diff --git a/Cargo.lock b/Cargo.lock
index def9d3934..cff252bfb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -9,7 +9,7 @@ dependencies = [
  "bit_field",
  "bitflags 2.4.2",
  "bytemuck",
- "embedded-hal",
+ "embedded-hal 0.2.7",
 ]
 
 [[package]]
@@ -173,7 +173,7 @@ dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
  "critical-section",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
@@ -197,34 +197,6 @@ dependencies = [
  "syn 1.0.109",
 ]
 
-[[package]]
-name = "cortex-m-rtic"
-version = "1.1.4"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d696ae7390bdb9f7978f71ca7144256a2c4616240a6df9002da3c451f9fc8f02"
-dependencies = [
- "bare-metal 1.0.0",
- "cortex-m 0.7.7",
- "cortex-m-rtic-macros",
- "heapless 0.7.17",
- "rtic-core",
- "rtic-monotonic",
- "version_check",
-]
-
-[[package]]
-name = "cortex-m-rtic-macros"
-version = "1.1.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "eefb40b1ca901c759d29526e5c8a0a1b246c20caaa5b4cc5d0f0b94debecd4c7"
-dependencies = [
- "proc-macro-error",
- "proc-macro2",
- "quote",
- "rtic-syntax",
- "syn 1.0.109",
-]
-
 [[package]]
 name = "critical-section"
 version = "1.1.2"
@@ -250,6 +222,12 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
 [[package]]
 name = "embedded-io"
 version = "0.6.1"
@@ -302,6 +280,12 @@ dependencies = [
  "syn 2.0.48",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
 [[package]]
 name = "form_urlencoded"
 version = "1.2.1"
@@ -320,6 +304,30 @@ dependencies = [
  "gcd",
 ]
 
+[[package]]
+name = "futures-core"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
 [[package]]
 name = "gcd"
 version = "2.3.0"
@@ -387,9 +395,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
@@ -438,11 +446,11 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "1.9.3"
+version = "2.2.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd070e393353796e801d209ad339e89596eb4c8d430d18ede6a1cced8fafbd99"
+checksum = "7b0b929d511467233429c45a44ac1dcaa21ba0f5ba11e4879e6ed28ddb4f9df4"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
 ]
 
@@ -503,7 +511,7 @@ version = "0.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "f05acdc7a7d6da7b9be48c2d1de2f9757d37d3a83564aa82b4ae6d7ad15d0db6"
 dependencies = [
- "embedded-hal",
+ "embedded-hal 0.2.7",
 ]
 
 [[package]]
@@ -535,7 +543,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0c5a338372c83c3eff68c07a23fe00dff2b2c9195583a2d464292919bc27de04"
 dependencies = [
  "bit_field",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "num_enum 0.5.11",
  "paste",
 ]
@@ -767,6 +775,18 @@ version = "2.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e3148f5046208a5d56bcfc03053e3ca6334e51da8dfb19b6cdc8b306fae3283e"
 
+[[package]]
+name = "pin-project-lite"
+version = "0.2.13"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8afb450f006bf6385ca15ef45d71d2288452bc3683ce2e2cacc0d18e4be60b58"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
+
 [[package]]
 name = "pkg-config"
 version = "0.3.28"
@@ -847,12 +867,48 @@ dependencies = [
  "rand_core",
 ]
 
+[[package]]
+name = "rtic"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0f9472edf226fafcaec0af8afeac6d22b28bf4fdbe7c34762b82af540c081f9a"
+dependencies = [
+ "atomic-polyfill 1.0.3",
+ "bare-metal 1.0.0",
+ "cortex-m 0.7.7",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "rtic-core"
 version = "1.0.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
+[[package]]
+name = "rtic-macros"
+version = "2.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
+dependencies = [
+ "indexmap",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.48",
+]
+
 [[package]]
 name = "rtic-monotonic"
 version = "1.0.0"
@@ -860,15 +916,28 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
 
 [[package]]
-name = "rtic-syntax"
-version = "1.0.3"
+name = "rtic-monotonics"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5f5e215601dc467752c2bddc6284a622c6f3d2bab569d992adcd5ab7e4cb9478"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
 dependencies = [
- "indexmap",
- "proc-macro2",
- "quote",
- "syn 1.0.109",
+ "atomic-polyfill 1.0.3",
+ "cfg-if",
+ "cortex-m 0.7.7",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
 ]
 
 [[package]]
@@ -1000,7 +1069,7 @@ checksum = "05f8438a40b91c8b9531c664e9680c55b92bd78cd6809a8b45b4512b1e5765f2"
 dependencies = [
  "atomic-polyfill 0.1.11",
  "cortex-m 0.6.7",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "nb 0.1.3",
 ]
 
@@ -1012,7 +1081,7 @@ checksum = "c6b8d3f0e34309c22ca4a9a27d24fa493e31573485f3493802b75b9d706756a6"
 dependencies = [
  "atomic-polyfill 1.0.3",
  "cortex-m 0.7.7",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "nb 1.1.0",
 ]
 
@@ -1082,8 +1151,7 @@ dependencies = [
  "built",
  "cortex-m 0.7.7",
  "cortex-m-rt",
- "cortex-m-rtic",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-io",
  "embedded-storage",
  "enum-iterator",
@@ -1103,6 +1171,8 @@ dependencies = [
  "postcard",
  "rand_core",
  "rand_xorshift",
+ "rtic",
+ "rtic-monotonics",
  "rtt-logger",
  "rtt-target",
  "sequential-storage",
@@ -1146,7 +1216,7 @@ dependencies = [
  "cast",
  "cortex-m 0.7.7",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-storage",
  "fugit",
  "nb 1.1.0",
@@ -1186,7 +1256,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e948d523b316939545d8b21a48c27aef150ce25321b9f95ff7978647a806a6fe"
 dependencies = [
  "cortex-m 0.7.7",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "usb-device",
  "vcell",
 ]
@@ -1209,7 +1279,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "05458b00a3a73c5b64c0de8f2a5182f6d51eb1aeb54c638e585092d26fc9a971"
 dependencies = [
  "bit_field",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "num_enum 0.5.11",
 ]
 
@@ -1287,7 +1357,7 @@ name = "usbd-serial"
 version = "0.2.0"
 source = "git+https://github.com/rust-embedded-community/usbd-serial?rev=096742c1c480f6f63c1a936a3c23ede7993c624d#096742c1c480f6f63c1a936a3c23ede7993c624d"
 dependencies = [
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-io",
  "nb 1.1.0",
  "usb-device",
diff --git a/Cargo.toml b/Cargo.toml
index ce0d7b2f8..1ee59a0cf 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -46,7 +46,7 @@ rtt-target = "0.3"
 serde = { version = "1.0", features = ["derive"], default-features = false }
 serde-json-core = "0.5"
 heapless = { version = "0.7.16", features = ["serde"] }
-rtic = { version = "2.0", features = ["thumbv7-backend"] }
+rtic = { version = "2.1", features = ["thumbv7-backend"] }
 rtic-monotonics = { version = "1.0", features = ["cortex-m-systick"] }
 embedded-hal = "0.2.7"
 num_enum = { version = "0.7.2", default-features = false }
diff --git a/src/bin/dual-iir.rs b/src/bin/dual-iir.rs
index 1e86c2e0c..051479cd9 100644
--- a/src/bin/dual-iir.rs
+++ b/src/bin/dual-iir.rs
@@ -25,7 +25,6 @@
 //! ## Livestreaming
 //! This application streams raw ADC and DAC data over UDP. Refer to
 //! [stabilizer::net::data_stream](../stabilizer/net/data_stream/index.html) for more information.
-#![feature(type_alias_impl_trait)]
 #![no_std]
 #![no_main]
 
diff --git a/src/bin/lockin.rs b/src/bin/lockin.rs
index 5b85c13c2..88524f69a 100644
--- a/src/bin/lockin.rs
+++ b/src/bin/lockin.rs
@@ -24,7 +24,6 @@
 //! ## Livestreaming
 //! This application streams raw ADC and DAC data over UDP. Refer to
 //! [stabilizer::net::data_stream](../stabilizer/net/data_stream/index.html) for more information.
-#![feature(type_alias_impl_trait)]
 #![no_std]
 #![no_main]