From 4606d939001c2d126f0d9e904237f1e3f96ae773 Mon Sep 17 00:00:00 2001
From: David Nadlinger <code@klickverbot.at>
Date: Thu, 4 Mar 2021 18:32:02 +0000
Subject: [PATCH 01/24] Update stm32h7xx-hal

I haven't done any runtime tests using Pounder, but it seems
like the API change is just a consequence of making the QSPI
address width runtime-configurable.
---
 Cargo.lock                  | 12 +++++++-----
 src/hardware/pounder/mod.rs |  8 +++++---
 2 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 86401c7..095de10 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1,5 +1,7 @@
 # This file is automatically @generated by Cargo.
 # It is not intended for manual editing.
+version = 3
+
 [[package]]
 name = "ad9959"
 version = "0.1.0"
@@ -750,12 +752,12 @@ checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
 [[package]]
 name = "stm32h7"
-version = "0.12.1"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7571f17d1ed7d67957d0004de6c52bd1ef5e736ed5ddc2bcecf001512269f77c"
+checksum = "8b672c837e0ee8158ecc7fce0f9a948dd0693a9c588338e728d14b73307a0b7d"
 dependencies = [
  "bare-metal 0.2.5",
- "cortex-m 0.6.7",
+ "cortex-m 0.7.1",
  "cortex-m-rt",
  "vcell",
 ]
@@ -763,11 +765,11 @@ dependencies = [
 [[package]]
 name = "stm32h7xx-hal"
 version = "0.8.0"
-source = "git+https://github.com/stm32-rs/stm32h7xx-hal?branch=master#08231e334a11236fe556668ac19cb1c214da2406"
+source = "git+https://github.com/stm32-rs/stm32h7xx-hal?branch=master#ad2a1ae9831dd34e171cc178cdad84e770b4c0ae"
 dependencies = [
  "bare-metal 1.0.0",
  "cast",
- "cortex-m 0.6.7",
+ "cortex-m 0.7.1",
  "cortex-m-rt",
  "embedded-dma",
  "embedded-hal",
diff --git a/src/hardware/pounder/mod.rs b/src/hardware/pounder/mod.rs
index 0497a37..32a8e80 100644
--- a/src/hardware/pounder/mod.rs
+++ b/src/hardware/pounder/mod.rs
@@ -231,14 +231,16 @@ impl ad9959::Interface for QspiInterface {
                 };
 
                 self.qspi
-                    .write(encoded_address, &encoded_payload)
+                    .write(encoded_address.into(), &encoded_payload)
                     .map_err(|_| Error::Qspi)
             }
             ad9959::Mode::FourBitSerial => {
                 if self.streaming {
                     Err(Error::Qspi)
                 } else {
-                    self.qspi.write(addr, data).map_err(|_| Error::Qspi)?;
+                    self.qspi
+                        .write(addr.into(), data)
+                        .map_err(|_| Error::Qspi)?;
                     Ok(())
                 }
             }
@@ -257,7 +259,7 @@ impl ad9959::Interface for QspiInterface {
         }
 
         self.qspi
-            .read(0x80_u8 | addr, dest)
+            .read((0x80_u8 | addr).into(), dest)
             .map_err(|_| Error::Qspi)
     }
 }

From 4b9954761e1cee9410ebdd932a7286dd6e96b824 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Thu, 25 Mar 2021 09:24:58 +0100
Subject: [PATCH 02/24] Updating smoltcp dependency

---
 Cargo.lock | 6 +++---
 Cargo.toml | 3 +--
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index b435a6b..946a634 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -390,9 +390,9 @@ dependencies = [
 
 [[package]]
 name = "managed"
-version = "0.7.2"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
+checksum = "0ca88d725a0a943b096803bd34e73a4437208b6077654cc4ecb2947a5f91618d"
 
 [[package]]
 name = "matrixmultiply"
@@ -697,7 +697,7 @@ dependencies = [
 [[package]]
 name = "smoltcp"
 version = "0.7.0"
-source = "git+https://github.com/ryan-summers/smoltcp.git?branch=feature/dhcp-lease-updates#e3954ebb8149341c52a4992e037d4b5109387910"
+source = "git+https://github.com/smoltcp-rs/smoltcp.git#43567b9743cb9f422de83fad9ff42a6d13f6e5ee"
 dependencies = [
  "bitflags",
  "byteorder",
diff --git a/Cargo.toml b/Cargo.toml
index 6b14532..3f4142b 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -63,8 +63,7 @@ git = "https://github.com/rust-embedded-community/serde-json-core.git"
 branch = "master"
 
 [patch.crates-io.smoltcp]
-git = "https://github.com/ryan-summers/smoltcp.git"
-branch = "feature/dhcp-lease-updates"
+git = "https://github.com/smoltcp-rs/smoltcp.git"
 
 [dependencies.mcp23017]
 git = "https://github.com/mrd0ll4r/mcp23017.git"

From 769945d7a23ca3e96ebd0f9793fb67d3d1195621 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Thu, 25 Mar 2021 09:26:36 +0100
Subject: [PATCH 03/24] Adding patch comment

---
 Cargo.toml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Cargo.toml b/Cargo.toml
index 3f4142b..8d32d80 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -63,6 +63,8 @@ git = "https://github.com/rust-embedded-community/serde-json-core.git"
 branch = "master"
 
 [patch.crates-io.smoltcp]
+# We manually patch smoltcp so that we can get access to unreleased updates to the DHCP server. When
+# a new release of smoltcp is made, we can remove this patch.
 git = "https://github.com/smoltcp-rs/smoltcp.git"
 
 [dependencies.mcp23017]

From 6c892f4ea3b50a6c9ea5c062f9dad8e5d5ab149e Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Thu, 25 Mar 2021 08:40:58 +0000
Subject: [PATCH 04/24] Bump num from 0.3.1 to 0.4.0

Bumps [num](https://github.com/rust-num/num) from 0.3.1 to 0.4.0.
- [Release notes](https://github.com/rust-num/num/releases)
- [Changelog](https://github.com/rust-num/num/blob/master/RELEASES.md)
- [Commits](https://github.com/rust-num/num/compare/num-0.3.1...num-0.4.0)

Signed-off-by: dependabot[bot] <support@github.com>
---
 Cargo.lock     | 21 +++++++++++++++------
 dsp/Cargo.toml |  2 +-
 2 files changed, 16 insertions(+), 7 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 946a634..1c76ff1 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -457,7 +457,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6c0d5c9540a691d153064dc47a4db2504587a75eae07bf1d73f7a596ebc73c04"
 dependencies = [
  "matrixmultiply",
- "num-complex",
+ "num-complex 0.3.1",
  "num-integer",
  "num-traits",
  "rawpointer",
@@ -471,11 +471,11 @@ checksum = "2178127478ae4ee9be7180bc9c3bffb6354dd7238400db567102f98c413a9f35"
 
 [[package]]
 name = "num"
-version = "0.3.1"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8b7a8e9be5e039e2ff869df49155f1c06bd01ade2117ec783e56ab0932b67a8f"
+checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
 dependencies = [
- "num-complex",
+ "num-complex 0.4.0",
  "num-integer",
  "num-iter",
  "num-rational",
@@ -491,6 +491,15 @@ dependencies = [
  "num-traits",
 ]
 
+[[package]]
+name = "num-complex"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "26873667bbbb7c5182d4a37c1add32cdf09f841af72da53318fdb81543c15085"
+dependencies = [
+ "num-traits",
+]
+
 [[package]]
 name = "num-integer"
 version = "0.1.44"
@@ -514,9 +523,9 @@ dependencies = [
 
 [[package]]
 name = "num-rational"
-version = "0.3.2"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "12ac428b1cb17fce6f731001d307d351ec70a6d202fc2e60f7d4c5e42d8f4f07"
+checksum = "d41702bd167c2df5520b384281bc111a4b5efcf7fbc4c9c222c815b07e0a6a6a"
 dependencies = [
  "autocfg",
  "num-integer",
diff --git a/dsp/Cargo.toml b/dsp/Cargo.toml
index 4c675ff..9b92078 100644
--- a/dsp/Cargo.toml
+++ b/dsp/Cargo.toml
@@ -8,7 +8,7 @@ edition = "2018"
 libm = "0.2.1"
 serde = { version = "1.0", features = ["derive"], default-features = false }
 generic-array = "0.14"
-num = { version = "0.3.1", default-features = false }
+num = { version = "0.4.0", default-features = false }
 miniconf = "0.1"
 
 [dev-dependencies]

From 3c877404b4f6a94dd64d0939a7855fd843e9cb62 Mon Sep 17 00:00:00 2001
From: Harry Ho <hh@m-labs.hk>
Date: Wed, 31 Mar 2021 15:22:24 +0800
Subject: [PATCH 05/24] update cargosha256

---
 cargosha256-dual-iir.nix | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cargosha256-dual-iir.nix b/cargosha256-dual-iir.nix
index d58968f..2d89c3a 100644
--- a/cargosha256-dual-iir.nix
+++ b/cargosha256-dual-iir.nix
@@ -1 +1 @@
-"138kpxzxs73zhmd4xi5kw3fddb05gac4mpngizm01831n1ycyhl0"
+"06qsl59bljr637xcrplbij7ma8l7waryi4lkbd4fxjac0gqpn55s"

From d718914f0d49b9567121e32a54ac0892228c660d Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Tue, 6 Apr 2021 13:28:07 +0200
Subject: [PATCH 06/24] Adding initial HITL layout

---
 hitl/README.md | 25 +++++++++++++++++++++++++
 hitl/run.sh    | 17 +++++++++++++++++
 2 files changed, 42 insertions(+)
 create mode 100644 hitl/README.md
 create mode 100644 hitl/run.sh

diff --git a/hitl/README.md b/hitl/README.md
new file mode 100644
index 0000000..a150e6b
--- /dev/null
+++ b/hitl/README.md
@@ -0,0 +1,25 @@
+# Stabilizer HITL Testing
+
+This directory contains tooling required for Stabilizer hardware-in-the-loop (HITL) testing.
+
+There is a `Stabilizer` board connected at the Quartiq office that is accessible via a private HITL
+repository in order to provide secure hardware testing of the stabilizer application in a public
+repository.
+
+**Note**: In order to ensure application security, all HITL runs must first be approved by a Quartiq
+representative before execution.
+
+# Hardware Configuration
+Stabilizer is configured with an ethernet connection to a router. The router runs a DHCP server for
+the local network, and Stabilizers MAC address has been assigned to the unique host name of
+`gonnigan.ber.quartiq.de`.
+
+# HITL Workflow
+The private HITL repository does the following:
+
+1. Check out this repository
+2. Build firmware images using Cargo
+3. Program stabilizer
+4. Execute `hitl/run.sh`
+
+In order to add new HITL tests, update `run.sh` to include the necessary tests.
diff --git a/hitl/run.sh b/hitl/run.sh
new file mode 100644
index 0000000..a945b0d
--- /dev/null
+++ b/hitl/run.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/bash
+
+# Title:
+#   Stabilizer hardware-in-the-loop (HITL) test script.
+#
+# Description:
+#   This shell file is executed by the hardware runner in Quartiq's office to exercise the various
+#   hardware aspects of Stabilizer.
+
+# Test pinging Stabilizer. This exercises that:
+# * DHCP is functional and an IP has been acquired
+# * Stabilizer's network is functioning as intended
+# * The stabilizer application is opeerational
+ping -c 5 -W 20 gonnigan.ber.quartiq.de
+
+# Test the MQTT interface.
+python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

From 2e4fdbb6e2c0925e026bb1084e56a52280a1f612 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Tue, 6 Apr 2021 14:28:08 +0200
Subject: [PATCH 07/24] Fixing python venv setup

---
 hitl/run.sh | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index a945b0d..40e7397 100644
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -7,11 +7,16 @@
 #   This shell file is executed by the hardware runner in Quartiq's office to exercise the various
 #   hardware aspects of Stabilizer.
 
+# Set up python for testing
+python3 -m venv --system-site-packages py
+source py/bin/activate
+python3 -m pip install -r requirements.txt
+
 # Test pinging Stabilizer. This exercises that:
 # * DHCP is functional and an IP has been acquired
 # * Stabilizer's network is functioning as intended
 # * The stabilizer application is opeerational
-ping -c 5 -W 20 gonnigan.ber.quartiq.de
+ping -c 5 -w 20 gonnigan.ber.quartiq.de
 
 # Test the MQTT interface.
 python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

From cc61e2eedf7030dbc1b90486e8c6f2a9144a3aec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Robert=20J=C3=B6rdens?= <rj@quartiq.de>
Date: Tue, 6 Apr 2021 16:28:56 +0200
Subject: [PATCH 08/24] README: add both plain-CI and HITL badges

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 19b5a0d..4250d6a 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,5 @@
 [![QUARTIQ Matrix Chat](https://img.shields.io/matrix/quartiq:matrix.org)](https://matrix.to/#/#quartiq:matrix.org)
+[![Continuous Integration](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml/badge.svg)](https://github.com/quartiq/stabilizer/actions/workflows/ci.yml)
 [![HITL (private)](https://github.com/quartiq/hitl/workflows/Stabilizer/badge.svg)](https://github.com/quartiq/hitl/actions?query=workflow%3AStabilizer)
 
 # Stabilizer Firmware

From 2fa94b03a5f5db4940aa0f050bfbd0496e9b5916 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 13:53:29 +0200
Subject: [PATCH 09/24] Updating executability

---
 hitl/run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)
 mode change 100644 => 100755 hitl/run.sh

diff --git a/hitl/run.sh b/hitl/run.sh
old mode 100644
new mode 100755
index 40e7397..ff9796c
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash
+#!/usr/bin/bash -e
 
 # Title:
 #   Stabilizer hardware-in-the-loop (HITL) test script.

From cd25b44b80517ec2d3fee0a1b9b02b26cce0639e Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 13:55:08 +0200
Subject: [PATCH 10/24] Updating hitl runner to use correct broker

---
 hitl/run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index ff9796c..d3d5523 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -19,4 +19,4 @@ python3 -m pip install -r requirements.txt
 ping -c 5 -w 20 gonnigan.ber.quartiq.de
 
 # Test the MQTT interface.
-python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'
+python3 miniconf.py --broker mqtt.ber.quartiq.de dt/sinara/stabilizer afe/0 '"G2"'

From ef9e5557e55f88402a9849afd25d1d60133ce5aa Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 14:04:11 +0200
Subject: [PATCH 11/24] Adding requirements file

---
 requirements.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 requirements.txt

diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..a3d7fef
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1 @@
+gmqtt

From 38b7884b4916ebc26662017acf12666375e197c1 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 14:18:21 +0200
Subject: [PATCH 12/24] Updating HITL to run against PRs to master

---
 .github/workflows/hitl.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/hitl.yml b/.github/workflows/hitl.yml
index f59e8d2..b8611d4 100644
--- a/.github/workflows/hitl.yml
+++ b/.github/workflows/hitl.yml
@@ -1,9 +1,9 @@
 name: HITL
 
 on:
-  push:
-    branches: [ hitl ]
   workflow_dispatch:
+  pull_request:
+    branches: [ master ]
 
 jobs:
   hitl:

From 56acd9de2b906f157047c513b86e4cd3698b6f99 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 14:21:44 +0200
Subject: [PATCH 13/24] Removing broker specification

---
 hitl/run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index d3d5523..ff9796c 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -19,4 +19,4 @@ python3 -m pip install -r requirements.txt
 ping -c 5 -w 20 gonnigan.ber.quartiq.de
 
 # Test the MQTT interface.
-python3 miniconf.py --broker mqtt.ber.quartiq.de dt/sinara/stabilizer afe/0 '"G2"'
+python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

From 5d9c7b0884f244a7d586d966e00fdeb961c05421 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 14:30:39 +0200
Subject: [PATCH 14/24] Apply suggestions from code review
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Robert Jördens <rj@quartiq.de>
---
 hitl/run.sh | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index ff9796c..c4a6c15 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -1,4 +1,4 @@
-#!/usr/bin/bash -e
+#!/bin/sh
 
 # Title:
 #   Stabilizer hardware-in-the-loop (HITL) test script.
@@ -15,8 +15,8 @@ python3 -m pip install -r requirements.txt
 # Test pinging Stabilizer. This exercises that:
 # * DHCP is functional and an IP has been acquired
 # * Stabilizer's network is functioning as intended
-# * The stabilizer application is opeerational
-ping -c 5 -w 20 gonnigan.ber.quartiq.de
+# * The stabilizer application is operational
+ping -c 5 -w 20 stabilizer-hitl
 
 # Test the MQTT interface.
 python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

From 3187825b6192d0bf5d051565c6cc44c6f94c0e02 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 14:31:49 +0200
Subject: [PATCH 15/24] Updating runner operational flags

---
 hitl/run.sh | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/hitl/run.sh b/hitl/run.sh
index c4a6c15..6602bf2 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -7,6 +7,9 @@
 #   This shell file is executed by the hardware runner in Quartiq's office to exercise the various
 #   hardware aspects of Stabilizer.
 
+# Enable shell operating mode flags.
+set -eux
+
 # Set up python for testing
 python3 -m venv --system-site-packages py
 source py/bin/activate

From 416864b66aaf32d926d6d4375f3d50e8cb753760 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 14:38:22 +0200
Subject: [PATCH 16/24] Replacing sh with bash

---
 hitl/run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index 6602bf2..47c6dd1 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 
 # Title:
 #   Stabilizer hardware-in-the-loop (HITL) test script.

From 7d3698dd8d8faa81cc2462f30886430baf6a6b78 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 15:02:49 +0200
Subject: [PATCH 17/24] Removing source in favor of dot

---
 hitl/run.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index 47c6dd1..a01a472 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -12,7 +12,7 @@ set -eux
 
 # Set up python for testing
 python3 -m venv --system-site-packages py
-source py/bin/activate
+. py/bin/activate
 python3 -m pip install -r requirements.txt
 
 # Test pinging Stabilizer. This exercises that:

From b17831b99506c21c9d88b6c818120ba0cd91bed1 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 15:07:17 +0200
Subject: [PATCH 18/24] Updating HITL script to directly call python binaries

---
 hitl/run.sh | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index a01a472..b707192 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -12,8 +12,8 @@ set -eux
 
 # Set up python for testing
 python3 -m venv --system-site-packages py
-. py/bin/activate
-python3 -m pip install -r requirements.txt
+
+py/bin/pip install -r requirements.txt
 
 # Test pinging Stabilizer. This exercises that:
 # * DHCP is functional and an IP has been acquired
@@ -22,4 +22,4 @@ python3 -m pip install -r requirements.txt
 ping -c 5 -w 20 stabilizer-hitl
 
 # Test the MQTT interface.
-python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'
+py/bin/python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

From 648731873085c17c24b3400dc1aed71b3a4d1cff Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 15:09:34 +0200
Subject: [PATCH 19/24] Reverting HITL runner changes

---
 hitl/run.sh | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/hitl/run.sh b/hitl/run.sh
index b707192..a01a472 100755
--- a/hitl/run.sh
+++ b/hitl/run.sh
@@ -12,8 +12,8 @@ set -eux
 
 # Set up python for testing
 python3 -m venv --system-site-packages py
-
-py/bin/pip install -r requirements.txt
+. py/bin/activate
+python3 -m pip install -r requirements.txt
 
 # Test pinging Stabilizer. This exercises that:
 # * DHCP is functional and an IP has been acquired
@@ -22,4 +22,4 @@ py/bin/pip install -r requirements.txt
 ping -c 5 -w 20 stabilizer-hitl
 
 # Test the MQTT interface.
-py/bin/python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'
+python3 miniconf.py dt/sinara/stabilizer afe/0 '"G2"'

From fb32939fc55f62d8b105161c678a3d37147abb28 Mon Sep 17 00:00:00 2001
From: Ryan Summers <ryan.summers@vertigo-designs.com>
Date: Wed, 7 Apr 2021 15:21:12 +0200
Subject: [PATCH 20/24] Update hitl/README.md
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Co-authored-by: Robert Jördens <rj@quartiq.de>
---
 hitl/README.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/hitl/README.md b/hitl/README.md
index a150e6b..629b587 100644
--- a/hitl/README.md
+++ b/hitl/README.md
@@ -9,10 +9,10 @@ repository.
 **Note**: In order to ensure application security, all HITL runs must first be approved by a Quartiq
 representative before execution.
 
-# Hardware Configuration
-Stabilizer is configured with an ethernet connection to a router. The router runs a DHCP server for
-the local network, and Stabilizers MAC address has been assigned to the unique host name of
-`gonnigan.ber.quartiq.de`.
+# Configuration
+* Stabilizer is configured with an ethernet connection to a router. The router runs a DHCP server for
+the local network, and ensures that the Stabilizer used for these tests is available under the hostname `stabilizer-hitl`.
+* An MQTT broker is running at the hostname `mqtt`.
 
 # HITL Workflow
 The private HITL repository does the following:

From 1ca8aa98b0e90386b57eb69b8223b20f693a5b30 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Robert=20J=C3=B6rdens?= <rj@quartiq.de>
Date: Wed, 7 Apr 2021 16:35:57 +0200
Subject: [PATCH 21/24] hal 0.9.0

---
 Cargo.lock | 5 +++--
 Cargo.toml | 3 +--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 6c6641d..0d7c6b2 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -771,8 +771,9 @@ dependencies = [
 
 [[package]]
 name = "stm32h7xx-hal"
-version = "0.8.0"
-source = "git+https://github.com/stm32-rs/stm32h7xx-hal?branch=master#ad2a1ae9831dd34e171cc178cdad84e770b4c0ae"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "67034b80041bc33a48df1c1c435b6ae3bb18c35e42aa7e702ce8363b96793398"
 dependencies = [
  "bare-metal 1.0.0",
  "cast",
diff --git a/Cargo.toml b/Cargo.toml
index 8d32d80..b59fffa 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -72,8 +72,7 @@ git = "https://github.com/mrd0ll4r/mcp23017.git"
 
 [dependencies.stm32h7xx-hal]
 features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
-git = "https://github.com/stm32-rs/stm32h7xx-hal"
-branch = "master"
+version = "0.9.0"
 
 [features]
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]

From 46902b39b4cf0fb27b6a4e6751d0005c785e279f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Robert=20J=C3=B6rdens?= <rj@quartiq.de>
Date: Wed, 7 Apr 2021 16:44:39 +0200
Subject: [PATCH 22/24] dependencies: update, move hashes to Cargo.toml

cargo update -p doesn't work well if the hashes are only on .lock
---
 Cargo.lock | 21 +++++++++++----------
 Cargo.toml | 40 ++++++++++++++++++----------------------
 2 files changed, 29 insertions(+), 32 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 0d7c6b2..da06294 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -203,7 +203,7 @@ dependencies = [
 [[package]]
 name = "derive_miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?branch=develop#314fa5587d1aa28e1ad70106f19e30db646e9f28"
+source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -392,9 +392,9 @@ dependencies = [
 
 [[package]]
 name = "managed"
-version = "0.8.0"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ca88d725a0a943b096803bd34e73a4437208b6077654cc4ecb2947a5f91618d"
+checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
 
 [[package]]
 name = "matrixmultiply"
@@ -408,7 +408,7 @@ dependencies = [
 [[package]]
 name = "mcp23017"
 version = "0.1.1"
-source = "git+https://github.com/mrd0ll4r/mcp23017.git#61933f857abe5a837800493a5f58e91a3c9435ec"
+source = "git+https://github.com/mrd0ll4r/mcp23017.git?rev=61933f857a#61933f857abe5a837800493a5f58e91a3c9435ec"
 dependencies = [
  "embedded-hal",
 ]
@@ -416,7 +416,7 @@ dependencies = [
 [[package]]
 name = "miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?branch=develop#314fa5587d1aa28e1ad70106f19e30db646e9f28"
+source = "git+https://github.com/quartiq/miniconf.git?rev=314fa5587d#314fa5587d1aa28e1ad70106f19e30db646e9f28"
 dependencies = [
  "derive_miniconf",
  "heapless 0.6.1",
@@ -428,7 +428,7 @@ dependencies = [
 [[package]]
 name = "minimq"
 version = "0.2.0"
-source = "git+https://github.com/quartiq/minimq.git#933687c2e4bc8a4d972de9a4d1508b0b554a8b38"
+source = "git+https://github.com/quartiq/minimq.git?rev=933687c2e4b#933687c2e4bc8a4d972de9a4d1508b0b554a8b38"
 dependencies = [
  "bit_field",
  "embedded-nal",
@@ -688,7 +688,7 @@ dependencies = [
 [[package]]
 name = "serde-json-core"
 version = "0.2.0"
-source = "git+https://github.com/rust-embedded-community/serde-json-core.git?branch=master#ee06ac91bc43b72450a92198a00d9e5c5b9946d2"
+source = "git+https://github.com/rust-embedded-community/serde-json-core.git?rev=ee06ac91bc#ee06ac91bc43b72450a92198a00d9e5c5b9946d2"
 dependencies = [
  "heapless 0.5.6",
  "serde",
@@ -707,8 +707,9 @@ dependencies = [
 
 [[package]]
 name = "smoltcp"
-version = "0.7.0"
-source = "git+https://github.com/smoltcp-rs/smoltcp.git#43567b9743cb9f422de83fad9ff42a6d13f6e5ee"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "97173c1ef35b0a09304cb3882eba594761243005847cbbf6124f966e8da6519a"
 dependencies = [
  "bitflags",
  "byteorder",
@@ -718,7 +719,7 @@ dependencies = [
 [[package]]
 name = "smoltcp-nal"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/smoltcp-nal.git?branch=main#56519012d7c6a382eaa0d7ecb26f2701771d9ce8"
+source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=56519012d7#56519012d7c6a382eaa0d7ecb26f2701771d9ce8"
 dependencies = [
  "embedded-nal",
  "heapless 0.6.1",
diff --git a/Cargo.toml b/Cargo.toml
index b59fffa..8d7ae92 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -43,37 +43,33 @@ enum-iterator = "0.6.0"
 paste = "1"
 dsp = { path = "dsp" }
 ad9959 = { path = "ad9959" }
-smoltcp-nal = "0.1.0"
-miniconf = "0.1"
 generic-array = "0.14"
-
-[patch.crates-io.miniconf]
-git = "https://github.com/quartiq/miniconf.git"
-branch = "develop"
-
-[patch.crates-io.minimq]
-git = "https://github.com/quartiq/minimq.git"
-
-[patch.crates-io.smoltcp-nal]
-git = "https://github.com/quartiq/smoltcp-nal.git"
-branch = "main"
-
-[patch.crates-io.serde-json-core]
-git = "https://github.com/rust-embedded-community/serde-json-core.git"
-branch = "master"
-
-[patch.crates-io.smoltcp]
-# We manually patch smoltcp so that we can get access to unreleased updates to the DHCP server. When
-# a new release of smoltcp is made, we can remove this patch.
-git = "https://github.com/smoltcp-rs/smoltcp.git"
+miniconf = "0.1.0"
 
 [dependencies.mcp23017]
 git = "https://github.com/mrd0ll4r/mcp23017.git"
+rev = "61933f857a"
 
 [dependencies.stm32h7xx-hal]
 features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
 version = "0.9.0"
 
+[patch.crates-io.miniconf]
+git = "https://github.com/quartiq/miniconf.git"
+rev = "314fa5587d"
+
+[dependencies.smoltcp-nal]
+git = "https://github.com/quartiq/smoltcp-nal.git"
+rev = "56519012d7"
+
+[patch.crates-io.minimq]
+git = "https://github.com/quartiq/minimq.git"
+rev = "933687c2e4b"
+
+[patch.crates-io.serde-json-core]
+git = "https://github.com/rust-embedded-community/serde-json-core.git"
+rev = "ee06ac91bc"
+
 [features]
 semihosting = ["panic-semihosting", "cortex-m-log/semihosting"]
 bkpt = [ ]

From f9347e6e29d5059a1a81c38168dbb0c20818ac2c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Robert=20J=C3=B6rdens?= <rj@quartiq.de>
Date: Wed, 7 Apr 2021 16:54:02 +0200
Subject: [PATCH 23/24] deps: bulk update

---
 Cargo.lock | 54 +++++++++++++++++++++++++++---------------------------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index da06294..976e930 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -38,7 +38,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b9a69a963b70ddacfcd382524f72a4576f359af9334b3bf48a79566590bb8bfa"
 dependencies = [
  "bitrate",
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
  "embedded-hal",
 ]
 
@@ -89,9 +89,9 @@ checksum = "c147d86912d04bef727828fda769a76ca81629a46d8ba311a8d58a26aa91473d"
 
 [[package]]
 name = "byteorder"
-version = "1.4.2"
+version = "1.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae44d1a3d5a19df61dd0c8beb138458ac2a53a7ac09eba97d55592540004306b"
+checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
 
 [[package]]
 name = "cast"
@@ -117,15 +117,15 @@ dependencies = [
  "aligned",
  "bare-metal 0.2.5",
  "bitfield",
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
  "volatile-register",
 ]
 
 [[package]]
 name = "cortex-m"
-version = "0.7.1"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a0b756a8bffc56025de45218a48ff9b801180440c0ee49a722b32d49dcebc771"
+checksum = "643a210c1bdc23d0db511e2a576082f4ff4dcae9d0c37f50b431b8f8439d6d6b"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
@@ -139,7 +139,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0e202d2eac4e34adf7524a563e36623bae6f69cc0a73ef9bd22a4c93a5a806fa"
 dependencies = [
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
  "cortex-m-semihosting",
  "log",
 ]
@@ -197,7 +197,7 @@ version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6bffa6c1454368a6aa4811ae60964c38e6996d397ff8095a8b9211b1c1f749bc"
 dependencies = [
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
 ]
 
 [[package]]
@@ -361,9 +361,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "1.6.1"
+version = "1.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fb1fa934250de4de8aef298d81c729a7d33d8c239daa3a7575e6b92bfc7313b"
+checksum = "824845a0bf897a9042383849b02c1bc219c2383772efcd5c6f9766fa4b81aef3"
 dependencies = [
  "autocfg",
  "hashbrown",
@@ -371,9 +371,9 @@ dependencies = [
 
 [[package]]
 name = "libc"
-version = "0.2.86"
+version = "0.2.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b7282d924be3275cec7f6756ff4121987bc6481325397dde6ba3e7802b1a8b1c"
+checksum = "9385f66bf6105b241aa65a61cb923ef20efc665cb9f9bb50ac2f0c4b7f378d41"
 
 [[package]]
 name = "libm"
@@ -549,7 +549,7 @@ version = "0.5.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "c3d55dedd501dfd02514646e0af4d7016ce36bc12ae177ef52056989966a1eec"
 dependencies = [
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
  "cortex-m-semihosting",
 ]
 
@@ -567,9 +567,9 @@ checksum = "ac74c624d6b2d21f425f752262f42188365d7b8ff1aff74c82e45136510a4857"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.24"
+version = "1.0.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e0704ee1a7e00d7bb417d0770ea303c1bccbabf0ef1667dae92b5967f5f8a71"
+checksum = "a152013215dca273577e18d2bf00fa862b89b24169fb78c4c95aeb07992c9cec"
 dependencies = [
  "unicode-xid",
 ]
@@ -678,9 +678,9 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.124"
+version = "1.0.125"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd761ff957cb2a45fbb9ab3da6512de9de55872866160b23c25f1a841e99d29f"
+checksum = "558dc50e1a5a5fa7112ca2ce4effcb321b0300c0d4ccf0776a9f60cd89031171"
 dependencies = [
  "serde_derive",
 ]
@@ -696,9 +696,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.124"
+version = "1.0.125"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1800f7693e94e186f5e25a28291ae1570da908aff7d97a095dec1e56ff99069b"
+checksum = "b093b7a2bb58203b5da3056c05b4ec1fed827dcfdb37347a8841695263b3d06d"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -765,7 +765,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8b672c837e0ee8158ecc7fce0f9a948dd0693a9c588338e728d14b73307a0b7d"
 dependencies = [
  "bare-metal 0.2.5",
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
  "cortex-m-rt",
  "vcell",
 ]
@@ -778,7 +778,7 @@ checksum = "67034b80041bc33a48df1c1c435b6ae3bb18c35e42aa7e702ce8363b96793398"
 dependencies = [
  "bare-metal 1.0.0",
  "cast",
- "cortex-m 0.7.1",
+ "cortex-m 0.7.2",
  "cortex-m-rt",
  "embedded-dma",
  "embedded-hal",
@@ -791,9 +791,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "1.0.60"
+version = "1.0.68"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c700597eca8a5a762beb35753ef6b94df201c81cca676604f547495a0d7f0081"
+checksum = "3ce15dd3ed8aa2f8eeac4716d6ef5ab58b6b9256db41d7e1a0224c2788e8fd87"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -802,9 +802,9 @@ dependencies = [
 
 [[package]]
 name = "typenum"
-version = "1.12.0"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "373c8a200f9e67a0c95e62a4f52fbf80c23b4381c05a17845531982fa99e6b33"
+checksum = "879f6906492a7cd215bfa4cf595b600146ccfac0c79bcbd1f3000162af5e8b06"
 
 [[package]]
 name = "unicode-xid"
@@ -820,9 +820,9 @@ checksum = "77439c1b53d2303b20d9459b1ade71a83c716e3f9c34f3228c00e6f185d6c002"
 
 [[package]]
 name = "version_check"
-version = "0.9.2"
+version = "0.9.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b5a972e5669d67ba988ce3dc826706fb0a8b01471c088cb0b6110b805cc36aed"
+checksum = "5fecdca9a5291cc2b8dcf7dc02453fee791a280f3743cb0905f8822ae463b3fe"
 
 [[package]]
 name = "void"

From b39a827affe4653394341348bb59606f70b54237 Mon Sep 17 00:00:00 2001
From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com>
Date: Wed, 7 Apr 2021 15:00:06 +0000
Subject: [PATCH 24/24] build(deps): bump ndarray from 0.14.0 to 0.15.1

Bumps [ndarray](https://github.com/rust-ndarray/ndarray) from 0.14.0 to 0.15.1.
- [Release notes](https://github.com/rust-ndarray/ndarray/releases)
- [Changelog](https://github.com/rust-ndarray/ndarray/blob/master/RELEASES.md)
- [Commits](https://github.com/rust-ndarray/ndarray/compare/ndarray-rand-0.14.0...0.15.1)

Signed-off-by: dependabot[bot] <support@github.com>
---
 Cargo.lock     | 21 ++++++---------------
 dsp/Cargo.toml |  2 +-
 2 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 976e930..9c42b6a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -398,9 +398,9 @@ checksum = "c75de51135344a4f8ed3cfe2720dc27736f7711989703a0b43aadf3753c55577"
 
 [[package]]
 name = "matrixmultiply"
-version = "0.2.4"
+version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "916806ba0031cd542105d916a97c8572e1fa6dd79c9c51e7eb43a09ec2dd84c1"
+checksum = "1300bdbea33ec2836b01ff1f5a6eed8bad66d0c31f94d9b7993407a8b054c3a1"
 dependencies = [
  "rawpointer",
 ]
@@ -454,12 +454,12 @@ checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
 
 [[package]]
 name = "ndarray"
-version = "0.14.0"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6c0d5c9540a691d153064dc47a4db2504587a75eae07bf1d73f7a596ebc73c04"
+checksum = "cc1372704f14bb132a49a6701c2238970a359ee0829fed481b522a63bf25456a"
 dependencies = [
  "matrixmultiply",
- "num-complex 0.3.1",
+ "num-complex",
  "num-integer",
  "num-traits",
  "rawpointer",
@@ -477,22 +477,13 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "43db66d1170d347f9a065114077f7dccb00c1b9478c89384490a3425279a4606"
 dependencies = [
- "num-complex 0.4.0",
+ "num-complex",
  "num-integer",
  "num-iter",
  "num-rational",
  "num-traits",
 ]
 
-[[package]]
-name = "num-complex"
-version = "0.3.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "747d632c0c558b87dbabbe6a82f3b4ae03720d0646ac5b7b4dae89394be5f2c5"
-dependencies = [
- "num-traits",
-]
-
 [[package]]
 name = "num-complex"
 version = "0.4.0"
diff --git a/dsp/Cargo.toml b/dsp/Cargo.toml
index 9b92078..7b680d3 100644
--- a/dsp/Cargo.toml
+++ b/dsp/Cargo.toml
@@ -14,7 +14,7 @@ miniconf = "0.1"
 [dev-dependencies]
 easybench = "1.0"
 rand = "0.8"
-ndarray = "0.14"
+ndarray = "0.15"
 
 [[bench]]
 name = "micro"