tasks: motion: move the entire motion prediction engine into the second core, dedicating core 1 to hardware

src/events.rs

@@ -52,7 +52,9 @@ pub enum Prediction {
     Motion(MotionState),
     Velocity(f32),
     Location(Vector2<f64>),
-    WakeRequested
+    WakeRequested,
+    // States of external connections to the world
+    SensorStatus(SensorSource, SensorState),
 }
 
 #[derive(Clone, Copy, Debug)]
@@ -114,16 +116,14 @@ impl TryFrom<i8> for SensorSource {
 
 #[derive(Debug)]
 pub struct BusGarage {
-    pub motion: Channel<NoopRawMutex, Measurement, 5>,
-    pub notify: PubSubChannel<CriticalSectionRawMutex, Notification, 5, 2, 4>,
-    pub predict: Channel<CriticalSectionRawMutex, Prediction, 15>,
-    pub telemetry: PubSubChannel<CriticalSectionRawMutex, Telemetry, 15, 2, 4>
+    pub notify: PubSubChannel<NoopRawMutex, Notification, 5, 2, 4>,
+    pub predict: Channel<NoopRawMutex, Prediction, 15>,
+    pub telemetry: PubSubChannel<NoopRawMutex, Telemetry, 15, 2, 4>
 }
 
 impl Default for BusGarage {
     fn default() -> Self {
         Self {
-            motion: Channel::new(),
             notify: PubSubChannel::new(),
             predict: Channel::new(),
             telemetry: PubSubChannel::new()