japaric · sirhcel · Jul 2, 2020 · Jul 2, 2020 · Jul 2, 2020 · Jul 14, 2020
diff --git a/Cargo.toml b/Cargo.toml
@@ -16,8 +16,9 @@ lsm303dlhc = "0.2.0"
 stm32f30x-hal = "0.2.0"
 
 [dev-dependencies]
-aligned = "0.2.0"
-cortex-m = "0.5.0"
+aligned = "0.3.2"
+as-slice = "0.1.3"
+cortex-m = "0.6.2"
 cortex-m-rt = "0.6.5"
 cortex-m-semihosting = "0.3.2"
 madgwick = "0.1.1"

diff --git a/examples/l3gd20.rs b/examples/l3gd20.rs
@@ -30,7 +30,10 @@ fn main() -> ! {
     let mut nss = gpioe
         .pe3
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
-    nss.set_high();
+    {
+        #![allow(deprecated)]
+        nss.set_high();
+    }
 
     // The `L3gd20` abstraction exposed by the `f3` crate requires a specific pin configuration to
     // be used and won't accept any configuration other than the one used here. Trying to use a

diff --git a/examples/log-sensors.rs b/examples/log-sensors.rs
@@ -37,7 +37,8 @@ extern crate panic_semihosting;
 
 use core::ptr;
 
-use aligned::Aligned;
+use aligned::{Aligned, A4};
+use as_slice::AsMutSlice;
 use byteorder::{ByteOrder, LE};
 use cortex_m::{asm, itm};
 use cortex_m_rt::entry;
@@ -120,7 +121,10 @@ fn main() -> ! {
     let mut nss = gpioe
         .pe3
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
-    nss.set_high();
+    {
+        #![allow(deprecated)]
+        nss.set_high();
+    }
     let sck = gpioa.pa5.into_af5(&mut gpioa.moder, &mut gpioa.afrl);
     let miso = gpioa.pa6.into_af5(&mut gpioa.moder, &mut gpioa.afrl);
     let mosi = gpioa.pa7.into_af5(&mut gpioa.moder, &mut gpioa.afrl);
@@ -145,7 +149,7 @@ fn main() -> ! {
     itm::write_all(&mut cp.ITM.stim[0], &[0]);
 
     // Capture N samples
-    let mut tx_buf: Aligned<u32, [u8; 20]> = Aligned([0; 20]);
+    let mut tx_buf: Aligned<A4, [u8; 20]> = Aligned([0; 20]);
     for _ in 0..NSAMPLES {
         block!(timer.wait()).unwrap();
 
@@ -179,7 +183,7 @@ fn main() -> ! {
         LE::write_i16(&mut buf[start..start + 2], g.z);
 
         // Log data
-        cobs::encode(&buf, &mut tx_buf);
+        cobs::encode(&buf, tx_buf.as_mut_slice());
 
         itm::write_aligned(&mut cp.ITM.stim[0], &tx_buf);
     }

diff --git a/examples/madgwick.rs b/examples/madgwick.rs
@@ -38,7 +38,8 @@ extern crate panic_semihosting;
 
 use core::{f32::consts::PI, ptr};
 
-use aligned::Aligned;
+use aligned::{Aligned, A4};
+use as_slice::AsMutSlice;
 use byteorder::{ByteOrder, LE};
 use cast::{f32, i32};
 use cortex_m::itm;
@@ -130,7 +131,11 @@ fn main() -> ! {
     let mut nss = gpioe
         .pe3
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
-    nss.set_high();
+    {
+        #![allow(deprecated)]
+        nss.set_high();
+    }
+
     let mut led = gpioe
         .pe9
         .into_push_pull_output(&mut gpioe.moder, &mut gpioe.otyper);
@@ -182,12 +187,15 @@ fn main() -> ! {
     let ar_bias_z = (ar_bias_z / NSAMPLES) as i16;
 
     // Turn on the LED after calibrating the gyroscope
-    led.set_high();
+    {
+        #![allow(deprecated)]
+        led.set_high();
+    }
 
     let mut marg = Marg::new(BETA, 1. / f32(SAMPLE_FREQ));
     let mut timer = Timer::tim2(timer.free(), SAMPLE_FREQ.hz(), clocks, &mut rcc.apb1);
 
-    let mut tx_buf: Aligned<u32, [u8; 18]> = Aligned([0; 18]);
+    let mut tx_buf: Aligned<A4, [u8; 18]> = Aligned([0; 18]);
     loop {
         block!(timer.wait()).unwrap();
 
@@ -241,7 +249,7 @@ fn main() -> ! {
         // start += 4;
 
         // Log data
-        cobs::encode(&buf, &mut tx_buf.array);
+        cobs::encode(&buf, tx_buf.as_mut_slice());
 
         itm::write_aligned(&mut cp.ITM.stim[0], &tx_buf);
     }

diff --git a/src/led.rs b/src/led.rs
@@ -165,11 +165,13 @@ ctor!(LD3, LD4, LD5, LD6, LD7, LD8, LD9, LD10);
 impl Led {
     /// Turns the LED off
     pub fn off(&mut self) {
+        #![allow(deprecated)]
         self.pex.set_low()
     }
 
     /// Turns the LED on
     pub fn on(&mut self) {
+        #![allow(deprecated)]
         self.pex.set_high()
     }
 }
diff --git a/viz/.cargo/config b/viz/.cargo/config
@@ -0,0 +1,9 @@
+[build]
+# Configure the build target to your host platform. See
+# https://forge.rust-lang.org/release/platform-support.html#tier-1 for details
+# and uncomment or add the appropriate line for your host below.
+#
+# target = "x86_64-apple-darwin"
+# target = "x86_64-pc-windows-gnu"
+# target = "x86_64-unknown-linux-gnu"
+
diff --git a/viz/Cargo.toml b/viz/Cargo.toml
@@ -7,5 +7,5 @@ version = "0.1.0"
 [dependencies]
 byteorder = "1.2.1"
 cobs = "0.1.3"
-kiss3d = "0.13.0"
-nalgebra = "0.14.0"
+kiss3d = "0.24.1"
+nalgebra = "0.21.1"
diff --git a/viz/README.md b/viz/README.md
@@ -0,0 +1,21 @@
+# `f3` Madgwick Example Visualization
+
+This is the visualization application for `../examples/madgwick.rs` to run on
+your host.
+
+
+## Building
+
+The `f3` crate already configures its build target to `thumbv7em-none-eabihf`
+and so we have to explicitly specify it when building and running the
+visualization in place.
+
+The most convenient way is likely to edit `./.cargo/config` to select your host
+platform.
+
+Alternatively you can explicitly specify it when building and running the
+application. For example for Linux x86\_64:
+```
+$ cargo build --target x86_64-unknown-linux-gnu
+$ cargo run --target x86_64-unknown-linux-gnu
+```
diff --git a/viz/src/main.rs b/viz/src/main.rs
@@ -66,7 +66,7 @@ fn main() {
 fn parse(sender: &mut Sender<(f32, f32, f32, f32)>) {
     let stdin = io::stdin();
 
-    for mut frame in BufReader::new(stdin.lock()).split(0) {
+    for frame in BufReader::new(stdin.lock()).split(0) {
         let mut frame = frame.unwrap();
         if let Ok(n) = cobs::decode_in_place(&mut frame) {
             if n == 16 {