diff --git a/Cargo.lock b/Cargo.lock
index 7cb4aa5..a270c99 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -30,27 +30,11 @@ name = "bitflags"
 version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "built"
-version = "0.3.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "git2 0.7.5 (registry+https://github.com/rust-lang/crates.io-index)",
- "semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)",
- "time 0.1.42 (registry+https://github.com/rust-lang/crates.io-index)",
- "toml 0.4.10 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
 [[package]]
 name = "byteorder"
 version = "1.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "cc"
-version = "1.0.35"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "cfg-if"
 version = "0.1.7"
@@ -104,6 +88,14 @@ dependencies = [
  "cortex-m 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "generic-array"
+version = "0.11.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "typenum 1.10.0 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
 [[package]]
 name = "generic-array"
 version = "0.12.0"
@@ -113,52 +105,30 @@ dependencies = [
 ]
 
 [[package]]
-name = "git2"
-version = "0.7.5"
+name = "hash32"
+version = "0.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "bitflags 1.0.4 (registry+https://github.com/rust-lang/crates.io-index)",
- "libc 0.2.53 (registry+https://github.com/rust-lang/crates.io-index)",
- "libgit2-sys 0.7.11 (registry+https://github.com/rust-lang/crates.io-index)",
- "log 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)",
- "url 1.7.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "byteorder 1.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
-name = "idna"
-version = "0.1.5"
+name = "heapless"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 dependencies = [
- "matches 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)",
- "unicode-bidi 0.3.4 (registry+https://github.com/rust-lang/crates.io-index)",
- "unicode-normalization 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "as-slice 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
+ "generic-array 0.11.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "hash32 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
-name = "libc"
-version = "0.2.53"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
-[[package]]
-name = "libgit2-sys"
-version = "0.7.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+name = "lexical-core"
+version = "0.4.0"
 dependencies = [
- "cc 1.0.35 (registry+https://github.com/rust-lang/crates.io-index)",
- "libc 0.2.53 (registry+https://github.com/rust-lang/crates.io-index)",
- "libz-sys 1.0.25 (registry+https://github.com/rust-lang/crates.io-index)",
- "pkg-config 0.3.14 (registry+https://github.com/rust-lang/crates.io-index)",
-]
-
-[[package]]
-name = "libz-sys"
-version = "1.0.25"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-dependencies = [
- "cc 1.0.35 (registry+https://github.com/rust-lang/crates.io-index)",
- "libc 0.2.53 (registry+https://github.com/rust-lang/crates.io-index)",
- "pkg-config 0.3.14 (registry+https://github.com/rust-lang/crates.io-index)",
- "vcpkg 0.2.6 (registry+https://github.com/rust-lang/crates.io-index)",
+ "cfg-if 0.1.7 (registry+https://github.com/rust-lang/crates.io-index)",
+ "ryu 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "static_assertions 0.2.5 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
 [[package]]
@@ -174,11 +144,6 @@ name = "managed"
 version = "0.7.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "matches"
-version = "0.1.8"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "panic-abort"
 version = "0.3.1"
@@ -193,16 +158,6 @@ dependencies = [
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 ]
 
-[[package]]
-name = "percent-encoding"
-version = "1.0.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
-[[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "proc-macro2"
 version = "0.4.28"
@@ -245,11 +200,6 @@ name = "rand_core"
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 source = "registry+https://github.com/rust-lang/crates.io-index"
 
-[[package]]
-name = "redox_syscall"
-version = "0.1.54"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-
 [[package]]
 name = "rustc_version"
 version = "0.2.3"
@@ -258,6 +208,11 @@ dependencies = [
  "semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
 
+[[package]]
+name = "ryu"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "semver"
 version = "0.9.0"
@@ -273,13 +228,30 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 
 [[package]]
 name = "serde"
-version = "1.0.90"
+version = "1.0.91"
 source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "serde_derive 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)",
+]
 
 [[package]]
-name = "smallvec"
-version = "0.6.9"
+name = "serde-json-core"
+version = "0.0.1"
+dependencies = [
+ "heapless 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)",
+ "lexical-core 0.4.0",
+ "serde 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "serde_derive"
+version = "1.0.91"
 source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "proc-macro2 0.4.28 (registry+https://github.com/rust-lang/crates.io-index)",
+ "quote 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)",
+ "syn 0.15.33 (registry+https://github.com/rust-lang/crates.io-index)",
+]
 
 [[package]]
 name = "smoltcp"
@@ -295,13 +267,15 @@ dependencies = [
 name = "stabilizer"
 version = "0.1.0"
 dependencies = [
- "built 0.3.0 (registry+https://github.com/rust-lang/crates.io-index)",
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  "cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "heapless 0.4.4 (registry+https://github.com/rust-lang/crates.io-index)",
  "log 0.4.6 (registry+https://github.com/rust-lang/crates.io-index)",
  "panic-abort 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
  "panic-semihosting 0.5.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "serde 1.0.91 (registry+https://github.com/rust-lang/crates.io-index)",
+ "serde-json-core 0.0.1",
  "smoltcp 0.5.0 (registry+https://github.com/rust-lang/crates.io-index)",
  "stm32h7 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
 ]
@@ -311,6 +285,11 @@ name = "stable_deref_trait"
 version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 
+[[package]]
+name = "static_assertions"
+version = "0.2.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
 [[package]]
 name = "stm32h7"
 version = "0.7.0"
@@ -332,70 +311,21 @@ dependencies = [
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 ]
 
-[[package]]
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 [[package]]
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 [[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
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 [[package]]
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-source = "registry+https://github.com/rust-lang/crates.io-index"
-
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@@ -404,78 +334,44 @@ dependencies = [
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-"checksum time 0.1.42 (registry+https://github.com/rust-lang/crates.io-index)" = "db8dcfca086c1143c9270ac42a2bbd8a7ee477b78ac8e45b19abfb0cbede4b6f"
-"checksum toml 0.4.10 (registry+https://github.com/rust-lang/crates.io-index)" = "758664fc71a3a69038656bee8b6be6477d2a6c315a6b81f7081f591bffa4111f"
 "checksum typenum 1.10.0 (registry+https://github.com/rust-lang/crates.io-index)" = "612d636f949607bdf9b123b4a6f6d966dedf3ff669f7f045890d3a4a73948169"
-"checksum unicode-bidi 0.3.4 (registry+https://github.com/rust-lang/crates.io-index)" = "49f2bd0c6468a8230e1db229cff8029217cf623c767ea5d60bfbd42729ea54d5"
-"checksum unicode-normalization 0.1.8 (registry+https://github.com/rust-lang/crates.io-index)" = "141339a08b982d942be2ca06ff8b076563cbe223d1befd5450716790d44e2426"
 "checksum unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fc72304796d0818e357ead4e000d19c9c174ab23dc11093ac919054d20a6a7fc"
-"checksum url 1.7.2 (registry+https://github.com/rust-lang/crates.io-index)" = "dd4e7c0d531266369519a4aa4f399d748bd37043b00bde1e4ff1f60a120b355a"
 "checksum vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "45c297f0afb6928cd08ab1ff9d95e99392595ea25ae1b5ecf822ff8764e57a0d"
-"checksum vcpkg 0.2.6 (registry+https://github.com/rust-lang/crates.io-index)" = "def296d3eb3b12371b2c7d0e83bfe1403e4db2d7a0bba324a12b21c4ee13143d"
 "checksum volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
-"checksum winapi 0.3.7 (registry+https://github.com/rust-lang/crates.io-index)" = "f10e386af2b13e47c89e7236a7a14a086791a2b88ebad6df9bf42040195cf770"
-"checksum winapi-i686-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
-"checksum winapi-x86_64-pc-windows-gnu 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
diff --git a/Cargo.toml b/Cargo.toml
index e895cf9..46643d6 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -34,6 +34,13 @@ stm32h7 = { version = "0.7", features = ["stm32h7x3", "rt"] }
 log = "0.4"
 panic-abort = "0.3"
 panic-semihosting = { version = "0.5.2", optional = true }
+serde-json-core = { version = "0.0" }
+serde = { version = "1.0", features = ["derive"], default-features = false }
+heapless = { version = "0.4" }
+
+[patch.crates-io]
+serde-json-core = { path = "../serde-json-core" }
+lexical-core = { path = "../rust-lexical/lexical-core" }
 
 [dependencies.smoltcp]
 #git = "https://github.com/m-labs/smoltcp"
@@ -46,9 +53,6 @@ default-features = false
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
 bkpt = [ ]
 
-[build-dependencies]
-built = "0.3"
-
 [profile.dev]
 codegen-units = 1
 incremental = false
diff --git a/build.rs b/build.rs
deleted file mode 100644
index 7a6f252..0000000
--- a/build.rs
+++ /dev/null
@@ -1,19 +0,0 @@
-extern crate built;
-
-use std::env;
-use std::fs::File;
-use std::io::Write;
-use std::path::PathBuf;
-
-fn main() {
-    // Gather build information
-    built::write_built_file().expect("Failed to acquire build-time information");
-
-    // Put the linker script somewhere the linker can find it
-    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
-    File::create(out.join("memory.x"))
-        .unwrap()
-        .write_all(include_bytes!("memory.x"))
-        .unwrap();
-    println!("cargo:rustc-link-search={}", out.display());
-}
diff --git a/src/iir.rs b/src/iir.rs
index a50a889..85c3787 100644
--- a/src/iir.rs
+++ b/src/iir.rs
@@ -1,10 +1,11 @@
 use core::ops::{Add, Mul};
+use serde::{Serialize, Deserialize};
 
 use core::f32;
 
 pub type IIRState = [f32; 5];
 
-#[derive(Copy,Clone)]
+#[derive(Copy,Clone,Deserialize,Serialize)]
 pub struct IIR {
     pub ba: IIRState,
     pub y_offset: f32,
diff --git a/src/main.rs b/src/main.rs
index 95eb517..c6273be 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -14,14 +14,18 @@ extern crate log;
 
 use core::ptr;
 use core::cell::RefCell;
-use core::fmt::Write;
 use core::sync::atomic::{AtomicU32, AtomicBool, Ordering};
+use core::fmt::Write;
 use cortex_m_rt::{entry, exception};
 use stm32h7::stm32h7x3::{self as stm32, Peripherals, CorePeripherals, interrupt};
 use cortex_m::interrupt::Mutex;
+use heapless::{String, consts::*};
 
 use smoltcp as net;
 
+use serde::{Serialize, Deserialize};
+use serde_json_core::{ser::to_string, de::from_slice};
+
 mod eth;
 
 mod iir;
@@ -50,7 +54,7 @@ fn init_log() {
 // Pull in build information (from `built` crate)
 mod build_info {
     #![allow(dead_code)]
-    include!(concat!(env!("OUT_DIR"), "/built.rs"));
+    // include!(concat!(env!("OUT_DIR"), "/built.rs"));
 }
 
 fn pwr_setup(pwr: &stm32::PWR) {
@@ -666,11 +670,16 @@ fn main() -> ! {
                 socket.listen(80).unwrap_or_else(|e| warn!("TCP listen error: {:?}", e));
             } else if last != time && socket.can_send() {
                 last = time;
-                let (x0, y0, x1, y1) = unsafe {
-                    (IIR_STATE[0][0], IIR_STATE[0][2], IIR_STATE[1][0], IIR_STATE[1][2]) };
-                writeln!(socket, "t={} x0={:.1} y0={:.1} x1={:.1} y1={:.1}",
-                         time, x0, y0, x1, y1)
-                    .unwrap_or_else(|e| warn!("TCP send error: {:?}", e));
+                let s = unsafe { Status{
+                    t: time,
+                    x0: IIR_STATE[0][0],
+                    y0: IIR_STATE[0][2],
+                    x1: IIR_STATE[1][0],
+                    y1: IIR_STATE[1][2],
+                }};
+                let mut u: String<U128> = to_string(&s).unwrap();
+                u.push('\n').unwrap();
+                socket.write_str(&u).unwrap();
             }
         }
         if !match iface.poll(&mut sockets, net::time::Instant::from_millis(time as i64)) {
@@ -683,6 +692,23 @@ fn main() -> ! {
     }
 }
 
+
+#[derive(Deserialize)]
+struct Update {
+    servo: i8,
+    iir: IIR,
+}
+
+
+#[derive(Serialize)]
+struct Status {
+    t: u32,
+    x0: f32,
+    y0: f32,
+    x1: f32,
+    y1: f32
+}
+
 const SCALE: f32 = ((1 << 15) - 1) as f32;
 static mut IIR_STATE: [IIRState; 2] = [[0.; 5]; 2];
 static mut IIR_CH: [IIR; 2] = [