage",
+]
+
 [[package]]
 name = "embedded-svc"
 version = "0.23.2"
@@ -813,6 +929,20 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "embedded-svc"
+version = "0.26.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72eadca5c944d68cef49d9fcba75d89bca6a742aa31ee744382684805c9af6f3"
+dependencies = [
+ "atomic-waker",
+ "embedded-io 0.6.1",
+ "enumset",
+ "heapless",
+ "no-std-net 0.5.0",
+ "serde",
+]
+
 [[package]]
 name = "encode_unicode"
 version = "0.3.6"
@@ -852,6 +982,12 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
 [[package]]
 name = "esp-alloc"
 version = "0.2.0"
@@ -875,48 +1011,62 @@ dependencies = [
 
 [[package]]
 name = "esp-hal-common"
-version = "0.7.1"
+version = "0.13.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5df3ec9a2e4df155e5a99f50b76a3a6733e69941d453085d3258846e1bd0a64e"
+checksum = "ad320b6bb4fc71179b3997e8ca2d10c513729783070867767d1d84364d200513"
 dependencies = [
+ "basic-toml",
+ "bitfield 0.14.0",
+ "bitflags 2.4.1",
  "cfg-if",
  "critical-section",
  "embassy-futures 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
- "embassy-sync",
+ "embassy-sync 0.3.0",
  "embassy-time",
  "embedded-can",
  "embedded-dma",
  "embedded-hal 0.2.7",
- "embedded-hal 1.0.0-alpha.9",
+ "embedded-hal 1.0.0-rc.1",
  "embedded-hal-async",
  "embedded-hal-nb",
+ "embedded-io 0.6.1",
+ "embedded-io-async",
  "esp-hal-procmacros",
  "esp-riscv-rt",
+ "esp-synopsys-usb-otg",
  "esp32",
+ "esp32c2",
  "esp32c3",
+ "esp32c6",
+ "esp32s2",
+ "esp32s3",
  "fugit",
- "lock_api",
+ "log",
  "nb 1.1.0",
  "paste",
  "riscv-atomic-emulation-trap",
- "strum",
+ "serde",
+ "strum 0.25.0",
+ "usb-device",
  "void",
  "xtensa-lx",
- "xtensa-lx-rt 0.15.0",
+ "xtensa-lx-rt 0.16.0",
 ]
 
 [[package]]
 name = "esp-hal-procmacros"
-version = "0.4.0"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "214510c5399a574ee6a521be48851d06aaa188b40c4b6b8f2a2c3b8d22afd12e"
+checksum = "064c5793a4b6eabc95f6452c7320c035265d85066998f2544e8c8cdfe7b7ff44"
 dependencies = [
- "darling 0.14.4",
+ "darling 0.20.3",
+ "litrs 0.4.1",
+ "object 0.32.1",
  "proc-macro-crate",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -930,56 +1080,73 @@ dependencies = [
 
 [[package]]
 name = "esp-riscv-rt"
-version = "0.1.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c363bf30aae3c13e849315b73227de75dca813de53f5233f1fa7064f5adea641"
+checksum = "7639ac03e9fe4e6d5f1c0e90b95ce9478d487335f6684c22b3515e6dc3155d8f"
 dependencies = [
- "r0",
  "riscv",
  "riscv-rt-macros",
 ]
 
+[[package]]
+name = "esp-synopsys-usb-otg"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5cc6734e87e7b86858f7884649deae6bf634d1e6f5b2d078e457cf4d72c541ec"
+dependencies = [
+ "critical-section",
+ "embedded-hal 0.2.7",
+ "usb-device",
+ "vcell",
+]
+
 [[package]]
 name = "esp-wifi"
 version = "0.1.0"
-source = "git+https://github.com/esp-rs/esp-wifi.git?rev=76ba312#76ba312b55b841cbbe9090c4f8dfb12ad379bb38"
+source = "git+https://github.com/esp-rs/esp-wifi.git?rev=9e44fe3#9e44fe3c098e64badec57b0e9435a1386067026c"
 dependencies = [
  "atomic-polyfill 1.0.2",
+ "atomic_enum",
+ "cfg-if",
  "critical-section",
  "embassy-futures 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
  "embassy-net",
- "embassy-net-driver",
- "embassy-sync",
- "embedded-hal 0.2.7",
- "embedded-io 0.4.0",
- "embedded-svc",
+ "embassy-sync 0.4.0",
+ "embedded-io 0.6.1",
+ "embedded-io-async",
+ "embedded-svc 0.26.2",
  "enumset",
  "esp-wifi-sys",
  "esp32-hal",
- "esp32c3",
+ "esp32c2-hal",
  "esp32c3-hal",
+ "esp32c6-hal",
+ "esp32s2-hal",
+ "esp32s3-hal",
  "fugit",
  "heapless",
+ "libm 0.2.8",
  "linked_list_allocator",
  "log",
  "num-derive",
  "num-traits",
  "smoltcp",
+ "toml-cfg",
 ]
 
 [[package]]
 name = "esp-wifi-sys"
 version = "0.1.0"
-source = "git+https://github.com/esp-rs/esp-wifi.git?rev=76ba312#76ba312b55b841cbbe9090c4f8dfb12ad379bb38"
+source = "git+https://github.com/esp-rs/esp-wifi.git?rev=9e44fe3#9e44fe3c098e64badec57b0e9435a1386067026c"
 dependencies = [
  "anyhow",
 ]
 
 [[package]]
 name = "esp32"
-version = "0.21.0"
+version = "0.27.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5513ea7e015c87798ed9e07f3b478a8c823e28796b0d9aaa5a80436f22c03ee7"
+checksum = "9d09b309c801163288d7291b3f3f927b278efe1c3fe0a6f854c4be6bb50b1cf9"
 dependencies = [
  "critical-section",
  "vcell",
@@ -988,21 +1155,38 @@ dependencies = [
 
 [[package]]
 name = "esp32-hal"
-version = "0.10.0"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fd30aca34bfc360af857200c66e687abc8371ca9eb6cbd0a7fb065e2f6726fd"
+checksum = "9bb7f422b73053c301f8042a17aae7d115fa685560cb6ce3709a028874d7614e"
 dependencies = [
  "embassy-time",
- "embedded-hal 0.2.7",
- "embedded-hal-async",
  "esp-hal-common",
 ]
 
 [[package]]
-name = "esp32c3"
+name = "esp32c2"
+version = "0.15.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0e195e823b9c3b2b13377fea639e42cb67bc481cd71b49d12dfc5f246cf96d08"
+dependencies = [
+ "critical-section",
+ "vcell",
+]
+
+[[package]]
+name = "esp32c2-hal"
 version = "0.11.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "471e4ccbeb7b898927ff8e115288353b47cf9c948c75c1d25a0e71c9b97678ae"
+checksum = "d6bcd1c93096fd2d583f4c8cd5c084c0e70c2ee677a9dffde0407b142297b1bc"
+dependencies = [
+ "esp-hal-common",
+]
+
+[[package]]
+name = "esp32c3"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "89e5cc6c0874ae7d8ea3997eeba05bf06926b92c788b556002e2c3eea52f5882"
 dependencies = [
  "critical-section",
  "vcell",
@@ -1010,16 +1194,73 @@ dependencies = [
 
 [[package]]
 name = "esp32c3-hal"
-version = "0.7.0"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cfd7f5e718f699c26e112ecb09233c2d8b401db2316625cd78a729ab75f775f9"
+checksum = "a2b11a787ccbf8dfb1895c1fe1207effc002061e0fc705fa1d633dd88bbf9f5c"
 dependencies = [
  "cfg-if",
  "embassy-time",
- "embedded-hal 0.2.7",
- "embedded-hal-async",
  "esp-hal-common",
- "r0",
+]
+
+[[package]]
+name = "esp32c6"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5e456c778e9169f81789b7f990aeb276680231d48b10c9c7a14f5ac42d00a507"
+dependencies = [
+ "critical-section",
+ "vcell",
+]
+
+[[package]]
+name = "esp32c6-hal"
+version = "0.6.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a56e03581a43995bb0b79b9490b4b1988866bb68f3fb3894de0fe7d6de414727"
+dependencies = [
+ "esp-hal-common",
+]
+
+[[package]]
+name = "esp32s2"
+version = "0.18.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08b66c2f65dae760a209609661a52235e95c612fd640c22663a90747028508ea"
+dependencies = [
+ "critical-section",
+ "vcell",
+ "xtensa-lx",
+]
+
+[[package]]
+name = "esp32s2-hal"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "63bab3dab3741cb86b076d784f795ebbdcba71e319964551e0e091116ba8ab72"
+dependencies = [
+ "esp-hal-common",
+ "xtensa-atomic-emulation-trap",
+]
+
+[[package]]
+name = "esp32s3"
+version = "0.22.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d963e4278c6417d939dd3791f144b89341abd387cc1bf612fbbd4cf585c0f669"
+dependencies = [
+ "critical-section",
+ "vcell",
+ "xtensa-lx",
+]
+
+[[package]]
+name = "esp32s3-hal"
+version = "0.13.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "567d3c5f0d708028533811bb255b099aff0a7d61e2ddbf0b44d2485eeb612c99"
+dependencies = [
+ "esp-hal-common",
 ]
 
 [[package]]
@@ -1043,6 +1284,7 @@ name = "firmware"
 version = "0.0.0"
 dependencies = [
  "alloc-cortex-m",
+ "atomic-waker",
  "bleps",
  "bleps-macros",
  "bmi160",
@@ -1060,11 +1302,11 @@ dependencies = [
  "embassy-futures 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
  "embassy-net",
  "embassy-nrf",
- "embassy-sync",
+ "embassy-sync 0.4.0",
  "embassy-time",
  "embassy-usb",
  "embedded-hal 0.2.7",
- "embedded-svc",
+ "embedded-svc 0.23.2",
  "esp-alloc",
  "esp-backtrace",
  "esp-wifi",
@@ -1084,6 +1326,7 @@ dependencies = [
  "nrf52840-pac",
  "panic_defmt",
  "paste",
+ "portable-atomic",
  "riscv",
  "serde",
  "smoltcp",
@@ -1112,6 +1355,16 @@ dependencies = [
  "typenum",
 ]
 
+[[package]]
+name = "flate2"
+version = "1.0.28"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46303f565772937ffe1d394a4fac6f411c6013172fadde9dcdb1e147a086940e"
+dependencies = [
+ "crc32fast",
+ "miniz_oxide 0.7.1",
+]
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -1120,9 +1373,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "fugit"
-version = "0.3.6"
+version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
 dependencies = [
  "gcd",
 ]
@@ -1177,7 +1430,7 @@ checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.12",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -1266,9 +1519,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "f93e7192158dbcda357bdec5fb5788eebf8bbac027f3f33e719d29135ae84156"
 
 [[package]]
 name = "heapless"
@@ -1303,11 +1556,11 @@ checksum = "ce23b50ad8242c51a442f3ff322d56b02f08852c77e4c0b4d3fd684abc89c683"
 
 [[package]]
 name = "indexmap"
-version = "1.9.3"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99"
+checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
 ]
 
@@ -1331,9 +1584,9 @@ checksum = "7fc7aa29613bd6a620df431842069224d8bc9011086b1db4c0e0cd47fa03ec9a"
 
 [[package]]
 name = "libm"
-version = "0.2.6"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "348108ab3fba42ec82ff6e9564fc4ca0247bdccdc68dd8af9764bbc79c3c8ffb"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
 [[package]]
 name = "linked_list_allocator"
@@ -1350,6 +1603,15 @@ dependencies = [
  "proc-macro2",
 ]
 
+[[package]]
+name = "litrs"
+version = "0.4.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b4ce301924b7887e9d637144fdade93f9dfff9b60981d4ac161db09720d39aa5"
+dependencies = [
+ "proc-macro2",
+]
+
 [[package]]
 name = "load-dotenv"
 version = "0.1.2"
@@ -1371,12 +1633,9 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.17"
+version = "0.4.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
-dependencies = [
- "cfg-if",
-]
+checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 
 [[package]]
 name = "managed"
@@ -1399,6 +1658,15 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "minijinja"
+version = "1.0.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1f98b09920c8be9ff96a5625aca5b5db7a4f4ba025132ff7d7aacb72c0244a45"
+dependencies = [
+ "serde",
+]
+
 [[package]]
 name = "miniz_oxide"
 version = "0.6.2"
@@ -1408,6 +1676,15 @@ dependencies = [
  "adler",
 ]
 
+[[package]]
+name = "miniz_oxide"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e7810e0be55b428ada41041c41f32c9f1a42817901b4ccf45fa3d4b6561e74c7"
+dependencies = [
+ "adler",
+]
+
 [[package]]
 name = "mpu6050-dmp"
 version = "0.3.0"
@@ -1415,7 +1692,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "78ad9db142f17e7e850abb7089a683396a7c5e89cb3b51d5512ded0b844551e4"
 dependencies = [
  "embedded-hal 0.2.7",
- "libm 0.2.6",
+ "libm 0.2.8",
 ]
 
 [[package]]
@@ -1486,9 +1763,9 @@ dependencies = [
  "cortex-m-rt",
  "critical-section",
  "defmt",
- "embassy-sync",
+ "embassy-sync 0.1.0",
  "embedded-storage",
- "embedded-storage-async",
+ "embedded-storage-async 0.3.0",
  "fixed",
  "futures",
  "heapless",
@@ -1593,7 +1870,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
 dependencies = [
  "autocfg",
- "libm 0.2.6",
+ "libm 0.2.8",
 ]
 
 [[package]]
@@ -1625,6 +1902,17 @@ dependencies = [
  "memchr",
 ]
 
+[[package]]
+name = "object"
+version = "0.32.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9cf5f9dd3933bd50a9e1f149ec995f39ae2c496d31fd772c1fd45ebc27e902b0"
+dependencies = [
+ "flate2",
+ "memchr",
+ "ruzstd",
+]
+
 [[package]]
 name = "once_cell"
 version = "1.17.1"
@@ -1647,9 +1935,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "pin-project-lite"
@@ -1663,13 +1951,18 @@ version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
+[[package]]
+name = "portable-atomic"
+version = "1.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3bccab0e7fd7cc19f820a1c8c91720af652d0c88dc9664dd72aef2614f04af3b"
+
 [[package]]
 name = "proc-macro-crate"
-version = "1.3.1"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f4c021e1093a56626774e81216a4ce732a735e5bad4868a03f3ed65ca0c3919"
+checksum = "7e8366a6159044a37876a2b9817124296703c586a5c92e2c53751fa06d8d43e8"
 dependencies = [
- "once_cell",
  "toml_edit",
 ]
 
@@ -1699,18 +1992,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.54"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e472a104799c74b514a57226160104aa483546de37e839ec50e3c2e41dd87534"
+checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.26"
+version = "1.0.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4424af4bf778aae2051a77b60283332f386554255d722233d09fbfc7e30da2fc"
+checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
 dependencies = [
  "proc-macro2",
 ]
@@ -1762,9 +2055,9 @@ dependencies = [
 
 [[package]]
 name = "riscv-atomic-emulation-trap"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "da39f4a5642a62e8e16bb438c37e6f90ea388ca0b7960fe875ea39887155d6ba"
+checksum = "7979127070e70f34c0ad6cc5a3a13f09af8dab1e9e154c396eb818f478504143"
 
 [[package]]
 name = "riscv-rt-macros"
@@ -1807,6 +2100,17 @@ version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4f3208ce4d8448b3f3e7d168a73f5e0c43a61e32930de3bceeccedb388b6bf06"
 
+[[package]]
+name = "ruzstd"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ac3ffab8f9715a0d455df4bbb9d21e91135aab3cd3ca187af0cd0c3c3f868fdc"
+dependencies = [
+ "byteorder",
+ "thiserror-core",
+ "twox-hash",
+]
+
 [[package]]
 name = "scopeguard"
 version = "1.1.0"
@@ -1836,22 +2140,22 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.159"
+version = "1.0.190"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3c04e8343c3daeec41f58990b9d77068df31209f2af111e059e9fe9646693065"
+checksum = "91d3c334ca1ee894a2c6f6ad698fe8c435b76d504b13d436f0685d648d6d96f7"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.159"
+version = "1.0.190"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4c614d17805b093df4b147b51339e7e44bf05ef59fba1e45d83500bcfb4d8585"
+checksum = "67c5609f394e5c2bd7fc51efda478004ea80ef42fee983d5c67a65e34f32c0e3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.12",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -1877,11 +2181,11 @@ dependencies = [
 
 [[package]]
 name = "smoltcp"
-version = "0.9.1"
+version = "0.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e9786ac45091b96f946693e05bfa4d8ca93e2d3341237d97a380107a6b38dea"
+checksum = "8d2e3a36ac8fea7b94e666dfa3871063d6e0a5c9d5d4fec9a1a6b7b6760f0229"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
  "byteorder",
  "cfg-if",
  "heapless",
@@ -1913,6 +2217,12 @@ version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
+[[package]]
+name = "static_assertions"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
+
 [[package]]
 name = "static_cell"
 version = "1.0.0"
@@ -1933,8 +2243,14 @@ name = "strum"
 version = "0.24.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "063e6045c0e62079840579a7e47a355ae92f60eb74daaf156fb1e84ba164e63f"
+
+[[package]]
+name = "strum"
+version = "0.25.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290d54ea6f91c969195bdbcd7442c8c2a2ba87da8bf60a7ee86a235d4bc1e125"
 dependencies = [
- "strum_macros",
+ "strum_macros 0.25.3",
 ]
 
 [[package]]
@@ -1950,6 +2266,19 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "strum_macros"
+version = "0.25.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "23dc1fa9ac9c169a78ba62f0b841814b7abae11bdd047b9c58f893439e309ea0"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "rustversion",
+ "syn 2.0.38",
+]
+
 [[package]]
 name = "syn"
 version = "1.0.109"
@@ -1963,9 +2292,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.12"
+version = "2.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79d9531f94112cfc3e4c8f5f02cb2b58f72c97b7efd85f70203cc6d8efda5927"
+checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1987,6 +2316,26 @@ dependencies = [
  "thiserror-impl",
 ]
 
+[[package]]
+name = "thiserror-core"
+version = "1.0.38"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0d97345f6437bb2004cd58819d8a9ef8e36cdd7661c2abc4bbde0a7c40d9f497"
+dependencies = [
+ "thiserror-core-impl",
+]
+
+[[package]]
+name = "thiserror-core-impl"
+version = "1.0.38"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "10ac1c5050e43014d16b2f94d0d2ce79e65ffdd8b38d8048f9c8f6a8a6da62ac"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
+]
+
 [[package]]
 name = "thiserror-impl"
 version = "1.0.40"
@@ -1995,7 +2344,7 @@ checksum = "f9456a42c5b0d803c8cd86e73dd7cc9edd429499f37a3550d286d5e86720569f"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.12",
+ "syn 2.0.38",
 ]
 
 [[package]]
@@ -2017,17 +2366,31 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "toml-cfg"
+version = "0.1.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "91dbf509587452b781d208257bfe9923808873290d99505ee0eb0e6599540bdf"
+dependencies = [
+ "heck",
+ "proc-macro2",
+ "quote",
+ "serde",
+ "syn 1.0.109",
+ "toml",
+]
+
 [[package]]
 name = "toml_datetime"
-version = "0.6.1"
+version = "0.6.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ab8ed2edee10b50132aed5f331333428b011c99402b5a534154ed15746f9622"
+checksum = "3550f4e9685620ac18a50ed434eb3aec30db8ba93b0287467bca5826ea25baf1"
 
 [[package]]
 name = "toml_edit"
-version = "0.19.8"
+version = "0.20.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "239410c8609e8125456927e6707163a3b1fdb40561e4b803bc041f466ccfdc13"
+checksum = "70f427fce4d84c72b5b732388bf4a9f4531b53f74e2887e3ecb2481f68f66d81"
 dependencies = [
  "indexmap",
  "toml_datetime",
@@ -2076,6 +2439,16 @@ dependencies = [
  "tracing-core",
 ]
 
+[[package]]
+name = "twox-hash"
+version = "1.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97fee6b57c6a41524a810daee9286c02d7752c4253064d0b05472833a438f675"
+dependencies = [
+ "cfg-if",
+ "static_assertions",
+]
+
 [[package]]
 name = "typenum"
 version = "1.16.0"
@@ -2112,7 +2485,7 @@ version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "dcbee8c6735e90894fba04770bc41e11fd3c5256018856e15dc4dd1e6c8a3dd1"
 dependencies = [
- "bitfield",
+ "bitfield 0.13.2",
 ]
 
 [[package]]
@@ -2170,9 +2543,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.4.1"
+version = "0.5.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae8970b36c66498d8ff1d66685dc86b91b29db0c7739899012f63a63814b4b28"
+checksum = "829846f3e3db426d4cee4510841b71a8e58aa2a76b1132579487ae430ccd9c7b"
 dependencies = [
  "memchr",
 ]
@@ -2186,6 +2559,12 @@ dependencies = [
  "tap",
 ]
 
+[[package]]
+name = "xtensa-atomic-emulation-trap"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8cd1632531f5d8ba78dabeff8b006a0d675560f436727479138a3dd194f0582b"
+
 [[package]]
 name = "xtensa-lx"
 version = "0.8.0"
@@ -2205,22 +2584,22 @@ checksum = "c5e7d36626db2a67ba9b874988181d1dac18706914e804fca846add0c5e5eddb"
 dependencies = [
  "bare-metal 1.0.0",
  "core-isa-parser",
- "minijinja",
+ "minijinja 0.15.0",
  "r0",
  "xtensa-lx-rt-proc-macros 0.1.0",
 ]
 
 [[package]]
 name = "xtensa-lx-rt"
-version = "0.15.0"
+version = "0.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f68fea36eb8e2d5ff4c99d367527f4a56e484b16c5e84abf4195988bd845a3fc"
+checksum = "904102108b780c9a5e3275c5f3c63dc348ec43ae5da5237868515498b447d51a"
 dependencies = [
  "bare-metal 1.0.0",
  "core-isa-parser",
- "minijinja",
+ "minijinja 1.0.9",
  "r0",
- "xtensa-lx-rt-proc-macros 0.2.0",
+ "xtensa-lx-rt-proc-macros 0.2.1",
 ]
 
 [[package]]
@@ -2236,11 +2615,12 @@ dependencies = [
 
 [[package]]
 name = "xtensa-lx-rt-proc-macros"
-version = "0.2.0"
+version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3283815e334d3e5d21868dc3c7140720b2a784238289b1127b67908c89404b79"
+checksum = "082cdede098bbec9af15b0e74085e5f3d16f2923597de7aed7b8112003af2da7"
 dependencies = [
+ "darling 0.20.3",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.38",
 ]
diff --git a/firmware/Cargo.toml b/firmware/Cargo.toml
index 83e2d931..28dad115 100644
--- a/firmware/Cargo.toml
+++ b/firmware/Cargo.toml
@@ -113,14 +113,14 @@ _mcu-f-esp32 = [
 
 [dependencies]
 # mcu-esp32 stuff
-esp32-hal = { version = "0.10", optional = true, features = [
+esp32-hal = { version = "0.16", optional = true, features = [
   "embassy",
   "embassy-time-timg0",
   "async",
 ] }
 
 # mcu-esp32c3 stuff
-esp32c3-hal = { version = "0.7", optional = true, features = [
+esp32c3-hal = { version = "0.13", optional = true, features = [
   "embassy",
   "embassy-time-timg0",
   "async",
@@ -163,16 +163,18 @@ esp-alloc = { version = "0.2", optional = true }
 defmt_esp_println = { path = "crates/defmt_esp_println", optional = true }
 
 # Wi-Fi
-esp-wifi = { git = "https://github.com/esp-rs/esp-wifi.git", rev = "76ba312", features = [
+esp-wifi = { git = "https://github.com/esp-rs/esp-wifi.git", rev = "9e44fe3", features = [
   "embedded-svc",
   "wifi",
   "embassy-net",
 ], optional = true }
-smoltcp = { version = "0.9", default-features = false, features = [
+smoltcp = { version = "0.10", default-features = false, features = [
 ], optional = true }
 embassy-net = { version = "*", optional = true, features = [
   "nightly", "tcp", "udp", "dhcpv4", "medium-ethernet"
 ] }
+atomic-waker = { version = "1.1", default-features = false, features = ["portable-atomic"] }
+portable-atomic = { version = "1.5", default-features = false, features = ["require-cas", "unsafe-assume-single-core"]}
 
 # Generic BLE
 bleps = { git = "https://github.com/bjoernQ/bleps", rev = "33fde67", optional = true }
@@ -241,15 +243,17 @@ bitvec = { git = "https://github.com/arctic-alpaca/ferrilab.git", rev = "e13261a
 # in [dependencies] because this ensures that we don't duplicate any dependencies like
 # `embassy-time`. This avoids bugs like this one:
 # https://github.com/embassy-rs/embassy/issues/1115
-embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
-embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
-embassy-nrf = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
-embassy-usb = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
-embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "26474ce6eb759e5add1c137f3417845e0797df3a" }
+embassy-executor = { git = "https://github.com/embassy-rs/embassy", rev = "e6462f1e88bc37b69af3b47cc22c492ef41d697c" }
+embassy-time = { git = "https://github.com/embassy-rs/embassy", rev = "e6462f1e88bc37b69af3b47cc22c492ef41d697c" }
+embassy-nrf = { git = "https://github.com/embassy-rs/embassy", rev = "e6462f1e88bc37b69af3b47cc22c492ef41d697c" }
+embassy-usb = { git = "https://github.com/embassy-rs/embassy", rev = "e6462f1e88bc37b69af3b47cc22c492ef41d697c" }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy", rev = "e6462f1e88bc37b69af3b47cc22c492ef41d697c" }
+embassy-net = { git = "https://github.com/embassy-rs/embassy", rev = "e6462f1e88bc37b69af3b47cc22c492ef41d697c" }
 
 nrf-softdevice = { git = "https://github.com/embassy-rs/nrf-softdevice", rev = "8a3dbb7" }
 
+atomic_enum = { git = "https://github.com/thebutlah/atomic_enum", rev = "3c90118" }
+
 [profile.dev]
 # lto doesnt work for esp-wifi
 lto = false

From 48a04c1a9146e7b7521b0bc8a974a5ca87c2df78 Mon Sep 17 00:00:00 2001
From: Ryan Butler <thebutlah@gmail.com>
Date: Mon, 6 Nov 2023 23:39:46 -0500
Subject: [PATCH 3/4] finished refactor with some jank crap

---
 firmware/Cargo.lock                       | 18 +++-------------
 firmware/Cargo.toml                       |  4 +++-
 firmware/src/aliases.rs                   |  6 ++----
 firmware/src/networking/mod.rs            |  2 +-
 firmware/src/networking/protocol/mod.rs   |  2 +-
 firmware/src/networking/wifi/mod.rs       |  8 +++++---
 firmware/src/peripherals/esp32/esp32c3.rs | 14 -------------
 firmware/src/peripherals/esp32/mod.rs     | 25 +++++++++++++++++++++--
 8 files changed, 38 insertions(+), 41 deletions(-)

diff --git a/firmware/Cargo.lock b/firmware/Cargo.lock
index e08905c0..5c3a3e54 100644
--- a/firmware/Cargo.lock
+++ b/firmware/Cargo.lock
@@ -620,6 +620,7 @@ version = "0.3.1"
 source = "git+https://github.com/embassy-rs/embassy?rev=e6462f1e88bc37b69af3b47cc22c492ef41d697c#e6462f1e88bc37b69af3b47cc22c492ef41d697c"
 dependencies = [
  "atomic-polyfill 1.0.2",
+ "cortex-m",
  "critical-section",
  "embassy-macros",
  "embassy-time",
@@ -916,19 +917,6 @@ dependencies = [
  "embedded-storage",
 ]
 
-[[package]]
-name = "embedded-svc"
-version = "0.23.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "25d1ffdfc6c4ca5a8d308a0df8c0e82ca52cdb63c5bd4d8ae6c36889887756b6"
-dependencies = [
- "embedded-io 0.3.1",
- "enumset",
- "heapless",
- "no-std-net 0.5.0",
- "serde",
-]
-
 [[package]]
 name = "embedded-svc"
 version = "0.26.2"
@@ -1114,7 +1102,7 @@ dependencies = [
  "embassy-sync 0.4.0",
  "embedded-io 0.6.1",
  "embedded-io-async",
- "embedded-svc 0.26.2",
+ "embedded-svc",
  "enumset",
  "esp-wifi-sys",
  "esp32-hal",
@@ -1306,7 +1294,7 @@ dependencies = [
  "embassy-time",
  "embassy-usb",
  "embedded-hal 0.2.7",
- "embedded-svc 0.23.2",
+ "embedded-svc",
  "esp-alloc",
  "esp-backtrace",
  "esp-wifi",
diff --git a/firmware/Cargo.toml b/firmware/Cargo.toml
index 28dad115..ad7c1ec7 100644
--- a/firmware/Cargo.toml
+++ b/firmware/Cargo.toml
@@ -144,6 +144,8 @@ nrf52832-pac = { version = "0.12", optional = true }
 # Async stuff
 embassy-futures = "0.1.0"
 embassy-executor = { version = "*", features = [
+  "executor-thread",
+  "arch-cortex-m",
   "integrated-timers",
   "nightly",           # Needed for .spawn()
 ] }
@@ -190,7 +192,7 @@ nrf-softdevice = { version = "*", default-features = false, features = [
 
 # Platform independent traits
 embedded-hal = "0.2"
-embedded-svc = { version = "0.23", default-features = false, optional = true, features = [
+embedded-svc = { version = "0.26", default-features = false, optional = true, features = [
   # "defmt"
   # "nightly",
 ] }
diff --git a/firmware/src/aliases.rs b/firmware/src/aliases.rs
index 41060129..3164ec0b 100644
--- a/firmware/src/aliases.rs
+++ b/firmware/src/aliases.rs
@@ -2,7 +2,6 @@
 
 #[cfg(feature = "mcu-esp32")]
 pub mod ඞ {
-	pub use esp32_hal::ehal;
 	pub use esp32_hal::Delay as DelayConcrete;
 
 	pub type I2cConcrete<'a> = esp32_hal::i2c::I2C<'a, esp32_hal::peripherals::I2C0>;
@@ -23,7 +22,6 @@ pub mod ඞ {
 
 #[cfg(feature = "mcu-esp32c3")]
 pub mod ඞ {
-	pub use esp32c3_hal::ehal;
 	pub use esp32c3_hal::Delay as DelayConcrete;
 
 	pub type I2cConcrete<'a> =
@@ -32,11 +30,11 @@ pub mod ඞ {
 	pub type BbqPeripheral<'a> = ();
 
 	#[cfg(feature = "net-wifi")]
-	pub type NetStackConcrete = embassy_net::Stack<esp_wifi::wifi::WifiDevice>;
+	pub type NetStackConcrete = embassy_net::Stack<esp_wifi::wifi::WifiDevice<'static>>;
 
 	#[cfg(feature = "net-wifi")]
 	pub struct NetConcrete {
-		pub controller: esp_wifi::wifi::WifiController,
+		pub controller: esp_wifi::wifi::WifiController<'static>,
 		pub stack: &'static NetStackConcrete,
 	}
 	#[cfg(not(feature = "net-wifi"))]
diff --git a/firmware/src/networking/mod.rs b/firmware/src/networking/mod.rs
index 7b4e607b..92155738 100644
--- a/firmware/src/networking/mod.rs
+++ b/firmware/src/networking/mod.rs
@@ -33,6 +33,6 @@ pub async fn network_task(
 async fn stubbed_network_task(packets: &Packets, _net: NetConcrete) -> ! {
 	loop {
 		// Dump network messages
-		let _ = packets.serverbound.recv().await;
+		let _ = packets.serverbound.receive().await;
 	}
 }
diff --git a/firmware/src/networking/protocol/mod.rs b/firmware/src/networking/protocol/mod.rs
index 8b6d3bf0..666d5d1d 100644
--- a/firmware/src/networking/protocol/mod.rs
+++ b/firmware/src/networking/protocol/mod.rs
@@ -25,7 +25,7 @@ pub async fn control_task(
 	debug!("Control task!");
 	async {
 		loop {
-			match select(packets.clientbound.recv(), quat.wait()).await {
+			match select(packets.clientbound.receive(), quat.wait()).await {
 				Either::First(cb_msg) => {
 					handle_cb_msg(cb_msg, &packets.serverbound).await
 				}
diff --git a/firmware/src/networking/wifi/mod.rs b/firmware/src/networking/wifi/mod.rs
index f09409a7..b6a2f4c4 100644
--- a/firmware/src/networking/wifi/mod.rs
+++ b/firmware/src/networking/wifi/mod.rs
@@ -87,7 +87,8 @@ impl State {
 	/// Returns num bytes of outbound buffer
 	fn on_send(&mut self, outbound: SbPacket, out_buf: &mut [u8]) -> Option<usize> {
 		// Serialize the packet based on our send sequence number
-		let Ok(len) = Packet::new(self.tx_seq().0, outbound).serialize_into(out_buf) else {
+		let Ok(len) = Packet::new(self.tx_seq().0, outbound).serialize_into(out_buf)
+		else {
 			warn!("Failed to serialize outgoing packet");
 			return None;
 		};
@@ -123,7 +124,7 @@ pub async fn network_task(
 	let stack = net.stack;
 
 	let ip = loop {
-		if let Some(ip) = stack.config().map(|c| c.address) {
+		if let Some(ip) = stack.config_v4().map(|c| c.address) {
 			break ip;
 		}
 		Timer::after(Duration::from_millis(500)).await;
@@ -154,7 +155,7 @@ pub async fn network_task(
 		// Either start sending or receive, if either is available
 		let net = select(
 			recv_bytes(&mut socket, &mut buffer),
-			packets.serverbound.recv(),
+			packets.serverbound.receive(),
 		)
 		.await;
 
@@ -193,6 +194,7 @@ async fn recv_bytes<'s>(
 	loop {
 		match socket.recv_from(buffer).await {
 			Ok(v) => return v,
+			Err(UdpError::SocketNotBound) => todo!("refactor go brr"),
 			Err(UdpError::NoRoute) => warn!("UdpError::NoRoute"),
 		}
 	}
diff --git a/firmware/src/peripherals/esp32/esp32c3.rs b/firmware/src/peripherals/esp32/esp32c3.rs
index 604ce596..01a24e44 100644
--- a/firmware/src/peripherals/esp32/esp32c3.rs
+++ b/firmware/src/peripherals/esp32/esp32c3.rs
@@ -55,25 +55,11 @@ pub fn get_peripherals(
 		map_pin!(io, env!("PIN_SDA")),
 		map_pin!(io, env!("PIN_SCL")),
 		400u32.kHz(),
-		&mut system.peripheral_clock_control,
 		&clocks,
 	);
 
 	let delay = esp32c3_hal::Delay::new(&clocks);
 
-	#[cfg(feature = "net-wifi")]
-	{
-		use esp32c3_hal::systimer::SystemTimer;
-		use esp32c3_hal::Rng;
-
-		esp_wifi::init_heap();
-
-		let systimer = SystemTimer::new(p.SYSTIMER);
-		let rng = Rng::new(p.RNG);
-		esp_wifi::initialize(systimer.alarm0, rng, &clocks)
-			.expect("failed to initialize esp-wifi");
-	}
-
 	#[allow(clippy::let_unit_value)]
 	let net = super::init_wifi_stack();
 
diff --git a/firmware/src/peripherals/esp32/mod.rs b/firmware/src/peripherals/esp32/mod.rs
index 0e26e04b..e4562d42 100644
--- a/firmware/src/peripherals/esp32/mod.rs
+++ b/firmware/src/peripherals/esp32/mod.rs
@@ -6,6 +6,8 @@ mod ඞ;
 #[path = "esp32.rs"]
 mod ඞ;
 
+use esp32c3_hal::clock::ClockControl;
+use esp_wifi::EspWifiInitFor;
 pub use ඞ::get_peripherals;
 
 use crate::aliases::ඞ::NetConcrete;
@@ -25,10 +27,29 @@ fn init_wifi_stack() -> NetConcrete {
 	#[cfg(feature = "net-wifi")]
 	{
 		use embassy_net::{Config, Stack, StackResources};
+		use esp32c3_hal::system::SystemExt;
 		use esp_wifi::wifi::{WifiDevice, WifiMode};
+		// TODO: don't do this lmao
+		let p = unsafe { esp32c3_hal::peripherals::Peripherals::steal() };
+		let rng = esp32c3_hal::rng::Rng::new(p.RNG);
 
-		let (wifi_interface, controller) = esp_wifi::wifi::new(WifiMode::Sta);
-		let config = Config::Dhcp(Default::default());
+		let system = p.SYSTEM.split();
+		let clocks = ClockControl::max(system.clock_control).freeze();
+		let timer = esp32c3_hal::systimer::SystemTimer::new(p.SYSTIMER).alarm0;
+
+		let initialization = esp_wifi::initialize(
+			EspWifiInitFor::Wifi,
+			timer,
+			rng,
+			system.radio_clock_control,
+			&clocks,
+		)
+		.expect("Failed to initialize esp wifi");
+
+		let (wifi_interface, controller) =
+			esp_wifi::wifi::new_with_mode(&initialization, p.WIFI, WifiMode::Sta)
+				.expect("failed to create new wifi");
+		let config = Config::dhcpv4(Default::default());
 
 		let seed = 1234; // very random, very secure seed
 

From ea134106899e1ef40944e9e89ab0ec1c0ad43046 Mon Sep 17 00:00:00 2001
From: Ryan Butler <thebutlah@gmail.com>
Date: Mon, 6 Nov 2023 23:41:17 -0500
Subject: [PATCH 4/4] fixed warnings

---
 firmware/src/imu/drivers/stubbed.rs       | 1 -
 firmware/src/peripherals/esp32/esp32c3.rs | 2 +-
 2 files changed, 1 insertion(+), 2 deletions(-)

diff --git a/firmware/src/imu/drivers/stubbed.rs b/firmware/src/imu/drivers/stubbed.rs
index 98dc4ba6..5fc40b8f 100644
--- a/firmware/src/imu/drivers/stubbed.rs
+++ b/firmware/src/imu/drivers/stubbed.rs
@@ -4,7 +4,6 @@ use defmt::debug;
 use embassy_time::{Duration, Ticker};
 use embedded_hal::blocking::delay::DelayMs;
 use firmware_protocol::ImuType;
-use futures_util::StreamExt;
 
 /// Fakes an IMU for easier testing.
 struct FakeImu(Ticker);
diff --git a/firmware/src/peripherals/esp32/esp32c3.rs b/firmware/src/peripherals/esp32/esp32c3.rs
index 01a24e44..2c4d1eab 100644
--- a/firmware/src/peripherals/esp32/esp32c3.rs
+++ b/firmware/src/peripherals/esp32/esp32c3.rs
@@ -25,7 +25,7 @@ pub fn get_peripherals(
 ) -> Peripherals<I2cConcrete<'static>, DelayConcrete, (), (), NetConcrete> {
 	let p = esp32c3_hal::peripherals::Peripherals::take();
 
-	let mut system = p.SYSTEM.split();
+	let system = p.SYSTEM.split();
 	// The ESP-Wifi module requires 160MHz for cpu clock speeed
 	let clocks =
 		ClockControl::configure(system.clock_control, CpuClock::Clock160MHz).freeze();