platform: inhibit motor pins and remove output routes

platforms/stm32f7/src/lib.rs

@@ -14,7 +14,6 @@ use core::marker::PhantomData;
 pub use kaptan_board::BoardConfig;
 use kaptan_board::BoardConfigError;
 
-mod actuator;
 mod f722;
 
 /// Dependencies used only while the platform expands its private RTIC macro.
@@ -23,11 +22,12 @@ pub(crate) mod __platform_internal {
     pub(crate) use cortex_m as cm;
     pub(crate) use cortex_m_rt as cmrt;
     pub(crate) use kaptan_dma as dma;
-    pub(crate) use kaptan_mavlink as mavlink;
-    pub(crate) use kaptan_spi as spi;
+    #[cfg(not(test))]
     pub(crate) use panic_halt as panic;
     pub(crate) use rtic as rtic_app;
     pub(crate) use stm32f7 as pac;
+    #[cfg(test)]
+    pub(crate) mod panic {}
 }
 
 /// Construction or validation failure for a declarative F722 board.
@@ -103,48 +103,6 @@ pub struct Pa4;
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct Pc3;
 
-/// Motor-output component selector.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct MotorOutputs;
-/// Kakute TIM3/TIM5 motor route before selecting a waveform protocol.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct KakuteTim3Tim5Motors;
-/// GEPRC TIM3/TIM5 motor route before selecting a waveform protocol.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct GeprcTim3Tim5Motors;
-/// Validated Kakute TIM3/TIM5 DShot600 motor route.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct KakuteTim3Tim5Dshot600;
-/// Validated GEPRC TIM3/TIM5 DShot600 motor route.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct GeprcTim3Tim5Dshot600;
-
-impl MotorOutputs {
-    /// Selects Kakute's M1–M4 mapping: PB0, PB1, PB4, PB5.
-    pub const fn kakute_tim3_tim5() -> KakuteTim3Tim5Motors {
-        KakuteTim3Tim5Motors
-    }
-
-    /// Selects GEPRC's M1–M4 mapping: PB4, PB5, PB0, PB1.
-    pub const fn geprc_tim3_tim5() -> GeprcTim3Tim5Motors {
-        GeprcTim3Tim5Motors
-    }
-}
-
-impl KakuteTim3Tim5Motors {
-    /// Selects the platform-validated DShot600 waveform configuration.
-    pub const fn dshot600(self) -> KakuteTim3Tim5Dshot600 {
-        KakuteTim3Tim5Dshot600
-    }
-}
-
-impl GeprcTim3Tim5Motors {
-    /// Selects the platform-validated DShot600 waveform configuration.
-    pub const fn dshot600(self) -> GeprcTim3Tim5Dshot600 {
-        GeprcTim3Tim5Dshot600
-    }
-}
-
 /// MAVLink component selector.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct Mavlink;
@@ -208,13 +166,8 @@ pub struct Missing;
 /// typestate. A final `build()` exists only for complete supported route
 /// combinations, so omitted or cross-wired essential routes fail to compile at
 /// the board declaration.
-pub struct F7BoardBuilder<
-    Imu = Missing,
-    Motors = Missing,
-    MavlinkRoute = Missing,
-    Vertical = Missing,
-> {
-    _state: PhantomData<(Imu, Motors, MavlinkRoute, Vertical)>,
+pub struct F7BoardBuilder<Imu = Missing, MavlinkRoute = Missing, Vertical = Missing> {
+    _state: PhantomData<(Imu, MavlinkRoute, Vertical)>,
 }
 
 impl F7BoardBuilder {
@@ -232,21 +185,14 @@ impl Default for F7BoardBuilder {
     }
 }
 
-impl<I, M, T, V> F7BoardBuilder<I, M, T, V> {
+impl<I, T, V> F7BoardBuilder<I, T, V> {
     /// Selects an IMU route descriptor.
     ///
     /// Only a complete, profile-compatible descriptor has a final
     /// [`F7BoardBuilder::build`] implementation. Keeping this one selection
     /// operation uniform avoids teaching a board author platform profile
     /// mechanics merely because the selected IMU model differs.
-    pub fn imu<Selected>(self, _: Selected) -> F7BoardBuilder<Selected, M, T, V> {
-        F7BoardBuilder {
-            _state: PhantomData,
-        }
-    }
-
-    /// Selects the TIM3/TIM5 DShot600 output route.
-    pub fn motors<Selected>(self, _: Selected) -> F7BoardBuilder<I, Selected, T, V> {
+    pub fn imu<Selected>(self, _: Selected) -> F7BoardBuilder<Selected, T, V> {
         F7BoardBuilder {
             _state: PhantomData,
         }
@@ -254,7 +200,7 @@ impl<I, M, T, V> F7BoardBuilder<I, M, T, V> {
 
     /// Selects a validated MAVLink route. Only profile-compatible route types
     /// have a final [`F7BoardBuilder::build`] implementation.
-    pub fn mavlink<Selected>(self, _: Selected) -> F7BoardBuilder<I, M, Selected, V> {
+    pub fn mavlink<Selected>(self, _: Selected) -> F7BoardBuilder<I, Selected, V> {
         F7BoardBuilder {
             _state: PhantomData,
         }
@@ -262,7 +208,7 @@ impl<I, M, T, V> F7BoardBuilder<I, M, T, V> {
 
     /// Selects a validated vertical-sensor route. Its capability is checked
     /// against [`F7Board::CONFIG`] before any peripheral is initialized.
-    pub fn vertical_sensor<Selected>(self, _: Selected) -> F7BoardBuilder<I, M, T, Selected> {
+    pub fn vertical_sensor<Selected>(self, _: Selected) -> F7BoardBuilder<I, T, Selected> {
         F7BoardBuilder {
             _state: PhantomData,
         }
@@ -285,7 +231,6 @@ pub(crate) enum F722Profile {
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct F722BoardRoutes {
     profile: F722Profile,
-    motors: f722::MotorRoute,
     vertical: f722::VerticalRoute,
 }
 
@@ -297,12 +242,11 @@ impl F722BoardRoutes {
 
 macro_rules! impl_mpu6000_routes {
     ($vertical:ty, $route:expr) => {
-        impl F7BoardBuilder<Mpu6000Spi1Exti4, KakuteTim3Tim5Dshot600, MavlinkUsart1, $vertical> {
+        impl F7BoardBuilder<Mpu6000Spi1Exti4, MavlinkUsart1, $vertical> {
             /// Finishes a complete supported MPU6000 F722 declaration.
             pub const fn build(self) -> Result<F722BoardRoutes, BoardError> {
                 Ok(F722BoardRoutes {
                     profile: F722Profile::Mpu6000Spi1Usart1,
-                    motors: f722::MotorRoute::KakuteTim3Tim5,
                     vertical: $route,
                 })
             }
@@ -316,12 +260,11 @@ impl_mpu6000_routes!(NoVerticalSensor, f722::VerticalRoute::None);
 
 macro_rules! impl_icm42688_routes {
     ($vertical:ty, $route:expr) => {
-        impl F7BoardBuilder<Icm42688Spi3Exti3, GeprcTim3Tim5Dshot600, MavlinkUsart2, $vertical> {
+        impl F7BoardBuilder<Icm42688Spi3Exti3, MavlinkUsart2, $vertical> {
             /// Finishes a complete supported ICM-42688-P F722 declaration.
             pub const fn build(self) -> Result<F722BoardRoutes, BoardError> {
                 Ok(F722BoardRoutes {
                     profile: F722Profile::Icm42688Spi3Usart2,
-                    motors: f722::MotorRoute::GeprcTim3Tim5,
                     vertical: $route,
                 })
             }
@@ -333,30 +276,28 @@ impl_icm42688_routes!(NoVerticalSensor, f722::VerticalRoute::None);
 impl_icm42688_routes!(Mtf01Uart4, f722::VerticalRoute::Mtf01);
 impl_icm42688_routes!(LidarLiteV3I2c1, f722::VerticalRoute::LidarLiteV3);
 
-/// Missing and cross-profile route selections are rejected before firmware is
+/// Missing and cross-profile route selections are rejected before board I/O is
 /// linked, because no matching `build` implementation exists.
 ///
 /// ```compile_fail
 /// use platform_stm32f7::{
-///     F7BoardBuilder, Mavlink, MotorOutputs, Mpu6000, Pa4,
+///     F7BoardBuilder, Mavlink, Mpu6000, Pa4,
 /// };
 ///
 /// let _ = F7BoardBuilder::new()
 ///     .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-///     .motors(MotorOutputs::kakute_tim3_tim5().dshot600())
 ///     .mavlink(Mavlink::on_usart1())
 ///     .build(); // vertical route is missing
 /// ```
 ///
 /// ```compile_fail
 /// use platform_stm32f7::{
-///     F7BoardBuilder, Icm42688, Mavlink, MotorOutputs, Pc3,
+///     F7BoardBuilder, Icm42688, Mavlink, Pc3,
 ///     VerticalSensor,
 /// };
 ///
 /// let _ = F7BoardBuilder::new()
 ///     .imu(Icm42688::on_spi3().with_drdy(Pc3))
-///     .motors(MotorOutputs::geprc_tim3_tim5().dshot600())
 ///     .mavlink(Mavlink::on_usart1()) // ICM route requires USART2
 ///     .vertical_sensor(VerticalSensor::none())
 ///     .build();
@@ -364,15 +305,14 @@ impl_icm42688_routes!(LidarLiteV3I2c1, f722::VerticalRoute::LidarLiteV3);
 ///
 /// ```compile_fail
 /// use platform_stm32f7::{
-///     F7BoardBuilder, Icm42688, Mavlink, MotorOutputs, Pc3, VerticalSensor,
+///     F7BoardBuilder, Icm42688, Mavlink, Pc3, VerticalSensor,
 /// };
 ///
 /// let _ = F7BoardBuilder::new()
 ///     .imu(Icm42688::on_spi3().with_drdy(Pc3))
-///     .motors(MotorOutputs::kakute_tim3_tim5().dshot600())
 ///     .mavlink(Mavlink::on_usart2())
 ///     .vertical_sensor(VerticalSensor::none())
-///     .build(); // ICM/USART2 uses the GEPRC logical motor order.
+///     .build(); // MPU6000/USART1 is the only other supported profile.
 /// ```
 /// Contract implemented by a declarative STM32F722 board crate.
 pub trait F7Board {
@@ -394,7 +334,10 @@ macro_rules! enforce_f7_board_contract {
     };
 }
 
-/// Installs the platform-owned RTIC flight firmware for a declarative board.
+/// Installs the one platform-owned RTIC application for a declarative board.
+///
+/// Board crates can only select one of the reviewed physical-sensor telemetry
+/// route descriptors; RTIC ownership stays platform-private.
 ///
 /// The application binds the finite superset of interrupt roles needed by the
 /// currently supported F722 profiles.  The route declaration selects which
@@ -416,11 +359,11 @@ macro_rules! flight_firmware {
             <$board as $crate::F7Board>::build($crate::F7BoardBuilder::new())
         }
         #[used]
-        static KAPTAN_F722_PLATFORM_FIRMWARE: fn() = $crate::firmware_anchor;
+        static KAPTAN_F722_PLATFORM_FLIGHT: fn() = $crate::firmware_anchor;
     };
 }
 
-/// Link anchor for the platform-owned F722 RTIC application.
+/// Link anchor for the platform-owned F722 board-I/O application.
 #[doc(hidden)]
 pub fn firmware_anchor() {}
 
@@ -432,7 +375,6 @@ mod tests {
     fn route_descriptors_select_the_mpu6000_profile() {
         let routes = F7BoardBuilder::new()
             .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-            .motors(MotorOutputs::kakute_tim3_tim5().dshot600())
             .mavlink(Mavlink::on_usart1())
             .vertical_sensor(VerticalSensor::mtf01_on_uart4())
             .build()
@@ -444,7 +386,6 @@ mod tests {
     fn route_descriptors_select_the_icm42688_profile() {
         let routes = F7BoardBuilder::new()
             .imu(Icm42688::on_spi3().with_drdy(Pc3))
-            .motors(MotorOutputs::geprc_tim3_tim5().dshot600())
             .mavlink(Mavlink::on_usart2())
             .vertical_sensor(VerticalSensor::none())
             .build()