Four gates 1: waiting for the bus

The current-loop interrupt starts firing at 512 ms, yet CurrentLoopCtrl first runs at 1102.5 ms, skipped 11,809 times in between. It is waiting behind four gates, like opening a shop: power steady, till connected, scale zeroed, OPEN sign up. In the code they are four variables: bus_voltage_check_flag, hardware_self_test_status, the calibration result and hw_ready_state. This gate board stays in the corner of every part of Episode 6. This part is gate 1: before any interrupt is on, BspInit loops waiting for the bus, and BusVoltageCheck wants 500 readings of 17 V or more in a row (like a check-in streak: miss one and start over), so the gate opens at 507 ms in the real run. With a 15 V supply the wait ends as ERROR after 2000 low readings: the drive boots, but the motor never moves. All from real runs of the board build.