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VESC CAN health monitor: watchdog + auto-recovery for dual motors #651

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opened 2026-03-17 11:28:10 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-17 11:28:10 -04:00
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Goal

Monitor VESC CAN bus health and implement auto-recovery for both motors (IDs 61, 79).

Requirements

  • Monitor CAN bus for both VESCs: detect frame drops, bus-off, timeout
  • Watchdog: if no telemetry from a VESC for >500ms, publish alert and attempt recovery
  • Recovery sequence: send CAN alive frame, re-request telemetry, escalate to e-stop if unresponsive for >2s
  • Publish /vesc/health (JSON: bus_state, frame_rate, error_counts, per-motor alive status)
  • Integrate with /diagnostics
  • Log all fault events for post-mortem
  • Unit tests
## Goal Monitor VESC CAN bus health and implement auto-recovery for both motors (IDs 61, 79). ## Requirements - Monitor CAN bus for both VESCs: detect frame drops, bus-off, timeout - Watchdog: if no telemetry from a VESC for >500ms, publish alert and attempt recovery - Recovery sequence: send CAN alive frame, re-request telemetry, escalate to e-stop if unresponsive for >2s - Publish /vesc/health (JSON: bus_state, frame_rate, error_counts, per-motor alive status) - Integrate with /diagnostics - Log all fault events for post-mortem - Unit tests
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#651
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