Upgrade packages to latest versions

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",
@@ -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()
 ] }
@@ -163,16 +165,18 @@ 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 }
@@ -188,7 +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",
 ] }
@@ -241,15 +245,17 @@ 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

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",

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"))]

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);

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;
 	}
 }

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
 				}

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"),
 		}
 	}

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();
@@ -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();
 

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