[CONTRACT] decisions.yaml to P-03 rev20.2 item 26 (BOM Issue 7.14, availability rule, tablet mount, SAFE 24 V, EV_ICM-42688-P, brakes, DOLD) #77

Plan item

P-03 Decision Addendum rev20.2 (1 Nov 2026), item 26. Owner: platform-lead.

Contract or interface

openAMRobot/.github decisions.yaml (register in force, entries listed below). No message, service, action, topic or launch argument changes. No configuration ID is added: the tablet position is a mount setting, not a configuration ID.

Decisions register entry

• in_force → P-03-rev20.2, 2026-11-01
• BOM-ISSUE-IN-FORCE (Issue 7.10 → Issue 7.14; Issue 7.10 and 7.11 retired)
• POWER-RAILS (adds the SAFE 24 V converter)
• BASE-CONTROLLER-GATES (MIKROE-4237 → TDK EV_ICM-42688-P; no click shield)
• FRAMES-REP105 (imu_link board name; pose unchanged)
• DRIVETRAIN (hub-motor brake data)
• LIFT (DOLD release gate wording)
• CONFIG-IDS (note only: the tablet position is not a configuration ID)
• new: COMPONENT-AVAILABILITY (limit)
• new: TABLET-MOUNT (configuration)

Change class

Change the meaning, units, defaults, or validity of an existing value; version bump and consumer review required

Problem and proposed change

Current problem:

• The register cites P-03 rev19.6 and BOM Issue 7.10. P-03 rev20.2 item 26 records newer values that are not in the register.

Proposed change (P-03 rev20.2 item 26, as summarised by the owner; the source document is provenance only):

• Plan in force: P-03 rev20.2, 1 Nov 2026. Canonical BOM: Issue 7.14 (27 Oct 2026, with 1 Nov changes).
• Component availability: every part is in stock at two or more independent suppliers. A single-source part appears only as a named option next to a second-sourced alternative. Parts with no stock are not selected.
• Getac ZX80 tablet on a rotatable mount with two locked positions: landscape (default, 234 x 149.8 mm) and portrait (149.8 x 234 mm).
• SAFE 24 V converter for lift and brake release: MEAN WELL DDR-240B-24 (16.8 to 33.6 V in, 24 V 10 A, 240 W) behind F-LIFT 15 A, 2.5 mm2.
• No click shield on the NUCLEO-H723ZG: the IMU board and CAN isolator are wired directly to SPI4 and FDCAN2.
• 2.0 IMU board: TDK EV_ICM-42688-P (same ICM-42688-P sensor, WHO_AM_I 0x47, SPI4 Mode 0) replaces MIKROE-4237. Chip mounted +Y forward at imu_link (0.0544, 0, 0.1210); yaw -90 deg unchanged.
• Hub-motor brakes (ZLTECH 18 Oct 2026): 24 V, 12.5 W per motor, 6 Nm holding, release at most 100 ms, engagement at most 30 ms without diode.
• DOLD lift: written confirmation received 14 Oct 2026 (800 N held with power off). The release gate is now the holding test on the delivered unit after an E-stop during motion and after power loss.

Not in this request (safety-path records, left to a human author, the electrical owner): SAFETY-PROCUREMENT, SAFETY-CHAIN-IO, precharge, K1/K2 (decision 2 Nov), and the retirement of the "chest E-stop" wording.

Producers and consumers

Producers:

• openAMRobot/.github decisions.yaml (this repository)

Consumers:

• tools/check_decisions.py and the Watchdog scans in every repository where the workflow is installed (BOM, IMU and frame text in openamr-platform-hw, openamr-platform-fw, openamr-platform-sw and openamrobot-docs)
• WATCHDOG.md accepted-words table (generated from the register)

Compatibility and migration

• Text naming BOM Issue 7.10 or 7.11 as canonical, or MIKROE-4237 as the current IMU board, will be reported until it is relabelled. Consumer repositories update their own text in their own PRs.
• Overlap: openAMRobot/.github#73 (rev20.1, not merged) also edits in_force and adds an OPERATOR-PANEL entry whose pattern flags any ZX80 + portrait line. Under rev20.2, portrait is an approved locked position. Whichever PR merges second needs a rebase, and the owner decides how OPERATOR-PANEL's portrait pattern relates to TABLET-MOUNT.

Validation and evidence

• bash rollout/verify.sh, check_decisions.py --validate-only and check_agent_rules.py pass.
• Every new or changed pattern has a test.
• Human: the platform lead confirms the values against P-03 rev20.2 item 26 and BOM Issue 7.14.

Safety and operational boundary

No safety logic changes. POWER-RAILS (SAFE 24 V converter), DRIVETRAIN (brake data) and LIFT (holding-test gate) record values only. A text scan is not safety evidence. The hardwired safety chain stays authoritative.

Interface review checks

• I identified every known producer and consumer, including UI, logs, and documentation where applicable.
• I classified the compatibility impact and will update the contract version when required.
• I have not treated telemetry as authoritative safety evidence.
• The implementing PR will update the contract package and its consumers together, or list each consumer PR.