Merge #106

106: More gha r=jordens a=jordens Co-authored-by: Robert Jördens <rj@quartiq.de>
2020-06-16 15:53:29 +00:00 · 2020-06-16 15:53:29 +00:00 · 1d6c77252c
commit 1d6c77252c
parent 2ddcdec537 486e0d2ebf
19 changed files with 858 additions and 1068 deletions
--- a/.github/bors.toml
+++ b/.github/bors.toml
@ -1,3 +1,3 @@
 block_labels = [ "S-blocked" ]
 delete_merged_branches = true
-status = [ "continuous-integration/travis-ci/push" ]
+status = ["ci"]
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@ -1,4 +1,5 @@
 name: Continuous Integration
+
 on:
  push:
    branches:
@ -6,20 +7,99 @@ on:
      - trying
      - master

+env:
+  CARGO_TERM_COLOR: always
+
 jobs:
-  build:
+  style:
    runs-on: ubuntu-latest
    steps:
-    - uses: actions/checkout@v1
-    - name: Install toolchain
-      run: rustup toolchain install nightly
-    - name: Use toolchain
-      run: rustup override add nightly
-    - name: Install target
-      run: rustup target add thumbv7em-none-eabihf
-    - name: Build release
-      run: cargo build --verbose --release
-    - name: Build semihosting
-      run: cargo build --verbose --features semihosting
-    - name: Build bkpt
-      run: cargo build --verbose --features bkpt,semihosting
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          override: true
+          components: rustfmt
+      - name: cargo fmt --check
+        uses: actions-rs/cargo@v1
+        with:
+          command: fmt
+          args: --all -- --check
+
+  clippy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions-rs/toolchain@v1
+        with:
+          profile: minimal
+          toolchain: stable
+          target: thumbv7em-none-eabihf
+          override: true
+          components: clippy
+      - name: cargo clippy
+        uses: actions-rs/cargo@v1
+        continue-on-error: true
+        with:
+          command: clippy        
+
+  compile:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        toolchain:
+          - stable
+          - beta
+    steps:
+      - uses: actions/checkout@v2
+      - name: Install Rust ${{ matrix.toolchain }}
+        uses: actions-rs/toolchain@v1
+        with:
+          toolchain: ${{ matrix.toolchain }}
+          target: thumbv7em-none-eabihf
+          override: true
+      - name: cargo check
+        uses: actions-rs/cargo@v1
+        with:
+          command: check
+          args: --verbose
+      - name: cargo build
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+      - name: cargo build release
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --release
+      - name: cargo build release+semihosting
+        uses: actions-rs/cargo@v1
+        with:
+          command: build
+          args: --release --features semihosting
+
+  # Tell bors about it
+  # https://github.com/rtic-rs/cortex-m-rtic/blob/8a4f9c6b8ae91bebeea0791680f89375a78bffc6/.github/workflows/build.yml#L566-L603
+  ci-success:
+    name: ci
+    if: github.event_name == 'push' && success()
+    needs:
+      - style
+      - clippy
+      - compile
+    runs-on: ubuntu-latest
+    steps:
+      - name: Mark the job as a success
+        run: exit 0
+  ci-failure:
+    name: ci
+    if: github.event_name == 'push' && !success()
+    needs:
+      - style
+      - clippy
+      - compile
+    runs-on: ubuntu-latest
+    steps:
+      - name: Mark the job as a failure
+        run: exit 1
--- a/.gitmodules
+++ b/.gitmodules
@ -1,3 +0,0 @@
-[submodule "stm32h7xx-hal"]
-	path = stm32h7xx-hal
-	url = https://github.com/quartiq/stm32h7xx-hal.git
--- a/.travis.yml
+++ b/.travis.yml
@ -1,32 +0,0 @@
-language: rust
-
-jobs:
-  include:
-    - rust: stable
-      env: FEATURES='' ARGS='--release'
-    - rust: stable
-      env: FEATURES='semihosting'
-    - rust: beta
-      env: FEATURES='' ARGS='--release'
-  allow_failures:
-    - rust: nightly
-      env: FEATURES='' ARGS='--release'
-
-branches:
-  only:
-    - staging
-    - trying
-    - master
-
-before_script:
-  - rustup target add thumbv7em-none-eabihf
-  - rustup component add clippy
-  - rustup component add rustfmt
-
-script:
-  - "cargo build --target thumbv7em-none-eabihf --features \"$FEATURES\" $ARGS"
-  - cargo clippy
-  - cargo fmt --all -- --check
-
-notifications:
-  email: false
--- a/Cargo.lock
+++ b/Cargo.lock
@ -284,15 +284,6 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"

-[[package]]
-name = "panic-itm"
-version = "0.4.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "98830d17a95587207e41edaa3009b143d326ce134b0e3538ac98246a67d66cc3"
-dependencies = [
- "cortex-m",
-]
-
 [[package]]
 name = "panic-semihosting"
 version = "0.5.3"
@ -460,7 +451,7 @@ dependencies = [
 "serde-json-core",
 "smoltcp",
 "stm32h7-ethernet",
- "stm32h7xx-hal 0.5.0",
+ "stm32h7xx-hal 0.5.0 (git+https://github.com/quartiq/stm32h7xx-hal.git?branch=feature/pounder-support)",
 ]

 [[package]]
@ -495,16 +486,14 @@ dependencies = [
 [[package]]
 name = "stm32h7xx-hal"
 version = "0.5.0"
+source = "git+https://github.com/quartiq/stm32h7xx-hal.git?branch=feature/pounder-support#ff00e938f2b226211c178f26c092f36462c44404"
 dependencies = [
 "bare-metal",
 "cast",
 "cortex-m",
- "cortex-m-log",
 "cortex-m-rt",
- "cortex-m-rtfm",
 "embedded-hal",
 "nb",
- "panic-itm",
 "paste",
 "stm32h7",
 "void",
--- a/Cargo.toml
+++ b/Cargo.toml
@ -1,11 +1,72 @@
-[workspace]
-
-members = [
-    "stabilizer",
-    "stm32h7xx-hal",
-    "ad9959",
+[package]
+name = "stabilizer"
+version = "0.3.0"
+authors = ["Robert Jördens <rj@quartiq.de>"]
+description = "Firmware for the Sinara Stabilizer board (stm32h743, eth, poe, 2 adc, 2 dac)"
+categories = ["embedded", "no-std", "hardware-support", "science"]
+license = "GPL-3.0-or-later"
+keywords = ["ethernet", "stm32h7", "adc", "dac", "physics"]
+repository = "https://github.com/quartiq/stabilizer"
+readme = "README.md"
+documentation = "https://docs.rs/stabilizer/"
+edition = "2018"
+exclude = [
+	".travis.yml",
+	".gitignore",
+	"doc/",
+	"doc/*"
 ]

+[badges]
+travis-ci = { repository = "quartiq/stabilizer", branch = "master" }
+maintenance = { status = "experimental" }
+
+[package.metadata.docs.rs]
+features = []
+default-target = "thumbv7em-none-eabihf"
+
+[dependencies]
+cortex-m = { version = "0.6", features = ["const-fn"] }
+cortex-m-rt = { version = "0.6", features = ["device"] }
+cortex-m-log = { version = "0.6", features = ["log-integration"] }
+log = "0.4"
+panic-semihosting = { version = "0.5", optional = true }
+panic-halt = "0.2"
+serde = { version = "1.0", features = ["derive"], default-features = false }
+heapless = { version = "0.5", features = ["serde"] }
+serde-json-core = "0.1"
+cortex-m-rtfm = "0.5"
+embedded-hal = "0.2.3"
+nb = "0.1.2"
+asm-delay = "0.7.0"
+enum-iterator = "0.6.0"
+
+[dependencies.mcp23017]
+git = "https://github.com/mrd0ll4r/mcp23017.git"
+
+[dependencies.smoltcp]
+version = "0.6"
+features = ["ethernet", "proto-ipv4", "socket-tcp", "proto-ipv6"]
+default-features = false
+
+[dependencies.ad9959]
+path = "ad9959"
+
+[dependencies.stm32h7-ethernet]
+git = "https://github.com/quartiq/stm32h7-ethernet.git"
+branch = "master"
+features = ["stm32h743v"]
+
+[dependencies.stm32h7xx-hal]
+git = "https://github.com/quartiq/stm32h7xx-hal.git"
+branch = "feature/pounder-support"
+features = ["stm32h743v", "rt", "unproven"]
+
+[features]
+semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
+bkpt = [ ]
+nightly = ["cortex-m/inline-asm"]
+
 [profile.dev]
 codegen-units = 1
 incremental = false
--- a/README.md
+++ b/README.md
@ -1,3 +1,5 @@
+![Continuous Integration](https://github.com/quartiq/stabilizer/workflows/Continuous%20Integration/badge.svg)
+
 # Stabilizer Firmware

 ![Flow diagram](stabilizer_pid.svg)
--- a/ad9959/src/lib.rs
+++ b/ad9959/src/lib.rs
@ -1,10 +1,7 @@
 #![no_std]

 use bit_field::BitField;
-use embedded_hal::{
-    digital::v2::OutputPin,
-    blocking::delay::DelayMs,
-};
+use embedded_hal::{blocking::delay::DelayMs, digital::v2::OutputPin};

 /// A device driver for the AD9959 direct digital synthesis (DDS) chip.
 ///
@ -93,12 +90,11 @@ pub enum Error {
    Frequency,
 }

-impl <PinE, INTERFACE, DELAY, UPDATE> Ad9959<INTERFACE, DELAY, UPDATE>
+impl<PinE, INTERFACE, DELAY, UPDATE> Ad9959<INTERFACE, DELAY, UPDATE>
 where
    INTERFACE: Interface,
    DELAY: DelayMs<u8>,
    UPDATE: OutputPin<Error = PinE>,
-
 {
    /// Construct and initialize the DDS.
    ///
@ -111,13 +107,15 @@ where
    /// * `clock_frequency` - The clock frequency of the reference clock input.
    /// * `multiplier` - The desired clock multiplier for the system clock. This multiplies
    ///   `clock_frequency` to generate the system clock.
-    pub fn new<RST>(interface: INTERFACE,
-                    reset_pin: &mut RST,
-                    io_update: UPDATE,
-                    delay: DELAY,
-                    desired_mode: Mode,
-                    clock_frequency: f32,
-                    multiplier: u8) -> Result<Self, Error>
+    pub fn new<RST>(
+        interface: INTERFACE,
+        reset_pin: &mut RST,
+        io_update: UPDATE,
+        delay: DELAY,
+        desired_mode: Mode,
+        clock_frequency: f32,
+        multiplier: u8,
+    ) -> Result<Self, Error>
    where
        RST: OutputPin,
    {
@ -135,25 +133,39 @@ where
        reset_pin.set_high().or_else(|_| Err(Error::Pin))?;

        // Delay for a clock cycle to allow the device to reset.
-        ad9959.delay.delay_ms((1000.0 / clock_frequency as f32) as u8);
+        ad9959
+            .delay
+            .delay_ms((1000.0 / clock_frequency as f32) as u8);

        reset_pin.set_low().or_else(|_| Err(Error::Pin))?;

-        ad9959.interface.configure_mode(Mode::SingleBitTwoWire).map_err(|_| Error::Interface)?;
+        ad9959
+            .interface
+            .configure_mode(Mode::SingleBitTwoWire)
+            .map_err(|_| Error::Interface)?;

        // Program the interface configuration in the AD9959. Default to all channels enabled.
        let mut csr: [u8; 1] = [0xF0];
        csr[0].set_bits(1..3, desired_mode as u8);
-        ad9959.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        ad9959
+            .interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        // Latch the configuration registers to make them active.
        ad9959.latch_configuration()?;

-        ad9959.interface.configure_mode(desired_mode).map_err(|_| Error::Interface)?;
+        ad9959
+            .interface
+            .configure_mode(desired_mode)
+            .map_err(|_| Error::Interface)?;

        // Read back the CSR to ensure it specifies the mode correctly.
        let mut updated_csr: [u8; 1] = [0];
-        ad9959.interface.read(Register::CSR as u8, &mut updated_csr).map_err(|_| Error::Interface)?;
+        ad9959
+            .interface
+            .read(Register::CSR as u8, &mut updated_csr)
+            .map_err(|_| Error::Interface)?;
        if updated_csr[0] != csr[0] {
            return Err(Error::Check);
        }
@ -165,13 +177,14 @@ where

    /// Latch the DDS configuration to ensure it is active on the output channels.
    fn latch_configuration(&mut self) -> Result<(), Error> {
-       self.io_update.set_high().or_else(|_| Err(Error::Pin))?;
-       // The SYNC_CLK is 1/4 the system clock frequency. The IO_UPDATE pin must be latched for one
-       // full SYNC_CLK pulse to register. For safety, we latch for 5 here.
-       self.delay.delay_ms((5000.0 / self.system_clock_frequency()) as u8);
-       self.io_update.set_low().or_else(|_| Err(Error::Pin))?;
+        self.io_update.set_high().or_else(|_| Err(Error::Pin))?;
+        // The SYNC_CLK is 1/4 the system clock frequency. The IO_UPDATE pin must be latched for one
+        // full SYNC_CLK pulse to register. For safety, we latch for 5 here.
+        self.delay
+            .delay_ms((5000.0 / self.system_clock_frequency()) as u8);
+        self.io_update.set_low().or_else(|_| Err(Error::Pin))?;

-       Ok(())
+        Ok(())
    }

    /// Configure the internal system clock of the chip.
@ -182,30 +195,36 @@ where
    ///
    /// Returns:
    /// The actual frequency configured for the internal system clock.
-    pub fn configure_system_clock(&mut self,
-                                  reference_clock_frequency: f32,
-                                  multiplier: u8) -> Result<f64, Error>
-    {
+    pub fn configure_system_clock(
+        &mut self,
+        reference_clock_frequency: f32,
+        multiplier: u8,
+    ) -> Result<f64, Error> {
        self.reference_clock_frequency = reference_clock_frequency;

        if multiplier != 1 && (multiplier > 20 || multiplier < 4) {
            return Err(Error::Bounds);
        }

-        let frequency = multiplier as f64 * self.reference_clock_frequency as f64;
+        let frequency =
+            multiplier as f64 * self.reference_clock_frequency as f64;
        if frequency > 500_000_000.0f64 {
            return Err(Error::Frequency);
        }

        // TODO: Update / disable any enabled channels?
        let mut fr1: [u8; 3] = [0, 0, 0];
-        self.interface.read(Register::FR1 as u8, &mut fr1).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::FR1 as u8, &mut fr1)
+            .map_err(|_| Error::Interface)?;
        fr1[0].set_bits(2..=6, multiplier);

        let vco_range = frequency > 255e6;
        fr1[0].set_bit(7, vco_range);

-        self.interface.write(Register::FR1 as u8, &fr1).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::FR1 as u8, &fr1)
+            .map_err(|_| Error::Interface)?;
        self.system_clock_multiplier = multiplier;

        Ok(self.system_clock_frequency())
@ -219,7 +238,9 @@ where
    /// Get the current reference clock multiplier.
    pub fn get_reference_clock_multiplier(&mut self) -> Result<u8, Error> {
        let mut fr1: [u8; 3] = [0, 0, 0];
-        self.interface.read(Register::FR1 as u8, &mut fr1).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::FR1 as u8, &mut fr1)
+            .map_err(|_| Error::Interface)?;

        Ok(fr1[0].get_bits(2..=6) as u8)
    }
@ -233,49 +254,66 @@ where
    /// True if the self test succeeded. False otherwise.
    pub fn self_test(&mut self) -> Result<bool, Error> {
        let mut csr: [u8; 1] = [0];
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;
        let old_csr = csr[0];

        // Enable all channels.
        csr[0].set_bits(4..8, 0xF);
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        // Read back the enable.
        csr[0] = 0;
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;
        if csr[0].get_bits(4..8) != 0xF {
            return Ok(false);
        }

        // Clear all channel enables.
        csr[0].set_bits(4..8, 0x0);
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        // Read back the enable.
        csr[0] = 0xFF;
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;
        if csr[0].get_bits(4..8) != 0 {
            return Ok(false);
        }

        // Restore the CSR.
        csr[0] = old_csr;
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        Ok(true)
    }

    /// Get the current system clock frequency in Hz.
    fn system_clock_frequency(&self) -> f64 {
-        self.system_clock_multiplier as f64 * self.reference_clock_frequency as f64
+        self.system_clock_multiplier as f64
+            * self.reference_clock_frequency as f64
    }

    /// Enable an output channel.
    pub fn enable_channel(&mut self, channel: Channel) -> Result<(), Error> {
        let mut csr: [u8; 1] = [0];
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;
        csr[0].set_bit(channel as usize + 4, true);
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        Ok(())
    }
@ -283,9 +321,13 @@ where
    /// Disable an output channel.
    pub fn disable_channel(&mut self, channel: Channel) -> Result<(), Error> {
        let mut csr: [u8; 1] = [0];
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;
        csr[0].set_bit(channel as usize + 4, false);
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        Ok(())
    }
@ -293,7 +335,9 @@ where
    /// Determine if an output channel is enabled.
    pub fn is_enabled(&mut self, channel: Channel) -> Result<bool, Error> {
        let mut csr: [u8; 1] = [0; 1];
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;

        Ok(csr[0].get_bit(channel as usize + 4))
    }
@ -304,24 +348,37 @@ where
    /// * `channel` - The channel to configure.
    /// * `register` - The register to update.
    /// * `data` - The contents to write to the provided register.
-    fn modify_channel(&mut self, channel: Channel, register: Register, data: &[u8]) -> Result<(), Error> {
+    fn modify_channel(
+        &mut self,
+        channel: Channel,
+        register: Register,
+        data: &[u8],
+    ) -> Result<(), Error> {
        // Disable all other outputs so that we can update the configuration register of only the
        // specified channel.
        let mut csr: [u8; 1] = [0];
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;

        let mut new_csr = csr;
        new_csr[0].set_bits(4..8, 0);
        new_csr[0].set_bit(4 + channel as usize, true);

-        self.interface.write(Register::CSR as u8, &new_csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &new_csr)
+            .map_err(|_| Error::Interface)?;

-        self.interface.write(register as u8, &data).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(register as u8, &data)
+            .map_err(|_| Error::Interface)?;

        // Latch the configuration and restore the previous CSR. Note that the re-enable of the
        // channel happens immediately, so the CSR update does not need to be latched.
        self.latch_configuration()?;
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        Ok(())
    }
@ -332,23 +389,36 @@ where
    /// * `channel` - The channel to read.
    /// * `register` - The register to read.
    /// * `data` - A location to store the read register contents.
-    fn read_channel(&mut self, channel: Channel, register: Register, mut data: &mut [u8]) -> Result<(), Error> {
+    fn read_channel(
+        &mut self,
+        channel: Channel,
+        register: Register,
+        mut data: &mut [u8],
+    ) -> Result<(), Error> {
        // Disable all other channels in the CSR so that we can read the configuration register of
        // only the desired channel.
        let mut csr: [u8; 1] = [0];
-        self.interface.read(Register::CSR as u8, &mut csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(Register::CSR as u8, &mut csr)
+            .map_err(|_| Error::Interface)?;

        let mut new_csr = csr;
        new_csr[0].set_bits(4..8, 0);
        new_csr[0].set_bit(4 + channel as usize, true);

-        self.interface.write(Register::CSR as u8, &new_csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &new_csr)
+            .map_err(|_| Error::Interface)?;

-        self.interface.read(register as u8, &mut data).map_err(|_| Error::Interface)?;
+        self.interface
+            .read(register as u8, &mut data)
+            .map_err(|_| Error::Interface)?;

        // Restore the previous CSR. Note that the re-enable of the channel happens immediately, so
        // the CSR update does not need to be latched.
-        self.interface.write(Register::CSR as u8, &csr).map_err(|_| Error::Interface)?;
+        self.interface
+            .write(Register::CSR as u8, &csr)
+            .map_err(|_| Error::Interface)?;

        Ok(())
    }
@ -361,10 +431,19 @@ where
    ///
    /// Returns:
    /// The actual programmed phase offset of the channel in turns.
-    pub fn set_phase(&mut self, channel: Channel, phase_turns: f32) -> Result<f32, Error> {
-        let phase_offset: u16 = (phase_turns * (1 << 14) as f32) as u16 & 0x3FFFu16;
+    pub fn set_phase(
+        &mut self,
+        channel: Channel,
+        phase_turns: f32,
+    ) -> Result<f32, Error> {
+        let phase_offset: u16 =
+            (phase_turns * (1 << 14) as f32) as u16 & 0x3FFFu16;

-        self.modify_channel(channel, Register::CPOW0, &phase_offset.to_be_bytes())?;
+        self.modify_channel(
+            channel,
+            Register::CPOW0,
+            &phase_offset.to_be_bytes(),
+        )?;

        Ok((phase_offset as f32) / ((1 << 14) as f32))
    }
@ -393,7 +472,11 @@ where
    ///
    /// Returns:
    /// The actual normalized amplitude of the channel relative to full-scale range.
-    pub fn set_amplitude(&mut self, channel: Channel, amplitude: f32) -> Result<f32, Error> {
+    pub fn set_amplitude(
+        &mut self,
+        channel: Channel,
+        amplitude: f32,
+    ) -> Result<f32, Error> {
        if amplitude < 0.0 || amplitude > 1.0 {
            return Err(Error::Bounds);
        }
@ -406,7 +489,6 @@ where
        // full-scale at 0x3FF (amplitude of 1), so the multiplier should be disabled whenever
        // full-scale is used.
        if amplitude_control < (1 << 10) {
-
            let masked_control = amplitude_control & 0x3FF;
            acr[1] = masked_control.to_be_bytes()[0];
            acr[2] = masked_control.to_be_bytes()[1];
@ -432,7 +514,8 @@ where
        self.read_channel(channel, Register::ACR, &mut acr)?;

        if acr[1].get_bit(4) {
-            let amplitude_control: u16 = (((acr[1] as u16) << 8) | (acr[2] as u16)) & 0x3FF;
+            let amplitude_control: u16 =
+                (((acr[1] as u16) << 8) | (acr[2] as u16)) & 0x3FF;
            Ok(amplitude_control as f32 / (1 << 10) as f32)
        } else {
            Ok(1.0)
@ -447,18 +530,28 @@ where
    ///
    /// Returns:
    /// The actual programmed frequency of the channel.
-    pub fn set_frequency(&mut self, channel: Channel, frequency: f64) -> Result<f64, Error> {
+    pub fn set_frequency(
+        &mut self,
+        channel: Channel,
+        frequency: f64,
+    ) -> Result<f64, Error> {
        if frequency < 0.0 || frequency > self.system_clock_frequency() {
            return Err(Error::Bounds);
        }

        // The function for channel frequency is `f_out = FTW * f_s / 2^32`, where FTW is the
        // frequency tuning word and f_s is the system clock rate.
-        let tuning_word: u32 = ((frequency as f64 / self.system_clock_frequency())
-                                * 1u64.wrapping_shl(32) as f64) as u32;
+        let tuning_word: u32 =
+            ((frequency as f64 / self.system_clock_frequency())
+                * 1u64.wrapping_shl(32) as f64) as u32;

-        self.modify_channel(channel, Register::CFTW0, &tuning_word.to_be_bytes())?;
-        Ok((tuning_word as f64 / 1u64.wrapping_shl(32) as f64) * self.system_clock_frequency())
+        self.modify_channel(
+            channel,
+            Register::CFTW0,
+            &tuning_word.to_be_bytes(),
+        )?;
+        Ok((tuning_word as f64 / 1u64.wrapping_shl(32) as f64)
+            * self.system_clock_frequency())
    }

    /// Get the frequency of a channel.
@ -475,6 +568,7 @@ where
        let tuning_word = u32::from_be_bytes(tuning_word);

        // Convert the tuning word into a frequency.
-        Ok(tuning_word as f64 * self.system_clock_frequency() / ((1u64 << 32)) as f64)
+        Ok(tuning_word as f64 * self.system_clock_frequency()
+            / (1u64 << 32) as f64)
    }
 }
--- a/stabilizer/src/afe.rs
+++ b/stabilizer/src/afe.rs
@ -1,5 +1,5 @@
 use embedded_hal;
-use serde::{Serialize, Deserialize};
+use serde::{Deserialize, Serialize};

 use core::convert::TryFrom;
 use enum_iterator::IntoEnumIterator;
@ -9,13 +9,13 @@ pub enum Gain {
    G1 = 0b00,
    G2 = 0b01,
    G5 = 0b10,
-    G10 = 0b11
+    G10 = 0b11,
 }

 /// A programmable gain amplifier that allows for setting the gain via GPIO.
 pub struct ProgrammableGainAmplifier<A0, A1> {
    a0: A0,
-    a1: A1
+    a1: A1,
 }

 impl TryFrom<u8> for Gain {
@ -24,7 +24,7 @@ impl TryFrom<u8> for Gain {
    fn try_from(value: u8) -> Result<Self, Self::Error> {
        for gain in Gain::into_enum_iter() {
            if value == gain as u8 {
-                return Ok(gain)
+                return Ok(gain);
            }
        }

@ -44,9 +44,8 @@ where
    /// Args:
    /// * `a0` - An output connected to the A0 input of the amplifier.
    /// * `a1` - An output connected to the A1 input of the amplifier.
-    pub fn new(a0: A0, a1: A1) -> Self
-    {
-        let mut afe = Self { a0: a0, a1: a1};
+    pub fn new(a0: A0, a1: A1) -> Self {
+        let mut afe = Self { a0: a0, a1: a1 };

        afe.set_gain(Gain::G1);

--- a/stabilizer/src/eeprom.rs
+++ b/stabilizer/src/eeprom.rs
@ -4,7 +4,8 @@ const I2C_ADDR: u8 = 0x50;

 #[allow(dead_code)]
 pub fn read_eui48<T>(i2c: &mut T) -> Result<[u8; 6], T::Error>
-where T: WriteRead
+where
+    T: WriteRead,
 {
    let mut buffer = [0u8; 6];
    i2c.write_read(I2C_ADDR, &[0xFA_u8], &mut buffer)?;
--- a/stabilizer/src/iir.rs
+++ b/stabilizer/src/iir.rs
--- a/stabilizer/src/main.rs
+++ b/stabilizer/src/main.rs
@ -29,25 +29,18 @@ extern crate log;

 // use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
 use asm_delay;
-use rtfm::cyccnt::{Instant, U32Ext};
-use cortex_m_rt::exception;
 use cortex_m;
+use cortex_m_rt::exception;
+use rtfm::cyccnt::{Instant, U32Ext};
 use stm32h7xx_hal as hal;
-use stm32h7xx_hal::{
-    prelude::*,
-};
+use stm32h7xx_hal::prelude::*;

-use embedded_hal::{
-    digital::v2::OutputPin,
-};
+use embedded_hal::digital::v2::OutputPin;

-use stm32h7_ethernet as ethernet;
 use smoltcp as net;
+use stm32h7_ethernet as ethernet;

-use heapless::{
-    String,
-    consts::*,
-};
+use heapless::{consts::*, String};

 #[link_section = ".sram3.eth"]
 static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
@ -89,7 +82,9 @@ pub struct NetStorage {

 static mut NET_STORE: NetStorage = NetStorage {
    // Placeholder for the real IP address, which is initialized at runtime.
-    ip_addrs: [net::wire::IpCidr::Ipv6(net::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX)],
+    ip_addrs: [net::wire::IpCidr::Ipv6(
+        net::wire::Ipv6Cidr::SOLICITED_NODE_PREFIX,
+    )],

    neighbor_cache: [None; 8],
 };
@ -105,11 +100,13 @@ const TCP_TX_BUFFER_SIZE: usize = 8192;

 type AFE1 = afe::ProgrammableGainAmplifier<
    hal::gpio::gpiof::PF2<hal::gpio::Output<hal::gpio::PushPull>>,
-    hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>>;
+    hal::gpio::gpiof::PF5<hal::gpio::Output<hal::gpio::PushPull>>,
+>;

 type AFE2 = afe::ProgrammableGainAmplifier<
    hal::gpio::gpiod::PD14<hal::gpio::Output<hal::gpio::PushPull>>,
-    hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>>;
+    hal::gpio::gpiod::PD15<hal::gpio::Output<hal::gpio::PushPull>>,
+>;

 macro_rules! route_request {
    ($request:ident,
@ -176,8 +173,12 @@ const APP: () = {
        eeprom_i2c: hal::i2c::I2c<hal::stm32::I2C2>,

        timer: hal::timer::Timer<hal::stm32::TIM2>,
-        net_interface: net::iface::EthernetInterface<'static, 'static, 'static,
-                                                     ethernet::EthernetDMA<'static>>,
+        net_interface: net::iface::EthernetInterface<
+            'static,
+            'static,
+            'static,
+            ethernet::EthernetDMA<'static>,
+        >,
        eth_mac: ethernet::EthernetMAC,
        mac_addr: net::wire::EthernetAddress,

@ -200,7 +201,7 @@ const APP: () = {
        let rcc = dp.RCC.constrain();
        let mut clocks = rcc
            //TODO: Re-enable HSE for Stabilizer platform.
-//            .use_hse(8.mhz())
+            //            .use_hse(8.mhz())
            .sysclk(400.mhz())
            .hclk(200.mhz())
            .per_ck(100.mhz())
@ -215,7 +216,10 @@ const APP: () = {

        clocks.rb.rsr.write(|w| w.rmvf().set_bit());

-        clocks.rb.d2ccip1r.modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());
+        clocks
+            .rb
+            .d2ccip1r
+            .modify(|_, w| w.spi123sel().pll2_p().spi45sel().pll2_q());

        let mut delay = hal::delay::Delay::new(cp.SYST, clocks.clocks);

@ -241,25 +245,32 @@ const APP: () = {

        // Configure the SPI interfaces to the ADCs and DACs.
        let adc1_spi = {
-            let spi_miso = gpiob.pb14.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
-            let spi_sck = gpiob.pb10.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_miso = gpiob
+                .pb14
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpiob
+                .pb10
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
            let _spi_nss = gpiob.pb9.into_alternate_af5();

-            let config = hal::spi::Config::new(hal::spi::Mode{
-                    polarity: hal::spi::Polarity::IdleHigh,
-                    phase: hal::spi::Phase::CaptureOnSecondTransition,
-                })
-                .communication_mode(hal::spi::CommunicationMode::Receiver)
-                .manage_cs()
-                .transfer_size(1)
-                .frame_size(16)
-                .cs_delay(220e-9);
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .communication_mode(hal::spi::CommunicationMode::Receiver)
+            .manage_cs()
+            .transfer_size(1)
+            .frame_size(16)
+            .cs_delay(220e-9);

            let mut spi = dp.SPI2.spi(
-                    (spi_sck, spi_miso, hal::spi::NoMosi),
-                    config,
-                    50.mhz(),
-                    &clocks);
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                50.mhz(),
+                &clocks,
+            );

            spi.listen(hal::spi::Event::Eot);

@ -267,26 +278,32 @@ const APP: () = {
        };

        let adc2_spi = {
-            let spi_miso = gpiob.pb4.into_alternate_af6().set_speed(hal::gpio::Speed::VeryHigh);
-            let spi_sck = gpioc.pc10.into_alternate_af6().set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_miso = gpiob
+                .pb4
+                .into_alternate_af6()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpioc
+                .pc10
+                .into_alternate_af6()
+                .set_speed(hal::gpio::Speed::VeryHigh);
            let _spi_nss = gpioa.pa15.into_alternate_af6();

-
-            let config = hal::spi::Config::new(hal::spi::Mode{
-                    polarity: hal::spi::Polarity::IdleHigh,
-                    phase: hal::spi::Phase::CaptureOnSecondTransition,
-                })
-                .communication_mode(hal::spi::CommunicationMode::Receiver)
-                .manage_cs()
-                .transfer_size(1)
-                .frame_size(16)
-                .cs_delay(220e-9);
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .communication_mode(hal::spi::CommunicationMode::Receiver)
+            .manage_cs()
+            .transfer_size(1)
+            .frame_size(16)
+            .cs_delay(220e-9);

            let mut spi = dp.SPI3.spi(
-                    (spi_sck, spi_miso, hal::spi::NoMosi),
-                    config,
-                    50.mhz(),
-                    &clocks);
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                50.mhz(),
+                &clocks,
+            );

            spi.listen(hal::spi::Event::Eot);

@ -294,40 +311,62 @@ const APP: () = {
        };

        let dac1_spi = {
-            let spi_miso = gpioe.pe5.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
-            let spi_sck = gpioe.pe2.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_miso = gpioe
+                .pe5
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpioe
+                .pe2
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
            let _spi_nss = gpioe.pe4.into_alternate_af5();

-            let config = hal::spi::Config::new(hal::spi::Mode{
-                    polarity: hal::spi::Polarity::IdleHigh,
-                    phase: hal::spi::Phase::CaptureOnSecondTransition,
-                })
-                .communication_mode(hal::spi::CommunicationMode::Transmitter)
-                .manage_cs()
-                .transfer_size(1)
-                .frame_size(16)
-                .swap_mosi_miso();
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .communication_mode(hal::spi::CommunicationMode::Transmitter)
+            .manage_cs()
+            .transfer_size(1)
+            .frame_size(16)
+            .swap_mosi_miso();

-            let spi = dp.SPI4.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks);
+            let spi = dp.SPI4.spi(
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                50.mhz(),
+                &clocks,
+            );
            spi
        };

        let dac2_spi = {
-            let spi_miso = gpiof.pf8.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
-            let spi_sck = gpiof.pf7.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_miso = gpiof
+                .pf8
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let spi_sck = gpiof
+                .pf7
+                .into_alternate_af5()
+                .set_speed(hal::gpio::Speed::VeryHigh);
            let _spi_nss = gpiof.pf6.into_alternate_af5();

-            let config = hal::spi::Config::new(hal::spi::Mode{
-                    polarity: hal::spi::Polarity::IdleHigh,
-                    phase: hal::spi::Phase::CaptureOnSecondTransition,
-                })
-                .communication_mode(hal::spi::CommunicationMode::Transmitter)
-                .manage_cs()
-                .transfer_size(1)
-                .frame_size(16)
-                .swap_mosi_miso();
+            let config = hal::spi::Config::new(hal::spi::Mode {
+                polarity: hal::spi::Polarity::IdleHigh,
+                phase: hal::spi::Phase::CaptureOnSecondTransition,
+            })
+            .communication_mode(hal::spi::CommunicationMode::Transmitter)
+            .manage_cs()
+            .transfer_size(1)
+            .frame_size(16)
+            .swap_mosi_miso();

-            let spi = dp.SPI5.spi((spi_sck, spi_miso, hal::spi::NoMosi), config, 50.mhz(), &clocks);
+            let spi = dp.SPI5.spi(
+                (spi_sck, spi_miso, hal::spi::NoMosi),
+                config,
+                50.mhz(),
+                &clocks,
+            );

            spi
        };
@ -342,40 +381,63 @@ const APP: () = {
        fp_led_2.set_low().unwrap();
        fp_led_3.set_low().unwrap();

-
        let pounder_devices = {
-            let ad9959 =  {
+            let ad9959 = {
                let qspi_interface = {
                    // Instantiate the QUADSPI pins and peripheral interface.
                    // TODO: Place these into a pins structure that is provided to the QSPI
                    // constructor.
-                    let _qspi_clk = gpiob.pb2.into_alternate_af9().set_speed(hal::gpio::Speed::VeryHigh);
-                    let _qspi_ncs = gpioc.pc11.into_alternate_af9().set_speed(hal::gpio::Speed::VeryHigh);
-                    let _qspi_io0 = gpioe.pe7.into_alternate_af10().set_speed(hal::gpio::Speed::VeryHigh);
-                    let _qspi_io1 = gpioe.pe8.into_alternate_af10().set_speed(hal::gpio::Speed::VeryHigh);
-                    let _qspi_io2 = gpioe.pe9.into_alternate_af10().set_speed(hal::gpio::Speed::VeryHigh);
-                    let _qspi_io3 = gpioe.pe10.into_alternate_af10().set_speed(hal::gpio::Speed::VeryHigh);
+                    let _qspi_clk = gpiob
+                        .pb2
+                        .into_alternate_af9()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let _qspi_ncs = gpioc
+                        .pc11
+                        .into_alternate_af9()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let _qspi_io0 = gpioe
+                        .pe7
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let _qspi_io1 = gpioe
+                        .pe8
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let _qspi_io2 = gpioe
+                        .pe9
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);
+                    let _qspi_io3 = gpioe
+                        .pe10
+                        .into_alternate_af10()
+                        .set_speed(hal::gpio::Speed::VeryHigh);

-                    let qspi = hal::qspi::Qspi::new(dp.QUADSPI, &mut clocks, 10.mhz()).unwrap();
+                    let qspi =
+                        hal::qspi::Qspi::new(dp.QUADSPI, &mut clocks, 10.mhz())
+                            .unwrap();
                    pounder::QspiInterface::new(qspi).unwrap()
                };

                let mut reset_pin = gpioa.pa0.into_push_pull_output();
                let io_update = gpiog.pg7.into_push_pull_output();

-
                let asm_delay = {
                    let frequency_hz = clocks.clocks.c_ck().0;
-                    asm_delay::AsmDelay::new(asm_delay::bitrate::Hertz (frequency_hz))
+                    asm_delay::AsmDelay::new(asm_delay::bitrate::Hertz(
+                        frequency_hz,
+                    ))
                };

-                ad9959::Ad9959::new(qspi_interface,
-                                    &mut reset_pin,
-                                    io_update,
-                                    asm_delay,
-                                    ad9959::Mode::FourBitSerial,
-                                    100_000_000f32,
-                                    5).unwrap()
+                ad9959::Ad9959::new(
+                    qspi_interface,
+                    &mut reset_pin,
+                    io_update,
+                    asm_delay,
+                    ad9959::Mode::FourBitSerial,
+                    100_000_000f32,
+                    5,
+                )
+                .unwrap()
            };

            let io_expander = {
@ -386,19 +448,33 @@ const APP: () = {
            };

            let spi = {
-                let spi_mosi = gpiod.pd7.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
-                let spi_miso = gpioa.pa6.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
-                let spi_sck = gpiog.pg11.into_alternate_af5().set_speed(hal::gpio::Speed::VeryHigh);
+                let spi_mosi = gpiod
+                    .pd7
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let spi_miso = gpioa
+                    .pa6
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);
+                let spi_sck = gpiog
+                    .pg11
+                    .into_alternate_af5()
+                    .set_speed(hal::gpio::Speed::VeryHigh);

-                let config = hal::spi::Config::new(hal::spi::Mode{
-                        polarity: hal::spi::Polarity::IdleHigh,
-                        phase: hal::spi::Phase::CaptureOnSecondTransition,
-                    })
-                    .frame_size(8);
+                let config = hal::spi::Config::new(hal::spi::Mode {
+                    polarity: hal::spi::Polarity::IdleHigh,
+                    phase: hal::spi::Phase::CaptureOnSecondTransition,
+                })
+                .frame_size(8);

                // The maximum frequency of this SPI must be limited due to capacitance on the MISO
                // line causing a long RC decay.
-                dp.SPI1.spi((spi_sck, spi_miso, spi_mosi), config, 5.mhz(), &clocks)
+                dp.SPI1.spi(
+                    (spi_sck, spi_miso, spi_mosi),
+                    config,
+                    5.mhz(),
+                    &clocks,
+                )
            };

            let adc1 = {
@ -418,13 +494,16 @@ const APP: () = {
            let adc1_in_p = gpiof.pf11.into_analog();
            let adc2_in_p = gpiof.pf14.into_analog();

-            pounder::PounderDevices::new(io_expander,
-                                         ad9959,
-                                         spi,
-                                         adc1,
-                                         adc2,
-                                         adc1_in_p,
-                                         adc2_in_p).unwrap()
+            pounder::PounderDevices::new(
+                io_expander,
+                ad9959,
+                spi,
+                adc1,
+                adc2,
+                adc1_in_p,
+                adc2_in_p,
+            )
+            .unwrap()
        };

        let mut eeprom_i2c = {
@ -440,15 +519,42 @@ const APP: () = {
            eth_phy_nrst.set_low().unwrap();
            delay.delay_us(200u8);
            eth_phy_nrst.set_high().unwrap();
-            let _rmii_ref_clk = gpioa.pa1.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_mdio = gpioa.pa2.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_mdc = gpioc.pc1.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_crs_dv = gpioa.pa7.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_rxd0 = gpioc.pc4.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_rxd1 = gpioc.pc5.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_tx_en = gpiob.pb11.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_txd0 = gpiob.pb12.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
-            let _rmii_txd1 = gpiog.pg14.into_alternate_af11().set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_ref_clk = gpioa
+                .pa1
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_mdio = gpioa
+                .pa2
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_mdc = gpioc
+                .pc1
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_crs_dv = gpioa
+                .pa7
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_rxd0 = gpioc
+                .pc4
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_rxd1 = gpioc
+                .pc5
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_tx_en = gpiob
+                .pb11
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_txd0 = gpiob
+                .pb12
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
+            let _rmii_txd1 = gpiog
+                .pg14
+                .into_alternate_af11()
+                .set_speed(hal::gpio::Speed::VeryHigh);
        }

        let mac_addr = match eeprom::read_eui48(&mut eeprom_i2c) {
@ -463,26 +569,31 @@ const APP: () = {
            // Configure the ethernet controller
            let (eth_dma, eth_mac) = unsafe {
                ethernet::ethernet_init(
-                        dp.ETHERNET_MAC,
-                        dp.ETHERNET_MTL,
-                        dp.ETHERNET_DMA,
-                        &mut DES_RING,
-                        mac_addr.clone())
+                    dp.ETHERNET_MAC,
+                    dp.ETHERNET_MTL,
+                    dp.ETHERNET_DMA,
+                    &mut DES_RING,
+                    mac_addr.clone(),
+                )
            };

            unsafe { ethernet::enable_interrupt() };

            let store = unsafe { &mut NET_STORE };

-            store.ip_addrs[0] = net::wire::IpCidr::new(net::wire::IpAddress::v4(10, 0, 16, 99), 24);
+            store.ip_addrs[0] = net::wire::IpCidr::new(
+                net::wire::IpAddress::v4(10, 0, 16, 99),
+                24,
+            );

-            let neighbor_cache = net::iface::NeighborCache::new(&mut store.neighbor_cache[..]);
+            let neighbor_cache =
+                net::iface::NeighborCache::new(&mut store.neighbor_cache[..]);

            let interface = net::iface::EthernetInterfaceBuilder::new(eth_dma)
-                    .ethernet_addr(mac_addr)
-                    .neighbor_cache(neighbor_cache)
-                    .ip_addrs(&mut store.ip_addrs[..])
-                    .finalize();
+                .ethernet_addr(mac_addr)
+                .neighbor_cache(neighbor_cache)
+                .ip_addrs(&mut store.ip_addrs[..])
+                .finalize();

            (interface, eth_mac)
        };
@ -497,15 +608,19 @@ const APP: () = {
        cp.DWT.enable_cycle_counter();

        let mut dma = hal::dma::Dma::dma(dp.DMA1, dp.DMAMUX1, &clocks);
-        dma.configure_m2p_stream(hal::dma::Stream::One,
-                             &SPI_START_CODE as *const _ as u32,
-                             &adc1_spi.spi.cr1 as *const _ as u32,
-                             hal::dma::DMAREQ_ID::TIM2_CH1);
+        dma.configure_m2p_stream(
+            hal::dma::Stream::One,
+            &SPI_START_CODE as *const _ as u32,
+            &adc1_spi.spi.cr1 as *const _ as u32,
+            hal::dma::DMAREQ_ID::TIM2_CH1,
+        );

-        dma.configure_m2p_stream(hal::dma::Stream::Two,
-                             &SPI_START_CODE as *const _ as u32,
-                             &adc2_spi.spi.cr1 as *const _ as u32,
-                             hal::dma::DMAREQ_ID::TIM2_CH2);
+        dma.configure_m2p_stream(
+            hal::dma::Stream::Two,
+            &SPI_START_CODE as *const _ as u32,
+            &adc2_spi.spi.cr1 as *const _ as u32,
+            hal::dma::DMAREQ_ID::TIM2_CH2,
+        );

        // Configure timer 2 to trigger conversions for the ADC
        let mut timer2 = dp.TIM2.timer(500.khz(), &mut clocks);
@ -540,11 +655,16 @@ const APP: () = {
        let output: u16 = {
            let a: u16 = c.resources.adc2.read().unwrap();
            let x0 = f32::from(a as i16);
-            let y0 = c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
+            let y0 =
+                c.resources.iir_ch[1].update(&mut c.resources.iir_state[1], x0);
            y0 as i16 as u16 ^ 0x8000
        };

-        c.resources.dac2.spi.ifcr.write(|w| w.eotc().set_bit().txtfc().set_bit());
+        c.resources
+            .dac2
+            .spi
+            .ifcr
+            .write(|w| w.eotc().set_bit().txtfc().set_bit());
        c.resources.dac2.send(output).unwrap();
    }

@ -555,26 +675,34 @@ const APP: () = {
        let output: u16 = {
            let a: u16 = c.resources.adc1.read().unwrap();
            let x0 = f32::from(a as i16);
-            let y0 = c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
+            let y0 =
+                c.resources.iir_ch[0].update(&mut c.resources.iir_state[0], x0);
            y0 as i16 as u16 ^ 0x8000
        };

-        c.resources.dac1.spi.ifcr.write(|w| w.eotc().set_bit().txtfc().set_bit());
+        c.resources
+            .dac1
+            .spi
+            .ifcr
+            .write(|w| w.eotc().set_bit().txtfc().set_bit());
        c.resources.dac1.send(output).unwrap();
    }

    #[idle(resources=[net_interface, pounder, mac_addr, eth_mac, iir_state, iir_ch, afe1, afe2])]
    fn idle(mut c: idle::Context) -> ! {
-
        let mut socket_set_entries: [_; 8] = Default::default();
-        let mut sockets = net::socket::SocketSet::new(&mut socket_set_entries[..]);
+        let mut sockets =
+            net::socket::SocketSet::new(&mut socket_set_entries[..]);

        let mut rx_storage = [0; TCP_RX_BUFFER_SIZE];
        let mut tx_storage = [0; TCP_TX_BUFFER_SIZE];
        let tcp_handle = {
-            let tcp_rx_buffer = net::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
-            let tcp_tx_buffer = net::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
-            let tcp_socket = net::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
+            let tcp_rx_buffer =
+                net::socket::TcpSocketBuffer::new(&mut rx_storage[..]);
+            let tcp_tx_buffer =
+                net::socket::TcpSocketBuffer::new(&mut tx_storage[..]);
+            let tcp_socket =
+                net::socket::TcpSocket::new(tcp_rx_buffer, tcp_tx_buffer);
            sockets.add(tcp_socket)
        };

@ -697,8 +825,10 @@ const APP: () = {
                }
            }

-            let sleep = match c.resources.net_interface.poll(&mut sockets,
-                                             net::time::Instant::from_millis(time as i64)) {
+            let sleep = match c.resources.net_interface.poll(
+                &mut sockets,
+                net::time::Instant::from_millis(time as i64),
+            ) {
                Ok(changed) => changed == false,
                Err(net::Error::Unrecognized) => true,
                Err(e) => {
--- a/stabilizer/src/pounder/attenuators.rs
+++ b/stabilizer/src/pounder/attenuators.rs
@ -8,14 +8,17 @@ use super::{Channel, Error};
 /// reading the shfit register. The downside of this approach is that any read is destructive, so a
 /// read-writeback approach is employed.
 pub trait AttenuatorInterface {
-
    /// Set the attenuation of a single channel.
    ///
    /// Args:
    /// * `channel` - The pounder channel to configure the attenuation of.
    /// * `attenuation` - The desired attenuation of the channel in dB. This has a resolution of
    ///   0.5dB.
-    fn set_attenuation(&mut self, channel: Channel, attenuation: f32) -> Result<f32, Error> {
+    fn set_attenuation(
+        &mut self,
+        channel: Channel,
+        attenuation: f32,
+    ) -> Result<f32, Error> {
        if attenuation > 31.5 || attenuation < 0.0 {
            return Err(Error::Bounds);
        }
@ -72,6 +75,12 @@ pub trait AttenuatorInterface {
    fn reset_attenuators(&mut self) -> Result<(), Error>;

    fn latch_attenuators(&mut self, channel: Channel) -> Result<(), Error>;
-    fn read_all_attenuators(&mut self, channels: &mut [u8; 4]) -> Result<(), Error>;
-    fn write_all_attenuators(&mut self, channels: &[u8; 4]) -> Result<(), Error>;
+    fn read_all_attenuators(
+        &mut self,
+        channels: &mut [u8; 4],
+    ) -> Result<(), Error>;
+    fn write_all_attenuators(
+        &mut self,
+        channels: &[u8; 4],
+    ) -> Result<(), Error>;
 }
--- a/stabilizer/src/pounder/mod.rs
+++ b/stabilizer/src/pounder/mod.rs
@ -1,7 +1,7 @@
-use mcp23017;
 use ad9959;
+use mcp23017;

-use serde::{Serialize, Deserialize};
+use serde::{Deserialize, Serialize};

 mod attenuators;
 mod rf_power;
@ -11,10 +11,7 @@ use super::hal;
 use attenuators::AttenuatorInterface;
 use rf_power::PowerMeasurementInterface;

-use embedded_hal::{
-    blocking::spi::Transfer,
-    adc::OneShot,
-};
+use embedded_hal::{adc::OneShot, blocking::spi::Transfer};

 const EXT_CLK_SEL_PIN: u8 = 8 + 7;
 #[allow(dead_code)]
@ -106,8 +103,12 @@ impl QspiInterface {
        // This driver only supports operation in 4-bit mode due to bus inconsistencies between the
        // QSPI peripheral and the DDS. Instead, we will bit-bang communications in
        // single-bit-two-wire to the DDS to configure it to 4-bit operation.
-        qspi.configure_mode(hal::qspi::QspiMode::FourBit).map_err(|_| Error::Qspi)?;
-        Ok(Self { qspi: qspi, mode: ad9959::Mode::SingleBitTwoWire })
+        qspi.configure_mode(hal::qspi::QspiMode::FourBit)
+            .map_err(|_| Error::Qspi)?;
+        Ok(Self {
+            qspi: qspi,
+            mode: ad9959::Mode::SingleBitTwoWire,
+        })
    }
 }

@ -189,7 +190,9 @@ impl ad9959::Interface for QspiInterface {
                        let byte_position = 3 - (bit >> 1) as usize;

                        if byte & (1 << bit) != 0 {
-                            encoded_data[(byte_index + 1) * 4 + byte_position] |= 1 << offset;
+                            encoded_data
+                                [(byte_index + 1) * 4 + byte_position] |=
+                                1 << offset;
                        }
                    }
                }
@ -199,14 +202,14 @@ impl ad9959::Interface for QspiInterface {
                    (encoded_data[0], &encoded_data[1..end_index])
                };

-                self.qspi.write(encoded_address, &encoded_payload).map_err(|_| Error::Qspi)
-            },
+                self.qspi
+                    .write(encoded_address, &encoded_payload)
+                    .map_err(|_| Error::Qspi)
+            }
            ad9959::Mode::FourBitSerial => {
                self.qspi.write(addr, &data).map_err(|_| Error::Qspi)
-            },
-            _ => {
-                Err(Error::Qspi)
            }
+            _ => Err(Error::Qspi),
        }
    }

@ -220,15 +223,19 @@ impl ad9959::Interface for QspiInterface {
            return Err(Error::Qspi);
        }

-        self.qspi.read(0x80_u8 | addr, &mut dest).map_err(|_| Error::Qspi)
+        self.qspi
+            .read(0x80_u8 | addr, &mut dest)
+            .map_err(|_| Error::Qspi)
    }
 }

 /// A structure containing implementation for Pounder hardware.
 pub struct PounderDevices<DELAY> {
-    pub ad9959: ad9959::Ad9959<QspiInterface,
-                               DELAY,
-                               hal::gpio::gpiog::PG7<hal::gpio::Output<hal::gpio::PushPull>>>,
+    pub ad9959: ad9959::Ad9959<
+        QspiInterface,
+        DELAY,
+        hal::gpio::gpiog::PG7<hal::gpio::Output<hal::gpio::PushPull>>,
+    >,
    mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
    attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
    adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
@ -250,17 +257,19 @@ where
    /// * `adc2` - The ADC2 peripheral for measuring power.
    /// * `adc1_in_p` - The input channel for the RF power measurement on IN0.
    /// * `adc2_in_p` - The input channel for the RF power measurement on IN1.
-    pub fn new(mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
-               ad9959: ad9959::Ad9959<QspiInterface,
-                                      DELAY,
-                                      hal::gpio::gpiog::PG7<
-                                        hal::gpio::Output<hal::gpio::PushPull>>>,
-               attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
-               adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
-               adc2: hal::adc::Adc<hal::stm32::ADC2, hal::adc::Enabled>,
-               adc1_in_p: hal::gpio::gpiof::PF11<hal::gpio::Analog>,
-               adc2_in_p: hal::gpio::gpiof::PF14<hal::gpio::Analog>,
-               ) -> Result<Self, Error> {
+    pub fn new(
+        mcp23017: mcp23017::MCP23017<hal::i2c::I2c<hal::stm32::I2C1>>,
+        ad9959: ad9959::Ad9959<
+            QspiInterface,
+            DELAY,
+            hal::gpio::gpiog::PG7<hal::gpio::Output<hal::gpio::PushPull>>,
+        >,
+        attenuator_spi: hal::spi::Spi<hal::stm32::SPI1>,
+        adc1: hal::adc::Adc<hal::stm32::ADC1, hal::adc::Enabled>,
+        adc2: hal::adc::Adc<hal::stm32::ADC2, hal::adc::Enabled>,
+        adc1_in_p: hal::gpio::gpiof::PF11<hal::gpio::Analog>,
+        adc2_in_p: hal::gpio::gpiof::PF14<hal::gpio::Analog>,
+    ) -> Result<Self, Error> {
        let mut devices = Self {
            mcp23017,
            ad9959,
@ -274,9 +283,18 @@ where
        // Configure power-on-default state for pounder. All LEDs are on, on-board oscillator
        // selected, attenuators out of reset. Note that testing indicates the output state needs to
        // be set first to properly update the output registers.
-        devices.mcp23017.all_pin_mode(mcp23017::PinMode::OUTPUT).map_err(|_| Error::I2c)?;
-        devices.mcp23017.write_gpio(mcp23017::Port::GPIOA, 0x3F).map_err(|_| Error::I2c)?;
-        devices.mcp23017.write_gpio(mcp23017::Port::GPIOB, 1 << 5).map_err(|_| Error::I2c)?;
+        devices
+            .mcp23017
+            .all_pin_mode(mcp23017::PinMode::OUTPUT)
+            .map_err(|_| Error::I2c)?;
+        devices
+            .mcp23017
+            .write_gpio(mcp23017::Port::GPIOA, 0x3F)
+            .map_err(|_| Error::I2c)?;
+        devices
+            .mcp23017
+            .write_gpio(mcp23017::Port::GPIOB, 1 << 5)
+            .map_err(|_| Error::I2c)?;

        // Select the on-board clock with a 4x prescaler (400MHz).
        devices.select_onboard_clock(4u8)?;
@ -289,9 +307,17 @@ where
    /// Args:
    /// * `frequency` - The frequency of the external clock source.
    /// * `multiplier` - The multiplier of the reference clock to use in the DDS.
-    fn select_external_clock(&mut self, frequency: f32, prescaler: u8) -> Result<(), Error>{
-        self.mcp23017.digital_write(EXT_CLK_SEL_PIN, true).map_err(|_| Error::I2c)?;
-        self.ad9959.configure_system_clock(frequency, prescaler).map_err(|_| Error::Dds)?;
+    fn select_external_clock(
+        &mut self,
+        frequency: f32,
+        prescaler: u8,
+    ) -> Result<(), Error> {
+        self.mcp23017
+            .digital_write(EXT_CLK_SEL_PIN, true)
+            .map_err(|_| Error::I2c)?;
+        self.ad9959
+            .configure_system_clock(frequency, prescaler)
+            .map_err(|_| Error::Dds)?;

        Ok(())
    }
@ -301,8 +327,12 @@ where
    /// Args:
    /// * `multiplier` - The multiplier of the reference clock to use in the DDS.
    fn select_onboard_clock(&mut self, multiplier: u8) -> Result<(), Error> {
-        self.mcp23017.digital_write(EXT_CLK_SEL_PIN, false).map_err(|_| Error::I2c)?;
-        self.ad9959.configure_system_clock(100_000_000f32, multiplier).map_err(|_| Error::Dds)?;
+        self.mcp23017
+            .digital_write(EXT_CLK_SEL_PIN, false)
+            .map_err(|_| Error::I2c)?;
+        self.ad9959
+            .configure_system_clock(100_000_000f32, multiplier)
+            .map_err(|_| Error::Dds)?;

        Ok(())
    }
@ -311,9 +341,15 @@ where
    ///
    /// Args:
    /// * `config` - The configuration of the DDS clock desired.
-    pub fn configure_dds_clock(&mut self, config: DdsClockConfig) -> Result<(), Error> {
+    pub fn configure_dds_clock(
+        &mut self,
+        config: DdsClockConfig,
+    ) -> Result<(), Error> {
        if config.external_clock {
-            self.select_external_clock(config.reference_clock, config.multiplier)
+            self.select_external_clock(
+                config.reference_clock,
+                config.multiplier,
+            )
        } else {
            self.select_onboard_clock(config.multiplier)
        }
@ -324,11 +360,21 @@ where
    /// Returns:
    /// The current pounder DDS clock configuration.
    pub fn get_dds_clock_config(&mut self) -> Result<DdsClockConfig, Error> {
-        let external_clock = self.mcp23017.digital_read(EXT_CLK_SEL_PIN).map_err(|_| Error::I2c)?;
-        let multiplier = self.ad9959.get_reference_clock_multiplier().map_err(|_| Error::Dds)?;
+        let external_clock = self
+            .mcp23017
+            .digital_read(EXT_CLK_SEL_PIN)
+            .map_err(|_| Error::I2c)?;
+        let multiplier = self
+            .ad9959
+            .get_reference_clock_multiplier()
+            .map_err(|_| Error::Dds)?;
        let reference_clock = self.ad9959.get_reference_clock_frequency();

-        Ok(DdsClockConfig{multiplier, reference_clock, external_clock})
+        Ok(DdsClockConfig {
+            multiplier,
+            reference_clock,
+            external_clock,
+        })
    }

    /// Get the state of a Pounder input channel.
@ -338,7 +384,10 @@ where
    ///
    /// Returns:
    /// The read-back channel input state.
-    pub fn get_input_channel_state(&mut self, channel: Channel) -> Result<InputChannelState, Error> {
+    pub fn get_input_channel_state(
+        &mut self,
+        channel: Channel,
+    ) -> Result<InputChannelState, Error> {
        match channel {
            Channel::In0 | Channel::In1 => {
                let channel_state = self.get_dds_channel_state(channel)?;
@ -349,7 +398,7 @@ where
                Ok(InputChannelState {
                    attenuation: attenuation,
                    power: power,
-                    mixer: channel_state
+                    mixer: channel_state,
                })
            }
            _ => Err(Error::InvalidChannel),
@ -363,13 +412,33 @@ where
    ///
    /// Returns:
    /// The read-back channel state.
-    fn get_dds_channel_state(&mut self, channel: Channel) -> Result<DdsChannelState, Error> {
-        let frequency = self.ad9959.get_frequency(channel.into()).map_err(|_| Error::Dds)?;
-        let phase_offset = self.ad9959.get_phase(channel.into()).map_err(|_| Error::Dds)?;
-        let amplitude = self.ad9959.get_amplitude(channel.into()).map_err(|_| Error::Dds)?;
-        let enabled = self.ad9959.is_enabled(channel.into()).map_err(|_| Error::Dds)?;
+    fn get_dds_channel_state(
+        &mut self,
+        channel: Channel,
+    ) -> Result<DdsChannelState, Error> {
+        let frequency = self
+            .ad9959
+            .get_frequency(channel.into())
+            .map_err(|_| Error::Dds)?;
+        let phase_offset = self
+            .ad9959
+            .get_phase(channel.into())
+            .map_err(|_| Error::Dds)?;
+        let amplitude = self
+            .ad9959
+            .get_amplitude(channel.into())
+            .map_err(|_| Error::Dds)?;
+        let enabled = self
+            .ad9959
+            .is_enabled(channel.into())
+            .map_err(|_| Error::Dds)?;

-        Ok(DdsChannelState {phase_offset, frequency, amplitude, enabled})
+        Ok(DdsChannelState {
+            phase_offset,
+            frequency,
+            amplitude,
+            enabled,
+        })
    }

    /// Get the state of a DDS output channel.
@ -379,7 +448,10 @@ where
    ///
    /// Returns:
    /// The read-back output channel state.
-    pub fn get_output_channel_state(&mut self, channel: Channel) -> Result<OutputChannelState, Error> {
+    pub fn get_output_channel_state(
+        &mut self,
+        channel: Channel,
+    ) -> Result<OutputChannelState, Error> {
        match channel {
            Channel::Out0 | Channel::Out1 => {
                let channel_state = self.get_dds_channel_state(channel)?;
@ -399,15 +471,29 @@ where
    /// Args:
    /// * `channel` - The pounder channel to configure.
    /// * `state` - The state to configure the channel for.
-    pub fn set_channel_state(&mut self, channel: Channel, state: ChannelState) -> Result<(), Error> {
-        self.ad9959.set_frequency(channel.into(), state.parameters.frequency).map_err(|_| Error::Dds)?;
-        self.ad9959.set_phase(channel.into(), state.parameters.phase_offset).map_err(|_| Error::Dds)?;
-        self.ad9959.set_amplitude(channel.into(), state.parameters.amplitude).map_err(|_| Error::Dds)?;
+    pub fn set_channel_state(
+        &mut self,
+        channel: Channel,
+        state: ChannelState,
+    ) -> Result<(), Error> {
+        self.ad9959
+            .set_frequency(channel.into(), state.parameters.frequency)
+            .map_err(|_| Error::Dds)?;
+        self.ad9959
+            .set_phase(channel.into(), state.parameters.phase_offset)
+            .map_err(|_| Error::Dds)?;
+        self.ad9959
+            .set_amplitude(channel.into(), state.parameters.amplitude)
+            .map_err(|_| Error::Dds)?;

        if state.parameters.enabled {
-            self.ad9959.enable_channel(channel.into()).map_err(|_| Error::Dds)?;
+            self.ad9959
+                .enable_channel(channel.into())
+                .map_err(|_| Error::Dds)?;
        } else {
-            self.ad9959.disable_channel(channel.into()).map_err(|_| Error::Dds)?;
+            self.ad9959
+                .disable_channel(channel.into())
+                .map_err(|_| Error::Dds)?;
        }

        self.set_attenuation(channel, state.attenuation)?;
@ -416,14 +502,17 @@ where
    }
 }

-impl<DELAY> AttenuatorInterface for PounderDevices<DELAY>
-{
+impl<DELAY> AttenuatorInterface for PounderDevices<DELAY> {
    /// Reset all of the attenuators to a power-on default state.
    fn reset_attenuators(&mut self) -> Result<(), Error> {
-        self.mcp23017.digital_write(ATT_RST_N_PIN, false).map_err(|_| Error::I2c)?;
+        self.mcp23017
+            .digital_write(ATT_RST_N_PIN, false)
+            .map_err(|_| Error::I2c)?;
        // TODO: Measure the I2C transaction speed to the RST pin to ensure that the delay is
        // sufficient. Document the delay here.
-        self.mcp23017.digital_write(ATT_RST_N_PIN, true).map_err(|_| Error::I2c)?;
+        self.mcp23017
+            .digital_write(ATT_RST_N_PIN, true)
+            .map_err(|_| Error::I2c)?;

        Ok(())
    }
@ -440,10 +529,14 @@ impl<DELAY> AttenuatorInterface for PounderDevices<DELAY>
            Channel::Out1 => ATT_LE3_PIN,
        };

-        self.mcp23017.digital_write(pin, true).map_err(|_| Error::I2c)?;
+        self.mcp23017
+            .digital_write(pin, true)
+            .map_err(|_| Error::I2c)?;
        // TODO: Measure the I2C transaction speed to the RST pin to ensure that the delay is
        // sufficient. Document the delay here.
-        self.mcp23017.digital_write(pin, false).map_err(|_| Error::I2c)?;
+        self.mcp23017
+            .digital_write(pin, false)
+            .map_err(|_| Error::I2c)?;

        Ok(())
    }
@ -452,8 +545,13 @@ impl<DELAY> AttenuatorInterface for PounderDevices<DELAY>
    ///
    /// Args:
    /// * `channels` - A slice to store the channel readings into.
-    fn read_all_attenuators(&mut self, channels: &mut [u8; 4]) -> Result<(), Error> {
-        self.attenuator_spi.transfer(channels).map_err(|_| Error::Spi)?;
+    fn read_all_attenuators(
+        &mut self,
+        channels: &mut [u8; 4],
+    ) -> Result<(), Error> {
+        self.attenuator_spi
+            .transfer(channels)
+            .map_err(|_| Error::Spi)?;

        Ok(())
    }
@ -462,10 +560,15 @@ impl<DELAY> AttenuatorInterface for PounderDevices<DELAY>
    ///
    /// Args:
    /// * `channels` - The data to write into the attenuators.
-    fn write_all_attenuators(&mut self, channels: &[u8; 4]) -> Result<(), Error> {
+    fn write_all_attenuators(
+        &mut self,
+        channels: &[u8; 4],
+    ) -> Result<(), Error> {
        let mut result = [0_u8; 4];
        result.clone_from_slice(channels);
-        self.attenuator_spi.transfer(&mut result).map_err(|_| Error::Spi)?;
+        self.attenuator_spi
+            .transfer(&mut result)
+            .map_err(|_| Error::Spi)?;

        Ok(())
    }
@ -482,13 +585,19 @@ impl<DELAY> PowerMeasurementInterface for PounderDevices<DELAY> {
    fn sample_converter(&mut self, channel: Channel) -> Result<f32, Error> {
        let adc_scale = match channel {
            Channel::In0 => {
-                let adc_reading: u32 = self.adc1.read(&mut self.adc1_in_p).map_err(|_| Error::Adc)?;
+                let adc_reading: u32 = self
+                    .adc1
+                    .read(&mut self.adc1_in_p)
+                    .map_err(|_| Error::Adc)?;
                adc_reading as f32 / self.adc1.max_sample() as f32
-            },
+            }
            Channel::In1 => {
-                let adc_reading: u32 = self.adc2.read(&mut self.adc2_in_p).map_err(|_| Error::Adc)?;
+                let adc_reading: u32 = self
+                    .adc2
+                    .read(&mut self.adc2_in_p)
+                    .map_err(|_| Error::Adc)?;
                adc_reading as f32 / self.adc2.max_sample() as f32
-            },
+            }
            _ => return Err(Error::InvalidChannel),
        };

--- a/stabilizer/src/pounder/rf_power.rs
+++ b/stabilizer/src/pounder/rf_power.rs
@ -1,4 +1,4 @@
-use super::{Error, Channel};
+use super::{Channel, Error};

 /// Provide an interface to measure RF input power in dB.
 pub trait PowerMeasurementInterface {
--- a/stabilizer/src/server.rs
+++ b/stabilizer/src/server.rs
@ -1,24 +1,13 @@
-use heapless::{
-    consts::*,
-    String,
-    Vec
-};
+use heapless::{consts::*, String, Vec};

 use core::fmt::Write;

+use serde::{Deserialize, Serialize};

-use serde::{
-    Deserialize,
-    Serialize
-};
+use serde_json_core::{de::from_slice, ser::to_string};

-use serde_json_core::{
-    de::from_slice,
-    ser::to_string
-};
-
-use super::net;
 use super::iir;
+use super::net;

 #[derive(Deserialize, Serialize, Debug)]
 pub enum AccessRequest {
@ -62,7 +51,6 @@ impl<'a> Request<'a> {
 }

 impl Response {
-
    /// Remove all double quotation marks from the `value` field of a response.
    fn sanitize_value(&mut self) {
        let mut new_value: String<U256> = String::new();
@ -101,9 +89,12 @@ impl Response {
    /// Args:
    /// * `attrbute` - The attribute of the success.
    /// * `value` - The value of the attribute.
-    pub fn success<'a, 'b>(attribute: &'a str, value: &'b str) -> Self
-    {
-        let mut res = Self { code: 200, attribute: String::from(attribute), value: String::from(value)};
+    pub fn success<'a, 'b>(attribute: &'a str, value: &'b str) -> Self {
+        let mut res = Self {
+            code: 200,
+            attribute: String::from(attribute),
+            value: String::from(value),
+        };
        res.sanitize_value();
        res
    }
@ -115,9 +106,12 @@ impl Response {
    /// Args:
    /// * `attrbute` - The attribute of the success.
    /// * `message` - The message denoting the error.
-    pub fn error<'a, 'b>(attribute: &'a str, message: &'b str) -> Self
-    {
-        let mut res = Self { code: 400, attribute: String::from(attribute), value: String::from(message)};
+    pub fn error<'a, 'b>(attribute: &'a str, message: &'b str) -> Self {
+        let mut res = Self {
+            code: 400,
+            attribute: String::from(attribute),
+            value: String::from(message),
+        };
        res.wrap_and_sanitize_value();
        res
    }
@ -129,9 +123,12 @@ impl Response {
    /// Args:
    /// * `attrbute` - The attribute of the success.
    /// * `message` - The message denoting the status.
-    pub fn custom<'a>(code: i32, message : &'a str) -> Self
-    {
-        let mut res = Self { code: code, attribute: String::from(""), value: String::from(message)};
+    pub fn custom<'a>(code: i32, message: &'a str) -> Self {
+        let mut res = Self {
+            code: code,
+            attribute: String::from(""),
+            value: String::from(message),
+        };
        res.wrap_and_sanitize_value();
        res
    }
@ -171,36 +168,39 @@ impl Server {
    /// Args:
    /// * `socket` - The socket to check contents from.
    /// * `f` - A closure that can be called if a request has been received on the server.
-    pub fn poll<F>(
-        &mut self,
-        socket: &mut net::socket::TcpSocket,
-        mut f: F,
-    )
+    pub fn poll<F>(&mut self, socket: &mut net::socket::TcpSocket, mut f: F)
    where
-        F: FnMut(&Request) -> Response
+        F: FnMut(&Request) -> Response,
    {
        while socket.can_recv() {
-            let found = socket.recv(|buf| {
-                let (len, found) =
-                    match buf.iter().position(|&c| c as char == '\n') {
-                        Some(end) => (end + 1, true),
-                        None => (buf.len(), false),
-                    };
-                if self.data.len() + len >= self.data.capacity() {
-                    self.discard = true;
-                    self.data.clear();
-                } else if !self.discard && len > 0 {
-                    self.data.extend_from_slice(&buf[..len]).unwrap();
-                }
-                (len, found)
-            }).unwrap();
+            let found = socket
+                .recv(|buf| {
+                    let (len, found) =
+                        match buf.iter().position(|&c| c as char == '\n') {
+                            Some(end) => (end + 1, true),
+                            None => (buf.len(), false),
+                        };
+                    if self.data.len() + len >= self.data.capacity() {
+                        self.discard = true;
+                        self.data.clear();
+                    } else if !self.discard && len > 0 {
+                        self.data.extend_from_slice(&buf[..len]).unwrap();
+                    }
+                    (len, found)
+                })
+                .unwrap();

            if found {
                if self.discard {
                    self.discard = false;
-                    json_reply(socket, &Response::custom(520, "command buffer overflow"));
+                    json_reply(
+                        socket,
+                        &Response::custom(520, "command buffer overflow"),
+                    );
                } else {
-                    let r = from_slice::<Request>(&self.data[..self.data.len() - 1]);
+                    let r = from_slice::<Request>(
+                        &self.data[..self.data.len() - 1],
+                    );
                    match r {
                        Ok(mut res) => {
                            // Note that serde_json_core doesn't escape quotations within a string.
@ -210,10 +210,13 @@ impl Server {
                            res.restore_value();
                            let response = f(&res);
                            json_reply(socket, &response);
-                        },
+                        }
                        Err(err) => {
                            warn!("parse error {:?}", err);
-                            json_reply(socket, &Response::custom(550, "parse error"));
+                            json_reply(
+                                socket,
+                                &Response::custom(550, "parse error"),
+                            );
                        }
                    }
                }
@ -222,4 +225,3 @@ impl Server {
        }
    }
 }
-
--- a/stabilizer/Cargo.lock
+++ b/stabilizer/Cargo.lock
@ -1,583 +0,0 @@
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-description = "Firmware for the Sinara Stabilizer board (stm32h743, eth, poe, 2 adc, 2 dac)"
-categories = ["embedded", "no-std", "hardware-support", "science"]
-license = "GPL-3.0-or-later"
-keywords = ["ethernet", "stm32h7", "adc", "dac", "physics"]
-repository = "https://github.com/quartiq/stabilizer"
-readme = "README.md"
-documentation = "https://docs.rs/stabilizer/"
-edition = "2018"
-exclude = [
-	".travis.yml",
-	".gitignore",
-	"doc/",
-	"doc/*"
-]
-
-[badges]
-travis-ci = { repository = "quartiq/stabilizer", branch = "master" }
-maintenance = { status = "experimental" }
-
-[package.metadata.docs.rs]
-features = []
-default-target = "thumbv7em-none-eabihf"
-
-[dependencies]
-cortex-m = { version = "0.6", features = ["const-fn"] }
-cortex-m-rt = { version = "0.6", features = ["device"] }
-cortex-m-log = { version = "0.6", features = ["log-integration"] }
-log = "0.4"
-panic-semihosting = { version = "0.5", optional = true }
-panic-halt = "0.2"
-serde = { version = "1.0", features = ["derive"], default-features = false }
-heapless = { version = "0.5", features = ["serde"] }
-serde-json-core = "0.1"
-cortex-m-rtfm = "0.5"
-embedded-hal = "0.2.3"
-nb = "0.1.2"
-asm-delay = "0.7.0"
-enum-iterator = "0.6.0"
-
-[dependencies.mcp23017]
-git = "https://github.com/mrd0ll4r/mcp23017.git"
-
-[dependencies.smoltcp]
-version = "0.6"
-features = ["ethernet", "proto-ipv4", "socket-tcp", "proto-ipv6"]
-default-features = false
-
-[dependencies.ad9959]
-path = "../ad9959"
-
-[dependencies.stm32h7-ethernet]
-git = "https://github.com/quartiq/stm32h7-ethernet.git"
-features = ["stm32h743v"]
-
-[dependencies.stm32h7xx-hal]
-path = "../stm32h7xx-hal/"
-features = ["stm32h743v", "rt", "unproven"]
-
-[features]
-semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
-bkpt = [ ]
-nightly = ["cortex-m/inline-asm"]
-
--- a/1
+++ b/1
@ -1 +0,0 @@
-Subproject commit ff00e938f2b226211c178f26c092f36462c44404
				`@ -1 +0,0 @@`
				`Subproject commit ff00e938f2b226211c178f26c092f36462c44404`