refactor(firmware): centralize configuration and diagnostics

firmware/platforms/stm32f7/src/f722/firmware.rs

@@ -3,8 +3,10 @@
 /// Defines the F722 application in the platform crate. All interrupt bindings
 /// are the finite platform-owned superset. Profile activation determines which
 /// acknowledged route has initialized hardware.
-macro_rules! f722_flight_application {
-    ($routes:path, $config:path) => {
+#[doc(hidden)]
+#[macro_export]
+macro_rules! __f722_flight_application {
+    ($board:ty) => {
         #[allow(unused_imports)]
         use $crate::__platform_internal::cmrt as _;
         #[allow(unused_imports)]
@@ -36,12 +38,29 @@ macro_rules! f722_flight_application {
             #[allow(unused_imports)]
             use $crate::__platform_internal::rtic_app::Mutex;
 
+            type BoardUserConfig = <$board as $crate::F7Board>::UserConfig;
+            type BoardImmutableConfig = <$board as $crate::F7Board>::ImmutableConfig;
+            const CONFIG_PAYLOAD_BYTES: usize = $crate::config_snapshot_length::<
+                BoardUserConfig,
+            >();
+            type BoardInitResources = F722InitResources<
+                BoardUserConfig,
+                BoardImmutableConfig,
+                CONFIG_PAYLOAD_BYTES,
+            >;
+            type BoardMavlinkState = F722MavlinkState<
+                BoardUserConfig,
+                BoardImmutableConfig,
+                CONFIG_PAYLOAD_BYTES,
+            >;
+
             const IMU_EVENT_DRDY: u8 = 1 << 0;
             const IMU_EVENT_TRANSFER_COMPLETE: u8 = 1 << 1;
             const IMU_EVENT_TRANSFER_FAULT: u8 = 1 << 2;
             const IMU_EVENT_TIMER: u8 = 1 << 3;
             const IMU_EVENT_START: u8 = 1 << 4;
             const MAVLINK_EVENT_TIMER: u8 = 1 << 0;
+            const MAVLINK_EVENT_RECEIVED: u8 = 1 << 1;
             const MAVLINK_EVENT_DMA: u8 = 1 << 2;
 
             // Hardware IRQs and both software workers coalesce event bits.
@@ -55,7 +74,7 @@ macro_rules! f722_flight_application {
 
             #[shared]
             struct Shared {
-                mavlink: F722MavlinkState,
+                mavlink: BoardMavlinkState,
                 lidar: F722LidarState,
             }
 
@@ -69,16 +88,20 @@ macro_rules! f722_flight_application {
 
             #[init]
             fn init(context: init::Context) -> (Shared, Local) {
-                let routes = $routes().unwrap_or_else(|_| safe_idle());
-                let F722InitResources {
+                let BoardInitResources {
                     imu,
                     mtf01,
                     mtf01_uart,
                     timer,
                     lidar,
                     mavlink,
-                } = initialize(context.core, context.device, $config(), routes)
-                    .unwrap_or_else(|_| safe_idle());
+                } = initialize::<BoardUserConfig, BoardImmutableConfig, CONFIG_PAYLOAD_BYTES>(
+                    context.core,
+                    context.device,
+                    <$board as $crate::F7Board>::FACTORY_USER_CONFIG,
+                    <$board as $crate::F7Board>::IMMUTABLE_CONFIG,
+                )
+                .unwrap_or_else(|_| safe_idle());
                 schedule_imu(IMU_EVENT_START);
                 (
                     Shared {
@@ -200,20 +223,28 @@ macro_rules! f722_flight_application {
                 }
             }
 
-            #[task(binds = USART1, priority = 8)]
-            fn mavlink_rx_usart1(_: mavlink_rx_usart1::Context) {
-                // `ExternalControlOnly` is rejected and production signing is
-                // not implemented, so this image has no inbound authority
-                // path. Acknowledge every RX condition to keep the peripheral
-                // quiescent without taking any RTIC-shared flight state.
-                let _ = acknowledge_mavlink_rx_usart1();
+            #[task(binds = USART1, priority = 8, shared = [mavlink])]
+            fn mavlink_rx_usart1(mut context: mavlink_rx_usart1::Context) {
+                let event = acknowledge_mavlink_rx_usart1();
+                if context
+                    .shared
+                    .mavlink
+                    .lock(|mavlink| mavlink.receive_config_interrupt(event))
+                {
+                    schedule_mavlink(MAVLINK_EVENT_RECEIVED);
+                }
             }
 
-            #[task(binds = USART2, priority = 8)]
-            fn mavlink_rx_usart2(_: mavlink_rx_usart2::Context) {
-                // See USART1: inbound bytes are drained but never decoded or
-                // dispatched by the telemetry-only image.
-                let _ = acknowledge_mavlink_rx_usart2();
+            #[task(binds = USART2, priority = 8, shared = [mavlink])]
+            fn mavlink_rx_usart2(mut context: mavlink_rx_usart2::Context) {
+                let event = acknowledge_mavlink_rx_usart2();
+                if context
+                    .shared
+                    .mavlink
+                    .lock(|mavlink| mavlink.receive_config_interrupt(event))
+                {
+                    schedule_mavlink(MAVLINK_EVENT_RECEIVED);
+                }
             }
 
             #[task(binds = TIM2, priority = 4, local = [timer], shared = [lidar])]
@@ -276,5 +307,3 @@ macro_rules! f722_flight_application {
         }
     };
 }
-
-pub(crate) use f722_flight_application;