feature: ALL FIVE falcon cascade stages export and the fused image EXECUTES on the RT1176 M7

[avrabe]

synth's increment 2 (PR#1075, "frame-homed overflow VFP locals") removes the 13→14 homed-local wall that jess's fixture isolated. jess built synth main from source, confirmed increment 2 was present via the discriminating fixture (14-live locals clears, 80-deep stack 0 hits), then closed the gap synth named explicitly and asked jess to close before cutting v0.60.

The configuration synth could not test

Their local meld predates fuse --pack-rebase, so they verified per-stage only. jess ran the fused path:

meld 0.52 fuse --memory shared --pack-rebase  (five 1.134.1 components)
  → loom 1.4.1 → synth main

exit=0   skips=0   5/5 exports:
  T pulseengine:falcon-cascade/attitude@0.7.0#tick
  T pulseengine:falcon-cascade/ekf@0.7.0#estimate
  T pulseengine:falcon-cascade/mixer@0.7.0#mix
  T pulseengine:falcon-cascade/position@0.7.0#tick
  T pulseengine:falcon-cascade/rate@0.7.0#tick

The per-stage result reproduces at the fused level — genuinely open beforehand, since --pack-rebase merges all five into one 64 KB linear memory and could plausibly have changed the pressure.

And it executes

Self-contained EXEC, 94,907 B (was 65,452 with 2 exports, +45%). Both TEST-PIX-031 assertions pass:

• linear-memory init byte-exact at the same four non-zero probes — values unchanged, because the fused linear memory is identical and only relocated in flash
• execution progress — PC 0x16C, 213,439 instructions retired

What this does not prove

Stated plainly upstream and here: this is "the fused image loads, initialises its linear memory correctly, and executes without stalling or faulting." It is not "attitude#tick and ekf#estimate compute correct values." That needs canonical-ABI argument marshalling — the next rung, and where relay's SIL reference (0.193 s, |err| 0.0059 rad/s) becomes the baseline.

No regression: rate and mixer still export; the image still initialises and runs.

rivet validate → PASS · oracle 2/2 OK on the new image.

🤖 Generated with Claude Code