docs/configuration.md

@@ -723,10 +723,6 @@ Three rules, each protecting against a different silent failure:
 - **A partial answer does not unlock the axis.** Most keys landing is the common
   case when a declaration is nearly complete, and it must not look like success.
 
-> An axis waiting on its config reports `NEEDCFG` in the dashboard and `C` in the
-> `ST` line — deliberately not red, and deliberately not "no telemetry": the link
-> is fine and the axis is talking, it just has not been told what it is driving.
->
 > **Status: the host half only.** The host answers `NEED` and the responder is
 > verified end to end, but the firmware that *asks* is not written yet. Set
 > `[Features] mock_needcfg = 1` to make the simulated controller run the

docs/hardware-config-plan.md

@@ -426,7 +426,7 @@ Phase 1 is deployable on its own. Phase 2 requires it.
 ## Progress
 
 Branch `worktree-hardware-config` (worktree at `.claude/worktrees/hardware-config`).
-298 tests pass, up from a 204 baseline.
+295 tests pass, up from a 204 baseline.
 
 | §  | Item | State |
 |----|------|-------|
@@ -435,14 +435,12 @@ Branch `worktree-hardware-config` (worktree at `.claude/worktrees/hardware-confi
 | 3  | `hardware.ini`: `[Board]` / `[Hardware]` typed, layered over `config.ini`, shadowed keys warned | **done**, 5 tests |
 | 4  | Resolution chain `--hardware` / `$FGC_HARDWARE` / `/etc/...` / beside `config.ini` | **done**, 2 tests |
 | 8  | `config/hardware.example.ini` documenting the shape | **done**, and the `hardware/lattepanda-iota/` setup kit now exists too (`install.sh`, `packages.txt`, three precondition files) |
-| 8  | `install.sh` writes the drivetrain block | **done.** One `[Motor.<axis>]` per declared axis, with `--r-sense` / `--run-current` / `--homing-current` / `--travel-deg` / `--steps-per-rev` / `--sw-mode` for what an installer knows and commented `; TODO` lines for what nothing can probe. Needed because the firmware now refuses to move undeclared |
 | 10 | Presence reconciliation (declared vs found) | **done**, 13 tests. `HardwarePresence.h` compares `[Hardware]` against what came up; warn-only by default, refusing under `[Features] strict_presence` with `--degraded` as the field-triage escape (decision 4) |
 | 11 | `test hardware` | **done**, 11 tests. Five leaves (`axes` / `motor` / `imu` / `env` / `camera`) under a new `hardware` subsystem; included in a bare `test`, and deliberately not gated on a homed gimbal. Nothing declared reports SKIP, never PASS |
 | 5  | Delete the `Application.cpp` speed literals | **done**, 13 tests. Decision 2 answered: speed is declared as `[Motor.<axis>] scan_speed_deg_s` (default **8.0 deg/s**) and converted per tower through `counts_per_deg` (`AxisSpeed.h`). The literals sent 36.4 deg/s against an intended 21.8 |
 | 6  | Config handshake — **host half** | **done**, 13 tests. `FirmwareConfig.h` parses `NEED` and plans the `SET` lines; unanswered keys and unknown keys are reported separately. `[Features] mock_needcfg` makes the simulated controller run the handshake, so the host half is verified with no firmware. **The firmware half is not written** |
-| 6  | Config handshake — **firmware half** | **done and built** on both targets 2026-09-18 (iota_rp2040 and leonardo, `./deploy.sh --compile-only`); behaviour still unproven on a running rig. `NEEDCFG` state (`ST` code `C`), `NEED` emitted with the banner, `SET <axis> <key> <value>`, `USE DEFAULTS`, and the init block split so the residual-motion stop still runs at boot. 33 native tests pass under `pio test -e native`. **Behaviour on a running rig is the one check still outstanding** |
+| 6  | Config handshake — **firmware half** | **written, NOT compile-verified.** `NEEDCFG` state (`ST` code `C`), `NEED` emitted with the banner, `SET <axis> <key> <value>`, `USE DEFAULTS`, and the init block split so the residual-motion stop still runs at boot. Parser verified locally (30 native tests, g++); the rest type-checks against stubs on both board branches but has never been built by PlatformIO or run on hardware |
 | 6  | Adoption check generalised | **done**, 9 tests. `DUMP` echoes every host-owned value plus a `cfg_rx` bitmask; `test hardware motor` checks all of them, and reports an absent field as unconfirmable rather than as a mismatch against -1. Round trip NEED -> SET -> DUMP -> PASS verified against `mock_needcfg` |
-| 6  | `NEEDCFG` understood host-side | **done**, 5 tests. `AxisState::NeedConfig` parsed from `ST` `C`, named in `DUMP` and the dashboard, and counted as telemetry arriving rather than as a dead link. The firmware enum APPENDS the state (5) rather than inserting it — inserting renumbered every later state and made a READY axis read back as ERROR |
 
 Presence reconciliation (§10) changes nothing on a tower without a `hardware.ini`: absent is
 silent and `hardware.declared` stays false. Verified by running the binary both ways.

docs/hardware-porting-plan.md

@@ -299,25 +299,17 @@ commit `aab1925`.
 | 2 | **Phase 2 gate: RP2040 + TMC5160-BOB at 3.3 V** | **PASSED** on tower 121, 2026-09-15: `IOIN Y=0x3000001E version=0x30`, encoder reading (`X_ENC`), one axis, `speed=3000` |
 | 2 | `src/platform.h` — reset cause and free RAM behind one interface per MCU family | **done** |
 | 2 | `Serial.begin()` moved ahead of all hardware init, so a wedged image stays flashable | **done** |
-| 2 | `[env:iota_rp2040]` PlatformIO target (arduino-pico core, 8 MB flash) | **done and built.** Latest, 2026-09-18, with the config handshake: **iota_rp2040** 51716 B flash (0.6 % of 8 MB), 9108 B RAM (3.5 %); **leonardo** 22646 B flash (**79 % of 28 KB**), 939 B RAM (36.7 %). Both from `./deploy.sh --compile-only` against towers 121 and 111; 33 native tests pass (`pio test -e native`) |
+| 2 | `[env:iota_rp2040]` PlatformIO target (arduino-pico core, 8 MB flash) | **done and built** on tower 121, 2026-09-15: 49452 B flash (0.6 % of 8 MB), 9068 B RAM. `leonardo` still builds (19254 B) and the 22 native tests still pass |
 | 2 | Per-board pin map + `NUM_AXES` in `platform_leonardo.h` / `platform_iota.h`, as-built wiring | **done** — compile-time, not yet generated from `hardware.ini` |
 | 2 | Pins + `NUM_AXES` generated from `hardware.ini` | **not started** — needs the config plan's phase 2 first |
 | 3 | Yaw homing on the real drivetrain | **done** — the endstop was being sheared through at full torque; homing at 189 mA holds. See below |
 | 1 | Everything else | blocked on [hardware-config-plan.md](hardware-config-plan.md) |
 
-> **Where the firmware gets built.** PlatformIO is not installed on the dev box; the firmware is built
-> *remotely on a tower* by `firmware/deploy.sh --compile-only`. Locally, the Arduino-free sources
-> (`command_parse.cpp` and its native tests) compile and run under plain g++, and the rest
-> syntax-checks against stub headers on both branches — the AVR under `gnu++11` and the RP2040 under
-> `gnu++17`, with an unrecognised architecture failing on the `#error` rather than compiling silently.
-> That catches typos and signatures; it says nothing about size or behaviour, so a remote build is
-> still the gate.
->
-> **Flash headroom is now the constraint on the Delta fleet.** The ATmega32U4 build sits at **79 % of
-> its 28 KB** (6026 B left), up from 19254 B at the phase 2 gate — that growth is everything since:
-> `BOOTSEL`, `CURRENT`, the reduced homing current, `STOP` ending a homing, and the config handshake.
-> RP2040 flash is a non-issue at 0.6 % of 8 MB. Deleting the drivetrain fields from `MOTOR_CONFIG`
-> (config plan §14) now buys space as well as removing a duplicate definition.
+> **Not compile-verified.** PlatformIO is not installed on the dev box and the firmware is built
+> *remotely on the tower* by `firmware/deploy.sh`. What was verified locally: both branches of
+> `platform.h` syntax-check against stub headers — the AVR branch under `gnu++11` (what the Arduino AVR
+> core uses) and the RP2040 branch under `gnu++17` (what arduino-pico uses) — and an unrecognised
+> architecture fails on the `#error` rather than compiling silently.
 >
 > To actually build it: `cd firmware && ./deploy.sh --compile-only` compiles on the device without
 > flashing. That rsyncs over the tower's firmware source tree, so it is a deliberate step, not one to

docs/modules-reference.md

@@ -86,7 +86,7 @@ Per-file reference for the refactored tree, plus the shared data structures.
 
 ### `MotorTelemetry` / `AxisTelemetry` ([IMotorController.h](../include/fgc/IMotorController.h))
 Per-axis `yaw` and `pitch` segments (`pitch_present` flag), each an `AxisTelemetry`: `state`
-(`AxisState` B/R/H/A/E/C — the last being NEEDCFG, a firmware waiting to be told its drivetrain), `xactual`, `xenc` (encoder counts), `drv_status`, `sg`/`cs`/`pwm`, and flags
+(`AxisState` B/R/H/A/E), `xactual`, `xenc` (encoder counts), `drv_status`, `sg`/`cs`/`pwm`, and flags
 `standstill`/`stall`/`deviation`/`overtemp`/`endstop_l`/`endstop_r`, with `moving()`/`ready()` helpers.
 Parsed from the firmware `ST Y:...[ P:...]` line; degrees are derived via `Geometry`.
 

docs/tower-installation.md

@@ -230,26 +230,8 @@ Then prove the program finds it **with nothing in the environment** - no
 
 ### The drivetrain block
 
-**`install.sh` now writes this block**, one `[Motor.<axis>]` per declared axis —
-it has to, because the firmware refuses to move until it has been told these
-(see the config handshake in [configuration.md](configuration.md)). What it still
-cannot do is *probe* them: no reading of a board tells you its sense resistor.
-
-So pass what you know and it writes the values; omit anything and it writes a
-commented `; TODO` line naming what to measure:
-
-```bash
-./install.sh --stdout --axes yaw \
-    --r-sense 0.075 --run-current 756 --homing-current 200 \
-    --travel-deg 340 --steps-per-rev 1210778 --sw-mode 0
-```
-
-A `TODO` line is **commented, not a placeholder value**, and deliberately: these
-keys are numeric, and a non-numeric value makes the program refuse to start with
-a message about a config key. Left absent, it starts and names exactly which keys
-that axis is missing and that it will not move — the useful failure.
-
-The block it writes looks like this:
+`install.sh` does not write this one - no probe can read a sense resistor off a
+board - so add it by hand, one `[Motor.<axis>]` block per axis:
 
 ```ini
 [Motor.yaw]

hardware/lattepanda-iota/install.sh

@@ -20,22 +20,6 @@
 #     --env  none          (default: none)          ambient sensor model, or none
 #     --cameras rgb        (default: rgb)           expected [Camera.<name>] blocks
 #
-# The drivetrain, per axis. The firmware REFUSES TO MOVE until it has been told
-# these (docs/configuration.md, the config handshake), so an axis left undeclared
-# is an axis that will sit in NEEDCFG. Pass what you know; what you omit is
-# written as a commented line naming what has to be measured:
-#
-#     --r-sense 0.075      sense resistor on that axis's TMC board (ohms)
-#     --run-current 756    coil current for normal motion (mA RMS)
-#     --homing-current 200 coil current while hunting an endstop (mA RMS)
-#     --travel-deg 340     mechanical angle between the hard stops
-#     --steps-per-rev 1210778   measured full travel, in counts
-#     --sw-mode 0          TMC SW_MODE: 0 = no switches (StallGuard homing)
-#
-# These take ONE value, applied to the first axis in --axes. A second axis gets a
-# commented template: nothing here can be probed, and inventing a sense resistor
-# is how a driver gets cooked.
-#
 # Other flags:
 #     --force              overwrite an existing hardware.ini (backs it up first)
 #     --no-apt-update      skip 'apt-get update'
@@ -50,10 +34,6 @@ AXES="yaw,pitch"
 IMU="none"
 ENV_SENSOR="none"
 CAMERAS="rgb"
-# Empty means "not known at install time" -> written commented out, never as a
-# sentinel: these are numeric keys, and a non-numeric value makes the program
-# refuse to start rather than report the axis as undeclared.
-R_SENSE="" RUN_CURRENT="" HOMING_CURRENT="" TRAVEL_DEG="" STEPS_PER_REV="" SW_MODE=""
 DO_DEPS=0 DO_PRE=0 DO_HW=0 DO_VIMBA=0 PROBE_ONLY=0 TO_STDOUT=0 FORCE=0 APT_UPDATE=1
 VIMBA_SRC=""
 EXPLICIT=0
@@ -69,12 +49,6 @@ while [[ $# -gt 0 ]]; do
         --imu)           IMU="$2"; shift ;;
         --env)           ENV_SENSOR="$2"; shift ;;
         --cameras)       CAMERAS="$2"; shift ;;
-        --r-sense)        R_SENSE="$2"; shift ;;
-        --run-current)    RUN_CURRENT="$2"; shift ;;
-        --homing-current) HOMING_CURRENT="$2"; shift ;;
-        --travel-deg)     TRAVEL_DEG="$2"; shift ;;
-        --steps-per-rev)  STEPS_PER_REV="$2"; shift ;;
-        --sw-mode)        SW_MODE="$2"; shift ;;
         --vimba)         VIMBA_SRC="$2"; DO_VIMBA=1; EXPLICIT=1; shift ;;
         --force)         FORCE=1 ;;
         --no-apt-update) APT_UPDATE=0 ;;
@@ -293,26 +267,6 @@ do_vimba() {
 }
 
 # ------------------------------------------------------------ hardware.ini ---
-# Emit "key = value", or a commented-out line naming what has to be measured.
-#
-# Commented rather than a placeholder string on purpose: these keys are numeric,
-# and a non-numeric value makes the program refuse to start with a message about
-# a config key. Absent, it starts and reports the axis as undeclared - naming the
-# missing keys and which axis will not move, which is the useful failure.
-kv_or_todo() {
-    local key="$1" value="$2" why="$3"
-    if [[ -n $value ]]; then
-        printf '%-18s = %s\n' "$key" "$value"
-        return
-    fi
-    # Wrapped, and not merely for looks: ini.h sets INI_MAX_LINE to 200, and a
-    # longer line is SPLIT rather than truncated, so its tail becomes a bogus
-    # line and the whole file fails to parse. A generated file that cannot be
-    # read is worse than one with a gap in it.
-    printf '; TODO %s\n' "$key"
-    printf '%s\n' "$why" | fold -s -w 72 | sed 's/^/;        /' | sed 's/[[:space:]]*$//'
-}
-
 emit_hardware_ini() {
     local board mcu cam fw_env
     board="$(probe_board)"
@@ -375,60 +329,6 @@ i2c_addr   = 0x44
 EOF
     fi
 
-    # One [Motor.<axis>] block per axis. The firmware holds none of these itself
-    # any more - it asks, and refuses to move until answered - so an axis without
-    # a block here is an axis that will not turn.
-    #
-    # A value we were not given is written COMMENTED OUT, with what to measure.
-    # Not as a placeholder string: these keys are numeric, and a non-numeric value
-    # makes the program refuse to start, which is a worse failure than the axis
-    # reporting itself undeclared.
-    local ax first=1
-    for ax in ${AXES//,/ }; do
-        ax="$(echo "$ax" | tr -d '[:space:]')"
-        [[ -z $ax ]] && continue
-        echo
-        echo "[Motor.$ax]"
-        if [[ $first -eq 1 ]]; then
-            kv_or_todo "r_sense_ohm"       "$R_SENSE" \
-                "the resistor fitted to THIS driver board - read it off the board, do not assume"
-            kv_or_todo "run_current_ma"    "$RUN_CURRENT" \
-                "coil current for normal motion, mA RMS, from the motor's nameplate"
-            kv_or_todo "homing_current_ma" "$HOMING_CURRENT" \
-                "current while hunting an endstop. LOWER than run_current wherever the stop can be out-pushed: on this rig a screw-head stop was sheared straight past its mate at full torque"
-            kv_or_todo "travel_deg"        "$TRAVEL_DEG" \
-                "mechanical angle between the hard stops. Rough is fine to start; every bearing inherits its error proportionally until 'gimbal heading setup' supersedes it"
-            kv_or_todo "steps_per_rev"     "$STEPS_PER_REV" \
-                "measured full travel IN COUNTS - read it off a homing run. The only guard against a PHANTOM endstop"
-            kv_or_todo "sw_mode"           "$SW_MODE" \
-                "TMC SW_MODE. 0 = no physical switches (StallGuard homing); set the bits if this axis has REFL/REFR wired"
-        else
-            echo "; Nothing here can be probed, and this is not the first axis, so the"
-            echo "; values below are a template. Measure them on THIS axis."
-            kv_or_todo "r_sense_ohm"       "" "sense resistor on this axis's driver board"
-            kv_or_todo "run_current_ma"    "" "coil current for normal motion, mA RMS"
-            kv_or_todo "homing_current_ma" "" "current while hunting an endstop"
-            kv_or_todo "travel_deg"        "" "mechanical angle between the hard stops"
-            kv_or_todo "steps_per_rev"     "" "measured full travel, in counts"
-            kv_or_todo "sw_mode"           "" "TMC SW_MODE (0 = no physical switches)"
-        fi
-        cat <<'EOF'
-; Speeds are DEGREES PER SECOND, not VMAX: a register value means different
-; things on different gear ratios, so it is not portable between towers. The
-; host converts through counts_per_deg and sends SPEED.
-scan_speed_deg_s   = 8.0
-homing_speed_deg_s = 2.0
-center_speed_deg_s = 6.0
-; |XACTUAL - XENC| that means "position untrustworthy". 1500 is this mechanism's
-; starting point; re-measure it whenever the homing current changes, because the
-; free-running gap is coupled to it.
-enc_deviation      = 1500
-; Is this axis's encoder aligned to XACTUAL and usable for hold and DIAG?
-has_encoder        = true
-EOF
-        first=0
-    done
-
     local c
     for c in ${CAMERAS//,/ }; do
         c="$(echo "$c" | tr -d '[:space:]')"
@@ -470,12 +370,7 @@ do_hardware_ini() {
 board="$(probe_board)"
 if [[ $board != lattepanda-iota ]]; then
     warn "this kit is for the LattePanda IOTA; this machine reports '$board'"
-    # --probe and --stdout change nothing on this machine: one reports what it
-    # found, the other prints the file it WOULD write. Refusing them on a
-    # non-IOTA only means the generator can never be exercised off a tower,
-    # which is how a setup kit ends up untested.
-    [[ $PROBE_ONLY -eq 1 || $TO_STDOUT -eq 1 ]] ||
-        die "refusing to apply IOTA preconditions to a $board"
+    [[ $PROBE_ONLY -eq 1 ]] || die "refusing to apply IOTA preconditions to a $board"
 fi
 
 if [[ $PROBE_ONLY -eq 1 ]]; then probe_report; exit 0; fi

include/fgc/IMotorController.h

@@ -6,13 +6,7 @@
 namespace fgc {
 
 // Per-axis lifecycle state, from the firmware ST line's state char (B/R/H/A/E).
-// Per-axis lifecycle, from the firmware ST line's state char.
-//   B Boot   R Reset   H Homing   A reAdy   E Error   C NeedConfig
-//
-// NeedConfig means the firmware has been told nothing about the drivetrain it is
-// driving and is refusing to move until the host answers its NEED lines. It is
-// NOT a fault and NOT "no telemetry": the link is fine and the axis is talking.
-enum class AxisState { Boot, Reset, Homing, Ready, Error, NeedConfig, Unknown };
+enum class AxisState { Boot, Reset, Homing, Ready, Error, Unknown };
 
 // One axis segment of a firmware `ST` status line:
 //   ST Y:<state>,<xactual>,<xenc>,<drv_hex>,<sg>,<cs>,<pwm>,<flags> [P:...]

include/fgc/mock/MockMotorController.h

@@ -109,9 +109,7 @@ public:
             // and main.cpp) so the host-side DumpParser is exercised without
             // hardware. Register values are illustrative, not simulated; the
             // encoder positions track the mock's live state.
-            // 5 = NEEDCFG, appended to the firmware enum so the older codes keep
-            // their meanings. See motor.h.
-            const int st = (needcfg_ && !configured_) ? 5 : (homed_ ? 3 : 1);
+            const int st = homed_ ? 3 : 1;  // READY : RESET
             std::ostringstream d;
             d << "DUMP BEGIN build=mock uptime=0 mcusr=0x01 free_ram=4096\n";
             auto axis = [&](char L, const AxisTelemetry& a) {
@@ -242,10 +240,7 @@ private:
             a.standstill = false;
         }
         a.xactual = a.xenc;
-        // An axis waiting on its config says so, rather than looking like a
-        // healthy un-homed one - that distinction is the whole point of the state.
-        a.state   = (needcfg_ && !configured_) ? AxisState::NeedConfig
-                                              : (homed_ ? AxisState::Ready : AxisState::Reset);
+        a.state   = homed_ ? AxisState::Ready : AxisState::Reset;
         a.deviation = deviation_;
     }
 

src/core/Application.cpp

@@ -1243,22 +1243,6 @@ struct Application::Impl {
                 continue;
             }
             const bool is_yaw = need->axis == 'Y';
-
-            // An axis the tower says it does not have. That is not a missing
-            // declaration - it is a firmware built for more axes than this rig,
-            // and answering would configure a driver that is not there. Same
-            // class of fault as presence reconciliation catches, so it is named
-            // that way rather than as a hole in hardware.ini.
-            const char* axis_name = is_yaw ? "yaw" : "pitch";
-            if (cfg.hardware.declared && !cfg.hardware.hasAxis(axis_name)) {
-                LOG_ERROR << "firmware asked for axis " << need->axis << " (" << axis_name
-                          << "), which this tower does not declare (axes "
-                          << cfg.hardware.axesLabel()
-                          << ") -- the firmware was built for more axes than the rig has; "
-                             "rebuild it for this board rather than declaring an axis that is "
-                             "not fitted";
-                continue;
-            }
             const auto src    = is_yaw
                                  ? axisConfigSource("yaw", cfg.geometry.yaw, cfg.drivetrain.yaw,
                                                     yaw_current_, cfg.yaw_soft_margin_counts)

src/core/DumpParser.cpp

@@ -16,10 +16,6 @@ const char* stateName(int s) {
         case 2: return "HOMING";
         case 3: return "READY";
         case 4: return "ERROR";
-        // Appended in the firmware enum rather than placed in lifecycle order,
-        // because these numbers are on the wire: inserting it would renumber
-        // every later state and a READY axis would read back as ERROR.
-        case 5: return "NEEDCFG";
         default: return "?";
     }
 }

src/core/TelemetryParser.cpp

@@ -29,7 +29,6 @@ AxisState stateFromChar(char c) {
         case 'H': case 'h': return AxisState::Homing;
         case 'A': case 'a': return AxisState::Ready;
         case 'E': case 'e': return AxisState::Error;
-        case 'C': case 'c': return AxisState::NeedConfig;
         default:            return AxisState::Unknown;
     }
 }

src/core/TestRunner.cpp

@@ -867,9 +867,6 @@ void TestRunner::testHwAxes(TestReport& r) {
     // its own segment.
     MotorTelemetry t = motor_.telemetry();
     FoundHardware  f;
-    // NEEDCFG counts as telemetry arriving: the link is fine and the axis is
-    // talking, it just has not been told what it is driving. Treating it as "no
-    // telemetry" would blame the serial port for a configuration gap.
     f.axes_known = t.yaw.state != AxisState::Unknown;
     if (f.axes_known) {
         f.axes.push_back("yaw");

src/ui/UiSnapshot.cpp

@@ -13,7 +13,6 @@ const char* axisStateLabel(AxisState s) {
         case AxisState::Homing: return "HOMING";
         case AxisState::Ready:  return "READY";
         case AxisState::Error:  return "ERROR";
-        case AxisState::NeedConfig: return "NEEDCFG";
         case AxisState::Unknown:
         default:                return "----";
     }
@@ -24,9 +23,6 @@ UiColor axisStateColor(AxisState s) {
         case AxisState::Ready:
         case AxisState::Homing: return UiColor::Cyan;
         case AxisState::Error:  return UiColor::Red;
-        // Not red: nothing is broken, the firmware is waiting to be told what it
-        // is driving. Yellow so it reads as "needs you", not as a fault.
-        case AxisState::NeedConfig: return UiColor::Yellow;
         case AxisState::Boot:
         case AxisState::Reset:  return UiColor::Dim;
         case AxisState::Unknown:

tests/test_dumpparser.cpp

@@ -201,25 +201,3 @@ TEST_CASE("a firmware predating the handshake leaves those fields absent, not ze
     CHECK(d.axes[0].sw_mode == -1);
     CHECK(d.axes[0].cfg_received == -1);
 }
-
-TEST_CASE("the numeric state codes did not shift when NEEDCFG was added") {
-    // NEEDCFG is appended (5), not inserted in lifecycle order, because these
-    // numbers are on the wire. Had it gone in at 1, a READY axis (which would
-    // have become 4) would read back as ERROR - a healthy tower reporting a
-    // fault in every dump, and an old firmware misread by a new host.
-    auto one = [](int n) {
-        const std::string text =
-            "DUMP BEGIN build=x uptime=1 mcusr=0x01 free_ram=1\n"
-            "DUMP Y state=" + std::to_string(n) +
-            " hsub=0 enabled=1 lim_neg=0 lim_pos=1 hold_target=0 speed=1 center=0 "
-            "soft_margin=0 hold_corr=0 hold_peak=0 hold_cumul=0 has_encoder=1\n"
-            "DUMP END\n";
-        return fgc::parseDump(text).axes.at(0).state_name;
-    };
-    CHECK(one(0) == "BOOT");
-    CHECK(one(1) == "RESET");
-    CHECK(one(2) == "HOMING");
-    CHECK(one(3) == "READY");
-    CHECK(one(4) == "ERROR");
-    CHECK(one(5) == "NEEDCFG");
-}

tests/test_telemetry.cpp

@@ -82,24 +82,3 @@ TEST_CASE("parseAxisSegment reads the encoder-deviation flag 'd'") {
     CHECK(e->stall == true);
     CHECK(e->deviation == true);
 }
-
-TEST_CASE("the NEEDCFG state char is understood, not read as unknown") {
-    // The firmware refuses to move until the host answers its NEED lines, and
-    // says so with 'C'. A host that did not know the code would map it to
-    // Unknown, which downstream reads as "no telemetry arrived" - blaming the
-    // serial link for a configuration gap.
-    auto t = fgc::parseTelemetryLine("ST Y:C,0,0,00000000,0,0,0,S");
-    REQUIRE(t);
-    CHECK(t->yaw.state == fgc::AxisState::NeedConfig);
-    CHECK_FALSE(t->yaw.state == fgc::AxisState::Unknown);
-
-    auto lower = fgc::parseTelemetryLine("ST Y:c,0,0,00000000,0,0,0,S");
-    REQUIRE(lower);
-    CHECK(lower->yaw.state == fgc::AxisState::NeedConfig);
-}
-
-TEST_CASE("an axis in NEEDCFG is not ready") {
-    auto t = fgc::parseTelemetryLine("ST Y:C,0,0,00000000,0,0,0,S");
-    REQUIRE(t);
-    CHECK_FALSE(t->yaw.ready());
-}