Three bugs blocked CAN forwarding when UART commands were received:
1. vesc_can_send_rpm had no g_twai_bus_off guard, flooding failed
twai_transmit calls during BUS_OFF/RECOVERING states.
2. Recovery only handled TWAI_STATE_BUS_OFF; RECOVERING and STOPPED
states were unhandled, leaving g_twai_bus_off=false while TWAI
was still unusable.
3. No startup delay after twai_start() — VESC not yet ready to ACK
caused immediate TEC runup to BUS_OFF at boot.
Fix: bus-off guard in send_rpm, full state machine in rx_task
(BUS_OFF→initiate, STOPPED→start, RECOVERING→wait), 200ms post-
start delay in vesc_can_init().
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Define g_twai_bus_off in vesc_can.c, declare in vesc_can.h (was
referenced in main.c but never defined — build would fail)
- Add TWAI bus-off detection in vesc_can_rx_task
- main.c already has armed=true bypass and 1Hz gate diagnostics
(added by another agent) — now compiles cleanly
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Replaces Orin↔ESP32-S3 BALANCE CAN comms (0x300-0x303 / 0x400-0x401)
with binary serial framing over CH343 USB-CDC at 460800 baud.
Protocol matches bd-wim1 (sl-perception) exactly:
Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8-SMBUS]
CRC covers LEN+TYPE+PAYLOAD, big-endian multi-byte fields.
Commands (Orin→ESP32): HEARTBEAT/DRIVE/ESTOP/ARM/PID
Telemetry (ESP32→Orin): TELEM_STATUS, TELEM_VESC_LEFT (ID 56),
TELEM_VESC_RIGHT (ID 68), ACK/NACK
VESC CAN TWAI kept for motor control; drive commands from Orin
forwarded to VESCs via SET_RPM. Hardware note: SN65HVD230
rewired from IO43/44 to IO2/IO1 to free IO43/44 for CH343.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
