diff --git a/crates/core/src/bus/tick.rs b/crates/core/src/bus/tick.rs
index 8c71c998d..f8b9ae354 100644
--- a/crates/core/src/bus/tick.rs
+++ b/crates/core/src/bus/tick.rs
@@ -756,3 +756,104 @@ impl SystemBus {
         (interrupts, costs)
     }
 }
+
+#[cfg(test)]
+mod walk_free_campaign {
+    //! Pins the walk-free STM32 campaign's *remaining surface* on the L476
+    //! nokia5110-invaders bus as it is actually executed (`from_config` +
+    //! `configure_cortex_m`, exactly how every e2e/capture harness builds it).
+    //! The bus is built with any hand `walk_deleted` flag stripped, so the
+    //! assertion reflects only what the models themselves prove — not a manifest
+    //! override.
+    //!
+    //! The walk-forcing set is `needs_legacy_walk() && !uses_scheduler()` — the
+    //! exact predicate `derive_walk_deletable` negates (see this module's parent).
+    //! uart×6 / spi×3 are already event-migrated (`uses_scheduler()==true`) so
+    //! they carry the default `needs_legacy_walk()==true` but do NOT force the
+    //! walk; they are correctly excluded here.
+    //!
+    //! Why `configure_cortex_m`: the Cortex-M core installs the *real* SCB and
+    //! NVIC (the chip descriptor only carries inert placeholders for those ids)
+    //! and appends DWT (CYCCNT), which is not in the descriptor at all. SCB's
+    //! `tick()` drains software-pended exceptions and DWT's advances CYCCNT — both
+    //! real walk work. Omitting this step would hide SCB's real tick and DWT
+    //! entirely and under-report the surface, so the runtime-faithful bus is the
+    //! honest one to pin.
+    //!
+    //! After batch **B0** (Class-A inert sweep) the forcing set is the plan's 21
+    //! Class-B instances still awaiting scheduler migration, PLUS the core DWT
+    //! (a lazy-read CYCCNT counter the plan calls out separately as the purest
+    //! read-sync case). Each later batch (SysTick+SCB, timers, DMA, …) migrates a
+    //! slice onto the scheduler, flipping its `uses_scheduler()`, so this expected
+    //! set shrinks batch by batch. Keep it in lockstep with the plan's inventory.
+
+    use crate::bus::SystemBus;
+    use crate::system::cortex_m::configure_cortex_m;
+    use labwired_config::{ChipDescriptor, SystemManifest};
+    use std::path::PathBuf;
+
+    /// Walk-forcing ids on the runtime invaders bus after B0:
+    ///   plan Class-B: systick + 11 timers + 2 dma + 3 i2c + adc + exti + scb + bxcan (21)
+    ///   + core DWT (added by `configure_cortex_m`, lazy-read CYCCNT walker)   = 22.
+    const EXPECTED_WALK_FORCING: &[&str] = &[
+        "systick", "tim1", "tim2", "tim3", "tim4", "tim5", "tim6", "tim7", "tim8", "tim15",
+        "tim16", "tim17", "dma1", "dma2", "i2c1", "i2c2", "i2c3", "adc1", "exti", "scb", "can1",
+        "dwt",
+    ];
+
+    fn invaders_bus_walk_stripped() -> SystemBus {
+        let system_path = PathBuf::from(env!("CARGO_MANIFEST_DIR"))
+            .join("../../examples/nokia5110-invaders-lab/system.yaml");
+        let mut manifest = SystemManifest::from_file(&system_path).expect("load invaders manifest");
+        // Construct WITHOUT the lab's hand `walk_deleted: true`: the campaign
+        // surface must come from the models, not the manifest escape hatch.
+        manifest.walk_deleted = None;
+        let chip_path = system_path.parent().unwrap().join(&manifest.chip);
+        let chip = ChipDescriptor::from_file(&chip_path).expect("load l476 chip");
+        let mut bus = SystemBus::from_config(&chip, &manifest).expect("build invaders bus");
+        // Install the real SCB/NVIC and the core DWT — the executed bus.
+        let _ = configure_cortex_m(&mut bus);
+        bus
+    }
+
+    #[test]
+    fn b0_remaining_walk_forcing_set_is_exactly_class_b() {
+        let bus = invaders_bus_walk_stripped();
+
+        let mut forcing: Vec<&str> = bus
+            .peripherals
+            .iter()
+            .filter(|p| p.dev.needs_legacy_walk() && !p.dev.uses_scheduler())
+            .map(|p| p.name.as_str())
+            .collect();
+        forcing.sort_unstable();
+
+        let mut expected: Vec<&str> = EXPECTED_WALK_FORCING.to_vec();
+        expected.sort_unstable();
+
+        assert_eq!(
+            forcing,
+            expected,
+            "walk-forcing set (needs_legacy_walk && !uses_scheduler) drifted from the \
+             B0 Class-B inventory.\n  got ({}):      {:?}\n  expected ({}): {:?}\n\
+             A model newly (un)marked `needs_legacy_walk()` or migrated to the scheduler \
+             must update EXPECTED_WALK_FORCING to match the campaign's remaining surface.",
+            forcing.len(),
+            forcing,
+            expected.len(),
+            expected,
+        );
+    }
+
+    #[test]
+    fn b0_does_not_flip_walk_deletion() {
+        // Class B still forces the walk, so B0 provably changes zero runtime
+        // behaviour: the bus is NOT walk-deletable yet.
+        let bus = invaders_bus_walk_stripped();
+        assert!(
+            !bus.derive_walk_deletable(),
+            "invaders bus became walk-deletable after B0, but Class-B walkers remain — \
+             B0 must be pure honest bookkeeping with no behaviour change"
+        );
+    }
+}
diff --git a/crates/core/src/peripherals/comp.rs b/crates/core/src/peripherals/comp.rs
index b47139760..e70ce0d09 100644
--- a/crates/core/src/peripherals/comp.rs
+++ b/crates/core/src/peripherals/comp.rs
@@ -93,6 +93,11 @@ impl Default for Comp {
 }
 
 impl crate::Peripheral for Comp {
+    // Inert walk: comparator register bank; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/crc.rs b/crates/core/src/peripherals/crc.rs
index 4227baff9..f65fb48c9 100644
--- a/crates/core/src/peripherals/crc.rs
+++ b/crates/core/src/peripherals/crc.rs
@@ -100,6 +100,11 @@ impl Default for Crc {
 }
 
 impl crate::Peripheral for Crc {
+    // Inert walk: register bank (CRC computed on write); tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/dac.rs b/crates/core/src/peripherals/dac.rs
index f0add8fc2..f2872254a 100644
--- a/crates/core/src/peripherals/dac.rs
+++ b/crates/core/src/peripherals/dac.rs
@@ -93,6 +93,11 @@ impl Dac {
 }
 
 impl crate::Peripheral for Dac {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/dbgmcu.rs b/crates/core/src/peripherals/dbgmcu.rs
index 509d2b9e1..68453fc8e 100644
--- a/crates/core/src/peripherals/dbgmcu.rs
+++ b/crates/core/src/peripherals/dbgmcu.rs
@@ -60,6 +60,11 @@ impl Dbgmcu {
 }
 
 impl crate::Peripheral for Dbgmcu {
+    // Inert walk: read-only ID / register bank; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/flash.rs b/crates/core/src/peripherals/flash.rs
index 04bc71822..f6bade61f 100644
--- a/crates/core/src/peripherals/flash.rs
+++ b/crates/core/src/peripherals/flash.rs
@@ -689,6 +689,11 @@ impl Default for Flash {
 }
 
 impl crate::Peripheral for Flash {
+    // Inert walk: tick() is the trait-default no-op; H5 erase/bank-swap ops drain via requires_cycle_accurate/drain_pending_op per instruction, never the walk.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/fmc.rs b/crates/core/src/peripherals/fmc.rs
index 58c5a9597..0a2b9921c 100644
--- a/crates/core/src/peripherals/fmc.rs
+++ b/crates/core/src/peripherals/fmc.rs
@@ -140,6 +140,11 @@ impl Default for Fmc {
 }
 
 impl crate::Peripheral for Fmc {
+    // Inert walk: external-memory-controller register bank; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/gpio.rs b/crates/core/src/peripherals/gpio.rs
index 59af5ebc0..58a7b9601 100644
--- a/crates/core/src/peripherals/gpio.rs
+++ b/crates/core/src/peripherals/gpio.rs
@@ -680,6 +680,11 @@ impl GpioPort {
 }
 
 impl crate::Peripheral for GpioPort {
+    // Inert walk: pure register + pad bank; pin edges are surfaced by the bus GPIO-diff pass, not tick().
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg_offset = offset & !3;
         let byte_offset = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/iwdg.rs b/crates/core/src/peripherals/iwdg.rs
index 199a0aeda..be1c9d333 100644
--- a/crates/core/src/peripherals/iwdg.rs
+++ b/crates/core/src/peripherals/iwdg.rs
@@ -85,6 +85,11 @@ impl Default for Iwdg {
 }
 
 impl crate::Peripheral for Iwdg {
+    // Inert walk: stub register bank that does not count down today; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/lptim.rs b/crates/core/src/peripherals/lptim.rs
index 7a122c03e..205974466 100644
--- a/crates/core/src/peripherals/lptim.rs
+++ b/crates/core/src/peripherals/lptim.rs
@@ -97,6 +97,11 @@ impl Default for Lptim {
 }
 
 impl crate::Peripheral for Lptim {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/nvic.rs b/crates/core/src/peripherals/nvic.rs
index 2c8ba748d..3a64560ab 100644
--- a/crates/core/src/peripherals/nvic.rs
+++ b/crates/core/src/peripherals/nvic.rs
@@ -92,6 +92,11 @@ impl Nvic {
 }
 
 impl Peripheral for Nvic {
+    // Inert walk: enable/pending register bank; the NVIC pend+enable scan runs in the bus tick loop over shared state, not this peripheral's tick() (the trait-default no-op).
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg_idx = (offset / 4) as usize;
         let byte_offset = (offset % 4) as usize;
diff --git a/crates/core/src/peripherals/pwr.rs b/crates/core/src/peripherals/pwr.rs
index dd2f8e743..9f8899563 100644
--- a/crates/core/src/peripherals/pwr.rs
+++ b/crates/core/src/peripherals/pwr.rs
@@ -156,6 +156,11 @@ impl Default for Pwr {
 }
 
 impl crate::Peripheral for Pwr {
+    // Inert walk: register bank (voltage scaling resolves in the write path); tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/quadspi.rs b/crates/core/src/peripherals/quadspi.rs
index 7c6e99bfc..19243db25 100644
--- a/crates/core/src/peripherals/quadspi.rs
+++ b/crates/core/src/peripherals/quadspi.rs
@@ -112,6 +112,11 @@ impl Default for Quadspi {
 }
 
 impl crate::Peripheral for Quadspi {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/rcc.rs b/crates/core/src/peripherals/rcc.rs
index e1ca879a3..b9e7496f8 100644
--- a/crates/core/src/peripherals/rcc.rs
+++ b/crates/core/src/peripherals/rcc.rs
@@ -1043,6 +1043,11 @@ impl Rcc {
 }
 
 impl crate::Peripheral for Rcc {
+    // Inert walk: clock-control register bank; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg_offset = offset & !3;
         let byte_offset = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/rng.rs b/crates/core/src/peripherals/rng.rs
index eae375d60..7bdb79f20 100644
--- a/crates/core/src/peripherals/rng.rs
+++ b/crates/core/src/peripherals/rng.rs
@@ -87,6 +87,11 @@ impl Default for Rng {
 }
 
 impl crate::Peripheral for Rng {
+    // Inert walk: register bank (output computed on read); tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, _offset: u64) -> SimResult<u8> {
         // RNG.DR has side-effects (drains a word) so a const-self byte
         // read isn't ideal. Most firmware does word reads; for byte-level
diff --git a/crates/core/src/peripherals/rtc.rs b/crates/core/src/peripherals/rtc.rs
index b37f1bf5c..d30e21144 100644
--- a/crates/core/src/peripherals/rtc.rs
+++ b/crates/core/src/peripherals/rtc.rs
@@ -108,6 +108,11 @@ impl Default for Rtc {
 }
 
 impl crate::Peripheral for Rtc {
+    // Inert walk: register bank; tick() is the trait-default no-op (the counter-timer RTC is rtc_v3, a separate Class-B type).
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/sai.rs b/crates/core/src/peripherals/sai.rs
index 235ca801f..072971ccd 100644
--- a/crates/core/src/peripherals/sai.rs
+++ b/crates/core/src/peripherals/sai.rs
@@ -99,6 +99,11 @@ impl Sai {
 }
 
 impl crate::Peripheral for Sai {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/sdmmc.rs b/crates/core/src/peripherals/sdmmc.rs
index c92cbc35e..e8b72be30 100644
--- a/crates/core/src/peripherals/sdmmc.rs
+++ b/crates/core/src/peripherals/sdmmc.rs
@@ -167,6 +167,11 @@ impl Default for Sdmmc {
 }
 
 impl crate::Peripheral for Sdmmc {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/tsc.rs b/crates/core/src/peripherals/tsc.rs
index da36d58c6..122f870ff 100644
--- a/crates/core/src/peripherals/tsc.rs
+++ b/crates/core/src/peripherals/tsc.rs
@@ -118,6 +118,11 @@ impl Tsc {
 }
 
 impl crate::Peripheral for Tsc {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/usb_otg.rs b/crates/core/src/peripherals/usb_otg.rs
index d224b6b86..9e40dfc71 100644
--- a/crates/core/src/peripherals/usb_otg.rs
+++ b/crates/core/src/peripherals/usb_otg.rs
@@ -122,6 +122,11 @@ impl Default for UsbOtg {
 }
 
 impl crate::Peripheral for UsbOtg {
+    // Inert walk: register bank with no time-driven state; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;
diff --git a/crates/core/src/peripherals/wwdg.rs b/crates/core/src/peripherals/wwdg.rs
index 83b890028..4707a1ad4 100644
--- a/crates/core/src/peripherals/wwdg.rs
+++ b/crates/core/src/peripherals/wwdg.rs
@@ -55,6 +55,11 @@ impl Default for Wwdg {
 }
 
 impl crate::Peripheral for Wwdg {
+    // Inert walk: stub register bank that does not count down today; tick() is the trait-default no-op.
+    fn needs_legacy_walk(&self) -> bool {
+        false
+    }
+
     fn read(&self, offset: u64) -> SimResult<u8> {
         let reg = offset & !3;
         let byte = (offset % 4) as u32;