Update stepper crate versions including embedded_common

Author: Keybinder

src/stepper_drivebase_firmware/Cargo.lock

@@ -1,5 +1,5 @@
 [package]
-authors = ["Jonah Hopkin <jonahhopkin@gmail.com>", "Evan LaFontaine", "Aavin Fernando", "Jethro Rosettenstein"]
+authors = ["Jonah Hopkin <turtle@turtle.business>", "Evan LaFontaine", "Aavin Fernando", "Jethro Rosettenstein"]
 edition = "2024"
 readme = "README.md"
 name = "stepper_drivebase_firmware"
@@ -10,9 +10,9 @@ cortex-m-rt = "0.7"
 defmt = "1.1"
 defmt-rtt = "1.0"
 panic-probe = { version = "1.0", features = ["defmt"] }
-canadensis = "0.5.0"
-canadensis_data_types = "0.5.0"
-canadensis_filter_config = "0.5.0"
+canadensis = "0.6.1"
+canadensis_data_types = "0.6.0"
+canadensis_filter_config = "0.6.0"
 heapless = "0.9.3"
 embedded-alloc = "0.7.0"
 # embedded-io = "0.6.1"
@@ -27,17 +27,18 @@ git = "https://github.com/bluesatunsw/stm32g4xx-hal"
 features = ["stm32g474", "rt", "can"]
 
 [dependencies.canadensis_can]
-version = "0.5.1"
+version = "0.6.0"
 features = ["can-fd"]
 
 [dependencies.cortex-m]
 version = "0.7"
 features = ["critical-section-single-core"]
 
 [dependencies.embedded-common]
-version = "0.0.1"
+version = "0.1.0"
 git = "https://github.com/bluesatunsw/embedded_common/"
-features = ["stepper-board"]
+branch = "v0.1.0"
+features = ["stepper-board", "stm32g474", "can-fd"]
 
 # cargo build/run
 [profile.dev]

src/stepper_drivebase_firmware/Cargo.toml

@@ -1,7 +1,4 @@
 use embedded_common::{
-    stepper_bus::{
-        Channel, ClkPin, DiagPin, EnnPin, StepperBus, StepperNcsPins, StepperSpiPins, ALL_CHANNELS,
-    },
     tmc_registers::{
         AMax, ChopConf, DMax, GConf, GStat, GlobalScalar, IHoldIRun, PwmConf, RampMode, TPowerDown,
         TPwmThrs, TZeroWait, TmcPosition, UnitlessExt, UnitsExt, VMax, VStart, VStop, XActual,
@@ -11,6 +8,10 @@ use embedded_common::{
 use hal::{pac, rcc::Rcc};
 use stm32g4xx_hal as hal;
 
+use crate::stepper_bus::{
+    Channel, ClkPin, DiagPin, EnnPin, StepperBus, StepperNcsPins, StepperSpiPins, ALL_CHANNELS,
+};
+
 /// Gear ratio between the stepper motor shaft and the shaft actually being driven.
 const GEAR_RATIO: f32 = 60.;
 /// Inverts the position convention for the motors.

src/stepper_drivebase_firmware/src/drivebase.rs

@@ -1,7 +1,7 @@
 // FIXME!
 
 use cortex_m::asm::delay;
-use embedded_common::stepper_bus::Channel;
+use crate::stepper_bus::Channel;
 use stm32g4xx_hal::{
     gpio::{AnyPin, Output, AF5, PB13, PB14, PB15},
     pac::SPI2,

src/stepper_drivebase_firmware/src/encoder_bus.rs

@@ -25,7 +25,6 @@ use embedded_common::{
     argb::{self, Colour},
     can::CanDriver,
     clock,
-    stepper_bus::{Channel, StepperNcsPins},
     tmc_registers::TmcPosition,
 };
 use heapless::Vec;
@@ -49,12 +48,14 @@ use panic_probe as _;
 use defmt_rtt as _;
 
 use crate::drivebase::Drivebase;
+use crate::stepper_bus::{Channel, StepperNcsPins};
 
 extern crate alloc;
 
 mod as_registers;
 mod drivebase;
 mod encoder_bus;
+mod stepper_bus;
 
 // Cyphal constants
 const NODE_ID: u8 = 6;
@@ -63,7 +64,7 @@ const CYPHAL_NUM_TOPICS: usize = 8;
 const CYPHAL_NUM_SERVICES: usize = 8;
 
 const HEARTBEAT_PERIOD_US: u32 = 1_000_000;
-const TELEM_PERIOD_US: u32 = 1_000;
+const TELEM_PERIOD_US: u32 = 50_000;
 const TID_TIMEOUT_US: u32 = 100_000;
 
 const ENABLE_TELEM: bool = true;