Merge branch 'master' into rj/visibility-cleanup

* master:
  adapt to new heapless/serde-json-core after const-generics
  Bump serde-json-core from 0.3.0 to 0.4.0
  build(deps): bump heapless from 0.6.1 to 0.7.1
  setup: cleanup
  itcm: add some comments, make it safe
  build(deps): bump ndarray from 0.15.1 to 0.15.2
  Updating dependencies
  Updating the embedded-nal
  deps: add rationales for git dependencies
  itcm: implement in rust and execute during setup()
  remove duplicate linker option
  gha: install gcc
  fmt
  dependencies: align with master
  bump cortex-m-rt to 0.6.13+git
  memory.x: remove comment about old cortex-m-rt
  enable itcm/dtcm explicitly
  load process into itcm

Cargo.lock

@@ -42,6 +42,15 @@ dependencies = [
  "embedded-hal",
 ]
 
+[[package]]
+name = "atomic-polyfill"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "30302dda7a66f8c55932ebf208f7def840743ff64d495e9ceffcd97c18f11d39"
+dependencies = [
+ "cortex-m 0.7.2",
+]
+
 [[package]]
 name = "autocfg"
 version = "1.0.1"
@@ -136,18 +145,15 @@ dependencies = [
 [[package]]
 name = "cortex-m-rt"
 version = "0.6.13"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/rust-embedded/cortex-m-rt.git?rev=a2e3ad5#a2e3ad54478c6b98e519a1b0946395d790c0b6c7"
-checksum = "980c9d0233a909f355ed297ef122f257942de5e0a2cb1c39f60684b65bcb90fb"
 dependencies = [
  "cortex-m-rt-macros",
- "r0",
 ]
 
 [[package]]
 name = "cortex-m-rt-macros"
-version = "0.1.8"
+version = "0.6.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
+source = "git+https://github.com/rust-embedded/cortex-m-rt.git?rev=a2e3ad5#a2e3ad54478c6b98e519a1b0946395d790c0b6c7"
-checksum = "4717562afbba06e760d34451919f5c3bf3ac15c7bb897e8b04862a7428378647"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -194,7 +200,7 @@ dependencies = [
 [[package]]
 name = "derive_miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
+source = "git+https://github.com/quartiq/miniconf.git?rev=2750533#275053396f0334e9efefa1ab2aae4c19b95a9a53"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -240,11 +246,11 @@ dependencies = [
 
 [[package]]
 name = "embedded-nal"
-version = "0.1.0"
+version = "0.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ae46eb1b02de5a76d9d0ea21d657ff5b0ad2cc47f3a7723608227b1dd1b3eb18"
+checksum = "db9efecb57ab54fa918730f2874d7d37647169c50fa1357fecb81abee840b113"
 dependencies = [
- "heapless 0.5.6",
+ "heapless 0.7.1",
  "nb 1.0.0",
  "no-std-net",
 ]
@@ -317,24 +323,21 @@ dependencies = [
  "byteorder",
 ]
 
+[[package]]
+name = "hash32"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.9.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d7afe4a420e3fe79967a00898cc1f4db7c8a49a9333a29f8a4bd76a253d5cd04"
 
-[[package]]
-name = "heapless"
-version = "0.5.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "74911a68a1658cfcfb61bc0ccfbd536e3b6e906f8c2f7883ee50157e3e2184f1"
-dependencies = [
- "as-slice",
- "generic-array 0.13.3",
- "hash32",
- "stable_deref_trait",
-]
-
 [[package]]
 name = "heapless"
 version = "0.6.1"
@@ -343,7 +346,18 @@ checksum = "634bd4d29cbf24424d0a4bfcbf80c6960129dc24424752a7d1d1390607023422"
 dependencies = [
  "as-slice",
  "generic-array 0.14.4",
- "hash32",
+ "hash32 0.1.1",
+ "stable_deref_trait",
+]
+
+[[package]]
+name = "heapless"
+version = "0.7.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7ee8a997d259962217f40279f34201fdf06e669bafa69d7c1f4c7ff1893b5f6"
+dependencies = [
+ "atomic-polyfill",
+ "hash32 0.2.1",
  "serde",
  "stable_deref_trait",
 ]
@@ -399,7 +413,7 @@ dependencies = [
 [[package]]
 name = "miniconf"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/miniconf.git?rev=c6f2b28#c6f2b28f735e27b337eaa986846536e904c6f2bd"
+source = "git+https://github.com/quartiq/miniconf.git?rev=2750533#275053396f0334e9efefa1ab2aae4c19b95a9a53"
 dependencies = [
  "derive_miniconf",
  "serde",
@@ -409,13 +423,12 @@ dependencies = [
 [[package]]
 name = "minimq"
 version = "0.2.0"
-source = "git+https://github.com/quartiq/minimq.git?rev=d2ec3e8#d2ec3e8351fa403ea96defd98c0b4410cbaa18a4"
+source = "git+https://github.com/quartiq/minimq.git?rev=dbdbec0#dbdbec0b77d2e134dc6c025018a82c14cbdfbe34"
 dependencies = [
  "bit_field",
  "embedded-nal",
  "enum-iterator",
- "generic-array 0.14.4",
+ "heapless 0.7.1",
- "heapless 0.6.1",
 ]
 
 [[package]]
@@ -441,9 +454,9 @@ checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
 
 [[package]]
 name = "ndarray"
-version = "0.15.1"
+version = "0.15.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc1372704f14bb132a49a6701c2238970a359ee0829fed481b522a63bf25456a"
+checksum = "02b2e4807aaa21dc6dcc3417e5902dc199c3648043bf27b7af4b202332fe4760"
 dependencies = [
  "matrixmultiply",
  "num-complex",
@@ -454,9 +467,9 @@ dependencies = [
 
 [[package]]
 name = "no-std-net"
-version = "0.4.0"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2178127478ae4ee9be7180bc9c3bffb6354dd7238400db567102f98c413a9f35"
+checksum = "1bcece43b12349917e096cddfa66107277f123e6c96a5aea78711dc601a47152"
 
 [[package]]
 name = "num-complex"
@@ -538,12 +551,6 @@ dependencies = [
  "proc-macro2",
 ]
 
-[[package]]
-name = "r0"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
-
 [[package]]
 name = "rand"
 version = "0.8.3"
@@ -667,11 +674,11 @@ dependencies = [
 
 [[package]]
 name = "serde-json-core"
-version = "0.3.0"
+version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "39af17f40c2a28d2c9a7918663ddc8a10f54cc6f109ead5c3f010869761df186"
+checksum = "8014aeea272bca0f0779778d43253f2f3375b414185b30e6ecc4d3e4a9994781"
 dependencies = [
- "heapless 0.6.1",
+ "heapless 0.7.1",
  "ryu",
  "serde",
 ]
@@ -711,10 +718,10 @@ dependencies = [
 [[package]]
 name = "smoltcp-nal"
 version = "0.1.0"
-source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=4a1711c#4a1711c54cdf79f5ee8c1c99a1e8984f5944270c"
+source = "git+https://github.com/quartiq/smoltcp-nal.git?rev=5e56576#5e56576fbbc594f0a0e1df9222a20eb35c8e7511"
 dependencies = [
  "embedded-nal",
- "heapless 0.6.1",
+ "heapless 0.7.1",
  "nanorand",
  "smoltcp",
 ]
@@ -730,7 +737,7 @@ dependencies = [
  "cortex-m-rtic",
  "dsp",
  "embedded-hal",
- "heapless 0.6.1",
+ "heapless 0.7.1",
  "log",
  "mcp23017",
  "miniconf",

Cargo.toml

@@ -33,7 +33,7 @@ cortex-m-rt = { version = "0.6", features = ["device"] }
 log = { version = "0.4", features = ["max_level_trace", "release_max_level_info"] }
 rtt-target = { version = "0.3", features = ["cortex-m"] }
 serde = { version = "1.0", features = ["derive"], default-features = false }
-heapless = { version = "0.6", features = ["serde"] }
+heapless = { version = "0.7", features = ["serde"] }
 cortex-m-rtic = "0.5.6"
 embedded-hal = "0.2.5"
 nb = "1.0.0"
@@ -44,12 +44,14 @@ dsp = { path = "dsp" }
 ad9959 = { path = "ad9959" }
 miniconf = "0.1.0"
 shared-bus = {version = "0.2.2", features = ["cortex-m"] }
-serde-json-core = "0.3"
+serde-json-core = "0.4"
 
+# rtt-target bump
 [dependencies.rtt-logger]
 git = "https://github.com/quartiq/rtt-logger.git"
 rev = "70b0eb5"
 
+# rewrite
 [dependencies.mcp23017]
 git = "https://github.com/lucazulian/mcp23017.git"
 rev = "523d71d"
@@ -58,17 +60,22 @@ rev = "523d71d"
 features = ["stm32h743v", "rt", "unproven", "ethernet", "quadspi"]
 version = "0.9.0"
 
+# link.x section start/end
+[patch.crates-io.cortex-m-rt]
+git = "https://github.com/rust-embedded/cortex-m-rt.git"
+rev = "a2e3ad5"
+
 [patch.crates-io.miniconf]
 git = "https://github.com/quartiq/miniconf.git"
-rev = "c6f2b28"
+rev = "2750533"
 
 [dependencies.smoltcp-nal]
 git = "https://github.com/quartiq/smoltcp-nal.git"
-rev = "4a1711c"
+rev = "5e56576"
 
 [dependencies.minimq]
 git = "https://github.com/quartiq/minimq.git"
-rev = "d2ec3e8"
+rev = "dbdbec0"
 
 [features]
 nightly = ["cortex-m/inline-asm", "dsp/nightly"]

build.rs

@@ -0,0 +1,3 @@
+fn main() {
+    println!("cargo:rerun-if-changed=memory.x");
+}

memory.x

@@ -13,10 +13,6 @@ MEMORY
 }
 
 SECTIONS {
-  .itcm : ALIGN(8) {
-    *(.itcm .itcm.*);
-    . = ALIGN(8);
-    } > ITCM
   .axisram (NOLOAD) : ALIGN(8) {
     *(.axisram .axisram.*);
     . = ALIGN(8);
@@ -33,4 +29,18 @@ SECTIONS {
     *(.sram3 .sram3.*);
     . = ALIGN(4);
     } > SRAM3
-} INSERT AFTER .bss;
+  .itcm : ALIGN(8) {
+    . = ALIGN(8);
+    __sitcm = .;
+    *(.itcm .itcm.*);
+    . = ALIGN(8);
+    __eitcm = .;
+  } > ITCM AT>FLASH
+  __siitcm = LOADADDR(.itcm);
+} INSERT AFTER .uninit;
+
+ASSERT(__sitcm % 8 == 0 && __eitcm % 8 == 0, "
+BUG(cortex-m-rt): .itcm is not 8-byte aligned");
+
+ASSERT(__siitcm % 4 == 0, "
+BUG(cortex-m-rt): the LMA of .itcm is not 4-byte aligned");

src/bin/dual-iir.rs

@@ -119,6 +119,8 @@ const APP: () = {
     /// Because the ADC and DAC operate at the same rate, these two constraints actually implement
     /// the same time bounds, meeting one also means the other is also met.
     #[task(binds=DMA1_STR4, resources=[adcs, digital_inputs, dacs, iir_state, settings, telemetry], priority=2)]
+    #[inline(never)]
+    #[link_section = ".itcm.process"]
     fn process(c: process::Context) {
         let adc_samples = [
             c.resources.adcs.0.acquire_buffer(),

src/bin/lockin.rs

@@ -152,6 +152,8 @@ const APP: () = {
     /// It outputs either I/Q or power/phase on DAC0/DAC1. Data is normalized to full scale.
     /// PLL bandwidth, filter bandwidth, slope, and x/y or power/phase post-filters are available.
     #[task(binds=DMA1_STR4, resources=[adcs, dacs, lockin, timestamper, pll, settings, telemetry], priority=2)]
+    #[inline(never)]
+    #[link_section = ".itcm.process"]
     fn process(c: process::Context) {
         let adc_samples = [
             c.resources.adcs.0.acquire_buffer(),

src/hardware/configuration.rs

@@ -9,7 +9,7 @@ use stm32h7xx_hal::{
 
 const NUM_SOCKETS: usize = 4;
 
-use heapless::{consts, Vec};
+use heapless::Vec;
 use smoltcp_nal::smoltcp;
 
 use embedded_hal::digital::v2::{InputPin, OutputPin};
@@ -105,6 +105,52 @@ pub struct PounderDevices {
 /// Static storage for the ethernet DMA descriptor ring.
 static mut DES_RING: ethernet::DesRing = ethernet::DesRing::new();
 
+/// Setup ITCM and load its code from flash.
+///
+/// For portability and maintainability this is implemented in Rust.
+/// Since this is implemented in Rust the compiler may assume that bss and data are set
+/// up already. There is no easy way to ensure this implementation will never need bss
+/// or data. Hence we can't safely run this as the cortex-m-rt `pre_init` hook before
+/// bss/data is setup.
+///
+/// Calling (through IRQ or directly) any code in ITCM before having called
+/// this method is undefined.
+fn load_itcm() {
+    extern "C" {
+        static mut __sitcm: u32;
+        static mut __eitcm: u32;
+        static mut __siitcm: u32;
+    }
+    use core::{ptr, slice, sync::atomic};
+
+    // NOTE(unsafe): Assuming the address symbols from the linker as well as
+    // the source instruction data are all valid, this is safe as it only
+    // copies linker-prepared data to where the code expects it to be.
+    // Calling it multiple times is safe as well.
+
+    unsafe {
+        // ITCM is enabled on reset on our CPU but might not be on others.
+        // Keep for completeness.
+        const ITCMCR: *mut u32 = 0xE000_EF90usize as _;
+        ptr::write_volatile(ITCMCR, ptr::read_volatile(ITCMCR) | 1);
+
+        // Ensure ITCM is enabled before loading.
+        atomic::fence(atomic::Ordering::SeqCst);
+
+        let len =
+            (&__eitcm as *const u32).offset_from(&__sitcm as *const _) as usize;
+        let dst = slice::from_raw_parts_mut(&mut __sitcm as *mut _, len);
+        let src = slice::from_raw_parts(&__siitcm as *const _, len);
+        // Load code into ITCM.
+        dst.copy_from_slice(src);
+    }
+
+    // Ensure ITCM is loaded before potentially executing any instructions from it.
+    atomic::fence(atomic::Ordering::SeqCst);
+    cortex_m::asm::dsb();
+    cortex_m::asm::isb();
+}
+
 /// Configure the stabilizer hardware for operation.
 ///
 /// # Args
@@ -157,9 +203,12 @@ pub fn setup(
         log::set_logger(&LOGGER)
             .map(|()| log::set_max_level(log::LevelFilter::Trace))
             .unwrap();
-        log::info!("starting...");
+        log::info!("Starting");
     }
 
+    // Before being able to call any code in ITCM, load that code from flash.
+    load_itcm();
+
     // Set up the system timer for RTIC scheduling.
     {
         let tim15 =
@@ -593,7 +642,7 @@ pub fn setup(
             let mut sockets =
                 smoltcp::socket::SocketSet::new(&mut store.sockets[..]);
 
-            let mut handles: Vec<smoltcp::socket::SocketHandle, consts::U64> =
+            let mut handles: Vec<smoltcp::socket::SocketHandle, 64> =
                 Vec::new();
             for storage in store.socket_storage.iter_mut() {
                 let tcp_socket = {
@@ -872,6 +921,7 @@ pub fn setup(
 
         #[cfg(feature = "pounder_v1_1")]
         let pounder_stamper = {
+            log::info!("Assuming Pounder v1.1 or later");
             let etr_pin = gpioa.pa0.into_alternate_af3();
 
             // The frequency in the constructor is dont-care, as we will modify the period + clock
@@ -934,13 +984,13 @@ pub fn setup(
         digital_inputs,
     };
 
+    // Enable the instruction cache.
+    core.SCB.enable_icache();
+
     // info!("Version {} {}", build_info::PKG_VERSION, build_info::GIT_VERSION.unwrap());
     // info!("Built on {}", build_info::BUILT_TIME_UTC);
     // info!("{} {}", build_info::RUSTC_VERSION, build_info::TARGET);
     log::info!("setup() complete");
 
-    // Enable the instruction cache.
-    core.SCB.enable_icache();
-
     (stabilizer, pounder)
 }

src/hardware/mod.rs

@@ -90,11 +90,11 @@ fn panic(info: &core::panic::PanicInfo) -> ! {
 }
 
 #[cortex_m_rt::exception]
-fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
+unsafe fn HardFault(ef: &cortex_m_rt::ExceptionFrame) -> ! {
     panic!("HardFault at {:#?}", ef);
 }
 
 #[cortex_m_rt::exception]
-fn DefaultHandler(irqn: i16) {
+unsafe fn DefaultHandler(irqn: i16) {
     panic!("Unhandled exception (IRQn = {})", irqn);
 }

src/net/messages.rs

@@ -1,4 +1,4 @@
-use heapless::{consts, String, Vec};
+use heapless::{String, Vec};
 use serde::Serialize;
 
 use core::fmt::Write;
@@ -12,15 +12,15 @@ pub enum SettingsResponseCode {
 /// Represents a generic MQTT message.
 pub struct MqttMessage<'a> {
     pub topic: &'a str,
-    pub message: Vec<u8, consts::U128>,
+    pub message: Vec<u8, 128>,
-    pub properties: Vec<minimq::Property<'a>, consts::U1>,
+    pub properties: Vec<minimq::Property<'a>, 1>,
 }
 
 /// The payload of the MQTT response message to a settings update request.
 #[derive(Serialize)]
 pub struct SettingsResponse {
     code: u8,
-    msg: String<heapless::consts::U64>,
+    msg: String<64>,
 }
 
 impl<'a> MqttMessage<'a> {
@@ -48,8 +48,7 @@ impl<'a> MqttMessage<'a> {
             .unwrap_or(&default_response);
 
         // Associate any provided correlation data with the response.
-        let mut correlation_data: Vec<minimq::Property<'a>, consts::U1> =
+        let mut correlation_data: Vec<minimq::Property<'a>, 1> = Vec::new();
-            Vec::new();
         if let Some(data) = properties
             .iter()
             .find(|prop| matches!(prop, minimq::Property::CorrelationData(_)))

src/net/miniconf_client.rs

@@ -10,7 +10,7 @@
 ///!
 ///! Respones to settings updates are sent without quality-of-service guarantees, so there's no
 ///! guarantee that the requestee will be informed that settings have been applied.
-use heapless::{consts, String};
+use heapless::String;
 
 use super::{MqttMessage, NetworkReference, SettingsResponse, UpdateState};
 use crate::hardware::design_parameters::MQTT_BROKER;
@@ -20,11 +20,11 @@ pub struct MiniconfClient<S>
 where
     S: miniconf::Miniconf + Default + Clone,
 {
-    default_response_topic: String<consts::U128>,
+    default_response_topic: String<128>,
-    mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
+    mqtt: minimq::Minimq<NetworkReference, 256>,
     settings: S,
     subscribed: bool,
-    settings_prefix: String<consts::U64>,
+    settings_prefix: String<64>,
 }
 
 impl<S> MiniconfClient<S>
@@ -39,13 +39,12 @@ where
     /// * `prefix` - The MQTT device prefix to use for this device.
     pub fn new(stack: NetworkReference, client_id: &str, prefix: &str) -> Self {
         let mqtt =
-            minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
+            minimq::Minimq::new(MQTT_BROKER.into(), client_id, stack).unwrap();
-                .unwrap();
 
-        let mut response_topic: String<consts::U128> = String::from(prefix);
+        let mut response_topic: String<128> = String::from(prefix);
         response_topic.push_str("/log").unwrap();
 
-        let mut settings_prefix: String<consts::U64> = String::from(prefix);
+        let mut settings_prefix: String<64> = String::from(prefix);
         settings_prefix.push_str("/settings").unwrap();
 
         Self {
@@ -62,7 +61,7 @@ where
     /// # Returns
     /// An option containing an action that should be completed as a result of network servicing.
     pub fn update(&mut self) -> UpdateState {
-        let mqtt_connected = match self.mqtt.is_connected() {
+        let mqtt_connected = match self.mqtt.client.is_connected() {
             Ok(connected) => connected,
             Err(minimq::Error::Network(
                 smoltcp_nal::NetworkError::NoIpAddress,
@@ -82,13 +81,13 @@ where
         if !self.subscribed && mqtt_connected {
             // Note(unwrap): We construct a string with two more characters than the prefix
             // strucutre, so we are guaranteed to have space for storage.
-            let mut settings_topic: String<consts::U66> =
+            let mut settings_topic: String<66> =
                 String::from(self.settings_prefix.as_str());
             settings_topic.push_str("/#").unwrap();
 
             // We do not currently handle or process potential subscription failures. Instead, this
             // failure will be logged through the stabilizer logging interface.
-            self.mqtt.subscribe(&settings_topic, &[]).unwrap();
+            self.mqtt.client.subscribe(&settings_topic, &[]).unwrap();
             self.subscribed = true;
         }
 

src/net/mod.rs

@@ -6,7 +6,7 @@
 ///! streaming over raw UDP/TCP sockets. This module encompasses the main processing routines
 ///! related to Stabilizer networking operations.
 use core::fmt::Write;
-use heapless::{consts, String};
+use heapless::String;
 pub use miniconf::Miniconf;
 use serde::Serialize;
 
@@ -133,7 +133,7 @@ fn get_client_id(
     app: &str,
     client: &str,
     mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
-) -> String<consts::U64> {
+) -> String<64> {
     let mut identifier = String::new();
     write!(&mut identifier, "{}-{}-{}", app, mac, client).unwrap();
     identifier
@@ -150,10 +150,10 @@ fn get_client_id(
 pub fn get_device_prefix(
     app: &str,
     mac: smoltcp_nal::smoltcp::wire::EthernetAddress,
-) -> String<consts::U128> {
+) -> String<128> {
     // Note(unwrap): The mac address + binary name must be short enough to fit into this string. If
     // they are defined too long, this will panic and the device will fail to boot.
-    let mut prefix: String<consts::U128> = String::new();
+    let mut prefix: String<128> = String::new();
     write!(&mut prefix, "dt/sinara/{}/{}", app, mac).unwrap();
 
     prefix

src/net/shared.rs

@@ -47,25 +47,25 @@ impl<'a, S> NetworkStackProxy<'a, S> {
 // proxy structure.
 macro_rules! forward {
     ($func:ident($($v:ident: $IT:ty),*) -> $T:ty) => {
-        fn $func(&self, $($v: $IT),*) -> $T {
+        fn $func(&mut self, $($v: $IT),*) -> $T {
             self.mutex.lock(|stack| stack.$func($($v),*))
         }
     }
 }
 
 // Implement a TCP stack for the proxy if the underlying network stack implements it.
-impl<'a, S> embedded_nal::TcpStack for NetworkStackProxy<'a, S>
+impl<'a, S> embedded_nal::TcpClientStack for NetworkStackProxy<'a, S>
 where
-    S: embedded_nal::TcpStack,
+    S: embedded_nal::TcpClientStack,
 {
     type TcpSocket = S::TcpSocket;
     type Error = S::Error;
 
-    forward! {open(mode: embedded_nal::Mode) -> Result<S::TcpSocket, S::Error>}
+    forward! {socket() -> Result<S::TcpSocket, S::Error>}
-    forward! {connect(socket: S::TcpSocket, remote: embedded_nal::SocketAddr) -> Result<S::TcpSocket, S::Error>}
+    forward! {connect(socket: &mut S::TcpSocket, remote: embedded_nal::SocketAddr) -> embedded_nal::nb::Result<(), S::Error>}
     forward! {is_connected(socket: &S::TcpSocket) -> Result<bool, S::Error>}
-    forward! {write(socket: &mut S::TcpSocket, buffer: &[u8]) -> embedded_nal::nb::Result<usize, S::Error>}
+    forward! {send(socket: &mut S::TcpSocket, buffer: &[u8]) -> embedded_nal::nb::Result<usize, S::Error>}
-    forward! {read(socket: &mut S::TcpSocket, buffer: &mut [u8]) -> embedded_nal::nb::Result<usize, S::Error>}
+    forward! {receive(socket: &mut S::TcpSocket, buffer: &mut [u8]) -> embedded_nal::nb::Result<usize, S::Error>}
     forward! {close(socket: S::TcpSocket) -> Result<(), S::Error>}
 }
 

src/net/telemetry.rs

@@ -10,7 +10,7 @@
 ///! sampling frequency. Instead, the raw codes are stored and the telemetry is generated as
 ///! required immediately before transmission. This ensures that any slower computation required
 ///! for unit conversion can be off-loaded to lower priority tasks.
-use heapless::{consts, String, Vec};
+use heapless::{String, Vec};
 use minimq::QoS;
 use serde::Serialize;
 
@@ -21,8 +21,8 @@ use crate::hardware::{
 
 /// The telemetry client for reporting telemetry data over MQTT.
 pub struct TelemetryClient<T: Serialize> {
-    mqtt: minimq::MqttClient<minimq::consts::U256, NetworkReference>,
+    mqtt: minimq::Minimq<NetworkReference, 256>,
-    telemetry_topic: String<consts::U128>,
+    telemetry_topic: String<128>,
     _telemetry: core::marker::PhantomData<T>,
 }
 
@@ -97,10 +97,9 @@ impl<T: Serialize> TelemetryClient<T> {
     /// A new telemetry client.
     pub fn new(stack: NetworkReference, client_id: &str, prefix: &str) -> Self {
         let mqtt =
-            minimq::MqttClient::new(MQTT_BROKER.into(), client_id, stack)
+            minimq::Minimq::new(MQTT_BROKER.into(), client_id, stack).unwrap();
-                .unwrap();
 
-        let mut telemetry_topic: String<consts::U128> = String::from(prefix);
+        let mut telemetry_topic: String<128> = String::from(prefix);
         telemetry_topic.push_str("/telemetry").unwrap();
 
         Self {
@@ -119,9 +118,10 @@ impl<T: Serialize> TelemetryClient<T> {
     /// # Args
     /// * `telemetry` - The telemetry to report
     pub fn publish(&mut self, telemetry: &T) {
-        let telemetry: Vec<u8, consts::U256> =
+        let telemetry: Vec<u8, 256> =
             serde_json_core::to_vec(telemetry).unwrap();
         self.mqtt
+            .client
             .publish(&self.telemetry_topic, &telemetry, QoS::AtMostOnce, &[])
             .ok();
     }