refactor(firmware): centralize configuration and diagnostics

firmware/boards/kakute-f7-mini-v3/Cargo.toml

@@ -8,12 +8,12 @@ version.workspace = true
 [lints]
 workspace = true
 
-[features]
-lidar-lite-v3 = []
-
 [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-kakute-f7-mini-v3"

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

@@ -4,48 +4,120 @@
 //! code, interrupt names, DMA handling, or task scheduling. Those concerns
 //! belong to the STM32F7 platform crate.
 
-use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
-    Severity, TelemetryProfile, VerticalSensingKind,
-};
 use platform_stm32f7::{
-    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Mavlink, Mpu6000, Pa4, VerticalSensor,
+    AccelerometerRange, DigitalLowPassFilter, F7Board, F722Hardware,
+    F722ImmutableConfig as ImmutableConfig, GyroscopeRange, ImuMount, Mavlink, Mpu6000,
+    Mpu6000Config, Pa4, Pb0Pb1Pb4Pb5Low, Pd2ActiveLow, 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,
+    #[config(
+        id = 106,
+        key = "telemetry.range_hz",
+        unit = "Hz",
+        range(min = 1, max = 100)
+    )]
+    range_hz: u8,
+    #[config(
+        id = 107,
+        key = "telemetry.optical_flow_hz",
+        unit = "Hz",
+        range(min = 1, max = 100)
+    )]
+    optical_flow_hz: u8,
+}
+
+/// Complete user-writable configuration advertised by this board.
+#[derive(Clone, kaptan_config::Config)]
+pub struct UserConfig {
+    mavlink: MavlinkConfig,
+    telemetry: TelemetryConfig,
+}
+
 /// Holybro Kakute F7 Mini V3.
 pub struct KakuteF7MiniV3;
 
-const CONFIG: BoardConfig = BoardConfig {
-    name: "Kakute F7 Mini V3",
-    mavlink: MavlinkEndpoint {
-        system_id: 1,
-        component_id: 1,
-        port: MavlinkPort::Serial1,
-        baud: 115_200,
-    },
-    profile: BoardProfile::TelemetryOnly(TelemetryProfile {
-        imu: ImuDevice::Mpu6000,
-        imu_mount: ImuMount::BodyAligned,
-        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,
-        },
-        maximum_log_level: Severity::Info,
-    }),
-};
-
 impl F7Board for KakuteF7MiniV3 {
-    const CONFIG: BoardConfig = CONFIG;
+    type UserConfig = UserConfig;
+    type ImmutableConfig = ImmutableConfig;
 
-    fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
-        platform
-            .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-            .mavlink(Mavlink::on_usart1())
-            .vertical_sensor(VerticalSensor::mtf01_on_uart4())
-            .build()
-    }
+    const FACTORY_USER_CONFIG: UserConfig = UserConfig {
+        mavlink: MavlinkConfig {
+            system_id: 1,
+            component_id: 1,
+            logging_enabled: true,
+            maximum_log_severity: Severity::Info,
+        },
+        telemetry: TelemetryConfig {
+            raw_imu_hz: 20,
+            heartbeat_hz: 2,
+            range_hz: 20,
+            optical_flow_hz: 20,
+        },
+    };
+    const IMMUTABLE_CONFIG: ImmutableConfig = ImmutableConfig {
+        name: "Kakute F7 Mini V3",
+        service_hz: 100,
+        hardware: F722Hardware::new()
+            .output_inhibit(Pb0Pb1Pb4Pb5Low)
+            .imu(
+                Mpu6000::on_spi1()
+                    .with_drdy(Pa4)
+                    .mounted(ImuMount::BodyAligned)
+                    .configured(Mpu6000Config {
+                        accelerometer: AccelerometerRange::PlusMinus4G,
+                        gyroscope: GyroscopeRange::PlusMinus500DegreesPerSecond,
+                        digital_low_pass_filter: DigitalLowPassFilter::Bandwidth42Hz,
+                        sample_rate_divider: 9,
+                    }),
+            )
+            .mavlink(Mavlink::on_usart1().baud(115_200))
+            .vertical_sensor(VerticalSensor::mtf01_on_uart4().baud(115_200))
+            .status_led(Pd2ActiveLow)
+            .telemetry_only(),
+    };
 }

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

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