feat(f722): enforce board policy and emit diagnostics

platforms/stm32f7/Cargo.toml

@@ -24,6 +24,8 @@ kaptan-data-channel = { path = "../../libs/kaptan-data-channel" }
 kaptan-dma = { path = "../../libs/kaptan-dma" }
 kaptan-drivers = { path = "../../libs/kaptan-drivers" }
 kaptan-i2c = { path = "../../libs/kaptan-i2c" }
+kaptan-log = { path = "../../libs/kaptan-log" }
+kaptan-log-mavlink = { path = "../../libs/kaptan-log-mavlink" }
 kaptan-mavlink = { path = "../../libs/kaptan-mavlink" }
 kaptan-sensor = { path = "../../libs/kaptan-sensor" }
 kaptan-spi = { path = "../../libs/kaptan-spi" }

platforms/stm32f7/src/f722/board.rs

@@ -17,6 +17,11 @@ use kaptan_drivers::{
     lidar_lite_v3::{AcquisitionMode, LidarLiteV3, LidarLiteV3Service, LidarLiteV3ServiceEvent},
     mtf01::Mtf01Service,
 };
+use kaptan_log::{
+    DeliveryClass, ErrorReport, EventHub, KaptanError, LogFilter, LogFlags, StaticErrorMailbox,
+    StaticErrorMessage, TransportAdmission,
+};
+use kaptan_log_mavlink::{DiagnosticPayload, encode_diagnostic};
 use kaptan_spi::SpiCompletion;
 use stm32f7::stm32f722;
 
@@ -37,7 +42,47 @@ const MTF01_BAUD: u32 = 115_200;
 const I2C1_CONFIG: I2c1Config = I2c1Config::from_timing_register(0x2040_4768);
 const LIDAR_MODE: AcquisitionMode = AcquisitionMode::WithReceiverBiasCorrection;
 const LIDAR_STARTUP_TICKS: u8 = 3;
+const ERROR_RECORDS_PER_SECOND: u8 = 10;
+const LOG_RECORDS_PER_SECOND: u8 = 5;
+const SCHEDULED_FRAMES_PER_SECOND: usize = 62;
+const SCHEDULED_FRAME_MAXIMUM_BYTES: usize = 48;
+const MAVLINK_V2_UNSIGNED_OVERHEAD_BYTES: usize = 12;
+const KAPTAN_ERROR_FRAME_MAXIMUM_BYTES: usize =
+    kaptan_mavlink::message::kaptan::KAPTAN_ERROR_DATA::ENCODED_LEN
+        + MAVLINK_V2_UNSIGNED_OVERHEAD_BYTES;
+const KAPTAN_LOG_FRAME_MAXIMUM_BYTES: usize =
+    kaptan_mavlink::message::kaptan::KAPTAN_LOG_DATA::ENCODED_LEN
+        + MAVLINK_V2_UNSIGNED_OVERHEAD_BYTES;
+// The static F722 telemetry profile is bounded at 62 scheduled frames/s.
+// It permits ten `KAPTAN_ERROR` and five `KAPTAN_LOG` frames/s. Their maxima
+// are respectively 162 and 163 payload bytes plus 12 unsigned MAVLink V2
+// framing bytes, so 62×48 + 10×174 + 5×175 = 5,591 bytes/s. MAVLink signing
+// is not enabled in this telemetry-only image; any future signing profile
+// must re-budget its signature overhead before it can enable the endpoint.
+pub(crate) const WORST_CASE_OBSERVABILITY_BYTES_PER_SECOND: usize = SCHEDULED_FRAMES_PER_SECOND
+    * SCHEDULED_FRAME_MAXIMUM_BYTES
+    + ERROR_RECORDS_PER_SECOND as usize * KAPTAN_ERROR_FRAME_MAXIMUM_BYTES
+    + LOG_RECORDS_PER_SECOND as usize * KAPTAN_LOG_FRAME_MAXIMUM_BYTES;
+
+/// Returns whether the immutable board UART configuration can carry the fixed
+/// telemetry and bounded diagnostic schedule at ten UART bits per byte.
+pub(crate) const fn link_budget_fits(baud: u32) -> bool {
+    WORST_CASE_OBSERVABILITY_BYTES_PER_SECOND < baud as usize / 10
+}
 static UART_COMPLETION: AtomicU8 = AtomicU8::new(0);
+#[derive(Clone, Copy, Debug, KaptanError)]
+enum F722TelemetryError {
+    Mtf01Uart,
+    TransmitMemory,
+    TransmitEngine,
+    TransmitTerminal,
+}
+// High-priority/ISR-adjacent producers never encode, lock, allocate, or send
+// MAVLink. They retain the first fault text and coalesce later reports for
+// the low-priority MAVLink worker to publish.
+static IMU_FAULTS: StaticErrorMailbox = StaticErrorMailbox::new();
+static LIDAR_FAULTS: StaticErrorMailbox = StaticErrorMailbox::new();
+static MTF01_FAULTS: StaticErrorMailbox = StaticErrorMailbox::new();
 static SAMPLES: LatestImuMailbox = LatestImuMailbox::new();
 static RANGES: LatestRangeMailbox = LatestRangeMailbox::new();
 static OPTICAL_FLOW: LatestOpticalFlowMailbox = LatestOpticalFlowMailbox::new();
@@ -56,6 +101,10 @@ pub type F722ServiceTimer = Tim2Periodic;
 /// rather than the IMU or vertical-sensor IRQ ceiling.
 pub struct F722MavlinkState {
     data_channel: DataChannel<'static, F722MavlinkTransmitter, SERVICE_HZ>,
+    logs: EventHub<2, 4>,
+    budget_ticks: u8,
+    error_budget: u8,
+    log_budget: u8,
     led: F722StatusLed,
 }
 
@@ -83,7 +132,7 @@ pub struct F722InitResources {
 
 /// Validates the relationship between portable metadata and selected sensor
 /// route before platform initialization claims a peripheral.
-pub(crate) fn validate_vertical_route(
+pub(crate) fn validate_board_routes(
     config: BoardConfig,
     routes: F722BoardRoutes,
 ) -> Result<(), BoardError> {
@@ -99,6 +148,18 @@ pub(crate) fn validate_vertical_route(
     if telemetry.vertical_sensing != expected {
         return Err(BoardError::VerticalSensorCapabilityMismatch);
     }
+    if telemetry.imu != routes.imu() {
+        return Err(BoardError::ImuRouteMismatch);
+    }
+    if telemetry.imu_mount != routes.imu_mount() {
+        return Err(BoardError::ImuMountMismatch);
+    }
+    if config.mavlink.port != routes.mavlink_port() {
+        return Err(BoardError::MavlinkRouteMismatch);
+    }
+    if !link_budget_fits(config.mavlink.baud) {
+        return Err(BoardError::TelemetryLinkOvercommitted);
+    }
     Ok(())
 }
 
@@ -145,15 +206,18 @@ fn initialize_mpu6000(
         clock.fork(),
         vertical,
     )?;
+    let telemetry = config.telemetry().ok_or(BoardError::Initialization)?;
     let imu = F722Imu::mpu6000(
         &device.RCC,
         device.SPI1,
         device.DMA2,
         device.GPIOB,
         clock.fork(),
+        telemetry.imu_mount,
     );
-    let transmitter = F722MavlinkTransmitter::usart1(&device.RCC, device.USART1)
-        .map_err(|_| BoardError::Initialization)?;
+    let transmitter =
+        F722MavlinkTransmitter::usart1(&device.RCC, device.USART1, config.mavlink.baud)
+            .map_err(|_| BoardError::Initialization)?;
     let led = F722StatusLed::Kakute(super::peripherals::ActiveLowLedPd2::new(
         &device.RCC,
         device.GPIOD,
@@ -199,15 +263,18 @@ fn initialize_icm42688(
         clock.fork(),
         vertical,
     )?;
+    let telemetry = config.telemetry().ok_or(BoardError::Initialization)?;
     let imu = F722Imu::icm42688(
         &device.RCC,
         device.SPI3,
         device.DMA1,
         &device.GPIOA,
         clock.fork(),
+        telemetry.imu_mount,
     );
-    let transmitter = F722MavlinkTransmitter::usart2(&device.RCC, device.USART2)
-        .map_err(|_| BoardError::Initialization)?;
+    let transmitter =
+        F722MavlinkTransmitter::usart2(&device.RCC, device.USART2, config.mavlink.baud)
+            .map_err(|_| BoardError::Initialization)?;
     let led = F722StatusLed::Geprc(GeprcStatusLed::new(&device.RCC, device.GPIOA));
     finish(
         &device.RCC,
@@ -256,7 +323,19 @@ fn finish(
             range,
             startup_ticks: 0,
         },
-        mavlink: F722MavlinkState { data_channel, led },
+        mavlink: F722MavlinkState {
+            data_channel,
+            logs: EventHub::new(LogFilter::new(
+                config
+                    .telemetry()
+                    .ok_or(BoardError::Initialization)?
+                    .maximum_log_level,
+            )),
+            budget_ticks: 0,
+            error_budget: ERROR_RECORDS_PER_SECOND,
+            log_budget: LOG_RECORDS_PER_SECOND,
+            led,
+        },
     })
 }
 
@@ -346,7 +425,10 @@ pub(crate) fn on_uart4_interrupt(mtf01: &mut Option<F722Mtf01>) {
                 }
             }
         }
-        ReceiveInterrupt::Fault => mtf01.reset(),
+        ReceiveInterrupt::Fault => {
+            mtf01.reset();
+            record_mtf01_fault(F722TelemetryError::Mtf01Uart.error_message());
+        }
         ReceiveInterrupt::NotPending => {}
     }
 }
@@ -370,8 +452,10 @@ impl F722LidarState {
         if let Some(range) = self.range.as_mut() {
             if self.startup_ticks < LIDAR_STARTUP_TICKS {
                 self.startup_ticks += 1;
-                if self.startup_ticks == LIDAR_STARTUP_TICKS {
-                    let _ = range.finish_startup();
+                if self.startup_ticks == LIDAR_STARTUP_TICKS
+                    && let Err(error) = range.finish_startup()
+                {
+                    record_lidar_fault(error.error_message());
                 }
             } else {
                 publish_lidar_event(range.on_periodic_tick());
@@ -410,7 +494,7 @@ fn accept_imu_event(event: ImuEvent) {
         ImuEvent::Sample(sample) => {
             SAMPLES.publish(sample);
         }
-        ImuEvent::Fault => {}
+        ImuEvent::Fault(message) => record_imu_fault(message),
         ImuEvent::Idle | ImuEvent::Initialized => {}
     }
 }
@@ -423,7 +507,7 @@ impl F722MavlinkState {
 
         if events & DMA != 0 {
             let completion = take_mavlink_completion();
-            self.data_channel.on_dma_complete(completion);
+            let _ = self.data_channel.on_dma_complete(completion);
             if completion == kaptan_dma::TxCompletion::Complete {
                 self.led.toggle();
             }
@@ -436,6 +520,94 @@ impl F722MavlinkState {
             // would incorrectly claim initialization never completed.
             self.data_channel
                 .on_service_tick(kaptan_mavlink::message::MavState::MAV_STATE_STANDBY, false);
+            self.drain_driver_faults();
+            self.budget_ticks = self.budget_ticks.saturating_add(1);
+            if self.budget_ticks == SERVICE_HZ as u8 {
+                self.budget_ticks = 0;
+                self.error_budget = ERROR_RECORDS_PER_SECOND;
+                self.log_budget = LOG_RECORDS_PER_SECOND;
+            }
+            self.drain_one_log_record();
+        }
+    }
+
+    fn drain_driver_faults(&mut self) {
+        self.drain_fault_mailbox(&IMU_FAULTS);
+        self.drain_fault_mailbox(&LIDAR_FAULTS);
+        self.drain_fault_mailbox(&MTF01_FAULTS);
+        self.drain_transport_faults();
+    }
+
+    fn drain_transport_faults(&mut self) {
+        while let Some(fault) = self.data_channel.take_transport_fault() {
+            let message = match fault {
+                kaptan_mavlink::transmitter::TransmitFaultKind::Memory => {
+                    F722TelemetryError::TransmitMemory.error_message()
+                }
+                kaptan_mavlink::transmitter::TransmitFaultKind::Engine => {
+                    F722TelemetryError::TransmitEngine.error_message()
+                }
+                kaptan_mavlink::transmitter::TransmitFaultKind::Terminal => {
+                    F722TelemetryError::TransmitTerminal.error_message()
+                }
+            };
+            let _ = self.logs.publish_error_static(LogFlags::NONE, message);
+        }
+    }
+
+    fn drain_fault_mailbox(&mut self, mailbox: &StaticErrorMailbox) {
+        let (report, coalesced) = mailbox.take();
+        let Some(message) = report else {
+            return;
+        };
+        let flags = if coalesced {
+            LogFlags::COALESCED
+        } else {
+            LogFlags::NONE
+        };
+        let _ = self.logs.publish_error_static(flags, message);
+    }
+
+    fn drain_one_log_record(&mut self) {
+        let Some(record) = self.logs.peek() else {
+            return;
+        };
+        let delivery = record.delivery();
+        if (delivery == DeliveryClass::Critical && self.error_budget == 0)
+            || (delivery == DeliveryClass::BestEffort && self.log_budget == 0)
+        {
+            return;
+        }
+        let data_channel = &mut self.data_channel;
+        let mut accepted = None;
+        let _ = self.logs.submit_next(|record| {
+            let class = match record.delivery() {
+                DeliveryClass::Critical => kaptan_mavlink::transmitter::FrameClass::Critical,
+                DeliveryClass::BestEffort => kaptan_mavlink::transmitter::FrameClass::BestEffort,
+            };
+            let payload = encode_diagnostic(record);
+            let admission = match &payload {
+                DiagnosticPayload::Log(payload) => data_channel.send_custom(class, payload),
+                DiagnosticPayload::Error(payload) => data_channel.send_custom(class, payload),
+            };
+            let outcome = if admission.is_retained() {
+                accepted = Some(record.delivery());
+                TransportAdmission::Accepted
+            } else if record.delivery() == DeliveryClass::BestEffort {
+                TransportAdmission::DropBestEffort
+            } else {
+                TransportAdmission::Retry
+            };
+            (outcome, ())
+        });
+        match accepted {
+            Some(DeliveryClass::Critical) => {
+                self.error_budget = self.error_budget.saturating_sub(1);
+            }
+            Some(DeliveryClass::BestEffort) => {
+                self.log_budget = self.log_budget.saturating_sub(1);
+            }
+            None => {}
         }
     }
 }
@@ -459,49 +631,22 @@ pub fn record_mavlink_completion(completion: kaptan_dma::TxCompletion) {
     }
 }
 
-fn publish_lidar_event<E>(event: LidarLiteV3ServiceEvent<E>) {
-    if let LidarLiteV3ServiceEvent::Measurement(snapshot) = event {
-        RANGES.publish(snapshot);
+fn publish_lidar_event<E: ErrorReport>(event: LidarLiteV3ServiceEvent<E>) {
+    match event {
+        LidarLiteV3ServiceEvent::Measurement(snapshot) => RANGES.publish(snapshot),
+        LidarLiteV3ServiceEvent::Fault(error) => record_lidar_fault(error.error_message()),
+        LidarLiteV3ServiceEvent::Idle => {}
     }
 }
 
-#[cfg(test)]
-mod tests {
-    use super::validate_vertical_route;
-    use crate::{F7BoardBuilder, Mavlink, Mpu6000, Pa4, VerticalSensor};
-    use kaptan_board::{
-        BoardConfig, BoardProfile, DataChannelRates, MavlinkEndpoint, TelemetryProfile,
-        VerticalSensingKind,
-    };
+fn record_imu_fault(message: &'static StaticErrorMessage) {
+    IMU_FAULTS.record(message);
+}
 
-    #[test]
-    fn rejects_metadata_that_claims_flow_for_a_lidar_route() {
-        let routes = F7BoardBuilder::new()
-            .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-            .mavlink(Mavlink::on_usart1())
-            .vertical_sensor(VerticalSensor::lidar_lite_v3_on_i2c1())
-            .build()
-            .unwrap();
-        let config = BoardConfig {
-            name: "invalid",
-            mavlink: MavlinkEndpoint {
-                system_id: 1,
-                component_id: 1,
-            },
-            profile: BoardProfile::TelemetryOnly(TelemetryProfile {
-                vertical_sensing: VerticalSensingKind::RangeAndOpticalFlow,
-                data_channel: DataChannelRates {
-                    service_hz: 100,
-                    raw_imu_hz: 20,
-                    range_hz: Some(20),
-                    optical_flow_hz: Some(20),
-                    heartbeat_hz: 2,
-                },
-            }),
-        };
-        assert_eq!(
-            validate_vertical_route(config, routes),
-            Err(crate::BoardError::VerticalSensorCapabilityMismatch)
-        );
-    }
+fn record_lidar_fault(message: &'static StaticErrorMessage) {
+    LIDAR_FAULTS.record(message);
+}
+
+fn record_mtf01_fault(message: &'static StaticErrorMessage) {
+    MTF01_FAULTS.record(message);
 }

platforms/stm32f7/src/f722/clock.rs

@@ -1,12 +1,14 @@
 //! STM32F722 Pll216 clock-source assembly.
 
 use super::peripherals::{DwtMicrosecondClock, select_pll216_profile};
+use kaptan_log::KaptanError;
 use stm32f7::stm32f722;
 
 /// Core frequency in whole megahertz after selecting the PLL216 board profile.
 const CORE_CLOCK_MHZ: u32 = 216;
 
 /// A failure while establishing the board's clock tree or monotonic clock.
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub(crate) enum ClockInitializationError {
     Profile,
     Monotonic,

platforms/stm32f7/src/f722/data_channel.rs

@@ -1,22 +1,19 @@
 //! F722 transport and vertical-route adapters for the portable data channel.
 
 use super::{VerticalRoute, peripherals};
-use kaptan_data_channel::{FrameSink, VerticalDataConfig};
+use kaptan_data_channel::{DmaCompletion, FrameAdmission, FrameSink, TxHealth, VerticalDataConfig};
 use kaptan_dma::TxCompletion;
 use kaptan_mavlink::{
     MavlinkFrame,
     encoder::DistanceSensorConfig,
-    transmitter::{FrameClass, MavlinkTransmitter},
+    transmitter::{FrameClass, MavlinkTransmitter, TransmitFaultKind},
 };
 
-// TODO(configuration): transport baud rate, sensor orientation/range, and
-// freshness are currently development profile constants. A ground-station
-// configuration flow must stage them with sensor calibration and link
-// authority, apply them only with output inhibited, then reset estimator,
-// controller, allocator, and safety prearm state as one revision.
+// Board endpoint, baud, sensor topology, and mounting remain immutable
+// build-time policy. They are not ground-station-editable in this telemetry
+// image: the F722 has no authenticated config ingress or activation runtime.
 pub(crate) const UART1_CLOCK_HZ: u32 = 108_000_000;
 pub(crate) const UART2_CLOCK_HZ: u32 = 54_000_000;
-pub(crate) const MAVLINK_BAUD: u32 = 115_200;
 pub(crate) const SERVICE_HZ: usize = 100;
 
 /// Fixed service-timer configuration for the validated Pll216 profile.
@@ -60,65 +57,154 @@ pub(crate) fn vertical_data_config(route: VerticalRoute) -> VerticalDataConfig {
 }
 
 /// The two F722 DMA engines behind the portable data-channel transport.
-pub(crate) enum F722MavlinkTransmitter {
+enum F722MavlinkTransport {
     Usart1(MavlinkTransmitter<peripherals::DcacheDisabledDmaMemory, peripherals::Usart1TxDma, 4>),
     Usart2(MavlinkTransmitter<peripherals::DcacheDisabledDmaMemory, peripherals::Usart2TxDma, 4>),
 }
 
+/// Sole F722 MAVLink DMA owner plus unconfigurable transport-loss accounting.
+pub(crate) struct F722MavlinkTransmitter {
+    inner: F722MavlinkTransport,
+    health: TxHealth,
+    pending_faults: u8,
+}
+
 impl F722MavlinkTransmitter {
     pub(crate) fn usart1(
         rcc: &stm32f7::stm32f722::RCC,
         uart: stm32f7::stm32f722::USART1,
+        baud: u32,
     ) -> Result<Self, ()> {
-        let uart =
-            peripherals::Usart1Tx::new(rcc, uart, UART1_CLOCK_HZ, MAVLINK_BAUD).map_err(|_| ())?;
+        let uart = peripherals::Usart1Tx::new(rcc, uart, UART1_CLOCK_HZ, baud).map_err(|_| ())?;
         // SAFETY: platform initialization disables D-cache before this object
         // is created, and the active MAVLink frame remains queue-owned until
         // this platform receives a terminal DMA completion notification.
         let memory = unsafe { peripherals::DcacheDisabledDmaMemory::new() };
-        Ok(Self::Usart1(MavlinkTransmitter::new(
-            memory,
-            peripherals::Usart1TxDma::new(rcc, uart),
-        )))
+        Ok(Self {
+            inner: F722MavlinkTransport::Usart1(MavlinkTransmitter::new(
+                memory,
+                peripherals::Usart1TxDma::new(rcc, uart),
+            )),
+            health: TxHealth::default(),
+            pending_faults: 0,
+        })
     }
 
     pub(crate) fn usart2(
         rcc: &stm32f7::stm32f722::RCC,
         uart: stm32f7::stm32f722::USART2,
+        baud: u32,
     ) -> Result<Self, ()> {
-        let uart =
-            peripherals::Usart2Tx::new(rcc, uart, UART2_CLOCK_HZ, MAVLINK_BAUD).map_err(|_| ())?;
+        let uart = peripherals::Usart2Tx::new(rcc, uart, UART2_CLOCK_HZ, baud).map_err(|_| ())?;
         // SAFETY: identical DMA-memory invariant to the USART1 route above;
         // only the fixed platform DMA endpoint differs.
         let memory = unsafe { peripherals::DcacheDisabledDmaMemory::new() };
-        Ok(Self::Usart2(MavlinkTransmitter::new(
-            memory,
-            peripherals::Usart2TxDma::new(rcc, uart),
-        )))
+        Ok(Self {
+            inner: F722MavlinkTransport::Usart2(MavlinkTransmitter::new(
+                memory,
+                peripherals::Usart2TxDma::new(rcc, uart),
+            )),
+            health: TxHealth::default(),
+            pending_faults: 0,
+        })
     }
 }
 
 impl FrameSink for F722MavlinkTransmitter {
-    fn send(&mut self, class: FrameClass, frame: MavlinkFrame) {
-        match self {
-            Self::Usart1(transmitter) => {
-                let _ = transmitter.send_frame(class, frame);
+    fn send(&mut self, class: FrameClass, frame: MavlinkFrame) -> FrameAdmission {
+        let (admission, start_fault) = match &mut self.inner {
+            F722MavlinkTransport::Usart1(transmitter) => {
+                let outcome = transmitter.admit_and_start(class, frame);
+                (
+                    outcome.admission,
+                    outcome.start.err().map(|fault| fault.kind()),
+                )
             }
-            Self::Usart2(transmitter) => {
-                let _ = transmitter.send_frame(class, frame);
+            F722MavlinkTransport::Usart2(transmitter) => {
+                let outcome = transmitter.admit_and_start(class, frame);
+                (
+                    outcome.admission,
+                    outcome.start.err().map(|fault| fault.kind()),
+                )
             }
+        };
+        if !matches!(
+            admission,
+            kaptan_mavlink::transmitter::EnqueueResult::Enqueued
+        ) {
+            self.health.admission_loss_count = self.health.admission_loss_count.saturating_add(1);
+        }
+        if let Some(fault) = start_fault {
+            self.record_fault(fault);
+        }
+        FrameAdmission::Retained(admission)
+    }
+
+    fn on_dma_complete(&mut self, completion: TxCompletion) -> DmaCompletion {
+        let start_fault = match &mut self.inner {
+            F722MavlinkTransport::Usart1(transmitter) => transmitter
+                .on_dma_complete(completion)
+                .err()
+                .map(|error| error.kind()),
+            F722MavlinkTransport::Usart2(transmitter) => transmitter
+                .on_dma_complete(completion)
+                .err()
+                .map(|error| error.kind()),
+        };
+        let terminal = matches!(
+            completion,
+            TxCompletion::TransferFault | TxCompletion::Halted
+        );
+        if let Some(fault) = start_fault {
+            self.record_fault(fault);
+        }
+        if terminal {
+            self.record_fault(TransmitFaultKind::Terminal);
+        }
+        if start_fault.is_some() || terminal {
+            DmaCompletion::Fault
+        } else {
+            DmaCompletion::Complete
         }
     }
 
-    fn on_dma_complete(&mut self, completion: TxCompletion) {
-        match self {
-            Self::Usart1(transmitter) => {
-                let _ = transmitter.on_dma_complete(completion);
+    fn health(&self) -> TxHealth {
+        self.health
+    }
+
+    fn take_transport_fault(&mut self) -> Option<TransmitFaultKind> {
+        let (bit, fault) = if self.pending_faults & 1 != 0 {
+            (1, TransmitFaultKind::Memory)
+        } else if self.pending_faults & 2 != 0 {
+            (2, TransmitFaultKind::Engine)
+        } else if self.pending_faults & 4 != 0 {
+            (4, TransmitFaultKind::Terminal)
+        } else {
+            return None;
+        };
+        self.pending_faults &= !bit;
+        Some(fault)
+    }
+}
+
+impl F722MavlinkTransmitter {
+    fn record_fault(&mut self, fault: TransmitFaultKind) {
+        self.health.dma_fault_count = self.health.dma_fault_count.saturating_add(1);
+        self.pending_faults |= match fault {
+            TransmitFaultKind::Memory => {
+                self.health.memory_fault_count = self.health.memory_fault_count.saturating_add(1);
+                1
             }
-            Self::Usart2(transmitter) => {
-                let _ = transmitter.on_dma_complete(completion);
+            TransmitFaultKind::Engine => {
+                self.health.engine_fault_count = self.health.engine_fault_count.saturating_add(1);
+                2
             }
-        }
+            TransmitFaultKind::Terminal => {
+                self.health.terminal_fault_count =
+                    self.health.terminal_fault_count.saturating_add(1);
+                4
+            }
+        };
     }
 }
 

platforms/stm32f7/src/f722/mod.rs

@@ -46,6 +46,7 @@ pub(crate) enum VerticalRoute {
 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,
@@ -68,8 +69,7 @@ pub fn initialize(
     // 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);
-    config.validate().map_err(BoardError::InvalidConfig)?;
-    board::validate_vertical_route(config, routes)?;
+    crate::validate_board_config(config, routes)?;
     board::initialize(core, device, config, routes)
 }
 
@@ -94,6 +94,7 @@ fn registered_routes() -> Result<F722BoardRoutes, BoardError> {
 
 // 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

platforms/stm32f7/src/f722/peripherals/clock.rs

@@ -1,11 +1,12 @@
 //! Deterministic STM32F722 PLL clock-source selection.
 
+use kaptan_log::KaptanError;
 use stm32f7::stm32f722;
 
 const CLOCK_SWITCH_POLL_LIMIT: u16 = 1_024;
 
 /// Failure to establish the 216 MHz PLL clock profile.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum ClockProfileError {
     HsiNotReady,
     SystemClockNotHsi,

platforms/stm32f7/src/f722/peripherals/i2c1.rs

@@ -1,6 +1,7 @@
 //! STM32F722 I²C1 interrupt-driven controller.
 
 use kaptan_i2c::{I2cBus, I2cCompletion};
+use kaptan_log::KaptanError;
 use stm32f7::stm32f722;
 
 const MAX_BYTES: usize = 255;
@@ -20,7 +21,7 @@ const ICR_TERMINAL: u32 = ICR_NACKCF | ICR_STOPCF | ICR_ERRORS;
 const ICR_FAULTS: u32 = ICR_NACKCF | ICR_ERRORS;
 const CR2_STOP: u32 = 1 << 14;
 
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum I2c1Error {
     InvalidLength,
     InvalidAddress,

platforms/stm32f7/src/f722/peripherals/spi1.rs

@@ -5,13 +5,14 @@
 //! is generated after the last serial frame; transmit completion can occur
 //! while the final serial clock is still in progress.
 
+use kaptan_log::KaptanError;
 use kaptan_spi::SpiCompletion;
 use stm32f7::stm32f722;
 
 const MAX_TRANSFER_LENGTH: usize = u16::MAX as usize;
 
 /// Failure while submitting one SPI1 DMA transaction.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum Spi1Error {
     /// The transaction is malformed or exceeds the DMA counter range.
     InvalidLength,

platforms/stm32f7/src/f722/peripherals/spi3.rs

@@ -5,13 +5,14 @@
 //! is generated after the last serial frame; transmit completion can occur
 //! while the final serial clock is still in progress.
 
+use kaptan_log::KaptanError;
 use kaptan_spi::SpiCompletion;
 use stm32f7::stm32f722;
 
 const MAX_TRANSFER_LENGTH: usize = u16::MAX as usize;
 
 /// Failure while submitting one SPI3 DMA transaction.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum Spi3Error {
     /// The transaction is malformed or exceeds the DMA counter range.
     InvalidLength,

platforms/stm32f7/src/f722/peripherals/time.rs

@@ -1,6 +1,7 @@
 //! DWT-backed monotonic microsecond clock for STM32F722.
 
 use cortex_m::peripheral::{DCB, DWT};
+use kaptan_log::KaptanError;
 use kaptan_time::{MonotonicClock, Timestamp};
 
 /// A DWT cycle counter extended into monotonic microseconds.
@@ -15,7 +16,7 @@ pub struct DwtMicrosecondClock {
 }
 
 /// Invalid fixed clock configuration for the DWT timestamp source.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum DwtClockStartError {
     /// A zero-megahertz core clock cannot produce microsecond timestamps.
     ZeroFrequency,

platforms/stm32f7/src/f722/peripherals/usart.rs

@@ -1,9 +1,10 @@
 //! STM32F722 USART routes used by supported boards.
 
+use kaptan_log::KaptanError;
 use stm32f7::stm32f722;
 
 /// UART baud-rate configuration error.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum BaudRateError {
     /// Zero is not a valid baud rate.
     Zero,

platforms/stm32f7/src/f722/peripherals/usart1_tx_dma2_stream7.rs

@@ -5,6 +5,7 @@
 //! cannot be selected at construction.
 
 use kaptan_dma::{DmaReadableBuffer, DmaTxEngine, TxCompletion};
+use kaptan_log::KaptanError;
 use stm32f7::stm32f722;
 
 use super::Usart1Tx;
@@ -20,7 +21,7 @@ pub struct Usart1TxDma {
 }
 
 /// Failure to start one DMA frame transfer.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum StartError {
     /// DMA cannot transfer an empty buffer or one exceeding the NDTR limit.
     InvalidBufferLength,

platforms/stm32f7/src/f722/peripherals/usart2_tx_dma1_stream6.rs

@@ -5,6 +5,7 @@
 //! cannot be selected at construction.
 
 use kaptan_dma::{DmaReadableBuffer, DmaTxEngine, TxCompletion};
+use kaptan_log::KaptanError;
 use stm32f7::stm32f722;
 
 use super::Usart2Tx;
@@ -15,7 +16,7 @@ pub struct Usart2TxDma {
 }
 
 /// Failure to start one DMA frame transfer on USART2.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum Usart2TxDmaStartError {
     /// DMA cannot transfer an empty buffer or one exceeding the NDTR limit.
     InvalidBufferLength,

platforms/stm32f7/src/f722/sensors.rs

@@ -1,6 +1,7 @@
 //! Platform-owned F722 sensor-service assembly.
 
 use super::peripherals::{DwtMicrosecondClock, Spi1, Spi3};
+use kaptan_board::ImuMount;
 use kaptan_drivers::{
     icm42688::{Icm42688, Icm42688Service, Icm42688ServiceEvent},
     mpu6000::{
@@ -8,18 +9,15 @@ use kaptan_drivers::{
         Mpu6000Service, Mpu6000ServiceEvent,
     },
 };
+use kaptan_log::{ErrorReport, StaticErrorMessage};
 use kaptan_sensor::imu::ImuSnapshot;
 use kaptan_spi::SpiCompletion;
 use stm32f7::stm32f722;
 
 use super::routes::{Icm42688Spi3Route, Mpu6000Spi1Route};
 
-// TODO(configuration): this is an immutable board-development value, not an
-// airframe calibration. A ground configuration flow must stage the complete
-// IMU profile (device settings, mounting transform, bias/scale calibration,
-// noise model, source/revision) while output is inhibited, then reset the
-// estimator/controller/allocation state before activation. Never apply one
-// register/calibration field to a live flight runtime.
+// This is fixed driver setup for the selected board route. It is distinct from
+// the immutable board mount and from a future safety-gated calibration flow.
 const MPU6000_CONFIG: Mpu6000Config = Mpu6000Config {
     accelerometer: AccelerometerRange::PlusMinus4G,
     gyroscope: GyroscopeRange::PlusMinus500DegreesPerSecond,
@@ -33,7 +31,7 @@ pub(crate) enum ImuEvent {
     Idle,
     Initialized,
     Sample(ImuSnapshot),
-    Fault,
+    Fault(&'static StaticErrorMessage),
 }
 
 /// Opaque owner of the selected F722 IMU service.
@@ -43,6 +41,7 @@ pub(crate) enum ImuEvent {
 /// platform, preserving the board-facing abstraction boundary.
 pub struct F722Imu {
     inner: F722ImuKind,
+    mount: ImuMount,
 }
 
 /// The two concrete IMU services supported by the F722 platform.
@@ -58,6 +57,7 @@ impl F722Imu {
         dma: stm32f722::DMA2,
         chip_select: stm32f722::GPIOB,
         clock: DwtMicrosecondClock,
+        mount: ImuMount,
     ) -> Self {
         Self {
             inner: F722ImuKind::Mpu6000(Mpu6000Service::new(
@@ -67,6 +67,7 @@ impl F722Imu {
                     MPU6000_CONFIG,
                 ),
             )),
+            mount,
         }
     }
 
@@ -76,6 +77,7 @@ impl F722Imu {
         dma: stm32f722::DMA1,
         chip_select: &stm32f722::GPIOA,
         clock: DwtMicrosecondClock,
+        mount: ImuMount,
     ) -> Self {
         Self {
             inner: F722ImuKind::Icm42688(Icm42688Service::new(
@@ -86,87 +88,104 @@ impl F722Imu {
                     chip_select,
                 )),
             )),
+            mount,
         }
     }
 
     pub(crate) fn begin(&mut self) -> ImuEvent {
-        let ok = match &mut self.inner {
-            F722ImuKind::Mpu6000(imu) => imu.begin().is_ok(),
-            F722ImuKind::Icm42688(imu) => imu.begin().is_ok(),
-        };
-        if ok { ImuEvent::Idle } else { ImuEvent::Fault }
+        match &mut self.inner {
+            F722ImuKind::Mpu6000(imu) => match imu.begin() {
+                Ok(()) => ImuEvent::Idle,
+                Err(error) => ImuEvent::Fault(error.error_message()),
+            },
+            F722ImuKind::Icm42688(imu) => match imu.begin() {
+                Ok(()) => ImuEvent::Idle,
+                Err(error) => ImuEvent::Fault(error.error_message()),
+            },
+        }
     }
 
     pub(crate) fn on_periodic_tick(&mut self) -> ImuEvent {
         match &mut self.inner {
             F722ImuKind::Mpu6000(imu) => mpu_event(imu.on_periodic_tick()),
-            F722ImuKind::Icm42688(imu) => icm_event(imu.on_periodic_tick()),
+            F722ImuKind::Icm42688(imu) => icm_event(imu.on_periodic_tick(), self.mount),
         }
     }
 
     pub(crate) fn on_data_ready(&mut self) -> ImuEvent {
         match &mut self.inner {
             F722ImuKind::Mpu6000(imu) => mpu_event(imu.on_data_ready()),
-            F722ImuKind::Icm42688(imu) => icm_event(imu.on_data_ready()),
+            F722ImuKind::Icm42688(imu) => icm_event(imu.on_data_ready(), self.mount),
         }
     }
 
     pub(crate) fn on_transfer_complete(&mut self, completion: SpiCompletion) -> ImuEvent {
         match &mut self.inner {
             F722ImuKind::Mpu6000(imu) => mpu_event(imu.on_transfer_complete(completion)),
-            F722ImuKind::Icm42688(imu) => icm_event(imu.on_transfer_complete(completion)),
+            F722ImuKind::Icm42688(imu) => {
+                icm_event(imu.on_transfer_complete(completion), self.mount)
+            }
         }
     }
 }
 
-fn mpu_event<E>(event: Mpu6000ServiceEvent<E>) -> ImuEvent {
+fn mpu_event<E: ErrorReport>(event: Mpu6000ServiceEvent<E>) -> ImuEvent {
     match event {
         Mpu6000ServiceEvent::Idle => ImuEvent::Idle,
         Mpu6000ServiceEvent::Initialized => ImuEvent::Initialized,
         Mpu6000ServiceEvent::Sample(sample) => ImuEvent::Sample(sample),
-        Mpu6000ServiceEvent::Fault(_) => ImuEvent::Fault,
+        Mpu6000ServiceEvent::Fault(error) => ImuEvent::Fault(error.error_message()),
     }
 }
 
-fn icm_event<E>(event: Icm42688ServiceEvent<E>) -> ImuEvent {
+fn icm_event<E: ErrorReport>(event: Icm42688ServiceEvent<E>, mount: ImuMount) -> ImuEvent {
     match event {
         Icm42688ServiceEvent::Idle => ImuEvent::Idle,
         Icm42688ServiceEvent::Initialized => ImuEvent::Initialized,
-        Icm42688ServiceEvent::Sample(sample) => ImuEvent::Sample(align_icm42688(sample)),
-        Icm42688ServiceEvent::Fault(_) => ImuEvent::Fault,
+        Icm42688ServiceEvent::Sample(sample) => ImuEvent::Sample(align_mount(sample, mount)),
+        Icm42688ServiceEvent::Fault(error) => ImuEvent::Fault(error.error_message()),
     }
 }
 
-/// Aligns the development GEP-F722-HD V2 ICM-42688-P yaw-180° mounting to the
-/// flight-controller body frame. The MPU6000 profile is already aligned.
+/// Applies the board-declared fixed IMU-to-body transform.
 ///
-/// TODO(configuration): replace this build-time transform only as part of the
-/// same atomic sensor-profile activation described at `MPU6000_CONFIG`; it is
-/// not a user-adjustable live setting.
-fn align_icm42688(mut sample: ImuSnapshot) -> ImuSnapshot {
-    sample.acceleration_milligravity[0] = sample.acceleration_milligravity[0].saturating_neg();
-    sample.acceleration_milligravity[1] = sample.acceleration_milligravity[1].saturating_neg();
-    sample.angular_rate_milliradians_per_second[0] =
-        sample.angular_rate_milliradians_per_second[0].saturating_neg();
-    sample.angular_rate_milliradians_per_second[1] =
-        sample.angular_rate_milliradians_per_second[1].saturating_neg();
-    sample
+/// This is immutable board metadata validated against the selected electrical
+/// route before initialization. It is not an airframe calibration setting.
+fn align_mount(mut sample: ImuSnapshot, mount: ImuMount) -> ImuSnapshot {
+    match mount {
+        ImuMount::BodyAligned => sample,
+        ImuMount::Yaw180 => {
+            sample.acceleration_milligravity[0] =
+                sample.acceleration_milligravity[0].saturating_neg();
+            sample.acceleration_milligravity[1] =
+                sample.acceleration_milligravity[1].saturating_neg();
+            sample.angular_rate_milliradians_per_second[0] =
+                sample.angular_rate_milliradians_per_second[0].saturating_neg();
+            sample.angular_rate_milliradians_per_second[1] =
+                sample.angular_rate_milliradians_per_second[1].saturating_neg();
+            sample
+        }
+    }
 }
 
 #[cfg(test)]
 mod tests {
-    use super::align_icm42688;
+    use super::align_mount;
+    use kaptan_board::ImuMount;
     use kaptan_sensor::imu::ImuSnapshot;
     use kaptan_time::Timestamp;
 
     #[test]
     fn geprc_profile_applies_its_documented_yaw_alignment() {
-        let sample = align_icm42688(ImuSnapshot::new(
-            Timestamp::from_microseconds(0),
-            [10, 20, 30],
-            [40, 50, 60],
-            0,
-        ));
+        let sample = align_mount(
+            ImuSnapshot::new(
+                Timestamp::from_microseconds(0),
+                [10, 20, 30],
+                [40, 50, 60],
+                0,
+            ),
+            ImuMount::Yaw180,
+        );
         assert_eq!(sample.acceleration_milligravity, [-10, -20, 30]);
         assert_eq!(sample.angular_rate_milliradians_per_second, [-40, -50, 60]);
     }

platforms/stm32f7/src/lib.rs

@@ -10,40 +10,67 @@
 #![no_std]
 
 use core::marker::PhantomData;
+use kaptan_log::KaptanError;
 
 pub use kaptan_board::BoardConfig;
-use kaptan_board::BoardConfigError;
+use kaptan_board::{BoardConfigError, ImuDevice, ImuMount, MavlinkPort};
 
+#[cfg_attr(
+    not(target_os = "none"),
+    allow(dead_code, unused_imports, unused_macros)
+)]
 mod f722;
 
 /// Dependencies used only while the platform expands its private RTIC macro.
 /// They stay crate-private: board binaries never name them.
+#[cfg_attr(not(target_os = "none"), allow(unused_imports))]
 pub(crate) mod __platform_internal {
     pub(crate) use cortex_m as cm;
     pub(crate) use cortex_m_rt as cmrt;
     pub(crate) use kaptan_dma as dma;
-    #[cfg(not(test))]
+    #[cfg(target_os = "none")]
     pub(crate) use panic_halt as panic;
     pub(crate) use rtic as rtic_app;
     pub(crate) use stm32f7 as pac;
-    #[cfg(test)]
+    #[cfg(not(target_os = "none"))]
     pub(crate) mod panic {}
 }
 
 /// Construction or validation failure for a declarative F722 board.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
+#[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum BoardError {
     /// Portable board metadata is self-inconsistent.
     InvalidConfig(BoardConfigError),
     /// Metadata and the selected vertical-sensor route disagree.
     VerticalSensorCapabilityMismatch,
+    /// Metadata and the selected immutable IMU route disagree.
+    ImuRouteMismatch,
+    /// Metadata and the selected immutable MAVLink route disagree.
+    MavlinkRouteMismatch,
+    /// Metadata and the selected immutable IMU mounting transform disagree.
+    ImuMountMismatch,
     /// The declaration requests a service-timer frequency not implemented by
     /// the selected F722 platform profile.
     UnsupportedServiceFrequency,
+    /// The selected baud cannot carry the fixed telemetry/log schedule.
+    TelemetryLinkOvercommitted,
     /// The platform could not establish a clock, peripheral, or DMA owner.
     Initialization,
 }
 
+/// Validates immutable board metadata against a selected F722 route graph.
+///
+/// This is pure validation: it does not claim a pin, clock, interrupt, DMA
+/// stream, or peripheral. The runtime invokes it immediately after the motor
+/// inhibit boundary and before every other hardware action.
+pub fn validate_board_config(
+    config: BoardConfig,
+    routes: F722BoardRoutes,
+) -> Result<(), BoardError> {
+    config.validate().map_err(BoardError::InvalidConfig)?;
+    f722::validate_board_routes(config, routes)
+}
+
 /// MPU6000 component selector.
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct Mpu6000;
@@ -235,9 +262,31 @@ pub struct F722BoardRoutes {
 }
 
 impl F722BoardRoutes {
+    #[cfg_attr(not(target_os = "none"), allow(dead_code))]
     pub(crate) const fn profile(self) -> F722Profile {
         self.profile
     }
+
+    pub(crate) const fn imu(self) -> ImuDevice {
+        match self.profile {
+            F722Profile::Mpu6000Spi1Usart1 => ImuDevice::Mpu6000,
+            F722Profile::Icm42688Spi3Usart2 => ImuDevice::Icm42688,
+        }
+    }
+
+    pub(crate) const fn imu_mount(self) -> ImuMount {
+        match self.profile {
+            F722Profile::Mpu6000Spi1Usart1 => ImuMount::BodyAligned,
+            F722Profile::Icm42688Spi3Usart2 => ImuMount::Yaw180,
+        }
+    }
+
+    pub(crate) const fn mavlink_port(self) -> MavlinkPort {
+        match self.profile {
+            F722Profile::Mpu6000Spi1Usart1 => MavlinkPort::Serial1,
+            F722Profile::Icm42688Spi3Usart2 => MavlinkPort::Serial2,
+        }
+    }
 }
 
 macro_rules! impl_mpu6000_routes {
@@ -303,17 +352,6 @@ impl_icm42688_routes!(LidarLiteV3I2c1, f722::VerticalRoute::LidarLiteV3);
 ///     .build();
 /// ```
 ///
-/// ```compile_fail
-/// use platform_stm32f7::{
-///     F7BoardBuilder, Icm42688, Mavlink, Pc3, VerticalSensor,
-/// };
-///
-/// let _ = F7BoardBuilder::new()
-///     .imu(Icm42688::on_spi3().with_drdy(Pc3))
-///     .mavlink(Mavlink::on_usart2())
-///     .vertical_sensor(VerticalSensor::none())
-///     .build(); // MPU6000/USART1 is the only other supported profile.
-/// ```
 /// Contract implemented by a declarative STM32F722 board crate.
 pub trait F7Board {
     /// Portable identity, capabilities and outbound data-channel policy.
@@ -366,30 +404,3 @@ macro_rules! flight_firmware {
 /// Link anchor for the platform-owned F722 board-I/O application.
 #[doc(hidden)]
 pub fn firmware_anchor() {}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn route_descriptors_select_the_mpu6000_profile() {
-        let routes = F7BoardBuilder::new()
-            .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-            .mavlink(Mavlink::on_usart1())
-            .vertical_sensor(VerticalSensor::mtf01_on_uart4())
-            .build()
-            .unwrap();
-        assert_eq!(routes.profile(), F722Profile::Mpu6000Spi1Usart1);
-    }
-
-    #[test]
-    fn route_descriptors_select_the_icm42688_profile() {
-        let routes = F7BoardBuilder::new()
-            .imu(Icm42688::on_spi3().with_drdy(Pc3))
-            .mavlink(Mavlink::on_usart2())
-            .vertical_sensor(VerticalSensor::none())
-            .build()
-            .unwrap();
-        assert_eq!(routes.profile(), F722Profile::Icm42688Spi3Usart2);
-    }
-}

platforms/stm32f7/tests/platform_safety_boundary.rs

@@ -1,5 +1,16 @@
 use std::{fs, path::PathBuf};
 
+use kaptan_board::{
+    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
+    TelemetryProfile, VerticalSensingKind,
+};
+use kaptan_log::{LogFlags, LogRecord, LogText, Severity};
+use kaptan_log_mavlink::{DiagnosticPayload, encode_diagnostic};
+use kaptan_mavlink::encoder::MavlinkEncoder;
+use platform_stm32f7::{
+    BoardError, F7BoardBuilder, Mavlink, Mpu6000, Pa4, VerticalSensor, validate_board_config,
+};
+
 fn platform_source(relative: &str) -> String {
     let root = PathBuf::from(env!("CARGO_MANIFEST_DIR"));
     fs::read_to_string(root.join(relative)).expect("platform source must exist")
@@ -12,7 +23,7 @@ fn former_motor_pins_are_inhibited_before_all_other_initialization() {
         .find("motor_inhibit::inhibit_motor_pins")
         .expect("F722 initialization must claim the former motor pins first");
     let validation = module
-        .find("config.validate()")
+        .find("validate_board_config")
         .expect("F722 initialization must validate its board configuration");
     let board_initialization = module
         .find("board::initialize")
@@ -55,6 +66,87 @@ fn former_motor_pins_are_inhibited_before_all_other_initialization() {
     }
 }
 
+fn mpu_config() -> 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,
+                raw_imu_hz: 20,
+                range_hz: Some(20),
+                optical_flow_hz: Some(20),
+                heartbeat_hz: 2,
+            },
+            maximum_log_level: Severity::Info,
+        }),
+    }
+}
+
+#[test]
+fn immutable_board_policy_must_match_the_executed_route_graph() {
+    let routes = F7BoardBuilder::new()
+        .imu(Mpu6000::on_spi1().with_drdy(Pa4))
+        .mavlink(Mavlink::on_usart1())
+        .vertical_sensor(VerticalSensor::mtf01_on_uart4())
+        .build()
+        .unwrap();
+    assert_eq!(validate_board_config(mpu_config(), routes), Ok(()));
+
+    let mut wrong_imu = mpu_config();
+    let BoardProfile::TelemetryOnly(profile) = &mut wrong_imu.profile else {
+        unreachable!();
+    };
+    profile.imu = ImuDevice::Icm42688;
+    assert_eq!(
+        validate_board_config(wrong_imu, routes),
+        Err(BoardError::ImuRouteMismatch)
+    );
+
+    let mut wrong_mount = mpu_config();
+    let BoardProfile::TelemetryOnly(profile) = &mut wrong_mount.profile else {
+        unreachable!();
+    };
+    profile.imu_mount = ImuMount::Yaw180;
+    assert_eq!(
+        validate_board_config(wrong_mount, routes),
+        Err(BoardError::ImuMountMismatch)
+    );
+
+    let mut wrong_vertical = mpu_config();
+    let BoardProfile::TelemetryOnly(profile) = &mut wrong_vertical.profile else {
+        unreachable!();
+    };
+    profile.vertical_sensing = VerticalSensingKind::Range;
+    profile.data_channel.optical_flow_hz = None;
+    assert_eq!(
+        validate_board_config(wrong_vertical, routes),
+        Err(BoardError::VerticalSensorCapabilityMismatch)
+    );
+
+    let mut wrong_port = mpu_config();
+    wrong_port.mavlink.port = MavlinkPort::Serial2;
+    assert_eq!(
+        validate_board_config(wrong_port, routes),
+        Err(BoardError::MavlinkRouteMismatch)
+    );
+
+    let mut overcommitted_link = mpu_config();
+    overcommitted_link.mavlink.baud = 9_600;
+    assert_eq!(
+        validate_board_config(overcommitted_link, routes),
+        Err(BoardError::TelemetryLinkOvercommitted)
+    );
+}
+
 #[test]
 fn telemetry_platform_has_no_physical_actuator_peripheral_path() {
     let sources = [
@@ -117,3 +209,38 @@ fn telemetry_has_no_inbound_command_authority() {
         "telemetry must not schedule a worker from an inbound command"
     );
 }
+
+#[test]
+fn f722_link_budget_uses_both_maximum_generated_diagnostic_frames() {
+    let text = LogText::from_message(&"x".repeat(160));
+    let log_record = LogRecord::new(Severity::Info, LogFlags::NONE, text);
+    let error_record = LogRecord::new(Severity::Error, LogFlags::NONE, text);
+    let mut encoder = MavlinkEncoder::new(1, 1);
+    let DiagnosticPayload::Log(log_payload) = encode_diagnostic(&log_record) else {
+        panic!("info record must use KAPTAN_LOG");
+    };
+    let log_frame = encoder.custom(&log_payload);
+    let DiagnosticPayload::Error(error_payload) = encode_diagnostic(&error_record) else {
+        panic!("error record must use KAPTAN_ERROR");
+    };
+    let error_frame = encoder.custom(&error_payload);
+
+    assert_eq!(log_frame.raw_bytes().len(), 175);
+    assert_eq!(
+        kaptan_mavlink::message::kaptan::KAPTAN_LOG_DATA::ENCODED_LEN,
+        163
+    );
+    assert_eq!(error_frame.raw_bytes().len(), 174);
+    assert_eq!(
+        kaptan_mavlink::message::kaptan::KAPTAN_ERROR_DATA::ENCODED_LEN,
+        162
+    );
+    assert_eq!(
+        62 * 48 + 10 * error_frame.raw_bytes().len() + 5 * log_frame.raw_bytes().len(),
+        5_591
+    );
+    let board = platform_source("src/f722/board.rs");
+    assert!(board.contains("KAPTAN_ERROR_FRAME_MAXIMUM_BYTES"));
+    assert!(board.contains("KAPTAN_LOG_FRAME_MAXIMUM_BYTES"));
+    assert!(board.contains("5,591 bytes/s"));
+}