diff --git a/Cargo.lock b/Cargo.lock
index f7f4f74..8404735 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -172,9 +172,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cc"
-version = "1.1.28"
+version = "1.1.29"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2e80e3b6a3ab07840e1cae9b0666a63970dc28e8ed5ffbcdacbfc760c281bfc1"
+checksum = "58e804ac3194a48bb129643eb1d62fcc20d18c6b8c181704489353d13120bcd1"
 dependencies = [
  "jobserver",
  "libc",
@@ -334,6 +334,38 @@ dependencies = [
  "doc-comment",
 ]
 
+[[package]]
+name = "defmt"
+version = "0.3.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a99dd22262668b887121d4672af5a64b238f026099f1a2a1b322066c9ecfe9e0"
+dependencies = [
+ "bitflags 1.3.2",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "0.3.9"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e3a9f309eff1f79b3ebdf252954d90ae440599c26c2c553fe87a2d17195f2dcb"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.79",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+dependencies = [
+ "thiserror",
+]
+
 [[package]]
 name = "deranged"
 version = "0.3.11"
@@ -1507,22 +1539,24 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "a8f112729512f8e442d81f95a8a7ddf2b7c6b8a1a6f509a95864142b30cab2d3"
 
 [[package]]
-name = "stm32f4"
-version = "0.15.1"
+name = "stm32f4-staging"
+version = "0.16.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb94729242cd1aebe6dab42a2ca0131985ae93bc3ab2751b680df724bb35528d"
+checksum = "97a6d5e873d8f15406aadd4349b491e28617173a90f152c0635863b1919070af"
 dependencies = [
- "bare-metal 1.0.0",
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
+ "defmt",
+ "portable-atomic",
  "vcell",
 ]
 
 [[package]]
 name = "stm32f4xx-hal"
-version = "0.21.0"
+version = "0.22.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ceed60591531f4da636d828701c74861a3d100e5c4e36677cadbd2eb6f46eb67"
+checksum = "243ab58411b5b063098402d18a5d44916336ec86a288b613796e376bd83eaf80"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
@@ -1532,16 +1566,16 @@ dependencies = [
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-nb",
+ "embedded-io",
  "embedded-storage",
  "enumflags2",
  "fugit",
  "fugit-timer",
  "nb 1.1.0",
  "rand_core",
- "stm32f4",
+ "stm32f4-staging",
  "synopsys-usb-otg",
  "time",
- "vcell",
  "void",
 ]
 
@@ -1626,6 +1660,26 @@ dependencies = [
  "embedded-hal 1.0.0",
 ]
 
+[[package]]
+name = "thiserror"
+version = "1.0.64"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d50af8abc119fb8bb6dbabcfa89656f46f84aa0ac7688088608076ad2b459a84"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.64"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08904e7672f5eb876eaaf87e0ce17857500934f4981c4a0ab2b4aa98baac7fc3"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.79",
+]
+
 [[package]]
 name = "time"
 version = "0.3.36"
diff --git a/Cargo.toml b/Cargo.toml
index e63c040..95c6c82 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -64,7 +64,7 @@ enc424j600 = "0.4"
 embedded-hal = "1"
 smoltcp-nal = { version = "0.5", features=["shared-stack"] }
 serial-settings = "0.1"
-stm32f4xx-hal = {version = "0.21.0", features = ["stm32f407", "usb_fs"] }
+stm32f4xx-hal = {version = "0.22.0", features = ["stm32f407", "usb_fs"] }
 
 postcard = "1"
 
diff --git a/src/hardware/platform.rs b/src/hardware/platform.rs
index 62a3762..972a74a 100644
--- a/src/hardware/platform.rs
+++ b/src/hardware/platform.rs
@@ -52,11 +52,11 @@ pub fn shutdown_channels() {
     unsafe {
         // Disable all SIG_ON outputs. Note that the upper 16 bits of this register are the ODR
         // reset bits.
-        gpiog.bsrr.write(|w| w.bits(0xFF00_0000));
+        gpiog.bsrr().write(|w| w.bits(0xFF00_0000));
 
         // Disable all EN_PWR outputs. Note that the upper 16 bits of this register are the ODR
         // reset bits.
-        gpiod.bsrr.write(|w| w.bits(0x00FF_0000));
+        gpiod.bsrr().write(|w| w.bits(0x00FF_0000));
     }
 }
 
@@ -105,14 +105,14 @@ pub fn i2c_bus_reset(sda: &mut impl OutputPin, scl: &mut impl OutputPin, delay:
 pub fn watchdog_detected() -> bool {
     let rcc = unsafe { &*hal::pac::RCC::ptr() };
 
-    rcc.csr.read().wdgrstf().bit_is_set()
+    rcc.csr().read().wdgrstf().bit_is_set()
 }
 
 /// Clear all of the reset flags in the device.
 pub fn clear_reset_flags() {
     let rcc = unsafe { &*hal::pac::RCC::ptr() };
 
-    rcc.csr.modify(|_, w| w.rmvf().set_bit());
+    rcc.csr().modify(|_, w| w.rmvf().set_bit());
 }
 
 pub fn start_dfu_reboot() {
diff --git a/src/hardware/rf_channel.rs b/src/hardware/rf_channel.rs
index cc768c9..e8b2ffc 100644
--- a/src/hardware/rf_channel.rs
+++ b/src/hardware/rf_channel.rs
@@ -198,18 +198,18 @@ impl Devices {
 
 /// Represents the control and status pins for an RF channel.
 pub struct ChannelPins {
-    enable_power: hal::gpio::EPin<Output>,
+    enable_power: hal::gpio::ErasedPin<Output>,
 
     // The alert and input overdrive pins have external pull resistors, so we don't need to pull
     // them internally.
-    alert: hal::gpio::EPin<Input>,
+    alert: hal::gpio::ErasedPin<Input>,
 
-    reflected_overdrive: hal::gpio::EPin<Input>,
+    reflected_overdrive: hal::gpio::ErasedPin<Input>,
 
     // There are no pullup/pulldown resistors on this input, so we will pull it down internally.
-    output_overdrive: hal::gpio::EPin<Input>,
+    output_overdrive: hal::gpio::ErasedPin<Input>,
 
-    signal_on: hal::gpio::EPin<Output>,
+    signal_on: hal::gpio::ErasedPin<Output>,
 
     output_power: AdcPin,
     reflected_power: AdcPin,
@@ -228,11 +228,11 @@ impl ChannelPins {
     /// * `output_power` - The pin to use for measuring transmitted power.
     /// * `reflected_power` - The pin to use for measuring reflected power.
     pub fn new(
-        enable_power: hal::gpio::EPin<Output>,
-        alert: hal::gpio::EPin<Input>,
-        reflected_overdrive: hal::gpio::EPin<Input>,
-        output_overdrive: hal::gpio::EPin<Input>,
-        signal_on: hal::gpio::EPin<Output>,
+        enable_power: hal::gpio::ErasedPin<Output>,
+        alert: hal::gpio::ErasedPin<Input>,
+        reflected_overdrive: hal::gpio::ErasedPin<Input>,
+        output_overdrive: hal::gpio::ErasedPin<Input>,
+        signal_on: hal::gpio::ErasedPin<Output>,
         output_power: AdcPin,
         reflected_power: AdcPin,
     ) -> Self {
diff --git a/src/hardware/setup.rs b/src/hardware/setup.rs
index ac0513c..4c730f1 100644
--- a/src/hardware/setup.rs
+++ b/src/hardware/setup.rs
@@ -104,7 +104,7 @@ pub fn setup(
     clock: SystemTimer,
 ) -> BoosterDevices {
     // Configure RTT logging.
-    device.DBGMCU.cr.modify(|_, w| w.dbg_sleep().set_bit());
+    device.DBGMCU.cr().modify(|_, w| w.dbg_sleep().set_bit());
     rtt_target::rtt_init_print!();
 
     // Install the logger