sl-firmware
34a937628d
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>