diff --git a/right/Cargo.lock b/Cargo.lock
similarity index 70%
rename from right/Cargo.lock
rename to Cargo.lock
index 4e21ddc..d32809b 100644
--- a/right/Cargo.lock
+++ b/Cargo.lock
@@ -4,18 +4,18 @@ version = 3
 
 [[package]]
 name = "aho-corasick"
-version = "1.0.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fc08ce920c31afb70f013dcce1bfc3a3195de6a228474e45e1f145b36f8d04"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
 dependencies = [
  "memchr",
 ]
 
 [[package]]
 name = "arrayvec"
-version = "0.7.2"
+version = "0.7.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8da52d66c7071e2e3fa2a1e5c6d088fec47b593032b254f5e980de8ea54454d6"
+checksum = "96d30a06541fbafbc7f82ed10c06164cfbd2c401138f6addd8404629c4b16711"
 
 [[package]]
 name = "ascii-canvas"
@@ -28,33 +28,13 @@ dependencies = [
 
 [[package]]
 name = "atomic-polyfill"
-version = "0.1.11"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
 
-[[package]]
-name = "atomic-polyfill"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c314e70d181aa6053b26e3f7fbf86d1dfff84f816a6175b967666b3506ef7289"
-dependencies = [
- "critical-section",
-]
-
-[[package]]
-name = "atty"
-version = "0.2.14"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8"
-dependencies = [
- "hermit-abi 0.1.19",
- "libc",
- "winapi",
-]
-
 [[package]]
 name = "autocfg"
 version = "1.1.0"
@@ -78,9 +58,9 @@ dependencies = [
 
 [[package]]
 name = "base64"
-version = "0.13.1"
+version = "0.21.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
+checksum = "35636a1494ede3b646cc98f74f8e62c773a38a659ebc777a2cf26b9b74171df9"
 
 [[package]]
 name = "bit-set"
@@ -110,23 +90,32 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
-name = "bytemuck"
-version = "1.13.1"
+name = "bitflags"
+version = "2.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "17febce684fd15d89027105661fec94afb475cb995fbc59d2865198446ba2eea"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
+dependencies = [
+ "serde",
+]
+
+[[package]]
+name = "bytemuck"
+version = "1.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "374d28ec25809ee0e23827c2ab573d729e293f281dfe393500e7ad618baa61c6"
 dependencies = [
  "bytemuck_derive",
 ]
 
 [[package]]
 name = "bytemuck_derive"
-version = "1.4.1"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fdde5c9cd29ebd706ce1b35600920a33550e402fc998a2e53ad3b42c3c47a192"
+checksum = "965ab7eb5f8f97d2a083c799f3a1b994fc397b2fe2da5d1da1626ce15a39f2b1"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.18",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -135,12 +124,6 @@ version = "1.4.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
 
-[[package]]
-name = "cc"
-version = "1.0.79"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "50d30906286121d95be3d479533b458f87493b30a4b5f79a607db8f5d11aa91f"
-
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
@@ -165,13 +148,12 @@ dependencies = [
 
 [[package]]
 name = "colored"
-version = "2.0.0"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b3616f750b84d8f0de8a58bda93e08e2a81ad3f523089b05f1dffecab48c6cbd"
+checksum = "cbf2150cce219b664a8a70df7a1f933836724b503f8a413af9365b4dcc4d90b8"
 dependencies = [
- "atty",
  "lazy_static",
- "winapi",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
@@ -217,9 +199,9 @@ dependencies = [
 
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "crunchy"
@@ -229,9 +211,9 @@ checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
 
 [[package]]
 name = "darling"
-version = "0.13.4"
+version = "0.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a01d95850c592940db9b8194bc39f4bc0e89dee5c4265e4b1807c34a9aba453c"
+checksum = "0209d94da627ab5605dcccf08bb18afa5009cfbef48d8a8b7d7bdbc79be25c5e"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -239,27 +221,27 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.13.4"
+version = "0.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "859d65a907b6852c9361e3185c862aae7fafd2887876799fa55f5f99dc40d610"
+checksum = "177e3443818124b357d8e76f53be906d60937f0d3a90773a664fa63fa253e621"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
  "strsim",
- "syn 1.0.109",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.13.4"
+version = "0.20.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9c972679f83bdf9c42bd905396b6c3588a843a17f0f16dfcfa3e2c5d57441835"
+checksum = "836a9bbc7ad63342d6d6e7b815ccab164bc77a2d95d84bc3117a8c0d5c98e2d5"
 dependencies = [
  "darling_core",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.41",
 ]
 
 [[package]]
@@ -268,6 +250,15 @@ version = "0.3.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f578e8e2c440e7297e008bb5486a3a8a194775224bbc23729b0dbdfaeebf162e"
 
+[[package]]
+name = "deranged"
+version = "0.3.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8eb30d70a07a3b04884d2677f06bec33509dc67ca60d92949e5535352d3191dc"
+dependencies = [
+ "powerfmt",
+]
+
 [[package]]
 name = "diff"
 version = "0.1.13"
@@ -297,34 +288,20 @@ dependencies = [
 
 [[package]]
 name = "either"
-version = "1.8.1"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91"
-
-[[package]]
-name = "embassy-cortex-m"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
-dependencies = [
- "atomic-polyfill 1.0.2",
- "cfg-if",
- "cortex-m",
- "critical-section",
- "embassy-executor",
- "embassy-hal-common",
- "embassy-macros",
- "embassy-sync",
-]
+checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
 
 [[package]]
 name = "embassy-embedded-hal"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
  "embassy-futures",
  "embassy-sync",
+ "embassy-time",
  "embedded-hal 0.2.7",
- "embedded-hal 1.0.0-alpha.10",
+ "embedded-hal 1.0.0-rc.3",
  "embedded-hal-async",
  "embedded-storage",
  "embedded-storage-async",
@@ -333,55 +310,54 @@ dependencies = [
 
 [[package]]
 name = "embassy-executor"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+version = "0.4.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
- "atomic-polyfill 1.0.2",
  "cortex-m",
  "critical-section",
- "embassy-macros",
+ "embassy-executor-macros",
  "embassy-time",
- "futures-util",
- "log",
- "static_cell",
-]
-
-[[package]]
-name = "embassy-futures"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
-dependencies = [
  "log",
 ]
 
 [[package]]
-name = "embassy-hal-common"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
-dependencies = [
- "num-traits",
-]
-
-[[package]]
-name = "embassy-macros"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+name = "embassy-executor-macros"
+version = "0.4.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn 1.0.109",
+ "syn 2.0.41",
+]
+
+[[package]]
+name = "embassy-futures"
+version = "0.1.1"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
+dependencies = [
+ "log",
+]
+
+[[package]]
+name = "embassy-hal-internal"
+version = "0.1.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
+dependencies = [
+ "cortex-m",
+ "critical-section",
+ "num-traits",
 ]
 
 [[package]]
 name = "embassy-net-driver"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 
 [[package]]
 name = "embassy-net-driver-channel"
-version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver",
@@ -391,32 +367,31 @@ dependencies = [
 [[package]]
 name = "embassy-rp"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
- "atomic-polyfill 1.0.2",
+ "atomic-polyfill",
  "cfg-if",
  "cortex-m",
  "cortex-m-rt",
  "critical-section",
- "embassy-cortex-m",
  "embassy-embedded-hal",
- "embassy-executor",
  "embassy-futures",
- "embassy-hal-common",
+ "embassy-hal-internal",
  "embassy-sync",
  "embassy-time",
  "embassy-usb-driver",
  "embedded-hal 0.2.7",
- "embedded-hal 1.0.0-alpha.10",
+ "embedded-hal 1.0.0-rc.3",
  "embedded-hal-async",
  "embedded-hal-nb",
- "embedded-io",
+ "embedded-io 0.6.1",
+ "embedded-io-async",
  "embedded-storage",
+ "embedded-storage-async",
  "fixed",
  "futures",
  "log",
  "nb 1.1.0",
- "paste",
  "pio",
  "pio-proc",
  "rand_core",
@@ -426,41 +401,42 @@ dependencies = [
 
 [[package]]
 name = "embassy-sync"
-version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+version = "0.5.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
  "cfg-if",
  "critical-section",
- "embedded-io",
+ "embedded-io-async",
  "futures-util",
- "heapless",
+ "heapless 0.8.0",
  "log",
 ]
 
 [[package]]
 name = "embassy-time"
-version = "0.1.1"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+version = "0.2.0"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
- "atomic-polyfill 1.0.2",
  "cfg-if",
  "critical-section",
  "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0-rc.3",
+ "embedded-hal-async",
  "futures-util",
- "heapless",
+ "heapless 0.8.0",
  "log",
 ]
 
 [[package]]
 name = "embassy-usb"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
  "embassy-futures",
  "embassy-net-driver-channel",
  "embassy-sync",
  "embassy-usb-driver",
- "heapless",
+ "heapless 0.8.0",
  "ssmarshal",
  "usbd-hid",
 ]
@@ -468,27 +444,27 @@ dependencies = [
 [[package]]
 name = "embassy-usb-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 
 [[package]]
 name = "embassy-usb-logger"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy.git#d414f4e4f7f243b4e52e6550ca616c180d731774"
+source = "git+https://github.com/embassy-rs/embassy.git#a2d4bab2f8a4a9b994bc0289938a9f725950715f"
 dependencies = [
  "embassy-futures",
  "embassy-sync",
  "embassy-usb",
  "futures",
  "log",
- "static_cell",
+ "static_cell 2.0.0",
  "usbd-hid",
 ]
 
 [[package]]
 name = "embedded-alloc"
-version = "0.5.0"
+version = "0.5.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8931e47e33c5d3194fbcf9cc82df0919193bd2fa40008f388eb1d28fd9c9ea6b"
+checksum = "ddae17915accbac2cfbc64ea0ae6e3b330e6ea124ba108dada63646fd3c6f815"
 dependencies = [
  "critical-section",
  "linked_list_allocator",
@@ -506,26 +482,26 @@ dependencies = [
 
 [[package]]
 name = "embedded-hal"
-version = "1.0.0-alpha.10"
+version = "1.0.0-rc.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f65c4d073f5d91c66e629b216818a4c9747eeda0debedf2deda9a0a947e4e93b"
+checksum = "bc402f79e1fd22731ca945b4f97b5ff37e7b3f379312595c42bb2e8811c29920"
 
 [[package]]
 name = "embedded-hal-async"
-version = "0.2.0-alpha.1"
+version = "1.0.0-rc.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8042370aa7af48de36d5312cda14c18ed8ca6b7ce64f5a07832fedc9dc83063f"
+checksum = "fa1fba2ef2ffb35d614acc6fb323ddf7facc45c069f24544d49ea54e5043626d"
 dependencies = [
- "embedded-hal 1.0.0-alpha.10",
+ "embedded-hal 1.0.0-rc.3",
 ]
 
 [[package]]
 name = "embedded-hal-nb"
-version = "1.0.0-alpha.2"
+version = "1.0.0-rc.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1465fffd56a95bbc105c17965bca1c1d5815027b1cc6bb183bc05d04563d065c"
+checksum = "3cde58312a0675b6c0389eb0dceb2bf8c735a697b0b5baa1f23bbaf030636deb"
 dependencies = [
- "embedded-hal 1.0.0-alpha.10",
+ "embedded-hal 1.0.0-rc.3",
  "nb 1.1.0",
 ]
 
@@ -536,16 +512,31 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ef1a6892d9eef45c8fa6b9e0086428a2cca8491aca8f787c534a3d6d0bcb3ced"
 
 [[package]]
-name = "embedded-storage"
-version = "0.3.0"
+name = "embedded-io"
+version = "0.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "156d7a2fdd98ebbf9ae579cbceca3058cff946e13f8e17b90e3511db0508c723"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
+[[package]]
+name = "embedded-io-async"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff09972d4073aa8c299395be75161d582e7629cd663171d62af73c8d50dba3f"
+dependencies = [
+ "embedded-io 0.6.1",
+]
+
+[[package]]
+name = "embedded-storage"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a21dea9854beb860f3062d10228ce9b976da520a73474aed3171ec276bc0c032"
 
 [[package]]
 name = "embedded-storage-async"
-version = "0.4.0"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "052997a894670d0cde873faa7405bc98e2fd29f569d2acd568561bc1c396b35a"
+checksum = "1763775e2323b7d5f0aa6090657f5e21cfa02ede71f5dc40eead06d64dcd15cc"
 dependencies = [
  "embedded-storage",
 ]
@@ -566,31 +557,26 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a357d28ed41a50f9c765dbfe56cbc04a64e53e5fc58ba79fbc34c10ef3df831f"
 
 [[package]]
-name = "errno"
-version = "0.3.1"
+name = "equivalent"
+version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bcfec3a70f97c962c307b2d2c56e358cf1d00b558d74262b5f929ee8cc7e73a"
-dependencies = [
- "errno-dragonfly",
- "libc",
- "windows-sys 0.48.0",
-]
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
 
 [[package]]
-name = "errno-dragonfly"
-version = "0.1.2"
+name = "errno"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa68f1b12764fab894d2755d2518754e71b4fd80ecfb822714a1206c2aab39bf"
+checksum = "a258e46cdc063eb8519c00b9fc845fc47bcfca4130e2f08e88665ceda8474245"
 dependencies = [
- "cc",
  "libc",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "fixed"
-version = "1.23.1"
+version = "1.24.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "79386fdcec5e0fde91b1a6a5bcd89677d1f9304f7f986b154a1b9109038854d9"
+checksum = "02c69ce7e7c0f17aa18fdd9d0de39727adb9c6281f2ad12f57cbe54ae6e76e7d"
 dependencies = [
  "az",
  "bytemuck",
@@ -612,9 +598,9 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "futures"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23342abe12aba583913b2e62f22225ff9c950774065e4bfb61a19cd9770fec40"
+checksum = "da0290714b38af9b4a7b094b8a37086d1b4e61f2df9122c3cad2577669145335"
 dependencies = [
  "futures-channel",
  "futures-core",
@@ -626,9 +612,9 @@ dependencies = [
 
 [[package]]
 name = "futures-channel"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "955518d47e09b25bbebc7a18df10b81f0c766eaf4c4f1cccef2fca5f2a4fb5f2"
+checksum = "ff4dd66668b557604244583e3e1e1eada8c5c2e96a6d0d6653ede395b78bbacb"
 dependencies = [
  "futures-core",
  "futures-sink",
@@ -636,44 +622,44 @@ dependencies = [
 
 [[package]]
 name = "futures-core"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4bca583b7e26f571124fe5b7561d49cb2868d79116cfa0eefce955557c6fee8c"
+checksum = "eb1d22c66e66d9d72e1758f0bd7d4fd0bee04cad842ee34587d68c07e45d088c"
 
 [[package]]
 name = "futures-io"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4fff74096e71ed47f8e023204cfd0aa1289cd54ae5430a9523be060cdb849964"
+checksum = "8bf34a163b5c4c52d0478a4d757da8fb65cabef42ba90515efee0f6f9fa45aaa"
 
 [[package]]
 name = "futures-macro"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "89ca545a94061b6365f2c7355b4b32bd20df3ff95f02da9329b34ccc3bd6ee72"
+checksum = "53b153fd91e4b0147f4aced87be237c98248656bb01050b96bf3ee89220a8ddb"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.18",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "futures-sink"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f43be4fe21a13b9781a69afa4985b0f6ee0e1afab2c6f454a8cf30e2b2237b6e"
+checksum = "e36d3378ee38c2a36ad710c5d30c2911d752cb941c00c72dbabfb786a7970817"
 
 [[package]]
 name = "futures-task"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "76d3d132be6c0e6aa1534069c705a74a5997a356c0dc2f86a47765e5617c5b65"
+checksum = "efd193069b0ddadc69c46389b740bbccdd97203899b48d09c5f7969591d6bae2"
 
 [[package]]
 name = "futures-util"
-version = "0.3.28"
+version = "0.3.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "26b01e40b772d54cf6c6d721c1d1abd0647a0106a12ecaa1c186273392a69533"
+checksum = "a19526d624e703a3179b3d322efec918b6246ea0fa51d41124525f00f1cc8104"
 dependencies = [
  "futures-core",
  "futures-macro",
@@ -685,9 +671,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.2.9"
+version = "0.2.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c85e1d9ab2eadba7e5040d4e09cbd6d072b76a557ad64e797c2cb9d4da21d7e4"
+checksum = "fe9006bed769170c11f845cf00c7c1e9092aeb3f268e007c3e760ac68008070f"
 dependencies = [
  "cfg-if",
  "libc",
@@ -696,10 +682,11 @@ dependencies = [
 
 [[package]]
 name = "half"
-version = "2.2.1"
+version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "02b4af3693f1b705df946e9fe5631932443781d0aabb423b62fcd4d73f6d2fd0"
+checksum = "bc52e53916c08643f1b56ec082790d1e86a32e58dc5268f897f313fbae7b4872"
 dependencies = [
+ "cfg-if",
  "crunchy",
 ]
 
@@ -713,19 +700,28 @@ dependencies = [
 ]
 
 [[package]]
-name = "hashbrown"
-version = "0.12.3"
+name = "hash32"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
+[[package]]
+name = "hashbrown"
+version = "0.14.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
-version = "0.7.16"
+version = "0.7.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
+checksum = "cdc6457c0eb62c71aac4bc17216026d8410337c4126773b9c5daba343f17964f"
 dependencies = [
- "atomic-polyfill 0.1.11",
- "hash32",
+ "atomic-polyfill",
+ "hash32 0.2.1",
  "rustc_version 0.4.0",
  "serde",
  "spin",
@@ -733,19 +729,20 @@ dependencies = [
 ]
 
 [[package]]
-name = "hermit-abi"
-version = "0.1.19"
+name = "heapless"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62b467343b94ba476dcb2500d242dadbb39557df889310ac77c5d99100aaac33"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
- "libc",
+ "hash32 0.3.1",
+ "stable_deref_trait",
 ]
 
 [[package]]
 name = "hermit-abi"
-version = "0.3.1"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fed44880c466736ef9a5c5b5facefb5ed0785676d0c02d612db14e54f0d84286"
+checksum = "d77f7ec81a6d05a3abb01ab6eb7590f6083d08449fe5a1c8b1e620283546ccb7"
 
 [[package]]
 name = "ident_case"
@@ -755,33 +752,21 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
 [[package]]
 name = "indexmap"
-version = "1.9.3"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99"
+checksum = "d530e1a18b1cb4c484e6e34556a0d948706958449fca0cab753d649f2bce3d1f"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
 ]
 
-[[package]]
-name = "io-lifetimes"
-version = "1.0.11"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eae7b9aee968036d54dce06cebaefd919e4472e753296daccd6d344e3e2df0c2"
-dependencies = [
- "hermit-abi 0.3.1",
- "libc",
- "windows-sys 0.48.0",
-]
-
 [[package]]
 name = "is-terminal"
-version = "0.4.7"
+version = "0.4.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "adcf93614601c8129ddf72e2d5633df827ba6551541c6d8c59520a371475be1f"
+checksum = "cb0889898416213fab133e1d33a0e5858a48177452750691bde3666d0fdbaf8b"
 dependencies = [
- "hermit-abi 0.3.1",
- "io-lifetimes",
+ "hermit-abi",
  "rustix",
  "windows-sys 0.48.0",
 ]
@@ -797,9 +782,9 @@ dependencies = [
 
 [[package]]
 name = "itoa"
-version = "1.0.6"
+version = "1.0.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "453ad9f582a441959e5f0d088b02ce04cfe8d51a8eaf077f12ac6d3e94164ca6"
+checksum = "b1a46d1a171d865aa5f83f92695765caa047a9b4cbae2cbf37dbd613a793fd4c"
 
 [[package]]
 name = "lalrpop"
@@ -840,9 +825,20 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.144"
+version = "0.2.151"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2b00cc1c228a6782d0f076e7b232802e0c5689d41bb5df366f2a6b6621cfdfe1"
+checksum = "302d7ab3130588088d277783b1e2d2e10c9e9e4a16dd9050e6ec93fb3e7048f4"
+
+[[package]]
+name = "libredox"
+version = "0.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "85c833ca1e66078851dba29046874e38f08b2c883700aa29a03ddd3b23814ee8"
+dependencies = [
+ "bitflags 2.4.1",
+ "libc",
+ "redox_syscall",
+]
 
 [[package]]
 name = "linked_list_allocator"
@@ -852,15 +848,15 @@ checksum = "9afa463f5405ee81cdb9cc2baf37e08ec7e4c8209442b5d72c04cfb2cd6e6286"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.3.8"
+version = "0.4.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef53942eb7bf7ff43a617b3e2c1c4a5ecf5944a7c1bc12d7ee39bbb15e5c1519"
+checksum = "c4cd1a83af159aa67994778be9070f0ae1bd732942279cabb14f86f986a21456"
 
 [[package]]
 name = "lock_api"
-version = "0.4.9"
+version = "0.4.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
+checksum = "3c168f8615b12bc01f9c17e2eb0cc07dcae1940121185446edc3744920e8ef45"
 dependencies = [
  "autocfg",
  "scopeguard",
@@ -868,15 +864,15 @@ dependencies = [
 
 [[package]]
 name = "log"
-version = "0.4.18"
+version = "0.4.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "518ef76f2f87365916b142844c16d8fefd85039bc5699050210a7778ee1cd1de"
+checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 
 [[package]]
 name = "memchr"
-version = "2.5.0"
+version = "2.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
+checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
 
 [[package]]
 name = "nb"
@@ -901,9 +897,9 @@ checksum = "e4a24736216ec316047a1fc4252e27dabb04218aa4a3f37c6e7ddbf1f9782b54"
 
 [[package]]
 name = "num-traits"
-version = "0.2.15"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
 ]
@@ -939,9 +935,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.17.2"
+version = "1.19.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9670a07f94779e00908f3e686eab508878ebb390ba6e604d3a284c00e8d0487b"
+checksum = "3fdb12b2476b595f9358c5161aa467c2438859caa136dec86c26fdd2efe17b92"
 
 [[package]]
 name = "parking_lot"
@@ -955,28 +951,28 @@ dependencies = [
 
 [[package]]
 name = "parking_lot_core"
-version = "0.9.7"
+version = "0.9.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9069cbb9f99e3a5083476ccb29ceb1de18b9118cafa53e90c9551235de2b9521"
+checksum = "4c42a9226546d68acdd9c0a280d17ce19bfe27a46bf68784e4066115788d008e"
 dependencies = [
  "cfg-if",
  "libc",
  "redox_syscall",
  "smallvec",
- "windows-sys 0.45.0",
+ "windows-targets 0.48.5",
 ]
 
 [[package]]
 name = "paste"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f746c4065a8fa3fe23974dd82f15431cc8d40779821001404d10d2e79ca7d79"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
 
 [[package]]
 name = "petgraph"
-version = "0.6.3"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4dd7d28ee937e54fe3080c91faa1c3a46c06de6252988a7f4592ba2310ef22a4"
+checksum = "e1d3afd2628e69da2be385eb6f2fd57c8ac7977ceeff6dc166ff1657b0e386a9"
 dependencies = [
  "fixedbitset",
  "indexmap",
@@ -993,9 +989,9 @@ dependencies = [
 
 [[package]]
 name = "pin-project-lite"
-version = "0.2.9"
+version = "0.2.13"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e0a7ae3ac2f1173085d398531c705756c94a4c56843785df85a60c1a0afac116"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
 
 [[package]]
 name = "pin-utils"
@@ -1044,16 +1040,32 @@ dependencies = [
 ]
 
 [[package]]
-name = "postcard"
-version = "1.0.4"
+name = "portable-atomic"
+version = "1.6.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cfa512cd0d087cc9f99ad30a1bf64795b67871edbead083ffc3a4dfafa59aa00"
+checksum = "7170ef9988bc169ba16dd36a7fa041e5c4cbeb6a35b76d4c03daded371eae7c0"
+dependencies = [
+ "critical-section",
+]
+
+[[package]]
+name = "postcard"
+version = "1.0.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a55c51ee6c0db07e68448e336cf8ea4131a620edefebf9893e759b2d793420f8"
 dependencies = [
  "cobs",
- "heapless",
+ "embedded-io 0.4.0",
+ "heapless 0.7.17",
  "serde",
 ]
 
+[[package]]
+name = "powerfmt"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "439ee305def115ba05938db6eb1644ff94165c5ab5e9420d1c1bcedbba909391"
+
 [[package]]
 name = "precomputed-hash"
 version = "0.1.1"
@@ -1086,18 +1098,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.59"
+version = "1.0.70"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6aeca18b86b413c660b781aa319e4e2648a3e6f9eadc9b47e9038e6fe9f3451b"
+checksum = "39278fbbf5fb4f646ce651690877f89d1c5811a3d4acb27700c1cb3cdb78fd3b"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.28"
+version = "1.0.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b9ab9c7eadfd8df19006f1cf1a4aed13540ed5cbc047010ece5826e10825488"
+checksum = "5267fca4496028628a95160fc423a33e8b2e6af8a5302579e322e4b520293cae"
 dependencies = [
  "proc-macro2",
 ]
@@ -1110,33 +1122,45 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
 
 [[package]]
 name = "redox_syscall"
-version = "0.2.16"
+version = "0.4.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb5a58c1855b4b6819d59012155603f0b22ad30cad752600aadfcb695265519a"
+checksum = "4722d768eff46b75989dd134e5c353f0d6296e5aaa3132e776cbdb56be7731aa"
 dependencies = [
- "bitflags",
+ "bitflags 1.3.2",
 ]
 
 [[package]]
 name = "redox_users"
-version = "0.4.3"
+version = "0.4.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b033d837a7cf162d7993aded9304e30a83213c648b6e389db233191f891e5c2b"
+checksum = "a18479200779601e498ada4e8c1e1f50e3ee19deb0259c25825a98b5603b2cb4"
 dependencies = [
  "getrandom",
- "redox_syscall",
+ "libredox",
  "thiserror",
 ]
 
 [[package]]
 name = "regex"
-version = "1.8.3"
+version = "1.10.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "81ca098a9821bd52d6b24fd8b10bd081f47d39c22778cafaa75a2857a62c6390"
+checksum = "380b951a9c5e80ddfd6136919eef32310721aa4aacd4889a8d39124b026ab343"
 dependencies = [
  "aho-corasick",
  "memchr",
- "regex-syntax 0.7.2",
+ "regex-automata",
+ "regex-syntax 0.8.2",
+]
+
+[[package]]
+name = "regex-automata"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5f804c7828047e88b2d32e2d7fe5a105da8ee3264f01902f796c8e067dc2483f"
+dependencies = [
+ "aho-corasick",
+ "memchr",
+ "regex-syntax 0.8.2",
 ]
 
 [[package]]
@@ -1147,35 +1171,36 @@ checksum = "f162c6dd7b008981e4d40210aca20b4bd0f9b60ca9271061b07f78537722f2e1"
 
 [[package]]
 name = "regex-syntax"
-version = "0.7.2"
+version = "0.8.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "436b050e76ed2903236f032a59761c1eb99e1b0aead2c257922771dab1fc8c78"
+checksum = "c08c74e62047bb2de4ff487b251e4a92e24f48745648451635cec7d591162d9f"
 
 [[package]]
 name = "rgb"
-version = "0.8.36"
+version = "0.8.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "20ec2d3e3fc7a92ced357df9cebd5a10b6fb2aa1ee797bf7e9ce2f17dffc8f59"
+checksum = "05aaa8004b64fd573fc9d002f4e632d51ad4f026c2b5ba95fcb6c2f32c2c47d8"
 dependencies = [
  "bytemuck",
 ]
 
 [[package]]
 name = "ron"
-version = "0.8.0"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "300a51053b1cb55c80b7a9fde4120726ddf25ca241a1cbb926626f62fb136bff"
+checksum = "b91f7eff05f748767f183df4320a63d6936e9c6107d97c9e6bdd9784f4289c94"
 dependencies = [
  "base64",
- "bitflags",
+ "bitflags 2.4.1",
  "serde",
+ "serde_derive",
 ]
 
 [[package]]
 name = "rp-pac"
-version = "4.0.0"
+version = "6.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a76e426cd8377db668fba1fe885028788b126b7cef91059cd478de8b076c2915"
+checksum = "f30f6c4c846269293db805e9c77864ff7b923395b480550df44f0868e3765337"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
@@ -1215,34 +1240,33 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.17",
+ "semver 1.0.20",
 ]
 
 [[package]]
 name = "rustix"
-version = "0.37.19"
+version = "0.38.28"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "acf8729d8542766f1b2cf77eb034d52f40d375bb8b615d0b147089946e16613d"
+checksum = "72e572a5e8ca657d7366229cdde4bd14c4eb5499a9573d4d366fe1b599daa316"
 dependencies = [
- "bitflags",
+ "bitflags 2.4.1",
  "errno",
- "io-lifetimes",
  "libc",
  "linux-raw-sys",
- "windows-sys 0.48.0",
+ "windows-sys 0.52.0",
 ]
 
 [[package]]
 name = "rustversion"
-version = "1.0.12"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4f3208ce4d8448b3f3e7d168a73f5e0c43a61e32930de3bceeccedb388b6bf06"
+checksum = "7ffc183a10b4478d04cbbbfc96d0873219d962dd5accaff2ffbd4ceb7df837f4"
 
 [[package]]
 name = "scopeguard"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49"
 
 [[package]]
 name = "semver"
@@ -1255,9 +1279,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.17"
+version = "1.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bebd363326d05ec3e2f532ab7660680f3b02130d780c299bca73469d521bc0ed"
+checksum = "836fa6a3e1e547f9a2c4040802ec865b5d85f4014efe00555d7090a3dcaa1090"
 
 [[package]]
 name = "semver-parser"
@@ -1267,48 +1291,47 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "serde"
-version = "1.0.163"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2113ab51b87a539ae008b5c6c02dc020ffa39afd2d83cffcb3f4eb2722cebec2"
+checksum = "25dd9975e68d0cb5aa1120c288333fc98731bd1dd12f561e468ea4728c042b89"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.163"
+version = "1.0.193"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8c805777e3930c8883389c602315a24224bcc738b63905ef87cd1420353ea93e"
+checksum = "43576ca501357b9b071ac53cdc7da8ef0cbd9493d8df094cd821777ea6e894d3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.18",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "simple_logger"
-version = "4.1.0"
+version = "4.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e78beb34673091ccf96a8816fce8bfd30d1292c7621ca2bcb5f2ba0fae4f558d"
+checksum = "da0ca6504625ee1aa5fda33913d2005eab98c7a42dd85f116ecce3ff54c9d3ef"
 dependencies = [
- "atty",
  "colored",
  "log",
  "time",
- "windows-sys 0.42.0",
+ "windows-sys 0.48.0",
 ]
 
 [[package]]
 name = "siphasher"
-version = "0.3.10"
+version = "0.3.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7bd3e3206899af3f8b12af284fafc038cc1dc2b41d1b89dd17297221c5d225de"
+checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
 
 [[package]]
 name = "smallvec"
-version = "1.10.0"
+version = "1.11.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a507befe795404456341dfab10cef66ead4c041f62b8b11bbb92bffe5d0953e0"
+checksum = "4dccd0940a2dcdf68d092b8cbab7dc0ad8fa938bf95787e1b916b0e3d0e8e970"
 
 [[package]]
 name = "smart-leds"
@@ -1355,11 +1378,20 @@ checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
 [[package]]
 name = "static_cell"
-version = "1.1.0"
+version = "1.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ed6a851e9c00ce152b2bad24e8545a6db0b8646988267a6ea966d95c6932e8a2"
+checksum = "2cd3f559c6c41cde362aed95cd84765907e06057f087b17269b41750ec40a3e7"
 dependencies = [
- "atomic-polyfill 1.0.2",
+ "portable-atomic",
+]
+
+[[package]]
+name = "static_cell"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "fa6ba4cf83bf80d3eb25f098ea5e790a0a1fcb5e357442259b231e412c2d3ca0"
+dependencies = [
+ "portable-atomic",
 ]
 
 [[package]]
@@ -1394,20 +1426,37 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.18"
+version = "2.0.41"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32d41677bcbe24c20c52e7c70b0d8db04134c5d1066bf98662e2871ad200ea3e"
+checksum = "44c8b28c477cc3bf0e7966561e3460130e1255f7a1cf71931075f1c5e7a7e269"
 dependencies = [
  "proc-macro2",
  "quote",
  "unicode-ident",
 ]
 
+[[package]]
+name = "tangentbord1-left"
+version = "0.1.0"
+dependencies = [
+ "cortex-m-rt",
+ "embassy-executor",
+ "embassy-futures",
+ "embassy-rp",
+ "embassy-sync",
+ "embassy-time",
+ "log",
+ "postcard",
+ "ron",
+ "tangentbord1-lib",
+ "tgnt",
+]
+
 [[package]]
 name = "tangentbord1-lib"
 version = "0.1.0"
 dependencies = [
- "atomic-polyfill 1.0.2",
+ "atomic-polyfill",
  "bytemuck",
  "cortex-m",
  "cortex-m-rt",
@@ -1423,10 +1472,10 @@ dependencies = [
  "embassy-usb-logger",
  "embedded-alloc",
  "embedded-hal 0.2.7",
- "embedded-io",
+ "embedded-io-async",
  "fixed",
  "futures",
- "heapless",
+ "heapless 0.7.17",
  "log",
  "once_cell",
  "pio",
@@ -1437,7 +1486,7 @@ dependencies = [
  "serde",
  "simple_logger",
  "smart-leds",
- "static_cell",
+ "static_cell 1.3.0",
  "tgnt",
  "usb-device",
  "usbd-hid",
@@ -1473,9 +1522,9 @@ dependencies = [
 
 [[package]]
 name = "termcolor"
-version = "1.2.0"
+version = "1.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "be55cf8942feac5c765c2c993422806843c9a9a45d4d5c407ad6dd2ea95eb9b6"
+checksum = "ff1bc3d3f05aff0403e8ac0d92ced918ec05b666a43f83297ccef5bea8a3d449"
 dependencies = [
  "winapi-util",
 ]
@@ -1490,33 +1539,35 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.40"
+version = "1.0.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "978c9a314bd8dc99be594bc3c175faaa9794be04a5a5e153caba6915336cebac"
+checksum = "f11c217e1416d6f036b870f14e0413d480dbf28edbee1f877abaf0206af43bb7"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.40"
+version = "1.0.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f9456a42c5b0d803c8cd86e73dd7cc9edd429499f37a3550d286d5e86720569f"
+checksum = "01742297787513b79cf8e29d1056ede1313e2420b7b3b15d0a768b4921f549df"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.18",
+ "syn 2.0.41",
 ]
 
 [[package]]
 name = "time"
-version = "0.3.21"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f3403384eaacbca9923fa06940178ac13e4edb725486d70e8e15881d0c836cc"
+checksum = "c4a34ab300f2dee6e562c10a046fc05e358b29f9bf92277f30c3c8d82275f6f5"
 dependencies = [
+ "deranged",
  "itoa",
  "libc",
  "num_threads",
+ "powerfmt",
  "serde",
  "time-core",
  "time-macros",
@@ -1524,15 +1575,15 @@ dependencies = [
 
 [[package]]
 name = "time-core"
-version = "0.1.1"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7300fbefb4dadc1af235a9cef3737cea692a9d97e1b9cbcd4ebdae6f8868e6fb"
+checksum = "ef927ca75afb808a4d64dd374f00a2adf8d0fcff8e7b184af886c3c87ec4a3f3"
 
 [[package]]
 name = "time-macros"
-version = "0.2.9"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "372950940a5f07bf38dbe211d7283c9e6d7327df53794992d293e534c733d09b"
+checksum = "4ad70d68dba9e1f8aceda7aa6711965dfec1cac869f311a51bd08b3a2ccbce20"
 dependencies = [
  "time-core",
 ]
@@ -1548,9 +1599,9 @@ dependencies = [
 
 [[package]]
 name = "typenum"
-version = "1.16.0"
+version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "ufmt-write"
@@ -1560,15 +1611,15 @@ checksum = "e87a2ed6b42ec5e28cc3b94c09982969e9227600b2e3dcbc1db927a84c06bd69"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.9"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b15811caf2415fb889178633e7724bad2509101cde276048e013b9def5e51fa0"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "unicode-width"
-version = "0.1.10"
+version = "0.1.11"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0edd1e5b14653f783770bce4a4dabb4a5108a5370a5f5d8cfe8710c361f6c8b"
+checksum = "e51733f11c9c4f72aa0c160008246859e340b00807569a0da0e7a1079b27ba85"
 
 [[package]]
 name = "unicode-xid"
@@ -1637,9 +1688,9 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
@@ -1668,9 +1719,9 @@ checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6"
 
 [[package]]
 name = "winapi-util"
-version = "0.1.5"
+version = "0.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70ec6ce85bb158151cae5e5c87f95a8e97d2c0c4b001223f33a334e3ce5de178"
+checksum = "f29e6f9198ba0d26b4c9f07dbe6f9ed633e1f3d5b8b414090084349e46a52596"
 dependencies = [
  "winapi",
 ]
@@ -1681,149 +1732,134 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
 
-[[package]]
-name = "windows-sys"
-version = "0.42.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a3e1820f08b8513f676f7ab6c1f99ff312fb97b553d30ff4dd86f9f15728aa7"
-dependencies = [
- "windows_aarch64_gnullvm 0.42.2",
- "windows_aarch64_msvc 0.42.2",
- "windows_i686_gnu 0.42.2",
- "windows_i686_msvc 0.42.2",
- "windows_x86_64_gnu 0.42.2",
- "windows_x86_64_gnullvm 0.42.2",
- "windows_x86_64_msvc 0.42.2",
-]
-
-[[package]]
-name = "windows-sys"
-version = "0.45.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "75283be5efb2831d37ea142365f009c02ec203cd29a3ebecbc093d52315b66d0"
-dependencies = [
- "windows-targets 0.42.2",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.48.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
 dependencies = [
- "windows-targets 0.48.0",
+ "windows-targets 0.48.5",
+]
+
+[[package]]
+name = "windows-sys"
+version = "0.52.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "282be5f36a8ce781fad8c8ae18fa3f9beff57ec1b52cb3de0789201425d9a33d"
+dependencies = [
+ "windows-targets 0.52.0",
 ]
 
 [[package]]
 name = "windows-targets"
-version = "0.42.2"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e5180c00cd44c9b1c88adb3693291f1cd93605ded80c250a75d472756b4d071"
+checksum = "9a2fa6e2155d7247be68c096456083145c183cbbbc2764150dda45a87197940c"
 dependencies = [
- "windows_aarch64_gnullvm 0.42.2",
- "windows_aarch64_msvc 0.42.2",
- "windows_i686_gnu 0.42.2",
- "windows_i686_msvc 0.42.2",
- "windows_x86_64_gnu 0.42.2",
- "windows_x86_64_gnullvm 0.42.2",
- "windows_x86_64_msvc 0.42.2",
+ "windows_aarch64_gnullvm 0.48.5",
+ "windows_aarch64_msvc 0.48.5",
+ "windows_i686_gnu 0.48.5",
+ "windows_i686_msvc 0.48.5",
+ "windows_x86_64_gnu 0.48.5",
+ "windows_x86_64_gnullvm 0.48.5",
+ "windows_x86_64_msvc 0.48.5",
 ]
 
 [[package]]
 name = "windows-targets"
-version = "0.48.0"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7b1eb6f0cd7c80c79759c929114ef071b87354ce476d9d94271031c0497adfd5"
+checksum = "8a18201040b24831fbb9e4eb208f8892e1f50a37feb53cc7ff887feb8f50e7cd"
 dependencies = [
- "windows_aarch64_gnullvm 0.48.0",
- "windows_aarch64_msvc 0.48.0",
- "windows_i686_gnu 0.48.0",
- "windows_i686_msvc 0.48.0",
- "windows_x86_64_gnu 0.48.0",
- "windows_x86_64_gnullvm 0.48.0",
- "windows_x86_64_msvc 0.48.0",
+ "windows_aarch64_gnullvm 0.52.0",
+ "windows_aarch64_msvc 0.52.0",
+ "windows_i686_gnu 0.52.0",
+ "windows_i686_msvc 0.52.0",
+ "windows_x86_64_gnu 0.52.0",
+ "windows_x86_64_gnullvm 0.52.0",
+ "windows_x86_64_msvc 0.52.0",
 ]
 
 [[package]]
 name = "windows_aarch64_gnullvm"
-version = "0.42.2"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "597a5118570b68bc08d8d59125332c54f1ba9d9adeedeef5b99b02ba2b0698f8"
+checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
 
 [[package]]
 name = "windows_aarch64_gnullvm"
-version = "0.48.0"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "91ae572e1b79dba883e0d315474df7305d12f569b400fcf90581b06062f7e1bc"
+checksum = "cb7764e35d4db8a7921e09562a0304bf2f93e0a51bfccee0bd0bb0b666b015ea"
 
 [[package]]
 name = "windows_aarch64_msvc"
-version = "0.42.2"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e08e8864a60f06ef0d0ff4ba04124db8b0fb3be5776a5cd47641e942e58c4d43"
+checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
 
 [[package]]
 name = "windows_aarch64_msvc"
-version = "0.48.0"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b2ef27e0d7bdfcfc7b868b317c1d32c641a6fe4629c171b8928c7b08d98d7cf3"
+checksum = "bbaa0368d4f1d2aaefc55b6fcfee13f41544ddf36801e793edbbfd7d7df075ef"
 
 [[package]]
 name = "windows_i686_gnu"
-version = "0.42.2"
+version = "0.48.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c61d927d8da41da96a81f029489353e68739737d3beca43145c8afec9a31a84f"
+checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
 
 [[package]]
 name = "windows_i686_gnu"
-version = "0.48.0"
+version = "0.52.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "622a1962a7db830d6fd0a69683c80a18fda201879f0f447f065a3b7467daa241"
+checksum = "a28637cb1fa3560a16915793afb20081aba2c92ee8af57b4d5f28e4b3e7df313"
 
 [[package]]
 name = "windows_i686_msvc"
-version = "0.42.2"
+version = "0.48.5"
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diff --git a/left/Cargo.toml b/left/Cargo.toml
index 7adf44c..65e9850 100644
--- a/left/Cargo.toml
+++ b/left/Cargo.toml
@@ -12,9 +12,9 @@ package = "tangentbord1-lib"
 [dependencies]
 tgnt = { git = "https://git.nubo.sh/hulthe/tgnt.git", default-features = false }
 cortex-m-rt = "0.7"
-embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "nightly", "unstable-traits", "unstable-pac", "time-driver", "critical-section-impl"] }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "unstable-pac", "time-driver", "critical-section-impl"] }
 embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", features = ["arch-cortex-m", "log", "executor-thread", "nightly", "integrated-timers" ] }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "nightly"] }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-time = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 log = "0.4.17"
diff --git a/left/src/main.rs b/left/src/main.rs
index 758ec9a..ce40c9b 100644
--- a/left/src/main.rs
+++ b/left/src/main.rs
@@ -16,6 +16,7 @@ use log::error;
 use tangentbord1::{
     board::Board,
     event::Half,
+    interrupts::Irqs,
     keyboard::KeyboardConfig,
     logger::Logger,
     rgb::Rgb,
@@ -48,8 +49,8 @@ async fn main(_spawner: Spawner) {
 
     let _neopixel_power = Output::new(board.neopixel_power, Level::High);
 
-    let mut neopixel = Ws2812::new(board.PIO0, board.DMA_CH0, board.neopixel);
-    let neopixels_d5 = Ws2812::new(board.PIO1, board.DMA_CH1, board.d5);
+    let mut neopixel = Ws2812::new(board.PIO0, Irqs, board.DMA_CH0, board.neopixel);
+    let neopixels_d5 = Ws2812::new(board.PIO1, Irqs, board.DMA_CH1, board.d5);
 
     neopixel.write(&[Rgb::new(0xFF, 0x00, 0x00)]).await;
 
diff --git a/lib/Cargo.lock b/lib/Cargo.lock
deleted file mode 100644
index 6bb3bc4..0000000
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+++ /dev/null
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diff --git a/lib/Cargo.toml b/lib/Cargo.toml
index 6053d89..4461324 100644
--- a/lib/Cargo.toml
+++ b/lib/Cargo.toml
@@ -13,10 +13,10 @@ embedded-hal = "0.2.5"
 usb-device = "0.2.9"
 usbd-hid = "0.6.1"
 static_cell = "1.0.0"
-embedded-io = { version = "*", features = ["async"] }
+embedded-io-async = "*"
 futures = { version = "0.3", default-features = false, features = ["async-await"] }
 embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "executor-thread", "nightly", "integrated-timers" ] }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "nightly"] }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-time = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-usb = { git = "https://github.com/embassy-rs/embassy.git", features = ["usbd-hid"] }
@@ -44,7 +44,7 @@ embassy-time = { git = "https://github.com/embassy-rs/embassy.git", features = [
 simple_logger = "4"
 
 [target.thumbv6m-none-eabi.dependencies]
-embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "nightly", "unstable-traits", "unstable-pac", "time-driver", "critical-section-impl"] }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "unstable-pac", "time-driver", "critical-section-impl"] }
 embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", features = ["arch-cortex-m"] }
 
 [build-dependencies]
diff --git a/lib/src/interrupts.rs b/lib/src/interrupts.rs
index 3f004cb..356aaf9 100644
--- a/lib/src/interrupts.rs
+++ b/lib/src/interrupts.rs
@@ -1,11 +1,13 @@
 use embassy_rp::{
     bind_interrupts,
-    peripherals::{UART0, USB},
+    peripherals::{PIO0, PIO1, UART0, USB},
 };
 
 bind_interrupts! {
     pub struct Irqs {
         UART0_IRQ => embassy_rp::uart::BufferedInterruptHandler<UART0>;
         USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
+        PIO0_IRQ_0 => embassy_rp::pio::InterruptHandler<PIO0>;
+        PIO1_IRQ_0 => embassy_rp::pio::InterruptHandler<PIO1>;
     }
 }
diff --git a/lib/src/keyboard/lights.rs b/lib/src/keyboard/lights.rs
index 7697aa3..3a3c152 100644
--- a/lib/src/keyboard/lights.rs
+++ b/lib/src/keyboard/lights.rs
@@ -21,6 +21,7 @@ const MIN_IDLE_BRIGHTESS: f32 = 0.05;
 #[derive(Clone, Copy)]
 enum LightState {
     Solid(Rgb),
+    #[allow(dead_code)]
     SolidThenFade {
         color: Rgb,
         solid_until: Instant,
@@ -68,8 +69,12 @@ async fn tick(state: &'static State, lights: &mut [LightState; SWITCH_COUNT]) {
         .lights
         .update(|rgbs| {
             for (button, light) in lights.iter_mut().enumerate() {
-                let Some(&led_id) = state.led_map.get(button) else { continue; };
-                let Some(rgb) = rgbs.get_mut(led_id) else { continue; };
+                let Some(&led_id) = state.led_map.get(button) else {
+                    continue;
+                };
+                let Some(rgb) = rgbs.get_mut(led_id) else {
+                    continue;
+                };
 
                 match &*light {
                     LightState::None => {}
@@ -115,7 +120,9 @@ async fn idle_animation(state: &'static State) {
                 };
 
                 for (n, &i) in state.led_map.iter().enumerate() {
-                    let Some(light) = lights.get_mut(i) else { continue };
+                    let Some(light) = lights.get_mut(i) else {
+                        continue;
+                    };
                     let [r, g, b] = wheel(
                         (n as u64 * IDLE_ANIMATION_KEY_OFFSET + tick * IDLE_ANIMATION_SPEED) as u8,
                     )
@@ -190,6 +197,8 @@ async fn handle_event(
         return;
     }
 
-    let Some(light) = lights.get_mut(event.source_button) else { return; };
+    let Some(light) = lights.get_mut(event.source_button) else {
+        return;
+    };
     *light = rgb;
 }
diff --git a/lib/src/uart.rs b/lib/src/uart.rs
index e5119e7..36b523e 100644
--- a/lib/src/uart.rs
+++ b/lib/src/uart.rs
@@ -5,7 +5,7 @@ use crc_any::CRCu16;
 use embassy_executor::Spawner;
 use embassy_rp::peripherals::{PIN_0, PIN_1, UART0};
 use embassy_rp::uart::{self, BufferedUart, DataBits, Parity, StopBits};
-use embedded_io::asynch::{Read, Write};
+use embedded_io_async::{Read, Write};
 use futures::{select_biased, FutureExt};
 use heapless::Vec;
 use serde::{Deserialize, Serialize};
diff --git a/lib/src/usb.rs b/lib/src/usb.rs
index 3e6b51c..18a1aa8 100644
--- a/lib/src/usb.rs
+++ b/lib/src/usb.rs
@@ -14,6 +14,7 @@ struct State {
     device_descriptor: [u8; 256],
     config_descriptor: [u8; 256],
     bos_descriptor: [u8; 256],
+    msos_descriptor: [u8; 256],
     control_buf: [u8; 64],
 }
 
@@ -38,6 +39,7 @@ pub fn builder(usb: USB) -> Builder<'static, Driver<'static, USB>> {
         device_descriptor: [0; 256],
         config_descriptor: [0; 256],
         bos_descriptor: [0; 256],
+        msos_descriptor: [0; 256],
         control_buf: [0; 64],
     });
 
@@ -64,6 +66,7 @@ pub fn builder(usb: USB) -> Builder<'static, Driver<'static, USB>> {
         &mut state.device_descriptor,
         &mut state.config_descriptor,
         &mut state.bos_descriptor,
+        &mut state.msos_descriptor,
         &mut state.control_buf,
     )
 }
diff --git a/lib/src/ws2812.rs b/lib/src/ws2812.rs
index 02672ae..1d29bd0 100644
--- a/lib/src/ws2812.rs
+++ b/lib/src/ws2812.rs
@@ -1,6 +1,6 @@
 use embassy_rp::dma::{self, AnyChannel};
+use embassy_rp::interrupt::typelevel::Binding;
 use embassy_rp::pio::{self, FifoJoin, Instance, Pio, PioPin, ShiftConfig, ShiftDirection};
-use embassy_rp::relocate::RelocatedProgram;
 use embassy_rp::{Peripheral, PeripheralRef};
 use fixed::FixedU32;
 
@@ -14,10 +14,11 @@ pub struct Ws2812<P: pio::Instance + 'static> {
 impl<P: Instance> Ws2812<P> {
     pub fn new(
         pio: impl Peripheral<P = P> + 'static,
+        irqs: impl Binding<P::Interrupt, pio::InterruptHandler<P>>,
         dma: impl dma::Channel,
         pin: impl PioPin,
     ) -> Self {
-        let mut pio = Pio::new(pio);
+        let mut pio = Pio::new(pio, irqs);
         let mut sm = pio.sm0;
         // prepare the PIO program
         let side_set = ::pio::SideSet::new(false, 1, false);
@@ -46,8 +47,8 @@ impl<P: Instance> Ws2812<P> {
 
         let prg = a.assemble_with_wrap(wrap_source, wrap_target);
 
-        let relocated_prg = RelocatedProgram::new(&prg);
-        let loaded_prg = pio.common.load_program(&relocated_prg);
+        //let relocated_prg = RelocatedProgram::new(&prg);
+        let loaded_prg = pio.common.load_program(&prg);
 
         // Clock config
         // TODO CLOCK_FREQ should come from embassy_rp
diff --git a/right/Cargo.toml b/right/Cargo.toml
index 211b210..171b0ce 100644
--- a/right/Cargo.toml
+++ b/right/Cargo.toml
@@ -12,9 +12,9 @@ package = "tangentbord1-lib"
 [dependencies]
 tgnt = { git = "https://git.nubo.sh/hulthe/tgnt.git", default-features = false }
 cortex-m-rt = "0.7"
-embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "nightly", "unstable-traits", "unstable-pac", "time-driver", "critical-section-impl"] }
+embassy-rp = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "unstable-pac", "time-driver", "critical-section-impl"] }
 embassy-executor = { git = "https://github.com/embassy-rs/embassy.git", features = ["arch-cortex-m", "log", "executor-thread", "nightly", "integrated-timers" ] }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", features = ["log", "nightly"] }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-time = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", features = ["log"] }
 log = "0.4.17"
diff --git a/right/src/main.rs b/right/src/main.rs
index 4fd3edd..0d5d6a3 100644
--- a/right/src/main.rs
+++ b/right/src/main.rs
@@ -15,6 +15,7 @@ use log::error;
 use tangentbord1::{
     board::Board,
     event::Half,
+    interrupts::Irqs,
     keyboard::KeyboardConfig,
     logger::Logger,
     rgb::Rgb,
@@ -47,8 +48,8 @@ async fn main(_spawner: Spawner) {
 
     let _neopixel_power = Output::new(board.neopixel_power, Level::High);
 
-    let mut neopixel = Ws2812::new(board.PIO0, board.DMA_CH0, board.neopixel);
-    let neopixels_d5 = Ws2812::new(board.PIO1, board.DMA_CH1, board.d5);
+    let mut neopixel = Ws2812::new(board.PIO0, Irqs, board.DMA_CH0, board.neopixel);
+    let neopixels_d5 = Ws2812::new(board.PIO1, Irqs, board.DMA_CH1, board.d5);
 
     neopixel.write(&[Rgb::new(0xFF, 0x00, 0x00)]).await;
 
diff --git a/run b/run
index 4455b3b..85d83f3 100755
--- a/run
+++ b/run
@@ -8,7 +8,7 @@ def main [
 	--serial (-s): string # The serial device to get logs from.
 	--probe (-p): bool # Flash & run using probe-run instead of elf2uf2
 ] {
-	if $probe {
+	if $probe == true {
 		cargo build --bin $bin
 		probe-run --chip RP2040 --speed 4000 ("./target/thumbv6m-none-eabi/debug/" + $bin)
 	} else {
diff --git a/rust-toolchain.toml b/rust-toolchain.toml
index 634295f..d4879fe 100644
--- a/rust-toolchain.toml
+++ b/rust-toolchain.toml
@@ -1,4 +1,4 @@
 [toolchain]
-channel = "nightly-2023-02-01"
+channel = "nightly"
 components = ["rust-std", "rust-src", "rustfmt", "cargo", "clippy"]
 targets = ["thumbv6m-none-eabi"]