Update to bazel 5.4.1

Update deps while we're at it

Author: jpieper

WORKSPACE

@@ -16,8 +16,8 @@
 
 workspace(name = "com_github_mjbots_power_dist")
 
-BAZEL_VERSION = "4.0.0"
-BAZEL_VERSION_SHA = "7bee349a626281fc8b8d04a7a0b0358492712377400ab12533aeb39c2eb2b901"
+BAZEL_VERSION = "5.4.1"
+BAZEL_VERSION_SHA = "5d90515f84b5ee1fd6ec22ee9e83103e77ed1a907ee5eec198fef3a5b45abf13"
 
 load("//tools/workspace:default.bzl", "add_default_repositories")
 

fw/fdcan_micro_server.h

@@ -22,6 +22,10 @@ namespace fw {
 
 class FDCanMicroServer : public mjlib::multiplex::MicroDatagramServer {
  public:
+  // Fields in Header::flags
+  static constexpr uint32_t kBrsFlag = 0x01;
+  static constexpr uint32_t kFdcanFlag = 0x02;
+
   FDCanMicroServer(FDCan* can) : fdcan_(can) {}
 
   void AsyncRead(Header* header,
@@ -35,19 +39,28 @@ class FDCanMicroServer : public mjlib::multiplex::MicroDatagramServer {
 
   void AsyncWrite(const Header& header,
                   const std::string_view& data,
+                  const Header& query_header,
                   const mjlib::micro::SizeCallback& callback) override {
     const auto actual_dlc = RoundUpDlc(data.size());
     const uint32_t id =
         ((header.source & 0xff) << 8) | (header.destination & 0xff);
 
+    FDCan::SendOptions send_options;
+    send_options.bitrate_switch =
+        (query_header.flags & kBrsFlag) ?
+        FDCan::Override::kRequire : FDCan::Override::kDisable;
+    send_options.fdcan_frame =
+        ((query_header.flags & kFdcanFlag) ==0 && data.size() <= 8) ?
+        FDCan::Override::kDisable : FDCan::Override::kRequire;
+
     if (actual_dlc == data.size()) {
-      fdcan_->Send(id, data, {});
+      fdcan_->Send(id, data, send_options);
     } else {
       std::memcpy(buf_, data.data(), data.size());
       for (size_t i = data.size(); i < actual_dlc; i++) {
         buf_[i] = 0x50;
       }
-      fdcan_->Send(id, std::string_view(buf_, actual_dlc), {});
+      fdcan_->Send(id, std::string_view(buf_, actual_dlc), send_options);
     }
 
     callback(mjlib::micro::error_code(), data.size());

fw/power_dist.cc

@@ -998,11 +998,12 @@ class PowerDist : public mjlib::multiplex::MicroServer::Server {
   micro::AsyncStream* serial_ = multiplex_protocol_.MakeTunnel(1);
   micro::AsyncExclusive<micro::AsyncWriteStream> write_stream_{serial_};
   micro::CommandManager command_manager_{&pool_, serial_, &write_stream_};
+  char micro_output_buffer[2048] = {};
   micro::TelemetryManager telemetry_manager_{
-    &pool_, &command_manager_, &write_stream_};
+    &pool_, &command_manager_, &write_stream_, micro_output_buffer};
   fw::Stm32G4Flash flash_interface_;
   micro::PersistentConfig persistent_config_{
-    pool_, command_manager_, flash_interface_};
+    pool_, command_manager_, flash_interface_, micro_output_buffer};
   fw::Uuid uuid_{persistent_config_};
   fw::GitInfo git_info_;
   fw::FirmwareInfo firmware_info_{pool_, telemetry_manager_, 0, 0};

tools/workspace/bazel_deps/repository.bzl

@@ -20,6 +20,6 @@ def bazel_deps_repository(name):
     github_archive(
         name = name,
         repo = "mjbots/bazel_deps",
-        commit = "4a2b308a03ccd20513c1aa7e413debbc0b8366e8",
-        sha256 = "2304d22ac96bb3ab3a38821e018d7768d7f51d65f84103b94569513c3d66f775",
+        commit = "c1c112d26ad879b8ddf79939029ec209a905d455",
+        sha256 = "d376e3b76ceace38280c81f7c787a68ccc09437b6024dd31238a90cc3c3b4203",
     )

tools/workspace/mjlib/repository.bzl

@@ -20,6 +20,6 @@ def mjlib_repository(name):
     github_archive(
         name = name,
         repo = "mjbots/mjlib",
-        commit = "80887a520d866a003830501b86f318f5eff4a5c7",
-        sha256 = "e4031bd646ad33e8b29469de4eddb56e883b190e16f21f3dbc9e78a73eb8b142",
+        commit = "9ce0aeeab9dad44da79515864854eff74a9e46b1",
+        sha256 = "f0007a5934bdfb7dead58fcf4b52d67d6166555379ae7505185ab9af5b22c7f2",
     )

tools/workspace/rules_mbed/repository.bzl

@@ -20,6 +20,6 @@ def rules_mbed_repository():
     github_archive(
         name = "com_github_mjbots_rules_mbed",
         repo = "mjbots/rules_mbed",
-        commit = "de613d7f8387a4d205be3b5f1e9d2ea76dc6f44b",
-        sha256 = "43ad7bd1c25dc056ba3fdc1bf33948b8cac91974aa95293a17b6d65b67ec70fc",
+        commit = "c0d35752d4d17cd00b7f5b21b5c55732e48e6562",
+        sha256 = "87f0b4bbe639e6b2e621862ff06fb9d3a29776e99e844dd6abe911765f7ea1de",
     )