board: make telemetry profile selection explicit

boards/geprc-f722-v2/src/board.rs

@@ -1,9 +1,11 @@
 //! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
 
-use kaptan_board::{BoardConfig, DataChannelRates, MavlinkEndpoint, VerticalSensingKind};
+use kaptan_board::{
+    BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
+    VerticalSensingKind,
+};
 use platform_stm32f7::{
-    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, MotorOutputs, Pc3,
-    VerticalSensor,
+    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, Pc3, VerticalSensor,
 };
 
 /// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
@@ -16,20 +18,21 @@ impl F7Board for GeprcF722V2 {
             system_id: 1,
             component_id: 1,
         },
-        vertical_sensing: VerticalSensingKind::None,
-        data_channel: DataChannelRates {
-            service_hz: 100,
-            raw_imu_hz: 20,
-            range_hz: None,
-            optical_flow_hz: None,
-            heartbeat_hz: 2,
-        },
+        profile: BoardProfile::TelemetryOnly(TelemetryProfile {
+            vertical_sensing: VerticalSensingKind::None,
+            data_channel: DataChannelRates {
+                service_hz: 100,
+                raw_imu_hz: 20,
+                range_hz: None,
+                optical_flow_hz: None,
+                heartbeat_hz: 2,
+            },
+        }),
     };
 
     fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
         platform
             .imu(Icm42688::on_spi3().with_drdy(Pc3))
-            .motors(MotorOutputs::geprc_tim3_tim5().dshot600())
             .mavlink(Mavlink::on_usart2())
             .vertical_sensor(VerticalSensor::none())
             .build()

boards/kakute-f7-mini-v3/src/board.rs

@@ -4,61 +4,43 @@
 //! code, interrupt names, DMA handling, or task scheduling. Those concerns
 //! belong to the STM32F7 platform crate.
 
-use kaptan_board::{BoardConfig, DataChannelRates, MavlinkEndpoint, VerticalSensingKind};
+use kaptan_board::{
+    BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
+    VerticalSensingKind,
+};
 use platform_stm32f7::{
-    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Mavlink, MotorOutputs, Mpu6000, Pa4,
-    VerticalSensor,
+    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Mavlink, Mpu6000, Pa4, VerticalSensor,
 };
 
 /// Holybro Kakute F7 Mini V3.
 pub struct KakuteF7MiniV3;
 
-#[cfg(not(feature = "lidar-lite-v3"))]
 const CONFIG: BoardConfig = BoardConfig {
     name: "Kakute F7 Mini V3",
     mavlink: MavlinkEndpoint {
         system_id: 1,
         component_id: 1,
     },
-    vertical_sensing: VerticalSensingKind::RangeAndOpticalFlow,
-    data_channel: DataChannelRates {
-        service_hz: 100,
-        raw_imu_hz: 20,
-        range_hz: Some(20),
-        optical_flow_hz: Some(20),
-        heartbeat_hz: 2,
-    },
-};
-
-#[cfg(feature = "lidar-lite-v3")]
-const CONFIG: BoardConfig = BoardConfig {
-    name: "Kakute F7 Mini V3",
-    mavlink: MavlinkEndpoint {
-        system_id: 1,
-        component_id: 1,
-    },
-    vertical_sensing: VerticalSensingKind::Range,
-    data_channel: DataChannelRates {
-        service_hz: 100,
-        raw_imu_hz: 20,
-        range_hz: Some(20),
-        optical_flow_hz: None,
-        heartbeat_hz: 2,
-    },
+    profile: BoardProfile::TelemetryOnly(TelemetryProfile {
+        vertical_sensing: VerticalSensingKind::RangeAndOpticalFlow,
+        data_channel: DataChannelRates {
+            service_hz: 100,
+            raw_imu_hz: 20,
+            range_hz: Some(20),
+            optical_flow_hz: Some(20),
+            heartbeat_hz: 2,
+        },
+    }),
 };
 
 impl F7Board for KakuteF7MiniV3 {
     const CONFIG: BoardConfig = CONFIG;
 
     fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
-        let platform = platform
+        platform
             .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-            .motors(MotorOutputs::kakute_tim3_tim5().dshot600())
-            .mavlink(Mavlink::on_usart1());
-        #[cfg(feature = "lidar-lite-v3")]
-        let platform = platform.vertical_sensor(VerticalSensor::lidar_lite_v3_on_i2c1());
-        #[cfg(not(feature = "lidar-lite-v3"))]
-        let platform = platform.vertical_sensor(VerticalSensor::mtf01_on_uart4());
-        platform.build()
+            .mavlink(Mavlink::on_usart1())
+            .vertical_sensor(VerticalSensor::mtf01_on_uart4())
+            .build()
     }
 }

boards/kakute-f7-mini-v3/src/main.rs

@@ -2,5 +2,4 @@
 #![no_main]
 
 mod board;
-
 platform_stm32f7::flight_firmware!(board::KakuteF7MiniV3);