Merge branch 'main' into sns-keyence

.github/CODEOWNERS

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+* @davidbeechey
+
+# Infrastructure
+debugger @kshxtij
+lib/core @kshxtij
+lib/config @kshxtij
+lib/state_machine @DylanCavers
+
+# Localisation
+lib/localisation @misha7b
+
+# Motors & Levitation Control
+lib/motors @jpfbastos
+lib/levitation @jpfbastos
+
+# Sensors
+lib/sensors @licornes-fluos @H-Allen
+lib/io @licornes-fluos @H-Allen
+
+# Telemetry
+telemetry @arjunnaha

.github/workflows/ci.yml

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+# https://doc.rust-lang.org/cargo/guide/continuous-integration.html
+
+name: Cargo Build & Test
+
+on: push
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build_and_test:
+    name: Cargo Build & Test
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        toolchain:
+          - stable
+          - beta
+          - nightly
+    steps:
+      - uses: actions/checkout@v4
+      - run: rustup update ${{ matrix.toolchain }} && rustup default ${{ matrix.toolchain }}
+      - run: cargo build --verbose
+      - run: cargo test --verbose
+      - run: rustup target add thumbv7em-none-eabihf
+      - run: cargo build --verbose
+        working-directory: boards/stm32l476rg

.github/workflows/lint.yml

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+name: Linter
+
+on: push
+
+jobs:
+  rust-clippy:
+    name: Run clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run clippy
+        run: cargo clippy --all-targets --all-features -- -D warnings
+
+  rust-fmt:
+    name: Run rustfmt
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run rustfmt
+        run: cargo fmt --all -- --check
+
+  typos:
+    name: Spell check with typos
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run typos
+        uses: crate-ci/typos@master
+
+  find-todos-fixme:
+    name: Find todos and fixmes
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run todo check
+        run: |
+          if grep -riE -n 'TODO|FIXME' * | grep -v -i 'TODOLater'; then
+            exit 1
+          else
+            echo "All good"
+          fi
+
+  check-no-crlf:
+    name: Check no crlf line endings
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Run check for CRLF line endings
+        run: |
+          if git ls-files --eol | grep crlf; then
+            echo "[ERROR] found CRLF line endings, install dos2unix and run 'find . -type f -exec dos2unix {} \;' to fix"
+            exit 1
+          fi

.github/workflows/require-linear-issue.yml

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+name: Require Linear Issue in Pull Request
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - main
+    types: [opened, reopened]
+
+jobs:
+  require-linear-issue:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Find the Linear Issue
+        id: find-issue
+        uses: ctriolo/action-find-linear-issue@v0.60
+        with:
+          linear-api-key: ${{ secrets.LINEAR_API_KEY }}
+
+      - name: Require Linear Issue
+        run: |
+          if [ -z "${{ steps.find-issue.outputs.linear-issue-identifier }}" ]; then
+            echo "Please add a Linear ID to the title of the Pull Request. Using the Linear branch name would have done this automatically."
+            exit 1
+          fi

.rustfmt.toml

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+reorder_imports = true
+imports_granularity = "Crate"