LISP_BM and CAN

Hello Everybody,

I have some original Trampa VESCs here trying to achieve the Following setup:

1 ext. controller sends UART Commands to VESC 1 which is connected to VESC 2 through CAN. The UART commands also include control and monitoring for VESC 2. There are however some additional Hardware items (lights) connected to VESC 2 (Vesc 1 pins are taken by communication with battery etc.) that also need to be turned on and off. I want to use LISPBM for this purpose. I am able to control the lights from the REPL but fail to establish a communication between VESC1 and 2 using LISP.

I tried SID as well as EID frames. However I cannot get CAN events to trigger. I also tried very basic code setups like the following basically a c-p from the LispBM docs : 

Sender: (loopwhile t

(progn

(can-send-sid 75 (list 0xAA 0x11 0x15))

(print "sent CAN SID ")

(sleep 1.0)

))

Receiver:

(define proc-sid (lambda (id data)

(print (list id data)) ; Print the ID and data

))
(define proc-data (lambda (data)
(progn
(print data)

)))


(define event-handler (lambda ()

(progn

(recv ((event-can-sid (? id) . (? data)) (proc-sid id data))

(recv ((event-data-rx ? data) (proc-data data))

(_ nil)) ; Ignore other events

(event-handler) ; Call self again to make this a loop

))))


; Spawn the event handler thread and pass the ID it returns to C

(event-register-handler (spawn event-handler))


; Enable the CAN event for standard ID (SID) frames

(event-enable 'event-can-sid)


; Enable the custom app data event

(event-enable 'event-data-rx)


(loopwhile t

(progn

(print "running ")

(sleep 1.0)

))

I am running FW6.00 beta on both controllers. I was able to see the messages in the can analyzer when using CAN_MODE COMM_FORWARD on both controllers, but thought this is supposed to work with CAN_MODE VESC ? Also the Events did not work in COMM_FORWARD either. 

Is there something I am missing ? some flag I need to set etc ? I did not compile the FW myselb but used the FW supplied with the VESC Tool V4 Test Version 5.

I would appreciate any clues to what's wrong with this code.

Sorry for the formatting - code highlighting is not available for lisp here so I just c-p'ed from VESC Tool.

Thanks in advance !

Regards

Max