From 82b0f412374bb02400a6e1b0c990304020ad02e5 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Onur=20=C3=96zkan?= <work@onurozkan.dev>
Date: Sat, 1 Aug 2026 20:54:41 +0300
Subject: [PATCH] boards/geprc-f722-v2: add F722 V2 declaration

---
 boards/geprc-f722-v2/Cargo.toml   | 26 ++++++++++++++++++++++
 boards/geprc-f722-v2/README.md    |  7 ++++++
 boards/geprc-f722-v2/build.rs     |  9 ++++++++
 boards/geprc-f722-v2/memory.x     | 19 ++++++++++++++++
 boards/geprc-f722-v2/src/board.rs | 37 +++++++++++++++++++++++++++++++
 boards/geprc-f722-v2/src/main.rs  | 11 +++++++++
 6 files changed, 109 insertions(+)
 create mode 100644 boards/geprc-f722-v2/Cargo.toml
 create mode 100644 boards/geprc-f722-v2/README.md
 create mode 100644 boards/geprc-f722-v2/build.rs
 create mode 100644 boards/geprc-f722-v2/memory.x
 create mode 100644 boards/geprc-f722-v2/src/board.rs
 create mode 100644 boards/geprc-f722-v2/src/main.rs

diff --git a/boards/geprc-f722-v2/Cargo.toml b/boards/geprc-f722-v2/Cargo.toml
new file mode 100644
index 0000000..41b1064
--- /dev/null
+++ b/boards/geprc-f722-v2/Cargo.toml
@@ -0,0 +1,26 @@
+[package]
+name = "kaptan-geprc-f722-v2"
+edition.workspace = true
+license.workspace = true
+repository.workspace = true
+rust-version.workspace = true
+version.workspace = true
+build = "build.rs"
+
+[lints]
+workspace = true
+
+[features]
+firmware = []
+uart2-wire-test = ["firmware"]
+
+[dependencies]
+kaptan-board = { path = "../../libs/kaptan-board" }
+platform-stm32f7 = { path = "../../platforms/stm32f7" }
+
+[[bin]]
+name = "kaptan-geprc-f722-v2"
+path = "src/main.rs"
+required-features = ["firmware"]
+test = false
+bench = false
diff --git a/boards/geprc-f722-v2/README.md b/boards/geprc-f722-v2/README.md
new file mode 100644
index 0000000..2a9c79f
--- /dev/null
+++ b/boards/geprc-f722-v2/README.md
@@ -0,0 +1,7 @@
+# GEPRC GEP-F722-HD V2
+
+Build from the workspace root:
+
+```sh
+cargo build --release -p kaptan-geprc-f722-v2 --features firmware --target thumbv7em-none-eabihf
+```
diff --git a/boards/geprc-f722-v2/build.rs b/boards/geprc-f722-v2/build.rs
new file mode 100644
index 0000000..51a6630
--- /dev/null
+++ b/boards/geprc-f722-v2/build.rs
@@ -0,0 +1,9 @@
+fn main() {
+    println!("cargo:rerun-if-changed=build.rs");
+    println!("cargo:rerun-if-changed=memory.x");
+    println!("cargo:rustc-link-arg=-Tlink.x");
+    println!(
+        "cargo:rustc-link-search={}",
+        std::env::var("CARGO_MANIFEST_DIR").expect("Cargo must set CARGO_MANIFEST_DIR")
+    );
+}
diff --git a/boards/geprc-f722-v2/memory.x b/boards/geprc-f722-v2/memory.x
new file mode 100644
index 0000000..39d4362
--- /dev/null
+++ b/boards/geprc-f722-v2/memory.x
@@ -0,0 +1,19 @@
+MEMORY
+{
+  FLASH : ORIGIN = 0x08000000, LENGTH = 512K
+  /*
+  * STM32F722 RAM totals 256 KiB:
+  *  - DTCM:  64 KiB at 0x2000_0000
+  *  - SRAM1: 176 KiB at 0x2001_0000
+  *  - SRAM2: 16 KiB at 0x2003_C000
+  *
+  * SRAM1 and SRAM2 are contiguous and are both accessible by DMA1 and DMA2.
+  * They form one 192 KiB default RAM region from 0x2001_0000 through
+  * 0x2003_FFFF. DTCM is intentionally kept separate for a future explicit
+  * placement policy rather than mixing CPU-critical and general allocations.
+  *
+  * TODO: Utilize DTCM.
+  *
+  */
+  RAM : ORIGIN = 0x20010000, LENGTH = 192K
+}
diff --git a/boards/geprc-f722-v2/src/board.rs b/boards/geprc-f722-v2/src/board.rs
new file mode 100644
index 0000000..f338ee3
--- /dev/null
+++ b/boards/geprc-f722-v2/src/board.rs
@@ -0,0 +1,37 @@
+//! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
+
+use kaptan_board::{BoardConfig, DataChannelRates, MavlinkEndpoint, VerticalSensingKind};
+use platform_stm32f7::{
+    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, MotorOutputs, Pc3,
+    VerticalSensor,
+};
+
+/// 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 BLS 60A V2 (ICM-42688-P)",
+        mavlink: MavlinkEndpoint {
+            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,
+        },
+    };
+
+    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()
+    }
+}
diff --git a/boards/geprc-f722-v2/src/main.rs b/boards/geprc-f722-v2/src/main.rs
new file mode 100644
index 0000000..3f45f58
--- /dev/null
+++ b/boards/geprc-f722-v2/src/main.rs
@@ -0,0 +1,11 @@
+#![no_std]
+#![no_main]
+
+#[cfg(not(feature = "uart2-wire-test"))]
+mod board;
+
+#[cfg(feature = "uart2-wire-test")]
+platform_stm32f7::geprc_uart2_wire_test!();
+
+#[cfg(not(feature = "uart2-wire-test"))]
+platform_stm32f7::flight_firmware!(board::GeprcF722V2);