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/boards/geprc-f722-v2/Cargo.toml

@@ -10,10 +10,8 @@ build = "build.rs"
 workspace = true
 
 [dependencies]
-kaptan-config = { path = "../../libs/kaptan-config" }
 platform-stm32f7 = { path = "../../platforms/stm32f7" }
-# RTIC's attribute expansion emits absolute `rtic` support paths in the final
-# board crate; the task graph and all RTIC source remain platform-owned.
+# RTIC's macro emits absolute `rtic` paths in the board crate.
 rtic = { version = "2.3", default-features = false, features = [
   "thumbv7-backend",
 ] }

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

@@ -1,79 +1,35 @@
-//! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
+//! Declarative support for the GEPRC GEP-F722-HD V2.
 
+#![forbid(unsafe_code)]
+
+use platform_stm32f7::kaptan_ports::{PortCatalog, PortDescriptor};
 use platform_stm32f7::{
-    F7Board, F722Hardware, F722ImmutableConfig as ImmutableConfig, Icm42688, ImuMount, LevelFilter,
-    Mavlink, Pa13ActiveHigh, Pb0Pb1Pb4Pb5Low, Pc3, VerticalSensor,
+    F7Board, F722Hardware, F722ImmutableConfig, F722UserConfig, Icm42688Spi3, ImuMount, MotorPins,
+    SerialInventory, StatusLed, UART1, UART2, UART3, UART4, UART6, VerticalSensor,
 };
 
-/// User-writable MAVLink endpoint policy.
-#[derive(Clone, kaptan_config::Config)]
-struct MavlinkConfig {
-    #[config(id = 101, key = "mavlink.system_id", unit = "id", range(min = 1))]
-    system_id: u8,
-    #[config(id = 102, key = "mavlink.component_id", unit = "id", range(min = 1))]
-    component_id: u8,
-    #[config(
-        enum,
-        id = 105,
-        key = "mavlink.logging.level_filter",
-        unit = "log_level"
-    )]
-    log_level_filter: LevelFilter,
-}
-
-/// User-writable telemetry publication policy.
-#[derive(Clone, kaptan_config::Config)]
-struct TelemetryConfig {
-    #[config(
-        id = 103,
-        key = "telemetry.imu_hz",
-        unit = "Hz",
-        range(min = 1, max = 100)
-    )]
-    imu_hz: u8,
-    #[config(
-        id = 104,
-        key = "telemetry.heartbeat_hz",
-        unit = "Hz",
-        range(min = 1, max = 10)
-    )]
-    heartbeat_hz: u8,
-}
-
-/// Complete user-writable configuration advertised by this board.
-#[derive(Clone, kaptan_config::Config)]
-pub struct UserConfig {
-    mavlink: MavlinkConfig,
-    telemetry: TelemetryConfig,
-}
-
-/// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
 pub struct GeprcF722V2;
 
-impl F7Board for GeprcF722V2 {
-    type UserConfig = UserConfig;
-    type ImmutableConfig = ImmutableConfig;
+impl PortCatalog<5> for GeprcF722V2 {
+    const DESCRIPTORS: [PortDescriptor; 5] = [UART1, UART2, UART3, UART4, UART6];
+}
 
-    const FACTORY_USER_CONFIG: UserConfig = UserConfig {
-        mavlink: MavlinkConfig {
-            system_id: 1,
-            component_id: 1,
-            log_level_filter: LevelFilter::Info,
-        },
-        telemetry: TelemetryConfig {
-            imu_hz: 20,
-            heartbeat_hz: 2,
-        },
-    };
-    const IMMUTABLE_CONFIG: ImmutableConfig = ImmutableConfig {
+impl F7Board for GeprcF722V2 {
+    type UserConfig = F722UserConfig<Self, 5>;
+    type ImmutableConfig = F722ImmutableConfig<Icm42688Spi3>;
+
+    const FACTORY_USER_CONFIG: Self::UserConfig = Self::UserConfig::FACTORY;
+    const IMMUTABLE_CONFIG: Self::ImmutableConfig = F722ImmutableConfig {
         name: "GEPRC TAKER F722 V2 (ICM-42688-P)",
         service_hz: 100,
-        hardware: F722Hardware::new()
-            .output_inhibit(Pb0Pb1Pb4Pb5Low)
-            .imu(Icm42688::on_spi3().with_drdy(Pc3).mounted(ImuMount::Yaw180))
-            .mavlink(Mavlink::on_usart2().baud(115_200))
-            .vertical_sensor(VerticalSensor::none())
-            .status_led(Pa13ActiveHigh)
-            .telemetry_only(),
+        hardware: F722Hardware::new(
+            Icm42688Spi3 {
+                mount: ImuMount::Yaw180,
+            },
+            SerialInventory::new(&Self::DESCRIPTORS),
+            StatusLed::ActiveHighPa13,
+            VerticalSensor::None,
+            MotorPins::Four,
+        ),
     };
 }