Cargo.toml

[package]
edition = "2021"
name = "rusty-quad"
authors = ["Peter Krull"]
version = "0.1.2"

[features]
default = ["icm20948-async"]
mag = []
icm20948-async = []
debug_print = []

[dependencies]
cortex-m = "0.7.7"
cortex-m-rt = "0.7.3"
embedded-hal = { version = "0.2.7", features = ["unproven"] }

defmt = "0.3.4"
defmt-rtt = "0.4.0"
panic-probe = { version = "0.3", features = ["print-defmt"] }

# RP2040-specific
pio-proc = "0.2"
pio = "0.2"

# self-developed (or forked)
dshot-pio = { git = "https://github.com/peterkrull/dshot-pio", features = ["embassy-rp"]}
icm20948-async = { git = "https://github.com/peterkrull/icm20948-async" }
mag-calibrator-rs = { git = "https://github.com/peterkrull/mag-calibrator-rs" }
pid-controller-rs = { git = "https://github.com/peterkrull/pid-controller-rs" }

# Forked
sbus = { git = "https://github.com/peterkrull/sbus" }
ahrs = { git = "https://github.com/peterkrull/ahrs-rs", default-features = false}

# Attitude and estimation
nmea0183 = { version = "0.3.0", default-features = false }

# Linear algebra
nalgebra = { version = "0.32", default-features = false, features = ["libm"] }
num-traits = { version = "0.2", default-features = false, features = ["libm"] }

# Async & Embassy related
embedded-hal-async = "1.0.0-rc.1"
embassy-sync = { git = "https://github.com/embassy-rs/embassy", features = [
    "defmt",
]}
embassy-executor = { git = "https://github.com/embassy-rs/embassy", features = [
    "defmt",
    "integrated-timers",
    "arch-cortex-m",
    "executor-thread",
    "nightly"
]}
embassy-time = { git = "https://github.com/embassy-rs/embassy", features = [
    "defmt",
    "defmt-timestamp-uptime",
]}
embassy-rp = { git = "https://github.com/embassy-rs/embassy", features = [
    "defmt",
    "unstable-traits",
    "nightly",
    "unstable-pac",
    "time-driver",
    "critical-section-impl",
    # "intrinsics",
]}
embassy-futures = { git = "https://github.com/embassy-rs/embassy" }
futures = { version = "0.3.26", default-features = false, features = [
    "async-await",
    "cfg-target-has-atomic",
    "unstable",
] }
embassy-embedded-hal = { git = "https://github.com/embassy-rs/embassy" }

static_cell = "1.0.0"

[profile.dev]
codegen-units = 1
debug = 2
debug-assertions = true
incremental = false
opt-level = 3
overflow-checks = true

# cargo build/run --release
[profile.release]
codegen-units = 1
debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 3
overflow-checks = false

# do not optimize proc-macro crates = faster builds from scratch
[profile.dev.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false

[profile.release.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false

# cargo test
[profile.test]
codegen-units = 1
debug = 2
debug-assertions = true
incremental = false
opt-level = 3
overflow-checks = true

# cargo test --release
[profile.bench]
codegen-units = 1
debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 3