update: refactor and enhance CAN sensor initialization, reorganize GPIO assignments, improve error detection and logging, and streamline TWAI handling

Software/MainBoard/rust/src/hal/v4_hal.rs

@@ -387,22 +387,13 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         let mut twai = create_twai();
 
 
-        loop {
-            let rec = twai.receive();
-            match rec {
-                Ok(_) => {}
-                Err(err) => {
-                    info!("Error receiving CAN message: {err:?}");
-                    break;
-                }
-            }
-        }
+
 
         Timer::after_millis(10).await;
 
         let mut moistures = Moistures::default();
         let _ = wait_for_can_measurements(&mut twai, &mut moistures)
-            .with_timeout(Duration::from_millis(2000))
+            .with_timeout(Duration::from_millis(5000))
             .await;
         teardown_twai(twai);
         self.can_power.set_low();
@@ -413,7 +404,7 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         self.can_power.set_high();
         let mut twai = create_twai();
         // Give CAN some time to stabilize
-        Timer::after_millis(10).await;
+        Timer::after_millis(3000).await;
 
         info!("Sending info messages now");
         // Send a few test messages per potential sensor node
@@ -522,6 +513,17 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
     async fn get_mptt_current(&mut self) -> FatResult<Current> {
         self.charger.get_mppt_current()
     }
+
+    async fn can_power(&mut self, state: bool) -> FatResult<()> {
+        if state && self.can_power.is_set_low(){
+             self.can_power.set_high();
+            create_twai();
+        } else {
+            teardown_twai(create_twai());
+            self.can_power.set_low();
+        }
+        Ok(())
+    }
 }