Use thread mode mutex now that I²C doesn't run in interrupt mode anymore

controller/src/blinker.rs

@@ -2,10 +2,10 @@ use embassy_stm32::{
     gpio::{Level, Output, Speed},
     peripherals::PB15,
 };
-use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, signal::Signal};
+use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, signal::Signal};
 use embassy_time::Timer;
 
-static BLINK_PATTERN: Signal<CriticalSectionRawMutex, &'static str> = Signal::new();
+static BLINK_PATTERN: Signal<ThreadModeRawMutex, &'static str> = Signal::new();
 
 pub fn set_blink_pattern(pattern: &'static str) {
     BLINK_PATTERN.signal(pattern);

controller/src/logic/motor_control.rs

 use crate::tb6612fng::{Movement, Tb6612fng};
 use core::sync::atomic::{AtomicU16, AtomicU32, AtomicU8, Ordering};
 use embassy_stm32::time::{hz, Hertz};
-use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel};
+use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, channel::Channel};
 
 const STANDBY: u8 = 0x80;
 const STANDBY_BOTH: u16 = ((STANDBY as u16) << 8) | STANDBY as u16;
@@ -56,7 +56,7 @@ pub fn get_pwm_frequency() -> Hertz {
 //  - two regular motor commands
 //  - one standby command sent by I²C
 //  - one standby command sent by the software watchdog
-static MOTOR_CONTROL: Channel<CriticalSectionRawMutex, MotorCommand, 4> = Channel::new();
+static MOTOR_CONTROL: Channel<ThreadModeRawMutex, MotorCommand, 4> = Channel::new();
 
 #[embassy_executor::task]
 #[allow(clippy::cast_possible_wrap)]

controller/src/logic/watchdog.rs

 use super::motor_control;
 use core::sync::atomic::{AtomicU8, Ordering};
 use embassy_stm32::pac::{self, wwdg::vals::Wdgtb};
-use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, signal::Signal};
+use embassy_sync::{blocking_mutex::raw::ThreadModeRawMutex, signal::Signal};
 use embassy_time::{Duration, Instant, Ticker};
 
-static WATCHDOG_PING: Signal<CriticalSectionRawMutex, Instant> = Signal::new();
+static WATCHDOG_PING: Signal<ThreadModeRawMutex, Instant> = Signal::new();
 static WATCHDOG_TICKS: AtomicU8 = AtomicU8::new(5);
 
 pub fn ping() {