Reduce binary size, enable optimizations

Cargo.toml

@@ -15,9 +15,8 @@ harness = false
 harness = false
 
 [dependencies]
-static_cell = { version = "1.1", features = ["nightly"]}
+static_cell = { version = "1.1", features = ["nightly"] }
 num-traits = { version = "0.2.15", default-features = false }
-nb = "1"
 serde = { version = "1", default-features = false, features = ["derive", "alloc"] }
 postcard = "1.0"
 crc = "3"
@@ -28,10 +27,9 @@ siphasher = { version = "0.3", default-features = false }
 rand = { version = "0.8", default-features = false }
 rand_chacha = { version = "0.3", default-features = false }
 
-# Only load dependencies for embedded for the STM32 target, to avoid loading them when
-# importing this crate from the groundstation on x86
-# TODO: what about android?
-[target.'cfg(target_arch = "arm")'.dependencies]
+# Only load dependencies for embedded when we are compiling for the flight computer,
+# to avoid loading them when importing this crate from the groundstation on x86/wasm/Android
+[target.'cfg(target_os = "none")'.dependencies]
 embedded-hal = { version = "=1.0.0-rc.1" }
 embedded-hal-async = { version = "=1.0.0-rc.1" }
 
@@ -41,17 +39,17 @@ alloc-cortex-m = "0.4"
 
 # TODO: move USB fix to here, create issue
 # TODO: pin embassy version
-embassy-stm32        = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["defmt", "nightly", "unstable-traits", "stm32f401rc", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
-embassy-executor     = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["defmt", "nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "integrated-timers"] }
-embassy-time         = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["defmt", "defmt-timestamp-uptime", "unstable-traits", "tick-hz-1_000_000"] }
+embassy-stm32        = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["nightly", "unstable-traits", "stm32f401rc", "unstable-pac", "memory-x", "time-driver-any", "exti"]  }
+embassy-executor     = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["nightly", "arch-cortex-m", "executor-thread", "executor-interrupt", "integrated-timers"] }
+embassy-time         = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["unstable-traits", "tick-hz-1_000_000"] }
 embassy-embedded-hal = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix" }
-embassy-sync         = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["defmt"] }
-embassy-usb          = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["defmt"] }
-embassy-futures      = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = ["defmt"] }
+embassy-sync         = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = [] }
+embassy-usb          = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = [] }
+embassy-futures      = { git = "https://github.com/KoffeinFlummi/embassy", branch="usb_fix", features = [] }
 
 defmt = "0.3"
 defmt-rtt = "0.4"
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+panic-probe = { version = "0.3", features = [] }
 
 [dev-dependencies]
 defmt-test = "0.3"
@@ -65,37 +63,19 @@ gcs = []
 # cargo build/run
 [profile.dev]
 codegen-units = 1
-debug = 2
-debug-assertions = true # <-
+debug = "full"
+debug-assertions = false
 incremental = false
-opt-level = 'z'         # <-
-overflow-checks = true  # <-
-
-# cargo test
-[profile.test]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 'z'         # <-
-overflow-checks = true  # <-
+lto = "fat"
+opt-level = 3
+overflow-checks = false
 
 # cargo build/run --release
 [profile.release]
 codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 'z'          # <-
-overflow-checks = false  # <-
-
-# cargo test --release
-[profile.bench]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
+debug = "full"
+debug-assertions = false
 incremental = false
-lto = 'fat'
-opt-level = 'z'          # <-
-overflow-checks = false  # <-
+lto = "fat"
+opt-level = 3
+overflow-checks = false

src/drivers/sensors/imu.rs

@@ -106,11 +106,11 @@ impl<SPI: SpiDevice<u8>> LSM6<SPI> {
         self.write_u8(LSM6RRegister::Ctrl2G, reg).await
     }
 
-    pub async fn tick(&mut self) where <SPI as embedded_hal::spi::ErrorType>::Error: defmt::Format {
+    pub async fn tick(&mut self) {
         if let Err(e) = self.read_sensor_data().await {
             self.gyro = None;
             self.accel = None;
-            error!("{:?}", e);
+            error!("{:?}", Debug2Format(&e));
         }
     }
 

src/state_estimation.rs

@@ -4,7 +4,6 @@ use core::num::Wrapping;
 use std::num::Wrapping;
 
 use nalgebra::*;
-use num_traits::Pow;
 use ahrs::Ahrs;
 use filter::kalman::kalman_filter::KalmanFilter;
 
@@ -61,19 +60,19 @@ impl StateEstimator {
             0.0, 0.0, 1.0
         );
         kalman.P = Matrix3::new(
-            settings.std_dev_barometer.pow(2), 0.0, 0.0,
+            settings.std_dev_barometer.powi(2), 0.0, 0.0,
             0.0, 1.0, 0.0,
-            0.0, 0.0, settings.std_dev_accelerometer.pow(2),
+            0.0, 0.0, settings.std_dev_accelerometer.powi(2),
         );
         kalman.Q = Matrix3::new(
-            0.25f32 * dt.pow(4), 0.5f32 * dt.pow(3), 0.5f32 * dt.pow(2),
-            0.5f32 * dt.pow(3), dt.pow(2), dt,
-            0.5f32 * dt.pow(2), dt, 1.0f32,
-        ) * settings.std_dev_process.pow(2);
+            0.25f32 * dt.powi(4), 0.5f32 * dt.powi(3), 0.5f32 * dt.powi(2),
+            0.5f32 * dt.powi(3), dt.powi(2), dt,
+            0.5f32 * dt.powi(2), dt, 1.0f32,
+        ) * settings.std_dev_process.powi(2);
 
         kalman.R *= Matrix2::new(
-            settings.std_dev_barometer.pow(2), 0.0,
-            0.0, settings.std_dev_accelerometer.pow(2)
+            settings.std_dev_barometer.powi(2), 0.0,
+            0.0, settings.std_dev_accelerometer.powi(2)
         );
 
         Self {