From 5397c2807cbf3dd1caea229fa07254f7914c4f32 Mon Sep 17 00:00:00 2001
From: Anton Berneving <40672068+antbern@users.noreply.github.com>
Date: Thu, 22 Aug 2024 22:31:14 +0200
Subject: [PATCH] chore: bump `rp-hal` to `v0.9` and run `cargo update` (#120)

---
 slamrs-robot-rtic/firmware/Cargo.lock         | 394 +++++++++---------
 slamrs-robot-rtic/firmware/Cargo.toml         |  23 +-
 slamrs-robot-rtic/firmware/src/encoder.rs     |   2 +-
 slamrs-robot-rtic/firmware/src/main.rs        |  25 +-
 slamrs-robot-rtic/firmware/src/motor.rs       |  29 +-
 slamrs-robot-rtic/firmware/src/tasks/esp.rs   |  11 +-
 .../firmware/src/tasks/heartbeat.rs           |   9 +-
 .../firmware/src/tasks/motors.rs              |  14 +-
 slamrs-robot-rtic/firmware/src/tasks/neato.rs |  10 +-
 slamrs-robot-rtic/firmware/src/tasks/usb.rs   |   2 +-
 slamrs-robot-rtic/firmware/src/ws2812b.rs     |   3 +-
 slamrs-robot-rtic/library/Cargo.lock          |  33 +-
 slamrs-robot-rtic/library/Cargo.toml          |   4 +-
 slamrs-robot-rtic/library/src/neato.rs        |   4 +-
 slamrs-robot-rtic/library/src/parse_at.rs     |  12 +-
 15 files changed, 284 insertions(+), 291 deletions(-)

diff --git a/slamrs-robot-rtic/firmware/Cargo.lock b/slamrs-robot-rtic/firmware/Cargo.lock
index 0268bbe..3e900bd 100644
--- a/slamrs-robot-rtic/firmware/Cargo.lock
+++ b/slamrs-robot-rtic/firmware/Cargo.lock
@@ -13,9 +13,9 @@ dependencies = [
 
 [[package]]
 name = "arrayvec"
-version = "0.7.4"
+version = "0.7.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
+checksum = "7c02d123df017efcdfbd739ef81735b36c5ba83ec3c59c80a9d7ecc718f92e50"
 
 [[package]]
 name = "ascii-canvas"
@@ -99,6 +99,12 @@ 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"
@@ -107,21 +113,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bitflags"
-version = "2.5.0"
+version = "2.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf4b9d6a944f767f8e5e0db018570623c85f3d925ac718db4e06d0187adb21c1"
+checksum = "b048fb63fd8b5923fc5aa7b340d8e156aec7ec02f0c78fa8a6ddc2613f6f71de"
 
 [[package]]
 name = "bytemuck"
-version = "1.15.0"
+version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5d6d68c57235a3a081186990eca2867354726650f42f7516ca50c28d6281fd15"
+checksum = "6fd4c6dcc3b0aea2f5c0b4b82c2b15fe39ddbc76041a310848f4706edf76bb31"
 
 [[package]]
 name = "byteorder"
-version = "1.3.4"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "08c48aae112d48ed9f069b33538ea9e3e90aa263cfa3d1c24309612b1f7472de"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cfg-if"
@@ -146,16 +152,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
- "bitfield",
+ "bitfield 0.13.2",
  "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.4"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2722f5b7d6ea8583cffa4d247044e280ccbb9fe501bed56552e2ba48b02d5f3d"
+checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
 dependencies = [
  "cortex-m-rt-macros",
 ]
@@ -182,9 +188,9 @@ dependencies = [
 
 [[package]]
 name = "critical-section"
-version = "1.1.2"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
+checksum = "f64009896348fc5af4222e9cf7d7d82a95a256c634ebcf61c53e4ea461422242"
 
 [[package]]
 name = "crunchy"
@@ -200,9 +206,9 @@ checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
 [[package]]
 name = "defmt"
-version = "0.3.6"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
 dependencies = [
  "bitflags 1.3.2",
  "defmt-macros",
@@ -210,15 +216,15 @@ dependencies = [
 
 [[package]]
 name = "defmt-macros"
-version = "0.3.7"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
 dependencies = [
  "defmt-parser",
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.60",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -232,9 +238,9 @@ dependencies = [
 
 [[package]]
 name = "defmt-rtt"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "609923761264dd99ed9c7d209718cda4631c5fe84668e0f0960124cbb844c49f"
+checksum = "bab697b3dbbc1750b7c8b821aa6f6e7f2480b47a99bc057a2ed7b170ebef0c51"
 dependencies = [
  "critical-section",
  "defmt",
@@ -269,9 +275,9 @@ dependencies = [
 
 [[package]]
 name = "either"
-version = "1.11.0"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a47c1c47d2f5964e29c61246e81db715514cd532db6b5116a25ea3c03d6780a2"
+checksum = "60b1af1c220855b6ceac025d3f6ecdd2b7c4894bfe9cd9bda4fbb4bc7c0d4cf0"
 
 [[package]]
 name = "embedded-dma"
@@ -318,6 +324,22 @@ dependencies = [
  "embedded-hal-async",
 ]
 
+[[package]]
+name = "embedded-hal-nb"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
+dependencies = [
+ "embedded-hal 1.0.0",
+ "nb 1.1.0",
+]
+
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "ena"
 version = "0.14.3"
@@ -327,12 +349,6 @@ dependencies = [
  "log",
 ]
 
-[[package]]
-name = "encode_unicode"
-version = "0.3.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
-
 [[package]]
 name = "equivalent"
 version = "1.0.1"
@@ -341,9 +357,9 @@ checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
 
 [[package]]
 name = "fixed"
-version = "1.27.0"
+version = "1.28.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2fc715d38bea7b5bf487fcd79bcf8c209f0b58014f3018a7a19c2b855f472048"
+checksum = "85c6e0b89bf864acd20590dbdbad56f69aeb898abfc9443008fd7bd48b2cc85a"
 dependencies = [
  "az",
  "bytemuck",
@@ -381,7 +397,7 @@ checksum = "b0fa992f1656e1707946bbba340ad244f0814009ef8c0118eb7b658395f19a2e"
 dependencies = [
  "frunk_proc_macro_helpers",
  "quote",
- "syn 2.0.60",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -393,7 +409,7 @@ dependencies = [
  "frunk_core",
  "proc-macro2",
  "quote",
- "syn 2.0.60",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -449,7 +465,7 @@ checksum = "87750cf4b7a4c0625b1529e4c543c2182106e4dedc60a2a6455e00d212c489ac"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.60",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -532,15 +548,15 @@ dependencies = [
 
 [[package]]
 name = "hermit-abi"
-version = "0.3.9"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d231dfb89cfffdbc30e7fc41579ed6066ad03abda9e567ccafae602b97ec5024"
+checksum = "fbf6a919d6cf397374f7dfeeea91d974c7c0a7221d0d0f4f20d859d329e53fcc"
 
 [[package]]
 name = "indexmap"
-version = "2.2.6"
+version = "2.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
+checksum = "93ead53efc7ea8ed3cfb0c79fc8023fbb782a5432b52830b6518941cebe6505c"
 dependencies = [
  "equivalent",
  "hashbrown",
@@ -548,13 +564,13 @@ dependencies = [
 
 [[package]]
 name = "is-terminal"
-version = "0.4.12"
+version = "0.4.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f23ff5ef2b80d608d61efee834934d862cd92461afc0560dedf493e4c033738b"
+checksum = "261f68e344040fbd0edea105bef17c66edf46f984ddb1115b775ce31be948f4b"
 dependencies = [
  "hermit-abi",
  "libc",
- "windows-sys",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
@@ -599,17 +615,17 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.154"
+version = "0.2.158"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae743338b92ff9146ce83992f766a31066a91a8c84a45e0e9f21e7cf6de6d346"
+checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
 
 [[package]]
 name = "library"
 version = "0.1.0"
 dependencies = [
  "defmt",
- "embedded-hal 0.2.7",
- "nb 0.1.3",
+ "embedded-hal-nb",
+ "nb 1.1.0",
  "slamrs-message",
 ]
 
@@ -619,7 +635,7 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
 dependencies = [
- "bitflags 2.5.0",
+ "bitflags 2.6.0",
  "libc",
 ]
 
@@ -635,15 +651,28 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.21"
+version = "0.4.22"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a7a70ba024b9dc04c27ea2f0c0548feb474ec5c54bba33a7f72f873a39d07b24"
+
+[[package]]
+name = "maybe-async-cfg"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "90ed8c1e510134f979dbc4f070f87d4313098b704861a105fe34231c70a3901c"
+checksum = "a1e083394889336bc66a4eaf1011ffbfa74893e910f902a9f271fa624c61e1b2"
+dependencies = [
+ "proc-macro-error",
+ "proc-macro2",
+ "pulldown-cmark",
+ "quote",
+ "syn 1.0.109",
+]
 
 [[package]]
 name = "memchr"
-version = "2.7.2"
+version = "2.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c8640c5d730cb13ebd907d8d04b52f55ac9a2eec55b440c8892f40d56c76c1d"
+checksum = "78ca9ab1a0babb1e7d5695e3530886289c18cf2f87ec19a575a0abdce112e3a3"
 
 [[package]]
 name = "nb"
@@ -694,9 +723,9 @@ checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
 [[package]]
 name = "panic-probe"
-version = "0.3.1"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
+checksum = "4047d9235d1423d66cc97da7d07eddb54d4f154d6c13805c6d0793956f4f25b0"
 dependencies = [
  "cortex-m",
  "defmt",
@@ -704,9 +733,9 @@ dependencies = [
 
 [[package]]
 name = "parking_lot"
-version = "0.12.2"
+version = "0.12.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7e4af0ca4f6caed20e900d564c242b8e5d4903fdacf31d3daf527b66fe6f42fb"
+checksum = "f1bf18183cf54e8d6059647fc3063646a1801cf30896933ec2311622cc4b9a27"
 dependencies = [
  "lock_api",
  "parking_lot_core",
@@ -727,9 +756,9 @@ dependencies = [
 
 [[package]]
 name = "paste"
-version = "1.0.14"
+version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
 [[package]]
 name = "petgraph"
@@ -804,9 +833,9 @@ dependencies = [
 
 [[package]]
 name = "portable-atomic"
-version = "1.6.0"
+version = "1.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+checksum = "da544ee218f0d287a911e9c99a39a8c9bc8fcad3cb8db5959940044ecfc67265"
 
 [[package]]
 name = "precomputed-hash"
@@ -840,20 +869,32 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.81"
+version = "1.0.86"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d1597b0c024618f09a9c3b8655b7e430397a36d23fdafec26d6965e9eec3eba"
+checksum = "5e719e8df665df0d1c8fbfd238015744736151d4445ec0836b8e628aae103b77"
 dependencies = [
  "unicode-ident",
 ]
 
+[[package]]
+name = "pulldown-cmark"
+version = "0.11.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cb4e75767fbc9d92b90e4d0c011f61358cde9513b31ef07ea3631b15ffc3b4fd"
+dependencies = [
+ "bitflags 2.6.0",
+ "memchr",
+ "unicase",
+]
+
 [[package]]
 name = "pwm-pca9685"
-version = "0.3.1"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f38528c196e50b4bd747634780749dbe4f67f476e03293ccf1c4f324726d8387"
+checksum = "3ce0825d351aa10d61108df56029d6a34c52050019780f0f550b1df1b0ce5906"
 dependencies = [
- "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "maybe-async-cfg",
  "nb 1.1.0",
 ]
 
@@ -874,18 +915,18 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.1"
+version = "0.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "469052894dcb553421e483e4209ee581a45100d31b4018de03e5a7ad86374a7e"
+checksum = "2a908a6e00f1fdd0dfd9c0eb08ce85126f6d8bbda50017e74bc4a4b7d4a926a4"
 dependencies = [
- "bitflags 2.5.0",
+ "bitflags 2.6.0",
 ]
 
 [[package]]
 name = "redox_users"
-version = "0.4.5"
+version = "0.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd283d9651eeda4b2a83a43c1c91b266c40fd76ecd39a50a8c630ae69dc72891"
+checksum = "ba009ff324d1fc1b900bd1fdb31564febe58a8ccc8a6fdbb93b543d33b13ca43"
 dependencies = [
  "getrandom",
  "libredox",
@@ -894,25 +935,25 @@ dependencies = [
 
 [[package]]
 name = "regex"
-version = "1.10.4"
+version = "1.10.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c117dbdfde9c8308975b6a18d71f3f385c89461f7b3fb054288ecf2a2058ba4c"
+checksum = "4219d74c6b67a3654a9fbebc4b419e22126d13d2f3c4a07ee0cb61ff79a79619"
 dependencies = [
  "aho-corasick",
  "memchr",
  "regex-automata",
- "regex-syntax 0.8.3",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
 name = "regex-automata"
-version = "0.4.6"
+version = "0.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "86b83b8b9847f9bf95ef68afb0b8e6cdb80f498442f5179a29fad448fcc1eaea"
+checksum = "38caf58cc5ef2fed281f89292ef23f6365465ed9a41b7a7754eb4e26496c92df"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.8.3",
+ "regex-syntax 0.8.4",
 ]
 
 [[package]]
@@ -923,15 +964,15 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.8.3"
+version = "0.8.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56"
+checksum = "7a66a03ae7c801facd77a29370b4faec201768915ac14a721ba36f20bc9c209b"
 
 [[package]]
 name = "rp-pico"
-version = "0.8.0"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6341771e6f8e5d130b2b3cbc23435b7847761adf198af09f4b2a60407d43bd56"
+checksum = "b9342d3ac7011ac688300979e9b52a81f0add1d05feb02868cf94bfee0705b28"
 dependencies = [
  "cortex-m-rt",
  "fugit",
@@ -951,14 +992,19 @@ dependencies = [
 
 [[package]]
 name = "rp2040-hal"
-version = "0.9.2"
+version = "0.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ff2b9ae7e6dd6720fd9f64250c9087260e50fe98b6b032ccca65be3581167ca"
+checksum = "d11e711940087f2cdff8aeae9f4b902e2014c06a00b39a1092686b81ec973d6f"
 dependencies = [
+ "bitfield 0.14.0",
  "cortex-m",
  "critical-section",
  "embedded-dma",
  "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "embedded-hal-nb",
+ "embedded-io",
  "frunk",
  "fugit",
  "itertools",
@@ -987,9 +1033,9 @@ dependencies = [
 
 [[package]]
 name = "rp2040-pac"
-version = "0.5.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12d9d8375815f543f54835d01160d4e47f9e2cae75f17ff8f1ec19ce1da96e4c"
+checksum = "83cbcd3f7a0ca7bbe61dc4eb7e202842bee4e27b769a7bf3a4a72fa399d6e404"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
@@ -1036,20 +1082,19 @@ dependencies = [
  "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn 2.0.60",
+ "syn 2.0.75",
 ]
 
 [[package]]
 name = "rtic-monotonics"
-version = "1.5.0"
+version = "2.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+checksum = "4e17f88319061d17d3b99997263397b176e3260177e2b4ff4ffed0078d97894c"
 dependencies = [
- "atomic-polyfill",
  "cfg-if",
  "cortex-m",
- "embedded-hal 1.0.0",
  "fugit",
+ "portable-atomic",
  "rp2040-pac",
  "rtic-time",
 ]
@@ -1071,11 +1116,14 @@ dependencies = [
 
 [[package]]
 name = "rtic-time"
-version = "1.3.0"
+version = "2.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+checksum = "a7b1d853fa50dc125695414ce4510567a0d420221e455b1568cfa8c9aece9614"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "fugit",
  "futures-util",
  "rtic-common",
 ]
@@ -1091,9 +1139,9 @@ dependencies = [
 
 [[package]]
 name = "rustversion"
-version = "1.0.16"
+version = "1.0.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "092474d1a01ea8278f69e6a358998405fae5b8b963ddaeb2b0b04a128bf1dfb0"
+checksum = "955d28af4278de8121b7ebeb796b6a45735dc01436d898801014aced2773a3d6"
 
 [[package]]
 name = "scopeguard"
@@ -1116,26 +1164,6 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
-[[package]]
-name = "serde"
-version = "1.0.201"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "780f1cebed1629e4753a1a38a3c72d30b97ec044f0aef68cb26650a3c5cf363c"
-dependencies = [
- "serde_derive",
-]
-
-[[package]]
-name = "serde_derive"
-version = "1.0.201"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c5e405930b9796f1c00bee880d03fc7e0bb4b9a11afc776885ffe84320da2865"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.60",
-]
-
 [[package]]
 name = "siphasher"
 version = "0.3.11"
@@ -1158,11 +1186,10 @@ dependencies = [
  "cortex-m-rt",
  "defmt",
  "defmt-rtt",
- "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
  "fixed",
  "futures",
  "library",
- "nb 0.1.3",
  "panic-probe",
  "pio",
  "pio-proc",
@@ -1172,7 +1199,6 @@ dependencies = [
  "rtic-monotonics",
  "rtic-sync",
  "usb-device",
- "usbd-hid",
  "usbd-serial",
 ]
 
@@ -1182,16 +1208,6 @@ version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
 
-[[package]]
-name = "ssmarshal"
-version = "1.0.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f3e6ad23b128192ed337dfa4f1b8099ced0c2bf30d61e551b65fda5916dbb850"
-dependencies = [
- "encode_unicode",
- "serde",
-]
-
 [[package]]
 name = "stable_deref_trait"
 version = "1.2.0"
@@ -1224,9 +1240,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.60"
+version = "2.0.75"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "909518bc7b1c9b779f1bbf07f2929d35af9f0f37e47c6e9ef7f9dddc1e1821f3"
+checksum = "f6af063034fc1935ede7be0122941bafa9bacb949334d090b77ca98b5817c7d9"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -1255,22 +1271,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.59"
+version = "1.0.63"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f0126ad08bff79f29fc3ae6a55cc72352056dfff61e3ff8bb7129476d44b23aa"
+checksum = "c0342370b38b6a11b6cc11d6a805569958d54cfa061a29969c3b5ce2ea405724"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.59"
+version = "1.0.63"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d1cd413b5d558b4c5bf3680e324a6fa5014e7b7c067a51e69dbdf47eb7148b66"
+checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.60",
+ "syn 2.0.75",
 ]
 
 [[package]]
@@ -1288,6 +1304,15 @@ version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
+[[package]]
+name = "unicase"
+version = "2.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7d2d4dafb69621809a81864c9c1b864479e1235c0dd4e199924b9742439ed89"
+dependencies = [
+ "version_check",
+]
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.12"
@@ -1296,65 +1321,35 @@ checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-width"
-version = "0.1.12"
+version = "0.1.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "68f5e5f3158ecfd4b8ff6fe086db7c8467a2dfdac97fe420f2b7c4aa97af66d6"
+checksum = "0336d538f7abc86d282a4189614dfaa90810dfc2c6f6427eaf88e16311dd225d"
 
 [[package]]
 name = "unicode-xid"
-version = "0.2.4"
+version = "0.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f962df74c8c05a667b5ee8bcf162993134c104e96440b663c8daa176dc772d8c"
+checksum = "229730647fbc343e3a80e463c1db7f78f3855d3f3739bee0dda773c9a037c90a"
 
 [[package]]
 name = "usb-device"
-version = "0.2.9"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f6cc3adc849b5292b4075fc0d5fdcf2f24866e88e336dd27a8943090a520508"
-
-[[package]]
-name = "usbd-hid"
-version = "0.5.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "183b7e65bbd75512aedf250deda89394c74ae3118b79fe41f159e8503e1d5d7f"
-dependencies = [
- "serde",
- "ssmarshal",
- "usb-device",
- "usbd-hid-macros",
-]
-
-[[package]]
-name = "usbd-hid-descriptors"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dcbee8c6735e90894fba04770bc41e11fd3c5256018856e15dc4dd1e6c8a3dd1"
-dependencies = [
- "bitfield",
-]
-
-[[package]]
-name = "usbd-hid-macros"
-version = "0.5.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "78bd005b3aa54e62905d99df49a75d11888bb958eb780adb5e8f2029733077df"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
 dependencies = [
- "byteorder",
- "proc-macro2",
- "quote",
- "serde",
- "syn 1.0.109",
- "usbd-hid-descriptors",
+ "heapless",
+ "portable-atomic",
 ]
 
 [[package]]
 name = "usbd-serial"
-version = "0.1.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db75519b86287f12dcf0d171c7cf4ecc839149fe9f3b720ac4cfce52959e1dfe"
+checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
 dependencies = [
  "embedded-hal 0.2.7",
- "nb 0.1.3",
+ "embedded-io",
+ "nb 1.1.0",
  "usb-device",
 ]
 
@@ -1366,9 +1361,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 
 [[package]]
 name = "version_check"
-version = "0.9.4"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
 
 [[package]]
 name = "virtue"
@@ -1415,11 +1410,11 @@ checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
 [[package]]
 name = "winapi-util"
-version = "0.1.8"
+version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4d4cc384e1e73b93bafa6fb4f1df8c41695c8a91cf9c4c64358067d15a7b6c6b"
+checksum = "cf221c93e13a30d793f7645a0e7762c55d169dbb0a49671918a2319d289b10bb"
 dependencies = [
- "windows-sys",
+ "windows-sys 0.59.0",
 ]
 
 [[package]]
@@ -1437,11 +1432,20 @@ dependencies = [
  "windows-targets",
 ]
 
+[[package]]
+name = "windows-sys"
+version = "0.59.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
+dependencies = [
+ "windows-targets",
+]
+
 [[package]]
 name = "windows-targets"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f0713a46559409d202e70e28227288446bf7841d3211583a4b53e3f6d96e7eb"
+checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
 dependencies = [
  "windows_aarch64_gnullvm",
  "windows_aarch64_msvc",
@@ -1455,48 +1459,48 @@ dependencies = [
 
 [[package]]
 name = "windows_aarch64_gnullvm"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7088eed71e8b8dda258ecc8bac5fb1153c5cffaf2578fc8ff5d61e23578d3263"
+checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
 [[package]]
 name = "windows_aarch64_msvc"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9985fd1504e250c615ca5f281c3f7a6da76213ebd5ccc9561496568a2752afb6"
+checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
 [[package]]
 name = "windows_i686_gnu"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "88ba073cf16d5372720ec942a8ccbf61626074c6d4dd2e745299726ce8b89670"
+checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
 
 [[package]]
 name = "windows_i686_gnullvm"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "87f4261229030a858f36b459e748ae97545d6f1ec60e5e0d6a3d32e0dc232ee9"
+checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
 [[package]]
 name = "windows_i686_msvc"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db3c2bf3d13d5b658be73463284eaf12830ac9a26a90c717b7f771dfe97487bf"
+checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
 [[package]]
 name = "windows_x86_64_gnu"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e4246f76bdeff09eb48875a0fd3e2af6aada79d409d33011886d3e1581517d9"
+checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
 [[package]]
 name = "windows_x86_64_gnullvm"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "852298e482cd67c356ddd9570386e2862b5673c85bd5f88df9ab6802b334c596"
+checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
 [[package]]
 name = "windows_x86_64_msvc"
-version = "0.52.5"
+version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bec47e5bfd1bff0eeaf6d8b485cc1074891a197ab4225d504cb7a1ab88b02bf0"
+checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
diff --git a/slamrs-robot-rtic/firmware/Cargo.toml b/slamrs-robot-rtic/firmware/Cargo.toml
index 0b258e6..7a3f3b3 100644
--- a/slamrs-robot-rtic/firmware/Cargo.toml
+++ b/slamrs-robot-rtic/firmware/Cargo.toml
@@ -11,30 +11,27 @@ defmt = "0.3"
 defmt-rtt = "0.4"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
 
-# embedded-hal = "1.0.0"
-embedded-hal = "0.2.7"
+embedded-hal = "1.0.0"
 # embedded-hal-async = "1.0.0"
-# embedded-io = "0.6.1"
+# embedded-io = "0.6"
 # embedded-io-async = "0.6.1"
-#
+# nb = "1.1"
+
 cortex-m = { version = "0.7" }
 cortex-m-rt = "0.7"
 
-rtic = { version = "2.0.0", features = [ "thumbv6-backend" ] }
+rtic = { version = "2.1", features = [ "thumbv6-backend" ] }
 # portable-atomic = {version = "1.6.0", features=["critical-section"]}
-rp-pico = "0.8"
-rtic-monotonics = { version = "1.5", features = ["rp2040"] }
+rp-pico = "0.9"
+rtic-monotonics = { version = "2", features = ["rp2040"] }
 rtic-sync = "1.3"
-# nb= { version = "1.0", features = ["defmt-0-3"]}
-nb = "0.1.3"
 futures = { version = "0.3", default-features = false, features = ["async-await"] }
 
 # for usb serial connection (update when the hal is updated)
-usb-device = "0.2"
-usbd-hid = "0.5.0"
-usbd-serial = "0.1"
+usb-device = "0.3"
+usbd-serial = "0.2"
 
-pwm-pca9685 = "0.3"
+pwm-pca9685 = "1.0"
 
 pio-proc = "0.2"
 pio = "0.2"
diff --git a/slamrs-robot-rtic/firmware/src/encoder.rs b/slamrs-robot-rtic/firmware/src/encoder.rs
index 7963a85..61eb627 100644
--- a/slamrs-robot-rtic/firmware/src/encoder.rs
+++ b/slamrs-robot-rtic/firmware/src/encoder.rs
@@ -97,7 +97,7 @@ fn initialize<
     program: InstalledProgram<PIO>,
     target: Target,
 ) {
-    let (mut sm, pio_rx, _tx) = PIOBuilder::from_program(program)
+    let (mut sm, pio_rx, _tx) = PIOBuilder::from_installed_program(program)
         .in_pin_base(pin_in_a.num)
         .autopush(false)
         .push_threshold(32)
diff --git a/slamrs-robot-rtic/firmware/src/main.rs b/slamrs-robot-rtic/firmware/src/main.rs
index a83ae0c..cf6912c 100644
--- a/slamrs-robot-rtic/firmware/src/main.rs
+++ b/slamrs-robot-rtic/firmware/src/main.rs
@@ -11,6 +11,10 @@ mod ws2812b;
 use defmt_rtt as _;
 use panic_probe as _;
 
+use rtic_monotonics::rp2040::prelude::*;
+
+rp2040_timer_monotonic!(Mono);
+
 #[rtic::app(
     device = rp_pico::hal::pac,
     // Replace the `FreeInterrupt1, ...` with free interrupt vectors if software tasks are used
@@ -29,8 +33,8 @@ mod app {
     use crate::util::channel_send;
 
     use core::sync::atomic::Ordering;
-    use defmt::{debug, error, info, warn};
-    use embedded_hal::digital::v2::OutputPin;
+    use defmt::{error, info, warn};
+    use embedded_hal::digital::OutputPin;
     use futures::FutureExt;
     use library::event::Event;
     use library::neato::RunningParser;
@@ -49,7 +53,7 @@ mod app {
         Clock,
     };
     use rp_pico::XOSC_CRYSTAL_FREQ;
-    use rtic_monotonics::rp2040::*;
+    use rtic_monotonics::Monotonic;
 
     use rtic_sync::portable_atomic::AtomicU8;
     // USB Device support
@@ -211,9 +215,8 @@ mod app {
         // TODO setup monotonic if used
         // Initialize the interrupt for the RP2040 timer and obtain the token
         // proving that we have.
-        let rp2040_timer_token = rtic_monotonics::create_rp2040_monotonic_token!();
         // Configure the clocks, watchdog - The default is to generate a 125 MHz system clock
-        Timer::start(ctx.device.TIMER, &mut ctx.device.RESETS, rp2040_timer_token); // default rp2040 clock-rate is 125MHz
+        crate::Mono::start(ctx.device.TIMER, &mut ctx.device.RESETS); // default rp2040 clock-rate is 125MHz
         let mut watchdog = Watchdog::new(ctx.device.WATCHDOG);
         let clocks = clocks::init_clocks_and_plls(
             XOSC_CRYSTAL_FREQ,
@@ -289,9 +292,11 @@ mod app {
 
             // Create a USB device with a fake VID and PID
             let usb_dev = UsbDeviceBuilder::new(&bus_ref, UsbVidPid(0x16c0, 0x27dd))
-                .manufacturer("Fake company")
-                .product("Serial port")
-                .serial_number("TEST")
+                .strings(&[StringDescriptors::default()
+                    .manufacturer("Fake company")
+                    .product("Serial port")
+                    .serial_number("TEST")])
+                .unwrap()
                 .device_class(usbd_serial::USB_CLASS_CDC)
                 .build();
 
@@ -311,7 +316,7 @@ mod app {
         let scl_pin: hal::gpio::Pin<_, hal::gpio::FunctionI2C, PullNone> = pins.gpio1.reconfigure();
 
         // Create the I²C drive
-        let i2c = hal::I2C::i2c0(
+        let i2c = hal::I2C::i2c0_with_external_pull_up(
             ctx.device.I2C0,
             sda_pin,
             scl_pin,
@@ -452,7 +457,7 @@ mod app {
         loop {
             futures::select_biased! {
 
-            _ = Timer::delay(1000.millis()).fuse() => {
+            _ = crate::Mono::delay(1000.millis()).fuse() => {
                 if is_connected {
                     // Send a ping message to the robot
                     channel_send(cx.local.robot_message_sender, RobotMessage::Pong, "event_loop");
diff --git a/slamrs-robot-rtic/firmware/src/motor.rs b/slamrs-robot-rtic/firmware/src/motor.rs
index cf5cc5c..c4edb23 100644
--- a/slamrs-robot-rtic/firmware/src/motor.rs
+++ b/slamrs-robot-rtic/firmware/src/motor.rs
@@ -1,10 +1,7 @@
 //! Module for controling the motors through the Afafruit Featherwing Motor Driver
-//!
-
-// embedded_hal::blocking::i2c:
 
 use core::marker::PhantomData;
-use embedded_hal::blocking::i2c;
+use embedded_hal::i2c;
 use pwm_pca9685::{Channel, Pca9685};
 
 /// All possible errors
@@ -64,12 +61,9 @@ pub struct Motor<I2C> {
     pwm: Channel,
 }
 
-impl<I2C, E> MotorDriver<I2C>
-where
-    I2C: i2c::Write<Error = E> + i2c::WriteRead<Error = E>,
-{
+impl<I2C: i2c::I2c> MotorDriver<I2C> {
     /// Create and initialize a new motor driver instance
-    pub fn new(i2c: I2C, address: u8, mut frequency_hz: f32) -> Result<Self, Error<E>> {
+    pub fn new(i2c: I2C, address: u8, mut frequency_hz: f32) -> Result<Self, Error<I2C::Error>> {
         let mut pwm = Pca9685::new(i2c, address)?;
 
         // initialize the driver
@@ -92,7 +86,7 @@ where
     }
 
     /// Get a motor instance
-    pub fn motor(&mut self, motor: MotorId) -> Result<Motor<I2C>, Error<E>> {
+    pub fn motor(&mut self, motor: MotorId) -> Result<Motor<I2C>, Error<I2C::Error>> {
         // make sure the motor is not already taken
         if self.taken[motor.as_u8() as usize] {
             return Err(Error::MotorAlreadyTaken);
@@ -117,12 +111,13 @@ where
     }
 }
 
-impl<I2C, E> Motor<I2C>
-where
-    I2C: i2c::Write<Error = E> + i2c::WriteRead<Error = E>,
-{
+impl<I2C: i2c::I2c> Motor<I2C> {
     /// Set the speed of the motor
-    pub fn set_speed(&mut self, mc: &mut MotorDriver<I2C>, speed: u16) -> Result<(), Error<E>> {
+    pub fn set_speed(
+        &mut self,
+        mc: &mut MotorDriver<I2C>,
+        speed: u16,
+    ) -> Result<(), Error<I2C::Error>> {
         mc.pwm.set_channel_on_off(self.pwm, 0, speed)?;
         Ok(())
     }
@@ -132,7 +127,7 @@ where
         &mut self,
         mc: &mut MotorDriver<I2C>,
         speed: i16,
-    ) -> Result<(), Error<E>> {
+    ) -> Result<(), Error<I2C::Error>> {
         let (direction, speed) = if speed > 0 {
             (MotorDirection::Forward, speed as u16)
         } else if speed < 0 {
@@ -150,7 +145,7 @@ where
         &mut self,
         mc: &mut MotorDriver<I2C>,
         direction: MotorDirection,
-    ) -> Result<(), Error<E>> {
+    ) -> Result<(), Error<I2C::Error>> {
         match direction {
             MotorDirection::Forward => {
                 mc.pwm.set_channel_on_off(self.in2, 0, 0)?; // take low first to avoid brake'
diff --git a/slamrs-robot-rtic/firmware/src/tasks/esp.rs b/slamrs-robot-rtic/firmware/src/tasks/esp.rs
index a066235..ef88b6a 100644
--- a/slamrs-robot-rtic/firmware/src/tasks/esp.rs
+++ b/slamrs-robot-rtic/firmware/src/tasks/esp.rs
@@ -1,5 +1,5 @@
 use defmt::{error, info, warn};
-use embedded_hal::digital::v2::OutputPin;
+use embedded_hal::digital::OutputPin;
 use futures::FutureExt;
 use library::{
     event::Event,
@@ -7,12 +7,13 @@ use library::{
 };
 use rp_pico::hal::fugit::ExtU64;
 use rtic::Mutex;
-use rtic_monotonics::rp2040::Timer;
+use rtic_monotonics::Monotonic;
 
 use crate::{
     app::{init_esp, uart1_esp32, DATA_PACKET_SIZE},
     tasks::heartbeat::{Color, LedStatus, Speed},
     util::{channel_send, wait_for_message},
+    Mono,
 };
 
 /// Task that initializes and handles the ESP WIFI connection
@@ -26,9 +27,9 @@ pub async fn init_esp(mut cx: init_esp::Context<'_>) {
     cx.local.esp_mode.set_high().ok();
     cx.local.esp_reset.set_low().ok();
 
-    Timer::delay(1.secs()).await;
+    Mono::delay(1.secs()).await;
     cx.local.esp_reset.set_high().ok();
-    Timer::delay(1.secs()).await;
+    Mono::delay(1.secs()).await;
 
     // read messages from the device and advance the inner state machine
 
@@ -97,7 +98,7 @@ pub async fn init_esp(mut cx: init_esp::Context<'_>) {
                             info!("Enabling Multiple Connections");
                             cx.local.uart1_tx.write_full_blocking(b"AT+CIPMUX=1\r\n");
                             wait_for_message(cx.local.esp_receiver, EspMessage::Ok).await;
-                            Timer::delay(1.secs()).await;
+                            Mono::delay(1.secs()).await;
 
                             cx.local
                                 .uart1_tx
diff --git a/slamrs-robot-rtic/firmware/src/tasks/heartbeat.rs b/slamrs-robot-rtic/firmware/src/tasks/heartbeat.rs
index eaf41fd..416cf63 100644
--- a/slamrs-robot-rtic/firmware/src/tasks/heartbeat.rs
+++ b/slamrs-robot-rtic/firmware/src/tasks/heartbeat.rs
@@ -1,8 +1,7 @@
-use crate::app::heartbeat;
-use embedded_hal::digital::v2::ToggleableOutputPin;
+use crate::{app::heartbeat, Mono};
 use rp_pico::hal::fugit::ExtU64;
 use rtic::Mutex;
-use rtic_monotonics::{rp2040::Timer, Monotonic};
+use rtic_monotonics::Monotonic;
 
 #[derive(defmt::Format, Copy, Clone)]
 pub enum Color {
@@ -64,10 +63,10 @@ pub async fn heartbeat(mut cx: heartbeat::Context<'_>) {
     const SCALE: u8 = 4;
 
     // 10hz loop
-    let mut next_iteration_instant = Timer::now();
+    let mut next_iteration_instant = Mono::now();
     loop {
         next_iteration_instant += 100.millis();
-        Timer::delay_until(next_iteration_instant).await;
+        Mono::delay_until(next_iteration_instant).await;
 
         let state = cx.shared.led_status.lock(|s| *s);
 
diff --git a/slamrs-robot-rtic/firmware/src/tasks/motors.rs b/slamrs-robot-rtic/firmware/src/tasks/motors.rs
index f9da2a1..1ba4143 100644
--- a/slamrs-robot-rtic/firmware/src/tasks/motors.rs
+++ b/slamrs-robot-rtic/firmware/src/tasks/motors.rs
@@ -1,9 +1,9 @@
-use crate::app::motor_control_loop;
-use defmt::{info, warn};
+use crate::{app::motor_control_loop, Mono};
+use defmt::warn;
 use fixed::{types::extra::U16, FixedI32};
 use rp_pico::hal::fugit::ExtU32;
 use rtic::Mutex;
-use rtic_monotonics::{rp2040::Timer, Monotonic};
+use rtic_monotonics::Monotonic;
 
 /// The fixed point type used for the PI controller
 pub type F32 = FixedI32<U16>;
@@ -19,14 +19,14 @@ pub async fn motor_control_loop(mut cx: motor_control_loop::Context<'_>) {
     let mut pi_right = PiController::new();
     let mut pi_left = PiController::new();
 
-    let mut next_iteration_instant = Timer::now();
+    let mut next_iteration_instant = Mono::now();
     loop {
         next_iteration_instant += CONTROL_LOOP_PERIOD_MS.millis();
-        if next_iteration_instant < Timer::now() {
+        if next_iteration_instant < Mono::now() {
             warn!("Motor control loop is running behind");
-            next_iteration_instant = Timer::now();
+            next_iteration_instant = Mono::now();
         }
-        Timer::delay_until(next_iteration_instant).await;
+        Mono::delay_until(next_iteration_instant).await;
 
         // do the actual control loop logic with a PI controller
 
diff --git a/slamrs-robot-rtic/firmware/src/tasks/neato.rs b/slamrs-robot-rtic/firmware/src/tasks/neato.rs
index ed7828d..be33e0f 100644
--- a/slamrs-robot-rtic/firmware/src/tasks/neato.rs
+++ b/slamrs-robot-rtic/firmware/src/tasks/neato.rs
@@ -1,14 +1,14 @@
 use crate::{
     app::{neato_motor_control, uart0_neato},
     motor::MotorDirection,
+    Mono,
 };
 use core::sync::atomic::{AtomicBool, AtomicU16, Ordering};
-use cortex_m::peripheral::dwt;
-use defmt::{info, warn};
+use defmt::info;
 use library::slamrs_message::{RobotMessage, ScanFrame};
 use rp_pico::hal::fugit::ExtU64;
 use rtic::Mutex;
-use rtic_monotonics::rp2040::Timer;
+use rtic_monotonics::Monotonic;
 
 /// Atomic variables to control the on/off state of the motor and the last measured RPM
 pub static MOTOR_ON: AtomicBool = AtomicBool::new(false);
@@ -25,7 +25,7 @@ pub async fn neato_motor_control(mut cx: neato_motor_control::Context<'_>) {
 
     let mut pwm_current: i32 = 0;
     loop {
-        Timer::delay(200.millis()).await;
+        Mono::delay(200.millis()).await;
 
         let rpm_target = if MOTOR_ON.load(Ordering::Relaxed) {
             300
@@ -61,6 +61,7 @@ pub async fn neato_motor_control(mut cx: neato_motor_control::Context<'_>) {
         // );
     }
 }
+
 pub fn uart0_neato(cx: uart0_neato::Context<'_>) {
     cx.local.parser.consume(cx.local.uart0_rx_neato, |data| {
         // some exponential smoothing on the raw (*64) RPM value
@@ -73,6 +74,7 @@ pub fn uart0_neato(cx: uart0_neato::Context<'_>) {
         info!("neato rpm: {:?}", rpm);
         // TODO: should we add a data validation check?
         if rpm < 250 && rpm > 350 {
+            // THIS WILL NEVER BE TRUE LOL
             return;
         }
 
diff --git a/slamrs-robot-rtic/firmware/src/tasks/usb.rs b/slamrs-robot-rtic/firmware/src/tasks/usb.rs
index e3e6daa..b752757 100644
--- a/slamrs-robot-rtic/firmware/src/tasks/usb.rs
+++ b/slamrs-robot-rtic/firmware/src/tasks/usb.rs
@@ -1,5 +1,5 @@
 use crate::{app::usb_irq, app::usb_sender, util::channel_send};
-use defmt::{info, warn};
+use defmt::warn;
 use library::event::Event;
 use rtic::mutex_prelude::*;
 use usb_device::prelude::*;
diff --git a/slamrs-robot-rtic/firmware/src/ws2812b.rs b/slamrs-robot-rtic/firmware/src/ws2812b.rs
index a638f33..55cbaa3 100644
--- a/slamrs-robot-rtic/firmware/src/ws2812b.rs
+++ b/slamrs-robot-rtic/firmware/src/ws2812b.rs
@@ -1,4 +1,3 @@
-use defmt::info;
 use rp_pico::{
     hal::{
         fugit::HertzU32,
@@ -62,7 +61,7 @@ impl WS2812B {
         let (div_int, div_frac) = pio_calculate_clkdiv_from_float(div);
 
         // configure the state machine
-        let (mut sm, _rx, tx) = rp_pico::hal::pio::PIOBuilder::from_program(installed)
+        let (mut sm, _rx, tx) = rp_pico::hal::pio::PIOBuilder::from_installed_program(installed)
             .side_set_pin_base(pin.id().num)
             .clock_divisor_fixed_point(div_int, div_frac)
             .out_shift_direction(ShiftDirection::Left)
diff --git a/slamrs-robot-rtic/library/Cargo.lock b/slamrs-robot-rtic/library/Cargo.lock
index d30d234..e74eeca 100644
--- a/slamrs-robot-rtic/library/Cargo.lock
+++ b/slamrs-robot-rtic/library/Cargo.lock
@@ -58,12 +58,18 @@ dependencies = [
 
 [[package]]
 name = "embedded-hal"
-version = "0.2.7"
+version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "35949884794ad573cf46071e41c9b60efb0cb311e3ca01f7af807af1debc66ff"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
+[[package]]
+name = "embedded-hal-nb"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fba4268c14288c828995299e59b12babdbe170f6c6d73731af1b4648142e8605"
 dependencies = [
- "nb 0.1.3",
- "void",
+ "embedded-hal",
+ "nb",
 ]
 
 [[package]]
@@ -71,20 +77,11 @@ name = "library"
 version = "0.1.0"
 dependencies = [
  "defmt",
- "embedded-hal",
- "nb 0.1.3",
+ "embedded-hal-nb",
+ "nb",
  "slamrs-message",
 ]
 
-[[package]]
-name = "nb"
-version = "0.1.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
-dependencies = [
- "nb 1.1.0",
-]
-
 [[package]]
 name = "nb"
 version = "1.1.0"
@@ -199,9 +196,3 @@ name = "virtue"
 version = "0.0.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9dcc60c0624df774c82a0ef104151231d37da4962957d691c011c852b2473314"
-
-[[package]]
-name = "void"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
diff --git a/slamrs-robot-rtic/library/Cargo.toml b/slamrs-robot-rtic/library/Cargo.toml
index 1c35eff..1c40805 100644
--- a/slamrs-robot-rtic/library/Cargo.toml
+++ b/slamrs-robot-rtic/library/Cargo.toml
@@ -7,8 +7,8 @@ edition = "2021"
 
 [dependencies]
 slamrs-message = { path = "../../slamrs-message" }
-embedded-hal = "0.2"
-nb = "0.1.3"
+embedded-hal-nb = "1.0"
+nb = "1.1"
 defmt = { version = "0.3", optional = true }
 
 
diff --git a/slamrs-robot-rtic/library/src/neato.rs b/slamrs-robot-rtic/library/src/neato.rs
index 92149f5..2e5e342 100644
--- a/slamrs-robot-rtic/library/src/neato.rs
+++ b/slamrs-robot-rtic/library/src/neato.rs
@@ -1,5 +1,3 @@
-use embedded_hal::serial::Read;
-
 enum RunningParserState {
     LookingForStart { previous_byte: u8 },
     CollectingBytes { index: usize },
@@ -22,7 +20,7 @@ impl RunningParser {
             state: RunningParserState::LookingForStart { previous_byte: 0 },
         }
     }
-    pub fn consume<R: Read<u8>>(
+    pub fn consume<R: embedded_hal_nb::serial::Read<u8>>(
         &mut self,
         reader: &mut R,
         mut callback: impl FnMut(NeatoFrame<'_>),
diff --git a/slamrs-robot-rtic/library/src/parse_at.rs b/slamrs-robot-rtic/library/src/parse_at.rs
index 5d88493..688f2f6 100644
--- a/slamrs-robot-rtic/library/src/parse_at.rs
+++ b/slamrs-robot-rtic/library/src/parse_at.rs
@@ -1,7 +1,5 @@
 use core::str::FromStr;
 
-use embedded_hal::serial::Read;
-
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 #[derive(Debug, Clone, PartialEq)]
 pub enum ParsedMessage<'a> {
@@ -88,7 +86,7 @@ impl<const N: usize> AtParser<N> {
         }
     }
 
-    pub fn consume<R: Read<u8>>(
+    pub fn consume<R: embedded_hal_nb::serial::Read<u8>>(
         &mut self,
         reader: &mut R,
         callback: impl FnMut(ParsedMessage<'_>),
@@ -228,6 +226,8 @@ pub fn parse_ipd<'a>(cmd: &'a [u8]) -> Result<(usize, &'a [u8]), &'static str> {
 mod tests {
     use std::vec::Vec;
 
+    use embedded_hal_nb::serial::Read;
+
     use super::*;
 
     struct VecReader {
@@ -250,9 +250,11 @@ mod tests {
         }
     }
 
-    impl embedded_hal::serial::Read<u8> for VecReader {
-        type Error = ();
+    impl embedded_hal_nb::serial::ErrorType for VecReader {
+        type Error = core::convert::Infallible;
+    }
 
+    impl embedded_hal_nb::serial::Read<u8> for VecReader {
         fn read(&mut self) -> nb::Result<u8, Self::Error> {
             if self.current_word < self.strings.len() {
                 if self.current_byte >= self.strings[self.current_word].len() {