Merge branch 'main' of github.com:Orkavian/kaptan

boards/kakute-f7-mini-v3/src/actuator/tim3_dshot.rs

@@ -1,8 +1,7 @@
 use core::sync::atomic::{AtomicBool, Ordering};
 
-use kaptan_actuator::{
-    DshotConfig,
-    dshot::{ArmSequence, FRAME_SYMBOLS, FrameValue, Throttle, Timing, symbols},
+use kaptan_actuator::dshot::{
+    ArmSequence, Config, FRAME_SYMBOLS, FrameValue, Throttle, Timing, symbols,
 };
 use stm32f7::stm32f722;
 
@@ -34,7 +33,7 @@ impl Tim3Dshot {
         rcc: &stm32f722::RCC,
         timer: stm32f722::TIM3,
         scheduler: stm32f722::TIM5,
-        config: DshotConfig,
+        config: Config,
     ) -> Self {
         let rate = config.rate();
         let dshot_timer_hz = rate.timer_base_hz();

boards/kakute-f7-mini-v3/src/actuator/tim3_pwm.rs

@@ -1,9 +1,6 @@
 use core::sync::atomic::{AtomicU16, Ordering};
 
-use kaptan_actuator::{
-    PwmConfig,
-    pwm::{ArmSequence, FrameValue, PulseWidth},
-};
+use kaptan_actuator::pwm::{ArmSequence, Config, FrameValue, PulseWidth};
 use stm32f7::stm32f722;
 
 const APB1_TIMER_CLOCK_HZ: u32 = 108_000_000;
@@ -28,7 +25,7 @@ pub(super) struct Tim3Pwm {
 }
 
 impl Tim3Pwm {
-    pub(super) fn new(rcc: &stm32f722::RCC, timer: stm32f722::TIM3, config: PwmConfig) -> Self {
+    pub(super) fn new(rcc: &stm32f722::RCC, timer: stm32f722::TIM3, config: Config) -> Self {
         let period_us = match config.frame_rate().period_microseconds() {
             Some(period) => period,
             None => unreachable!(),

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

@@ -36,7 +36,7 @@ pub const LIDAR_ACQUISITION_MODE: AcquisitionMode = AcquisitionMode::WithReceive
 pub const LIDAR_STARTUP_TICKS: u8 = 3;
 /// ESC protocol selected for this board's M1–M4 output route.
 pub const MOTOR_PROTOCOL: MotorProtocol = MotorProtocol::Dshot(
-    match kaptan_actuator::DshotConfig::new(
+    match kaptan_actuator::dshot::Config::new(
         kaptan_actuator::dshot::Rate::Dshot600,
         match kaptan_actuator::dshot::Throttle::new(300) {
             Some(throttle) => throttle,