Hi all,
I'm seeing some bugs manifesting as replies being sent to the wrong channel and occasional CRC errors when using both UART and USB (VESC tool) at the same time.
I think I got most of them fixed, so if you encounter the same issues maybe this will come useful : https://github.com/Flytrex/bldc/tree/serial-thread-safety
It can probably use some more stress testing before it's PR-worthy.