tried critical section devices

Cargo.toml

@@ -12,6 +12,7 @@ bench = false
 [dependencies]
 cortex-m = "0.7"
 cortex-m-rt = "0.7"
+critical-section = "1.1"
 embedded-hal = { version = "1.0", features = ["defmt-03"] }
 embedded-sdmmc = { version = "0.8", default-features = false, features = [
     "defmt-log",

src/main.rs

@@ -110,6 +110,8 @@ fn main() -> ! {
         clocks.system_clock.freq(),
     );
     let i2c_ref_cell = RefCell::new(i2c);
+    let i2c_mutex = critical_section::Mutex::new(i2c_ref_cell);
+
     // set up SPI
     #[allow(clippy::type_complexity)]
     let spi: rp_pico::hal::Spi<
@@ -170,7 +172,7 @@ fn main() -> ! {
         channel_b,
         pins.gpio14.into_pull_up_input(),
         pins.gpio15.into_pull_up_input(),
-        &i2c_ref_cell,
+        &i2c_mutex,
         pins.gpio21.into_pull_up_input(),
         pins.gpio20.into_pull_up_input(),
         sd,

src/robot.rs

@@ -108,8 +108,9 @@ pub struct Robot<
     motors: MotorController<INA1, INA2, INB1, INB2, ENA, ENB>,
     button1: DebouncedButton<BUTT1, false, BUTTON_DEBOUNCE_TIME_MS>,
     button2: DebouncedButton<BUTT2, false, BUTTON_DEBOUNCE_TIME_MS>,
-    pub heading_calculator: HeadingCalculator<embedded_hal_bus::i2c::RefCellDevice<'a, TWI>, DELAY>,
-    lcd: LcdBackpack<embedded_hal_bus::i2c::RefCellDevice<'a, TWI>, DELAY>,
+    pub heading_calculator:
+        HeadingCalculator<embedded_hal_bus::i2c::CriticalSectionDevice<'a, TWI>, DELAY>,
+    lcd: LcdBackpack<embedded_hal_bus::i2c::CriticalSectionDevice<'a, TWI>, DELAY>,
     pub sd_card: FileStorage<SPI_DEV, DELAY>,
     reset_display_start_millis: u32,
     log_index: u32,
@@ -147,7 +148,7 @@ where
         duty_b: ENB,
         button1_pin: BUTT1,
         button2_pin: BUTT2,
-        i2c_refcell: &'a RefCell<TWI>,
+        i2c_refcell: &'a critical_section::Mutex<RefCell<TWI>>,
         left_counter_pin: LeftWheelCounterPin,
         right_counter_pin: RightWheelCounterPin,
         mut sd_card: FileStorage<SPI_DEV, DELAY>,
@@ -171,7 +172,8 @@ where
             pac::NVIC::unmask(pac::Interrupt::IO_IRQ_BANK0);
         }
 
-        let i2c_device = embedded_hal_bus::i2c::RefCellDevice::new(i2c_refcell);
+        // let i2c_device = embedded_hal_bus::i2c::RefCellDevice::new(i2c_refcell);
+        let i2c_device = embedded_hal_bus::i2c::CriticalSectionDevice::new(i2c_refcell);
         let mut lcd = LcdBackpack::new(LcdDisplayType::Lcd16x2, i2c_device, delay.clone());
         match lcd.init() {
             Ok(_) => {
@@ -211,7 +213,7 @@ where
         }
         delay.delay_ms(5000);
         let mut heading_calculator = HeadingCalculator::new(
-            embedded_hal_bus::i2c::RefCellDevice::new(i2c_refcell),
+            embedded_hal_bus::i2c::CriticalSectionDevice::new(i2c_refcell),
             delay,
         );
         heading_calculator.reset();