refactor(firmware): centralize configuration and diagnostics

firmware/boards/geprc-f722-v2/Cargo.toml

@@ -10,8 +10,11 @@ build = "build.rs"
 workspace = true
 
 [dependencies]
-kaptan-board = { path = "../../libs/kaptan-board" }
+kaptan-config = { path = "../../libs/kaptan-config" }
 platform-stm32f7 = { path = "../../platforms/stm32f7" }
+# RTIC's attribute expansion emits absolute `rtic` support paths in the final
+# board crate; the task graph and all RTIC source remain platform-owned.
+rtic = { version = "2.3", default-features = false, features = ["thumbv7-backend"] }
 
 [[bin]]
 name = "kaptan-geprc-f722-v2"

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

@@ -1,45 +1,92 @@
 //! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
 
-use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
-    Severity, TelemetryProfile, VerticalSensingKind,
-};
 use platform_stm32f7::{
-    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, Pc3, VerticalSensor,
+    F7Board, F722Hardware, F722ImmutableConfig as ImmutableConfig, Icm42688, ImuMount, Mavlink,
+    Pa13ActiveHigh, Pb0Pb1Pb4Pb5Low, Pc3, Severity, VerticalSensor,
 };
 
+/// User-writable MAVLink endpoint policy.
+#[derive(Clone, kaptan_config::Config)]
+struct MavlinkConfig {
+    #[config(
+        id = 101,
+        key = "mavlink.system_id",
+        unit = "id",
+        range(min = 1, max = 255)
+    )]
+    system_id: u8,
+    #[config(
+        id = 102,
+        key = "mavlink.component_id",
+        unit = "id",
+        range(min = 1, max = 255)
+    )]
+    component_id: u8,
+    #[config(id = 108, key = "mavlink.logging.enabled", unit = "bool")]
+    logging_enabled: bool,
+    #[config(
+        enum,
+        id = 105,
+        key = "mavlink.logging.maximum_severity",
+        unit = "mav_severity"
+    )]
+    maximum_log_severity: Severity,
+}
+
+/// User-writable telemetry publication policy.
+#[derive(Clone, kaptan_config::Config)]
+struct TelemetryConfig {
+    #[config(
+        id = 103,
+        key = "telemetry.raw_imu_hz",
+        unit = "Hz",
+        range(min = 1, max = 100)
+    )]
+    raw_imu_hz: u8,
+    #[config(
+        id = 104,
+        key = "telemetry.heartbeat_hz",
+        unit = "Hz",
+        range(min = 1, max = 10)
+    )]
+    heartbeat_hz: u8,
+}
+
+/// Complete user-writable configuration advertised by this board.
+#[derive(Clone, kaptan_config::Config)]
+pub struct UserConfig {
+    mavlink: MavlinkConfig,
+    telemetry: TelemetryConfig,
+}
+
 /// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
 pub struct GeprcF722V2;
 
 impl F7Board for GeprcF722V2 {
-    const CONFIG: BoardConfig = BoardConfig {
-        name: "GEPRC TAKER F722 V2 (ICM-42688-P)",
-        mavlink: MavlinkEndpoint {
+    type UserConfig = UserConfig;
+    type ImmutableConfig = ImmutableConfig;
+
+    const FACTORY_USER_CONFIG: UserConfig = UserConfig {
+        mavlink: MavlinkConfig {
             system_id: 1,
             component_id: 1,
-            port: MavlinkPort::Serial2,
-            baud: 115_200,
+            logging_enabled: true,
+            maximum_log_severity: Severity::Info,
+        },
+        telemetry: TelemetryConfig {
+            raw_imu_hz: 20,
+            heartbeat_hz: 2,
         },
-        profile: BoardProfile::TelemetryOnly(TelemetryProfile {
-            imu: ImuDevice::Icm42688,
-            imu_mount: ImuMount::Yaw180,
-            vertical_sensing: VerticalSensingKind::None,
-            data_channel: DataChannelRates {
-                service_hz: 100,
-                raw_imu_hz: 20,
-                range_hz: None,
-                optical_flow_hz: None,
-                heartbeat_hz: 2,
-            },
-            maximum_log_level: Severity::Info,
-        }),
     };
-
-    fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
-        platform
-            .imu(Icm42688::on_spi3().with_drdy(Pc3))
-            .mavlink(Mavlink::on_usart2())
+    const IMMUTABLE_CONFIG: ImmutableConfig = ImmutableConfig {
+        name: "GEPRC TAKER F722 V2 (ICM-42688-P)",
+        service_hz: 100,
+        hardware: F722Hardware::new()
+            .output_inhibit(Pb0Pb1Pb4Pb5Low)
+            .imu(Icm42688::on_spi3().with_drdy(Pc3).mounted(ImuMount::Yaw180))
+            .mavlink(Mavlink::on_usart2().baud(115_200))
             .vertical_sensor(VerticalSensor::none())
-            .build()
-    }
+            .status_led(Pa13ActiveHigh)
+            .telemetry_only(),
+    };
 }

firmware/boards/geprc-f722-v2/src/main.rs

@@ -3,4 +3,4 @@
 
 mod board;
 
-platform_stm32f7::flight_firmware!(board::GeprcF722V2);
+platform_stm32f7::flight_firmware!(crate::board::GeprcF722V2);