refactor(firmware): simplify configuration and diagnostics

firmware/libs/kaptan-math/Cargo.toml

@@ -9,4 +9,4 @@ version.workspace = true
 workspace = true
 
 [dependencies]
-kaptan-log = { path = "../kaptan-log" }
+kaptan-err-propagate = { path = "../kaptan-err-propagate" }

firmware/libs/kaptan-math/src/lib.rs

@@ -7,7 +7,7 @@
 #![no_std]
 
 use core::marker::PhantomData;
-use kaptan_log::KaptanError;
+use kaptan_err_propagate::KaptanError;
 
 /// Failure reported by a checked mathematical operation.
 ///
@@ -17,12 +17,16 @@ use kaptan_log::KaptanError;
 #[derive(Clone, Copy, Debug, Eq, PartialEq, KaptanError)]
 pub enum MathError {
     /// An operand or intermediate value was not finite.
+    #[kaptan_error(id = 6001)]
     NonFinite,
     /// A vector or quaternion did not have a representable non-zero norm.
+    #[kaptan_error(id = 6002)]
     ZeroNorm,
     /// A small-angle quaternion was requested outside its reviewed domain.
+    #[kaptan_error(id = 6003)]
     RotationIncrementOutOfRange,
     /// Rotation-matrix axes were not a finite, right-handed orthonormal basis.
+    #[kaptan_error(id = 6004)]
     NonOrthonormalAxes,
 }