diff --git a/src/bin/main.rs b/src/bin/main.rs
index 50488b6..46be582 100644
--- a/src/bin/main.rs
+++ b/src/bin/main.rs
@@ -7,8 +7,6 @@
 )]
 
 
-use core::{num::{self, Wrapping}, ptr::addr_of_mut};
-
 use alloc::{string::String, sync::Arc};
 use embassy_executor::Spawner;
 use embassy_time::{Duration, Instant, Timer, WithTimeout};
@@ -16,7 +14,7 @@ use embassy_time::{Duration, Instant, Timer, WithTimeout};
 use enum_map::EnumMap;
 use esp_hal::{gpio::{Output, OutputConfig, Pin}, time::Rate};
 use esp_hal::{
-    clock::CpuClock, system::{AppCoreGuard, CpuControl, Stack}, timer::{systimer::SystemTimer, timg::{TimerGroup, Wdt}}
+    clock::CpuClock, timer::{systimer::SystemTimer, timg::{TimerGroup, Wdt}}
 };
 
 use embassy_sync::{
@@ -28,13 +26,10 @@ use renderbug_bike::{events::{Prediction, SensorSource, SensorState}, graphics::
 use renderbug_bike::events::Measurement;
 use static_cell::StaticCell;
 use esp_backtrace as _;
-use esp_rtos::embassy::{Executor, InterruptExecutor};
-use esp_hal::interrupt::software::SoftwareInterruptControl;
+use esp_hal::spi::master::any::Degrade;
 
-use renderbug_embassy::tasks::{
-    motion::motion_task,
-    ui::{Ui, ui_main}
-};
+use renderbug_bike::tasks::ui::{Ui, ui_main};
+use esp_hal::dma::DmaChannelConvert;
 
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, pubsub::DynSubscriber};
 use embassy_sync::channel::Channel;
@@ -48,14 +43,25 @@ esp_bootloader_esp_idf::esp_app_desc!();
 #[cfg(feature="radio")]
 static WIFI_INIT: StaticCell<esp_radio::Controller<'static>> = StaticCell::new();
 
+rtos_trace::global_trace!(Tracer);
+
 #[esp_rtos::main]
 async fn main(spawner: Spawner) {
-    esp_alloc::heap_allocator!(size: 128 * 1024);
+    // If we aren't using the second CPU, we can use the bootloader space for the heap instead
+    if cfg!(not(feature="dual-core")) {
+        esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 73744);
+        esp_alloc::heap_allocator!(size: 32 * 1024);
+    } else {
+        esp_alloc::heap_allocator!(size: 100000);
+    }
+
     RenderbugLogger::init_logger();
 
     let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
     let peripherals = esp_hal::init(config);
 
+    info!("Boot memory stats: {}", esp_alloc::HEAP.stats());
+
     let sys_timer = SystemTimer::new(peripherals.SYSTIMER);
     esp_rtos::start(sys_timer.alarm0);
     info!("Embassy initialized!");
@@ -102,15 +108,15 @@ async fn main(spawner: Spawner) {
         let i2c = I2c::new(peripherals.I2C1, Config::default()).unwrap().with_scl(scl).with_sda(sda).into_async();
         let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
         #[cfg(feature="mpu")]
-        spawner.must_spawn(renderbug_embassy::tasks::mpu::mpu_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
+        spawner.must_spawn(renderbug_bike::tasks::mpu::mpu_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
         #[cfg(feature="gps")]
-        spawner.must_spawn(renderbug_embassy::tasks::gps::gps_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
+        spawner.must_spawn(renderbug_bike::tasks::gps::gps_task(motion_bus.dyn_sender(), I2cDevice::new(i2c_bus)));
     }
 
     #[cfg(feature="oled")]
     {
         use esp_hal::i2c::master::{Config, I2c};
-        use renderbug_embassy::graphics::ssd1306::SsdOutput;
+        use renderbug_bike::graphics::ssd1306::SsdOutput;
 
         let rst = Output::new(peripherals.GPIO21, esp_hal::gpio::Level::Low, OutputConfig::default());
         let i2c = I2c::new(
@@ -118,7 +124,7 @@ async fn main(spawner: Spawner) {
             Config::default().with_frequency(Rate::from_khz(400))
         ).unwrap().with_scl(peripherals.GPIO18).with_sda(peripherals.GPIO17).into_async();
         let output = SsdOutput::new(i2c, rst, oled_controls).await;
-        spawner.must_spawn(renderbug_embassy::tasks::oled_render::oled_render(output, oled_surfaces, oled_uniforms));
+        spawner.must_spawn(renderbug_bike::tasks::oled_render::oled_render(output, oled_surfaces, oled_uniforms));
     }
 
     let mut storage = renderbug_bike::storage::SharedFlash::new(esp_storage::FlashStorage::new());
@@ -179,13 +185,13 @@ async fn main(spawner: Spawner) {
         #[cfg(not(feature="demo"))]
         {
             info!("Launching motion engine");
-            spawner.must_spawn(motion_task(motion_bus.dyn_receiver(), predictions.dyn_publisher().unwrap()));
+            spawner.must_spawn(renderbug_bike::tasks::motion::motion_task(motion_bus.dyn_receiver(), predictions.dyn_publisher().unwrap(), recording_bus.dyn_publisher().unwrap()));
         }
 
         #[cfg(feature="demo")]
         {
             warn!("Launching with demo sequencer");
-            spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(predictions.dyn_publisher().unwrap()));
+            spawner.must_spawn(renderbug_bike::tasks::demo::demo_task(predictions.dyn_publisher().unwrap()));
         }
         
         info!("Launching Safety UI");
@@ -224,22 +230,31 @@ async fn main(spawner: Spawner) {
             info!("Launching core 2 watchdog");
             let timer1 = TimerGroup::new(peripherals.TIMG1);
             let mut ui_wdt = timer1.wdt;
-            ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
-            #[cfg(feature="dual-core")]
+            ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(60));
             ui_wdt.enable();
             spawner.must_spawn(wdt_task(ui_wdt));
         }
 
         spawner.must_spawn(print_sensor_status(predictions.dyn_subscriber().unwrap()));
 
-        info!("System is ready in {}ms", Instant::now().as_millis());
+        info!("Ready to rock and roll in {}ms", Instant::now().as_millis());
     };
 
+    #[allow(static_mut_refs)]
     #[cfg(feature="dual-core")]
     {
-        static mut CORE2_STACK: Stack<16384> = Stack::new();
+        use core::mem::MaybeUninit;
+
+        use esp_hal::interrupt::software::SoftwareInterruptControl;
+        use esp_hal::system::Stack;
+        use esp_rtos::embassy::Executor;
+
+        // We can be sneaky and stick the stack for the second core into the bootloader ram
+        #[esp_hal::ram(reclaimed)]
+        static mut CORE2_STACK: MaybeUninit<Stack<73744>> = MaybeUninit::uninit();
         let swi = SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
-        esp_rtos::start_second_core(peripherals.CPU_CTRL, swi.software_interrupt0, swi.software_interrupt1, unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
+        // SAFETY: The internal implementation of Stack is itself MaybeUninit
+        esp_rtos::start_second_core(peripherals.CPU_CTRL, swi.software_interrupt0, swi.software_interrupt1, unsafe { CORE2_STACK.assume_init_mut() }, || {
             info!("Second CPU core started");
             static CORE2_EXEC: StaticCell<Executor> = StaticCell::new();
             let exec = CORE2_EXEC.init_with(|| { Executor::new() });
@@ -250,7 +265,10 @@ async fn main(spawner: Spawner) {
     #[cfg(not(feature="dual-core"))]
     core2_main(spawner);
 
-    info!("Ready to rock and roll");
+    loop {
+        //info!("Memory stats: {}", esp_alloc::HEAP.stats());
+        Timer::after_secs(1).await;
+    }
 }
 
 #[embassy_executor::task]
@@ -304,7 +322,7 @@ async fn print_sensor_readings(mut events: DynSubscriber<'static, Measurement>)
 async fn print_sensor_status(mut events: DynSubscriber<'static, Prediction>) {
 
     info!("telemetry ready");
-    let mut num_events = Wrapping(0usize);
+    let mut sensor_states: EnumMap<SensorSource, SensorState> = EnumMap::default();
     loop {
         let next = events.next_message_pure().with_timeout(Duration::from_secs(5)).await;
         match next {