Add active VESC probing so the Orin binary protocol reports CAN RX health:
- vesc_can_ping(): sends CAN_PACKET_PING (17) to each VESC at startup
- vesc_can_rx_task: handles CAN_PACKET_PONG (18) → sets g_vesc_alive[i]
- g_can_bus_active: set on any extended CAN frame received
- STATUS flags now include bit4=can_bus_active, bit5=vesc_a_alive, bit6=vesc_b_alive
- Test script decodes and reports twai_state, can_bus_active, vesc_a/b_alive
- Fix cosmetic: VESC IDs 56=LEFT 68=RIGHT (was wrong 61/79 in print line)
Confirmed diagnostic: can_bus_active=False — VESCs ACK SET_RPM commands
(TWAI stays RUNNING) but broadcast zero data frames. Root cause: VESC
CAN Status Message Mode is Disabled. Fix: set mode ≥ 1 in VESC Tool.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-firmware
1f88835fac