refactor: move firmware workspace under firmware

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

@@ -0,0 +1,22 @@
+[package]
+name = "kaptan-kakute-f7-mini-v3"
+edition.workspace = true
+license.workspace = true
+rust-version.workspace = true
+version.workspace = true
+
+[lints]
+workspace = true
+
+[features]
+lidar-lite-v3 = []
+
+[dependencies]
+kaptan-board = { path = "../../libs/kaptan-board" }
+platform-stm32f7 = { path = "../../platforms/stm32f7" }
+
+[[bin]]
+name = "kaptan-kakute-f7-mini-v3"
+path = "src/main.rs"
+test = false
+bench = false

firmware/boards/kakute-f7-mini-v3/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")
+    );
+}

firmware/boards/kakute-f7-mini-v3/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
+}

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

@@ -0,0 +1,51 @@
+//! Declarative Kakute F7 Mini V3 board description.
+//!
+//! This module deliberately contains no MCU registers, RTIC concepts, unsafe
+//! 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,
+};
+
+/// 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;
+
+    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()
+    }
+}

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

@@ -0,0 +1,5 @@
+#![no_std]
+#![no_main]
+
+mod board;
+platform_stm32f7::flight_firmware!(board::KakuteF7MiniV3);