Implemented initial sansio code

Author: TheButlah

Cargo.lock

@@ -5,6 +5,7 @@ pub use self::packets::Packets;
 
 use defmt::debug;
 use embassy_executor::task;
+use embassy_futures::select::select;
 use firmware_protocol::{
 	BoardType, CbPacket, ImuType, McuType, SbPacket, SensorDataType, SensorStatus,
 };
@@ -30,6 +31,13 @@ pub async fn control_task(
 }
 
 async fn do_work(packets: &Packets, quat: &Unreliable<Quat>) {
+	let event = select(packets.clientbound.recv(), quat.wait()).await;
+	use embassy_futures::select::Either;
+	match event {
+		Either::First(cb_packet) => todo!(),
+		Either::Second(quat) => todo!(),
+	}
+
 	match packets.clientbound.recv().await {
 		// Identify ourself when discovery packet is received
 		CbPacket::Discovery => {

firmware/Cargo.lock

@@ -6,10 +6,15 @@ edition = "2021"
 
 [dependencies]
 deku = { version = "0.15", default-features = false, features = ["alloc"] }
+heapless = { version = "0.7", default-features = false }
+replace_with = { version = "0.1", default-features = false }
+derive_more = "0.99"
+
 # We support multiple versions of nalgebra since it changes so much.
 nalgebra031 = { package = "nalgebra", version = "0.31", default-features = false, optional = true }
 nalgebra030 = { package = "nalgebra", version = "0.30", default-features = false, optional = true }
 
+
 [dev-dependencies]
 nalgebra031 = { package = "nalgebra", version = "0.31" }
 nalgebra030 = { package = "nalgebra", version = "0.30" }

firmware/src/networking/protocol/mod.rs

@@ -21,9 +21,9 @@ use deku::prelude::*;
 #[derive(Debug, PartialEq, DekuRead, DekuWrite)]
 #[deku(endian = "e", ctx = "e: deku::ctx::Endian")]
 pub struct SlimeQuaternion {
-	pub i: f32,
-	pub j: f32,
-	pub k: f32,
+	pub x: f32,
+	pub y: f32,
+	pub z: f32,
 	pub w: f32,
 }