25 lines
975 B
Markdown
25 lines
975 B
Markdown
# 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.
|
|
|
|
There is no checked-in platform actuator route:
|
|
|
|
- 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.
|
|
|
|
Run the structural guard after any platform or board change:
|
|
|
|
```sh
|
|
cargo test -p platform-stm32f7 --test platform_safety_boundary --offline
|
|
```
|
|
|
|
This boundary is deliberately stronger than an application-level disarm flag:
|
|
it removes the physical actuator implementation from the platform image.
|