docs: track remaining flight-controller work

List the remaining physical flight integration, peripheral support and
hardware verification tasks.

.github/workflows/firmware.yml

@@ -0,0 +1,41 @@
+name: Firmware gates
+
+on:
+  pull_request:
+  push:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+env:
+  CARGO_BUILD_JOBS: 2
+
+jobs:
+  verification:
+    name: Source-bound firmware verification
+    runs-on: ubuntu-24.04
+    timeout-minutes: 90
+    steps:
+      - name: Check out source
+        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
+      - name: Install Nix
+        uses: cachix/install-nix-action@75c75c31ebece974e48ebc36b4ad125bd97bd97b # v31
+      - name: Fetch pinned dependencies
+        working-directory: firmware
+        run: nix develop .. -c cargo fetch --locked
+      - name: Install the coverage compiler and matching LLVM tools
+        run: nix develop -c rustup toolchain install nightly-2025-08-01 --profile minimal --component llvm-tools-preview
+      - name: Install manifest-pinned Miri and Kani tools
+        run: nix develop -c make verification-tools
+      - name: Host, target, board, coverage, Miri and Kani gates
+        run: nix develop -c make verification
+      - name: Retain verification evidence, including failed attempts
+        if: always()
+        uses: actions/upload-artifact@cf430e030ddbb5b0abf93d22962f4752f3646cd9 # v7.0.2
+        with:
+          name: firmware-verification
+          path: |
+            firmware/target/verification/**
+            firmware/target/verification-tools/setup-*/*.log
+          if-no-files-found: warn

.github/workflows/sitl-smoke.yml

@@ -1,41 +0,0 @@
-name: Host SITL smoke
-
-on:
-  pull_request:
-  push:
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  smoke:
-    name: Deterministic Gazebo command path
-    runs-on: ubuntu-24.04
-    timeout-minutes: 25
-    steps:
-      - name: Check out source
-        uses: actions/checkout@11bd71901bbe5b1630ceea73d27597364c9af683 # v4.2.2
-
-      - name: Check host-SITL contracts
-        working-directory: firmware
-        run: |
-          python3 -m unittest tools/sitl/test_kaptan_sim.py
-          python3 tools/sitl/world-structure-test.py
-          cargo check --locked -p kaptan-mavlink --no-default-features
-          cargo check --locked -p kaptan-log --no-default-features
-          cargo check --locked -p kaptan-log-mavlink --no-default-features
-          cargo test --locked -p kaptan-log --features facade
-          cargo test --locked -p kaptan-log-derive -p kaptan-log-mavlink
-          if rg -n '(^use log::|\blog::)' platforms/stm32f7/src/f722; then
-            echo 'the standard log facade is forbidden in F722 IRQ/panic paths'
-            exit 1
-          fi
-          if rg -n 'max_level_(off|error|warn|info|debug|trace)' --glob 'Cargo.toml' --glob '*.rs' .; then
-            echo 'log/max_level_* removes records before Kaptan can observe them'
-            exit 1
-          fi
-          cargo test --locked -p kaptan-sitl
-
-      - name: Run Docker closed-loop smoke
-        run: firmware/tools/sitl/e2e-smoke.sh

.todo

@@ -0,0 +1,19 @@
+- Run the flight runtime from RTIC with physical sensor input.
+- Persist vehicle settings and sensor calibration in board configuration.
+- Carry IMU acquisition times, uncertainty and complete sample batches into navigation.
+- Add range and optical-flow fusion for local navigation.
+- Add hardware motor-output drivers using the existing DShot and PWM code.
+- Connect motor outputs to arming, failsafe and command-expiry handling.
+- Add private MAVLink commands for arming, disarming and onboard missions.
+- Inhibit motors during configuration flash writes.
+- Add onboard barometer drivers and shared I2C bus access.
+- Add battery-voltage, current and analog RSSI acquisition.
+- Add onboard flash storage and blackbox recording.
+- Add analog OSD support.
+- Add buzzer, LED-strip, camera-control and auxiliary-output drivers.
+- Add receiver, GPS, VTX and ESC telemetry support to configurable ports.
+- Complete board component identification and peripheral pin maps.
+- Add hardware tests for sensor decoding, calibration, timing and recovery.
+- Add hardware tests for motor shutdown on reset, missed deadlines and faults.
+- Measure startup time, control-loop latency and peak stack under I/O load.
+- Verify onboard takeoff, hover, landing and motor shutdown on hardware.

Makefile

@@ -0,0 +1,88 @@
+SHELL := /bin/sh
+MAKEFLAGS += --no-print-directory
+export CARGO_BUILD_JOBS ?= 2
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+.NOTPARALLEL:
+.PHONY: help nix-shell build boards docs configurator fmt test app-native-test coverage verification verification-tools miri kani verification-inventory pre-commit check clean
+
+help: ## Show the command interface (the default)
+	@printf '%s\n' 'Kaptan developer commands' '' \
+		'Usage: make <target>' '' \
+		'  help                         Show this help' \
+		'  nix-shell                    Enter the Nix development shell' \
+		'  build                        Build all firmware and documentation' \
+		'  boards                       Build and package every board' \
+		'  docs                         Test and build the mdBook project' \
+		'  configurator                 Start the local configurator web application' \
+		'  fmt                          Check Rust, shell, Python, Nix, and TOML formatting' \
+		'  test                         Run shared-library, host algorithm, and script tests' \
+		'  app-native-test              Check the app UTF conversion function with a host API stub' \
+		'  coverage                     Required final strict-core line/branch coverage gate' \
+		'  verification                 Run all gates and retain source-bound evidence' \
+		'  verification-tools           Install the pinned Miri and Kani tools' \
+		'  miri                         Run the manifest-selected Miri checks' \
+		'  kani                         Run the manifest-selected Kani proofs' \
+		'  verification-inventory       Show verification owners, claims and gaps' \
+		'  pre-commit                   Run fmt, firmware clippy/test/docs, and mdBook checks' \
+		'  check                        Run pre-commit plus whitespace checks' \
+		'  clean                        Remove generated build artifacts' \
+		'' 'Component workflows' \
+		'  make -C firmware help' \
+		'  make -C firmware/boards/<board> build|flash' \
+		'  make -C docs build|test|check|clean' \
+		'' 'Native tools (run from firmware/)' \
+		'  make test' \
+		'  cargo run --locked --offline -p kaptan-configurator -- --baud 115200'
+
+nix-shell: ## Enter the reproducible Nix development shell
+	nix develop
+
+build: boards ## Build all firmware boards and documentation
+	+@$(MAKE) -C docs build
+
+boards:
+	+@$(MAKE) -C firmware/boards build
+
+docs:
+	+@$(MAKE) -C docs check
+
+configurator:
+	+@$(MAKE) -C firmware/tools/configurator run
+
+fmt:
+	+@$(MAKE) -C firmware fmt
+	shfmt -d $$(rg --files -g '*.sh')
+	ruff format --check $$(rg --files -g '*.py')
+	ruff check firmware/scripts
+	nixfmt --check $$(rg --files -g '*.nix')
+	taplo format --check $$(rg --files -g '*.toml')
+
+test:
+	+@$(MAKE) -C firmware test
+	+@$(MAKE) app-native-test
+
+app-native-test:
+	python3 ground_suite/windows/runner/test_utf8_from_utf16.py \
+		--work-dir "$(or $(CARGO_TARGET_DIR),target)/native-tests/utf8"
+
+coverage:
+	+@$(MAKE) -C firmware coverage
+
+verification verification-tools miri kani verification-inventory:
+	+@$(MAKE) -C firmware $@
+
+pre-commit: fmt test
+	+@$(MAKE) -C firmware clippy
+	+@$(MAKE) -C firmware docs
+	+@$(MAKE) -C docs check
+	@printf '%s\n' 'Pre-commit passed. Coverage was not run; make coverage is a required final gate.'
+
+check: pre-commit ## Run pre-commit plus whitespace checks
+	git diff HEAD --check
+
+clean: ## Remove firmware and documentation build artifacts
+	+@$(MAKE) -C firmware clean
+	+@$(MAKE) -C docs clean

docs/Makefile

@@ -1,12 +1,26 @@
-MDBOOK ?= mdbook
+SHELL := /bin/sh
+MAKEFLAGS += --no-print-directory
 
-.PHONY: build serve test
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+.PHONY: help build test check clean
+
+help:
+	@printf '%s\n' 'Usage: make -C docs build|test|check|clean' '' \
+		'  build  Build the book' \
+		'  test   Test book examples' \
+		'  check  Test and build the book' \
+		'  clean  Remove generated documentation' '' \
+		'For other options, run mdbook directly from docs/.'
 
 build:
-	$(MDBOOK) build
-
-serve:
-	$(MDBOOK) serve --open
+	mdbook build
 
 test:
-	$(MDBOOK) test
+	mdbook test
+
+check: test build
+
+clean:
+	mdbook clean

docs/book.toml

@@ -1,6 +1,6 @@
 [book]
 title = "Kaptan documentation"
-description = "Architecture, board bring-up, simulation, and contributor guidance for Kaptan."
+description = "Architecture, board bring-up, and contributor guidance for Kaptan."
 authors = ["Kaptan contributors"]
 language = "en"
 src = "src"

docs/src/SUMMARY.md

@@ -9,9 +9,7 @@
 - [Configuration](configuration.md)
 - [Logs](logs.md)
 - [Errors](errors.md)
-- [Ground Suite](ground-suite.md)
 - [Boards](boards/index.md)
   - [Kakute F7 Mini V3](boards/kakute-f7-mini-v3.md)
   - [GEPRC GEP-F722-HD V2](boards/geprc-f722-v2.md)
-- [Host SITL](sitl.md)
 - [Reference](reference.md)

docs/src/architecture.md

@@ -10,73 +10,182 @@ board declaration
 F722 platform / RTIC application ──► data channel ──► MAVLink telemetry
         │
         ├── physical sensor drivers
-        └── motor-pin inhibit interlock
+        └── startup motor-pin inhibition
 
-portable libraries
-  math ─► navigation ─► control ─► safety
+Portable flight libraries (not connected to physical actuators)
+  FlightEndpoint ──► Navigation / control / phases / safety
+        │
+        └── caller-owned synchronous output sink
 ```
 
-The board contract selects one immutable `BoardProfile`. The checked-in
-profile is `TelemetryOnly`; `ExternalControlOnly` is represented explicitly
-but rejected at validation time because it has no reviewed runtime.
+Each F722 board combines `F722UserConfig` with an immutable hardware manifest.
+The manifest selects the IMU route, driver settings, mount, serial inventory,
+status LED, optional I²C sensor, motor pins and service frequency. User settings
+select UART roles, baud and MAVLink settings. Motor pins are inhibited at startup.
 
-The data channel owns rate selection, mailbox consumption, message encoding,
-and bounded TX classification. Board code supplies physical routes and
-telemetry configuration; it does not receive generic output authority.
+`F722ImmutableConfig<R>` retains the IMU route type through initialization and
+interrupt acknowledgement. The sealed `Mpu6000Spi1` and `Icm42688Spi3` routes
+select IMU wiring and backend independently of serial inventory and LED wiring.
 
-Configuration and runtime observability are separate, one-way planes:
+Each board declares one `PortCatalog<N>::DESCRIPTORS` array. Both
+`Ports<Catalog, N>` and `SerialInventory::new(&Catalog::DESCRIPTORS)` use it for
+stable UART/field identities, supported roles, baud allowlists and resource
+claims. Validation produces a boot-only `PortPlan<N>`. The same const `N` sizes
+I/O and protocol storage: five UARTs on each current board. Absent UARTs
+have no slots. A declared UART set to Disabled retains its slot but initializes
+no peripheral or pins. USB is fixed normal MAVLink outside that inventory,
+separate from ROM DFU.
+
+Each MAVLink `Link` has its own scheduler, encoder and receive framing, with a
+separate transport queue. A shared collector snapshots sensor mailboxes for all
+links. See [MAVLink](mavlink.md) for scheduling and transport behavior.
+
+`kaptan-flight-runtime::FlightEndpoint` runs Quad-X control and
+`kaptan-navigation::Navigation` without allocation. Callers supply
+observations, independently captured receipt/processing time, clock ticks and a
+synchronous output sink. Transport and wire encoding stay outside the core.
+The board images do not yet construct a flight endpoint.
+See [Safety boundary](safety-boundary.md#shared-runtime-commit-contract) for
+epochs, request sequencing and the output commit contract.
+
+`FlightEndpoint::supervise` checks actual time, cached health and phase/stream
+deadlines without advancing navigation, integrating control or consuming a
+control release. It can inhibit and publish outcomes, but cannot renew enabled
+output. Callers must service the endpoint with actual time even when input
+stops. The core owns control release and deadline decisions.
+
+Within `FlightEndpoint`, fusion, current prediction and initialization completion
+run only when the 100-Hz control service is due. Early `tick` calls supervise
+cached evidence without advancing navigation. Ingress admission and its
+diagnostics remain immediate, but receiving or queuing fresh observations alone
+does not renew capabilities. The actual control gap is checked before a due
+navigation update can refresh evidence.
+
+`Navigation` initializes from a stationary window of IMU, fixed-reference local
+position/velocity, magnetic, pressure and range observations. It derives attitude
+and a fixed launch origin from sensors, with explicit calibration/reference
+identities. Its shared 16-state error covariance covers position, velocity,
+attitude error, gyro bias, accelerometer bias and barometric datum. Bounded
+delayed fusion and current prediction preserve observation timing and capability
+evidence.
+
+The navigation `sensor-snapshots` feature enables driver snapshot conversion.
+The same flight estimator is available on host and embedded targets.
+
+Navigation owns the 25-m/s² free-flight acceleration bound checked by
+complete-profile validation. See
+[Configuration](configuration.md#flight-configuration) for required installation
+data and the supported vehicle model.
+
+Configuration and diagnostics use separate paths:
 
 ```text
-Kaptan GCS custom MAVLink V2 messages
-        │  (future: verified signing, source binding, replay state)
+FILE_CONTROL / FILE_DATA
+        │
         ▼
-kaptan-config-mavlink ──► state-only ConfigProtocol
-                                 │ borrows
-                    kaptan-flight-runtime
-                      ├── one ConfigManager ──► kaptan-config ──► flight schema/CBOR
-                      └── one kaptan-log hub
+kaptan-file-mavlink ──► virtual FileProvider
                                  │
-                   kaptan-log-mavlink payload adapter
+                           KCFG importer/exporter
                                  │
-                 platform-owned sole encoder / DMA TX link
+                           ConfigManager ──► private store
+
+kaptan-log / kaptan-err-reportable
+        │
+        ▼
+kaptan-diagnostics-mavlink ──► per-link encoder / bounded TX
 ```
 
-The generated dialect is intentionally custom rather than a `PARAM_*` or QGC
-adapter. The core uses numeric field IDs and typed scalar values; descriptor
-text is metadata, not a wire identity. Discovery/value reads, bounded
-descriptor pages, and structured results are custom-dialect records. Runtime
-logs use one bounded text message with MAVLink severity and flags. CBOR import uses a fixed
-4 KiB transaction buffer and
-fixed 192-byte chunks; its decoded candidate still goes through the same whole
-profile validation path. The core owns one RAM transaction and the distinction
-between boot-active, committed, and editable candidate snapshots. In the
-current P1 policy a commit is restart-only. It cannot mutate controller or
-estimator state in flight.
+The Kaptan-native file dialect owns bounded transfers and retries across links.
+Its provider maps saved, active and factory-reset endpoints to streaming KCFG v3
+and the generic configuration lifecycle.
 
-One current CBOR profile format is a bounded complete snapshot. There is no
-migration reader: any other format is rejected. SITL supplies the host file
-adapter and persists a nonzero generation alongside its raw profile payload.
-Motor allocation/mixer topology is immutable compiled
-vehicle capability data, never a scalar field or CBOR candidate member. The
-bare-metal receiver continues to reject inbound control authority. Target
-persistence, authenticated ingress, durable audit logging, disarmed
-activation, and atomic consumer reconstruction remain separate reviewed work
-and cannot be implied by a valid CBOR file or CRC.
+`ConfigManager` owns boot-active values, known committed values or unknown durable
+state, and the factory candidate. F722 supplies its UART-disabled setup fallback
+through `recover_with`. Readable invalid settings remain inspectable for USB
+repair. Saving or factory reset never changes active consumers until reboot.
 
-The MAVLink dialect root includes `kaptan/config.xml`, `kaptan/log.xml`,
-`kaptan/error.xml`, and `kaptan/shutdown.xml`.
-The build watches every fragment and generates one `message::kaptan` module;
-fragments are never separately generated Rust modules. `kaptan-log` itself has
-no MAVLink, platform, time, allocation, filesystem, or configuration
-dependency. It assigns bounded Critical and BestEffort queues for text logs.
-The platform drains a record only after TX admission. `KAPTAN_LOG` carries
-severity plus one bounded text field; `KAPTAN_ERROR` carries flags plus bounded
-path and additional-information fields. Local saturation accounting remains
-inside the hub, facade, and producer mailboxes; heartbeat and safety telemetry
-remain separate from diagnostics.
+Target-owned stores use private persistence formats. F722 alternates compact
+`KCSP` snapshots between two erase sectors, retaining only the old and replacement
+records across the commit boundary. That format is not exposed as KCFG. Motor
+allocation/mixer topology remains compiled vehicle capability data.
 
-See [Configuration](configuration.md) for the deployment matrix and GCS upload
-contract, [Logs](logs.md) for the receiver contract, and [Errors](errors.md)
+## I/O ownership
+
+Sensor handoff uses owned `LatestMailbox<T>` storage split into exactly one
+non-cloneable producer and one non-cloneable consumer. Publishing replaces an
+unread value, and taking removes it at most once. Each operation copies or takes
+an `Option<T>` inside the platform critical section. No callback, allocation,
+retry or wait occurs inside that section. Storage stays borrowed while endpoints
+are in use, and moving, dropping or forgetting an endpoint holds no lock. The
+backend must exclude every participating context, using Cortex-M single-core exclusion on
+F722 and the `critical-section/std` backend for host threads.
+
+UART TX and RX are interrupt-driven, without UART DMA. Each I/O owner retains
+the peripheral, TX queue and a 512-byte RX buffer with a typed `Timestamp` per
+byte captured at IRQ receipt. The worker takes at most 16 bytes per UART per
+turn under a short lock. Protocol parsing, scheduling and persistence run
+outside UART locks. Overflow or a hardware RX fault discards the damaged backlog
+and resets the decoder before later bytes. These bounds do not establish a
+measured latency guarantee.
+
+`kaptan-tx::TransmitQueue` owns bounded admission and one logically active frame.
+Pending admission cannot replace that active frame. The queue itself is movable
+and does not promise DMA address stability. UART byte writes and USB endpoint
+writes borrow or copy its bytes synchronously. MAVLink owns encoding, while
+platform I/O owners handle transmission.
+
+USB uses the repository-patched Synopsys driver. Runtime register waits allow
+higher-priority interrupts and stop after 5 ms or 1,080,000 polls per wait. These
+are fault limits, not measured execution times. A fault holds USB in peripheral
+reset until restart and discards its queued data. Brief critical sections protect
+USB ownership and endpoint buffers. Boot initialization still runs under RTIC's
+startup interrupt mask.
+
+SPI1 and SPI3 DMA each use a once-claimed static pair of 32-byte TX/RX buffers.
+`start_transfer` copies in, so hardware retains no caller slice. Completion
+copies out only after checking stream disable, SPI quiescence, transfer counts
+and faults. Failure to establish shutdown or drain RX quarantines the storage
+and prevents reuse. Moving, dropping or forgetting the owner never releases
+that claim. The F722 implementation relies on DMA-accessible SRAM, disabled
+D-cache and device barriers. Physical SPI shutdown, timing and fault behavior
+still require hardware validation.
+
+## Monotonic time
+
+TIM2 is the canonical F722 clock. The configured 108-MHz timer input and PSC=107
+produce a free-running 32-bit counter at 1 MHz with ARR=`u32::MAX`. All readers
+and the CC1 service IRQ extend one shared `u64` microsecond epoch inside the same
+critical section. A consumer may remain silent across wraps if other readers
+or IRQ service keep extending that epoch. Combined observations must be strictly
+less than 2^32 microseconds apart, about 71.58 minutes, including interrupt
+blackouts and debugger halts. NMI and fault handlers must not access this clock.
+
+CC1 schedules the current 100-Hz service at epoch-aligned 10-ms deadlines.
+Delayed service skips missed periods in constant work and emits at most one
+notification per IRQ. Rearming uses two bounded attempts before pending a
+recovery invocation. Callbacks and notifications run after clock exclusion ends.
+TIM2 is not reset for each service tick, and no update IRQ or timer DMA is used.
+Its IRQ is enabled only at the successful end of initialization.
+
+Ordinary WFI retains the timer clock. Deep sleep, STOP/Standby, clock-tree changes,
+counter reset/regression and debugger halts spanning a full wrap are unsupported
+and require platform reset. Uptime must leave one service period before `u64`
+microsecond overflow. DWT is used only for the CPU-running SRAM flash-poll timeout
+at 216 MHz, not sensor timestamps or service deadlines. These contracts do not
+establish measured oscillator accuracy, IRQ latency, jitter or worst-case timing.
+
+## Diagnostics
+
+`kaptan-log` has no MAVLink, platform, time, allocation or filesystem dependency.
+Its configuration coupling is compile-time enum metadata for `LevelFilter`.
+`kaptan-err-reportable` independently owns explicit error identities and a bounded
+nonblocking ingress, without logging, transport or clock dependencies.
+Event creation is independent from sink filtering. The worker drains reportable
+errors before logs and offers each diagnostic to all MAVLink links. Heartbeat
+and sensor publications use separate scheduling.
+
+See [Configuration](configuration.md) for KCFG and the file-transfer contract,
+[Logs](logs.md) for the receiver contract, and [Errors](errors.md)
 for derived-error and failure-reporting scope.
 
 ## Ownership rules
@@ -84,7 +193,8 @@ for derived-error and failure-reporting scope.
 - A peripheral owner is local to the platform runtime.
 - Portable crates use typed units and validated values rather than raw wire or
   timer representations.
-- A safety permit is epoch-bound and must be revalidated at the only nonzero
-  output boundary.
-- A failed observation or numerical check does not partially commit estimator,
-  controller, allocator, or safety state.
+- `SafetySupervisor::evaluate_and_commit` checks current evidence at the
+  synchronous enabled-output boundary. No transferable permit escapes it.
+- Rejected numerical updates do not partially commit computational candidates.
+  Fault latches, inhibition and ingress replay watermarks follow their explicit
+  failure contracts rather than rolling back authority or replay history.

docs/src/boards/geprc-f722-v2.md

@@ -1,21 +1,66 @@
 # GEPRC GEP-F722-HD V2
 
-The GEPRC GEP-F722-HD V2 board declaration uses the ICM-42688-P on SPI3 and
-MAVLink telemetry on USART2. It declares no vertical sensor stream.
+The GEPRC GEP-F722-HD V2 uses the ICM-42688-P on SPI3.
+The manufacturer's [GEP-F722-HD V2 manual](https://geprc.com/wp-content/uploads/2025/05/GEP-F722-HD-v2%E9%A3%9E%E6%8E%A7_%E4%BA%A7%E5%93%81%E8%AF%B4%E6%98%8E%E4%B9%A6-.pdf)
+labels UART1 as `T1`/`R1` and UART2 as `T2`/`R2`.
 
-Its immutable board policy selects the ICM-42688-P yaw-180° mount, logical
-MAVLink `Serial2`, endpoint `1/1`, 115200 baud, the documented telemetry
-schedule, and an `INFO` optional-log threshold. The platform verifies these
-values against the checked SPI3/USART2 typestate route before it enables
-peripherals. They are compiled image policy, not ground-station parameters.
+The board declares its yaw-180° IMU mount, UART catalog, active-high PA13 LED
+and no I²C range sensor.
+Before fallible initialization, the platform holds the four documented motor
+pins PB0/PB1/PB4/PB5 low.
 
-Build and package from the firmware workspace:
+## Build and package
+
+From the repository root:
 
 ```sh
-cd firmware
-cargo build --release -p kaptan-geprc-f722-v2 --target thumbv7em-none-eabihf
-./scripts/create-dfu-image.sh target/thumbv7em-none-eabihf/release/kaptan-geprc-f722-v2
+make -C firmware/boards/geprc-f722-v2 build
 ```
 
-The resulting image is telemetry-only and has the shared physical motor-pin
-inhibit boundary.
+The packaging script validates the ELF against the shared F722 linker layout
+and prints the flash and RAM report before producing the raw binary.
+
+## Flash over USB DFU
+
+Remove the propellers and disconnect the LiPo before connecting USB. This image
+is linked at the beginning of internal flash and the command below assumes the
+STM32 system-memory ROM DFU loader, not a flash-resident bootloader with an
+application offset. Enter the board's documented ROM DFU mode, disconnect any
+other STM32 boards in DFU mode, and verify that the intended device is the
+listed `0483:df11` target before flashing:
+
+```sh
+dfu-util --list
+make -C firmware/boards/geprc-f722-v2 flash
+```
+
+## MAVLink over USB
+
+After flashing, leave ROM DFU mode and reconnect USB. The running application
+enumerates as `Kaptan / GEPRC TAKER F722 V2 (ICM-42688-P)`, normally
+`/dev/ttyACM*` on Linux. Run:
+
+```sh
+make configurator
+```
+
+Open `http://127.0.0.1:4861` and connect `/dev/serial/by-id/<kaptan-device>` or
+the discovered `/dev/ttyACM*` path from the Connection section.
+
+## UART connection
+
+First assign UART2 to `KaptanMavlink` over USB, save and restart. Then connect
+a 3.3 V USB-UART adapter with crossed data lines and common ground:
+
+| Adapter | Flight controller |
+| --- | --- |
+| `RX` | `T2` |
+| `TX` | `R2` |
+| `GND` | `GND` |
+
+Enter `/dev/serial/by-id/<adapter>` in the same configurator's Connection section.
+
+Use UART2's boot-active baud. If its role was changed or recovery disabled it,
+connect over normal USB. Follow [save/reset/reload](../configuration.md#web-configurator)
+before expecting new settings to apply. Disconnect other transmitters from `R2`
+while configuring. Physical motor control is not yet implemented.

docs/src/boards/index.md

@@ -3,10 +3,20 @@
 Board pages describe supported hardware topology, build products, and safe
 verification. They do not declare a board flight-ready.
 
-| Board | MCU family | Primary IMU | MAVLink UART |
+| Board | IMU route | Serial inventory | Factory UART roles |
 | --- | --- | --- | --- |
-| [Kakute F7 Mini V3](kakute-f7-mini-v3.md) | STM32F722 | MPU-6000 | USART1 |
-| [GEPRC GEP-F722-HD V2](geprc-f722-v2.md) | STM32F722 | ICM-42688-P | USART2 |
+| [Kakute F7 Mini V3](kakute-f7-mini-v3.md) | `Mpu6000Spi1` | UART1, UART2, UART3, UART4, UART6 | All disabled |
+| [GEPRC GEP-F722-HD V2](geprc-f722-v2.md) | `Icm42688Spi3` | UART1, UART2, UART3, UART4, UART6 | All disabled |
+
+USB CDC-ACM always uses Kaptan MAVLink and has no configurable role. ROM DFU is a separate flashing mode. UART roles and baud are
+restart-only user settings. Both factories use 115200 baud, endpoint `1/1`,
+20-Hz IMU, 2-Hz heartbeat, 20-Hz range/flow settings and the `Info` log filter.
+Range/flow publications require an enabled sensor source.
+
+See [Configuration](../configuration.md) for role choices, supported baud values,
+save/reset/reload and invalid-storage USB repair. The range-limited DFU workflows
+on these pages preserve the journal outside the application image. Mass erase
+removes saved settings and selects factory values at the next boot.
 
 All board images share the motor-pin inhibit boundary described in
 [Safety boundary](../safety-boundary.md).

docs/src/boards/kakute-f7-mini-v3.md

@@ -1,43 +1,62 @@
 # Kakute F7 Mini V3
 
-The Holybro Kakute F7 Mini V3 board declaration uses the MPU-6000 on SPI1,
-MAVLink telemetry on USART1, and the MTF01 range/optical-flow route on UART4.
+The Holybro Kakute F7 Mini V3 uses the MPU-6000 on SPI1.
 The checked-in manufacturer datasheet is
 `firmware/boards/kakute-f7-mini-v3/datasheet.pdf`.
 
-Its immutable board policy selects the MPU-6000 body-aligned mount, logical
-MAVLink `Serial1`, endpoint `1/1`, 115200 baud, the documented telemetry
-schedule, and an `INFO` optional-log threshold. The platform verifies these
-values against the checked SPI1/USART1/MTF01 typestate route before it enables
-peripherals. They are compiled image policy, not ground-station parameters.
+The board maps MPU axes `(X, Y, Z)` to `(-Y, X, Z)`, matching the manufacturer's
+`KAKUTEF7MINIV3` target, and supplies the driver settings. It declares the UART
+catalog, active-low PD2 LED and no I²C range sensor.
+Before fallible initialization, the platform holds all six documented
+motor pins PB0/PB1/PB4/PB5/PB6/PB7 low.
 
 ## Build and package
 
-From the firmware workspace:
+From the repository root:
 
 ```sh
-cd firmware
-cargo build --release -p kaptan-kakute-f7-mini-v3 --target thumbv7em-none-eabihf
-./scripts/create-dfu-image.sh target/thumbv7em-none-eabihf/release/kaptan-kakute-f7-mini-v3
+make -C firmware/boards/kakute-f7-mini-v3 build
 ```
 
-The packaging script derives the matching binary and linker layout, then
-prints the flash and RAM report.
+The packaging script uses the shared F722 linker layout and prints the flash
+and RAM report before producing the raw binary.
 
 ## Flash over USB DFU
 
+Remove the propellers and disconnect the LiPo before connecting USB. This image
+is linked at the beginning of internal flash and the command below assumes the
+STM32 system-memory ROM DFU loader, not a flash-resident bootloader with an
+application offset.
+
 1. Disconnect USB.
 2. Hold the board's `Boot` button.
 3. Connect USB, then release `Boot` once the STM32 DFU device enumerates.
-4. Flash the generated image:
+4. Disconnect any other STM32 boards in DFU mode and verify that the intended
+   device is the listed `0483:df11` target.
+5. Flash the generated image:
 
 ```sh
-dfu-util --alt 0 --dfuse-address 0x08000000:leave --download target/thumbv7em-none-eabihf/release/kaptan-kakute-f7-mini-v3.bin
+dfu-util --list
+make -C firmware/boards/kakute-f7-mini-v3 flash
 ```
 
-## Telemetry wiring
+## MAVLink over USB
 
-Use a 3.3 V USB-to-UART adapter with crossed data lines and common ground:
+After flashing, release `Boot` and reconnect USB so the application starts and
+enumerates as `Kaptan / Kakute F7 Mini V3`, normally `/dev/ttyACM*` on Linux.
+Then launch the target-described web UI:
+
+```sh
+make configurator
+```
+
+Open `http://127.0.0.1:4861` and connect `/dev/serial/by-id/<kaptan-device>` or
+the discovered `/dev/ttyACM*` path from the Connection section.
+
+## UART connection
+
+First assign UART1 to `KaptanMavlink` over USB, save and restart. Then connect
+a 3.3 V USB-UART adapter with crossed data lines and common ground:
 
 | Adapter | Flight controller |
 | --- | --- |
@@ -45,4 +64,9 @@ Use a 3.3 V USB-to-UART adapter with crossed data lines and common ground:
 | `TX` | `R1` |
 | `GND` | `G` |
 
-This wiring is telemetry only. It does not enable motor control.
+Enter `/dev/serial/by-id/<adapter>` in the same configurator's Connection section.
+
+Use the UART's boot-active baud. If its role was changed or recovery disabled
+UARTs, connect over normal USB. Follow [save/reset/reload](../configuration.md#web-configurator)
+before expecting new settings to apply. Disconnect other transmitters from the
+selected RX pad while configuring. Physical motor control is not yet implemented.

docs/src/configuration.md

@@ -1,102 +1,304 @@
 # Configuration
 
-Kaptan has one generic configuration lifecycle crate, `kaptan-config`. It
-owns descriptors, typed writes, transactions, validation, generations, and
-stores. It does not grow a crate per subsystem. Flight-specific values live in
-the single `kaptan-flight-config` candidate; board electrical topology remains
-in the immutable board declaration.
+`kaptan-config` owns typed fields, validation and the committed-versus-active
+lifecycle. The F722 platform supplies the shared user schema and factory values.
+Boards declare their UART catalog and immutable hardware context. The
+configurator renders target metadata without a board or parameter catalog.
 
-## Current deployment matrix
+## Flight configuration
 
-| Deployment | Configuration consumed today | Remote writes |
+`kaptan-flight-config::CandidateProfile` owns the flight policy, gains, thrust
+model, navigation noise densities and timing constraints. It is consumed by the
+portable runtime and its tests. The board firmware uses its own board schema
+and **KCFG v3** service.
+Field IDs **6, 7 and 25** remain reserved.
+The other field IDs retain their meanings and numbering.
+
+Construct the candidate's raw sections and supply a `NavigationInstallation`
+through `VehicleCapabilities::quad_x`. It declares sources, calibration and
+reference identities, range mounting and quantization, contact geometry,
+magnetic field and local pressure/temperature. Complete validation produces
+the immutable `VehicleProfile`. The current runtime supports Quad-X allocation
+and four equal contact spheres on a body-frame rectangle.
+
+The current controller descriptors include fields 41..44:
+
+| ID | Key | Meaning |
 | --- | --- | --- |
-| `kaptan-sitl serve --config FILE.cbor` | One validated Quad-X profile at process construction. | No live MAVLink endpoint is attached yet. |
-| `kaptan-sitl serve` | The validated factory Quad-X profile. | No persistent store; commits are rejected. |
-| STM32F722 telemetry image | Immutable compiled `BoardConfig` plus checked typestate routes. | Disabled: all inbound MAVLink remains discarded. |
+| 41 | `control.attitude_roll_pitch_gain_per_s` | Roll/pitch attitude gain in 1/s. |
+| 42 | `control.attitude_yaw_gain_per_s` | Yaw attitude gain in 1/s. |
+| 43 | `control.yaw_rate_pid.proportional` | Yaw rate proportional gain. |
+| 44 | `control.yaw_rate_pid.integral` | Yaw rate integral gain. |
 
-The current SITL profile has only settings consumed by its estimator,
-controller, safety supervisor, allocator envelope, or log hub:
+Roll/pitch rate gains use the rate-PID fields. Derivative and contribution limits
+are shared.
 
-- prearm dwell;
-- IMU, local-aiding, and command freshness/timing;
-- position/velocity aiding variance;
-- outer-loop gains and acceleration limits;
-- mass, collective-thrust, and tilt limits;
-- rate PID gains and limits;
-- actuator minimum, maximum, and slew limits; and
-- the restart-only maximum optional log severity.
+Use the generated `kaptan-flight-config::SCHEMA_ID` from the source/build being
+used. Schema identity describes the field contract; it does not qualify a
+physical vehicle or identify calibrated values.
 
-The fixed Quad-X mixer is intentionally not configurable. It is reviewed
-capability data, not an operator-editable array.
+The test fixture has a 10-ms control period, 20-ms control deadline, 250-ms
+maximum command-admission TTL, 300-ms offboard stream timeout and one-second
+fallback hold. Its configured output lifetime ceiling is 50 ms, further limited
+by the 20-ms control deadline and live evidence. The navigation time-error
+ceiling is 2000 us. These are library contracts, not measured F722 timing
+guarantees or a qualified aircraft profile.
 
-Each editable field declares its ID, display key, unit, default, scalar type,
-and local validation in one `#[config(...)]` attribute. The derive generates
-the descriptor registry and local validation from that declaration; the only
-handwritten checks are whole-profile physical relationships such as thrust
-margin, timing ordering, and actuator limits.
+Navigation owns `MAXIMUM_FREE_ACCELERATION_MPS2 = 25`. Complete-profile
+validation checks maximum collective thrust `T_max <= m * (25 - g)` using `f64`
+arithmetic, and requires thrust above weight. The bound applies to free flight,
+not contact impulses. Mixer and installation remain compiled capabilities.
 
-## Immutable F722 board policy
+The 1.2-kg/18-N fixture and its installation values exist only in test support.
+They do not calibrate physical sensors or identify a propulsion system.
 
-The checked-in F722 boards consume these compiled `BoardConfig` settings before
-peripheral initialization:
+## Web configurator
 
-- IMU model and its fixed body mount (`BodyAligned` or `Yaw180`);
-- logical MAVLink port, endpoint IDs, and baud rate;
-- vertical-sensor capability and telemetry schedule; and
-- maximum optional MAVLink log severity.
+Build and flash the board image, boot normally, connect the board's USB port,
+and run from the repository root:
 
-The platform compares that metadata with the selected `F722BoardRoutes` before
-claiming pins, UARTs, DMA, or IRQs. A board declaration therefore cannot claim
-an MPU-6000 while selecting the ICM route, select the wrong serial port or
-mount, or request a baud rate that cannot carry the fixed link budget. The
-physical port, sensor driver, pins, DMA, timers, and calibration are not file
-configuration and are not GCS-editable.
+```sh
+make configurator
+```
 
-F722’s log threshold is immutable board policy. It is deliberately separate
-from the SITL profile’s `observability.maximum_log_level`: the F722 image does
-not construct a runtime `ConfigManager` or profile store.
+Open `http://127.0.0.1:4861`, enter the device path in the Connection section,
+and select **Connect serial**. On Linux the application device normally appears
+as `/dev/serial/by-id/<kaptan-device>` or `/dev/ttyACM0`. For UART, connect a
+3.3 V USB-UART adapter to the board-specific RX/TX pads and enter its device
+path instead.
 
-## One CBOR profile format
+The tool defaults to MAVLink source system `255` and baud `115200`.
+`--source-system` and `--baud` are command-line overrides. Match the adapter baud
+to the UART's boot-active value. For example, from `firmware/`, launch
+`cargo run -p kaptan-configurator --locked --offline -- --baud 230400`.
+Peers sharing a link need distinct nonzero source identities, but those
+identities do not authenticate them.
 
-There is one unreleased raw profile blob format:
+1. Connect and wait for discovery to read both saved and boot-active artifacts.
+   Each field shows **Boot-active**, **Saved** and **Draft** values.
+2. Edit the draft and press **Save**. The target checks the downloaded baseline,
+   validates the complete replacement and persists it. After success, the tool
+   reloads both artifacts to establish the next save's baseline.
+3. To replace saved settings with the target's factory values, press
+   **Reset saved configuration**. This is a persistence operation, not a reboot.
+   It also works when saved state is unknown, provided active metadata was read.
+4. Save and factory reset leave active roles, baud, identity, rates and logging
+   unchanged. When restart is required, manually reset or power-cycle the board,
+   then reconnect and check the reloaded values. A UART may now use another baud
+   or no longer carry MAVLink. Normal USB remains the configuration route.
 
-- it is a CBOR map keyed by the discovered numeric `FieldId`s;
-- key `0` is `profile_format = 1` and reserved key `65535` is the 16-byte
-  `schema_id = "KAPTANPROFILE-01"`;
-- the complete blob is at most 4 KiB; and
-- malformed, trailing, wrong-format, non-finite, out-of-range, cross-field,
-  and capability-invalid values are rejected.
+A stale baseline returns `REQUEST_CONFLICT` without writing flash. The tool
+discards that draft. Disconnect and reconnect to reload before editing again.
+If saved state is unknown, ordinary saves are blocked. Reconnect to inspect it,
+then use factory reset or reboot recovery as described below.
 
-The map is exact: it has those 26 keys once each. Unknown, duplicate, missing,
-or indefinite-map keys are rejected. That keeps the unreleased file contract
-unambiguous instead of silently accepting undeclared extensions.
+A changed save or explicit factory reset synchronously erases a 128-KiB journal
+sector. Flash activity can interrupt telemetry and sensor servicing. The host
+allows five seconds for the final close, which is not a measured erase-time
+guarantee. Keep setup power connected until the operation completes. An unchanged
+ordinary replacement skips flash writes.
 
-There is no migration path because no version has shipped. The raw blob is the
-future GCS import/export representation. The SITL file is a
-private host envelope `[generation, raw-profile-blob]`; it is not an upload
-blob and must not be sent to `IMPORT_*` directly.
+See [MAVLink](mavlink.md) and [Logs](logs.md) for the packet and runtime-log views.
 
-## Future GCS upload contract
+## Board ownership
 
-The custom dialect is prepared for a first-party GCS without borrowing
-`PARAM_*` semantics. A client will:
+Each F722 board selects `F722UserConfig<Catalog, N>`. The shared factory values
+leave every configurable UART disabled. USB always carries Kaptan MAVLink and
+has no configurable role. Board catalogs determine which UART fields exist.
 
-1. send `KAPTAN_CONFIG_INFO_REQUEST` and require the exact protocol, profile
-   format, and schema ID in the correlated `KAPTAN_CONFIG_INFO` reply;
-2. request descriptors and values as needed;
-3. open a transaction with `KAPTAN_CONFIG_BEGIN`;
-4. either issue typed setters or begin a raw-CBOR upload with the advertised
-   schema ID, then send aligned idempotent chunks in any order;
-5. validate and commit; and
-6. treat `COMMITTED_RESTART_REQUIRED` as persistence only, never live
-   activation.
+Both current boards expose MAVLink identity, publication rates, log filtering,
+and `ports` fields from `kaptan-ports`. Range and optical-flow rates are present
+on both boards because either can assign an inventoried UART to MTF01. Their
+streams are enabled only when the selected sensor service supplies them.
 
-An accepted import begin returns a server-issued transfer ID. Every chunk and
-finish request echoes it, preventing delayed data from an earlier transfer
-from entering the current one. The service validates CRC-32C and the entire
-candidate before it replaces the RAM transaction.
+The adjacent `IMMUTABLE_CONFIG` manifest holds:
 
-This is protocol groundwork, not a claim of active aircraft configuration:
-F722 needs authenticated ingress, source binding and replay protection,
-journalled target storage, a disarmed/inhibited activation permit, and atomic
-consumer rebuild/reset before it may accept any configuration command.
+- the IMU route, buses and interrupt wiring
+- sensor mount and driver setup
+- the available serial inventory, status LED and optional I²C range route
+- service-timer frequency.
+
+Motor pins are inhibited at startup. The board images have no physical actuator
+driver.
+
+UART roles and baud are writable settings applied only at boot. Each inventoried
+UART supports `Disabled = 0`, `KaptanMavlink = 1` (`Role::Mavlink`), and
+`Mtf01 = 2`. Disabled ports do not initialize their peripheral or pins.
+One board-owned `PortCatalog<N>::DESCRIPTORS` array supplies both
+`Ports<Catalog, N>` metadata and `SerialInventory`. The same const `N` sizes the
+boot plan, I/O slots and protocol slots. An absent UART has no slot or field.
+A declared but disabled UART retains its bounded slot storage.
+
+| Keys | Role / baud field IDs | MCU TX / RX | Board inventory |
+| --- | --- | --- | --- |
+| `ports.uart1.role`, `ports.uart1.baud` | 201 / 202 | PA9 / PA10 | Both |
+| `ports.uart2.role`, `ports.uart2.baud` | 203 / 204 | PA2 / PA3 | Both |
+| `ports.uart3.role`, `ports.uart3.baud` | 205 / 206 | PB10 / PB11 | Both |
+| `ports.uart4.role`, `ports.uart4.baud` | 207 / 208 | PA0 / PA1 | Both |
+| `ports.uart6.role`, `ports.uart6.baud` | 211 / 212 | PC6 / PC7 | Both |
+
+Roles are native `u8` values and baud is `u32`. The F722 allowlist is exactly
+**115200, 230400, 460800**. Intermediate values are rejected even though the
+displayed bounds span that range. The current MTF01 driver requires **115200**.
+At most one UART may use MTF01, and it cannot coexist with the immutable I²C
+range source. These restrictions come from current platform capabilities.
+
+Whole-candidate validation checks resource conflicts and the enabled publication
+schedule against the 100-Hz service budget. Each MAVLink UART must also carry
+the scheduled framing-inclusive bytes at 8N1. This is an admission check, not a
+delivery guarantee for unscheduled file or diagnostic traffic. USB has no role
+or baud field. See [Boards](boards/index.md) for factory assignments.
+
+## Recovery and activation
+
+`ConfigManager::recover_with` owns recovery state. F722 supplies an explicit
+setup policy that validates factory settings with all UART roles disabled when
+stored settings cannot be activated. Normal USB MAVLink is initialized
+independently of the UART plan. It is not ROM DFU, and its availability still
+depends on successful clocks, USB hardware and application initialization.
+
+- Empty storage selects the board factory configuration.
+- Readable but invalid committed settings remain available for inspection and
+  repair through USB. The boot-active export shows the UART-disabled fallback.
+- Unreadable storage or a storage error leaves committed state **unknown**.
+  Active values and factory metadata remain readable. Ordinary writes are
+  blocked until reboot recovery establishes a baseline or factory reset succeeds.
+
+Fallback selection never rewrites storage. A persistence error also makes the
+committed view unknown because the attempted write may already be durable.
+Reboot may therefore activate that attempted value. Explicit factory reset
+always writes the validated factory, even if values appear unchanged. A failed
+reset leaves durability unknown. Neither operation changes the immutable
+boot-active view or its boot diagnostic.
+
+## Configuration endpoints
+
+| Path | Access | Meaning |
+| --- | --- | --- |
+| `/config/user.kcfg` | Read/write | Read the known committed values. Write a complete replacement guarded by its expected base. |
+| `/config/active.kcfg` | Read-only | Inspect the actual boot selection, including recovery fallback. |
+| `/config/reset.kcfg` | Write-only | Accept only exact factory requested values. Ignore the expected base and force persistence. |
+
+Reset still requires a complete schema-matching KCFG artifact. The configurator
+builds it from active metadata. There is no file command to reboot or activate
+settings live.
+
+## KCFG artifact
+
+KCFG is the public, canonical import/export representation. It is independent
+of MAVLink and of the private storage format. A file contains:
+
+- `KCFG` magic, format version **3** and a restart flag
+- generated 16-byte schema identity and exact field count
+- one record per field with ID, native kind, requested/current value, factory
+  value and expected-base value at native width, plus field flags, bounds,
+  display key, unit and enum choices
+- a big-endian CRC-32C trailer covering the preceding artifact bytes.
+
+Exports put the selected view's value in both current and expected-base slots.
+Edits change only requested values. On ordinary save, the manager compares every
+expected-base scalar's native kind and bits with current committed values before
+whole-candidate validation, no-op detection or persistence. This is a full-value
+compare-and-swap (CAS). Native-kind-and-bit equality also governs no-op and
+restart comparisons. Positive and negative floating-point zero differ, while
+identical NaN payload bits compare equal when the field's rules allow NaN.
+It is not a CRC, generation counter or history check. A change away from and
+back to the same values still matches.
+
+Field flag bits 0 and 1 indicate minimum and maximum bounds. Bit 2 is `finite`
+and bit 3 is `nonzero`. Other bits are reserved zero. These constraints are
+independent: `finite` rejects NaN and infinities, while `nonzero` rejects numeric
+zero, including both floating-point signed zeros. `nonzero` alone does not imply
+finite values. Any declared floating-point range rejects NaN as unordered even
+without `finite`. Infinities are subject to the declared bounds and `finite`
+rule. These flags are descriptor metadata and contribute to schema identity.
+
+The configurator exchanges floating-point values with the browser as strings.
+Finite decimal strings preserve signed zero. Nonfinite values use exact IEEE
+bit strings, `bits:0x` followed by 8 hexadecimal digits for `f32` or 16 for `f64`,
+preserving NaN sign and payload. This representation does not bypass validation.
+
+CRC-32C detects accidental corruption. The big-endian trailer avoids the fixed
+residue produced by a little-endian reflected CRC under the outer transfer CRC,
+but neither checksum proves unique content or authenticates a peer.
+
+An imported file must match the target-generated schema, descriptor metadata,
+factory values, field order, native scalar kinds, and exact length. Unknown,
+duplicate, missing, malformed, noncanonical, out-of-range, and relationally
+invalid requested values are rejected. The target stages typed requested and
+expected-base candidates with a small parser state, not a whole-file buffer.
+Exports are generated by range from metadata and the selected view, with one
+length/checksum plan prepared at open.
+
+The board-agnostic `decode_kcfg` API instead borrows a complete input artifact
+and requires caller-owned 8192-byte field-ID scratch. Hosted callers can allocate
+that bitmap directly on the heap. Decoding visits fields once, with work
+O(input bytes + 8192), and the returned view borrows only the input, so scratch
+is immediately reusable. This dynamic decoder is distinct from the bounded
+typed streaming importer used by firmware.
+
+Schema identity detects schema mismatch. It is not a device identity,
+authentication token or proof of all hardware compatibility. Complete-candidate
+validation against the immutable context remains authoritative.
+
+The restart bit reports manager state, including on the active export. It is not
+an upload instruction. The target derives it from committed versus boot-active
+values, or sets it when durable state is unknown.
+
+## Generic file dialect
+
+Kaptan uses custom `FILE_CONTROL` and `FILE_DATA` messages rather than standard
+MAVLink FTP or configuration-specific messages.
+
+`FILE_CONTROL` opens, closes, aborts, and acknowledges a transfer. It
+carries a client-selected nonzero `u16` transfer ID, exact target, position,
+complete file size, CRC-32C, operation/status, and at most 64 bytes of path or
+result detail. A peer does not reuse an ID during the ten-second replay lease.
+A new ID from the same source and ingress may supersede an open only before the
+first byte advances. A progressed abandoned transfer stays pinned until expiry.
+`FILE_DATA` uses the full MAVLink payload budget for a
+246-byte chunk. The logical final-chunk length follows from the opened file
+size, so no redundant length field is sent with every data packet. An upload
+request carries status `UNSPECIFIED`; a read-data response carries status `OK`.
+All failures remain typed `FILE_CONTROL` responses.
+
+One stop-and-wait transfer is shared across all links. Ownership includes the
+claimed source system/component and the platform-supplied ingress identity.
+Chunks are sequential. Immediate retries compare exact retained bytes, not just
+checksums. Conflicting retries are rejected. Accepted owner activity renews the
+ten-second monotonic lease, while rejected traffic does not. Expiry aborts staged
+provider state. A receive discontinuity resets framing without itself releasing
+the file lease. Responses use the requesting link.
+
+For either writable KCFG endpoint, a successful close has generic status `OK`
+and an authoritative seven-byte KCFG result prefix:
+`flags:u8 | primary_field:u16 LE |
+related_field:u16 LE | validation_rule:u16 LE`. Flag bit 0, when set, means a
+restart is required, and every other flag bit is reserved zero. The field
+sentinel is `0xffff`. Rule zero means no rule.
+KCFG `CONTENT_REJECTED` responses use the same prefix and may append bounded
+UTF-8 detail. The configurator rejects a successful close with a missing,
+malformed, or failure-bearing prefix. The file layer passes these bytes through
+without interpreting them.
+
+See [MAVLink](mavlink.md) for the local-link trust boundary.
+
+## Private persistence
+
+The F722 private storage format is independent of the public KCFG artifact.
+
+### F722 flash journal
+
+F722 stores a `KCSP` scalar snapshot inside a two-slot journal.
+Each entry stores its stable field ID, scalar kind and value at native width. Each
+journal record includes payload length, CRC-32C, commit marker, and a private
+monotonic sequence. Saving erases the inactive slot, programs and verifies the
+complete replacement, and writes the commit marker last. The previous valid
+slot remains recoverable across power loss until that point.
+
+Only two complete records can exist: the old committed value and its
+replacement. Saves do not append history. The sequence is storage metadata used
+only to select the newer valid slot if both slots survive; it is never exported
+through KCFG or shown in the UI.
+
+There is no migration path because no configuration version has shipped.

docs/src/development.md

@@ -1,46 +1,133 @@
 # Development and verification
 
-## Fast host checks
+Use the locked Nix shell. Run Cargo from `firmware/`, which pins Rust 1.90.0.
+Keep total Cargo concurrency at two jobs. `make help` lists repository commands.
+
+## Setup and required gates
+
+From the repository root:
 
 ```sh
-cd firmware
-cargo test --workspace --offline
-cargo clippy --workspace --all-targets --offline --exclude kaptan-geprc-f722-v2 --exclude kaptan-kakute-f7-mini-v3 -- -D warnings
-cargo clippy -p platform-stm32f7 --all-targets --offline -- -D warnings
-cargo fmt --check
-git diff --check
+nix develop -c sh -c 'cd firmware && cargo fetch --locked'
+nix develop -c rustup toolchain install nightly-2025-08-01 \
+  --profile minimal --component llvm-tools-preview
+nix develop -c make verification-tools
+nix develop -c make verification
 ```
 
-## Target checks
+Setup needs network access. Verification uses offline dependencies and runs
+host, target, board, coverage, Miri and Kani gates sequentially. Kani runs one
+harness at a time. Firmware CI runs
+the same command and retains evidence on failure. Keep source fixed during a run.
+
+| Command, inside `nix develop` | Scope |
+| --- | --- |
+| `make pre-commit` | Formatting, host tests, host/embedded Clippy, API docs and mdBook. Does not run coverage. |
+| `make -C firmware target-checks` | Sensor-free consumers, the portable runtime on ARM, and linked RTIC cross-route fixtures. |
+| `make boards` | Both release board images and final-image placement checks. |
+| `make coverage` | Strict core line/branch gate and informational totals for other host crates. |
+| `make miri` / `make kani` | Manifest-selected checks with their own evidence receipts. |
+| `make verification-inventory` | Package ownership, property claims, assumptions and gaps. |
+| `env CARGO_BUILD_JOBS=1 make -j1 -C docs check` | Test examples and render mdBook. Review changed links and anchors separately. |
+
+Host gates exclude the two bare-metal boards and include platform contracts.
+They enable `kaptan-navigation/sensor-snapshots`. Navigation itself is unconditional.
+Host platform tests must not invoke MMIO. Rust 1.90.0 runs all doctests and
+compile-pass/fail fixtures. The test gate also runs the configurator's Node tests,
+Python script tests, release-LTO final-link cases and the UTF conversion helper.
+
+Run the native helpers separately with `make -C firmware native-test` and
+`make app-native-test`. The default artifact directories are
+`firmware/target/native-tests/final-link/` and `target/native-tests/utf8/`.
+`CARGO_TARGET_DIR` relocates them. The UTF helper uses a host
+API stub and 16-bit `wchar_t`; it does not build the Windows runner. See the
+[final-link fixture](../../firmware/libs/kaptan-err-reportable-macros/tests/final_link.md)
+for its archive-extraction limit.
+
+## Evidence and proof scope
+
+[verification.toml](../../firmware/verification.toml) owns exact tool versions,
+package/harness selection, required covers, claims, assumptions and gaps. Every
+workspace package must have one verification area.
+
+By default, each run creates a new directory under `firmware/target/verification/`. It retains
+tracked and nonignored untracked source, hashes, Git state, commands, tool
+identities, logs, Kani exports, successful coverage reports, board ELF/binary
+artifacts and `receipt.json`. Source drift fails the receipt. To choose a fresh
+output directory:
 
 ```sh
-cd firmware
-cargo check -p kaptan-geprc-f722-v2 --release --target thumbv7em-none-eabihf --offline
-cargo check -p kaptan-kakute-f7-mini-v3 --release --target thumbv7em-none-eabihf --offline
+nix develop -c python3 firmware/scripts/verify.py all --output /tmp/kaptan-review
 ```
 
-## Strict core coverage
+Miri checks executed paths and schedules, not all interleavings or physical DMA.
+Kani checks the manifest's component contracts with default checks and unwind
+assertions enabled. Required covers must be satisfied. Missing results, timeouts,
+unsupported operations and unexpected failures fail the gate.
+
+The PID result has one qualification: finite operands can overflow to opposite
+infinities whose sum is NaN. The implementation rejects that intermediate value
+before changing state. Kani's raw verdict remains `Failure`. The runner accepts
+only the exact declared diagnostic, function and location, with the contract
+assertions and covers satisfied. Reviewed unreachable automatic checks are
+recorded separately. No check is disabled or input domain narrowed. A passing
+repository receipt therefore does not mean every raw Kani verdict passed.
+
+These checks do not establish numerical accuracy, vehicle stability, arbitrary
+safety histories, MMIO behavior or MCU timing. Kani's
+[UB coverage](https://model-checking.github.io/kani/undefined-behaviour.html) and
+[floating-point models](https://model-checking.github.io/kani/rust-feature-support.html#floating-point-operations)
+have further limits. Source review and independent numerical evidence remain
+required. No certification or tool qualification is claimed.
+
+## Compiler contracts
+
+| Contract | Enforcement and limit |
+| --- | --- |
+| Frames, rotation direction and position versus velocity | Distinct types and compile-fail examples. Raw sensor labeling still needs validation. |
+| Allocator motor count | Const-generic dimensions. These do not establish physical mixer geometry. |
+| Validated configuration and output authority | Private fields and distinct types, with compile-fail examples. Constructors and current admission policy remain responsible for validation. |
+| Numerical-core unsafe operations | `forbid(unsafe_code)` in math, navigation, control, safety and runtime. Dependencies and generated export attributes remain separate boundaries. |
+| Representation limits | Const assertions for navigation masks, field counts, runtime size and board storage. Object size does not measure peak stack. |
+| Schemas and UART catalogs | Derive diagnostics and const validation. Received settings still need runtime validation. |
+| Shared resources | Rust ownership and RTIC's resource graph. Device completion, barriers and MMIO validity remain hardware obligations. |
+| Error IDs and flash-busy placement | Release final-link fixtures and packaged ELF checks, within their documented linker scope. |
+
+Strict Clippy retains unsafe-operation and undocumented-unsafe-block lints.
+A target or feature excluded from a build is not checked by that build.
+
+## Coverage
+
+`cargo-llvm-cov 0.8.7` comes from the locked Nix shell. The script selects
+`nightly-2025-08-01`, its matching LLVM tools and the `dev` profile. Normal gates
+keep Rust 1.90.0. Reports default to `firmware/target/test-coverage/`; an absolute
+`CARGO_TARGET_DIR` relocates them. The verification runner uses a separate build directory.
+
+Math, navigation, control and safety require 100% lines and branch outcomes.
+Empty denominators fail. The summarizer unions LCOV source lines and LLVM branch
+spans across generic instantiations. Other totals are informational, but any
+test/report failure fails the gate. An absent instrumented host body is unavailable.
+
+All host-testable members are included. Navigation enables `sensor-snapshots`
+and MAVLink enables `sensor-telemetry`. Compiler-diagnostic fixtures remain on
+Rust 1.90.0: coverage selects `--lib --test section` for `kaptan-config-derive`
+and `--lib` for `kaptan-err-reportable-macros`. Their reported runtime coverage
+does not establish compiler-phase macro coverage.
+
+## Ground suite builds
+
+The separate locked shell supplies Flutter, Dart and desktop dependencies:
 
 ```sh
-cd firmware
-scripts/report-test-coverage.sh
+nix develop .#ground-suite
+cd ground_suite
+flutter pub get --enforce-lockfile
+dart format --output=none --set-exit-if-changed lib
+dart analyze
+flutter analyze --no-pub
+flutter build web --release --no-pub
+flutter build linux --release --no-pub
 ```
 
-The strict gate requires 100% line and branch coverage for `kaptan-math`,
-`kaptan-navigation`, `kaptan-control`, and `kaptan-safety`. It isolates each
-core package's coverage artifacts, unions LCOV source-line records, and uses
-full LLVM source spans to merge generic branch instantiations without lowering
-the gate.
-
-## Simulation acceptance
-
-```sh
-cd firmware
-python3 tools/sitl/world-structure-test.py
-python3 -m unittest tools/sitl/test_kaptan_sim.py
-tools/sitl/e2e-smoke.sh
-```
-
-The Docker smoke is intentionally separate from host unit tests because it
-builds the pinned base images, Rust binary, Gazebo plugin, and full loopback
-plant.
+The app currently has no widget-test suite. Windows and macOS need their native
+build and runtime checks.

docs/src/errors.md

@@ -1,52 +1,107 @@
 # Errors
 
-Public Kaptan error enums derive the pure `KaptanError` implementation:
+Public reportable Kaptan error enums derive `KaptanError`:
 
-```rust
-#[derive(Debug, kaptan_log::KaptanError)]
+```rust,ignore
+#[derive(Debug, kaptan_err_reportable::KaptanError)]
 enum SensorError {
+    #[kaptan_error(id = 12345)]
     TransferFault,
+    #[kaptan_error(id = 12346)]
     UnexpectedIdentity(u8),
 }
+
+#[kaptan_err_reportable::propagate]
+fn service_sensor() -> Result<(), SensorError> {
+    read_sensor()?;
+    Ok(())
+}
 ```
 
-The derive implements `core::error::Error`, `Display`, and `ErrorReport`. It
-creates a static `module::Type::Variant` error path without allocating,
-publishing telemetry, exposing generic source values, or changing safety
-state. Renaming a module, type, or variant changes that path; it is not a
-stable machine protocol identity.
+The derive implements `core::error::Error`, `Display`, and `ReportableError`. It
+requires a nonzero explicit ID on every variant and retains no type, variant,
+or module string. `Display` renders the decimal ID. Renaming, moving, or
+reordering a Rust variant therefore does not change its receiver contract.
+Missing and same-enum duplicate IDs are rejected by the derive. Reusing an ID
+across error enums generates the same reserved symbol. Collision detection
+requires both defining objects to participate in compilation or final linking.
+It does not inspect unextracted archive members or prove catalog-wide uniqueness.
+Stable ID allocation still requires review.
 
-Normal-task code may use `log::error!("{error}")`; it is routed as a bounded
-`KAPTAN_ERROR`. ISR-adjacent flight paths may enqueue the derived static
-message through their existing bounded mailbox. Neither route is a replacement
-for safety state, actuator inhibit, or typed configuration results.
+The [final-link fixture](../../firmware/libs/kaptan-err-reportable-macros/tests/final_link.md)
+checks Rust 1.90.0 release fat-LTO and native Linux static-library links.
+Run it with `make -C firmware native-test`. Each run retains its results and
+Rust compiler identity in `results.txt`.
+
+`#[kaptan_err_reportable::propagate]` turns an annotated function into a
+reporting point. If a reportable `Err` leaves that function, the attribute makes
+one nonblocking admission attempt and returns the exact same `Err` to the
+caller. The record contains the final converted error ID and the compile-time
+`file:line` of that reporting point. This is where the `Err` enters
+diagnostics, not necessarily the line where a deeper callee originally
+constructed it. `?`, explicit returns, result aliases, and `From` conversion
+retain their normal Rust behavior. An error handled inside the function is
+silent.
+
+## Stable IDs
+
+Production error IDs are plain decimal numbers from `1` through `59999`.
+Values from `60000` through `65535` are reserved for tests, and `0` is
+invalid. Once issued, an ID is never renumbered or reused, even if its error
+variant is removed. Adding a variant therefore requires allocating a new ID;
+renaming, moving, or reordering an existing variant keeps its assigned ID.
+The example numbers above are illustrative and must be replaced with
+unallocated catalog values when used in production code.
+
+Only the intended reporting point is annotated. If nested functions are both
+annotated, each function makes its own report attempt; the ingress does not
+mark or mutate error values to deduplicate them. Expected validation,
+backpressure, retry, and untrusted-input results remain unannotated. In
+particular, transient SPI/I²C `Busy` and unavailable range measurements stay
+inside their service retry/idle paths. In contrast, every logging
+macro—including `kaptan_log::error!`—produces only
+`LOG`. Error reporting is not a replacement for safety state,
+actuator inhibit, or typed configuration results.
+
+`kaptan-err-reportable` owns reportable-error identity and its independent
+one-slot ingress. A pending record contains only the compact ID and a static
+reference to the reporting point's `file:line`. The MAVLink adapter copies that
+location into its fixed field when constructing `ERROR`. Producers never
+encode or transmit MAVLink themselves. Admission is bounded and lossy if a
+different reportable error is already pending.
 
 ## What the receiver sees
 
-- Configuration writes receive authoritative structured failures through
-  `KAPTAN_CONFIG_RESULT`: operation, lifecycle state, field IDs, validation
-  rule, and protocol error code.
-- Runtime driver and link faults reach the F722 MAVLink worker as a
-  `KAPTAN_ERROR` path, subject to bounded transport admission. The error
-  payload is `{ flags, path_length, additional_information_length, path[96],
-  additional_information[64] }`; each length identifies the valid UTF-8
-  prefix and the optional information field may be empty. A `KaptanError`
-  derive supplies the type/variant path and normally leaves additional
-  information empty. `log::error!` uses the Rust log target as the path and
-  the formatted message as additional information.
-- A rejected configuration operation may enqueue a companion `KAPTAN_ERROR`
-  whose path is the high-level `ProtocolError` identity. It is intentionally
-  not correlated and carries no field/rule detail; the matching
-  `KAPTAN_CONFIG_RESULT` remains the sole precise authority.
-- Control, navigation, safety, and simulator error types are derive-ready but
+- A rejected KCFG upload receives an authoritative `FILE_CONTROL`
+  status and bounded readable detail. Invalid user content is not a firmware
+  error. A durable-storage failure additionally emits one stable
+  `PersistConfigurationError` ID that distinguishes journal geometry, model,
+  sequence, flash-controller, bounds, unlock, and verification
+  failures. Replaying the cached close result does not repeat the report or
+  flash operation. Any persistence error makes committed state unknown and
+  blocks ordinary saves until reboot recovery or a successful explicit factory
+  reset. Boot-active values remain unchanged.
+- A stale KCFG expected base returns `REQUEST_CONFLICT` before persistence.
+  It is a reload-required editing conflict, not a reportable firmware error.
+  Invalid boot configuration uses the UART-disabled USB setup path and retains
+  readable saved values for repair. See [Configuration](configuration.md).
+- SPI completion errors never copy partial data into the caller's receive
+  buffer. If bounded shutdown cannot establish quiescence, the SPI route
+  quarantines its static DMA storage and refuses further transfers. This is
+  distinct from transient `Busy`. Physical SPI shutdown and fault behavior
+  remain hardware-validation work.
+- Reported `ReportableError` values reach the F722 MAVLink worker as a
+  `ERROR`, subject to bounded transport admission. The payload is
+  `{ error_id, raised_at[96] }`. `raised_at` is a zero-padded UTF-8
+  `file:line` prefix for the reporting point.
+  Dynamic human-readable context belongs in `LOG`, while
+  structured protocol failures remain in their owning response message.
+- Control, navigation and safety error types are derive-ready but
   their live owners are not yet attached to a MAVLink worker.
-- `KAPTAN_SHUTDOWN`, defined in `definitions/kaptan/shutdown.xml`, represents
-  only a future completed orderly,
-  output-inhibited shutdown. It is not a shutdown request, panic, hard-fault,
-  reset, or retention-record protocol. F722 still uses `panic-halt`; it does
-  not claim a live panic frame or retained-record replay.
+
+F722 uses `panic-halt`, without live panic reporting or retained-record replay.
 
 No diagnostic message may synchronously transmit from a panic handler, hard
 fault, ISR, DMA callback, or motor-inhibit path. A later target integration
 must inhibit outputs first, persist a validated crash record, then report it
-only after the next boot’s static board telemetry is available.
+only after MAVLink is available on the next boot.

docs/src/getting-started.md

@@ -4,27 +4,51 @@
 
 Use the firmware toolchain, Rust 1.90. The firmware workspace declares the
 embedded F7 targets and `llvm-tools-preview` in `firmware/rust-toolchain.toml`.
+The repository development shell also supplies `dfu-util` and the checked
+`mdbook` version:
 
-For host development, run:
+```sh
+nix develop
+```
+
+From the repository root, discover the developer commands with:
+
+```sh
+make help
+```
+
+Fetch the pinned Rust dependencies once before the offline checks:
 
 ```sh
 cd firmware
-cargo test --workspace --offline
-cargo clippy --workspace --all-targets --offline --exclude kaptan-geprc-f722-v2 --exclude kaptan-kakute-f7-mini-v3 -- -D warnings
+cargo fetch --locked
+```
+
+From the repository root, run the checks with:
+
+```sh
+make pre-commit
+make coverage
 ```
 
 Bare-metal board packages are not host-test targets. Check them with the
 target-specific commands in [Development and verification](development.md).
+Pre-commit does not run coverage. The separate required coverage gate needs
+the dated nightly setup documented there. Shared navigation and sensor snapshot
+conversion remain covered through `kaptan-navigation/sensor-snapshots`.
+
+For the app, enter `nix develop .#ground-suite`. Its locked Flutter and Dart
+tools are separate from the firmware shell. App analysis
+and web/Linux build commands are listed in the development guide.
 
 ## Repository layout
 
 | Path | Responsibility |
 | --- | --- |
-| `firmware/boards/` | Immutable board declarations and linker layouts. |
-| `firmware/platforms/stm32f7/` | Reviewed F722 RTIC platform and peripheral ownership. |
+| `firmware/boards/` | Hardware declarations, UART catalogs and image roots. |
+| `firmware/platforms/stm32f7/` | F722 RTIC platform, user schema, factory values, peripheral ownership and linker layout. |
 | `firmware/libs/` | Typed math, estimation, control, safety, protocol, and driver crates. |
-| `firmware/tools/sitl/` | Host-only closed-loop Gazebo simulation. |
-| `ground-suite/` | Desktop ground-control application. |
+| `firmware/tools/configurator/` | Board-agnostic loopback web UI and serial bridge. |
 | `docs/` | This Markdown documentation site. |
 
 Do not add board-local READMEs. Add a page here instead, then link it from

docs/src/ground-suite.md

@@ -1,72 +0,0 @@
-# Ground Suite
-
-`ground-suite/` is Kaptan's desktop Flutter application. Its primary
-workspace is the Tactical Command surface: a spatial local scene, local units,
-and session-local drawings and markers. The decoded diagnostic event stream is
-always reachable from the tactical header.
-
-## Application model
-
-The core model keeps these concepts independent:
-
-- **Vehicle definition** — immutable reviewed profile, catalog identity, and
-  bundled presentation media.
-- **Local fleet unit** — an operator-created instance of a vehicle definition.
-  Local-unit IDs and in-memory planning placements belong to the workspace,
-  not the vehicle definition. Current placement is local presentation data and
-  is not yet persisted.
-- **Received vehicle data** — transport input and diagnostic events. It cannot
-  create, position, identify, or authorize a local fleet unit.
-
-This separation gives the fleet interface a stable path from local planning to
-future live operation without coupling visual selection to incoming telemetry.
-
-## Tactical workspace
-
-The default route is Tactical Command. Its map-edge `UNITS`, `CURSOR`, and
-`VIEW` groups are local interactions, not MAVLink controls. `Selection cursor`
-is the default mode for map and rectangle selection. `Pencil cursor` creates
-session-local freehand strokes; its top toolbar controls hue, saturation,
-brightness, and thickness. `Marker cursor` has an independent full-color
-style and creates a named local marker only after a map click and explicit
-save. The shared disclosure keeps local scene data,
-vehicle link state, and command authority separate. Local drawings and markers
-are never reported vehicle positions.
-
-`Add local unit` opens the horizontal local hangar. Choosing a definition only
-prepares a local unit draft; the explicit setup confirmation creates and
-selects a locally scattered scene unit, without asking the operator to click
-the map. Local setup currently permits only the workspace label. Vehicle
-configuration remains unavailable until verified binding, compatible schema,
-command authority, and safe activation are available. This presentation
-placement is temporary until reviewed MAVLink position data can drive a
-distinct reported-position layer. The right inspector and bottom selection
-console are available outside the map for keyboard and assistive-technology
-access. These interactions create only session-local workspace data.
-
-## Architecture
-
-```text
-VehicleDataPort -> typed observation updates -> observability state -> event stream
-Vehicle catalog -> local-unit workspace state -> tactical scene and unit inspector
-```
-
-The transport path and local-fleet path intentionally meet only through future
-explicit bindings. A future MAVLink adapter combines pinned MAVLink Common and
-Kaptan dialect definitions at the decoding boundary.
-
-## Follow-up work
-
-- TODO(gcs-fleet-storage): versioned persistence for local units and catalog
-  identities.
-- TODO(gcs-source-binding): explicit source-to-unit binding.
-- TODO(gcs-map-pose): coordinate datum, timestamped pose, uncertainty, and
-  staleness handling for physical map placement.
-- TODO(gcs-map-renderer): owned Linux GPU map host, pinned MapLibre assets,
-  and reviewed vector/DEM data source.
-- TODO(gcs-platform-match): compare reported build/schema metadata to the
-  local definition.
-- TODO(gcs-command-surface): add command interaction only with its reviewed
-  authority, target-binding, and safety contracts.
-- TODO(gcs-catalog): generate installed definitions and category metadata from
-  reviewed firmware build manifests.

docs/src/index.md

@@ -1,36 +1,22 @@
 # Overview
 
-Kaptan is an embedded Rust flight-controller project. This manual is the
-single source of project documentation: board support, safety boundaries,
-simulation, development workflow, and design references live here as
-Markdown.
+Kaptan is an embedded Rust flight-controller project.
 
-> **Status:** the checked-in firmware is telemetry-only. It does not expose
-> physical motor authority, and this site does not make a physical-flight
-> release claim.
+> **Status:** The board images do not yet run the flight runtime or implement
+> motor drivers. Motor pins are inhibited at startup. Physical flight has not
+> been qualified.
 
 ## Index
 
 - New contributors should read [Getting started](getting-started.md).
-- Firmware source and its Rust workspace begin in `firmware/`; the desktop
-  application is a sibling project in `ground-suite/`.
+- Firmware source and its Rust workspace begin in `firmware/`.
 - Board work belongs under [Boards](boards/index.md).
-- The currently supported closed-loop simulation is [Host SITL](sitl.md).
-- [Configuration](configuration.md) distinguishes the current SITL profile
-  from immutable F722 board policy.
-- [Logs](logs.md) and [Errors](errors.md) describe the custom MAVLink
-  observability surface and its current safety scope.
+- [Configuration](configuration.md) explains target-described user settings
+  and immutable F722 hardware policy.
+- [Logs](logs.md) and [Errors](errors.md) describe MAVLink diagnostics.
 - Before submitting changes, follow [Development and verification](development.md).
 
 ## Documentation conventions
 
-Documentation is centralized in `docs/src/`; individual crates and board
-directories do not carry README files. The top-level `firmware/README.md`
-only defines the firmware workspace boundary. Keep pages in Markdown, add each
-page to `SUMMARY.md`, and place commands beside the assumptions and safety
-boundary they depend on.
-
-The current configuration contract is intentionally deployment-specific. A
-SITL Quad-X profile is a bounded restart-only CBOR snapshot; F722 hardware
-selection remains immutable board policy. Neither is permission for an
-operator to substitute runtime values or bypass an immutable safety decision.
+Keep documentation in `docs/src/`, add pages to `SUMMARY.md`, and place commands
+beside their prerequisites.

docs/src/logs.md

@@ -1,68 +1,89 @@
 # Logs
 
-Normal host/SITL task code can use the standard facade:
+Logging macros work on host and flight targets:
 
-```rust
-log::debug!("estimator waiting for IMU");
-log::info!("configuration loaded");
-log::warn!("range aid stale");
-log::error!("sensor transfer failed"); // emitted as KAPTAN_ERROR
+```rust,ignore
+kaptan_log::debug!("estimator waiting for IMU");
+kaptan_log::info!("configuration loaded");
+kaptan_log::warn!("range aid stale");
+kaptan_log::error!("sensor transfer failed");
+kaptan_log::trace!("prediction step complete");
 ```
 
-`kaptan-log` formats once into a fixed bounded buffer, queues locally, and
-never sends MAVLink, allocates, blocks, changes flight state, or touches DMA.
-The sole MAVLink worker drains admitted records. F722 deliberately does not
-link this facade in ISR, DMA, control, actuator, panic, hard-fault, or shutdown
-contexts; those paths use static fault mailboxes that the worker turns into
-messages later.
+All five macros emit `LOG`; their level never selects a different wire
+message. When a reportable firmware error escapes a
+`#[kaptan_err_reportable::propagate]` function, it makes one bounded admission attempt
+to the separate `ERROR` ingress.
+
+`kaptan-log` formats each event once into fixed 160-byte UTF-8 storage. Its core
+storage and admission paths use no allocation or blocking, and do not send
+MAVLink, change flight state or touch DMA. Formatting invokes caller-supplied
+`Display` implementations, which may allocate, block, ignore `fmt::Error` or do
+unbounded work. Overflow stops formatters that propagate the error and latches
+truncation even if a formatter ignores it. Bounded storage is not a universal
+worst-case execution-time guarantee. Producers must choose formatters suitable
+for their execution context.
+
+The composition fans the event into each enabled sink. The MAVLink worker drains
+its bounded sink queue. Reportable-error records contain the explicit ID and a
+static reference to the reporting point until the MAVLink adapter copies its
+`file:line` into the 96-byte `raised_at` field.
+Logs and reportable errors use independent fixed atomic
+ingresses; interrupt and worker producers make one nonblocking admission
+attempt, and only the MAVLink worker encodes or transmits a retained event.
+Panic and hard-fault paths still do not attempt live telemetry.
 
 ## Receiver contract
 
-`definitions/kaptan/log.xml`, `definitions/kaptan/error.xml`, and
-`definitions/kaptan/shutdown.xml` separate ordinary logs, errors, and
-orderly-shutdown observations:
+`definitions/publish/log.xml` and `definitions/publish/error.xml` define the
+separate ordinary-log and reportable-error publications:
 
 ```text
-KAPTAN_LOG { level, flags, message_length, message[160] }
-KAPTAN_ERROR {
-  flags, path_length, additional_information_length,
-  path[96], additional_information[64]
+LOG { level, flags, message_length, message[160] }
+ERROR {
+  error_id, raised_at[96]
 }
-KAPTAN_SHUTDOWN { reason }
 ```
 
 A GCS decoder generated from the same `kaptan.xml` revision must validate
-`message_length <= 160` for `KAPTAN_LOG`, and `path_length <= 96` plus
-`additional_information_length <= 64` for `KAPTAN_ERROR`, before slicing the
-fixed arrays into UTF-8 prefixes. Generated MAVLink framing alone does not
-enforce these semantic length fields. `KAPTAN_LOG` displays its text at the
-MAVLink severity in `level`; `TRACE` is encoded as `DEBUG` plus the `TRACE`
-flag.
-`KAPTAN_ERROR` is error-only and accepts only `TRUNCATED` and `COALESCED`; a
-`TRACE` bit is never emitted there. Unknown future flag bits must be ignored.
+`message_length <= 160` for `LOG`. `ERROR.raised_at` is a
+zero-padded UTF-8 `file:line` prefix; receivers use bytes before the first zero,
+or the complete field when no zero is present.
+`LOG.level` is the typed severity-ordered Kaptan wire enum Trace (1), Debug
+(2), Info (3), Warn (4), or Error (5). Off (0) is a filter-only sentinel and
+is never emitted as a `LOG` event. `LOG.flags` currently owns only the
+Truncated bit (1).
 
-The derived error path is intentionally not a numeric error catalog; renaming
-its Rust module/type/variant changes that identity. Error details requiring
-machine action stay in their owning protocol, notably `KAPTAN_CONFIG_RESULT`.
-`KAPTAN_SHUTDOWN` has only its typed reason and is valid only after an orderly
-output-inhibited completion. Delivery is bounded and lossy under link pressure;
-heartbeat and safety telemetry use separate paths.
+`error_id` is the stable nonzero catalog number explicitly assigned to the
+Rust error variant. Renaming or reordering a variant does not change it.
+`raised_at` identifies the reporting point where the `Err` entered
+diagnostics. Protocol failures remain in their owning response; for example, a
+rejected KCFG upload returns a `FILE_CONTROL` failure and readable
+bounded detail.
+Delivery is bounded and lossy under link pressure. Heartbeat and sensor
+telemetry use separate paths. Logs have no publication rate setting and are
+not periodic streams. The worker offers each retained event to USB and every
+MAVLink UART, then removes it once at least one transport admits it. Admission
+does not prove receipt or delivery to every link. If none admits it, the event
+remains pending. Opening USB does not take diagnostics away from UART.
 
 ## Filtering
 
-The SITL profile’s restart-only `observability.maximum_log_level` accepts
-MAVLink severities Error (3) through Debug (7). For example, selecting Warning
-permits warning records while suppressing info and debug records. Error-level
-records always use `KAPTAN_ERROR` and remain non-filterable. F722 uses its
-immutable board log threshold instead, because it has no active runtime
-profile.
+The single restart-only `mavlink.logging.level_filter` field uses Off (0),
+Trace (1), Debug (2), Info (3), Warn (4), and Error (5). `Info`, for example,
+accepts Info, Warn, and Error log events. `Off` suppresses `LOG` on MAVLink
+without suppressing reportable `ERROR` events or logs sent to another
+sink. There is no separate enable flag and no MAVLink-specific set of extra
+runtime log levels. F722 uses the validated boot-active filter. Empty storage
+uses factory values. Invalid storage selects the setup fallback, which also
+uses the factory filter but disables UART roles. Saved changes and factory
+reset do not alter the active filter until reboot. See
+[configuration recovery](configuration.md#recovery-and-activation).
 
-Cargo `log/max_level_*` features compile calls away before the facade sees
-them; they are not a supported filtering mechanism. The build policy keeps
-that decision out of workspace dependencies.
+Events retain the compact typed `Level` and sink configuration retains the
+compact typed `LevelFilter`. Schema metadata supplies the filter choices to the
+configurator.
+Only the MAVLink adapter converts the five event levels to the typed Kaptan
+wire enum.
 
-The tested `SitlConfigRuntime` composition proves `log!` reaches a generated
-`KAPTAN_LOG` payload, and rejected configuration replies enqueue a generated
-`KAPTAN_ERROR` companion without replacing their authoritative result. `kaptan-sitl
-serve` does not yet attach a config/diagnostic MAVLink link, and F722 emits only
-outbound telemetry/diagnostic frames while rejecting all inbound authority.
+The log ingress is transport-neutral and unfiltered.

docs/src/mavlink.md

@@ -1,30 +1,104 @@
 # MAVLink and telemetry
 
-Kaptan emits telemetry using MAVLink 2 framing. The production receiver does
-not promote inbound MAVLink frames to authority records:
+Kaptan uses MAVLink 2 with its private dialect. It does not support `common`,
+`minimal` or other dialects. Reception follows these rules:
 
 - MAVLink 1 is discarded.
 - CRC-invalid MAVLink 2 frames are discarded.
 - Signed frames are discarded because no signature verifier or persistent
   replay state exists.
-- Unsigned MAVLink 2 frames are also discarded; a V2 CRC detects corruption,
-  not authentication.
+- CRC-valid unsigned MAVLink 2 frames are retained only when their message ID
+  and extra CRC belong to the Kaptan dialect. The board firmware consumes
+  exact-target Kaptan file requests.
 
-`TODO(signing)`: any future inbound authority requires verified MAVLink 2
-signing, configured source/target binding, persistent anti-replay state, and a
-provisioning/key-rotation policy as one reviewed feature.
+Shared or remote inbound authority is unsupported. Enabling it
+requires verified MAVLink 2 signing, configured source/target binding,
+persistent anti-replay state, and a provisioning/key-rotation policy as one
+reviewed feature.
 
-Telemetry transmission uses bounded frame classes. A critical frame may
-replace pending best-effort traffic, but never the DMA-owned active buffer.
-Completion retries preserve ordering and retain a transiently busy frame for a
-later service turn.
+Each F722 board image initializes USB CDC-ACM as a MAVLink link independently
+of UART roles. Linux normally names it `/dev/ttyACM*`. It is separate from the
+STM32 ROM DFU device used for flashing. Every UART assigned `KaptanMavlink` at
+boot has its own link. USB needs an enumerated device and asserted DTR to carry
+traffic. Opening or closing it does not redirect UART publications.
+
+Each link has independent scheduling, encoding, framing and bounded TX state.
+Current links share the same boot-active endpoint identity and publication
+rates, with one shared sensor snapshot per service turn. There are no per-link
+rate settings. A stalled link does not consume another link's publication state,
+though all links share the protocol worker and flash-operation stalls. File
+responses always return on the requesting link.
+
+The current descriptor uses the pid.codes shared development identity
+`1209:0001` plus the STM32 factory device ID as its serial number. Obtain and
+substitute a project-specific PID before distributing hardware as a product.
+
+Any connected transmitter can issue file requests without authentication. Use a
+direct USB cable or USB-UART adapter and disconnect other transmitters while
+configuring. Motor pins remain low throughout configuration.
+
+One file service serializes transfers across USB and all MAVLink UARTs. Its
+owner is the claimed source system/component plus ingress identity, so the same
+wire identity on another port cannot take over a transfer. Completed replies
+have an exact bounded replay path so a lost close response does not repeat a
+flash operation. Neither source identity, schema identity nor CRC authenticates
+a peer. [Configuration](configuration.md#generic-file-dialect) defines the lease
+and retry contract.
+
+Telemetry transmission uses bounded frame classes. A critical frame may replace
+pending best-effort traffic, but never an active frame. UART TX is IRQ-owned:
+each interrupt writes at most one byte and retires at most one completed frame.
+USB advances a retained frame through bounded CDC endpoint writes. DTR close,
+suspend and deconfiguration pause USB TX. Only a bus reset discards its TX state.
+Closing DTR discards partial input. UART receive faults reset framing. File and
+replay state remain governed by the protocol lease rather than disconnects.
+
+USB receive backpressure masks only `GINTMSK.RXFLVLM` while application packet
+bytes remain unconsumed. The final byte cursor and gate update share the USB
+resource lock. The OTG FS NVIC vector stays enabled, as do IN/TX completion,
+reset and suspend interrupt sources. EP0 shares the RX FIFO and cannot bypass
+a blocked bulk packet at its head. Once buffered bytes are consumed, RXFLVLM is
+restored. An incomplete MAVLink frame alone does not keep RX masked.
+
+UART role and baud changes take effect after reboot. See
+[Configuration](configuration.md) for allowed values and USB repair, and
+[Architecture](architecture.md#io-ownership) for RX buffering and ownership.
+Normal USB configuration recovery does not guarantee availability after an
+arbitrary clock, USB hardware or initialization failure.
+
+The web configurator groups CRC-valid packets by source and message ID and
+measures receive frequency in one-second windows. Selecting a message shows
+its latest decoded fields. This view has bounded storage and keeps no history.
+
+The separate Runtime logs view keeps a bounded history of `LOG` and `ERROR`
+events in receive order, with local receive time, level and text.
 
 The custom Kaptan definitions are aggregated by `definitions/kaptan.xml` from
-`kaptan/config.xml`, `kaptan/log.xml`, `kaptan/error.xml`, and
-`kaptan/shutdown.xml`.
-`KAPTAN_LOG` is an outbound human-readable four-field record. `KAPTAN_ERROR`
-is its separate bounded error channel, while `KAPTAN_SHUTDOWN` represents only
-a completed orderly output-inhibited shutdown. Configuration messages are GCS
-groundwork only: the current F722 receiver rejects every inbound frame before
-configuration dispatch. See [Configuration](configuration.md), [Logs](logs.md),
-and [Errors](errors.md) for the exact contracts.
+one-message leaves grouped by interaction contract:
+
+| Directory | Contract |
+| --- | --- |
+| `publish/` | Zero-reply records for any interested receiver. |
+| `transfer/` | Exact-endpoint, bounded multi-message sessions. |
+
+The root includes each message leaf directly and generates one flat
+`generated::kaptan` module. These names must not be merged with another dialect.
+See [Configuration](configuration.md), [Logs](logs.md) and [Errors](errors.md)
+for the file-transfer and diagnostic contracts.
+
+Scheduled publications:
+
+| Publication | Current payload |
+| --- | --- |
+| `HEARTBEAT` (51027) | The single current initialized/output-inhibited state. |
+| `IMU` (51028) | `u64` monotonic microseconds, `i16[3]` body acceleration in mg, `i32[3]` angular rate in mrad/s, and `i16` temperature in cdegC. |
+| `RANGE` (51029) | Monotonic microseconds and downward distance in mm. |
+| `OPTICAL_FLOW` (51030) | Monotonic microseconds, integer ground-relative velocity in mm/s, distance in mm, and quality. |
+
+The IMU payload is 28 bytes with MAVLink extra CRC **22**. Wire field ordering
+places time at byte 0, angular rate at byte 8, acceleration at byte 20 and
+temperature at byte 26. The signed 32-bit gyro units preserve the full decoded
+MPU6000 ±2000°/s range through mounting, mailbox handoff and encoding.
+
+IMU publications retain the newest sample from each validated FIFO drain.
+Their timestamp is FC time at packet-read submission, not physical sampling time.

docs/src/reference.md

@@ -1,31 +1,24 @@
 # Reference
 
-This page collects stable limits and points to the detailed contracts.
-
 | Surface | Current contract |
 | --- | --- |
-| Flight profile | One 4 KiB-or-smaller raw CBOR blob, `profile_format = 1`, schema ID `KAPTANPROFILE-01`. |
-| SITL file | Private `[generation, raw-profile-blob]` envelope; not a MAVLink upload blob. |
-| Config transaction | One owner-bound RAM transaction; typed writes or 192-byte idempotent CBOR chunks; commit is restart-required. |
-| Config discovery | Correlated `KAPTAN_CONFIG_INFO_REQUEST` / `KAPTAN_CONFIG_INFO`, then descriptor/value requests. |
-| Diagnostics | `KAPTAN_LOG` (51020) for ordinary severity/text; `KAPTAN_ERROR` (51021) for a bounded `{ path[96], additional_information[64] }` error; and `KAPTAN_SHUTDOWN` (51022) for completed orderly output-inhibited shutdowns. |
-| F722 configuration | Immutable compiled board policy only; inbound MAVLink configuration remains disabled. |
+| F722 persistence | One bounded native-width scalar snapshot inside each slot of a power-loss-safe two-slot flash journal. |
+| Public config artifact | Canonical KCFG v3 with generated metadata, finite/nonzero flags, factory values, selected-view values and exact expected-base values. |
+| Flight profile | Generated schema and required compiled installation for the portable runtime. See [Configuration](configuration.md#flight-configuration). |
+| Navigation service | Fusion, prediction and initialization completion run on due 100-Hz control service. Early ticks supervise cached evidence; admission alone cannot renew capabilities. |
+| Navigation model bound | Navigation-owned 25-m/s² free-flight acceleration envelope, checked against the complete profile's thrust and mass. Contact impulses are outside this bound. |
+| File transfer | Custom `FILE_CONTROL` (51025) and `FILE_DATA` (51026), one owner-bound stop-and-wait transfer, 246-byte data chunks, CRC-32C. |
+| Diagnostics | `LOG` (51020) for macro-produced level/text; `ERROR` (51021) for a bounded reportable `{ error_id, raised_at[96] }` firmware error. |
+| Publications | Kaptan-native `HEARTBEAT` (51027), `IMU` (51028), `RANGE` (51029), and `OPTICAL_FLOW` (51030). IMU has a 28-byte payload, extra CRC 22 and `i32` mrad/s gyro axes. |
+| F722 clock | Shared TIM2 1-MHz epoch, CC1 100-Hz service. DWT is reserved for the SRAM flash-poll timeout. |
+| F722 configuration | `/config/user.kcfg`; target-described fields and board factory values over local USB CDC-ACM or a directly wired unsigned UART with motor outputs physically inhibited. |
 
-Read [Configuration](configuration.md) for the field/consumer matrix and GCS
-upload sequence, [Logs](logs.md) for receiver decoding and filtering, and
-[Errors](errors.md) for error propagation and panic scope.
+Read [Configuration](configuration.md) for configuration ownership, artifact,
+and file contracts, [Architecture](architecture.md#monotonic-time) for clock
+assumptions, [Logs](logs.md) for receiver decoding and filtering, and
+[Errors](errors.md) for reportable errors and panic scope.
 
 ## Verification
 
-Before review, run:
-
-```sh
-cd firmware
-cargo fmt --all --check
-cargo test --workspace --locked --offline
-cargo clippy --workspace --all-targets --locked -- -D warnings
-```
-
-The embedded no-std binaries require their target-specific build setup; the
-host workspace test suite continues to assert that the telemetry F722 image
-has no inbound authority or actuator path.
+Use [Development and verification](development.md) for the required gates,
+tool setup and evidence limits.

docs/src/safety-boundary.md

@@ -1,25 +1,88 @@
 # Safety boundary
 
-Every checked-in F722 image inhibits PB0, PB1, PB4, and PB5 before normal
-board initialization. The interlock configures each pin as a low, push-pull
-GPIO output; it runs before clocks, board routing, UART setup, or RTIC tasks.
+F722 startup drives PB0, PB1, PB4 and PB5 low, plus PB6 and PB7 on Kakute.
+It configures them as push-pull GPIO outputs before clock-tree setup, board
+routing, UART setup or RTIC tasks.
 
-There is no checked-in platform actuator route:
+This is a firmware startup property, not a hardware latch. Reset temporarily
+returns GPIO configuration to the MCU reset state, and the code cannot prove
+external routing, pull resistors, ESC polarity or ESC power behavior. Board
+support must document those electrical assumptions. Continuous inhibition
+through reset requires board hardware that provides it.
 
-- no DShot or PWM peripheral implementation is linked;
-- no TIM3/TIM5 motor task or DMA output path exists;
-- MAVLink input has no production authority path;
-- a future verified arm command is still acknowledged as unsupported.
-
-The protocol reference crate remains in the workspace only as a framing and
-arming-sequence reference. It does not grant hardware access or authority.
+The board images have no DShot, PWM or other actuator driver. The portable
+flight runtime is not yet connected to physical motors. File requests grant
+no actuator access.
 
 Run the structural guard after any platform or board change:
 
 ```sh
 cd firmware
-cargo test -p platform-stm32f7 --test platform_safety_boundary --offline
+cargo test -p platform-stm32f7 \
+  --test platform_safety_boundary --locked --offline
 ```
 
-This boundary is deliberately stronger than an application-level disarm flag:
-it removes the physical actuator implementation from the platform image.
+## Shared runtime commit contract
+
+`FlightEndpoint` uses `SafetySupervisor::evaluate_and_commit` to
+evaluate current evidence and invoke an enabled-output callback at most once
+while exclusively borrowing that supervisor. The callback synchronously retains
+a core-owned `OutputRecord` in caller-owned storage. This establishes local
+publication only. The receiving consumer must check the record's binding,
+sequence and absolute validity at application time. A queued record or successful
+USB write is not a reusable permission or proof of remote application.
+
+Runtime ingress carries a producer session and runtime generation, with separate
+command-owner, arm, offboard and origin bindings. Commands and setpoints have
+independent strictly increasing sequences. Retransmission retains its original
+identity and bytes. Replays and wrong bindings cannot renew authority, and checked
+authority sequences cannot wrap. A local `begin_epoch` is allowed only while
+disarmed after successful inhibited publication. It resets navigation and request
+watermarks while preserving the producer's output sequence and clock history.
+These typed runtime identities do not authenticate a peer.
+
+Observation admission receives independently captured processing time in that
+epoch. The measurement-time upper bound must not follow receipt time, receipt
+must not follow processing time, and conservative measurement age must satisfy
+the stream's freshness bound.
+Receipt alone does not establish accepted or current evidence. Explicit clock
+ticks advance navigation and supervision even when input stops. The current
+control period is 10 ms on an absolute due grid with a 20-ms control deadline.
+`supervise` checks time, cached health and deadlines without integrating control
+or renewing enabled output. A deadline miss is a fault, not permission to replay
+an old allocation indefinitely.
+
+Returned enabled-output errors latch a fault and trigger an inhibition attempt.
+The sink must remain callable for that attempt. At terminal landing, the endpoint
+clears arm authority and attempts inhibition before publishing terminal command
+outcomes. Successful stop completion requires accepted inhibition; a rejected
+inhibition leaves the command failed. Callers must reconcile committed outcomes after
+both successful and failed core calls. This ordering does not prove physical
+touchdown or motor stop.
+
+Output callbacks must not panic. Cleanup guarantees apply to
+returned errors, not unwinding. A host that catches an unwind must discard the
+affected endpoint and output owner rather than resume them or use an epoch reset
+as recovery. Platform panic containment owns the physical
+response. Abort or halt alone does not establish zero output.
+
+## Core failure policy
+
+`TakeoffHoverLand` starts only from `ArmedIdle` on a fresh command. Settled
+takeoff starts a 30-second hold, followed by landing under the existing deadline
+and landing reserve. It completes after accepted output inhibition. A superseding
+command cancels the mission. The board integration prerequisites above still apply.
+
+With required navigation and output health present, offboard stream expiry
+after 300 ms latches fallback, holds for the configured duration (at most one
+second) from expiry, then lands.
+Late packets do not resume the expired stream. Loss of required IMU/range or
+other navigation capability, numerical failure, control-deadline failure or
+output-publication failure can terminate and inhibit instead. Hold-then-land is
+not promised without its required evidence.
+
+The core's configured output lifetime is at most 50 ms, further shortened by
+capability evidence and the current 20-ms control deadline. A future physical
+composition must enforce output validity at its actuator boundary and establish
+its own hardware timing and failure behavior. The 1.2-kg/18-N test fixture is
+uncalibrated. Component verification does not qualify a vehicle.

docs/src/sitl.md

@@ -1,60 +0,0 @@
-# Host SITL
-
-Host SITL is Kaptan's deterministic closed-loop simulation tier. Gazebo sends
-simulated IMU and declared noisy local position/velocity observations over a
-private loopback protocol. The Rust process runs the ESKF, safety supervisor,
-trajectory, controller, and allocator, then returns four virtual motor
-fractions to Gazebo.
-
-It is a pre-bench software gate, not a physical-flight validation.
-
-## Run the closed loop
-
-```sh
-cd firmware
-docker compose -f tools/sitl/compose.yaml up -d --build
-tools/sitl/kaptan-sim ready
-tools/sitl/kaptan-sim move 5 3 1 --wait
-tools/sitl/kaptan-sim land 0 0 --wait
-docker compose -f tools/sitl/compose.yaml down
-```
-
-For the reproducible command-path gate, use:
-
-```sh
-cd firmware
-tools/sitl/e2e-smoke.sh
-```
-
-The smoke scenario verifies ascent, translation, descent, landing, flat-plane
-proximity, and zero applied motor fractions after landing. Its reference world
-contains only a visual landing pad; the pad has no collision geometry and
-never contributes a controller or truth observation.
-
-Open <https://app.gazebosim.org/visualization>, connect to
-`ws://localhost:9002`, and leave authorization blank to view the world.
-
-## Quad-X profile
-
-SITL starts through the same central `ConfigManager` composition used by the
-host protocol tests. Create and validate a private host profile file with:
-
-```sh
-kaptan-sitl config write-default kaptan-sitl.cbor
-kaptan-sitl config validate kaptan-sitl.cbor
-kaptan-sitl serve --config kaptan-sitl.cbor
-```
-
-The file selects the restart-only profile used to build the estimator,
-controller, allocator envelope, safety supervisor, and optional log filter at
-process start. It is not the raw GCS upload blob. `kaptan-sitl serve` retains
-the central manager for that boot but does not yet open a MAVLink config/log
-endpoint; see [Configuration](configuration.md) for the exact upload groundwork
-and safety boundary.
-
-## Limits
-
-This model does not validate terrain, vision, flow/range sensing, wind,
-vibration, battery/ESC behavior, sensor latency/jitter, actuator faults, or
-physical touchdown sensing. Add those only as a reviewed sensor/contact model,
-not as a display-only shortcut.

firmware/.dockerignore

@@ -1,3 +1,2 @@
 target
 .git
-tools/hitl

firmware/Cargo.lock

@@ -4,9 +4,9 @@ version = 4
 
 [[package]]
 name = "aho-corasick"
-version = "1.1.4"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ddd31a130427c27518df266943a5308ed92d4b226cc639f5a8f1002816174301"
+checksum = "c982642fa9e8606056828ee9a8505737230110bb1099153c79efe865c59d12ba"
 dependencies = [
  "memchr",
 ]
@@ -52,6 +52,7 @@ checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal",
  "bitfield",
+ "critical-section",
  "embedded-hal",
  "volatile-register",
 ]
@@ -98,6 +99,12 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-io"
+version = "0.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "edd0f118536f44f5ccd48bcb8b111bdc3de888b58c74639dfb034a357d0f206d"
+
 [[package]]
 name = "embedded-io"
 version = "0.7.1"
@@ -110,7 +117,7 @@ version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2564b9f813c544241430e147d8bc454815ef9ac998878d30cc3055449f7fd4c0"
 dependencies = [
- "embedded-io",
+ "embedded-io 0.7.1",
 ]
 
 [[package]]
@@ -125,12 +132,31 @@ version = "0.3.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e4eba85ea1d0a966a983acd07deee566e67395d2d96b6fb39e62b5a833f1eb0b"
 
+[[package]]
+name = "hash32"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
+dependencies = [
+ "byteorder",
+]
+
 [[package]]
 name = "hashbrown"
 version = "0.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "ed5909b6e89a2db4456e54cd5f673791d7eca6732202bbf2a9cc504fe2f9b84a"
 
+[[package]]
+name = "heapless"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "indexmap"
 version = "2.14.0"
@@ -151,18 +177,12 @@ checksum = "8f42a60cbdf9a97f5d2305f08a87dc4e09308d1276d28c869c684d7777685682"
 name = "kaptan-actuator"
 version = "0.1.0"
 
-[[package]]
-name = "kaptan-board"
-version = "0.1.0"
-dependencies = [
- "kaptan-log",
-]
-
 [[package]]
 name = "kaptan-config"
 version = "0.1.0"
 dependencies = [
  "kaptan-config-derive",
+ "kaptan-err-reportable",
  "kaptan-log",
 ]
 
@@ -178,19 +198,24 @@ dependencies = [
 ]
 
 [[package]]
-name = "kaptan-config-mavlink"
+name = "kaptan-configurator"
 version = "0.1.0"
 dependencies = [
  "kaptan-config",
+ "kaptan-file-mavlink",
  "kaptan-log",
  "kaptan-mavlink",
+ "libc",
+ "mavlink-core",
+ "serde",
+ "serde_json",
 ]
 
 [[package]]
 name = "kaptan-control"
 version = "0.1.0"
 dependencies = [
- "kaptan-log",
+ "kaptan-err-reportable",
  "kaptan-math",
 ]
 
@@ -198,77 +223,44 @@ dependencies = [
 name = "kaptan-data-channel"
 version = "0.1.0"
 dependencies = [
- "kaptan-board",
- "kaptan-dma",
- "kaptan-log",
+ "critical-section",
+ "kaptan-err-reportable",
  "kaptan-mavlink",
  "kaptan-sensor",
  "kaptan-time",
+ "kaptan-tx",
+ "mavlink-core",
 ]
 
 [[package]]
-name = "kaptan-dma"
+name = "kaptan-diagnostics-mavlink"
 version = "0.1.0"
+dependencies = [
+ "kaptan-err-reportable",
+ "kaptan-log",
+ "kaptan-mavlink",
+]
 
 [[package]]
 name = "kaptan-drivers"
 version = "0.1.0"
 dependencies = [
+ "kaptan-err-reportable",
  "kaptan-i2c",
- "kaptan-log",
  "kaptan-sensor",
  "kaptan-spi",
  "kaptan-time",
 ]
 
 [[package]]
-name = "kaptan-flight-config"
+name = "kaptan-err-reportable"
 version = "0.1.0"
 dependencies = [
- "kaptan-config",
- "kaptan-log",
- "minicbor",
+ "kaptan-err-reportable-macros",
 ]
 
 [[package]]
-name = "kaptan-flight-runtime"
-version = "0.1.0"
-dependencies = [
- "kaptan-config",
- "kaptan-flight-config",
- "kaptan-log",
-]
-
-[[package]]
-name = "kaptan-geprc-f722-v2"
-version = "0.1.0"
-dependencies = [
- "kaptan-board",
- "platform-stm32f7",
-]
-
-[[package]]
-name = "kaptan-i2c"
-version = "0.1.0"
-
-[[package]]
-name = "kaptan-kakute-f7-mini-v3"
-version = "0.1.0"
-dependencies = [
- "kaptan-board",
- "platform-stm32f7",
-]
-
-[[package]]
-name = "kaptan-log"
-version = "0.1.0"
-dependencies = [
- "kaptan-log-derive",
- "log",
-]
-
-[[package]]
-name = "kaptan-log-derive"
+name = "kaptan-err-reportable-macros"
 version = "0.1.0"
 dependencies = [
  "proc-macro2",
@@ -278,19 +270,70 @@ dependencies = [
 ]
 
 [[package]]
-name = "kaptan-log-mavlink"
+name = "kaptan-file-mavlink"
 version = "0.1.0"
 dependencies = [
- "kaptan-log",
  "kaptan-mavlink",
- "mavlink",
+]
+
+[[package]]
+name = "kaptan-flight-config"
+version = "0.1.0"
+dependencies = [
+ "kaptan-config",
+ "kaptan-control",
+ "kaptan-math",
+ "kaptan-navigation",
+]
+
+[[package]]
+name = "kaptan-flight-runtime"
+version = "0.1.0"
+dependencies = [
+ "kaptan-config",
+ "kaptan-control",
+ "kaptan-flight-config",
+ "kaptan-math",
+ "kaptan-navigation",
+ "kaptan-safety",
+ "kaptan-time",
+]
+
+[[package]]
+name = "kaptan-geprc-f722-v2"
+version = "0.1.0"
+dependencies = [
+ "platform-stm32f7",
+ "rtic",
+]
+
+[[package]]
+name = "kaptan-i2c"
+version = "0.1.0"
+dependencies = [
+ "kaptan-time",
+]
+
+[[package]]
+name = "kaptan-kakute-f7-mini-v3"
+version = "0.1.0"
+dependencies = [
+ "platform-stm32f7",
+ "rtic",
+]
+
+[[package]]
+name = "kaptan-log"
+version = "0.1.0"
+dependencies = [
+ "kaptan-config-derive",
 ]
 
 [[package]]
 name = "kaptan-math"
 version = "0.1.0"
 dependencies = [
- "kaptan-log",
+ "kaptan-err-reportable",
 ]
 
 [[package]]
@@ -298,12 +341,8 @@ name = "kaptan-mavlink"
 version = "0.1.0"
 dependencies = [
  "bitflags",
- "kaptan-dma",
- "kaptan-log",
  "kaptan-sensor",
  "kaptan-time",
- "kaptan-tx",
- "mavlink",
  "mavlink-bindgen",
  "mavlink-core",
  "num-derive",
@@ -314,17 +353,23 @@ dependencies = [
 name = "kaptan-navigation"
 version = "0.1.0"
 dependencies = [
- "kaptan-log",
  "kaptan-math",
  "kaptan-sensor",
  "kaptan-time",
 ]
 
+[[package]]
+name = "kaptan-ports"
+version = "0.1.0"
+dependencies = [
+ "kaptan-config",
+]
+
 [[package]]
 name = "kaptan-safety"
 version = "0.1.0"
 dependencies = [
- "kaptan-log",
+ "kaptan-err-reportable",
  "kaptan-time",
 ]
 
@@ -335,27 +380,6 @@ dependencies = [
  "kaptan-time",
 ]
 
-[[package]]
-name = "kaptan-sitl"
-version = "0.1.0"
-dependencies = [
- "kaptan-config",
- "kaptan-config-mavlink",
- "kaptan-control",
- "kaptan-flight-config",
- "kaptan-flight-runtime",
- "kaptan-log",
- "kaptan-log-mavlink",
- "kaptan-math",
- "kaptan-mavlink",
- "kaptan-navigation",
- "kaptan-safety",
- "kaptan-time",
- "log",
- "mavlink",
- "minicbor",
-]
-
 [[package]]
 name = "kaptan-spi"
 version = "0.1.0"
@@ -369,23 +393,10 @@ name = "kaptan-tx"
 version = "0.1.0"
 
 [[package]]
-name = "log"
-version = "0.4.33"
+name = "libc"
+version = "0.2.189"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0ceec5bc11778974d1bcb055b18002eba7f4b3518b6a0081b3af5f21666da9ad"
-
-[[package]]
-name = "mavlink"
-version = "0.18.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ef539c358c31f69d47816dac709eebbcb733166ae1bcdeeb4463383c042e3e7c"
-dependencies = [
- "bitflags",
- "mavlink-bindgen",
- "mavlink-core",
- "num-derive",
- "num-traits",
-]
+checksum = "3eaf3ede3fee6db1a4c2ee091bf8a8b4dccdc6d17f656fb07896ee72867612f2"
 
 [[package]]
 name = "mavlink-bindgen"
@@ -409,7 +420,7 @@ checksum = "b31cc9f930c7edce0c1933659d405a330a28346cdf087bd283a56a6d72eb3d85"
 dependencies = [
  "byteorder",
  "crc-any",
- "embedded-io",
+ "embedded-io 0.7.1",
  "embedded-io-async",
 ]
 
@@ -419,26 +430,6 @@ version = "2.8.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "cf8baf1c55e62ffcace7a9f06f4bd9cd3f0c4beb022d3b367256b91b87513d98"
 
-[[package]]
-name = "minicbor"
-version = "0.25.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c0452a60c1863c1f50b5f77cd295e8d2786849f35883f0b9e18e7e6e1b5691b0"
-dependencies = [
- "minicbor-derive",
-]
-
-[[package]]
-name = "minicbor-derive"
-version = "0.15.3"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bd2209fff77f705b00c737016a48e73733d7fbccb8b007194db148f03561fb70"
-dependencies = [
- "proc-macro2",
- "quote",
- "syn 2.0.119",
-]
-
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -486,20 +477,27 @@ version = "0.1.0"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
- "kaptan-board",
+ "critical-section",
+ "kaptan-config",
  "kaptan-data-channel",
- "kaptan-dma",
+ "kaptan-diagnostics-mavlink",
  "kaptan-drivers",
+ "kaptan-err-reportable",
+ "kaptan-file-mavlink",
  "kaptan-i2c",
  "kaptan-log",
- "kaptan-log-mavlink",
  "kaptan-mavlink",
+ "kaptan-ports",
  "kaptan-sensor",
  "kaptan-spi",
  "kaptan-time",
+ "kaptan-tx",
  "panic-halt",
  "rtic",
  "stm32f7",
+ "synopsys-usb-otg",
+ "usb-device",
+ "usbd-serial",
 ]
 
 [[package]]
@@ -510,9 +508,9 @@ checksum = "3d20d5497ef88037a52ff98267d066e7f11fcc5e99bbfbd58a42336193aacec3"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.106"
+version = "1.0.107"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
+checksum = "985e7ec9bb745e6ce6535b544d84d6cd6f7ad8bd711c398938ae983b91a766d9"
 dependencies = [
  "unicode-ident",
 ]
@@ -528,9 +526,9 @@ dependencies = [
 
 [[package]]
 name = "quote"
-version = "1.0.46"
+version = "1.0.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfbc457d0c7a0759a614551b11a6409e5951f6c7537be1f1b7682b9ae9230368"
+checksum = "1fbf4db142a473a8d80c26bbf18454ed458bf8d26c8219c331daecfdbd079001"
 dependencies = [
  "proc-macro2",
 ]
@@ -549,9 +547,9 @@ dependencies = [
 
 [[package]]
 name = "regex-automata"
-version = "0.4.16"
+version = "0.4.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8fcfdb36bda0c880c5931cdc7a2bcdc8ba4556847b9d912bca70bc94708711ad"
+checksum = "ad8553b9b26413251cbf30e620595c7a41b3887f03da04579c0e6b0d6a06b4b2"
 dependencies = [
  "aho-corasick",
  "memchr",
@@ -626,6 +624,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "4148590afebada386688f18773da617792bf2ef03ffc1e4cbd2b1d45b023e0ba"
 dependencies = [
  "serde_core",
+ "serde_derive",
 ]
 
 [[package]]
@@ -645,7 +644,7 @@ checksum = "e7a5d71263a5a7d47b41f6b3f06ba276f10cc18b0931f1799f710578e2309348"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 3.0.0",
+ "syn 3.0.3",
 ]
 
 [[package]]
@@ -670,6 +669,12 @@ dependencies = [
  "serde_core",
 ]
 
+[[package]]
+name = "stable_deref_trait"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596"
+
 [[package]]
 name = "stm32f7"
 version = "0.16.0"
@@ -694,15 +699,26 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "3.0.0"
+version = "3.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2fac314a64dc9a36e61a9eb4261a5e9bbfbc922b27e518af97bc32b926cf967"
+checksum = "53e9bae58849f64dfa4f5d5ae372c8341f7305f82a3868709269343628b659a3"
 dependencies = [
  "proc-macro2",
  "quote",
  "unicode-ident",
 ]
 
+[[package]]
+name = "synopsys-usb-otg"
+version = "0.4.0"
+dependencies = [
+ "cortex-m",
+ "critical-section",
+ "embedded-hal",
+ "usb-device",
+ "vcell",
+]
+
 [[package]]
 name = "target-triple"
 version = "1.0.1"
@@ -720,22 +736,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "2.0.19"
+version = "2.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "09a43598840e33d5b0331f38c5e30d13bb11c11210a4b58f0d9b18a5a5eefcd9"
+checksum = "ec86235f5fcc2a73650310756d2ac5b138a5780bbbdfae3eeccec992c435ba4f"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "2.0.19"
+version = "2.0.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43cbfe0cf76104d42a574802844187e84a305e531ed54455f11fbde0f10541cd"
+checksum = "bc04cd3e1236dd4a98afca4569f2deb3f120e5422a4023be2cb683f8486292af"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 3.0.0",
+ "syn 3.0.3",
 ]
 
 [[package]]
@@ -798,6 +814,28 @@ version = "1.0.24"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75"
 
+[[package]]
+name = "usb-device"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "98816b1accafbb09085168b90f27e93d790b4bfa19d883466b5e53315b5f06a6"
+dependencies = [
+ "heapless",
+ "portable-atomic",
+]
+
+[[package]]
+name = "usbd-serial"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "065e4eaf93db81d5adac82d9cef8f8da314cb640fa7f89534b972383f1cf80fc"
+dependencies = [
+ "embedded-hal",
+ "embedded-io 0.6.1",
+ "nb 1.1.0",
+ "usb-device",
+]
+
 [[package]]
 name = "vcell"
 version = "0.1.3"

firmware/Cargo.toml

@@ -3,31 +3,32 @@ members = [
   "boards/geprc-f722-v2",
   "boards/kakute-f7-mini-v3",
   "libs/kaptan-actuator",
-    "libs/kaptan-board",
   "libs/kaptan-control",
   "libs/kaptan-config",
   "libs/kaptan-config-derive",
-    "libs/kaptan-config-mavlink",
+  "libs/kaptan-file-mavlink",
   "libs/kaptan-data-channel",
-    "libs/kaptan-dma",
   "libs/kaptan-drivers",
+  "libs/kaptan-err-reportable",
+  "libs/kaptan-err-reportable-macros",
   "libs/kaptan-flight-config",
   "libs/kaptan-flight-runtime",
   "libs/kaptan-i2c",
   "libs/kaptan-math",
   "libs/kaptan-mavlink",
   "libs/kaptan-log",
-    "libs/kaptan-log-derive",
-    "libs/kaptan-log-mavlink",
+  "libs/kaptan-diagnostics-mavlink",
   "libs/kaptan-navigation",
+  "libs/kaptan-ports",
   "libs/kaptan-safety",
   "libs/kaptan-sensor",
   "libs/kaptan-spi",
   "libs/kaptan-time",
   "libs/kaptan-tx",
   "platforms/stm32f7",
-    "tools/sitl",
+  "tools/configurator",
 ]
+exclude = ["vendor/synopsys-usb-otg"]
 resolver = "2"
 
 [workspace.package]
@@ -38,6 +39,7 @@ rust-version = "1.90"
 
 [workspace.lints.rust]
 unsafe_op_in_unsafe_fn = "deny"
+unexpected_cfgs = { level = "warn", check-cfg = ['cfg(kani)'] }
 
 [workspace.lints.clippy]
 undocumented_unsafe_blocks = "deny"
@@ -48,3 +50,6 @@ codegen-units = 1
 lto = "fat"
 panic = "abort"
 strip = "symbols"
+
+[patch.crates-io]
+synopsys-usb-otg = { path = "vendor/synopsys-usb-otg" }

firmware/Makefile

@@ -0,0 +1,96 @@
+SHELL := /bin/sh
+MAKEFLAGS += --no-print-directory
+export CARGO_BUILD_JOBS ?= 2
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override BOARDS := geprc-f722-v2 kakute-f7-mini-v3
+override BOARD_PACKAGES := $(addprefix kaptan-,$(BOARDS))
+override BOARD_PACKAGE_ARGS := $(addprefix -p ,$(BOARD_PACKAGES))
+override HOST_EXCLUDES := $(addprefix --exclude ,$(BOARD_PACKAGES))
+override HOST_FEATURES := --features kaptan-navigation/sensor-snapshots
+
+.NOTPARALLEL:
+.PHONY: help fmt clippy test native-test docs coverage target-checks verification verification-tools miri kani verification-inventory pre-commit check clean
+
+help:
+	@printf '%s\n' 'Usage: make -C firmware <target>' '' \
+		'Workspace targets:' \
+		'  fmt     Check Rust formatting' \
+		'  clippy  Run host and embedded Clippy checks' \
+		'  test    Run Rust and firmware script tests' \
+		'  native-test  Check cross-crate error IDs at Rust/C++ release final link' \
+		'  docs    Build Rust API documentation with warnings denied' \
+		'  coverage  Required final strict-core line/branch coverage gate' \
+		'  verification  Run all gates and retain source-bound evidence' \
+		'  verification-tools  Install the pinned Miri and Kani tools' \
+		'  miri    Run the manifest-selected Miri checks' \
+		'  kani    Run the manifest-selected Kani proofs' \
+		'  verification-inventory  Show verification owners, claims and gaps' \
+		'  target-checks  Check sensor-free consumers and link cross-route fixtures' \
+		'  pre-commit  Run fmt, clippy, test, and docs' \
+		'  check   Alias for pre-commit' \
+		'  clean   Remove Cargo build artifacts' '' \
+		'For other Cargo options, run cargo directly from firmware/.' \
+		'Host gates exclude bare-metal boards; navigation/sensor-snapshots is enabled.'
+
+fmt:
+	cargo fmt --all --check
+
+clippy:
+	cargo clippy --workspace --all-targets $(HOST_EXCLUDES) \
+		$(HOST_FEATURES) --locked --offline -- -D warnings
+	cargo clippy -p platform-stm32f7 --all-targets \
+		--locked --offline -- -D warnings
+	cargo clippy $(BOARD_PACKAGE_ARGS) $(addprefix --bin ,$(BOARD_PACKAGES)) --target thumbv7em-none-eabihf \
+		--locked --offline -- -D warnings
+
+test:
+	cargo +1.90.0 test --workspace $(HOST_EXCLUDES) $(HOST_FEATURES) --locked --offline
+	cargo +1.90.0 test -p platform-stm32f7 -p synopsys-usb-otg --lib --locked --offline
+	node --test tools/configurator/web/view.test.cjs
+	python3 -m unittest scripts/test-analyze-fw.py \
+		scripts/test-summarize-test-coverage.py scripts/test-build-workflow.py \
+		scripts/test-verify.py
+	+@$(MAKE) native-test
+
+native-test:
+	python3 libs/kaptan-err-reportable-macros/tests/final_link.py \
+		--work-dir "$(or $(CARGO_TARGET_DIR),target)/native-tests/final-link"
+
+docs:
+	RUSTDOCFLAGS='-D warnings' cargo doc --workspace --no-deps \
+		$(HOST_EXCLUDES) $(HOST_FEATURES) --locked --offline
+
+coverage:
+	scripts/report-test-coverage.sh
+
+verification:
+	python3 scripts/verify.py all
+
+verification-tools:
+	python3 scripts/verify.py setup
+
+miri kani:
+	python3 scripts/verify.py $@
+
+verification-inventory:
+	python3 scripts/verify.py inventory
+
+target-checks:
+	cargo check -p kaptan-configurator -p kaptan-diagnostics-mavlink --locked --offline
+	cargo check -p kaptan-mavlink -p kaptan-log --no-default-features --locked --offline
+	cargo check -p kaptan-flight-runtime --no-default-features \
+		--target thumbv7em-none-eabihf --locked --offline
+	RUSTFLAGS='-C link-arg=-Tlink.x -L platforms/stm32f7/link/f722' \
+		cargo build -p platform-stm32f7 --example mpu_dual_uart --example icm_dual_uart \
+		--release --target thumbv7em-none-eabihf --locked --offline
+
+pre-commit: fmt clippy test docs
+	@printf '%s\n' 'Pre-commit passed. Coverage was not run; make coverage is a required final gate.'
+
+check: pre-commit
+
+clean:
+	cargo clean

firmware/README.md

@@ -1,26 +1,25 @@
 # Firmware
 
-This directory is the Kaptan flight-controller firmware workspace. It owns the
-Rust workspace manifest, board declarations, platform implementation, reusable
-firmware crates, simulator, firmware scripts, and firmware test fixtures.
+Kaptan flight-controller firmware workspace.
 
 ```text
 firmware/
-├── boards/     immutable board declarations and linker layouts
+├── boards/     board hardware declarations and entry points
 ├── libs/       reusable no_std firmware crates
-├── platforms/  hardware platform composition
-├── tools/      SITL and firmware development tooling
-├── scripts/    packaging, analysis, and coverage helpers
-└── tests/      firmware integration-test fixtures
+├── platforms/  hardware composition, configuration and linker layouts
+├── tools/      local configuration and telemetry tools
+└── scripts/    packaging, analysis, and coverage helpers
 ```
 
-Run Cargo commands from this directory:
+List commands from this directory:
 
 ```sh
-cd firmware
-cargo test --workspace --locked --offline
+make help
 ```
 
-The sibling `ground-suite/` directory is the desktop ground-control
-application. It is intentionally a separate project and does not participate
-in the firmware Cargo workspace.
+Run Cargo directly from this directory. Build and package every supported board
+with `make -C boards build`, or one with `make -C boards/<board> build`.
+The workspace pins Rust 1.90.0. See
+[development checks](../docs/src/development.md) for the supported workflows.
+The board images do not yet run the flight runtime or implement motor drivers.
+Motor pins are inhibited at startup. Physical flight has not been qualified.

firmware/boards/Makefile

@@ -0,0 +1,31 @@
+SHELL := /bin/sh
+MAKEFLAGS += --no-print-directory
+export CARGO_BUILD_JOBS ?= 2
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override EMBEDDED_TARGET := thumbv7em-none-eabihf
+CARGO_TARGET_DIR ?= ../target
+override TARGET_DIR := $(CARGO_TARGET_DIR)/$(EMBEDDED_TARGET)/release
+
+override BOARDS := geprc-f722-v2 kakute-f7-mini-v3
+override BOARD_PACKAGES := $(addprefix kaptan-,$(BOARDS))
+override BOARD_PACKAGE_ARGS := $(addprefix -p ,$(BOARD_PACKAGES))
+override BOARD_BIN_ARGS := $(addprefix --bin ,$(BOARD_PACKAGES))
+
+.NOTPARALLEL:
+.PHONY: help build
+
+help:
+	@printf '%s\n' 'Usage: make -C firmware/boards build' '' \
+		'  build  Build and package every board in release mode' \
+		'CARGO_TARGET_DIR defaults to firmware/target; relative overrides are relative to firmware/boards/.' \
+		'For one board: make -C firmware/boards/<board> build|flash'
+
+build:
+	cargo build --release --locked --offline $(BOARD_PACKAGE_ARGS) $(BOARD_BIN_ARGS) \
+		--target $(EMBEDDED_TARGET) --target-dir "$(CARGO_TARGET_DIR)"
+	@set -e; for board in $(BOARD_PACKAGES); do \
+		../scripts/create-dfu-image.sh "$(TARGET_DIR)/$$board"; \
+	done

firmware/boards/board.mk

@@ -0,0 +1,30 @@
+SHELL := /bin/sh
+MAKEFLAGS += --no-print-directory
+export CARGO_BUILD_JOBS ?= 2
+
+.DEFAULT_GOAL := help
+.DELETE_ON_ERROR:
+
+override EMBEDDED_TARGET := thumbv7em-none-eabihf
+override PACKAGE := kaptan-$(BOARD)
+CARGO_TARGET_DIR ?= ../../target
+override ELF := $(CARGO_TARGET_DIR)/$(EMBEDDED_TARGET)/release/$(PACKAGE)
+
+.NOTPARALLEL:
+.PHONY: help build flash
+
+help:
+	@printf '%s\n' 'Usage: make -C firmware/boards/$(BOARD) build|flash' '' \
+		'  build  Build and package $(PACKAGE) in release mode' \
+		'  flash  Build, package, and write $(PACKAGE) over DFU' '' \
+		'CARGO_TARGET_DIR defaults to firmware/target; relative overrides are relative to this board directory.' \
+		'For custom Cargo or DFU options, invoke cargo or dfu-util directly.'
+
+build:
+	cargo build --release --locked --offline -p $(PACKAGE) --bin $(PACKAGE) \
+		--target $(EMBEDDED_TARGET) --target-dir "$(CARGO_TARGET_DIR)"
+	../../scripts/create-dfu-image.sh "$(ELF)"
+
+flash: build
+	dfu-util --device 0483:df11 --alt 0 --dfuse-address 0x08000000:leave \
+		--download "$(ELF).bin"

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

@@ -10,8 +10,11 @@ build = "build.rs"
 workspace = true
 
 [dependencies]
-kaptan-board = { path = "../../libs/kaptan-board" }
 platform-stm32f7 = { path = "../../platforms/stm32f7" }
+# RTIC's macro emits absolute `rtic` paths in the board crate.
+rtic = { version = "2.3", default-features = false, features = [
+  "thumbv7-backend",
+] }
 
 [[bin]]
 name = "kaptan-geprc-f722-v2"

firmware/boards/geprc-f722-v2/Makefile

@@ -0,0 +1,3 @@
+override BOARD := geprc-f722-v2
+
+include ../board.mk

firmware/boards/geprc-f722-v2/build.rs

@@ -1,9 +1,11 @@
 fn main() {
     println!("cargo:rerun-if-changed=build.rs");
-    println!("cargo:rerun-if-changed=memory.x");
-    println!("cargo:rustc-link-arg=-Tlink.x");
+    let layout = std::path::Path::new(&std::env::var("CARGO_MANIFEST_DIR").unwrap())
+        .join("../../platforms/stm32f7/link/f722");
     println!(
-        "cargo:rustc-link-search={}",
-        std::env::var("CARGO_MANIFEST_DIR").expect("Cargo must set CARGO_MANIFEST_DIR")
+        "cargo:rerun-if-changed={}",
+        layout.join("memory.x").display()
     );
+    println!("cargo:rustc-link-arg=-Tlink.x");
+    println!("cargo:rustc-link-search={}", layout.display());
 }

firmware/boards/geprc-f722-v2/memory.x

@@ -1,19 +0,0 @@
-MEMORY
-{
-  FLASH : ORIGIN = 0x08000000, LENGTH = 512K
-  /*
-  * STM32F722 RAM totals 256 KiB:
-  *  - DTCM:  64 KiB at 0x2000_0000
-  *  - SRAM1: 176 KiB at 0x2001_0000
-  *  - SRAM2: 16 KiB at 0x2003_C000
-  *
-  * SRAM1 and SRAM2 are contiguous and are both accessible by DMA1 and DMA2.
-  * They form one 192 KiB default RAM region from 0x2001_0000 through
-  * 0x2003_FFFF. DTCM is intentionally kept separate for a future explicit
-  * placement policy rather than mixing CPU-critical and general allocations.
-  *
-  * TODO: Utilize DTCM.
-  *
-  */
-  RAM : ORIGIN = 0x20010000, LENGTH = 192K
-}

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

@@ -1,45 +1,35 @@
-//! Declarative support for the GEPRC TAKER F722 BLS 60A V2 stack.
+//! Declarative support for the GEPRC GEP-F722-HD V2.
 
-use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
-    Severity, TelemetryProfile, VerticalSensingKind,
-};
+#![forbid(unsafe_code)]
+
+use platform_stm32f7::kaptan_ports::{PortCatalog, PortDescriptor};
 use platform_stm32f7::{
-    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Icm42688, Mavlink, Pc3, VerticalSensor,
+    F7Board, F722Hardware, F722ImmutableConfig, F722UserConfig, Icm42688Spi3, ImuMount, MotorPins,
+    SerialInventory, StatusLed, UART1, UART2, UART3, UART4, UART6, VerticalSensor,
 };
 
-/// ICM-42688-P-based GEP-F722-HD V2 paired with the 60 A stack.
 pub struct GeprcF722V2;
 
+impl PortCatalog<5> for GeprcF722V2 {
+    const DESCRIPTORS: [PortDescriptor; 5] = [UART1, UART2, UART3, UART4, UART6];
+}
+
 impl F7Board for GeprcF722V2 {
-    const CONFIG: BoardConfig = BoardConfig {
+    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)",
-        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,
-                raw_imu_hz: 20,
-                range_hz: None,
-                optical_flow_hz: None,
-                heartbeat_hz: 2,
+        hardware: F722Hardware::new(
+            Icm42688Spi3 {
+                mount: ImuMount::Yaw180,
             },
-            maximum_log_level: Severity::Info,
-        }),
+            SerialInventory::new(&Self::DESCRIPTORS),
+            StatusLed::ActiveHighPa13,
+            VerticalSensor::None,
+            MotorPins::Four,
+        ),
     };
-
-    fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
-        platform
-            .imu(Icm42688::on_spi3().with_drdy(Pc3))
-            .mavlink(Mavlink::on_usart2())
-            .vertical_sensor(VerticalSensor::none())
-            .build()
-    }
 }

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

@@ -3,4 +3,4 @@
 
 mod board;
 
-platform_stm32f7::flight_firmware!(board::GeprcF722V2);
+platform_stm32f7::flight_firmware!(crate::board::GeprcF722V2);

firmware/boards/kakute-f7-mini-v3/Cargo.toml

@@ -8,12 +8,12 @@ version.workspace = true
 [lints]
 workspace = true
 
-[features]
-lidar-lite-v3 = []
-
 [dependencies]
-kaptan-board = { path = "../../libs/kaptan-board" }
 platform-stm32f7 = { path = "../../platforms/stm32f7" }
+# RTIC's macro emits absolute `rtic` paths in the board crate.
+rtic = { version = "2.3", default-features = false, features = [
+  "thumbv7-backend",
+] }
 
 [[bin]]
 name = "kaptan-kakute-f7-mini-v3"

firmware/boards/kakute-f7-mini-v3/Makefile

@@ -0,0 +1,3 @@
+override BOARD := kakute-f7-mini-v3
+
+include ../board.mk

firmware/boards/kakute-f7-mini-v3/build.rs

@@ -1,9 +1,11 @@
 fn main() {
     println!("cargo:rerun-if-changed=build.rs");
-    println!("cargo:rerun-if-changed=memory.x");
-    println!("cargo:rustc-link-arg=-Tlink.x");
+    let layout = std::path::Path::new(&std::env::var("CARGO_MANIFEST_DIR").unwrap())
+        .join("../../platforms/stm32f7/link/f722");
     println!(
-        "cargo:rustc-link-search={}",
-        std::env::var("CARGO_MANIFEST_DIR").expect("Cargo must set CARGO_MANIFEST_DIR")
+        "cargo:rerun-if-changed={}",
+        layout.join("memory.x").display()
     );
+    println!("cargo:rustc-link-arg=-Tlink.x");
+    println!("cargo:rustc-link-search={}", layout.display());
 }

firmware/boards/kakute-f7-mini-v3/memory.x

@@ -1,19 +0,0 @@
-MEMORY
-{
-  FLASH : ORIGIN = 0x08000000, LENGTH = 512K
-  /*
-  * STM32F722 RAM totals 256 KiB:
-  *  - DTCM:  64 KiB at 0x2000_0000
-  *  - SRAM1: 176 KiB at 0x2001_0000
-  *  - SRAM2: 16 KiB at 0x2003_C000
-  *
-  * SRAM1 and SRAM2 are contiguous and are both accessible by DMA1 and DMA2.
-  * They form one 192 KiB default RAM region from 0x2001_0000 through
-  * 0x2003_FFFF. DTCM is intentionally kept separate for a future explicit
-  * placement policy rather than mixing CPU-critical and general allocations.
-  *
-  * TODO: Utilize DTCM.
-  *
-  */
-  RAM : ORIGIN = 0x20010000, LENGTH = 192K
-}

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

@@ -1,51 +1,42 @@
 //! Declarative Kakute F7 Mini V3 board description.
-//!
-//! This module deliberately contains no MCU registers, RTIC concepts, unsafe
-//! code, interrupt names, DMA handling, or task scheduling. Those concerns
-//! belong to the STM32F7 platform crate.
 
-use kaptan_board::{
-    BoardConfig, BoardProfile, DataChannelRates, ImuDevice, ImuMount, MavlinkEndpoint, MavlinkPort,
-    Severity, TelemetryProfile, VerticalSensingKind,
-};
+#![forbid(unsafe_code)]
+
+use platform_stm32f7::kaptan_ports::{PortCatalog, PortDescriptor};
 use platform_stm32f7::{
-    BoardError, F7Board, F7BoardBuilder, F722BoardRoutes, Mavlink, Mpu6000, Pa4, VerticalSensor,
+    AccelerometerRange, DigitalLowPassFilter, F7Board, F722Hardware, F722ImmutableConfig,
+    F722UserConfig, GyroscopeRange, ImuMount, MotorPins, Mpu6000Config, Mpu6000Spi1,
+    SerialInventory, StatusLed, UART1, UART2, UART3, UART4, UART6, VerticalSensor,
 };
 
-/// Holybro Kakute F7 Mini V3.
 pub struct KakuteF7MiniV3;
 
-const CONFIG: BoardConfig = BoardConfig {
-    name: "Kakute F7 Mini V3",
-    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,
-    }),
-};
+impl PortCatalog<5> for KakuteF7MiniV3 {
+    const DESCRIPTORS: [PortDescriptor; 5] = [UART1, UART2, UART3, UART4, UART6];
+}
 
 impl F7Board for KakuteF7MiniV3 {
-    const CONFIG: BoardConfig = CONFIG;
+    type UserConfig = F722UserConfig<Self, 5>;
+    type ImmutableConfig = F722ImmutableConfig<Mpu6000Spi1>;
 
-    fn build(platform: F7BoardBuilder) -> Result<F722BoardRoutes, BoardError> {
-        platform
-            .imu(Mpu6000::on_spi1().with_drdy(Pa4))
-            .mavlink(Mavlink::on_usart1())
-            .vertical_sensor(VerticalSensor::mtf01_on_uart4())
-            .build()
-    }
+    const FACTORY_USER_CONFIG: Self::UserConfig = Self::UserConfig::FACTORY;
+    const IMMUTABLE_CONFIG: Self::ImmutableConfig = F722ImmutableConfig {
+        name: "Kakute F7 Mini V3",
+        service_hz: 100,
+        hardware: F722Hardware::new(
+            Mpu6000Spi1 {
+                mount: ImuMount::Yaw270,
+                config: Mpu6000Config {
+                    accelerometer: AccelerometerRange::PlusMinus4G,
+                    gyroscope: GyroscopeRange::PlusMinus500DegreesPerSecond,
+                    digital_low_pass_filter: DigitalLowPassFilter::Bandwidth42Hz,
+                    sample_rate_divider: 9,
+                },
+            },
+            SerialInventory::new(&Self::DESCRIPTORS),
+            StatusLed::ActiveLowPd2,
+            VerticalSensor::None,
+            MotorPins::Six,
+        ),
+    };
 }

firmware/boards/kakute-f7-mini-v3/src/main.rs

@@ -2,4 +2,4 @@
 #![no_main]
 
 mod board;
-platform_stm32f7::flight_firmware!(board::KakuteF7MiniV3);
+platform_stm32f7::flight_firmware!(crate::board::KakuteF7MiniV3);

firmware/libs/kaptan-actuator/src/dshot.rs

@@ -18,15 +18,12 @@ impl Config {
         rate: Rate,
         armed_idle_throttle: Throttle,
         arming_duration: ArmingDuration,
-    ) -> Option<Self> {
-        if rate.frames_for_millis(arming_duration.milliseconds()) == 0 {
-            return None;
-        }
-        Some(Self {
+    ) -> Self {
+        Self {
             rate,
             armed_idle_throttle,
             arming_duration,
-        })
+        }
     }
 
     pub const fn rate(self) -> Rate {
@@ -62,17 +59,6 @@ impl Rate {
     pub const fn timer_base_hz(self) -> u32 {
         self.hertz() * 20
     }
-
-    pub const fn output_rate_hz(self) -> u32 {
-        match self {
-            Self::Dshot150 => 4_000,
-            Self::Dshot300 | Self::Dshot600 => 8_000,
-        }
-    }
-
-    pub const fn frames_for_millis(self, milliseconds: u16) -> u16 {
-        ((self.output_rate_hz() * milliseconds as u32) / 1_000) as u16
-    }
 }
 
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
@@ -83,10 +69,12 @@ pub struct Timing {
 }
 
 impl Timing {
+    /// Rounds to the nearest symbol tick, with half ticks rounded up.
+    /// Rejects clocks whose symbol period cannot fit 3..=65,535 ticks.
     pub const fn from_timer_clock(timer_hz: u32, rate: Rate) -> Option<Self> {
-        let symbol_hz = rate.hertz();
-        let ticks = (timer_hz + symbol_hz / 2) / symbol_hz;
-        if ticks < 3 || ticks > u16::MAX as u32 {
+        let symbol_hz = rate.hertz() as u64;
+        let ticks = (timer_hz as u64 + symbol_hz / 2) / symbol_hz;
+        if ticks < 3 || ticks > u16::MAX as u64 {
             return None;
         }
         let bit_ticks = ticks as u16;
@@ -214,8 +202,7 @@ pub const fn symbols(packet: u16, zero_high: u16, one_high: u16) -> [u16; FRAME_
 
 #[cfg(test)]
 mod tests {
-    use super::{ArmSequence, Config, FrameValue, Rate, Throttle, Timing, packet, symbols};
-    use crate::ArmingDuration;
+    use super::{ArmSequence, FrameValue, Rate, Throttle, Timing, packet, symbols};
 
     #[test]
     fn packet_matches_standard_dshot_vectors() {
@@ -250,9 +237,33 @@ mod tests {
     }
 
     #[test]
-    fn requires_an_arming_interval_with_frames() {
-        let duration = ArmingDuration::from_millis(2_000).unwrap();
-        let throttle = Throttle::new(300).unwrap();
-        assert!(Config::new(Rate::Dshot600, throttle, duration).is_some());
+    fn timer_clock_boundaries_do_not_overflow_or_clamp() {
+        for (rate, maximum_profile) in [
+            (Rate::Dshot150, (28_633, 10_022, 20_043)),
+            (Rate::Dshot300, (14_317, 5_011, 10_022)),
+            (Rate::Dshot600, (7_158, 2_505, 5_011)),
+        ] {
+            assert!(Timing::from_timer_clock(0, rate).is_none());
+            let first_supported = rate.hertz() * 5 / 2;
+            assert!(Timing::from_timer_clock(first_supported - 1, rate).is_none());
+            let minimum = Timing::from_timer_clock(first_supported, rate).unwrap();
+            assert_eq!(
+                (
+                    minimum.bit_ticks(),
+                    minimum.zero_high_ticks(),
+                    minimum.one_high_ticks()
+                ),
+                (3, 1, 2)
+            );
+            let maximum = Timing::from_timer_clock(u32::MAX, rate).unwrap();
+            assert_eq!(
+                (
+                    maximum.bit_ticks(),
+                    maximum.zero_high_ticks(),
+                    maximum.one_high_ticks()
+                ),
+                maximum_profile
+            );
+        }
     }
 }

firmware/libs/kaptan-actuator/src/kani_proofs.rs

@@ -0,0 +1,121 @@
+//! Integer wire and timing contracts.
+
+use super::dshot::{FrameValue, Rate, Throttle, Timing, symbols};
+
+fn any_rate() -> Rate {
+    match kani::any::<u8>() {
+        0 => Rate::Dshot150,
+        1 => Rate::Dshot300,
+        _ => Rate::Dshot600,
+    }
+}
+
+#[kani::proof]
+fn dshot_frame_preserves_payload_and_checksum() {
+    let raw: u16 = kani::any();
+    let stop: bool = kani::any();
+    let frame = if stop {
+        FrameValue::Stop
+    } else {
+        let Some(throttle) = Throttle::new(raw) else {
+            assert!(!(48..=2_047).contains(&raw));
+            return;
+        };
+        assert!((48..=2_047).contains(&raw));
+        FrameValue::Throttle(throttle)
+    };
+    let packet = frame.packet();
+    assert_eq!(packet >> 5, if stop { 0 } else { raw });
+    assert_eq!(packet & 0x10, 0);
+    assert_eq!(
+        (packet ^ (packet >> 4) ^ (packet >> 8) ^ (packet >> 12)) & 0xf,
+        0
+    );
+    kani::cover!(stop);
+    kani::cover!(!stop && raw == 48);
+    kani::cover!(!stop && raw == 2_047);
+}
+
+#[kani::proof]
+#[kani::unwind(17)]
+fn dshot_symbols_round_trip_and_end_low() {
+    let packet: u16 = kani::any();
+    let zero: u16 = kani::any();
+    let one: u16 = kani::any();
+    let encoded = symbols(packet, zero, one);
+    let mut decoded = 0_u16;
+    for symbol in &encoded[..16] {
+        assert!(*symbol == zero || *symbol == one);
+        decoded = (decoded << 1) | u16::from(*symbol == one);
+        if zero == one {
+            assert_eq!(*symbol, zero);
+        }
+    }
+    if zero != one {
+        assert_eq!(decoded, packet);
+    }
+    assert_eq!(encoded[16], 0);
+    assert_eq!(encoded[17], 0);
+    // Equal levels are legal arguments. The framing function does not claim
+    // that every caller-supplied pair is physically distinguishable.
+    kani::cover!(zero == one);
+    kani::cover!(zero != one && packet != 0 && packet != u16::MAX);
+}
+
+#[kani::proof]
+fn dshot_timer_rounding_keeps_compares_inside_period() {
+    let rate = any_rate();
+    let timer_hz: u32 = kani::any();
+    let timing = Timing::from_timer_clock(timer_hz, rate);
+    let requested = u64::from(timer_hz);
+    let symbol_hz = u64::from(rate.hertz());
+    if let Some(timing) = timing {
+        let represented = u64::from(timing.bit_ticks()) * symbol_hz;
+        // Nearest period, with half-symbol ties rounded upward.
+        assert!(2 * represented <= 2 * requested + symbol_hz);
+        assert!(2 * represented + symbol_hz > 2 * requested);
+        assert!(timing.zero_high_ticks() > 0);
+        assert!(timing.zero_high_ticks() < timing.one_high_ticks());
+        assert!(timing.one_high_ticks() < timing.bit_ticks());
+    } else {
+        // At all supported DShot rates u32::MAX still fits a u16 period.
+        // Therefore refusal is exactly below the minimum three-tick period.
+        assert!(2 * requested < 5 * symbol_hz);
+    }
+    kani::cover!(timing.is_none());
+    kani::cover!(timing.is_some() && timer_hz == u32::MAX);
+}
+
+#[kani::proof]
+fn arming_duration_product() {
+    let milliseconds: u16 = kani::any();
+    let cadence_hz: u32 = kani::any();
+    let Some(duration) = super::ArmingDuration::from_millis(milliseconds) else {
+        assert!(milliseconds == 0 || milliseconds > 8_000);
+        return;
+    };
+    assert_eq!(duration.milliseconds(), milliseconds);
+    assert!((1..=8_000).contains(&milliseconds));
+    let requested = u64::from(duration.milliseconds()) * u64::from(cadence_hz);
+    assert!(requested <= 8_000 * u64::from(u32::MAX));
+    assert_eq!(requested == 0, cadence_hz == 0);
+    kani::cover!(milliseconds == 1 && cadence_hz == 0);
+    kani::cover!(milliseconds == 8_000 && cadence_hz == u32::MAX);
+}
+
+#[kani::proof]
+fn arming_frame_count() {
+    let requested: u64 = kani::any();
+    let frames = super::frame_count(requested);
+    if let Some(frames) = frames {
+        let frames = u64::from(frames);
+        assert!(requested != 0 && frames != 0);
+        assert!(frames * 1_000 >= requested);
+        assert!((frames - 1) * 1_000 < requested);
+    } else {
+        assert!(requested == 0 || requested > u64::from(u16::MAX) * 1_000);
+    }
+    kani::cover!(requested == 0 && frames.is_none());
+    kani::cover!(frames.is_some() && requested % 1_000 != 0);
+    kani::cover!(requested == u64::MAX && frames.is_none());
+}

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

@@ -1,16 +1,16 @@
-//! Protocol-neutral physical-motor protocol reference.
+//! DShot/PWM framing and local arming sequences.
 //!
-//! This crate deliberately remains in the workspace for future, separately
-//! reviewed physical-flight work. No checked-in board platform links it, and
-//! its types model DShot/PWM framing and
-//! local arming sequences only; they grant neither peripheral access nor
-//! flight authority.
+//! This reference crate grants no peripheral access or flight authority and is
+//! not linked by the current board images.
 
 #![no_std]
 
 pub mod dshot;
 pub mod pwm;
 
+#[cfg(kani)]
+mod kani_proofs;
+
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
 pub struct ArmingDuration(u16);
 
@@ -26,6 +26,18 @@ impl ArmingDuration {
     pub const fn milliseconds(self) -> u16 {
         self.0
     }
+
+    /// Minimum frame count at the caller's periodic dispatch cadence.
+    pub const fn frames_at(self, cadence_hz: u32) -> Option<u16> {
+        frame_count(self.0 as u64 * cadence_hz as u64)
+    }
+}
+
+const fn frame_count(requested: u64) -> Option<u16> {
+    if requested == 0 || requested > u16::MAX as u64 * 1_000 {
+        return None;
+    }
+    Some((requested as u32).div_ceil(1_000) as u16)
 }
 
 #[derive(Clone, Copy, Debug, Eq, PartialEq)]
@@ -33,3 +45,23 @@ pub enum MotorProtocol {
     Pwm(pwm::Config),
     Dshot(dshot::Config),
 }
+
+#[cfg(test)]
+mod tests {
+    use super::ArmingDuration;
+
+    #[test]
+    fn frame_count_uses_dispatch_cadence() {
+        let duration = ArmingDuration::from_millis(8_000).unwrap();
+        assert_eq!(duration.frames_at(0), None);
+        assert_eq!(duration.frames_at(4_000), Some(32_000));
+        assert_eq!(duration.frames_at(8_000), Some(64_000));
+        assert_eq!(duration.frames_at(8_191), Some(65_528));
+        assert_eq!(duration.frames_at(8_192), None);
+        assert_eq!(duration.frames_at(u32::MAX), None);
+        assert_eq!(
+            ArmingDuration::from_millis(1).unwrap().frames_at(333),
+            Some(1)
+        );
+    }
+}

firmware/libs/kaptan-actuator/src/pwm.rs

@@ -66,16 +66,22 @@ impl Rate {
         self.0
     }
 
+    /// Returns an integral period representable by a 16-bit microsecond timer.
+    /// Rates with fractional periods or periods above 65,535 µs are unsupported.
     pub const fn period_microseconds(self) -> Option<u16> {
-        if 1_000_000 % self.0 as u32 == 0 {
-            Some((1_000_000 / self.0 as u32) as u16)
+        let period = 1_000_000 / self.0 as u32;
+        if 1_000_000 % self.0 as u32 == 0 && period <= u16::MAX as u32 {
+            Some(period as u16)
         } else {
             None
         }
     }
 
+    /// Rounds up so the frames last at least the requested duration.
     pub const fn frames_for_millis(self, milliseconds: u16) -> u16 {
-        ((self.0 as u32 * milliseconds as u32) / 1_000) as u16
+        // Rate is at most 500 Hz. The product is at most 32,767,500 and
+        // the rounded-up result at most 32,768 for every u16 duration.
+        (self.0 as u32 * milliseconds as u32).div_ceil(1_000) as u16
     }
 }
 
@@ -184,4 +190,59 @@ mod tests {
         assert!(Config::new(Rate::new(333).unwrap(), minimum, idle, duration).is_none());
         assert!(Config::new(rate, idle, minimum, duration).is_none());
     }
+
+    #[test]
+    fn timer_period_support_is_exact_over_the_entire_rate_domain() {
+        let duration = ArmingDuration::from_millis(1).unwrap();
+        let minimum = PulseWidth::new(1_000).unwrap();
+        let idle = PulseWidth::new(1_100).unwrap();
+        for hertz in 0..=u16::MAX {
+            let Some(rate) = Rate::new(hertz) else {
+                assert!(hertz == 0 || hertz > 500);
+                continue;
+            };
+            // Divisors of 10^6 in 1..=500 whose quotient fits u16.
+            let supported = matches!(
+                hertz,
+                16 | 20
+                    | 25
+                    | 32
+                    | 40
+                    | 50
+                    | 64
+                    | 80
+                    | 100
+                    | 125
+                    | 160
+                    | 200
+                    | 250
+                    | 320
+                    | 400
+                    | 500
+            );
+            assert_eq!(rate.period_microseconds().is_some(), supported);
+            assert_eq!(
+                Config::new(rate, minimum, idle, duration).is_some(),
+                supported
+            );
+            if let Some(period) = rate.period_microseconds() {
+                assert_eq!(u64::from(period) * u64::from(hertz), 1_000_000);
+            }
+        }
+    }
+
+    #[test]
+    fn every_rate_and_duration_uses_the_least_sufficient_frame_count() {
+        // All accepted rates and every public u16 duration, including values
+        // beyond ArmingDuration's 8-second configuration limit.
+        for hertz in 1..=500 {
+            let rate = Rate::new(hertz).unwrap();
+            for milliseconds in 0..=u16::MAX {
+                let frames = u64::from(rate.frames_for_millis(milliseconds));
+                let requested = u64::from(hertz) * u64::from(milliseconds);
+                assert!(frames * 1_000 >= requested);
+                assert!(frames == 0 || (frames - 1) * 1_000 < requested);
+            }
+        }
+    }
 }

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

@@ -1,339 +0,0 @@
-//! Portable board-support contract for Kaptan.
-//!
-//! This crate describes logical board identity, sensing capability and
-//! outbound data-channel policy. It intentionally has no dependency on an MCU
-//! family, peripheral access crate, RTIC, or a runtime framework.
-
-#![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)]
-pub enum VerticalSensingKind {
-    /// No range or optical-flow data is supported.
-    None,
-    /// Range data is supported.
-    Range,
-    /// Coherent range and optical-flow data are supported.
-    RangeAndOpticalFlow,
-}
-
-/// MAVLink endpoint identity selected by one board support package.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct MavlinkEndpoint {
-    /// MAVLink system identifier.
-    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.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct DataChannelRates {
-    /// Frequency of the timer that calls the data-channel scheduler.
-    pub service_hz: usize,
-    /// Raw-IMU publication rate.
-    pub raw_imu_hz: usize,
-    /// Range publication rate. `None` means range is not published.
-    pub range_hz: Option<usize>,
-    /// Optical-flow publication rate. `None` means flow is not published.
-    pub optical_flow_hz: Option<usize>,
-    /// Link heartbeat publication rate.
-    pub heartbeat_hz: usize,
-}
-
-/// 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.
-///
-/// `ExternalControlOnly` remains representable for an explicit validation
-/// rejection rather than silently falling back to telemetry.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub enum BoardProfile {
-    /// Physical-sensor telemetry image.
-    TelemetryOnly(TelemetryProfile),
-    /// Reserved and deliberately unimplemented production authority profile.
-    ExternalControlOnly,
-}
-
-/// Static board identity and exclusive build-time image configuration.
-///
-/// The selected platform trait determines the MCU family. Keeping a free-form
-/// MCU string here would duplicate that type-level fact without validating it.
-///
-/// Board policy is compiled and non-deserializable. The current F722 platform
-/// validates it against typestate-selected electrical routes before it touches
-/// hardware. Target-side runtime configuration remains disabled until its
-/// separate authenticated, journalled, disarmed activation contract exists.
-#[derive(Clone, Copy, Debug, Eq, PartialEq)]
-pub struct BoardConfig {
-    /// Stable board name used in build and diagnostic tooling.
-    pub name: &'static str,
-    /// MAVLink endpoint identity.
-    pub mavlink: MavlinkEndpoint,
-    /// Exactly one immutable image profile.
-    pub profile: BoardProfile,
-}
-
-impl BoardConfig {
-    /// Returns physical telemetry configuration only for a telemetry image.
-    pub const fn telemetry(self) -> Option<TelemetryProfile> {
-        match self.profile {
-            BoardProfile::TelemetryOnly(profile) => Some(profile),
-            BoardProfile::ExternalControlOnly => None,
-        }
-    }
-
-    /// 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 => {
-                // TODO(flight-config): replace this hard rejection only with a
-                // complete runtime and atomic configuration activation. Required
-                // inputs are vehicle geometry, calibrated sensors, actuator
-                // limits, authenticated MAVLink-v2 authority, persistent replay
-                // state, estimator/controller/allocator readiness, and a
-                // verified output watchdog.
-                Err(BoardConfigError::UnsupportedFlightProfile)
-            }
-        }
-    }
-
-    const fn validate_telemetry(profile: TelemetryProfile) -> Result<(), BoardConfigError> {
-        let rates = profile.data_channel;
-        if rates.service_hz == 0 {
-            return Err(BoardConfigError::ZeroServiceFrequency);
-        }
-        if rates.raw_imu_hz == 0 || rates.heartbeat_hz == 0 {
-            return Err(BoardConfigError::MissingRequiredDataChannel);
-        }
-        if rates.raw_imu_hz > rates.service_hz || rates.heartbeat_hz > rates.service_hz {
-            return Err(BoardConfigError::RateExceedsServiceFrequency);
-        }
-
-        let Some(mut scheduled_hz) = rates.raw_imu_hz.checked_add(rates.heartbeat_hz) else {
-            return Err(BoardConfigError::DataChannelOvercommitted);
-        };
-        if let Some(range_hz) = rates.range_hz {
-            if range_hz == 0 || range_hz > rates.service_hz {
-                return Err(BoardConfigError::RateExceedsServiceFrequency);
-            }
-            let Some(total) = scheduled_hz.checked_add(range_hz) else {
-                return Err(BoardConfigError::DataChannelOvercommitted);
-            };
-            scheduled_hz = total;
-        }
-        if let Some(flow_hz) = rates.optical_flow_hz {
-            if flow_hz == 0 || flow_hz > rates.service_hz {
-                return Err(BoardConfigError::RateExceedsServiceFrequency);
-            }
-            let Some(total) = scheduled_hz.checked_add(flow_hz) else {
-                return Err(BoardConfigError::DataChannelOvercommitted);
-            };
-            scheduled_hz = total;
-        }
-        if scheduled_hz > rates.service_hz {
-            return Err(BoardConfigError::DataChannelOvercommitted);
-        }
-
-        let vertical_schedule_is_valid = match profile.vertical_sensing {
-            VerticalSensingKind::None
-                if rates.range_hz.is_none() && rates.optical_flow_hz.is_none() =>
-            {
-                true
-            }
-            VerticalSensingKind::Range
-                if rates.range_hz.is_some() && rates.optical_flow_hz.is_none() =>
-            {
-                true
-            }
-            VerticalSensingKind::RangeAndOpticalFlow
-                if rates.range_hz.is_some() && rates.optical_flow_hz.is_some() =>
-            {
-                true
-            }
-            _ => false,
-        };
-        if !vertical_schedule_is_valid {
-            return Err(BoardConfigError::CapabilityDataChannelMismatch);
-        }
-
-        Ok(())
-    }
-}
-
-/// Invalid board-support configuration.
-#[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.
-    MissingRequiredDataChannel,
-    /// A configured stream is faster than its service timer.
-    RateExceedsServiceFrequency,
-    /// The schedule requests more than one frame per service tick.
-    DataChannelOvercommitted,
-    /// Declared vertical sensing and published streams disagree.
-    CapabilityDataChannelMismatch,
-    /// The selected operation profile has no complete runtime implementation.
-    UnsupportedFlightProfile,
-}
-
-#[cfg(test)]
-mod tests {
-    use super::{
-        BoardConfig, BoardConfigError, BoardProfile, DataChannelRates, ImuDevice, ImuMount,
-        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,
-                raw_imu_hz: 20,
-                range_hz: Some(20),
-                optical_flow_hz: Some(20),
-                heartbeat_hz: 2,
-            },
-            maximum_log_level: Severity::Info,
-        }),
-    };
-
-    #[test]
-    fn accepts_a_schedulable_range_and_flow_board() {
-        assert_eq!(BASE.validate(), Ok(()));
-    }
-
-    #[test]
-    fn rejects_streams_that_exceed_the_service_budget() {
-        let mut config = BASE;
-        let BoardProfile::TelemetryOnly(profile) = &mut config.profile else {
-            unreachable!();
-        };
-        profile.data_channel.optical_flow_hz = Some(80);
-
-        assert_eq!(
-            config.validate(),
-            Err(BoardConfigError::DataChannelOvercommitted)
-        );
-    }
-
-    #[test]
-    fn rejects_capability_and_data_channel_mismatch() {
-        let mut config = BASE;
-        let BoardProfile::TelemetryOnly(profile) = &mut config.profile else {
-            unreachable!();
-        };
-        profile.vertical_sensing = VerticalSensingKind::Range;
-
-        assert_eq!(
-            config.validate(),
-            Err(BoardConfigError::CapabilityDataChannelMismatch)
-        );
-    }
-
-    #[test]
-    fn rejects_external_control_until_its_runtime_exists() {
-        let mut config = BASE;
-        config.profile = BoardProfile::ExternalControlOnly;
-
-        assert_eq!(
-            config.validate(),
-            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)
-        );
-    }
-}

firmware/libs/kaptan-config-derive/src/config_enum.rs

@@ -0,0 +1,186 @@
+use proc_macro2::TokenStream;
+use quote::quote;
+use syn::{
+    Attribute, Data, DeriveInput, Expr, Fields, Ident, Lit, LitStr, Result, Token,
+    punctuated::Punctuated, spanned::Spanned,
+};
+
+const MAX_CONFIG_ENUM_LABEL_BYTES: usize = 32;
+
+pub(crate) fn expand(input: DeriveInput) -> Result<TokenStream> {
+    if !input.generics.params.is_empty() {
+        return Err(syn::Error::new(
+            input.generics.span(),
+            "ConfigEnum does not support generic enums",
+        ));
+    }
+    require_u8_representation(&input.attrs, input.ident.span())?;
+    if input
+        .attrs
+        .iter()
+        .any(|attribute| attribute.path().is_ident("config_enum"))
+    {
+        return Err(syn::Error::new(
+            input.ident.span(),
+            "config_enum options belong on enum variants",
+        ));
+    }
+    let Data::Enum(data) = input.data else {
+        return Err(syn::Error::new(
+            input.ident.span(),
+            "ConfigEnum can only be derived for enums",
+        ));
+    };
+    if data.variants.is_empty() {
+        return Err(syn::Error::new(
+            input.ident.span(),
+            "ConfigEnum requires at least one variant",
+        ));
+    }
+    if data.variants.len() > usize::from(u8::MAX) {
+        return Err(syn::Error::new(
+            input.ident.span(),
+            "ConfigEnum supports at most 255 variants",
+        ));
+    }
+
+    let mut variants = Vec::with_capacity(data.variants.len());
+    let mut values = Vec::with_capacity(data.variants.len());
+    let mut labels = Vec::with_capacity(data.variants.len());
+    for variant in data.variants {
+        if !matches!(variant.fields, Fields::Unit) {
+            return Err(syn::Error::new(
+                variant.fields.span(),
+                "ConfigEnum variants cannot contain fields",
+            ));
+        }
+        let Some((_, discriminant)) = variant.discriminant else {
+            return Err(syn::Error::new(
+                variant.ident.span(),
+                "ConfigEnum variants require explicit u8 discriminants",
+            ));
+        };
+        let value = discriminant_value(&discriminant)?;
+        if values.contains(&value) {
+            return Err(syn::Error::new(
+                discriminant.span(),
+                "duplicate ConfigEnum discriminant",
+            ));
+        }
+        let label = variant_label(&variant.attrs, &variant.ident)?;
+        if labels
+            .iter()
+            .any(|previous: &LitStr| previous.value() == label.value())
+        {
+            return Err(syn::Error::new(
+                label.span(),
+                "duplicate ConfigEnum display label",
+            ));
+        }
+        variants.push(variant.ident);
+        values.push(value);
+        labels.push(label);
+    }
+
+    let ident = input.ident;
+    Ok(quote! {
+        impl #ident {
+            /// Canonical stable values and display labels for generic
+            /// configuration discovery.
+            pub const CONFIG_ENUM_OPTIONS: &'static [(u8, &'static str)] = &[
+                #((#values, #labels)),*
+            ];
+
+            /// Returns this variant's stable compact representation.
+            pub const fn wire_value(self) -> u8 {
+                match self {
+                    #(Self::#variants => #values),*
+                }
+            }
+
+            /// Decodes one stable compact representation.
+            pub const fn try_from_wire(value: u8) -> Option<Self> {
+                match value {
+                    #(#values => Some(Self::#variants),)*
+                    _ => None,
+                }
+            }
+        }
+    })
+}
+
+fn require_u8_representation(attributes: &[Attribute], span: proc_macro2::Span) -> Result<()> {
+    let representations = attributes
+        .iter()
+        .filter(|attribute| attribute.path().is_ident("repr"))
+        .collect::<Vec<_>>();
+    if representations.len() != 1 {
+        return Err(syn::Error::new(
+            span,
+            "ConfigEnum requires exactly #[repr(u8)]",
+        ));
+    }
+    let arguments =
+        representations[0].parse_args_with(Punctuated::<Ident, Token![,]>::parse_terminated)?;
+    if arguments.len() != 1 || !arguments[0].eq("u8") {
+        return Err(syn::Error::new(
+            representations[0].span(),
+            "ConfigEnum requires exactly #[repr(u8)]",
+        ));
+    }
+    Ok(())
+}
+
+fn discriminant_value(expression: &Expr) -> Result<u8> {
+    let Expr::Lit(expression) = expression else {
+        return Err(syn::Error::new(
+            expression.span(),
+            "ConfigEnum discriminants must be u8 integer literals",
+        ));
+    };
+    let Lit::Int(literal) = &expression.lit else {
+        return Err(syn::Error::new(
+            expression.span(),
+            "ConfigEnum discriminants must be u8 integer literals",
+        ));
+    };
+    literal.base10_parse::<u8>().map_err(|_| {
+        syn::Error::new(
+            literal.span(),
+            "ConfigEnum discriminant is outside the u8 domain",
+        )
+    })
+}
+
+fn variant_label(attributes: &[Attribute], ident: &Ident) -> Result<LitStr> {
+    let mut label = None;
+    for attribute in attributes
+        .iter()
+        .filter(|attribute| attribute.path().is_ident("config_enum"))
+    {
+        attribute.parse_nested_meta(|meta| {
+            if meta.path.is_ident("label") {
+                if label.is_some() {
+                    return Err(meta.error("duplicate ConfigEnum display label"));
+                }
+                label = Some(meta.value()?.parse::<LitStr>()?);
+                return Ok(());
+            }
+            Err(meta.error("the only variant config_enum option is label = \"...\""))
+        })?;
+    }
+    let label = label.unwrap_or_else(|| LitStr::new(&ident.to_string(), ident.span()));
+    if label.value().is_empty() || label.value().contains('\0') {
+        return Err(syn::Error::new(
+            label.span(),
+            "ConfigEnum display labels must be non-empty text without NUL bytes",
+        ));
+    }
+    if label.value().len() > MAX_CONFIG_ENUM_LABEL_BYTES {
+        return Err(syn::Error::new(
+            label.span(),
+            "ConfigEnum display label exceeds the 32-byte wire limit",
+        ));
+    }
+    Ok(label)
+}

firmware/libs/kaptan-config-derive/src/expand.rs

@@ -15,7 +15,7 @@ pub(crate) fn expand(model: Model) -> Result<TokenStream> {
     } = model;
     match kind {
         ModelKind::Scalars => expand_scalars(ident, generics, crate_path, post_validate, fields),
-        ModelKind::Sections => expand_sections(ident, generics, crate_path, post_validate, fields),
+        ModelKind::Sections => expand_children(ident, generics, crate_path, post_validate, fields),
     }
 }
 
@@ -29,46 +29,72 @@ fn expand_scalars(
     let (impl_generics, type_generics, where_clause) = generics.split_for_impl();
     let mut checks = Vec::new();
     let mut descriptors = Vec::new();
-    let mut defaults = Vec::new();
     let mut reads = Vec::new();
     let mut writes = Vec::new();
+    let mut snapshot_widths = Vec::new();
     for field in &fields {
         let FieldMetadata {
             descriptor,
             checks: field_checks,
         } = expand_field(&crate_path, field)?;
-        if let Some(descriptor) = descriptor {
         descriptors.push(descriptor);
-        }
-        checks.extend(field_checks);
-        let id = field.id.expect("ConfigValidate requires configured fields");
-        let default = field
-            .default
-            .as_ref()
-            .expect("ConfigValidate requires defaults");
-        let (kind, value) = config_value_tokens(&crate_path, &field.ty)?;
+        checks.extend(field_checks.iter().cloned());
+        let id = field.id.expect("scalar configuration fields have IDs");
+        let ty = &field.ty;
         let field_ident = &field.ident;
-        defaults.push(quote! { #field_ident: #default });
+        let (kind, read, decode, out_of_domain_rule) = if !field.enum_backed {
+            snapshot_widths.push(quote! { <#ty as #crate_path::ConfigScalar>::KIND.width() });
+            (
+                quote! { <#ty as #crate_path::ConfigScalar>::KIND },
+                quote! { #crate_path::ConfigScalar::into_config_value(self.#field_ident) },
+                quote! { <#ty as #crate_path::ConfigScalar>::try_from_config_value(value) },
+                quote! { #crate_path::ValidationRule::AboveMaximum },
+            )
+        } else {
+            snapshot_widths.push(quote! { 1usize });
+            (
+                quote! { #crate_path::ValueKind::U8 },
+                quote! { #crate_path::ConfigValue::U8(self.#field_ident.wire_value()) },
+                quote! {
+                    match value {
+                        #crate_path::ConfigValue::U8(value) => <#ty>::try_from_wire(value)
+                            .ok_or(#crate_path::ScalarValueError::OutOfDomain),
+                        value => Err(#crate_path::ScalarValueError::WrongKind(value.kind())),
+                    }
+                },
+                quote! { #crate_path::ValidationRule::InvalidEnumValue },
+            )
+        };
         reads.push(quote! {
-            #id => Some(#value(self.#field_ident)),
+            #id => Some(#read),
         });
         writes.push(quote! {
             #id => {
-                let next = match value {
-                    #value(next) => next,
-                    actual => {
+                let next = match #decode {
+                    Ok(next) => next,
+                    Err(#crate_path::ScalarValueError::WrongKind(actual)) => {
                         return Err(#crate_path::FieldWriteError::WrongType {
                             field: #crate_path::FieldId::new(#id),
                             expected: #kind,
-                            actual: actual.kind(),
+                            actual,
                         });
                     }
+                    Err(#crate_path::ScalarValueError::OutOfDomain) => {
+                        return Err(#crate_path::FieldWriteError::Violation(
+                            #crate_path::ConfigViolation::field(
+                                #crate_path::FieldId::new(#id),
+                                #out_of_domain_rule,
+                            ),
+                        ));
+                    }
                 };
                 let previous = self.#field_ident;
                 self.#field_ident = next;
-                if let Err(violation) =
-                    <Self as #crate_path::ConfigSection>::validate_local_fields(self)
-                {
+                let validation = (|| -> Result<(), #crate_path::ConfigViolation> {
+                    #(#field_checks)*
+                    Ok(())
+                })();
+                if let Err(violation) = validation {
                     self.#field_ident = previous;
                     return Err(#crate_path::FieldWriteError::Violation(violation));
                 }
@@ -78,30 +104,33 @@ fn expand_scalars(
     }
     let post_validate = post_validate.map(|hook| quote! { #hook(self)?; });
     Ok(quote! {
-        impl #impl_generics #crate_path::ValidateFields for #ident #type_generics #where_clause {
-            fn validate_fields(&self) -> Result<(), #crate_path::ConfigViolation> {
-                <Self as #crate_path::ConfigSection>::validate_local_fields(self)?;
-                #post_validate
+        impl #impl_generics #ident #type_generics #where_clause {
+            /// Field metadata generated from the same declarations as validation.
+            pub const DESCRIPTORS: &'static [#crate_path::FieldDescriptor] = &[
+                #(#descriptors),*
+            ];
+
+            fn __validate_local_configuration(
+                &self,
+            ) -> Result<(), #crate_path::ConfigViolation> {
+                if !#crate_path::validation::__valid_enum_options(Self::DESCRIPTORS) {
+                    return Err(#crate_path::ConfigViolation::global(
+                        #crate_path::ValidationRule::Inconsistent,
+                    ));
+                }
+                #(#checks)*
                 Ok(())
             }
         }
 
-        impl #impl_generics #ident #type_generics #where_clause {
-            /// Field metadata generated from the same attributes as validation.
-            pub const DESCRIPTORS: &'static [#crate_path::FieldDescriptor] = &[
-                #(#descriptors),*
-            ];
-        }
-
-        impl #impl_generics #crate_path::ConfigSection for #ident #type_generics #where_clause {
+        impl #impl_generics #crate_path::Config for #ident #type_generics #where_clause {
             const FIELD_COUNT: usize = Self::DESCRIPTORS.len();
+            const SNAPSHOT_VALUE_BYTES: usize = 0 #(+ #snapshot_widths)*;
+            const SCHEMA_ID: [u8; 16] =
+                #crate_path::validation::__schema_id(Self::DESCRIPTORS);
 
-            fn default_section() -> Result<Self, #crate_path::ConfigViolation> {
-                let section = Self {
-                    #(#defaults),*
-                };
-                <Self as #crate_path::ValidateFields>::validate_fields(&section)?;
-                Ok(section)
+            fn descriptor(index: usize) -> Option<&'static #crate_path::FieldDescriptor> {
+                Self::DESCRIPTORS.get(index)
             }
 
             fn field_value(&self, id: #crate_path::FieldId) -> Option<#crate_path::ConfigValue> {
@@ -122,15 +151,16 @@ fn expand_scalars(
                 }
             }
 
-            fn validate_local_fields(&self) -> Result<(), #crate_path::ConfigViolation> {
-                #(#checks)*
+            fn validate(&self) -> Result<(), #crate_path::ConfigViolation> {
+                self.__validate_local_configuration()?;
+                #post_validate
                 Ok(())
             }
         }
     })
 }
 
-fn expand_sections(
+fn expand_children(
     ident: syn::Ident,
     generics: syn::Generics,
     crate_path: syn::Path,
@@ -138,71 +168,58 @@ fn expand_sections(
     fields: Vec<crate::parse::FieldModel>,
 ) -> Result<TokenStream> {
     let (impl_generics, type_generics, where_clause) = generics.split_for_impl();
-    let validations = fields.iter().map(|field| {
+    let mut validations = Vec::new();
+    let mut reads = Vec::new();
+    let mut writes = Vec::new();
+    let mut counts = Vec::new();
+    let mut snapshot_widths = Vec::new();
+    let mut schema_ids = Vec::new();
+    let mut descriptor_lookups = Vec::new();
+    for field in &fields {
         let field_ident = &field.ident;
         let ty = &field.ty;
-        quote! {
-            <#ty as #crate_path::ValidateFields>::validate_fields(&self.#field_ident)?;
-        }
+        validations.push(quote! {
+            <#ty as #crate_path::Config>::validate(&self.#field_ident)?;
         });
-    let defaults = fields.iter().map(|field| {
-        let field_ident = &field.ident;
-        let ty = &field.ty;
-        quote! {
-            #field_ident: <#ty as #crate_path::ConfigSection>::default_section()?
-        }
-    });
-    let reads = fields.iter().map(|field| {
-        let field_ident = &field.ident;
-        let ty = &field.ty;
-        quote! {
-            if let Some(value) = <#ty as #crate_path::ConfigSection>::field_value(
+        reads.push(quote! {
+            if let Some(value) = <#ty as #crate_path::Config>::field_value(
                 &self.#field_ident,
                 id,
             ) {
                 return Some(value);
             }
-        }
         });
-    let writes = fields.iter().map(|field| {
-        let field_ident = &field.ident;
-        let ty = &field.ty;
-        quote! {
-            if <#ty as #crate_path::ConfigSection>::field_value(&self.#field_ident, id).is_some() {
-                return <#ty as #crate_path::ConfigSection>::set_field(
+        writes.push(quote! {
+            if <#ty as #crate_path::Config>::field_value(&self.#field_ident, id).is_some() {
+                return <#ty as #crate_path::Config>::set_field(
                     &mut self.#field_ident,
                     id,
                     value,
                 );
             }
+        });
+        counts.push(quote! { <#ty as #crate_path::Config>::FIELD_COUNT });
+        snapshot_widths.push(quote! { <#ty as #crate_path::Config>::SNAPSHOT_VALUE_BYTES });
+        schema_ids.push(quote! { <#ty as #crate_path::Config>::SCHEMA_ID });
+        descriptor_lookups.push(quote! {
+            if index < <#ty as #crate_path::Config>::FIELD_COUNT {
+                return <#ty as #crate_path::Config>::descriptor(index);
             }
+            index -= <#ty as #crate_path::Config>::FIELD_COUNT;
         });
-    let counts = fields.iter().map(|field| {
-        let ty = &field.ty;
-        quote! { <#ty as #crate_path::ConfigSection>::FIELD_COUNT }
-    });
+    }
     let post_validate = post_validate.map(|hook| quote! { #hook(self)?; });
+
     Ok(quote! {
-        impl #impl_generics #crate_path::ValidateFields for #ident #type_generics #where_clause {
-            fn validate_fields(&self) -> Result<(), #crate_path::ConfigViolation> {
-                #(#validations)*
-                #post_validate
-                Ok(())
-            }
-        }
+        impl #impl_generics #crate_path::Config for #ident #type_generics #where_clause {
+            const FIELD_COUNT: usize = 0 #(+ #counts)*;
+            const SNAPSHOT_VALUE_BYTES: usize = 0 #(+ #snapshot_widths)*;
+            const SCHEMA_ID: [u8; 16] =
+                #crate_path::validation::__combine_schema_ids(&[#(#schema_ids),*]);
 
-        impl #impl_generics #ident #type_generics #where_clause {
-            /// Number of fields aggregated from derived nested sections.
-            pub const FIELD_COUNT: usize = 0 #(+ #counts)*;
-        }
-
-        impl #impl_generics #crate_path::ConfigAggregate for #ident #type_generics #where_clause {
-            fn default_aggregate() -> Result<Self, #crate_path::ConfigViolation> {
-                let aggregate = Self {
-                    #(#defaults),*
-                };
-                <Self as #crate_path::ValidateFields>::validate_fields(&aggregate)?;
-                Ok(aggregate)
+            fn descriptor(mut index: usize) -> Option<&'static #crate_path::FieldDescriptor> {
+                #(#descriptor_lookups)*
+                None
             }
 
             fn field_value(&self, id: #crate_path::FieldId) -> Option<#crate_path::ConfigValue> {
@@ -218,23 +235,39 @@ fn expand_sections(
                 #(#writes)*
                 Err(#crate_path::FieldWriteError::UnknownField(id))
             }
+
+            fn validate(&self) -> Result<(), #crate_path::ConfigViolation> {
+                if !#crate_path::validation::__unique_field_ids::<Self>() {
+                    return Err(#crate_path::ConfigViolation::global(
+                        #crate_path::ValidationRule::Inconsistent,
+                    ));
+                }
+                if !#crate_path::validation::__unique_display_keys::<Self>() {
+                    return Err(#crate_path::ConfigViolation::global(
+                        #crate_path::ValidationRule::Inconsistent,
+                    ));
+                }
+                #(#validations)*
+                #post_validate
+                Ok(())
+            }
+        }
+
+        impl #impl_generics #ident #type_generics #where_clause {
+            /// Number of fields contributed by the complete generated tree.
+            pub const FIELD_COUNT: usize = <Self as #crate_path::Config>::FIELD_COUNT;
         }
     })
 }
 
 struct FieldMetadata {
-    descriptor: Option<TokenStream>,
+    descriptor: TokenStream,
     checks: Vec<TokenStream>,
 }
 
 fn expand_field(crate_path: &syn::Path, field: &crate::parse::FieldModel) -> Result<FieldMetadata> {
     let mut checks = Vec::new();
-    let Some(id) = field.id else {
-        return Ok(FieldMetadata {
-            descriptor: None,
-            checks,
-        });
-    };
+    let id = field.id.expect("scalar configuration fields have IDs");
     let minimum = field.checks.iter().find_map(|check| match check {
         Check::Minimum(value) => Some(value),
         _ => None,
@@ -243,28 +276,67 @@ fn expand_field(crate_path: &syn::Path, field: &crate::parse::FieldModel) -> Res
         Check::Maximum(value) => Some(value),
         _ => None,
     });
+    let finite = field
+        .checks
+        .iter()
+        .any(|check| matches!(check, Check::Finite));
+    let nonzero = field
+        .checks
+        .iter()
+        .any(|check| matches!(check, Check::Nonzero));
+    let float = matches!(&field.ty, syn::Type::Path(path)
+        if path.path.is_ident("f32") || path.path.is_ident("f64"));
+    if float && !finite && (minimum.is_some() || maximum.is_some()) {
+        let field_ident = &field.ident;
+        checks.push(quote! {
+            if self.#field_ident.is_nan() {
+                return Err(#crate_path::ConfigViolation::field(
+                    #crate_path::FieldId::new(#id),
+                    #crate_path::ValidationRule::Unordered,
+                ));
+            }
+        });
+    }
     for check in &field.checks {
-        checks.push(expand_check(crate_path, &field.ident, id, check.clone()));
+        checks.push(expand_check(
+            crate_path,
+            &field.ident,
+            id,
+            check.clone(),
+            float,
+        ));
     }
     let key = field.display_key.as_ref().expect("id fields have a key");
     let unit = field.unit.as_ref().expect("id fields have a unit");
-    let default = field.default.as_ref().expect("id fields have a default");
-    let (kind, value) = config_value_tokens(crate_path, &field.ty)?;
+    let ty = &field.ty;
+    let (kind, enum_options) = if !field.enum_backed {
+        (
+            quote! { <#ty as #crate_path::ConfigScalar>::KIND },
+            quote! { &[] },
+        )
+    } else {
+        (
+            quote! { #crate_path::ValueKind::U8 },
+            quote! { <#ty>::CONFIG_ENUM_OPTIONS },
+        )
+    };
+    let value = config_value_constructor_tokens(crate_path, &field.ty)?;
     let minimum = option_value_tokens(value.clone(), minimum);
     let maximum = option_value_tokens(value.clone(), maximum);
     Ok(FieldMetadata {
-        descriptor: Some(quote! {
+        descriptor: quote! {
             #crate_path::FieldDescriptor {
                 id: #crate_path::FieldId::new(#id),
                 display_key: #key,
                 kind: #kind,
                 minimum: #minimum,
                 maximum: #maximum,
-                default: #value(#default),
+                enum_options: #enum_options,
                 unit: #unit,
-                apply_policy: #crate_path::ApplyPolicy::RestartRequired,
+                finite: #finite,
+                nonzero: #nonzero,
             }
-        }),
+        },
         checks,
     })
 }
@@ -276,10 +348,7 @@ fn option_value_tokens(value: TokenStream, expression: Option<&syn::Expr>) -> To
     }
 }
 
-fn config_value_tokens(
-    crate_path: &syn::Path,
-    ty: &syn::Type,
-) -> Result<(TokenStream, TokenStream)> {
+fn config_value_constructor_tokens(crate_path: &syn::Path, ty: &syn::Type) -> Result<TokenStream> {
     let syn::Type::Path(path) = ty else {
         return Err(syn::Error::new_spanned(
             ty,
@@ -292,42 +361,34 @@ fn config_value_tokens(
             "configuration metadata requires a scalar type",
         ));
     };
-    let (kind, value) = match segment.ident.to_string().as_str() {
-        "bool" => (
-            quote! { #crate_path::ValueKind::Bool },
-            quote! { #crate_path::ConfigValue::Bool },
-        ),
-        "i32" => (
-            quote! { #crate_path::ValueKind::I32 },
-            quote! { #crate_path::ConfigValue::I32 },
-        ),
-        "u32" => (
-            quote! { #crate_path::ValueKind::U32 },
-            quote! { #crate_path::ConfigValue::U32 },
-        ),
-        "u64" => (
-            quote! { #crate_path::ValueKind::U64 },
-            quote! { #crate_path::ConfigValue::U64 },
-        ),
-        "f32" => (
-            quote! { #crate_path::ValueKind::F32 },
-            quote! { #crate_path::ConfigValue::F32 },
-        ),
-        "f64" => (
-            quote! { #crate_path::ValueKind::F64 },
-            quote! { #crate_path::ConfigValue::F64 },
-        ),
+    let value = match segment.ident.to_string().as_str() {
+        "bool" => quote! { #crate_path::ConfigValue::Bool },
+        "i32" => quote! { #crate_path::ConfigValue::I32 },
+        "u8" => quote! { #crate_path::ConfigValue::U8 },
+        "u16" => quote! { #crate_path::ConfigValue::U16 },
+        "u32" => quote! { #crate_path::ConfigValue::U32 },
+        "u64" => quote! { #crate_path::ConfigValue::U64 },
+        "f32" => quote! { #crate_path::ConfigValue::F32 },
+        "f64" => quote! { #crate_path::ConfigValue::F64 },
         _ => {
-            return Err(syn::Error::new_spanned(
-                ty,
-                "configuration metadata supports bool, i32, u32, u64, f32, and f64",
-            ));
+            return Ok(quote! { #crate_path::ConfigValue::U32 });
         }
     };
-    Ok((kind, value))
+    Ok(value)
 }
 
-fn expand_check(crate_path: &syn::Path, field: &syn::Ident, id: u16, check: Check) -> TokenStream {
+fn expand_check(
+    crate_path: &syn::Path,
+    field: &syn::Ident,
+    id: u16,
+    check: Check,
+    float: bool,
+) -> TokenStream {
+    let zero = if float {
+        quote! { 0.0 }
+    } else {
+        quote! { 0 }
+    };
     match check {
         Check::Finite => quote! {
             if !self.#field.is_finite() {
@@ -338,7 +399,7 @@ fn expand_check(crate_path: &syn::Path, field: &syn::Ident, id: u16, check: Chec
             }
         },
         Check::Nonzero => quote! {
-            if self.#field == 0 {
+            if self.#field == #zero {
                 return Err(#crate_path::ConfigViolation::field(
                     #crate_path::FieldId::new(#id),
                     #crate_path::ValidationRule::Zero,

firmware/libs/kaptan-config-derive/src/lib.rs

@@ -1,17 +1,36 @@
-//! Procedural validation derive for Kaptan configuration records.
+//! Procedural derive for recursively composable Kaptan configuration records.
 
+mod config_enum;
 mod expand;
 mod parse;
 
 use proc_macro::TokenStream;
 use syn::parse_macro_input;
 
-/// Implements `kaptan_config::ValidateFields` from `#[config(...)]` helpers.
-#[proc_macro_derive(ConfigValidate, attributes(config))]
-pub fn derive_config_validate(input: TokenStream) -> TokenStream {
+/// Generates validation, metadata, routing, and schema identity.
+///
+/// Primitive fields retain their native scalar type. Enum-backed fields must
+/// opt in with `#[config(enum)]` and derive [`ConfigEnum`].
+#[proc_macro_derive(Config, attributes(config))]
+pub fn derive_config(input: TokenStream) -> TokenStream {
     let input = parse_macro_input!(input as syn::DeriveInput);
     match parse::Model::parse(input).and_then(expand::expand) {
         Ok(tokens) => tokens.into(),
         Err(error) => error.into_compile_error().into(),
     }
 }
+
+/// Generates the canonical table and conversions for a field configured as a
+/// compact enum.
+///
+/// The enum must use `#[repr(u8)]`, have explicit integer discriminants, and
+/// contain only fieldless variants. Variant identifiers are the default GCS
+/// labels; `#[config_enum(label = "...")]` overrides one label.
+#[proc_macro_derive(ConfigEnum, attributes(config_enum))]
+pub fn derive_config_enum(input: TokenStream) -> TokenStream {
+    let input = parse_macro_input!(input as syn::DeriveInput);
+    match config_enum::expand(input) {
+        Ok(tokens) => tokens.into(),
+        Err(error) => error.into_compile_error().into(),
+    }
+}

firmware/libs/kaptan-config-derive/src/parse.rs

@@ -3,6 +3,9 @@ use syn::{
     spanned::Spanned,
 };
 
+const MAX_DISPLAY_KEY_BYTES: usize = 48;
+const MAX_UNIT_BYTES: usize = 16;
+
 pub(crate) struct Model {
     pub(crate) ident: Ident,
     pub(crate) generics: syn::Generics,
@@ -24,9 +27,8 @@ pub(crate) struct FieldModel {
     pub(crate) id: Option<u16>,
     pub(crate) display_key: Option<syn::LitStr>,
     pub(crate) unit: Option<syn::LitStr>,
-    pub(crate) default: Option<Expr>,
     pub(crate) checks: Vec<Check>,
-    pub(crate) section: bool,
+    pub(crate) enum_backed: bool,
 }
 
 #[derive(Clone)]
@@ -43,19 +45,19 @@ impl Model {
         let Data::Struct(data) = input.data else {
             return Err(syn::Error::new(
                 input.ident.span(),
-                "ConfigValidate can only be derived for structs",
+                "Config can only be derived for structs",
             ));
         };
         let Fields::Named(fields) = data.fields else {
             return Err(syn::Error::new(
                 input.ident.span(),
-                "ConfigValidate requires named struct fields",
+                "Config requires named struct fields",
             ));
         };
         if fields.named.is_empty() {
             return Err(syn::Error::new(
                 input.ident.span(),
-                "ConfigValidate requires at least one configured field or section",
+                "Config requires at least one field",
             ));
         }
         let mut models = Vec::with_capacity(fields.named.len());
@@ -73,38 +75,63 @@ impl Model {
             }
             models.push(model);
         }
-        let kind = if models.iter().all(|field| field.section) {
-            ModelKind::Sections
-        } else if models.iter().all(|field| field.id.is_some()) {
+        let kind = if models.iter().all(|field| field.id.is_some()) {
             ModelKind::Scalars
+        } else if models.iter().all(|field| field.id.is_none()) {
+            ModelKind::Sections
         } else {
             let field = models
                 .iter()
-                .find(|field| field.section || field.id.is_none())
+                .find(|field| field.id.is_none())
                 .expect("mixed configuration model has one invalid field");
             return Err(syn::Error::new(
                 field.ident.span(),
-                "ConfigValidate records must contain either scalar config fields or config(section) fields exclusively",
+                "Config records must contain either scalar fields or child configuration records exclusively",
             ));
         };
         if kind == ModelKind::Scalars {
+            let mut display_keys = Vec::with_capacity(models.len());
             for field in &models {
-                if field.display_key.is_none() {
+                let Some(display_key) = &field.display_key else {
                     return Err(syn::Error::new(
                         field.ident.span(),
                         "configuration fields require config(key = \"...\")",
                     ));
+                };
+                validate_metadata_text(
+                    display_key,
+                    MAX_DISPLAY_KEY_BYTES,
+                    "configuration display key",
+                    false,
+                )?;
+                if display_keys
+                    .iter()
+                    .any(|previous: &&syn::LitStr| previous.value() == display_key.value())
+                {
+                    return Err(syn::Error::new(
+                        display_key.span(),
+                        "duplicate configuration display key",
+                    ));
                 }
-                if field.unit.is_none() {
+                display_keys.push(display_key);
+                let Some(unit) = &field.unit else {
                     return Err(syn::Error::new(
                         field.ident.span(),
                         "configuration fields require config(unit = \"...\")",
                     ));
-                }
-                if field.default.is_none() {
+                };
+                validate_metadata_text(unit, MAX_UNIT_BYTES, "configuration unit", true)?;
+                let primitive = scalar_type_name(&field.ty).is_some();
+                if field.enum_backed && primitive {
                     return Err(syn::Error::new(
-                        field.ident.span(),
-                        "configuration fields require config(default = ...)",
+                        field.ty.span(),
+                        "config(enum) requires a ConfigEnum-derived enum type",
+                    ));
+                }
+                if !field.enum_backed && !primitive {
+                    return Err(syn::Error::new(
+                        field.ty.span(),
+                        "non-primitive configuration fields require config(enum)",
                     ));
                 }
                 validate_static_constraints(field)?;
@@ -121,6 +148,34 @@ impl Model {
     }
 }
 
+fn validate_metadata_text(
+    literal: &syn::LitStr,
+    maximum_bytes: usize,
+    name: &str,
+    allow_empty: bool,
+) -> Result<()> {
+    let value = literal.value();
+    if !allow_empty && value.is_empty() {
+        return Err(syn::Error::new(
+            literal.span(),
+            format!("{name} must not be empty"),
+        ));
+    }
+    if value.contains('\0') {
+        return Err(syn::Error::new(
+            literal.span(),
+            format!("{name} cannot contain NUL bytes"),
+        ));
+    }
+    if value.len() > maximum_bytes {
+        return Err(syn::Error::new(
+            literal.span(),
+            format!("{name} exceeds the {maximum_bytes}-byte wire limit"),
+        ));
+    }
+    Ok(())
+}
+
 fn parse_container_attributes(attributes: &[Attribute]) -> Result<(Path, Option<Path>)> {
     let mut crate_path = syn::parse_quote!(::kaptan_config);
     let mut has_crate_path = false;
@@ -160,40 +215,17 @@ fn parse_field(field: Field) -> Result<FieldModel> {
     let mut id = None;
     let mut display_key = None;
     let mut unit = None;
-    let mut default = None;
     let mut finite = false;
     let mut nonzero = false;
     let mut range_minimum = false;
     let mut range_maximum = false;
-    let mut section = false;
+    let mut enum_backed = false;
     for attribute in field
         .attrs
         .iter()
         .filter(|attribute| attribute.path().is_ident("config"))
     {
         attribute.parse_nested_meta(|meta| {
-            if section && !meta.path.is_ident("section") {
-                return Err(meta.error(
-                    "config(section) cannot be combined with scalar id, metadata, or validation rules",
-                ));
-            }
-            if meta.path.is_ident("section") {
-                if section {
-                    return Err(meta.error("duplicate config(section)"));
-                }
-                if id.is_some()
-                    || display_key.is_some()
-                    || unit.is_some()
-                    || default.is_some()
-                    || !checks.is_empty()
-                {
-                    return Err(meta.error(
-                        "config(section) cannot be combined with scalar id, metadata, or validation rules",
-                    ));
-                }
-                section = true;
-                return Ok(());
-            }
             if meta.path.is_ident("id") {
                 if id.is_some() {
                     return Err(meta.error("duplicate configuration field id"));
@@ -220,13 +252,11 @@ fn parse_field(field: Field) -> Result<FieldModel> {
                 unit = Some(meta.value()?.parse()?);
                 return Ok(());
             }
-            if meta.path.is_ident("default") {
-                if default.is_some() {
-                    return Err(meta.error("duplicate configuration default"));
+            if meta.path.is_ident("enum") {
+                if enum_backed {
+                    return Err(meta.error("duplicate enum configuration marker"));
                 }
-                let expression = meta.value()?.parse()?;
-                validate_default_literal(&expression, &field.ty)?;
-                default = Some(expression);
+                enum_backed = true;
                 return Ok(());
             }
             if meta.path.is_ident("finite") {
@@ -273,26 +303,16 @@ fn parse_field(field: Field) -> Result<FieldModel> {
                 return Ok(());
             }
             Err(meta.error(
-                "supported field config rules are id, key, unit, default, finite, nonzero, and range",
+                "supported field config rules are id, key, unit, enum, finite, nonzero, and range",
             ))
         })?;
     }
-    if !section && !checks.is_empty() && id.is_none() {
-        return Err(syn::Error::new(
-            ident.span(),
-            "validated configuration fields require config(id = N)",
-        ));
-    }
-    if section
-        && (id.is_some()
-            || display_key.is_some()
-            || unit.is_some()
-            || default.is_some()
-            || !checks.is_empty())
+    if id.is_none()
+        && (display_key.is_some() || unit.is_some() || enum_backed || !checks.is_empty())
     {
         return Err(syn::Error::new(
             ident.span(),
-            "config(section) cannot be combined with scalar id, metadata, or validation rules",
+            "scalar configuration fields require config(id = N)",
         ));
     }
     Ok(FieldModel {
@@ -301,9 +321,8 @@ fn parse_field(field: Field) -> Result<FieldModel> {
         id,
         display_key,
         unit,
-        default,
         checks,
-        section,
+        enum_backed,
     })
 }
 
@@ -353,33 +372,19 @@ fn validate_numeric_literal(expression: &Expr) -> Result<()> {
     }
 }
 
-fn validate_default_literal(expression: &Expr, ty: &Type) -> Result<()> {
-    if scalar_type_name(ty) == Some("bool") {
-        return match expression {
-            Expr::Lit(expression) if matches!(expression.lit, Lit::Bool(_)) => Ok(()),
-            _ => Err(syn::Error::new(
-                expression.span(),
-                "bool configuration defaults must be bool literals",
-            )),
-        };
-    }
-    validate_numeric_literal(expression)
-}
-
 fn validate_static_constraints(field: &FieldModel) -> Result<()> {
-    let ty = scalar_type_name(&field.ty).ok_or_else(|| {
-        syn::Error::new(
+    let Some(ty) = scalar_type_name(&field.ty) else {
+        if field.checks.is_empty() {
+            return Ok(());
+        }
+        return Err(syn::Error::new(
             field.ty.span(),
-            "configuration metadata requires a supported scalar type",
-        )
-    })?;
+            "validation rules require a supported primitive scalar type",
+        ));
+    };
     if ty == "bool" {
         return Ok(());
     }
-    let default = scalar_literal(
-        field.default.as_ref().expect("scalar fields have defaults"),
-        ty,
-    )?;
     let minimum = field.checks.iter().find_map(|check| match check {
         Check::Minimum(value) => Some(value),
         _ => None,
@@ -406,70 +411,6 @@ fn validate_static_constraints(field: &FieldModel) -> Result<()> {
             "configuration range minimum exceeds maximum",
         ));
     }
-    if field
-        .checks
-        .iter()
-        .any(|check| matches!(check, Check::Finite))
-        && !default.is_finite()
-    {
-        return Err(syn::Error::new(
-            field
-                .default
-                .as_ref()
-                .expect("scalar fields have defaults")
-                .span(),
-            "configuration default violates finite",
-        ));
-    }
-    if !default.is_finite() {
-        return Err(syn::Error::new(
-            field
-                .default
-                .as_ref()
-                .expect("scalar fields have defaults")
-                .span(),
-            "configuration default is not finite for its field type",
-        ));
-    }
-    if field
-        .checks
-        .iter()
-        .any(|check| matches!(check, Check::Nonzero))
-        && default.is_zero()
-    {
-        return Err(syn::Error::new(
-            field
-                .default
-                .as_ref()
-                .expect("scalar fields have defaults")
-                .span(),
-            "configuration default violates nonzero",
-        ));
-    }
-    if let Some(minimum) = minimum
-        && compare_scalar(default, minimum).is_lt()
-    {
-        return Err(syn::Error::new(
-            field
-                .default
-                .as_ref()
-                .expect("scalar fields have defaults")
-                .span(),
-            "configuration default is below its declared minimum",
-        ));
-    }
-    if let Some(maximum) = maximum
-        && compare_scalar(default, maximum).is_gt()
-    {
-        return Err(syn::Error::new(
-            field
-                .default
-                .as_ref()
-                .expect("scalar fields have defaults")
-                .span(),
-            "configuration default is above its declared maximum",
-        ));
-    }
     Ok(())
 }
 
@@ -487,14 +428,6 @@ impl ScalarLiteral {
             Self::Float(value) => value.is_finite(),
         }
     }
-
-    fn is_zero(self) -> bool {
-        match self {
-            Self::Signed(value) => value == 0,
-            Self::Unsigned(value) => value == 0,
-            Self::Float(value) => value == 0.0,
-        }
-    }
 }
 
 fn scalar_literal(expression: &Expr, ty: &str) -> Result<ScalarLiteral> {
@@ -519,6 +452,26 @@ fn scalar_literal(expression: &Expr, ty: &str) -> Result<ScalarLiteral> {
             })?;
             Ok(ScalarLiteral::Unsigned(value))
         }
+        "u8" => {
+            let value = unsigned_literal(expression)?;
+            u8::try_from(value).map_err(|_| {
+                syn::Error::new(
+                    expression.span(),
+                    "configuration literal is outside u8 range",
+                )
+            })?;
+            Ok(ScalarLiteral::Unsigned(value))
+        }
+        "u16" => {
+            let value = unsigned_literal(expression)?;
+            u16::try_from(value).map_err(|_| {
+                syn::Error::new(
+                    expression.span(),
+                    "configuration literal is outside u16 range",
+                )
+            })?;
+            Ok(ScalarLiteral::Unsigned(value))
+        }
         "u64" => {
             let value = unsigned_literal(expression)?;
             u64::try_from(value).map_err(|_| {
@@ -529,13 +482,15 @@ fn scalar_literal(expression: &Expr, ty: &str) -> Result<ScalarLiteral> {
             })?;
             Ok(ScalarLiteral::Unsigned(value))
         }
-        "f32" => Ok(ScalarLiteral::Float(f64::from(
-            float_literal(expression)? as f32
-        ))),
-        "f64" => float_literal(expression).map(ScalarLiteral::Float),
+        // Parse at the emitted literal's native precision. Parsing through f64
+        // first can double-round an f32 bound across an ordering boundary.
+        "f32" => Ok(ScalarLiteral::Float(f64::from(float_literal::<f32>(
+            expression,
+        )?))),
+        "f64" => float_literal::<f64>(expression).map(ScalarLiteral::Float),
         _ => Err(syn::Error::new(
             expression.span(),
-            "configuration metadata supports bool, i32, u32, u64, f32, and f64",
+            "configuration metadata supports bool, i32, u8, u16, u32, u64, f32, and f64",
         )),
     }
 }
@@ -589,7 +544,11 @@ fn unsigned_literal(expression: &Expr) -> Result<u128> {
     }
 }
 
-fn float_literal(expression: &Expr) -> Result<f64> {
+fn float_literal<T>(expression: &Expr) -> Result<T>
+where
+    T: std::str::FromStr + core::ops::Neg<Output = T>,
+    T::Err: core::fmt::Display,
+{
     let (negative, literal) = match expression {
         Expr::Lit(expression) => (false, &expression.lit),
         Expr::Unary(expression) if matches!(expression.op, UnOp::Neg(_)) => {
@@ -610,10 +569,10 @@ fn float_literal(expression: &Expr) -> Result<f64> {
     };
     let value = match literal {
         Lit::Int(value) => value
-            .base10_parse::<f64>()
+            .base10_parse::<T>()
             .map_err(|error| syn::Error::new(value.span(), error))?,
         Lit::Float(value) => value
-            .base10_parse::<f64>()
+            .base10_parse::<T>()
             .map_err(|error| syn::Error::new(value.span(), error))?,
         _ => {
             return Err(syn::Error::new(
@@ -648,30 +607,14 @@ fn require_float(ty: &Type, span: &impl Spanned) -> Result<()> {
 }
 
 fn require_numeric(ty: &Type, span: &impl Spanned) -> Result<()> {
-    if scalar_type_name(ty).is_some_and(|name| {
-        matches!(
-            name,
-            "f32"
-                | "f64"
-                | "i8"
-                | "i16"
-                | "i32"
-                | "i64"
-                | "i128"
-                | "isize"
-                | "u8"
-                | "u16"
-                | "u32"
-                | "u64"
-                | "u128"
-                | "usize"
-        )
-    }) {
+    if scalar_type_name(ty)
+        .is_some_and(|name| matches!(name, "f32" | "f64" | "i32" | "u8" | "u16" | "u32" | "u64"))
+    {
         Ok(())
     } else {
         Err(syn::Error::new(
             span.span(),
-            "nonzero and range require a primitive numeric field",
+            "nonzero and range require a supported primitive numeric field",
         ))
     }
 }
@@ -691,18 +634,11 @@ fn scalar_type_name(ty: &Type) -> Option<&str> {
         ident if ident == "bool" => "bool",
         ident if ident == "f32" => "f32",
         ident if ident == "f64" => "f64",
-        ident if ident == "i8" => "i8",
-        ident if ident == "i16" => "i16",
         ident if ident == "i32" => "i32",
-        ident if ident == "i64" => "i64",
-        ident if ident == "i128" => "i128",
-        ident if ident == "isize" => "isize",
         ident if ident == "u8" => "u8",
         ident if ident == "u16" => "u16",
         ident if ident == "u32" => "u32",
         ident if ident == "u64" => "u64",
-        ident if ident == "u128" => "u128",
-        ident if ident == "usize" => "usize",
         _ => return None,
     })
 }

firmware/libs/kaptan-config-derive/tests/pass/aggregate_sections.rs

@@ -1,27 +1,27 @@
-use kaptan_config::{ConfigAggregate, ConfigSection, ConfigViolation, ValidateFields};
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config::{Config, ConfigViolation};
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct Child {
-    #[config(id = 1, key = "child.value", unit = "count", default = 1, range(min = 0, max = 2))]
+    #[config(id = 1, key = "child.value", unit = "count", range(min = 0, max = 2))]
     value: u32,
 }
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 #[config(post = Self::validate_complete)]
 struct Root {
-    #[config(section)]
     child: Child,
 }
 
 impl Root {
     fn validate_complete(&self) -> Result<(), ConfigViolation> {
-        self.child.validate_fields()
+        self.child.validate()
     }
 }
 
 fn main() {
-    let root = Root::default_aggregate().unwrap();
+    let root = Root {
+        child: Child { value: 1 },
+    };
     assert_eq!(Root::FIELD_COUNT, 1);
     assert_eq!(root.child.field_value(kaptan_config::FieldId::new(1)), Some(kaptan_config::ConfigValue::U32(1)));
 }

firmware/libs/kaptan-config-derive/tests/pass/config_enum.rs

@@ -0,0 +1,25 @@
+use kaptan_config_derive::{Config, ConfigEnum};
+
+#[derive(Clone, Copy, ConfigEnum)]
+#[repr(u8)]
+enum Mode {
+    Safe = 1,
+    #[config_enum(label = "Full authority")]
+    FullAuthority = 7,
+}
+
+#[derive(Config)]
+struct EnumConfig {
+    #[config(enum, id = 1, key = "mode", unit = "mode")]
+    mode: Mode,
+}
+
+fn main() {
+    assert_eq!(Mode::Safe.wire_value(), 1);
+    assert!(matches!(Mode::try_from_wire(7), Some(Mode::FullAuthority)));
+    assert_eq!(Mode::CONFIG_ENUM_OPTIONS[1], (7, "Full authority"));
+    assert_eq!(
+        EnumConfig::DESCRIPTORS[0].enum_options,
+        Mode::CONFIG_ENUM_OPTIONS
+    );
+}

firmware/libs/kaptan-config-derive/tests/pass/root_bool.rs

@@ -1,8 +1,8 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct RootBooleanConfig {
-    #[config(id = 1, key = "enabled", unit = "bool", default = true)]
+    #[config(id = 1, key = "enabled", unit = "bool")]
     enabled: bool,
 }
 

firmware/libs/kaptan-config-derive/tests/section.rs

@@ -1,37 +1,22 @@
 use kaptan_config::{
-    ConfigAggregate, ConfigSection, ConfigValue, ConfigViolation, FieldId, FieldWriteError,
-    ValidateFields, ValidationRule,
+    Config, ConfigEnum, ConfigValue, ConfigViolation, FieldId, FieldWriteError, ValidationRule,
 };
-use kaptan_config_derive::ConfigValidate;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct LocalSection {
-    #[config(
-        id = 1,
-        key = "local.first",
-        unit = "count",
-        default = 2,
-        range(min = 1, max = 9)
-    )]
+    #[config(id = 1, key = "local.first", unit = "count", range(min = 1, max = 9))]
     first: u32,
-    #[config(
-        id = 2,
-        key = "local.second",
-        unit = "count",
-        default = 4,
-        range(min = 1, max = 9)
-    )]
+    #[config(id = 2, key = "local.second", unit = "count", range(min = 1, max = 9))]
     second: u32,
 }
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 #[config(post = Self::validate_order)]
 struct OrderedSection {
     #[config(
         id = 3,
         key = "ordered.minimum",
         unit = "count",
-        default = 1,
         range(min = 0, max = 9)
     )]
     minimum: u32,
@@ -39,7 +24,6 @@ struct OrderedSection {
         id = 4,
         key = "ordered.maximum",
         unit = "count",
-        default = 2,
         range(min = 0, max = 9)
     )]
     maximum: u32,
@@ -58,17 +42,51 @@ impl OrderedSection {
     }
 }
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct Aggregate {
-    #[config(section)]
     local: LocalSection,
-    #[config(section)]
     ordered: OrderedSection,
 }
 
+#[derive(Config)]
+struct BoardOwnedSection {
+    #[config(
+        id = 10,
+        key = "board.endpoint",
+        unit = "id",
+        range(min = 1, max = 255)
+    )]
+    endpoint: u32,
+}
+
+#[derive(Config)]
+struct BoardOwnedAggregate {
+    endpoint: BoardOwnedSection,
+}
+
+#[derive(Clone, Copy, Debug, Eq, PartialEq, ConfigEnum)]
+#[repr(u8)]
+enum TestMode {
+    Quiet = 1,
+    Loud = 3,
+}
+
+#[derive(Config)]
+struct CompactSection {
+    #[config(id = 20, key = "compact.endpoint", unit = "id", range(min = 1))]
+    endpoint: u8,
+    #[config(enum, id = 21, key = "compact.mode", unit = "mode")]
+    mode: TestMode,
+    #[config(id = 22, key = "compact.port", unit = "id", range(min = 1))]
+    port: u16,
+}
+
 #[test]
 fn generated_section_owns_every_declared_scalar_path() {
-    let mut section = LocalSection::default_section().unwrap();
+    let mut section = LocalSection {
+        first: 2,
+        second: 4,
+    };
     assert_eq!(LocalSection::FIELD_COUNT, 2);
     assert_eq!(
         section.field_value(FieldId::new(2)),
@@ -94,9 +112,67 @@ fn generated_section_owns_every_declared_scalar_path() {
     );
 }
 
+#[test]
+fn narrow_scalars_and_compact_enums_keep_native_types_and_generic_metadata() {
+    let mut section = CompactSection {
+        endpoint: 7,
+        mode: TestMode::Quiet,
+        port: 4861,
+    };
+    assert_eq!(CompactSection::SNAPSHOT_VALUE_BYTES, 1 + 1 + 2);
+    assert_eq!(
+        section.field_value(FieldId::new(20)),
+        Some(ConfigValue::U8(7))
+    );
+    assert_eq!(
+        CompactSection::DESCRIPTORS[0].minimum,
+        Some(ConfigValue::U8(1))
+    );
+    assert_eq!(CompactSection::DESCRIPTORS[0].maximum, None);
+    assert_eq!(
+        CompactSection::DESCRIPTORS[1].enum_options,
+        TestMode::CONFIG_ENUM_OPTIONS
+    );
+    assert_eq!(TestMode::Quiet.wire_value(), 1);
+    assert_eq!(TestMode::try_from_wire(3), Some(TestMode::Loud));
+    assert_eq!(TestMode::try_from_wire(2), None);
+
+    section
+        .set_field(FieldId::new(21), ConfigValue::U8(3))
+        .unwrap();
+    assert_eq!(section.mode, TestMode::Loud);
+    assert!(matches!(
+        section.set_field(FieldId::new(21), ConfigValue::U8(2)),
+        Err(FieldWriteError::Violation(issue))
+            if issue.rule() == ValidationRule::InvalidEnumValue
+    ));
+    assert!(matches!(
+        section.set_field(FieldId::new(20), ConfigValue::U8(0)),
+        Err(FieldWriteError::Violation(issue))
+            if issue.rule() == ValidationRule::BelowMinimum
+    ));
+    assert_eq!(
+        section.field_value(FieldId::new(22)),
+        Some(ConfigValue::U16(4861))
+    );
+    assert_eq!(
+        CompactSection::DESCRIPTORS[2].kind,
+        kaptan_config::ValueKind::U16
+    );
+}
+
 #[test]
 fn aggregate_routes_writes_and_defers_declared_post_validation() {
-    let mut aggregate = Aggregate::default_aggregate().unwrap();
+    let mut aggregate = Aggregate {
+        local: LocalSection {
+            first: 2,
+            second: 4,
+        },
+        ordered: OrderedSection {
+            minimum: 1,
+            maximum: 2,
+        },
+    };
     assert_eq!(Aggregate::FIELD_COUNT, 4);
     assert_eq!(
         aggregate.field_value(FieldId::new(2)),
@@ -106,7 +182,7 @@ fn aggregate_routes_writes_and_defers_declared_post_validation() {
         .set_field(FieldId::new(3), ConfigValue::U32(3))
         .unwrap();
     assert!(matches!(
-        aggregate.validate_fields(),
+        aggregate.validate(),
         Err(issue)
             if issue.primary() == Some(FieldId::new(3))
                 && issue.related_field() == Some(FieldId::new(4))
@@ -115,5 +191,190 @@ fn aggregate_routes_writes_and_defers_declared_post_validation() {
     aggregate
         .set_field(FieldId::new(4), ConfigValue::U32(3))
         .unwrap();
-    aggregate.validate_fields().unwrap();
+    aggregate.validate().unwrap();
+}
+
+#[test]
+fn aggregate_derives_its_flattened_descriptor_order() {
+    assert_eq!(Aggregate::SNAPSHOT_VALUE_BYTES, 4 * 4);
+    let descriptors: Vec<_> = (0..Aggregate::FIELD_COUNT)
+        .map(|index| Aggregate::descriptor(index).unwrap())
+        .collect();
+    assert_eq!(
+        descriptors
+            .iter()
+            .map(|descriptor| descriptor.id.get())
+            .collect::<Vec<_>>(),
+        [1, 2, 3, 4]
+    );
+    assert!(Aggregate::descriptor(Aggregate::FIELD_COUNT).is_none());
+}
+
+#[test]
+fn factory_values_are_owned_outside_the_generated_schema() {
+    let mut aggregate = BoardOwnedAggregate {
+        endpoint: BoardOwnedSection { endpoint: 42 },
+    };
+    assert_eq!(BoardOwnedAggregate::FIELD_COUNT, 1);
+    assert_eq!(
+        aggregate.field_value(FieldId::new(10)),
+        Some(ConfigValue::U32(42))
+    );
+    aggregate
+        .set_field(FieldId::new(10), ConfigValue::U32(43))
+        .unwrap();
+    aggregate.validate().unwrap();
+}
+
+#[derive(Config)]
+struct DuplicateChildren {
+    first: LocalSection,
+    second: LocalSection,
+}
+
+#[derive(Config)]
+struct TransparentRoot {
+    local: LocalSection,
+}
+
+#[derive(Config)]
+struct FirstKeyOwner {
+    #[config(id = 30, key = "shared.key", unit = "count")]
+    value: u32,
+}
+
+#[derive(Config)]
+struct SecondKeyOwner {
+    #[config(id = 31, key = "shared.key", unit = "count")]
+    value: u32,
+}
+
+#[derive(Config)]
+struct DuplicateKeysAcrossChildren {
+    first: FirstKeyOwner,
+    second: SecondKeyOwner,
+}
+
+#[test]
+fn schema_fingerprint_is_generated_and_one_child_wrappers_are_transparent() {
+    assert_eq!(TransparentRoot::SCHEMA_ID, LocalSection::SCHEMA_ID);
+    assert_ne!(Aggregate::SCHEMA_ID, LocalSection::SCHEMA_ID);
+}
+
+#[test]
+fn recursive_tree_rejects_duplicate_field_ids() {
+    let duplicate = DuplicateChildren {
+        first: LocalSection {
+            first: 2,
+            second: 4,
+        },
+        second: LocalSection {
+            first: 2,
+            second: 4,
+        },
+    };
+    assert!(matches!(
+        duplicate.validate(),
+        Err(issue) if issue.rule() == ValidationRule::Inconsistent
+    ));
+}
+
+#[test]
+fn recursive_tree_rejects_duplicate_display_keys() {
+    let duplicate = DuplicateKeysAcrossChildren {
+        first: FirstKeyOwner { value: 1 },
+        second: SecondKeyOwner { value: 2 },
+    };
+    assert!(matches!(
+        duplicate.validate(),
+        Err(issue) if issue.rule() == ValidationRule::Inconsistent
+    ));
+}
+
+#[derive(Config)]
+struct FloatRules {
+    #[config(id = 1, key = "finite", unit = "", finite)]
+    finite: f32,
+    #[config(id = 2, key = "nonzero", unit = "", nonzero)]
+    nonzero: f64,
+    #[config(id = 3, key = "lower", unit = "", range(min = 0.0))]
+    lower: f32,
+    #[config(id = 4, key = "upper", unit = "", range(max = 1.0))]
+    upper: f64,
+    #[config(id = 5, key = "free", unit = "")]
+    free: f64,
+    #[config(id = 6, key = "nonzero32", unit = "", nonzero)]
+    nonzero32: f32,
+}
+
+#[test]
+fn scalar_rules_preserve_local_repair_and_float_domains() {
+    let mut values = FloatRules {
+        finite: f32::NAN,
+        nonzero: 0.0,
+        lower: f32::NAN,
+        upper: f64::NAN,
+        free: f64::NAN,
+        nonzero32: 0.0,
+    };
+    // Every other field is invalid. A local repair must still succeed.
+    values
+        .set_field(FieldId::new(1), ConfigValue::F32(1.0))
+        .unwrap();
+    for (id, value, rule) in [
+        (
+            1,
+            ConfigValue::F32(f32::INFINITY),
+            ValidationRule::NonFinite,
+        ),
+        (2, ConfigValue::F64(0.0), ValidationRule::Zero),
+        (2, ConfigValue::F64(-0.0), ValidationRule::Zero),
+        (3, ConfigValue::F32(f32::NAN), ValidationRule::Unordered),
+        (4, ConfigValue::F64(f64::NAN), ValidationRule::Unordered),
+        (6, ConfigValue::F32(0.0), ValidationRule::Zero),
+        (6, ConfigValue::F32(-0.0), ValidationRule::Zero),
+    ] {
+        let id = FieldId::new(id);
+        let before = values.field_value(id);
+        assert_eq!(
+            values.set_field(id, value),
+            Err(FieldWriteError::Violation(ConfigViolation::field(id, rule)))
+        );
+        assert_eq!(values.field_value(id), before);
+    }
+    // Neither nonzero nor a one-sided range implies finite.
+    for (id, value) in [
+        (2, ConfigValue::F64(f64::from_bits(0xfff0_0000_0000_0042))),
+        (3, ConfigValue::F32(f32::INFINITY)),
+        (4, ConfigValue::F64(f64::NEG_INFINITY)),
+        (5, ConfigValue::F64(f64::from_bits(0x7ff8_0000_0000_1234))),
+        (6, ConfigValue::F32(f32::INFINITY)),
+    ] {
+        values.set_field(FieldId::new(id), value).unwrap();
+        assert_eq!(values.field_value(FieldId::new(id)), Some(value));
+    }
+    values.validate().unwrap();
+}
+
+#[test]
+fn rule_metadata_changes_fingerprints() {
+    let descriptor = FloatRules::DESCRIPTORS[0];
+    assert!(descriptor.finite);
+    assert!(!descriptor.nonzero);
+    assert!(FloatRules::DESCRIPTORS[1].nonzero);
+    let original = kaptan_config::validation::__schema_id(&[descriptor]);
+    assert_ne!(
+        original,
+        kaptan_config::validation::__schema_id(&[kaptan_config::FieldDescriptor {
+            finite: false,
+            ..descriptor
+        }])
+    );
+    assert_ne!(
+        original,
+        kaptan_config::validation::__schema_id(&[kaptan_config::FieldDescriptor {
+            nonzero: true,
+            ..descriptor
+        }])
+    );
 }

firmware/libs/kaptan-config-derive/tests/ui/config_enum_implicit_discriminant.rs

@@ -0,0 +1,10 @@
+use kaptan_config_derive::ConfigEnum;
+
+#[derive(ConfigEnum)]
+#[repr(u8)]
+enum ImplicitDiscriminant {
+    First = 1,
+    Second,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/config_enum_implicit_discriminant.stderr

@@ -0,0 +1,5 @@
+error: ConfigEnum variants require explicit u8 discriminants
+ --> tests/ui/config_enum_implicit_discriminant.rs:7:5
+  |
+7 |     Second,
+  |     ^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/config_enum_label_nul.rs

@@ -0,0 +1,10 @@
+use kaptan_config_derive::ConfigEnum;
+
+#[derive(ConfigEnum)]
+#[repr(u8)]
+enum LabelWithNul {
+    #[config_enum(label = "invalid\0label")]
+    Value = 1,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/config_enum_label_nul.stderr

@@ -0,0 +1,5 @@
+error: ConfigEnum display labels must be non-empty text without NUL bytes
+ --> tests/ui/config_enum_label_nul.rs:6:27
+  |
+6 |     #[config_enum(label = "invalid\0label")]
+  |                           ^^^^^^^^^^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/config_enum_label_too_many_bytes.rs

@@ -0,0 +1,10 @@
+use kaptan_config_derive::ConfigEnum;
+
+#[derive(ConfigEnum)]
+#[repr(u8)]
+enum LabelTooManyBytes {
+    #[config_enum(label = "şşşşşşşşşşşşşşşşş")]
+    Value = 1,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/config_enum_label_too_many_bytes.stderr

@@ -0,0 +1,5 @@
+error: ConfigEnum display label exceeds the 32-byte wire limit
+ --> tests/ui/config_enum_label_too_many_bytes.rs:6:27
+  |
+6 |     #[config_enum(label = "şşşşşşşşşşşşşşşşş")]
+  |                           ^^^^^^^^^^^^^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/config_enum_missing_repr.rs

@@ -0,0 +1,8 @@
+use kaptan_config_derive::ConfigEnum;
+
+#[derive(ConfigEnum)]
+enum MissingRepresentation {
+    First = 1,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/config_enum_missing_repr.stderr

@@ -0,0 +1,5 @@
+error: ConfigEnum requires exactly #[repr(u8)]
+ --> tests/ui/config_enum_missing_repr.rs:4:6
+  |
+4 | enum MissingRepresentation {
+  |      ^^^^^^^^^^^^^^^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/config_enum_payload.rs

@@ -0,0 +1,9 @@
+use kaptan_config_derive::ConfigEnum;
+
+#[derive(ConfigEnum)]
+#[repr(u8)]
+enum Payload {
+    Value(u8) = 1,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/config_enum_payload.stderr

@@ -0,0 +1,5 @@
+error: ConfigEnum variants cannot contain fields
+ --> tests/ui/config_enum_payload.rs:6:10
+  |
+6 |     Value(u8) = 1,
+  |          ^^^^

firmware/libs/kaptan-config-derive/tests/ui/default_below_minimum.rs

@@ -1,9 +0,0 @@
-use kaptan_config_derive::ConfigValidate;
-
-#[derive(ConfigValidate)]
-struct DefaultBelowMinimum {
-    #[config(id = 1, key = "value", unit = "count", default = 1, range(min = 2, max = 3))]
-    value: u32,
-}
-
-fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/default_below_minimum.stderr

@@ -1,5 +0,0 @@
-error: configuration default is below its declared minimum
- --> tests/ui/default_below_minimum.rs:5:63
-  |
-5 |     #[config(id = 1, key = "value", unit = "count", default = 1, range(min = 2, max = 3))]
-  |                                                               ^

firmware/libs/kaptan-config-derive/tests/ui/default_violates_finite.rs

@@ -1,9 +0,0 @@
-use kaptan_config_derive::ConfigValidate;
-
-#[derive(ConfigValidate)]
-struct NonFiniteDefault {
-    #[config(id = 1, key = "value", unit = "ratio", default = 1e100, finite)]
-    value: f32,
-}
-
-fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/default_violates_finite.stderr

@@ -1,5 +0,0 @@
-error: configuration default violates finite
- --> tests/ui/default_violates_finite.rs:5:63
-  |
-5 |     #[config(id = 1, key = "value", unit = "ratio", default = 1e100, finite)]
-  |                                                               ^^^^^

firmware/libs/kaptan-config-derive/tests/ui/default_violates_nonzero.rs

@@ -1,9 +0,0 @@
-use kaptan_config_derive::ConfigValidate;
-
-#[derive(ConfigValidate)]
-struct ZeroDefault {
-    #[config(id = 1, key = "value", unit = "count", default = 0, nonzero)]
-    value: u32,
-}
-
-fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/default_violates_nonzero.stderr

@@ -1,5 +0,0 @@
-error: configuration default violates nonzero
- --> tests/ui/default_violates_nonzero.rs:5:63
-  |
-5 |     #[config(id = 1, key = "value", unit = "count", default = 0, nonzero)]
-  |                                                               ^

firmware/libs/kaptan-config-derive/tests/ui/display_key_too_long.rs

@@ -0,0 +1,13 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct DisplayKeyTooLong {
+    #[config(
+        id = 1,
+        key = "configuration.display.key.with.more.than.forty.eight.bytes",
+        unit = "count"
+    )]
+    value: u32,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/display_key_too_long.stderr

@@ -0,0 +1,5 @@
+error: configuration display key exceeds the 48-byte wire limit
+ --> tests/ui/display_key_too_long.rs:7:15
+  |
+7 |         key = "configuration.display.key.with.more.than.forty.eight.bytes",
+  |               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/duplicate_display_key.rs

@@ -0,0 +1,11 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct DuplicateDisplayKey {
+    #[config(id = 1, key = "duplicate.key", unit = "count")]
+    first: u32,
+    #[config(id = 2, key = "duplicate.key", unit = "count")]
+    second: u32,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/duplicate_display_key.stderr

@@ -0,0 +1,5 @@
+error: duplicate configuration display key
+ --> tests/ui/duplicate_display_key.rs:7:28
+  |
+7 |     #[config(id = 2, key = "duplicate.key", unit = "count")]
+  |                            ^^^^^^^^^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/duplicate_id.rs

@@ -1,6 +1,6 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct DuplicateId {
     #[config(id = 7, nonzero)]
     first: u32,

firmware/libs/kaptan-config-derive/tests/ui/duplicate_range.rs

@@ -1,6 +1,6 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct DuplicateRange {
     #[config(id = 7, range(min = 1), range(min = 2))]
     value: u32,

firmware/libs/kaptan-config-derive/tests/ui/empty.rs

@@ -1,6 +1,6 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct Empty {}
 
 fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/empty.stderr

@@ -1,4 +1,4 @@
-error: ConfigValidate requires at least one configured field or section
+error: Config requires at least one field
  --> tests/ui/empty.rs:4:8
   |
 4 | struct Empty {}

firmware/libs/kaptan-config-derive/tests/ui/enum_marker_on_primitive.rs

@@ -0,0 +1,9 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct PrimitiveEnumMarker {
+    #[config(enum, id = 1, key = "mode", unit = "mode")]
+    mode: u8,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/enum_marker_on_primitive.stderr

@@ -0,0 +1,5 @@
+error: config(enum) requires a ConfigEnum-derived enum type
+ --> tests/ui/enum_marker_on_primitive.rs:6:11
+  |
+6 |     mode: u8,
+  |           ^^

firmware/libs/kaptan-config-derive/tests/ui/f32_double_rounded_bounds.rs

@@ -0,0 +1,9 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct InvertedNativeBounds {
+    #[config(id = 1, key = "value", unit = "", range(min = 1.0000000596046448, max = 1.0))]
+    value: f32,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/f32_double_rounded_bounds.stderr

@@ -0,0 +1,5 @@
+error: configuration range minimum exceeds maximum
+ --> tests/ui/f32_double_rounded_bounds.rs:6:5
+  |
+6 |     value: f32,
+  |     ^^^^^

firmware/libs/kaptan-config-derive/tests/ui/missing_enum_marker.rs

@@ -0,0 +1,15 @@
+use kaptan_config_derive::{Config, ConfigEnum};
+
+#[derive(Clone, Copy, ConfigEnum)]
+#[repr(u8)]
+enum Mode {
+    Safe = 1,
+}
+
+#[derive(Config)]
+struct MissingEnumMarker {
+    #[config(id = 1, key = "mode", unit = "mode")]
+    mode: Mode,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/missing_enum_marker.stderr

@@ -0,0 +1,5 @@
+error: non-primitive configuration fields require config(enum)
+  --> tests/ui/missing_enum_marker.rs:12:11
+   |
+12 |     mode: Mode,
+   |           ^^^^

firmware/libs/kaptan-config-derive/tests/ui/missing_id.rs

@@ -1,6 +1,6 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct MissingId {
     #[config(nonzero)]
     value: u32,

firmware/libs/kaptan-config-derive/tests/ui/missing_id.stderr

@@ -1,4 +1,4 @@
-error: validated configuration fields require config(id = N)
+error: scalar configuration fields require config(id = N)
  --> tests/ui/missing_id.rs:6:5
   |
 6 |     value: u32,

firmware/libs/kaptan-config-derive/tests/ui/missing_metadata.rs

@@ -1,8 +1,8 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct MissingMetadata {
-    #[config(id = 7, unit = "count", default = 1, range(min = 0, max = 10))]
+    #[config(id = 7, unit = "count", range(min = 0, max = 10))]
     value: u32,
 }
 

firmware/libs/kaptan-config-derive/tests/ui/mixed_section_scalar.rs

@@ -1,10 +1,9 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct MixedSectionAndScalar {
-    #[config(section)]
     child: u32,
-    #[config(id = 1, key = "scalar", unit = "count", default = 1, range(min = 0, max = 2))]
+    #[config(id = 1, key = "scalar", unit = "count", range(min = 0, max = 2))]
     scalar: u32,
 }
 

firmware/libs/kaptan-config-derive/tests/ui/mixed_section_scalar.stderr

@@ -1,5 +1,5 @@
-error: ConfigValidate records must contain either scalar config fields or config(section) fields exclusively
- --> tests/ui/mixed_section_scalar.rs:6:5
+error: Config records must contain either scalar fields or child configuration records exclusively
+ --> tests/ui/mixed_section_scalar.rs:5:5
   |
-6 |     child: u32,
+5 |     child: u32,
   |     ^^^^^

firmware/libs/kaptan-config-derive/tests/ui/numeric_rules_on_bool.rs

@@ -0,0 +1,24 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct NonzeroBool {
+    #[config(id = 1, key = "value", unit = "")]
+    #[config(nonzero)]
+    value: bool,
+}
+
+#[derive(Config)]
+struct RangedBool {
+    #[config(id = 1, key = "value", unit = "")]
+    #[config(range(min = 0, max = 1))]
+    value: bool,
+}
+
+#[derive(Config)]
+struct FiniteBool {
+    #[config(id = 1, key = "value", unit = "")]
+    #[config(finite)]
+    value: bool,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/numeric_rules_on_bool.stderr

@@ -0,0 +1,17 @@
+error: nonzero and range require a supported primitive numeric field
+ --> tests/ui/numeric_rules_on_bool.rs:6:14
+  |
+6 |     #[config(nonzero)]
+  |              ^^^^^^^
+
+error: nonzero and range require a supported primitive numeric field
+  --> tests/ui/numeric_rules_on_bool.rs:13:14
+   |
+13 |     #[config(range(min = 0, max = 1))]
+   |              ^^^^^
+
+error: finite requires an f32 or f64 field
+  --> tests/ui/numeric_rules_on_bool.rs:20:14
+   |
+20 |     #[config(finite)]
+   |              ^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/numeric_rules_on_enum.rs

@@ -0,0 +1,31 @@
+use kaptan_config_derive::{Config, ConfigEnum};
+
+#[derive(Clone, Copy, ConfigEnum)]
+#[repr(u8)]
+enum Mode {
+    Off = 0,
+    On = 1,
+}
+
+#[derive(Config)]
+struct NonzeroEnum {
+    #[config(enum, id = 1, key = "value", unit = "")]
+    #[config(nonzero)]
+    value: Mode,
+}
+
+#[derive(Config)]
+struct RangedEnum {
+    #[config(enum, id = 1, key = "value", unit = "")]
+    #[config(range(min = 0, max = 1))]
+    value: Mode,
+}
+
+#[derive(Config)]
+struct FiniteEnum {
+    #[config(enum, id = 1, key = "value", unit = "")]
+    #[config(finite)]
+    value: Mode,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/numeric_rules_on_enum.stderr

@@ -0,0 +1,17 @@
+error: nonzero and range require a supported primitive numeric field
+  --> tests/ui/numeric_rules_on_enum.rs:13:14
+   |
+13 |     #[config(nonzero)]
+   |              ^^^^^^^
+
+error: nonzero and range require a supported primitive numeric field
+  --> tests/ui/numeric_rules_on_enum.rs:20:14
+   |
+20 |     #[config(range(min = 0, max = 1))]
+   |              ^^^^^
+
+error: finite requires an f32 or f64 field
+  --> tests/ui/numeric_rules_on_enum.rs:27:14
+   |
+27 |     #[config(finite)]
+   |              ^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/range_minimum_exceeds_maximum.rs

@@ -1,8 +1,8 @@
-use kaptan_config_derive::ConfigValidate;
+use kaptan_config_derive::Config;
 
-#[derive(ConfigValidate)]
+#[derive(Config)]
 struct InvalidRange {
-    #[config(id = 1, key = "value", unit = "count", default = 2, range(min = 3, max = 1))]
+    #[config(id = 1, key = "value", unit = "count", range(min = 3, max = 1))]
     value: u32,
 }
 

firmware/libs/kaptan-config-derive/tests/ui/unit_too_long.rs

@@ -0,0 +1,9 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct UnitTooLong {
+    #[config(id = 1, key = "value", unit = "seventeen_bytes___")]
+    value: u32,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/unit_too_long.stderr

@@ -0,0 +1,5 @@
+error: configuration unit exceeds the 16-byte wire limit
+ --> tests/ui/unit_too_long.rs:5:44
+  |
+5 |     #[config(id = 1, key = "value", unit = "seventeen_bytes___")]
+  |                                            ^^^^^^^^^^^^^^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/unsupported_default.rs

@@ -0,0 +1,9 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+struct UnsupportedDefault {
+    #[config(id = 1, key = "value", unit = "count", default = 1)]
+    value: u32,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/unsupported_default.stderr

@@ -0,0 +1,5 @@
+error: supported field config rules are id, key, unit, enum, finite, nonzero, and range
+ --> tests/ui/unsupported_default.rs:5:53
+  |
+5 |     #[config(id = 1, key = "value", unit = "count", default = 1)]
+  |                                                     ^^^^^^^

firmware/libs/kaptan-config-derive/tests/ui/unsupported_external_defaults.rs

@@ -0,0 +1,10 @@
+use kaptan_config_derive::Config;
+
+#[derive(Config)]
+#[config(external_defaults)]
+struct UnsupportedExternalDefaults {
+    #[config(id = 1, key = "value", unit = "count")]
+    value: u32,
+}
+
+fn main() {}

firmware/libs/kaptan-config-derive/tests/ui/unsupported_external_defaults.stderr

@@ -0,0 +1,5 @@
+error: struct config options are crate = path and post = path
+ --> tests/ui/unsupported_external_defaults.rs:4:10
+  |
+4 | #[config(external_defaults)]
+  |          ^^^^^^^^^^^^^^^^^