Add monitor for ESC TWAI initialization failure

Introduces a new SensorID for ESC TWAI/CAN bus initialization failure and adds a BooleanMonitor to alert when initialization fails. Updates string and abbreviation mappings for the new sensor ID to improve error reporting and diagnostics.

Author: zjwhitehead

inc/sp140/simple_monitor.h

@@ -44,6 +44,7 @@ enum class SensorID {
   ESC_MotorIDet2_Error,       // Bit 11: motor_i_det2_bad
   ESC_SwHwIncompat_Error,     // Bit 13: sw_hw_incompatible
   ESC_BootloaderBad_Error,    // Bit 14: bootloader_unsupported
+  ESC_TWAI_Init_Failure,      // TWAI/CAN bus initialization failure
 
   // BMS
   BMS_MOS_Temp,

src/sp140/esc_monitors.cpp

@@ -10,7 +10,19 @@ extern MultiLogger multiLogger;
 // External references to thread-safe data copies
 extern STR_ESC_TELEMETRY_140 monitoringEscData;
 
+// External reference to ESC TWAI initialization status
+extern bool escTwaiInitialized;
+
 void addESCMonitors() {
+  // ESC TWAI Initialization (Alert when failed)
+  static BooleanMonitor* escTwaiInitFailure = new BooleanMonitor(
+    SensorID::ESC_TWAI_Init_Failure,
+    SensorCategory::ESC,
+    []() { return escTwaiInitialized; },
+    false,  // Alert when false (i.e., when initialization failed)
+    AlertLevel::CRIT_HIGH,  // Critical since ESC won't work without TWAI
+    &multiLogger);
+  monitors.push_back(escTwaiInitFailure);
   // ESC MOS Temperature Monitor - with hysteresis
   static HysteresisSensorMonitor* escMosTemp = new HysteresisSensorMonitor(
     SensorID::ESC_MOS_Temp,

src/sp140/simple_monitor.cpp

@@ -108,6 +108,7 @@ const char* sensorIDToString(SensorID id) {
     case SensorID::ESC_MotorIDet2_Error: return "ESC_MotorIDet2_Error";
     case SensorID::ESC_SwHwIncompat_Error: return "ESC_SwHwIncompat_Error";
     case SensorID::ESC_BootloaderBad_Error: return "ESC_BootloaderBad_Error";
+    case SensorID::ESC_TWAI_Init_Failure: return "ESC_TWAI_Init_Failure";
 
     // BMS
     case SensorID::BMS_MOS_Temp: return "BMS_MOS_Temp";
@@ -167,6 +168,7 @@ const char* sensorIDToAbbreviation(SensorID id) {
     case SensorID::ESC_MotorIDet2_Error: return "MC-SE-11";     // Bit 11
     case SensorID::ESC_SwHwIncompat_Error: return "MC-SE-13";   // Bit 13
     case SensorID::ESC_BootloaderBad_Error: return "MC-SE-14";  // Bit 14
+    case SensorID::ESC_TWAI_Init_Failure: return "MC-CAN";      // CAN/TWAI init failure
 
     // BMS (Battery Management System)
     case SensorID::BMS_MOS_Temp:            return "BC-F";