feat(board): declare immutable telemetry policy

boards/geprc-f722-v2/src/board.rs

@@ -1,8 +1,8 @@
 //! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
 
 use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
+    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
-    VerticalSensingKind,
+    Severity, TelemetryProfile, VerticalSensingKind,
 };
 use platform_stm32f7::{
     BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, Pc3, VerticalSensor,
@@ -17,8 +17,12 @@ impl F7Board for GeprcF722V2 {
         mavlink: MavlinkEndpoint {
             system_id: 1,
             component_id: 1,
+            port: MavlinkPort::Serial2,
+            baud: 115_200,
         },
         profile: BoardProfile::TelemetryOnly(TelemetryProfile {
+            imu: ImuDevice::Icm42688,
+            imu_mount: ImuMount::Yaw180,
             vertical_sensing: VerticalSensingKind::None,
             data_channel: DataChannelRates {
                 service_hz: 100,
@@ -27,6 +31,7 @@ impl F7Board for GeprcF722V2 {
                 optical_flow_hz: None,
                 heartbeat_hz: 2,
             },
+            maximum_log_level: Severity::Info,
         }),
     };
 

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

@@ -5,8 +5,8 @@
 //! belong to the STM32F7 platform crate.
 
 use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
+    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
-    VerticalSensingKind,
+    Severity, TelemetryProfile, VerticalSensingKind,
 };
 use platform_stm32f7::{
     BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Mavlink, Mpu6000, Pa4, VerticalSensor,
@@ -20,8 +20,12 @@ const CONFIG: BoardConfig = BoardConfig {
     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,
@@ -30,6 +34,7 @@ const CONFIG: BoardConfig = BoardConfig {
             optical_flow_hz: Some(20),
             heartbeat_hz: 2,
         },
+        maximum_log_level: Severity::Info,
     }),
 };
 

libs/kaptan-board/Cargo.toml

@@ -10,3 +10,4 @@ version.workspace = true
 workspace = true
 
 [dependencies]
+kaptan-log = { path = "../kaptan-log" }

libs/kaptan-board/src/lib.rs

@@ -6,6 +6,43 @@
 
 #![no_std]
 
+use kaptan_log::KaptanError;
+pub use kaptan_log::Severity;
+
+/// Physical IMU device selected by a board declaration.
+///
+/// This is immutable board topology, not a runtime-selectable sensor driver.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum ImuDevice {
+    /// InvenSense MPU-6000 on the board's selected SPI route.
+    Mpu6000,
+    /// TDK ICM-42688-P on the board's selected SPI route.
+    Icm42688,
+}
+
+/// Fixed board-to-body IMU mounting transform.
+///
+/// Calibration remains a separate, safety-gated workflow. This declaration
+/// only selects the compiled transform for the physical board route.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum ImuMount {
+    /// Sensor axes already match the controller body axes.
+    BodyAligned,
+    /// Sensor is yawed 180° relative to the controller body axes.
+    Yaw180,
+}
+
+/// Logical outbound MAVLink serial endpoint selected by a board declaration.
+///
+/// The platform maps these logical names to its checked pin/DMA routes.
+#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+pub enum MavlinkPort {
+    /// First supported board serial endpoint.
+    Serial1,
+    /// Second supported board serial endpoint.
+    Serial2,
+}
+
 /// The vertical-sensing data a board support package makes available.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 #[repr(u8)]
@@ -25,6 +62,10 @@ pub struct MavlinkEndpoint {
     pub system_id: u8,
     /// MAVLink component identifier.
     pub component_id: u8,
+    /// Immutable physical serial endpoint selected for this board image.
+    pub port: MavlinkPort,
+    /// UART line rate used by that physical endpoint.
+    pub baud: u32,
 }
 
 /// Fixed outbound data-channel rates driven by a platform service timer.
@@ -45,10 +86,20 @@ pub struct DataChannelRates {
 /// Telemetry-only physical-sensor and outbound-data policy.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct TelemetryProfile {
+    /// Immutable physical IMU driver selected by this board image.
+    pub imu: ImuDevice,
+    /// Immutable board-to-body transform applied to that IMU's samples.
+    pub imu_mount: ImuMount,
     /// Supported physical vertical-sensing capability.
     pub vertical_sensing: VerticalSensingKind,
     /// Data-channel timer and publication rates.
     pub data_channel: DataChannelRates,
+    /// Highest optional diagnostic severity forwarded to MAVLink.
+    ///
+    /// Errors remain observable even when optional debug/info diagnostics are
+    /// filtered. This setting is compile-time board policy until the target
+    /// has the reviewed configuration activation path.
+    pub maximum_log_level: Severity,
 }
 
 /// Exclusive build-time image selection.
@@ -68,12 +119,10 @@ pub enum BoardProfile {
 /// The selected platform trait determines the MCU family. Keeping a free-form
 /// MCU string here would duplicate that type-level fact without validating it.
 ///
-/// TODO(configuration): board images currently receive this complete profile
+/// Board policy is compiled and non-deserializable. The current F722 platform
-/// at build time. Ground-station configuration must stage and validate a
+/// validates it against typestate-selected electrical routes before it touches
-/// whole profile (identity, sensor topology, link rates, actuator profile,
+/// hardware. Target-side runtime configuration remains disabled until its
-/// and calibration revision) before it is persisted. It must never apply
+/// separate authenticated, journalled, disarmed activation contract exists.
-/// independent field updates or permit an active output while a profile is
-/// staged, committed, or restored after power loss.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct BoardConfig {
     /// Stable board name used in build and diagnostic tooling.
@@ -95,6 +144,12 @@ impl BoardConfig {
 
     /// Validates the selected exclusive profile.
     pub const fn validate(self) -> Result<(), BoardConfigError> {
+        if self.mavlink.system_id == 0 || self.mavlink.component_id == 0 {
+            return Err(BoardConfigError::InvalidMavlinkEndpoint);
+        }
+        if self.mavlink.baud == 0 {
+            return Err(BoardConfigError::ZeroMavlinkBaud);
+        }
         match self.profile {
             BoardProfile::TelemetryOnly(profile) => Self::validate_telemetry(profile),
             BoardProfile::ExternalControlOnly => {
@@ -173,8 +228,12 @@ impl BoardConfig {
 }
 
 /// Invalid board-support configuration.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum BoardConfigError {
+    /// MAVLink system/component identifiers must be exact nonzero values.
+    InvalidMavlinkEndpoint,
+    /// A physical MAVLink endpoint needs a nonzero UART rate.
+    ZeroMavlinkBaud,
     /// A data-channel schedule needs a nonzero service frequency.
     ZeroServiceFrequency,
     /// Raw IMU and heartbeat are mandatory on every flight board.
@@ -192,17 +251,22 @@ pub enum BoardConfigError {
 #[cfg(test)]
 mod tests {
     use super::{
-        BoardConfig, BoardConfigError, BoardProfile, DataChannelRates, MavlinkEndpoint,
+        BoardConfig, BoardConfigError, BoardProfile, DataChannelRates, ImuDevice, ImuMount,
-        TelemetryProfile, VerticalSensingKind,
+        MavlinkEndpoint, MavlinkPort, TelemetryProfile, VerticalSensingKind,
     };
+    use kaptan_log::Severity;
 
     const BASE: BoardConfig = BoardConfig {
         name: "test",
         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,
@@ -211,6 +275,7 @@ mod tests {
                 optical_flow_hz: Some(20),
                 heartbeat_hz: 2,
             },
+            maximum_log_level: Severity::Info,
         }),
     };
 
@@ -257,4 +322,18 @@ mod tests {
             Err(BoardConfigError::UnsupportedFlightProfile)
         );
     }
+
+    #[test]
+    fn rejects_invalid_immutable_link_policy() {
+        let mut config = BASE;
+        config.mavlink.baud = 0;
+        assert_eq!(config.validate(), Err(BoardConfigError::ZeroMavlinkBaud));
+
+        let mut config = BASE;
+        config.mavlink.component_id = 0;
+        assert_eq!(
+            config.validate(),
+            Err(BoardConfigError::InvalidMavlinkEndpoint)
+        );
+    }
 }