main: use a noop mutex with i2c

src/bin/main.rs

@@ -100,9 +100,9 @@ async fn main(spawner: Spawner) {
     {
         use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
         use esp_hal::{i2c::master::{Config, I2c}, Async};
-        use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, mutex::Mutex};
+        use embassy_sync::{blocking_mutex::raw::NoopRawMutex, mutex::Mutex};
 
-        static I2C_BUS: StaticCell<Mutex<CriticalSectionRawMutex, I2c<'static, Async>>> = StaticCell::new();
+        static I2C_BUS: StaticCell<Mutex<NoopRawMutex, I2c<'static, Async>>> = StaticCell::new();
 
         info!("Launching i2c sensor tasks");
         let sda = peripherals.GPIO4;

src/tasks/gps.rs

@@ -1,6 +1,6 @@
 use alloc::string::String;
 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, channel::DynamicSender};
 use embassy_time::Timer;
 use embedded_hal_async::i2c::I2c as _;
 use esp_hal::{i2c::master::I2c, Async};
@@ -12,7 +12,7 @@ use crate::{backoff::Backoff, events::{Measurement, SensorSource, SensorState}};
 
 // FIXME: We need a way to put the GPS to sleep when the system goes to sleep
 #[embassy_executor::task]
-pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
+pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
     Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || {
         events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Offline)).await;
         Backoff::from_secs(5).forever().attempt(async || {
@@ -41,7 +41,6 @@ pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus:
         let mut parsing = false;
         let mut has_lock = false;
         events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Online)).await;
-        events.send(Measurement::SensorHardwareStatus(SensorSource::Location, SensorState::AcquiringFix)).await;
         info!("GPS is ready!");
         loop {
             let mut buf = [0; 1];

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(())