Error processing uart0: unknown module "p0"

[pascalzauberzeug]

When I tested the current main 3f3a5cc, the BMS failed but everything else seemed to work.

send: bms.send(0xdd, 0xa5, 0x03, 0x00, 0xff, 0xfd, 0x77)@52
read: p0: error processing uart0: unknown module "p0"@23

I think we already know this problem from 0.6.x, but I can't find a related issue right now.

Config

rdyp = Output(15)
en3 = Output(12)
bluetooth = Bluetooth("uckerbot-u4")
can = Can(32, 33, 1000000)
l0 = ODriveMotor(can, 0, 6)
r0 = ODriveMotor(can, 512, 6)
l1 = ODriveMotor(can, 256, 6)
r1 = ODriveMotor(can, 768, 6)
l0.m_per_tick = 0.05567092651757189
r0.m_per_tick = 0.05567092651757189
l1.m_per_tick = 0.05567092651757189
r1.m_per_tick = 0.05567092651757189
l0.reversed = false
r0.reversed = true
l1.reversed = false
r1.reversed = true
wheels = ODriveWheels(l0, r0)
wheels_front = ODriveWheels(l1, r1)
wheels.width = 0.47
wheels_front.width = 0.47
wheels.shadow(wheels_front)

serial = Serial(26, 27, 115200, 1)
p0 = Expander(serial, 25, 14)
y_axis_motor = StepperMotor(5, 4)
y_axis_alarm = Input(13)
y_axis_alarm.inverted = true
y_axis_end_l = p0.Input(21)
y_axis_end_l.inverted = true
y_axis_end_r = p0.Input(19)
y_axis_end_r.inverted = true
y_axis = MotorAxis(y_axis_motor, y_axis_end_r, y_axis_end_l)

tornado_motor_z = ODriveMotor(can, 1280, 6)
tornado_motor_turn = ODriveMotor(can, 1024, 6)
tornado_motor_z.m_per_tick = 0.0019968051118210866
tornado_motor_turn.m_per_tick = 0.07987220447284345
tornado_motor_z.limits(1.5, 30)
tornado_motor_turn.limits(1.3, 30)
tornado_motor_z.reversed = true
tornado_motor_turn.reversed = true
tornado_end_top = p0.Input(32)
tornado_end_top.inverted = true
tornado_end_bottom = p0.Input(5)
tornado_end_bottom.inverted = true
tornado_ref_motor = p0.Input(33)
tornado_ref_motor.inverted = true
tornado_ref_gear = p0.Input(4)
tornado_ref_gear.inverted = false
tornado_ref_knife_stop = p0.Input(35)
tornado_ref_knife_stop.inverted = false
tornado_ref_knife_ground = p0.Input(18)
tornado_ref_knife_ground.inverted = true
tornado_z = MotorAxis(tornado_motor_z, tornado_end_bottom, tornado_end_top)

bool tornado_is_referencing = false
bool tornado_ref_motor_enabled = false
bool tornado_ref_gear_enabled = false
when tornado_ref_motor_enabled and tornado_is_referencing and tornado_ref_motor.level == 0 then
    tornado_motor_turn.speed(0)
end
when tornado_ref_gear_enabled and tornado_is_referencing and tornado_ref_gear.level == 1 then
    tornado_motor_turn.speed(0)
end
bool tornado_knife_ground_enabled = false
bool tornado_knife_stop_enabled = false
when tornado_knife_ground_enabled and tornado_ref_knife_ground.level == 1 then
    tornado_motor_z.off()
end
when tornado_knife_stop_enabled and tornado_ref_knife_stop.level == 1 then
    en3.off()
    tornado_knife_stop_enabled = false
end

flashlight = p0.PwmOutput(2)
flashlight.duty = 204

bms = p0.Serial(26, 27, 9600, 2)
bms.unmute()

estop_1 = Input(34)
estop_2 = Input(35)
battery_control_reset = p0.Output(15)
battery_control_status = p0.Input(13)

bumper_front_top = p0.Input(12)
bumper_front_bottom = p0.Input(22)
bumper_back = p0.Input(25)

rdyp_status = Input(39)
vdp_status = p0.Input(39)

let stop do wheels.speed(0, 0); y_axis.stop();tornado_z.stop();tornado_motor_turn.speed(0);end
when estop_1.level == 0 then stop(); end
when estop_2.level == 0 then stop(); end
when bumper_front_top.level == 1 then stop(); end
when bumper_front_bottom.level == 1 then stop(); end
when bumper_back.level == 1 then stop(); end
when tornado_ref_knife_ground.active == false then                     wheels.speed(0, 0); y_axis.stop(); end
when core.last_message_age > 1000 then wheels.speed(0, 0); end
when core.last_message_age > 20000 then stop(); end

core.output("core.millis wheels.linear_speed:3 wheels.angular_speed:3 l0.motor_error_flag r0.motor_error_flag l1.motor_error_flag r1.motor_error_flag y_axis_end_l.active y_axis_end_r.active y_axis_motor.idle y_axis_motor.position y_axis_alarm.active tornado_end_top.active tornado_end_bottom.active tornado_ref_motor.active tornado_ref_gear.active tornado_ref_knife_stop.active tornado_ref_knife_ground.active tornado_motor_z.position:3 tornado_motor_turn.position:3 tornado_motor_z.motor_error_flag tornado_motor_turn.motor_error_flag estop_1.level estop_2.level battery_control_status.level bumper_front_top.level bumper_front_bottom.level bumper_back.level rdyp_status.level vdp_status.level core.heap")
rdyp.on()
en3.on()