Onur Özkan
f9a61a086f
Validate configuration through its owning schemas and keep board declarations separate from shared F722 resource ownership. Bound USB transitions, isolate transport failures and retain restart-only activation. Migrate navigation and flight consumers with the sensor and schema contracts. Require explicit installation data and synchronous output authority; board motor outputs remain inhibited. Validation: assembled-prefix host tests, strict Clippy, platform/USB tests and both ARM release builds. Final-source coverage and scoped Miri/Kani evidence are retained separately from hardware qualification.
67 lines
1.8 KiB
Rust
67 lines
1.8 KiB
Rust
//! STM32F722 initialization and RTIC runtime.
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mod board;
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mod clock;
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mod config;
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mod data_channel;
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mod firmware;
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mod interrupts;
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mod motor_inhibit;
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mod notification;
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mod peripherals;
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pub mod ports;
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mod routes;
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mod sensors;
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mod serial;
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mod usb;
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#[cfg(test)]
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#[path = "../../../../boards/geprc-f722-v2/src/board.rs"]
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mod geprc;
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#[cfg(test)]
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#[path = "../../../../boards/kakute-f7-mini-v3/src/board.rs"]
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mod kakute;
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#[cfg(test)]
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#[path = "../../tests/support/config_active_state.rs"]
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mod config_active_state;
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#[cfg(test)]
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#[path = "../../tests/support/config_files.rs"]
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mod config_files;
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#[cfg(test)]
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#[path = "../../tests/support/route_variants.rs"]
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mod route_variants;
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use kaptan_config::Config;
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use crate::{BoardError, F7ImmutableConfig};
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pub use kaptan_spi::SpiCompletion as F722ImuTransferCompletion;
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pub use board::{
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F722InitResources, F722LidarState, F722MavlinkState, F722ServiceTimer, process_imu,
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};
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pub use config::F722UserConfig;
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pub use interrupts::F722Interrupts;
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pub use notification::EventNotification;
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pub use routes::F722Route;
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pub use sensors::{Icm42688Imu, ImuEvent, ImuService, Mpu6000Imu};
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/// Inhibits motor outputs, validates configuration, then initializes hardware.
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/// Called after RTIC takes the PAC peripherals.
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pub fn initialize<C, I, const N: usize, const MAX_PAYLOAD_BYTES: usize>(
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core: cortex_m::Peripherals,
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device: stm32f7::stm32f722::Peripherals,
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factory: C,
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immutable: I,
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) -> Result<F722InitResources<C, I, N, MAX_PAYLOAD_BYTES>, BoardError>
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where
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C: Clone + Config,
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I: F7ImmutableConfig,
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{
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let hardware = immutable.f722().hardware;
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motor_inhibit::inhibit(&device.RCC, &device.GPIOB, hardware.motors);
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board::validate_board_config::<C, I, N>(&factory, &immutable)?;
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board::initialize::<C, I, N, MAX_PAYLOAD_BYTES>(core, device, factory, immutable, hardware)
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}
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