93 lines
2.5 KiB
Rust
93 lines
2.5 KiB
Rust
//! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
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use platform_stm32f7::{
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F7Board, F722Hardware, F722ImmutableConfig as ImmutableConfig, Icm42688, ImuMount, Mavlink,
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Pa13ActiveHigh, Pb0Pb1Pb4Pb5Low, Pc3, Severity, VerticalSensor,
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};
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/// User-writable MAVLink endpoint policy.
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#[derive(Clone, kaptan_config::Config)]
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struct MavlinkConfig {
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#[config(
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id = 101,
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key = "mavlink.system_id",
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unit = "id",
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range(min = 1, max = 255)
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)]
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system_id: u8,
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#[config(
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id = 102,
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key = "mavlink.component_id",
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unit = "id",
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range(min = 1, max = 255)
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)]
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component_id: u8,
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#[config(id = 108, key = "mavlink.logging.enabled", unit = "bool")]
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logging_enabled: bool,
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#[config(
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enum,
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id = 105,
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key = "mavlink.logging.maximum_severity",
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unit = "mav_severity"
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)]
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maximum_log_severity: Severity,
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}
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/// User-writable telemetry publication policy.
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#[derive(Clone, kaptan_config::Config)]
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struct TelemetryConfig {
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#[config(
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id = 103,
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key = "telemetry.raw_imu_hz",
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unit = "Hz",
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range(min = 1, max = 100)
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)]
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raw_imu_hz: u8,
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#[config(
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id = 104,
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key = "telemetry.heartbeat_hz",
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unit = "Hz",
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range(min = 1, max = 10)
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)]
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heartbeat_hz: u8,
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}
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/// Complete user-writable configuration advertised by this board.
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#[derive(Clone, kaptan_config::Config)]
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pub struct UserConfig {
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mavlink: MavlinkConfig,
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telemetry: TelemetryConfig,
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}
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/// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
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pub struct GeprcF722V2;
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impl F7Board for GeprcF722V2 {
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type UserConfig = UserConfig;
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type ImmutableConfig = ImmutableConfig;
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const FACTORY_USER_CONFIG: UserConfig = UserConfig {
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mavlink: MavlinkConfig {
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system_id: 1,
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component_id: 1,
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logging_enabled: true,
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maximum_log_severity: Severity::Info,
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},
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telemetry: TelemetryConfig {
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raw_imu_hz: 20,
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heartbeat_hz: 2,
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},
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};
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const IMMUTABLE_CONFIG: ImmutableConfig = ImmutableConfig {
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name: "GEPRC TAKER F722 V2 (ICM-42688-P)",
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service_hz: 100,
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hardware: F722Hardware::new()
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.output_inhibit(Pb0Pb1Pb4Pb5Low)
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.imu(Icm42688::on_spi3().with_drdy(Pc3).mounted(ImuMount::Yaw180))
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.mavlink(Mavlink::on_usart2().baud(115_200))
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.vertical_sensor(VerticalSensor::none())
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.status_led(Pa13ActiveHigh)
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.telemetry_only(),
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};
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}
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