cleans up lifetimes and ownership

Cargo.lock

@@ -85,6 +85,12 @@ version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
 
+[[package]]
+name = "critical-section"
+version = "1.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
+
 [[package]]
 name = "embedded-hal"
 version = "0.2.7"
@@ -101,6 +107,16 @@ version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
 
+[[package]]
+name = "embedded-hal-bus"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "513e0b3a8fb7d3013a8ae17a834283f170deaf7d0eeab0a7c1a36ad4dd356d22"
+dependencies = [
+ "critical-section",
+ "embedded-hal 1.0.0",
+]
+
 [[package]]
 name = "embedded-hal-mock"
 version = "0.11.1"
@@ -243,13 +259,14 @@ dependencies = [
  "anyhow",
  "chrono",
  "embedded-hal 1.0.0",
+ "embedded-hal-bus",
  "embedded-hal-mock",
  "fern",
  "hex",
  "log",
  "nalgebra",
  "num-traits",
- "rppal",
+ "rpi-pal",
  "thiserror",
 ]
 
@@ -401,10 +418,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
 [[package]]
-name = "rppal"
-version = "0.22.1"
+name = "rpi-pal"
+version = "0.22.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c1ce3b019009cff02cb6b0e96e7cc2e5c5b90187dc1a490f8ef1521d0596b026"
+checksum = "aed1991fa7d497e81f82b7eac494ad7d1f58d3b5f7fd1a13e30867375dfbc553"
 dependencies = [
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",