feat(firmware): validate configuration and migrate sensor-driven flight APIs

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.

firmware/Cargo.toml

@@ -8,7 +8,6 @@ members = [
   "libs/kaptan-config-derive",
   "libs/kaptan-file-mavlink",
   "libs/kaptan-data-channel",
-  "libs/kaptan-dma",
   "libs/kaptan-drivers",
   "libs/kaptan-err-reportable",
   "libs/kaptan-err-reportable-macros",
@@ -20,6 +19,7 @@ members = [
   "libs/kaptan-log",
   "libs/kaptan-diagnostics-mavlink",
   "libs/kaptan-navigation",
+  "libs/kaptan-ports",
   "libs/kaptan-safety",
   "libs/kaptan-sensor",
   "libs/kaptan-spi",
@@ -28,6 +28,7 @@ members = [
   "platforms/stm32f7",
   "tools/configurator",
 ]
+exclude = ["vendor/synopsys-usb-otg"]
 resolver = "2"
 
 [workspace.package]
@@ -49,3 +50,6 @@ codegen-units = 1
 lto = "fat"
 panic = "abort"
 strip = "symbols"
+
+[patch.crates-io]
+synopsys-usb-otg = { path = "vendor/synopsys-usb-otg" }