BVR Firmware Code Review Skill

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.

Overview

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.

Key Architecture:

• Platform: Jetson Orin NX (aarch64-unknown-linux-gnu)
• Language: Rust Edition 2021
• Runtime: Tokio async multi-threaded
• Communication: SocketCAN (can0 interface at 500kHz)
• Workspace: 18 crates in bvr/firmware/
• Main daemon: bvrd (1191 lines in bins/bvrd/src/main.rs)