diff --git a/inverted-pendulum-stm32/Cargo.lock b/inverted-pendulum-stm32/Cargo.lock
index 62e8966..ae48cab 100644
--- a/inverted-pendulum-stm32/Cargo.lock
+++ b/inverted-pendulum-stm32/Cargo.lock
@@ -223,7 +223,7 @@ dependencies = [
  "defmt 0.3.100",
  "embassy-futures",
  "embassy-sync 0.6.2",
- "embassy-time",
+ "embassy-time 0.4.0",
  "embedded-hal 0.2.7",
  "embedded-hal 1.0.0",
  "embedded-hal-async",
@@ -308,7 +308,7 @@ dependencies = [
  "embassy-hal-internal",
  "embassy-net-driver",
  "embassy-sync 0.6.2",
- "embassy-time",
+ "embassy-time 0.4.0",
  "embassy-time-driver",
  "embassy-time-queue-utils",
  "embassy-usb-driver",
@@ -382,11 +382,28 @@ dependencies = [
  "futures-util",
 ]
 
+[[package]]
+name = "embassy-time"
+version = "0.5.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "592b0c143ec626e821d4d90da51a2bd91d559d6c442b7c74a47d368c9e23d97a"
+dependencies = [
+ "cfg-if",
+ "critical-section",
+ "defmt 1.0.1",
+ "document-features",
+ "embassy-time-driver",
+ "embedded-hal 0.2.7",
+ "embedded-hal 1.0.0",
+ "embedded-hal-async",
+ "futures-core",
+]
+
 [[package]]
 name = "embassy-time-driver"
-version = "0.2.0"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8d45f5d833b6d98bd2aab0c2de70b18bfaa10faf661a1578fd8e5dfb15eb7eba"
+checksum = "6ee71af1b3a0deaa53eaf2d39252f83504c853646e472400b763060389b9fcc9"
 dependencies = [
  "document-features",
 ]
@@ -574,7 +591,7 @@ dependencies = [
  "embassy-futures",
  "embassy-stm32",
  "embassy-sync 0.7.0",
- "embassy-time",
+ "embassy-time 0.5.1",
  "micromath",
  "panic-halt",
  "panic-probe",
diff --git a/inverted-pendulum-stm32/Cargo.toml b/inverted-pendulum-stm32/Cargo.toml
index 179852a..231eee1 100644
--- a/inverted-pendulum-stm32/Cargo.toml
+++ b/inverted-pendulum-stm32/Cargo.toml
@@ -27,7 +27,7 @@ embassy-stm32 = { version = "0.2.0", features = [
     "unstable-pac",
 ] }
 embassy-sync = "0.7.0"
-embassy-time = { version = "0.4.0", features = ["tick-hz-32_768"] }
+embassy-time = { version = "0.5.0", features = ["tick-hz-32_768"] }
 panic-halt = "1.0.0"
 panic-probe = { version = "1.0.0", features = ["print-defmt"], optional = true }
 micromath = "2.1.0"