- vesc_can: poll twai_get_status_info() every 500ms; auto-recover from
bus-off (twai_initiate_recovery) and stopped state (twai_start)
- vesc_can: expose g_twai_bus_off / g_twai_tx_err_count / g_twai_rx_err_count
- main: set flags bit2 when TWAI is bus-off (visible in TELEM_STATUS)
- sdkconfig: switch console from UART0 (conflicts with binary protocol
at 460800) to USB serial JTAG — eliminates log corruption on Orin
Flags byte: bit0=estop, bit1=hb_timeout, bit2=twai_bus_off
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-firmware
4335d71187