refactor: move firmware workspace under firmware

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

@@ -0,0 +1,101 @@
+//! Finite STM32F722 execution profiles.
+//!
+//! This module is the sole owner of STM32F722 register routes and execution
+//! lifecycle.  Its public-in-crate profile names describe useful electrical
+//! meaning; the RTIC bindings, PAC names, DMA streams and synchronization are
+//! intentionally contained here and in the macro template.
+
+mod board;
+mod clock;
+mod data_channel;
+mod firmware;
+mod interrupts;
+mod motor_inhibit;
+mod peripherals;
+mod routes;
+mod sensors;
+
+use crate::{BoardError, F722BoardRoutes};
+use kaptan_board::BoardConfig;
+
+/// Completion classification crossing the RTIC interrupt template.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub(crate) enum F722ImuTransferCompletion {
+    Complete,
+    TransferFault,
+    NotPending,
+}
+
+impl From<kaptan_spi::SpiCompletion> for F722ImuTransferCompletion {
+    fn from(value: kaptan_spi::SpiCompletion) -> Self {
+        match value {
+            kaptan_spi::SpiCompletion::Complete => Self::Complete,
+            kaptan_spi::SpiCompletion::TransferFault => Self::TransferFault,
+            kaptan_spi::SpiCompletion::NotPending => Self::NotPending,
+        }
+    }
+}
+
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub(crate) enum VerticalRoute {
+    None,
+    Mtf01,
+    LidarLiteV3,
+}
+
+pub(crate) use board::{
+    F722InitResources, F722LidarState, F722MavlinkState, F722Mtf01, F722Mtf01Uart,
+    F722ServiceTimer, on_uart4_interrupt, process_imu, record_mavlink_completion,
+    validate_board_routes,
+};
+pub(crate) use interrupts::{
+    acknowledge_exti3, acknowledge_exti4, acknowledge_imu_rx_dma1, acknowledge_imu_rx_dma2,
+    acknowledge_imu_spi1_error, acknowledge_imu_spi3_error, acknowledge_imu_tx_dma1,
+    acknowledge_imu_tx_dma2, acknowledge_mavlink_dma1, acknowledge_mavlink_dma2,
+    acknowledge_mavlink_rx_usart1, acknowledge_mavlink_rx_usart2,
+};
+pub(crate) use sensors::F722Imu;
+
+/// Materializes a board declaration after RTIC has exclusively taken the PAC
+/// peripherals.  The route/config check happens before any pin or peripheral
+/// is initialized, so a malformed board declaration cannot drive hardware.
+pub fn initialize(
+    core: cortex_m::Peripherals,
+    device: stm32f7::stm32f722::Peripherals,
+    config: BoardConfig,
+    routes: F722BoardRoutes,
+) -> Result<F722InitResources, BoardError> {
+    // This is deliberately the first hardware access, before configuration
+    // validation, clocks, sensor routes, interrupts, or UART setup. It keeps
+    // the former four motor pins low even for malformed configuration.
+    motor_inhibit::inhibit_motor_pins(&device.RCC, &device.GPIOB);
+    crate::validate_board_config(config, routes)?;
+    board::initialize(core, device, config, routes)
+}
+
+unsafe extern "Rust" {
+    static KAPTAN_F722_BOARD_CONFIG: BoardConfig;
+    fn kaptan_f722_board_routes() -> Result<F722BoardRoutes, BoardError>;
+}
+
+fn registered_config() -> BoardConfig {
+    // SAFETY: `flight_firmware!` emits this immutable symbol exactly once in
+    // the selected board binary. The platform reads it only during RTIC init,
+    // before any interrupt or worker can observe configuration state.
+    unsafe { KAPTAN_F722_BOARD_CONFIG }
+}
+
+fn registered_routes() -> Result<F722BoardRoutes, BoardError> {
+    // SAFETY: `flight_firmware!` emits this function exactly once in the board
+    // binary. It only constructs a safe descriptor; it cannot touch PAC state
+    // because the board builder contains no peripherals.
+    unsafe { kaptan_f722_board_routes() }
+}
+
+// This is one source-level task graph. Its compile-time bindings are the
+// platform-owned finite interrupt superset, independent of the board crate.
+#[cfg(target_os = "none")]
+firmware::f722_flight_application!(
+    crate::f722::registered_routes,
+    crate::f722::registered_config
+);