release v3.0.0 for year 23/24

Cargo.toml

 [package]
 name = "tudelft-quadrupel"
-version = "2.1.0"
+version = "3.0.0"
 edition = "2021"
 authors = [
     "Anne Stijns <anstijns@gmail.com>",
     "Jonathan Brouwer <jonathantbrouwer@gmail.com>",
     "Jonathan Dönszelmann <jonabent@gmail.com>",
-    "Victor Roest <victor@xirion.net>",
+    "Vivian Roest <v@0x76.dev>",
 ]
 license = "MIT"
 description = "Hardware support library for the quadrupel drone project (embedded systems lab)."
@@ -18,13 +18,15 @@ keywords = ["tudelft"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-ringbuffer = "0.12.0"
-cortex-m = "0.7.6"
-alloc-cortex-m = "0.4.3"
-cortex-m-rt = "0.7.3"
-nrf51-hal = "0.16.0"
-nrf51-pac = "0.12.2"
-void = { version = "1.0.2", default-features = false }
-embedded-hal = { version = "0.2.7", features = ["unproven"] }
-fixed = { version = "1.20" }
-nb = "1.0.0"
+ringbuffer = "0.15.0"
+
+cortex-m = "=0.7.6"
+alloc-cortex-m = "=0.4.3"
+cortex-m-rt = "=0.7.3"
+nrf51-hal = "=0.16.0"
+nrf51-pac = "=0.12.2"
+
+void = { version = "1", default-features = false }
+embedded-hal = "1"
+fixed = "1"
+nb = "1"

src/initialize.rs

@@ -13,7 +13,7 @@ static INITIALIZED: Mutex<bool> = Mutex::new(false);
 static ALLOCATOR: CortexMHeap = CortexMHeap::empty();
 
 /// Initialize the drone board. This should be run at boot.
-//t/
+///
 /// `heap_memory` should be a pointer to statically allocated memory.
 /// Care should be taken that the mutable reference given here *really* is the
 /// only mutable reference to that area of memory. That should of course be guaranteed by
@@ -27,7 +27,10 @@ static ALLOCATOR: CortexMHeap = CortexMHeap::empty();
 ///
 /// # Panics
 /// This function will panic when called twice. Make sure this is only called once on boot
-pub fn initialize(heap_memory: &'static mut [MaybeUninit<u8>], debug: bool) {
+///
+/// # Safety
+/// safe is heap_memory is a valid pointer to memory
+pub unsafe fn initialize(heap_memory: *const [MaybeUninit<u8>], debug: bool) {
     // Allow time for PC to start up. The drone board starts running code immediately after upload,
     // but at that time the PC may not be listening on UART etc.
     assembly_delay(2_500_000);
@@ -42,11 +45,13 @@ pub fn initialize(heap_memory: &'static mut [MaybeUninit<u8>], debug: bool) {
     let mut nrf51_peripherals = Peripherals::take().unwrap();
     let mut cortex_m_peripherals = cortex_m::Peripherals::take().unwrap();
 
+    // Safety: heap_memory is a valid pointer by the safety requirements of this function
+    assert!(!unsafe{(*heap_memory).is_empty()});
     // Safety: `init` is safe when
     // * only called once --> the global INITIALIZED flag is set, and we panic above if called twice
     // * Heap is not empty, see the assert
-    assert!(!heap_memory.is_empty());
-    unsafe { ALLOCATOR.init(heap_memory.as_ptr().addr(), heap_memory.len()) }
+    // * heap_memory is a valid pointer by the safety requirements of this function
+    unsafe { ALLOCATOR.init(heap_memory.addr(), (*heap_memory).len()) }
 
     let gpio = nrf51_hal::gpio::p0::Parts::new(nrf51_peripherals.GPIO);
     led::initialize(gpio.p0_22, gpio.p0_24, gpio.p0_28, gpio.p0_30);

src/mpu/sensor.rs

@@ -7,8 +7,7 @@ use crate::mpu::structs::{Accel, Gyro};
 use crate::time::delay_ms_assembly;
 use crate::twi::TwiWrapper;
 use core::marker::PhantomData;
-use core::time::Duration;
-use embedded_hal::blocking::i2c::{Write, WriteRead};
+use embedded_hal::i2c::I2c as _;
 
 const MPU6050_ADDRESS: u8 = 0x68;
 
@@ -19,7 +18,7 @@ pub(crate) struct Mpu6050(PhantomData<()>);
 impl Mpu6050 {
     /// Construct a new i2c driver for the MPU-6050
     pub fn new(i2c: &mut I2c) -> Self {
-        let mut sensor = Self(PhantomData::default());
+        let mut sensor = Self(PhantomData);
 
         sensor.disable_sleep(i2c);
 

src/uart.rs

@@ -2,7 +2,7 @@ use crate::mutex::Mutex;
 use crate::once_cell::OnceCell;
 use cortex_m::peripheral::NVIC;
 use nrf51_pac::interrupt;
-use ringbuffer::{ConstGenericRingBuffer, RingBuffer, RingBufferRead, RingBufferWrite};
+use ringbuffer::{ConstGenericRingBuffer, RingBuffer};
 
 const BUFFER_SIZE: usize = 256;