Suggest using more xtask commands

CONTRIBUTING.md

@@ -87,7 +87,7 @@ Ensuring the quality and reliability of `esp-hal` is a shared responsibility, an
 Further steps that can (or should) be taken in testing: 
 
 * Using [xtask], build examples for the specified chip. 
-* Build the documentation if it has been modified using the `run-doc-test` command in [xtask].
+* Build the documentation and run the doctests if they have been modified using the `build-documentation` and  `run-doc-test` commands in [xtask].
 * Run the [HIL] tests locally if changes have been made to them. 
 
 [xtask]: https://github.com/esp-rs/esp-hal/tree/main/xtask
@@ -105,7 +105,13 @@ We _strongly_ recommend that you format your code before committing to ensure co
 To format all packages in the workspace, run the following command in a terminal from the root of the repository:
 
 ```shell
-cargo xtask fmt-workspace
+cargo xtask fmt-packages
+```
+
+We also recommend using the `lint-packages` subcommand, which uses `cargo clippy` and will lint the entire driver in order to catch common mistakes in the code.
+
+```shell
+cargo xtask lint-packages
 ```
 
 This will use `rustfmt` to ensure that all source code is formatted correctly prior to committing.