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.

审查 BVR（基本矢量流动站）的 Rust 固件代码，重点关注安全关键系统、CAN 总线协议合规性、电机控制逻辑、状态机正确性和嵌入式测试模式。在检查 BVR 固件更改、调试执行器控制、测试电机通信、验证安全机制、检查异步模式或评估控制系统修改时使用。涵盖看门狗实施、急停处理、速率限制、VESC 电机控制器集成和 Tokio 异步运行时模式。 来源：ecto/muni。

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