fix(crl200s): restore GD32 telemetry after cold boot

sangam-io/src/devices/crl200s/gd32/mod.rs

@@ -69,9 +69,9 @@ pub use state::ComponentState;
 // Internal imports
 use crate::config::AxisTransform3D;
 use crate::core::types::{Command, SensorGroupData, StreamSender};
-use crate::devices::crl200s::constants::{INIT_RETRY_DELAY_MS, SERIAL_READ_TIMEOUT_MS};
+use crate::devices::crl200s::constants::SERIAL_READ_TIMEOUT_MS;
 use crate::error::{Error, Result};
-use packet::{TxPacket, initialize_packet};
+use packet::TxPacket;
 use serialport::SerialPort;
 use std::sync::atomic::{AtomicBool, Ordering};
 use std::sync::{Arc, Mutex};
@@ -128,29 +128,63 @@ impl GD32Driver {
     ///
     /// Version is requested by reader thread after first packet received.
     pub fn initialize(&mut self) -> Result<()> {
-        log::info!("Initializing GD32 device...");
+    log::info!("Initializing GD32 with AuxCtrl-compatible wake sequence...");
 
-        // Send init commands (like sangam-io2-backup approach)
-        // Don't wait for response here - reader thread will handle it
-        let init_pkt = initialize_packet();
+    let mut port = self
+        .port
+        .lock()
+        .map_err(|e| Error::MutexPoisoned(format!("serial port (init): {}", e)))?;
 
-        for attempt in 1..=5 {
-            {
-                let mut port = self
-                    .port
-                    .lock()
-                    .map_err(|e| Error::MutexPoisoned(format!("serial port (init): {}", e)))?;
-                if let Err(e) = init_pkt.send_to(&mut *port) {
-                    log::warn!("Init send failed (attempt {}): {}", attempt, e);
-                }
-            }
-            thread::sleep(Duration::from_millis(INIT_RETRY_DELAY_MS));
+    let mut pkt = TxPacket::new();
+
+    // 1. Protocol synchronization
+    pkt.set_protocol_sync();
+    pkt.send_to(&mut *port).map_err(Error::Io)?;
+    thread::sleep(Duration::from_millis(8));
+
+    // 2. Initial LED state
+    pkt.set_led(1);
+    pkt.send_to(&mut *port).map_err(Error::Io)?;
+    thread::sleep(Duration::from_millis(8));
+
+    // 3. Request GD32 firmware version
+    pkt.set_version_request();
+    pkt.send_to(&mut *port).map_err(Error::Io)?;
+    thread::sleep(Duration::from_millis(8));
+
+    // 4. Explicit idle motor mode
+    pkt.set_motor_mode(0x00);
+    pkt.send_to(&mut *port).map_err(Error::Io)?;
+    thread::sleep(Duration::from_millis(8));
+
+    // 5. Lidar motor stopped during initialization
+    pkt.set_lidar_pwm(0);
+    pkt.send_to(&mut *port).map_err(Error::Io)?;
+
+    // Timing observed in the AuxCtrl startup sequence
+    thread::sleep(Duration::from_millis(200));
+
+    // LED burst observed during initialization
+    for i in 0..4 {
+        pkt.set_led(1);
+        pkt.send_to(&mut *port).map_err(Error::Io)?;
+
+        if i < 3 {
+            thread::sleep(Duration::from_millis(8));
         }
-
-        log::info!("GD32 initialization sequence sent");
-        Ok(())
     }
 
+    thread::sleep(Duration::from_millis(8));
+
+    // Wake / heartbeat
+    pkt.set_heartbeat();
+    pkt.send_to(&mut *port).map_err(Error::Io)?;
+
+    log::info!("GD32 wake sequence sent");
+
+    Ok(())
+}
+
     /// Start heartbeat and reader threads
     ///
     /// # Arguments