main: use a noop mutex with i2c

src/tasks/mpu.rs

@@ -1,7 +1,8 @@
 use core::cell::RefCell;
 
 use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
-use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::DynamicSender};
+use embassy_sync::blocking_mutex::raw::NoopRawMutex;
+use embassy_sync::channel::DynamicSender;
 use embassy_time::{Delay, Timer, Instant};
 use esp_hal::{i2c::master::I2c, Async};
 use log::*;
@@ -33,7 +34,7 @@ fn gyro_raw_to_rads(raw: i16) -> f32 {
 static mut MPU_WAS_CALIBRATED: u8 = 0;
 
 #[embassy_executor::task]
-pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
+pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
     let backoff = Backoff::from_millis(5);
     let busref = RefCell::new(Some(bus));
 
@@ -111,7 +112,7 @@ pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevic
     }).await.ok();
 }
 
-async fn mpu_init(sensor: &mut Mpu6050<I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>>) -> Result<(), Error<I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>>> {
+async fn mpu_init(sensor: &mut Mpu6050<I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>>) -> Result<(), Error<I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>>> {
     if cfg!(feature="wokwi") {
         warn!("Initializing simulated MPU");
         Ok(())