Refactor code and moved from install.sh to just

2025-09-19 13:40:55 +02:00 · 2025-09-19 13:40:55 +02:00 · 6dbec2425e
commit 6dbec2425e
parent dd1f9cd918
14 changed files with 644 additions and 2258 deletions
--- a/30
+++ b/30
@ -0,0 +1,30 @@
+set export := true
+
+default: check
+
+check:
+	cd rp2040 && cargo check --target thumbv6m-none-eabi
+
+test:
+	cd rp2040 && cargo test --lib --target x86_64-unknown-linux-gnu --features std
+
+build-uf2:
+	cd rp2040 && cargo build --release --target thumbv6m-none-eabi
+	cd rp2040 && cargo objcopy --release --target thumbv6m-none-eabi -- -O binary target/thumbv6m-none-eabi/release/cmdr-keyboard-42.bin
+	cd rp2040 && python3 uf2conv.py target/thumbv6m-none-eabi/release/cmdr-keyboard-42.bin --base 0x10000000 --family 0xe48bff56 --convert --output target/firmware.uf2
+
+clean:
+	cargo clean --manifest-path rp2040/Cargo.toml
+
+flash mount="" timeout="10":
+	@just build-uf2
+	MOUNT="{{mount}}" python3 tools/copy_uf2.py --source rp2040/target/firmware.uf2 --timeout {{timeout}}
+
+flash-ssh target mount="/Volumes/RPI-RP2" key="" port="22":
+	@just build-uf2
+	target="{{target}}"
+	mount="{{mount}}"
+	key_arg=""
+	if [ -n "{{key}}" ]; then key_arg="-i {{key}}"; fi
+	ssh $key_arg -p {{port}} "$target" "mkdir -p \"$mount\""
+	scp $key_arg -P {{port}} rp2040/target/firmware.uf2 "$target:$mount/"
--- a/README.md
+++ b/README.md
@ -36,18 +36,20 @@ _This HW(PCB) was original made for use with the TeensyLC module and is reused b
 - Function layer system with two Fn keys (40/43/44) enabling sticky lock, OS lock and deep modifier combos without ghosting.
 - High-speed matrix scanning (250 µs cadence) with scan-based debounce, per-key press spacing protection and idle/suspend rate throttling.
 - Bootloader entry options including `Fn+Fn+LCtrl+LShift+RShift` runtime chord and power-on detection on button index 0.
- Status LED heartbeat derived from joystick firmware: startup heartbeat, activity/idle transitions, sticky-state colors, Caps Lock flash, suspend blanking and error signalling.
+- Status LED heartbeat carried over from the earlier CMDR firmware: startup heartbeat, activity/idle transitions, sticky-state colors, Caps Lock flash, suspend blanking and error signalling.
 - Power-aware USB handling that drops scan frequency 20× during suspend while honouring wake-on-input and immediate resume.

-## Install script (`install.sh`)
+## Development workflow

-The repository includes a host automation helper for the RP2040 firmware.
+Recurring tasks are defined in the root `Justfile`:

- Quick start: `./install.sh check` (compilation + clippy) or `./install.sh test` (full suite including host-side tests).
- Flashing: `./install.sh flash --local` for direct UF2 copy on Linux/macOS, or `./install.sh flash --ssh --target user@host --mount /path` for remote deployments.
- Cleaning: `./install.sh clean` removes cargo artefacts, generated binaries and UF2 images.
- Prerequisites are validated automatically (Rust toolchain, `thumbv6m-none-eabi`, `cargo-binutils`, `uf2conv.py`, optional SSH settings).
- Script output uses colour-coded sections for readability and fails fast on missing dependencies or connectivity issues.
+- Build-check the embedded target: `just check`
+- Run host-side tests: `just test`
+- Remove build artifacts: `just clean`
+- Build and copy a UF2 to a mounted RP2040: `just flash` (auto-detects `/Volumes/*`, `/media/*`, `/run/media/*`; override with `mount=/path` and optional `timeout=30` seconds)
+- Build, then transfer a UF2 over SSH: `just flash-ssh target=user@host mount=/media/user/RPI-RP2`
+
+The flash recipes rely on `python3`, the bundled `rp2040/uf2conv.py`, `tools/copy_uf2.py`, and `cargo objcopy` (install with `rustup component add llvm-tools-preview` and `cargo install cargo-binutils`). For SSH transfers you also need passwordless access or supply a key path, e.g. `just flash-ssh target=user@host mount=/media/user/RPI-RP2 key=~/.ssh/id_ed25519`.

 ## Build environment rp2040 Zero

--- a/install.sh
+++ b/install.sh
@ -1,567 +0,0 @@
-#!/bin/bash
-
-# CMtec CMDR Joystick 25 Install Script
-# Supports building, testing, and deploying RP2040 firmware
-
-set -e
-
-# Colors for output
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-BLUE='\033[0;34m'
-NC='\033[0m' # No Color
-
-# Show usage information
-show_usage() {
-    echo -e "${GREEN}CMtec CMDR Joystick 25 Install Script${NC}"
-    echo "========================================"
-    echo
-    echo "Usage: $0 [flash|test|check|clean] [options]"
-    echo
-    echo "Commands:"
-    echo "  flash        Build and flash RP2040 firmware"
-    echo "  test         Run comprehensive test suite"
-    echo "  check        Quick compilation and lint checks"
-    echo "  clean        Clean build artifacts and temp files"
-    echo
-    echo "flash options:"
-    echo "  --local                    Build + flash locally (RP2040 mass storage)"
-    echo "  --ssh                      Build + transfer UF2 via SSH"
-    echo "  --mount PATH               Remote RP2040 mount (default /Volumes/RPI-RP2)"
-    echo
-    echo "SSH options (when using --ssh):"
-    echo "  --target user@host        Combined user and host"
-    echo "  --user USER               SSH username"
-    echo "  --host HOST               SSH hostname or IP"
-    echo "  --port PORT               SSH port (default 22)"
-    echo "  --key PATH                SSH private key path"
-    echo
-    echo "Examples:"
-    echo "  $0                        # Show this help"
-    echo "  $0 test                   # Run all tests"
-    echo "  $0 check                  # Quick compilation check"
-    echo "  $0 flash --local          # Build and flash firmware locally"
-    echo "  $0 flash --ssh --target user@host --mount /Volumes/RPI-RP2"
-    echo "  $0 clean                  # Clean build artifacts"
-    exit "${1:-0}"
-}
-
-# Parse command line arguments
-COMMAND="${1:-}"
-shift 1 || true
-
-# If no command provided, show usage
-if [ -z "$COMMAND" ]; then
-    show_usage 0
-fi
-
-case "$COMMAND" in
-flash | test | check | clean) ;;
-h | --help | help)
-    show_usage 0
-    ;;
-*)
-    echo -e "${RED}Error: Unknown command '$COMMAND'${NC}"
-    echo
-    show_usage 1
-    ;;
-esac
-
-echo -e "${GREEN}CMtec CMDR Keyboard Install Script${NC}"
-echo "========================================"
-echo -e "${BLUE}Mode: $COMMAND${NC}"
-echo
-
-# Get script directory
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-
-# Ensure cargo-binutils is available for `cargo objcopy`
-ensure_cargo_binutils() {
-    if ! command -v cargo-objcopy >/dev/null 2>&1; then
-        echo "Installing cargo-binutils and llvm-tools-preview (required for UF2 conversion)..."
-        rustup component add llvm-tools-preview || true
-        if ! cargo install cargo-binutils; then
-            echo -e "${RED}Error: Failed to install cargo-binutils${NC}"
-            echo "Install manually: rustup component add llvm-tools-preview && cargo install cargo-binutils"
-            exit 1
-        fi
-    fi
-}
-
-# Function to check prerequisites
-check_prerequisites() {
-    echo "Checking prerequisites..."
-
-    if ! command -v cargo &>/dev/null; then
-        echo -e "${RED}Error: cargo (Rust toolchain) not found${NC}"
-        echo "Install Rust: https://rustup.rs/"
-        exit 1
-    fi
-
-    if ! command -v python3 &>/dev/null; then
-        echo -e "${RED}Error: python3 not found${NC}"
-        echo "Install Python 3"
-        exit 1
-    fi
-
-    # Check for required Rust target
-    if ! rustup target list --installed | grep -q "thumbv6m-none-eabi"; then
-        echo "Installing Rust target thumbv6m-none-eabi..."
-        rustup target add thumbv6m-none-eabi
-    fi
-
-    # Check for x86_64 target for testing
-    if ! rustup target list --installed | grep -q "x86_64-unknown-linux-gnu"; then
-        echo "Installing Rust target x86_64-unknown-linux-gnu (for testing)..."
-        rustup target add x86_64-unknown-linux-gnu
-    fi
-
-    echo -e "${GREEN}✓${NC} Prerequisites check complete"
-    echo
-}
-
-# Function to run comprehensive test suite
-run_tests() {
-    echo "Running comprehensive test suite..."
-    echo
-
-    check_prerequisites
-
-    # Change to RP2040 directory
-    RP2040_DIR="$SCRIPT_DIR/rp2040"
-    if [ ! -d "$RP2040_DIR" ]; then
-        echo -e "${RED}Error: RP2040 directory not found at $RP2040_DIR${NC}"
-        exit 1
-    fi
-
-    cd "$RP2040_DIR"
-
-    # Test 1: Cargo check for embedded target
-    echo "Testing embedded target compilation..."
-    if ! cargo check --target thumbv6m-none-eabi; then
-        echo -e "${RED}✗${NC} Embedded target compilation check failed"
-        exit 1
-    fi
-    echo -e "${GREEN}✓${NC} Embedded target compilation check passed"
-
-    # Test 2: Host target tests (17 comprehensive tests)
-    echo "Running host target test suite..."
-    if ! cargo test --lib --target x86_64-unknown-linux-gnu --features std; then
-        echo -e "${RED}✗${NC} Host target tests failed"
-        exit 1
-    fi
-    echo -e "${GREEN}✓${NC} Host target tests passed (17 tests)"
-
-    # Test 3: Clippy for code quality (warnings allowed for now)
-    echo "Running clippy code quality checks..."
-    if ! cargo clippy --target thumbv6m-none-eabi; then
-        echo -e "${RED}✗${NC} Clippy code quality check failed"
-        exit 1
-    fi
-    echo -e "${GREEN}✓${NC} Clippy code quality check passed"
-
-    # Test 4: Release build test
-    echo "Testing release build..."
-    if ! cargo build --release --target thumbv6m-none-eabi; then
-        echo -e "${RED}✗${NC} Release build failed"
-        exit 1
-    fi
-    echo -e "${GREEN}✓${NC} Release build passed"
-
-    cd "$SCRIPT_DIR"
-
-    echo
-    echo -e "${GREEN}All tests completed successfully!${NC}"
-    echo
-    echo "Test summary:"
-    echo -e "${GREEN}✓${NC} Embedded target compilation check"
-    echo -e "${GREEN}✓${NC} Host target test suite (17 tests: expo + storage modules)"
-    echo -e "${GREEN}✓${NC} Clippy code quality checks"
-    echo -e "${GREEN}✓${NC} Release build verification"
-    echo
-    echo -e "${GREEN}Codebase is ready for deployment.${NC}"
-}
-
-# Function to run quick checks
-run_check() {
-    echo "Running quick compilation and lint checks..."
-    echo
-
-    check_prerequisites
-
-    # Change to RP2040 directory
-    RP2040_DIR="$SCRIPT_DIR/rp2040"
-    if [ ! -d "$RP2040_DIR" ]; then
-        echo -e "${RED}Error: RP2040 directory not found at $RP2040_DIR${NC}"
-        exit 1
-    fi
-
-    cd "$RP2040_DIR"
-
-    # Quick cargo check
-    echo "Checking embedded target compilation..."
-    if ! cargo check --target thumbv6m-none-eabi; then
-        echo -e "${RED}✗${NC} Compilation check failed"
-        exit 1
-    fi
-    echo -e "${GREEN}✓${NC} Compilation check passed"
-
-    # Quick clippy check (warnings allowed for now)
-    echo "Running clippy..."
-    if ! cargo clippy --target thumbv6m-none-eabi; then
-        echo -e "${RED}✗${NC} Clippy check failed"
-        exit 1
-    fi
-    echo -e "${GREEN}✓${NC} Clippy check passed"
-
-    cd "$SCRIPT_DIR"
-
-    echo
-    echo -e "${GREEN}Quick checks completed successfully!${NC}"
-}
-
-# Function to clean build artifacts
-clean_build() {
-    echo "Cleaning build artifacts and temporary files..."
-    echo
-
-    RP2040_DIR="$SCRIPT_DIR/rp2040"
-    if [ ! -d "$RP2040_DIR" ]; then
-        echo -e "${RED}Error: RP2040 directory not found at $RP2040_DIR${NC}"
-        exit 1
-    fi
-
-    cd "$RP2040_DIR"
-
-    # Clean cargo artifacts
-    echo "Cleaning cargo build artifacts..."
-    cargo clean
-    echo -e "${GREEN}✓${NC} Cargo artifacts cleaned"
-
-    # Remove UF2 and binary files
-    if [ -f "firmware.uf2" ]; then
-        rm -f firmware.uf2
-        echo -e "${GREEN}✓${NC} Removed firmware.uf2"
-    fi
-
-    if [ -f "target/thumbv6m-none-eabi/release/cmdr-joystick-25.bin" ]; then
-        rm -f target/thumbv6m-none-eabi/release/cmdr-joystick-25.bin
-        echo -e "${GREEN}✓${NC} Removed binary files"
-    fi
-
-    # Clean any temp files
-    rm -f /tmp/cmdr_*.tmp 2>/dev/null || true
-
-    cd "$SCRIPT_DIR"
-
-    echo
-    echo -e "${GREEN}Cleanup completed!${NC}"
-}
-
-# Function to build firmware locally
-build_firmware() {
-    RP2040_DIR="$SCRIPT_DIR/rp2040"
-
-    if [ ! -d "$RP2040_DIR" ]; then
-        echo -e "${RED}Error: RP2040 directory not found at $RP2040_DIR${NC}"
-        exit 1
-    fi
-
-    check_prerequisites
-
-    # Build firmware
-    echo "Building RP2040 firmware..."
-    cd "$RP2040_DIR"
-
-    if ! cargo build --release --target thumbv6m-none-eabi; then
-        echo -e "${RED}Error: Failed to build firmware${NC}"
-        exit 1
-    fi
-
-    echo -e "${GREEN}✓${NC} Firmware build complete"
-    echo
-
-    # Create UF2 file
-    echo "Converting to UF2 format..."
-
-    ensure_cargo_binutils
-    if ! cargo objcopy --release --target thumbv6m-none-eabi -- -O binary target/thumbv6m-none-eabi/release/cmdr-joystick-25.bin; then
-        echo -e "${RED}Error: Failed to create binary file${NC}"
-        exit 1
-    fi
-
-    # Check for uf2conv.py script
-    if [ ! -f "uf2conv.py" ]; then
-        echo "Downloading uf2conv.py..."
-        if ! curl -L -o uf2conv.py "https://raw.githubusercontent.com/microsoft/uf2/master/utils/uf2conv.py"; then
-            echo -e "${RED}Error: Failed to download uf2conv.py${NC}"
-            exit 1
-        fi
-        chmod +x uf2conv.py
-    fi
-
-    if ! python3 uf2conv.py -b 0x10000000 -f 0xe48bff56 -c -o firmware.uf2 target/thumbv6m-none-eabi/release/cmdr-joystick-25.bin; then
-        echo -e "${RED}Error: Failed to convert to UF2 format${NC}"
-        exit 1
-    fi
-
-    echo -e "${GREEN}✓${NC} UF2 conversion complete"
-    echo
-}
-
-# Function to build and transfer firmware via SSH
-flash_firmware_ssh() {
-    RP2040_DIR="$SCRIPT_DIR/rp2040"
-
-    if [ ! -d "$RP2040_DIR" ]; then
-        echo -e "${RED}Error: RP2040 directory not found at $RP2040_DIR${NC}"
-        exit 1
-    fi
-
-    # Parse CLI args for SSH
-    SSH_HOST=""
-    SSH_USER=""
-    SSH_PORT="22"
-    SSH_KEY=""
-    REMOTE_MOUNT="/Volumes/RPI-RP2"
-    while [ $# -gt 0 ]; do
-        case "$1" in
-        --target)
-            shift
-            TARGET="$1"
-            SSH_USER="${TARGET%@*}"
-            SSH_HOST="${TARGET#*@}"
-            ;;
-        --host)
-            shift
-            SSH_HOST="$1"
-            ;;
-        --user)
-            shift
-            SSH_USER="$1"
-            ;;
-        --port)
-            shift
-            SSH_PORT="$1"
-            ;;
-        --key)
-            shift
-            SSH_KEY="$1"
-            ;;
-        --mount)
-            shift
-            REMOTE_MOUNT="$1"
-            ;;
-        *) echo -e "${YELLOW}Warning: Unknown SSH option: $1${NC}" ;;
-        esac
-        shift || true
-    done
-
-    if [ -z "$SSH_HOST" ] || [ -z "$SSH_USER" ]; then
-        echo -e "${RED}Error: provide SSH credentials via --target user@host or --user/--host${NC}"
-        exit 1
-    fi
-
-    # Build firmware locally first
-    build_firmware
-
-    echo "Testing SSH connection to $SSH_USER@$SSH_HOST:$SSH_PORT..."
-
-    mkdir -p "${HOME}/.ssh"
-    SSH_CONTROL_PATH="${HOME}/.ssh/cmdr_%C"
-    local SSH_OPTS=(
-        -p "$SSH_PORT"
-        -o "StrictHostKeyChecking=accept-new"
-        -o "ControlMaster=auto"
-        -o "ControlPersist=60s"
-        -o "ControlPath=$SSH_CONTROL_PATH"
-        -o "PreferredAuthentications=publickey,password,keyboard-interactive"
-    )
-    if [ -n "$SSH_KEY" ]; then
-        SSH_OPTS+=(-i "$SSH_KEY")
-    fi
-
-    # Test SSH connection
-    if ! ssh "${SSH_OPTS[@]}" -o ConnectTimeout=10 -fN "$SSH_USER@$SSH_HOST" 2>/dev/null; then
-        echo -e "${RED}Error: Cannot connect to $SSH_USER@$SSH_HOST:$SSH_PORT${NC}"
-        echo "Tips:"
-        echo "- Verify network reachability and SSH port"
-        echo "- Ensure SSH keys are properly configured"
-        exit 1
-    fi
-
-    echo -e "${GREEN}✓${NC} SSH connection successful"
-
-    # Check if remote mount exists
-    echo "Checking remote RP2040 mount path: $REMOTE_MOUNT"
-    if ! ssh "${SSH_OPTS[@]}" "$SSH_USER@$SSH_HOST" "test -d \"$REMOTE_MOUNT\""; then
-        echo -e "${RED}Remote mount not found: $REMOTE_MOUNT${NC}"
-        echo -e "${YELLOW}Ensure the RP2040 is in BOOTSEL mode and mounted on the remote host.${NC}"
-        echo "Common paths: /Volumes/RPI-RP2 (macOS), /media/\$USER/RPI-RP2 (Linux)"
-        exit 1
-    fi
-
-    echo "Transferring firmware.uf2 to remote host..."
-    local SCP_OPTS=(-P "$SSH_PORT" -o "StrictHostKeyChecking=accept-new" -o "ControlPath=$SSH_CONTROL_PATH")
-    if [ -n "$SSH_KEY" ]; then
-        SCP_OPTS+=(-i "$SSH_KEY")
-    fi
-
-    cd "$RP2040_DIR"
-    if ! scp "${SCP_OPTS[@]}" firmware.uf2 "$SSH_USER@$SSH_HOST:$REMOTE_MOUNT/firmware.uf2"; then
-        echo -e "${RED}✗${NC} Failed to transfer firmware to remote RP2040"
-        exit 1
-    fi
-
-    echo -e "${GREEN}✓${NC} Transferred firmware.uf2 to $SSH_USER@$SSH_HOST:$REMOTE_MOUNT"
-
-    cd "$SCRIPT_DIR"
-
-    echo
-    echo -e "${GREEN}SSH firmware deployment completed!${NC}"
-    echo "Remote: $SSH_USER@$SSH_HOST:$REMOTE_MOUNT/firmware.uf2"
-    echo -e "${YELLOW}The remote RP2040 should now restart with new firmware.${NC}"
-}
-
-# Function to flash firmware locally
-flash_firmware_local() {
-    build_firmware
-
-    RP2040_DIR="$SCRIPT_DIR/rp2040"
-    cd "$RP2040_DIR"
-
-    # Detect OS and set up mount detection
-    OS="$(uname -s)"
-
-    # Wait for and flash to RP2040
-    echo "Waiting for RP2040 in bootloader mode..."
-    echo -e "${YELLOW}Put your RP2040 into bootloader mode (hold BOOTSEL button while plugging in USB)${NC}"
-
-    case "$OS" in
-    Linux*)
-        # Wait for RPI-RP2 mount point with timeout
-        MAX_WAIT=120
-        waited=0
-        while [ ! -d "/media/RPI-RP2" ] && [ ! -d "/media/$USER/RPI-RP2" ] && [ ! -d "/run/media/$USER/RPI-RP2" ]; do
-            sleep 1
-            waited=$((waited + 1))
-            if [ "$waited" -ge "$MAX_WAIT" ]; then
-                echo -e "${RED}Timeout waiting for RP2040 mount (RPI-RP2)${NC}"
-                echo "Ensure the device is in BOOTSEL mode and mounted (try replugging with BOOTSEL held)."
-                echo "Expected mount at one of: /media/RPI-RP2, /media/$USER/RPI-RP2, /run/media/$USER/RPI-RP2"
-                exit 1
-            fi
-        done
-
-        # Find the actual mount point
-        if [ -d "/media/RPI-RP2" ]; then
-            MOUNT_POINT="/media/RPI-RP2"
-        elif [ -d "/media/$USER/RPI-RP2" ]; then
-            MOUNT_POINT="/media/$USER/RPI-RP2"
-        elif [ -d "/run/media/$USER/RPI-RP2" ]; then
-            MOUNT_POINT="/run/media/$USER/RPI-RP2"
-        else
-            echo -e "${RED}Error: Could not find RPI-RP2 mount point${NC}"
-            exit 1
-        fi
-
-        echo -e "${GREEN}✓${NC} Found RP2040 at $MOUNT_POINT"
-
-        # Flash firmware
-        echo "Flashing firmware..."
-        cp firmware.uf2 "$MOUNT_POINT/"
-        echo -e "${GREEN}✓${NC} Firmware flashed successfully!"
-        ;;
-    Darwin*)
-        # Wait for RPI-RP2 volume with timeout
-        MAX_WAIT=120
-        waited=0
-        while [ ! -d "/Volumes/RPI-RP2" ]; do
-            sleep 1
-            waited=$((waited + 1))
-            if [ "$waited" -ge "$MAX_WAIT" ]; then
-                echo -e "${RED}Timeout waiting for RP2040 mount at /Volumes/RPI-RP2${NC}"
-                echo "Ensure the device is in BOOTSEL mode and mounted (try replugging with BOOTSEL held)."
-                exit 1
-            fi
-        done
-
-        echo -e "${GREEN}✓${NC} Found RP2040 at /Volumes/RPI-RP2"
-
-        # Flash firmware
-        echo "Flashing firmware..."
-        cp firmware.uf2 "/Volumes/RPI-RP2/"
-        echo -e "${GREEN}✓${NC} Firmware flashed successfully!"
-        ;;
-    *)
-        echo -e "${RED}Error: Unsupported operating system for local flashing${NC}"
-        echo "This script supports Linux and macOS for local flashing."
-        exit 1
-        ;;
-    esac
-
-    cd "$SCRIPT_DIR"
-
-    echo
-    echo -e "${GREEN}Firmware installation completed!${NC}"
-    echo
-    echo "Firmware file: $RP2040_DIR/firmware.uf2"
-    echo -e "${GREEN}RP2040 firmware deployed successfully!${NC}"
-    echo -e "${YELLOW}The device should now restart with new firmware.${NC}"
-}
-
-# Detect OS
-case "$(uname -s)" in
-Linux*)
-    OS="Linux"
-    ;;
-Darwin*)
-    OS="macOS"
-    ;;
-*)
-    echo -e "${RED}Error: Unsupported operating system${NC}"
-    echo "This script supports Linux and macOS only."
-    exit 1
-    ;;
-esac
-
-echo "Detected OS: $OS"
-if [ "$COMMAND" = "flash" ]; then
-    echo "RP2040 firmware directory: $SCRIPT_DIR/rp2040"
-elif [ "$COMMAND" = "test" ]; then
-    echo "Testing Rust embedded firmware with comprehensive test suite"
-fi
-echo
-
-# Execute command
-case "$COMMAND" in
-flash)
-    MODE=""
-    REM_ARGS=()
-    for arg in "$@"; do
-        case "$arg" in
-        --local) MODE="local" ;;
-        --ssh) MODE="ssh" ;;
-        *) REM_ARGS+=("$arg") ;;
-        esac
-    done
-    if [ "$MODE" = "local" ]; then
-        flash_firmware_local
-    elif [ "$MODE" = "ssh" ]; then
-        flash_firmware_ssh "${REM_ARGS[@]}"
-    else
-        echo -e "${RED}Error: specify --local or --ssh for flash${NC}"
-        show_usage 1
-    fi
-    ;;
-test)
-    run_tests
-    ;;
-check)
-    run_check
-    ;;
-clean)
-    clean_build
-    ;;
-esac
--- a/rp2040/.cargo/config.toml
+++ b/rp2040/.cargo/config.toml
@ -24,7 +24,6 @@ target = "thumbv6m-none-eabi"
 rustflags = [
    "-C", "link-arg=--nmagic",
    "-C", "link-arg=-Tlink.x",
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--- a/rp2040/Cargo.lock
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 version = "1.0.2"
@ -1527,98 +645,6 @@ dependencies = [
 "vcell",
 ]

-[[package]]
-name = "walkdir"
-version = "2.5.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "29790946404f91d9c5d06f9874efddea1dc06c5efe94541a7d6863108e3a5e4b"
-dependencies = [
- "same-file",
- "winapi-util",
-]
-
-[[package]]
-name = "winapi-util"
-version = "0.1.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cf221c93e13a30d793f7645a0e7762c55d169dbb0a49671918a2319d289b10bb"
-dependencies = [
- "windows-sys",
-]
-
-[[package]]
-name = "windows-sys"
-version = "0.59.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1e38bc4d79ed67fd075bcc251a1c39b32a1776bbe92e5bef1f0bf1f8c531853b"
-dependencies = [
- "windows-targets",
-]
-
-[[package]]
-name = "windows-targets"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9b724f72796e036ab90c1021d4780d4d3d648aca59e491e6b98e725b84e99973"
-dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc",
- "windows_i686_gnu",
- "windows_i686_gnullvm",
- "windows_i686_msvc",
- "windows_x86_64_gnu",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc",
-]
-
-[[package]]
-name = "windows_aarch64_gnullvm"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
-
-[[package]]
-name = "windows_aarch64_msvc"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
-
-[[package]]
-name = "windows_i686_gnu"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
-
-[[package]]
-name = "windows_i686_gnullvm"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
-
-[[package]]
-name = "windows_i686_msvc"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
-
-[[package]]
-name = "windows_x86_64_gnu"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
-
-[[package]]
-name = "windows_x86_64_gnullvm"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
-
-[[package]]
-name = "windows_x86_64_msvc"
-version = "0.52.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
-
 [[package]]
 name = "ws2812-pio"
 version = "0.9.0"
@ -1629,7 +655,7 @@ dependencies = [
 "embedded-hal 0.2.7",
 "fugit",
 "nb 1.1.0",
- "pio 0.2.1",
+ "pio",
 "rp2040-hal",
 "smart-leds-trait 0.2.1",
 "smart-leds-trait 0.3.1",
--- a/rp2040/Cargo.toml
+++ b/rp2040/Cargo.toml
@ -4,38 +4,18 @@ version = "0.2.0"
 edition = "2024"

 [dependencies]
-# rp2040_hal dependencies copied from v0.11
 cortex-m = "0.7.2"
 cortex-m-rt = "0.7"
-cortex-m-rtic = "1.1.4"
-critical-section = {version = "1.2.0"}
-defmt = "0.3"
-defmt-rtt = "0.4.0"
-dht-sensor = "0.2.1"
-embedded-alloc = "0.5.1"
 embedded-hal = "1.0.0"
-embedded-hal-async = "1.0.0"
-embedded-hal-bus = {version = "0.2.0", features = ["defmt-03"]}
-embedded-io = "0.6.1"
 embedded_hal_0_2 = {package = "embedded-hal", version = "0.2.5", features = ["unproven"]}
 fugit = "0.3.6"
-futures = {version = "0.3.30", default-features = false, features = ["async-await"]}
-hd44780-driver = "0.4.0"
-nb = "1.0"
 panic-halt = "0.2.0"
-panic-probe = {version = "0.3.1", features = ["print-defmt"]}
-pio = "0.3.0"
-portable-atomic = {version = "1.7.0", features = ["critical-section"]}
 rp2040-boot2 = "0.3.0"
-rp2040-hal = {version = "0.11.0", features = ["binary-info", "critical-section-impl", "rt", "defmt"]} 
-rp-binary-info = {git = "https://github.com/rp-rs/rp-hal/", version ="0.1.2"}
-static_cell = "2.1.0"
+rp2040-hal = {version = "0.11.0", features = ["binary-info", "critical-section-impl", "rt"]}

 # USB hid dependencies
 usbd-human-interface-device = {version = "0.5.1"}
 usb-device = "0.3"
-packed_struct = { version = "0.10", default-features = false }
-heapless = "0.8"

 # ws2812-pio dependencies
 ws2812-pio = "0.9.0"
@ -65,3 +45,7 @@ path = "src/main.rs"
 [features]
 default = []
 std = []
+
+[target.'cfg(target_arch = "arm")'.dependencies]
+static_cell = "2.1.0"
+portable-atomic = { version = "1.11.0", default-features = false, features = ["unsafe-assume-single-core"] }
--- a/rp2040/src/board.rs
+++ b/rp2040/src/board.rs
@ -0,0 +1,137 @@
+use crate::{hardware, ButtonMatrix, MatrixPins, StatusLed};
+use cortex_m::delay::Delay;
+use cortex_m::interrupt;
+use rp2040_hal::{
+    Clock,
+    clocks::init_clocks_and_plls,
+    gpio::Pins,
+    pac,
+    pio::PIOExt,
+    sio::Sio,
+    timer::Timer,
+    watchdog::Watchdog,
+};
+use usb_device::class_prelude::UsbBusAllocator;
+
+pub type KeyboardMatrix = ButtonMatrix<
+    MatrixPins<{ hardware::KEY_ROWS }, { hardware::KEY_COLS }>,
+    { hardware::KEY_ROWS },
+    { hardware::KEY_COLS },
+    { hardware::NUMBER_OF_KEYS },
+>;
+
+pub type KeyboardStatusLed = StatusLed<pac::PIO0, rp2040_hal::pio::SM0, hardware::StatusLedPin>;
+
+pub struct Board {
+    pub button_matrix: KeyboardMatrix,
+    pub status_led: KeyboardStatusLed,
+    pub delay: Delay,
+    pub timer: Timer,
+    usb_bus: &'static UsbBusAllocator<rp2040_hal::usb::UsbBus>,
+}
+
+pub struct BoardParts {
+    pub button_matrix: KeyboardMatrix,
+    pub status_led: KeyboardStatusLed,
+    pub delay: Delay,
+    pub timer: Timer,
+    pub usb_bus: &'static UsbBusAllocator<rp2040_hal::usb::UsbBus>,
+}
+
+impl Board {
+    pub fn new() -> Self {
+        let mut pac = pac::Peripherals::take().unwrap();
+        let core = pac::CorePeripherals::take().unwrap();
+
+        let mut watchdog = Watchdog::new(pac.WATCHDOG);
+        let clocks = init_clocks_and_plls(
+            hardware::XTAL_FREQ_HZ,
+            pac.XOSC,
+            pac.CLOCKS,
+            pac.PLL_SYS,
+            pac.PLL_USB,
+            &mut pac.RESETS,
+            &mut watchdog,
+        )
+        .ok()
+        .unwrap();
+
+        let sio = Sio::new(pac.SIO);
+        let pins = Pins::new(
+            pac.IO_BANK0,
+            pac.PADS_BANK0,
+            sio.gpio_bank0,
+            &mut pac.RESETS,
+        );
+
+        let (rows, cols, status_pin) = hardware::split_board_pins(pins);
+        let matrix_pins = MatrixPins::new(rows, cols);
+
+        let mut button_matrix = ButtonMatrix::new(
+            matrix_pins,
+            hardware::MATRIX_DEBOUNCE_SCANS_PRESS,
+            hardware::MATRIX_DEBOUNCE_SCANS_RELEASE,
+            hardware::MIN_PRESS_SPACING_SCANS,
+        );
+        button_matrix.init_pins();
+
+        let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
+        let status_led_pin = status_pin;
+        let status_led = StatusLed::new(
+            status_led_pin,
+            &mut pio,
+            sm0,
+            clocks.peripheral_clock.freq(),
+        );
+
+        let timer = Timer::new(pac.TIMER, &mut pac.RESETS, &clocks);
+        let delay = Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
+
+        let usb_bus = usb_allocator(
+            pac.USBCTRL_REGS,
+            pac.USBCTRL_DPRAM,
+            clocks.usb_clock,
+            &mut pac.RESETS,
+        );
+
+        Self {
+            button_matrix,
+            status_led,
+            delay,
+            timer,
+            usb_bus,
+        }
+    }
+
+    pub fn into_parts(self) -> BoardParts {
+        BoardParts {
+            button_matrix: self.button_matrix,
+            status_led: self.status_led,
+            delay: self.delay,
+            timer: self.timer,
+            usb_bus: self.usb_bus,
+        }
+    }
+}
+
+fn usb_allocator(
+    usbctrl_regs: pac::USBCTRL_REGS,
+    usbctrl_dpram: pac::USBCTRL_DPRAM,
+    usb_clock: rp2040_hal::clocks::UsbClock,
+    resets: &mut pac::RESETS,
+) -> &'static UsbBusAllocator<rp2040_hal::usb::UsbBus> {
+    static USB_BUS: static_cell::StaticCell<UsbBusAllocator<rp2040_hal::usb::UsbBus>> =
+        static_cell::StaticCell::new();
+
+    interrupt::free(|_| {
+        USB_BUS.init_with(|| {
+            UsbBusAllocator::new(rp2040_hal::usb::UsbBus::new(
+                usbctrl_regs,
+                usbctrl_dpram,
+                usb_clock,
+                true,
+                resets,
+            ))
+        })
+    })
+}
--- a/rp2040/src/bootloader.rs
+++ b/rp2040/src/bootloader.rs
@ -1,6 +1,6 @@
 //! Bootloader entry helpers shared between power-on checks and runtime combos.

-use crate::{layout, status::StatusMode, StatusLed, NUMBER_OF_KEYS};
+use crate::{NUMBER_OF_KEYS, StatusLed, layout, status::StatusMode};
 use cortex_m::asm;
 use rp2040_hal::{
    gpio::AnyPin,
--- a/rp2040/src/button_matrix.rs
+++ b/rp2040/src/button_matrix.rs
@ -1,66 +1,115 @@
-//! Button matrix scanner for CMDR Keyboard 42
+//! Button matrix scanner for CMDR Keyboard 42.
 //!
-//! Ported from the joystick firmware for consistent behaviour and structure.
-//! Scans a row/column matrix and produces a debounced boolean state for each
-//! button using per-button counters and small inter-column delays.
+//! The scanner owns a concrete set of matrix pins and produces a debounced
+//! boolean state for each key.

-use core::convert::Infallible;
 use cortex_m::delay::Delay;
 use embedded_hal::digital::{InputPin, OutputPin};
+use rp2040_hal::gpio::{DynPinId, FunctionSioInput, FunctionSioOutput, Pin, PullNone, PullUp};

-/// Row/column scanned button matrix driver with debounce counters.
-pub struct ButtonMatrix<'a, const R: usize, const C: usize, const N: usize> {
-    rows: &'a mut [&'a mut dyn InputPin<Error = Infallible>; R],
-    cols: &'a mut [&'a mut dyn OutputPin<Error = Infallible>; C],
-    pressed: [bool; N],
-    press_threshold: u8,
-    release_threshold: u8,
-    debounce_counter: [u8; N],
-    // Additional protection: minimum time between same-key presses
-    last_press_scan: [u32; N],
-    scan_counter: u32,
+/// Abstraction over the physical row/column pins backing the button matrix.
+pub trait MatrixPinAccess<const ROWS: usize, const COLS: usize> {
+    fn init_columns(&mut self);
+    fn set_column_low(&mut self, column: usize);
+    fn set_column_high(&mut self, column: usize);
+    fn read_row(&mut self, row: usize) -> bool;
 }

-impl<'a, const R: usize, const C: usize, const N: usize> ButtonMatrix<'a, R, C, N> {
-    pub fn new(
-        rows: &'a mut [&'a mut dyn InputPin<Error = Infallible>; R],
-        cols: &'a mut [&'a mut dyn OutputPin<Error = Infallible>; C],
+/// Concrete matrix pins built from RP2040 dynamic pins.
+type RowPin = Pin<DynPinId, FunctionSioInput, PullUp>;
+type ColPin = Pin<DynPinId, FunctionSioOutput, PullNone>;
+
+pub struct MatrixPins<const ROWS: usize, const COLS: usize> {
+    rows: [RowPin; ROWS],
+    cols: [ColPin; COLS],
+}
+
+impl<const ROWS: usize, const COLS: usize> MatrixPins<ROWS, COLS> {
+    pub fn new(rows: [RowPin; ROWS], cols: [ColPin; COLS]) -> Self {
+        Self { rows, cols }
+    }
+}
+
+impl<const ROWS: usize, const COLS: usize> MatrixPinAccess<ROWS, COLS> for MatrixPins<ROWS, COLS> {
+    fn init_columns(&mut self) {
+        for column in self.cols.iter_mut() {
+            column.set_high().ok();
+        }
+    }
+
+    fn set_column_low(&mut self, column: usize) {
+        self.cols[column].set_low().ok();
+    }
+
+    fn set_column_high(&mut self, column: usize) {
+        self.cols[column].set_high().ok();
+    }
+
+    fn read_row(&mut self, row: usize) -> bool {
+        self.rows[row].is_low().unwrap_or(false)
+    }
+}
+
+/// Row/column scanned button matrix driver with debounce counters.
+pub struct ButtonMatrix<P, const ROWS: usize, const COLS: usize, const KEYS: usize> {
+    pins: P,
+    pressed: [bool; KEYS],
    press_threshold: u8,
    release_threshold: u8,
+    debounce_counter: [u8; KEYS],
+    last_press_scan: [u32; KEYS],
+    scan_counter: u32,
+    min_press_gap_scans: u32,
+}
+
+impl<P, const ROWS: usize, const COLS: usize, const KEYS: usize> ButtonMatrix<P, ROWS, COLS, KEYS>
+where
+    P: MatrixPinAccess<ROWS, COLS>,
+{
+    pub fn new(
+        pins: P,
+        press_threshold: u8,
+        release_threshold: u8,
+        min_press_gap_scans: u32,
    ) -> Self {
+        debug_assert_eq!(KEYS, ROWS * COLS);
        Self {
-            rows,
-            cols,
-            pressed: [false; N],
+            pins,
+            pressed: [false; KEYS],
            press_threshold,
            release_threshold,
-            debounce_counter: [0; N],
-            last_press_scan: [0; N],
+            debounce_counter: [0; KEYS],
+            last_press_scan: [0; KEYS],
            scan_counter: 0,
+            min_press_gap_scans,
        }
    }

    pub fn init_pins(&mut self) {
-        for col in self.cols.iter_mut() {
-            col.set_high().unwrap();
+        self.pins.init_columns();
+    }
+
+    pub fn prime(&mut self, delay: &mut Delay, passes: usize) {
+        for _ in 0..passes {
+            self.scan_matrix(delay);
        }
    }

    pub fn scan_matrix(&mut self, delay: &mut Delay) {
        self.scan_counter = self.scan_counter.wrapping_add(1);
-        for col_index in 0..self.cols.len() {
-            self.cols[col_index].set_low().unwrap();
+        for column in 0..COLS {
+            self.pins.set_column_low(column);
            delay.delay_us(1);
-            self.process_column(col_index);
-            self.cols[col_index].set_high().unwrap();
+            self.process_column(column);
+            self.pins.set_column_high(column);
            delay.delay_us(1);
        }
    }

-    fn process_column(&mut self, col_index: usize) {
-        for row_index in 0..self.rows.len() {
-            let button_index: usize = col_index + (row_index * C);
-            let current_state = self.rows[row_index].is_low().unwrap();
+    pub(crate) fn process_column(&mut self, column: usize) {
+        for row in 0..ROWS {
+            let button_index = column + (row * COLS);
+            let current_state = self.pins.read_row(row);

            if current_state == self.pressed[button_index] {
                self.debounce_counter[button_index] = 0;
@ -77,147 +126,124 @@ impl<'a, const R: usize, const C: usize, const N: usize> ButtonMatrix<'a, R, C,
            };

            if self.debounce_counter[button_index] >= threshold {
-                // Additional protection for press events: minimum 20 scans (5ms) between presses
-                if current_state { // Pressing
-                    let scans_since_last = self.scan_counter.wrapping_sub(self.last_press_scan[button_index]);
-                    if scans_since_last >= 20 { // 5ms at 250μs scan rate
-                        self.pressed[button_index] = current_state;
+                if current_state {
+                    let elapsed = self
+                        .scan_counter
+                        .wrapping_sub(self.last_press_scan[button_index]);
+                    if self.last_press_scan[button_index] == 0
+                        || elapsed >= self.min_press_gap_scans
+                    {
+                        self.pressed[button_index] = true;
                        self.last_press_scan[button_index] = self.scan_counter;
                    }
-                } else { // Releasing
-                    self.pressed[button_index] = current_state;
+                } else {
+                    self.pressed[button_index] = false;
                }
                self.debounce_counter[button_index] = 0;
            }
        }
    }

-    pub fn buttons_pressed(&mut self) -> [bool; N] {
+    pub fn buttons_pressed(&self) -> [bool; KEYS] {
        self.pressed
    }
+
+    #[cfg(all(test, feature = "std"))]
+    pub(crate) fn set_scan_counter(&mut self, value: u32) {
+        self.scan_counter = value;
+    }
+
+    #[cfg(all(test, feature = "std"))]
+    pub(crate) fn bump_scan_counter(&mut self) {
+        self.scan_counter = self.scan_counter.wrapping_add(1);
+    }
 }

 #[cfg(all(test, feature = "std"))]
 mod tests {
    use super::*;
    use core::cell::Cell;
-    use embedded_hal::digital::ErrorType;
    use std::rc::Rc;

-    struct MockInputPin {
-        state: Rc<Cell<bool>>,
+    #[derive(Clone)]
+    struct MockMatrixPins {
+        row: Rc<Cell<bool>>,
+        column: Rc<Cell<bool>>,
    }

-    impl MockInputPin {
-        fn new(state: Rc<Cell<bool>>) -> Self {
-            Self { state }
+    impl MockMatrixPins {
+        fn new(row: Rc<Cell<bool>>, column: Rc<Cell<bool>>) -> Self {
+            Self { row, column }
        }
    }

-    impl ErrorType for MockInputPin {
-        type Error = Infallible;
+    impl MatrixPinAccess<1, 1> for MockMatrixPins {
+        fn init_columns(&mut self) {
+            self.column.set(true);
        }

-    impl InputPin for MockInputPin {
-        fn is_high(&mut self) -> Result<bool, Self::Error> {
-            Ok(!self.state.get())
+        fn set_column_low(&mut self, _column: usize) {
+            self.column.set(false);
        }

-        fn is_low(&mut self) -> Result<bool, Self::Error> {
-            Ok(self.state.get())
+        fn set_column_high(&mut self, _column: usize) {
+            self.column.set(true);
+        }
+
+        fn read_row(&mut self, _row: usize) -> bool {
+            self.row.get()
        }
    }

-    struct MockOutputPin {
-        state: Rc<Cell<bool>>,
-    }
-
-    impl MockOutputPin {
-        fn new(state: Rc<Cell<bool>>) -> Self {
-            Self { state }
-        }
-    }
-
-    impl ErrorType for MockOutputPin {
-        type Error = Infallible;
-    }
-
-    impl OutputPin for MockOutputPin {
-        fn set_high(&mut self) -> Result<(), Self::Error> {
-            self.state.set(true);
-            Ok(())
-        }
-
-        fn set_low(&mut self) -> Result<(), Self::Error> {
-            self.state.set(false);
-            Ok(())
-        }
-    }
-
-    fn matrix_fixture() -> (
-        ButtonMatrix<'static, 1, 1, 1>,
+    fn fixture() -> (
+        ButtonMatrix<MockMatrixPins, 1, 1, 1>,
        Rc<Cell<bool>>,
        Rc<Cell<bool>>,
    ) {
        let row_state = Rc::new(Cell::new(false));
-        let col_state = Rc::new(Cell::new(false));
-
-        let row_pin: &'static mut dyn InputPin<Error = Infallible> =
-            Box::leak(Box::new(MockInputPin::new(row_state.clone())));
-        let col_pin: &'static mut dyn OutputPin<Error = Infallible> =
-            Box::leak(Box::new(MockOutputPin::new(col_state.clone())));
-
-        let rows: &'static mut [&'static mut dyn InputPin<Error = Infallible>; 1] =
-            Box::leak(Box::new([row_pin]));
-        let cols: &'static mut [&'static mut dyn OutputPin<Error = Infallible>; 1] =
-            Box::leak(Box::new([col_pin]));
-
-        let matrix = ButtonMatrix::new(rows, cols, 5, 5);
-
-        (matrix, row_state, col_state)
+        let column_state = Rc::new(Cell::new(false));
+        let pins = MockMatrixPins::new(row_state.clone(), column_state.clone());
+        let matrix = ButtonMatrix::new(pins, 5, 5, 200);
+        (matrix, row_state, column_state)
    }

    #[test]
    fn init_sets_columns_high() {
-        let (mut matrix, _row_state, col_state) = matrix_fixture();
-        assert!(!col_state.get());
+        let (mut matrix, _row, column) = fixture();
+        assert!(!column.get());
        matrix.init_pins();
-        assert!(col_state.get());
+        assert!(column.get());
    }

    #[test]
    fn debounce_respects_threshold() {
-        let (mut matrix, row_state, _col_state) = matrix_fixture();
+        let (mut matrix, row, _column) = fixture();
        let mut states = matrix.buttons_pressed();
        assert!(!states[0]);

-        // Set scan counter to start with enough history
-        matrix.scan_counter = 100;
-
-        row_state.set(true);
-        // Need 5 scans to register press
+        matrix.set_scan_counter(100);
+        row.set(true);
        for _ in 0..4 {
-            matrix.scan_counter = matrix.scan_counter.wrapping_add(1);
+            matrix.bump_scan_counter();
            matrix.process_column(0);
            states = matrix.buttons_pressed();
-            assert!(!states[0]); // Still not pressed
+            assert!(!states[0]);
        }
-        matrix.scan_counter = matrix.scan_counter.wrapping_add(1);
-        matrix.process_column(0); // 5th scan
-        states = matrix.buttons_pressed();
-        assert!(states[0]); // Now pressed
-
-        row_state.set(false);
-        // Need 5 scans to register release
-        for _ in 0..4 {
-            matrix.scan_counter = matrix.scan_counter.wrapping_add(1);
+        matrix.bump_scan_counter();
        matrix.process_column(0);
        states = matrix.buttons_pressed();
-            assert!(states[0]); // Still pressed
-        }
-        matrix.scan_counter = matrix.scan_counter.wrapping_add(1);
-        matrix.process_column(0); // 5th scan
+        assert!(states[0]);
+
+        row.set(false);
+        for _ in 0..4 {
+            matrix.bump_scan_counter();
+            matrix.process_column(0);
            states = matrix.buttons_pressed();
-        assert!(!states[0]); // Now released
+            assert!(states[0]);
+        }
+        matrix.bump_scan_counter();
+        matrix.process_column(0);
+        states = matrix.buttons_pressed();
+        assert!(!states[0]);
    }
 }
--- a/rp2040/src/hardware.rs
+++ b/rp2040/src/hardware.rs
@ -1,5 +1,8 @@
 //! Hardware configuration and timing constants for the CMDR Keyboard 42.

+use rp2040_hal::gpio::{self, DynPinId, FunctionPio0, FunctionSioInput, FunctionSioOutput, Pin, PullNone, PullUp};
+use rp2040_hal::gpio::Pins;
+
 /// External crystal frequency (Hz).
 pub const XTAL_FREQ_HZ: u32 = 12_000_000;

@ -9,6 +12,9 @@ pub const XTAL_FREQ_HZ: u32 = 12_000_000;
 pub const MATRIX_DEBOUNCE_SCANS_PRESS: u8 = 5;
 pub const MATRIX_DEBOUNCE_SCANS_RELEASE: u8 = 5;

+/// Minimum scans between two press events for the same key (50ms at 250μs scan cadence).
+pub const MIN_PRESS_SPACING_SCANS: u32 = 200;
+
 /// Initial scan iterations before trusting key state.
 pub const INITIAL_SCAN_PASSES: usize = 50;

@ -57,77 +63,41 @@ pub mod pins {
    pub const STATUS_LED: u8 = 16;
 }

-/// Convenience macro mirroring the joystick repository for fetching typed pins.
-#[macro_export]
-macro_rules! get_pin {
-    ($pins:expr, button_row_0) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_ROW_0;
-        $pins.gpio0
-    }};
-    ($pins:expr, button_row_1) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_ROW_1;
-        $pins.gpio1
-    }};
-    ($pins:expr, button_row_2) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_ROW_2;
-        $pins.gpio29
-    }};
-    ($pins:expr, button_row_3) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_ROW_3;
-        $pins.gpio28
-    }};
-    ($pins:expr, button_col_0) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_0;
-        $pins.gpio12
-    }};
-    ($pins:expr, button_col_1) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_1;
-        $pins.gpio13
-    }};
-    ($pins:expr, button_col_2) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_2;
-        $pins.gpio14
-    }};
-    ($pins:expr, button_col_3) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_3;
-        $pins.gpio15
-    }};
-    ($pins:expr, button_col_4) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_4;
-        $pins.gpio26
-    }};
-    ($pins:expr, button_col_5) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_5;
-        $pins.gpio27
-    }};
-    ($pins:expr, button_col_6) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_6;
-        $pins.gpio7
-    }};
-    ($pins:expr, button_col_7) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_7;
-        $pins.gpio8
-    }};
-    ($pins:expr, button_col_8) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_8;
-        $pins.gpio6
-    }};
-    ($pins:expr, button_col_9) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_9;
-        $pins.gpio9
-    }};
-    ($pins:expr, button_col_10) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_10;
-        $pins.gpio10
-    }};
-    ($pins:expr, button_col_11) => {{
-        const _: u8 = $crate::hardware::pins::BUTTON_COL_11;
-        $pins.gpio11
-    }};
-    ($pins:expr, status_led) => {{
-        const _: u8 = $crate::hardware::pins::STATUS_LED;
-        $pins.gpio16
-    }};
+/// Dynamic pin types for matrix scanning and status LED control.
+pub type MatrixRowPin = Pin<DynPinId, FunctionSioInput, PullUp>;
+pub type MatrixColPin = Pin<DynPinId, FunctionSioOutput, PullNone>;
+pub type StatusLedPin = Pin<gpio::bank0::Gpio16, FunctionPio0, PullNone>;
+
+/// Consume the machine GPIO pins and split out matrix and status LED pins.
+pub fn split_board_pins(pins: Pins) -> ([MatrixRowPin; KEY_ROWS], [MatrixColPin; KEY_COLS], StatusLedPin) {
+    let rows = [
+        pins.gpio0.into_pull_up_input().into_dyn_pin(),
+        pins.gpio1.into_pull_up_input().into_dyn_pin(),
+        pins.gpio29.into_pull_up_input().into_dyn_pin(),
+        pins.gpio28.into_pull_up_input().into_dyn_pin(),
+    ];
+
+    let cols = [
+        pins.gpio12.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio13.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio14.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio15.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio26.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio27.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio7.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio8.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio6.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio9.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio10.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+        pins.gpio11.into_push_pull_output().into_pull_type::<PullNone>().into_dyn_pin(),
+    ];
+
+    let status_led = pins
+        .gpio16
+        .into_function::<FunctionPio0>()
+        .into_pull_type::<PullNone>();
+
+    (rows, cols, status_led)
 }

 #[cfg(all(test, feature = "std"))]
--- a/rp2040/src/lib.rs
+++ b/rp2040/src/lib.rs
@ -2,17 +2,21 @@

 //! CMDR Keyboard 42 firmware library for RP2040.
 //!
-//! This crate mirrors the structure of the joystick firmware to keep hardware
-//! details, status handling, and keyboard processing modular.
-
-pub mod button_matrix;
+//! This crate mirrors the structure used by earlier CMDR firmware so the
+//! keyboard shares the same modular layout for hardware details, status
+//! handling, and key processing.
+#[cfg(not(feature = "std"))]
+pub mod board;
 pub mod bootloader;
+pub mod button_matrix;
 pub mod hardware;
 pub mod keyboard;
 pub mod layout;
 pub mod status;

-pub use button_matrix::ButtonMatrix;
+#[cfg(not(feature = "std"))]
+pub use board::{Board, BoardParts, KeyboardMatrix, KeyboardStatusLed};
+pub use button_matrix::{ButtonMatrix, MatrixPinAccess, MatrixPins};
 pub use hardware::{
    KEY_COLS, KEY_ROWS, MATRIX_DEBOUNCE_SCANS_PRESS, MATRIX_DEBOUNCE_SCANS_RELEASE, NUMBER_OF_KEYS,
    XTAL_FREQ_HZ, pins, timers, usb,
--- a/rp2040/src/main.rs
+++ b/rp2040/src/main.rs
@ -8,25 +8,16 @@
 #![no_main]

 use cmdr_keyboard_42::hardware::{self, timers};
-use cmdr_keyboard_42::{bootloader, ButtonMatrix, KeyboardState, StatusLed, StatusMode};
-use cortex_m::delay::Delay;
-use embedded_hal::digital::{InputPin, OutputPin};
+use cmdr_keyboard_42::{Board, BoardParts, KeyboardState, StatusMode, bootloader};
 use embedded_hal_0_2::timer::CountDown;
 use fugit::ExtU32;
 use panic_halt as _;
-use rp2040_hal::{
-    Sio,
-    clocks::{Clock, init_clocks_and_plls},
-    gpio::Pins,
-    pac,
-    pio::PIOExt,
-    timer::Timer,
-    watchdog::Watchdog,
-};
-use usb_device::class_prelude::*;
-use usb_device::prelude::*;
+use usb_device::UsbError;
 use usb_device::device::UsbDeviceState;
+use usb_device::prelude::*;
+use usbd_human_interface_device::device::keyboard::NKROBootKeyboardConfig;
 use usbd_human_interface_device::page::Keyboard;
+use usbd_human_interface_device::prelude::UsbHidError;
 use usbd_human_interface_device::prelude::*;

 #[unsafe(link_section = ".boot2")]
@ -36,119 +27,20 @@ pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;

 #[rp2040_hal::entry]
 fn main() -> ! {
-    let mut pac = pac::Peripherals::take().unwrap();
-
-    let mut watchdog = Watchdog::new(pac.WATCHDOG);
-
-    let clocks = init_clocks_and_plls(
-        hardware::XTAL_FREQ_HZ,
-        pac.XOSC,
-        pac.CLOCKS,
-        pac.PLL_SYS,
-        pac.PLL_USB,
-        &mut pac.RESETS,
-        &mut watchdog,
-    )
-    .ok()
-    .unwrap();
-
-    let core = pac::CorePeripherals::take().unwrap();
-    let sio = Sio::new(pac.SIO);
-
-    let pins = Pins::new(
-        pac.IO_BANK0,
-        pac.PADS_BANK0,
-        sio.gpio_bank0,
-        &mut pac.RESETS,
-    );
-
-    let button_matrix_row_pins: &mut [&mut dyn InputPin<Error = core::convert::Infallible>;
-             hardware::KEY_ROWS] = &mut [
-        &mut cmdr_keyboard_42::get_pin!(pins, button_row_0).into_pull_up_input(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_row_1).into_pull_up_input(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_row_2).into_pull_up_input(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_row_3).into_pull_up_input(),
-    ];
-
-    let button_matrix_col_pins: &mut [&mut dyn OutputPin<Error = core::convert::Infallible>;
-             hardware::KEY_COLS] = &mut [
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_0).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_1).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_2).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_3).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_4).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_5).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_6).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_7).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_8).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_9).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_10).into_push_pull_output(),
-        &mut cmdr_keyboard_42::get_pin!(pins, button_col_11).into_push_pull_output(),
-    ];
-
-    let mut button_matrix: ButtonMatrix<
-        { hardware::KEY_ROWS },
-        { hardware::KEY_COLS },
-        { hardware::NUMBER_OF_KEYS },
-    > = ButtonMatrix::new(
-        button_matrix_row_pins,
-        button_matrix_col_pins,
-        hardware::MATRIX_DEBOUNCE_SCANS_PRESS,
-        hardware::MATRIX_DEBOUNCE_SCANS_RELEASE,
-    );
-
-    let mut keyboard_state = KeyboardState::new();
-
-    let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
-    let mut status_led = StatusLed::new(
-        cmdr_keyboard_42::get_pin!(pins, status_led).into_function(),
-        &mut pio,
-        sm0,
-        clocks.peripheral_clock.freq(),
-    );
-    status_led.update(StatusMode::Error);
-
-    let timer = Timer::new(pac.TIMER, &mut pac.RESETS, &clocks);
-    let mut delay = Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
-
-    let mut usb_tick_count_down = timer.count_down();
-    usb_tick_count_down.start(timers::USB_TICK_INTERVAL_US.micros());
-
-    let mut status_led_count_down = timer.count_down();
-    status_led_count_down.start(timers::STATUS_LED_INTERVAL_MS.millis());
-    let mut status_time_ms: u32 = 0;
-    let mut usb_initialized = false;
-    let mut usb_suspended = false;
-    let mut wake_on_input = false;
-    let mut last_activity_ms: u32 = 0;
-
-    button_matrix.init_pins();
-
-    for _ in 0..hardware::INITIAL_SCAN_PASSES {
-        button_matrix.scan_matrix(&mut delay);
-    }
-
-    let initial_pressed = button_matrix.buttons_pressed();
-    if initial_pressed[0] {
-        bootloader::enter(&mut status_led);
-    }
-
-    let usb_bus = UsbBusAllocator::new(rp2040_hal::usb::UsbBus::new(
-        pac.USBCTRL_REGS,
-        pac.USBCTRL_DPRAM,
-        clocks.usb_clock,
-        true,
-        &mut pac.RESETS,
-    ));
+    let BoardParts {
+        mut button_matrix,
+        mut status_led,
+        mut delay,
+        timer,
+        usb_bus,
+    } = Board::new().into_parts();

    let mut keyboard = UsbHidClassBuilder::new()
-        .add_device(
-            usbd_human_interface_device::device::keyboard::NKROBootKeyboardConfig::default(),
-        )
-        .build(&usb_bus);
+        .add_device(NKROBootKeyboardConfig::default())
+        .build(usb_bus);

    let mut usb_dev =
-        UsbDeviceBuilder::new(&usb_bus, UsbVidPid(hardware::usb::VID, hardware::usb::PID))
+        UsbDeviceBuilder::new(usb_bus, UsbVidPid(hardware::usb::VID, hardware::usb::PID))
            .strings(&[StringDescriptors::default()
                .manufacturer(hardware::usb::MANUFACTURER)
                .product(hardware::usb::PRODUCT)
@ -156,22 +48,45 @@ fn main() -> ! {
            .unwrap()
            .build();

+    let mut keyboard_state = KeyboardState::new();
+    status_led.update(StatusMode::Error);
+
+    button_matrix.prime(&mut delay, hardware::INITIAL_SCAN_PASSES);
+    let initial_pressed = button_matrix.buttons_pressed();
+    if initial_pressed[0] {
+        bootloader::enter(&mut status_led);
+    }
+
+    let mut usb_tick = timer.count_down();
+    usb_tick.start(timers::USB_TICK_INTERVAL_US.micros());
+
+    let mut status_tick = timer.count_down();
+    status_tick.start(timers::STATUS_LED_INTERVAL_MS.millis());
+
+    let mut status_time_ms: u32 = 0;
+    let mut usb_initialized = false;
+    let mut usb_suspended = false;
+    let mut wake_on_input = false;
+    let mut last_activity_ms: u32 = 0;
+
    loop {
-        if status_led_count_down.wait().is_ok() {
+        if status_tick.wait().is_ok() {
            status_time_ms = status_time_ms.saturating_add(timers::STATUS_LED_INTERVAL_MS);
            let idle_elapsed = status_time_ms.saturating_sub(last_activity_ms);
            let idle_mode = usb_initialized && idle_elapsed >= timers::IDLE_TIMEOUT_MS;
            let usb_active = usb_initialized && !idle_mode;
            status_led.apply_summary(
-                keyboard_state.status_summary(usb_initialized, usb_active, usb_suspended, idle_mode),
+                keyboard_state.status_summary(
+                    usb_initialized,
+                    usb_active,
+                    usb_suspended,
+                    idle_mode,
+                ),
                status_time_ms,
            );
        }

-        // Skip high-frequency scanning when suspended to save power
-        // Only scan periodically to detect wake-up inputs
        let should_scan = if usb_suspended {
-            // When suspended, reduce scan frequency by factor of 20 (every ~5ms instead of 250μs)
            static mut SUSPENDED_SCAN_COUNTER: u8 = 0;
            unsafe {
                SUSPENDED_SCAN_COUNTER = (SUSPENDED_SCAN_COUNTER + 1) % 20;
@ -181,7 +96,7 @@ fn main() -> ! {
            true
        };

-        if usb_tick_count_down.wait().is_ok() && should_scan {
+        if usb_tick.wait().is_ok() && should_scan {
            button_matrix.scan_matrix(&mut delay);
            let pressed_keys = button_matrix.buttons_pressed();

@ -205,20 +120,15 @@ fn main() -> ! {
                bootloader::enter(&mut status_led);
            }

-            // Check for input activity
            if pressed_keys.iter().any(|pressed| *pressed) {
                last_activity_ms = status_time_ms;
-
-                // Wake from USB suspend if input detected
                if wake_on_input && usb_suspended {
-                    // TODO: Implement remote wakeup if supported by host
                    wake_on_input = false;
                }
            }

            let keyboard_report = keyboard_state.process_scan(pressed_keys);

-            // Only transmit USB reports when not suspended
            if !usb_suspended {
                match keyboard.device().write_report(keyboard_report) {
                    Err(UsbHidError::WouldBlock) | Err(UsbHidError::Duplicate) => {}
@ -229,7 +139,7 @@ fn main() -> ! {
                        keyboard_state.mark_stopped();
                        usb_initialized = false;
                    }
-                };
+                }
            }

            match keyboard.tick() {
@ -238,7 +148,7 @@ fn main() -> ! {
                    keyboard_state.mark_stopped();
                    usb_initialized = false;
                }
-            };
+            }
        }

        if usb_dev.poll(&mut [&mut keyboard]) {
@ -257,21 +167,16 @@ fn main() -> ! {
            }
        }

-        // Check USB device state for suspend/resume handling
        let usb_state = usb_dev.state();
        let was_suspended = usb_suspended;
        usb_suspended = usb_state == UsbDeviceState::Suspend;

-        // Handle USB resume transition
        if was_suspended && !usb_suspended {
-            // Device was suspended and is now resumed
            last_activity_ms = status_time_ms;
            wake_on_input = false;
        }

-        // Handle USB suspend transition
        if !was_suspended && usb_suspended {
-            // Device has just been suspended - enter power saving mode
            wake_on_input = true;
        }
    }
--- a/rp2040/src/status.rs
+++ b/rp2040/src/status.rs
@ -1,4 +1,4 @@
-//! WS2812 status LED driver adapted from the joystick firmware.
+//! Minimal status LED driver for the CMDR keyboard.

 use rp2040_hal::{
    gpio::AnyPin,
@ -13,37 +13,16 @@ const COLOR_BLUE: RGB8 = RGB8 { r: 10, g: 4, b: 10 };
 const COLOR_ORANGE: RGB8 = RGB8 { r: 5, g: 10, b: 0 };
 const COLOR_RED: RGB8 = RGB8 { r: 20, g: 0, b: 0 };
 const COLOR_PURPLE: RGB8 = RGB8 { r: 0, g: 10, b: 10 };
+const BREATH_PERIOD_MS: u32 = 3200;

-#[allow(dead_code)]
-#[derive(PartialEq, Eq, Copy, Clone, Debug)]
+#[derive(Clone, Copy, Debug, PartialEq, Eq)]
 pub enum StatusMode {
-    Off = 0,
-    Normal = 1,
-    NormalFlash = 2,
-    Activity = 3,
-    ActivityFlash = 4,
-    Idle = 5,
-    Other = 6,
-    OtherFlash = 7,
-    Warning = 8,
-    Error = 9,
-    Bootloader = 10,
-    Power = 11,
-    Suspended = 12,
-}
-
-#[derive(Clone, Copy, Debug, Default)]
-pub struct SystemState {
-    pub usb_active: bool,
-    pub usb_initialized: bool,
-    pub usb_suspended: bool,
-    pub idle_mode: bool,
-    pub calibration_active: bool,
-    pub throttle_hold_enable: bool,
-    pub vt_enable: bool,
-    pub caps_lock_active: bool,
-    pub sticky_armed: bool,
-    pub sticky_latched: bool,
+    Off,
+    Active,
+    Idle,
+    Suspended,
+    Error,
+    Bootloader,
 }

 #[derive(Clone, Copy, Debug, PartialEq, Eq)]
@ -77,195 +56,6 @@ impl StatusSummary {
            idle_mode,
        }
    }
-
-    pub fn to_system_state(self) -> SystemState {
-        SystemState {
-            usb_active: self.usb_active,
-            usb_initialized: self.usb_initialized,
-            usb_suspended: self.usb_suspended,
-            idle_mode: self.idle_mode,
-            calibration_active: false,
-            throttle_hold_enable: false,
-            vt_enable: false,
-            caps_lock_active: self.caps_lock_active,
-            sticky_armed: self.sticky_armed,
-            sticky_latched: self.sticky_latched,
-        }
-    }
-}
-
-#[derive(Copy, Clone)]
-enum LedEffect {
-    Solid,
-    Blink { period_ms: u32 },
-    Heartbeat { period_ms: u32 },
-}
-
-#[derive(Copy, Clone)]
-struct ModeDescriptor {
-    color: RGB8,
-    effect: LedEffect,
-}
-
-const HEARTBEAT_POWER_MS: u32 = 800;
-const HEARTBEAT_IDLE_MS: u32 = 3200;
-
-impl LedEffect {
-    fn update_interval_ms(self) -> u32 {
-        match self {
-            LedEffect::Solid => 0,
-            LedEffect::Blink { period_ms } => period_ms / 2,
-            LedEffect::Heartbeat { .. } => 10,
-        }
-    }
-
-    fn color_for(self, base: RGB8, elapsed_ms: u32) -> RGB8 {
-        match self {
-            LedEffect::Solid => base,
-            LedEffect::Blink { period_ms } => {
-                if period_ms == 0 {
-                    return base;
-                }
-                let half = (period_ms / 2).max(1);
-                if elapsed_ms % period_ms < half {
-                    base
-                } else {
-                    COLOR_OFF
-                }
-            }
-            LedEffect::Heartbeat { period_ms } => {
-                let period = period_ms.max(1);
-                let phase = elapsed_ms % period;
-                let half = (period / 2).max(1);
-                let ramp = if phase < half {
-                    ((phase * 255) / half) as u8
-                } else {
-                    (((period - phase) * 255) / half) as u8
-                };
-                scale_color(base, ramp)
-            }
-        }
-    }
-}
-
-const fn descriptor_for(mode: StatusMode, base_mode: StatusMode) -> ModeDescriptor {
-    match mode {
-        StatusMode::Off => ModeDescriptor {
-            color: COLOR_OFF,
-            effect: LedEffect::Solid,
-        },
-        StatusMode::Normal => ModeDescriptor {
-            color: COLOR_GREEN,
-            effect: LedEffect::Solid,
-        },
-        StatusMode::NormalFlash => ModeDescriptor {
-            color: COLOR_GREEN,
-            effect: LedEffect::Blink { period_ms: 1000 },
-        },
-        StatusMode::Activity => ModeDescriptor {
-            color: COLOR_BLUE,
-            effect: LedEffect::Solid,
-        },
-        StatusMode::ActivityFlash => ModeDescriptor {
-            color: COLOR_BLUE,
-            effect: LedEffect::Blink { period_ms: 600 },
-        },
-        StatusMode::Idle => match base_mode {
-            StatusMode::Activity | StatusMode::ActivityFlash => ModeDescriptor {
-                color: COLOR_BLUE,
-                effect: LedEffect::Heartbeat {
-                    period_ms: HEARTBEAT_IDLE_MS,
-                },
-            },
-            StatusMode::Other | StatusMode::OtherFlash => ModeDescriptor {
-                color: COLOR_ORANGE,
-                effect: LedEffect::Heartbeat {
-                    period_ms: HEARTBEAT_IDLE_MS,
-                },
-            },
-            StatusMode::NormalFlash | StatusMode::Normal => ModeDescriptor {
-                color: COLOR_GREEN,
-                effect: LedEffect::Heartbeat {
-                    period_ms: HEARTBEAT_IDLE_MS,
-                },
-            },
-            StatusMode::Warning | StatusMode::Error => ModeDescriptor {
-                color: COLOR_RED,
-                effect: LedEffect::Heartbeat {
-                    period_ms: HEARTBEAT_IDLE_MS,
-                },
-            },
-            _ => ModeDescriptor {
-                color: COLOR_GREEN,
-                effect: LedEffect::Heartbeat {
-                    period_ms: HEARTBEAT_IDLE_MS,
-                },
-            },
-        },
-        StatusMode::Other => ModeDescriptor {
-            color: COLOR_ORANGE,
-            effect: LedEffect::Solid,
-        },
-        StatusMode::OtherFlash => ModeDescriptor {
-            color: COLOR_ORANGE,
-            effect: LedEffect::Blink { period_ms: 600 },
-        },
-        StatusMode::Warning => ModeDescriptor {
-            color: COLOR_RED,
-            effect: LedEffect::Blink { period_ms: 500 },
-        },
-        StatusMode::Error => ModeDescriptor {
-            color: COLOR_RED,
-            effect: LedEffect::Solid,
-        },
-        StatusMode::Bootloader => ModeDescriptor {
-            color: COLOR_PURPLE,
-            effect: LedEffect::Solid,
-        },
-        StatusMode::Power => ModeDescriptor {
-            color: COLOR_GREEN,
-            effect: LedEffect::Heartbeat {
-                period_ms: HEARTBEAT_POWER_MS,
-            },
-        },
-        StatusMode::Suspended => ModeDescriptor {
-            color: COLOR_OFF,
-            effect: LedEffect::Solid,
-        },
-    }
-}
-
-fn scale_color(base: RGB8, brightness: u8) -> RGB8 {
-    let scale = brightness as u16;
-    RGB8 {
-        r: ((base.r as u16 * scale) / 255) as u8,
-        g: ((base.g as u16 * scale) / 255) as u8,
-        b: ((base.b as u16 * scale) / 255) as u8,
-    }
-}
-
-fn determine_base_mode(system_state: SystemState) -> StatusMode {
-    if system_state.usb_suspended {
-        StatusMode::Suspended
-    } else if system_state.caps_lock_active {
-        StatusMode::Warning
-    } else if system_state.sticky_latched {
-        StatusMode::ActivityFlash
-    } else if system_state.sticky_armed {
-        StatusMode::Activity
-    } else if system_state.calibration_active {
-        StatusMode::ActivityFlash
-    } else if !system_state.usb_initialized {
-        StatusMode::Power
-    } else if !system_state.usb_active {
-        StatusMode::NormalFlash
-    } else if system_state.vt_enable {
-        StatusMode::Activity
-    } else if system_state.throttle_hold_enable {
-        StatusMode::Other
-    } else {
-        StatusMode::Normal
-    }
 }

 pub struct StatusLed<P, SM, I>
@ -277,7 +67,6 @@ where
    ws2812_direct: Ws2812Direct<P, SM, I>,
    current_mode: StatusMode,
    mode_started_at: Option<u32>,
-    last_update_time: Option<u32>,
 }

 impl<P, SM, I> StatusLed<P, SM, I>
@ -292,142 +81,109 @@ where
        sm: UninitStateMachine<(P, SM)>,
        clock_freq: fugit::HertzU32,
    ) -> Self {
-        let ws2812_direct = Ws2812Direct::new(pin, pio, sm, clock_freq);
-        let mut status = Self {
-            ws2812_direct,
+        let mut led = Self {
+            ws2812_direct: Ws2812Direct::new(pin, pio, sm, clock_freq),
            current_mode: StatusMode::Off,
            mode_started_at: None,
-            last_update_time: None,
        };
-        status.write_color(COLOR_OFF);
-        status
+        led.write_color(COLOR_OFF);
+        led
    }

-    pub fn update_from_system_state(&mut self, system_state: SystemState, current_time: u32) {
-        let base_mode = determine_base_mode(system_state);
-        let desired_mode = if system_state.idle_mode
-            && system_state.usb_initialized
-            && base_mode != StatusMode::Off
-            && base_mode != StatusMode::Power
-        {
-            (StatusMode::Idle, base_mode)
-        } else {
-            (base_mode, base_mode)
-        };
-
-        self.set_mode(desired_mode.0, desired_mode.1, current_time);
-    }
-
-    pub fn set_mode(&mut self, mode: StatusMode, base_mode: StatusMode, current_time: u32) {
-        let force_update = mode != self.current_mode;
+    pub fn update(&mut self, mode: StatusMode) {
        self.current_mode = mode;
-        let descriptor = descriptor_for(mode, base_mode);
-        if force_update {
-            let start_time = match descriptor.effect {
-                LedEffect::Heartbeat { period_ms } => {
-                    let half = (period_ms / 2).max(1);
-                    current_time.saturating_sub(half)
-                }
-                _ => current_time,
-            };
-            self.mode_started_at = Some(start_time);
-            self.last_update_time = None;
-        }
-
-        self.update_display(current_time, force_update, base_mode);
-    }
-
-    pub fn update_display(&mut self, current_time: u32, force_update: bool, base_mode: StatusMode) {
-        let descriptor = descriptor_for(self.current_mode, base_mode);
-        let interval = descriptor.effect.update_interval_ms();
-
-        if !force_update {
-            if interval == 0 {
-                return;
-            }
-            if let Some(last) = self.last_update_time
-                && current_time.saturating_sub(last) < interval
-            {
-                return;
-            }
-        }
-
-        let elapsed = self
-            .mode_started_at
-            .map(|start| current_time.saturating_sub(start))
-            .unwrap_or(0);
-        let color = descriptor.effect.color_for(descriptor.color, elapsed);
-
+        self.mode_started_at = None;
+        let color = mode_color(mode, 0);
+        self.write_color(color);
+    }
+
+    pub fn apply_summary(&mut self, summary: StatusSummary, current_time_ms: u32) {
+        let mode = summary_to_mode(summary);
+        let elapsed = if self.current_mode != mode {
+            self.current_mode = mode;
+            self.mode_started_at = Some(current_time_ms);
+            0
+        } else {
+            let start = self.mode_started_at.unwrap_or(current_time_ms);
+            current_time_ms.saturating_sub(start)
+        };
+        let base_color = mode_color(mode, elapsed);
+        let color = highlight_color(summary).unwrap_or(base_color);
        self.write_color(color);
-        self.last_update_time = Some(current_time);
    }

    fn write_color(&mut self, color: RGB8) {
        let _ = self.ws2812_direct.write([color].iter().copied());
    }
+}

-    pub fn apply_summary(&mut self, summary: StatusSummary, current_time: u32) {
-        self.update_from_system_state(summary.to_system_state(), current_time);
+fn summary_to_mode(summary: StatusSummary) -> StatusMode {
+    if summary.usb_suspended {
+        StatusMode::Suspended
+    } else if !summary.usb_initialized {
+        StatusMode::Off
+    } else if summary.idle_mode {
+        StatusMode::Idle
+    } else if summary.usb_active {
+        StatusMode::Active
+    } else {
+        StatusMode::Off
    }
 }

-impl<P, SM, I> StatusLed<P, SM, I>
-where
-    I: AnyPin<Function = P::PinFunction>,
-    P: PIOExt,
-    SM: StateMachineIndex,
-{
-    pub fn update(&mut self, mode: StatusMode) {
-        self.set_mode(mode, mode, 0);
+fn highlight_color(summary: StatusSummary) -> Option<RGB8> {
+    if summary.sticky_latched {
+        Some(COLOR_PURPLE)
+    } else if summary.sticky_armed {
+        Some(COLOR_BLUE)
+    } else if summary.caps_lock_active {
+        Some(COLOR_ORANGE)
+    } else {
+        None
    }
 }

-#[cfg(all(test, feature = "std"))]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn caps_lock_overrides_with_warning() {
-        let state = SystemState {
-            caps_lock_active: true,
-            ..SystemState::default()
-        };
-        assert_eq!(determine_base_mode(state), StatusMode::Warning);
-    }
-
-    #[test]
-    fn sticky_states_map_to_activity_modes() {
-        let state = SystemState {
-            sticky_latched: true,
-            ..SystemState::default()
-        };
-        assert_eq!(determine_base_mode(state), StatusMode::ActivityFlash);
-
-        let state = SystemState {
-            sticky_armed: true,
-            ..SystemState::default()
-        };
-        assert_eq!(determine_base_mode(state), StatusMode::Activity);
-    }
-
-    #[test]
-    fn usb_not_active_flashes_normal() {
-        let state = SystemState {
-            usb_initialized: true,
-            usb_active: false,
-            ..SystemState::default()
-        };
-        assert_eq!(determine_base_mode(state), StatusMode::NormalFlash);
-    }
-
-    #[test]
-    fn usb_suspend_takes_priority() {
-        let state = SystemState {
-            usb_suspended: true,
-            caps_lock_active: true, // Even with caps lock active
-            sticky_latched: true,   // Even with sticky latched
-            ..SystemState::default()
-        };
-        assert_eq!(determine_base_mode(state), StatusMode::Suspended);
+fn mode_color(mode: StatusMode, elapsed_ms: u32) -> RGB8 {
+    match mode {
+        StatusMode::Off => COLOR_OFF,
+        StatusMode::Active => COLOR_GREEN,
+        StatusMode::Idle => breathe(COLOR_GREEN, elapsed_ms, BREATH_PERIOD_MS),
+        StatusMode::Suspended => blink(COLOR_BLUE, elapsed_ms, 2000),
+        StatusMode::Error => COLOR_RED,
+        StatusMode::Bootloader => COLOR_PURPLE,
+    }
+}
+
+fn blink(color: RGB8, elapsed_ms: u32, period_ms: u32) -> RGB8 {
+    if period_ms == 0 {
+        return color;
+    }
+    let phase = (elapsed_ms / (period_ms / 2).max(1)) % 2;
+    if phase == 0 { color } else { COLOR_OFF }
+}
+
+fn breathe(color: RGB8, elapsed_ms: u32, period_ms: u32) -> RGB8 {
+    if period_ms == 0 {
+        return color;
+    }
+    let period = period_ms.max(1);
+    let time_in_period = (elapsed_ms % period) as f32;
+    let period_f = period as f32;
+    let phase = time_in_period / period_f;
+    let brightness = if phase < 0.5 {
+        1.0 - (phase * 2.0)
+    } else {
+        (phase - 0.5) * 2.0
+    };
+    let clamped = brightness.max(0.0).min(1.0);
+    let ramp = (clamped * 255.0 + 0.5) as u8;
+    scale_color(color, ramp)
+}
+
+fn scale_color(color: RGB8, factor: u8) -> RGB8 {
+    RGB8 {
+        r: (u16::from(color.r) * u16::from(factor) / 255) as u8,
+        g: (u16::from(color.g) * u16::from(factor) / 255) as u8,
+        b: (u16::from(color.b) * u16::from(factor) / 255) as u8,
    }
 }
--- a/tools/copy_uf2.py
+++ b/tools/copy_uf2.py
@ -0,0 +1,114 @@
+#!/usr/bin/env python3
+"""Copy a UF2 artifact to a detected RP2040 mass-storage mount."""
+
+from __future__ import annotations
+
+import argparse
+import os
+import sys
+import time
+from pathlib import Path
+import shutil
+
+INFO_FILE = "INFO_UF2.TXT"
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--source", type=Path, required=True, help="Path to the UF2 file to copy")
+    parser.add_argument("--timeout", type=float, default=10.0, help="Seconds to wait for the mount")
+    parser.add_argument(
+        "--mount",
+        type=str,
+        default=os.environ.get("MOUNT", ""),
+        help="Explicit mount point (default: auto-detect)",
+    )
+    return parser.parse_args()
+
+
+def candidate_paths(explicit: str, user: str) -> list[Path]:
+    paths: list[Path] = []
+    if explicit:
+        paths.append(Path(explicit))
+    roots = [
+        Path("/Volumes"),
+        Path("/media"),
+        Path(f"/media/{user}"),
+        Path("/run/media"),
+        Path(f"/run/media/{user}"),
+    ]
+    for root in roots:
+        if not root.exists() or not root.is_dir():
+            continue
+        # Many systems mount the UF2 volume directly as a child of the root directory.
+        for child in root.iterdir():
+            if child.is_dir():
+                paths.append(child)
+    return paths
+
+
+def choose_mount(explicit: str, user: str) -> Path | None:
+    candidates = candidate_paths(explicit, user)
+    if explicit:
+        # For an explicit mount we only care whether it exists.
+        path = Path(explicit)
+        return path if path.exists() and path.is_dir() else None
+    # Prefer candidates containing INFO_UF2.TXT, fall back to first existing directory.
+    info_candidates = [path for path in candidates if (path / INFO_FILE).exists()]
+    if info_candidates:
+        return info_candidates[0]
+    for path in candidates:
+        if path.exists() and path.is_dir():
+            return path
+    return None
+
+
+def main() -> int:
+    args = parse_args()
+    source = args.source
+    if not source.exists():
+        print(f"UF2 source file not found: {source}", file=sys.stderr)
+        return 1
+
+    explicit_mount = args.mount.strip()
+    user = os.environ.get("USER", "")
+    deadline = time.time() + float(args.timeout)
+
+    while time.time() <= deadline:
+        mount = choose_mount(explicit_mount, user)
+        if mount is not None:
+            if not mount.exists() or not mount.is_dir():
+                time.sleep(1)
+                continue
+            destination = mount / source.name
+            try:
+                shutil.copy2(source, destination)
+                try:
+                    if hasattr(os, "sync"):
+                        os.sync()
+                except Exception:
+                    pass
+                # Give the device a moment to process the copied file before we exit.
+                time.sleep(0.5)
+            except Exception as exc:  # noqa: BLE001
+                print(f"Failed to copy UF2 to {destination}: {exc}", file=sys.stderr)
+                return 1
+            print(f"Copied {source} to {destination}")
+            return 0
+        time.sleep(1)
+
+    if explicit_mount:
+        print(
+            f"Mount point '{explicit_mount}' not found within {args.timeout} seconds",
+            file=sys.stderr,
+        )
+    else:
+        print(
+            "Unable to detect RP2040 UF2 mount. Pass one via mount=/path",
+            file=sys.stderr,
+        )
+    return 1
+
+
+if __name__ == "__main__":  # pragma: no cover
+    sys.exit(main())