firmware-review

SKILL.md

This skill provides comprehensive code review for the BVR (Base Vectoring Rover) firmware, focusing on safety-critical systems, real-time control, and CAN bus communication.

The BVR firmware runs on a Jetson Orin NX and controls a four-wheel differential drive rover using VESC motor controllers over CAN bus. The system is safety-critical with multiple layers of protection including watchdogs, e-stop mechanisms, and rate limiting.

Purpose: Detect communication timeouts and transition to safe state (Idle) when commands stop arriving.

審查 BVR（基本矢量流動站）的 Rust 固件代碼，重點關注安全關鍵系統、CAN 總線協議合規性、電機控制邏輯、狀態機正確性和嵌入式測試模式。在檢查 BVR 固件更改、調試執行器控制、測試電機通信、驗證安全機制、檢查異步模式或評估控制系統修改時使用。涵蓋看門狗實施、急停處理、速率限制、VESC 電機控制器集成和 Tokio 異步運行時模式。 來源：ecto/muni。

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