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14 changes: 10 additions & 4 deletions artifacts/phase2-pixhawk.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -550,10 +550,16 @@ artifacts:
meld 0.52.0 `fuse --memory shared --pack-rebase` (5 pages / 320 KB -> 1 page / 64 KB) ->
loom 1.2.0 optimize -> synth 0.55 `compile -t cortex-m7dp --cortex-m` = a self-contained
EXEC image, 65,452 B, entry 0x81, text at 0x0, RW at 0x20000000 (DTCM), exporting
pulseengine:falcon-cascade/{rate@0.7.0#tick, mixer@0.7.0#mix} as real defined symbols.
Three functions remain skipped, ALL GI-FPU-002 (VFP register-file exhaustion, synth#881), so
iekf/position/attitude entry points are NOT in this image - expected, and the single remaining
upstream gate.
the cascade entry points as real defined symbols.
*** UPDATED 2026-08-27: ALL FIVE STAGES NOW EXPORT AND THE IMAGE STILL EXECUTES. *** synth
increment 2 (PR#1075, "frame-homed overflow VFP locals", on synth main) removes the 13->14
homed-local wall, and the fused --pack-rebase image compiles with 0 SKIPS and 5/5 exports:
attitude@0.7.0#tick, ekf@0.7.0#estimate, mixer@0.7.0#mix, position@0.7.0#tick, rate@0.7.0#tick.
Image 65,452 -> 94,907 B (+45%). Both oracle assertions still pass (PC 0x16C, 213,439
instructions retired, linear-memory init byte-exact at the same four non-zero probes - the probe
VALUES are unchanged because the fused linear memory is identical, only relocated in flash).
This closed the gap synth named explicitly: they verified per-stage but not on the meld-fused
image (their local meld predates fuse --pack-rebase), and asked jess to close it before v0.60.
ASSERTIONS, each chosen to be OBSERVABLE (a check that cannot fail is not a check):
A LINEAR-MEMORY INIT - the reset handler copies 0xd061 (53,345) B of wasm linear memory from
flash 0x2ac8 to RAM 0x20000100. Probes are deliberately NON-ZERO words, because RAM reads
Expand Down
Binary file modified hardware/renode/cascade-m7/falcon-cascade-m7.elf
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