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fix: Move CAN TWAI to GPIO 43/44 where transceiver is actually wired

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Diagnostic proved UART protocol works (ACKs received) but CAN has zero
communication. Root cause: ESP32 connects to Orin via USB Serial/JTAG
(CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y), NOT UART0 on GPIO 43/44.
The SN65HVD230 CAN transceiver is still physically on GPIO 43/44
(original pre-bd-66hx wiring was never changed).

Fix: Put TWAI on GPIO 43/44 where the transceiver actually is.
Move unused UART0 pin config to GPIO 17/18 to avoid conflict.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Sebastien Vayrette 2026-04-20 11:38:39 -04:00
parent 34a937628d
commit 06219afe69
1 changed files with 10 additions and 6 deletions
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16
esp32s3/balance/main/config.h
View File

@ -11,17 +11,21 @@
* to IO2/IO1 when deploying this firmware. See docs/SAUL-TEE-SYSTEM-REFERENCE.md.
*/
/* ── Orin serial (CH343 USB-to-UART, 1a86:55d3 on Orin side) ── */
/* ── Orin serial: USB Serial/JTAG (native USB, no GPIO needed) ──
* sdkconfig: CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
* The Orin↔ESP32 link uses the built-in USB-CDC peripheral.
* UART0 on GPIO 43/44 is NOT used for Orin comms.
*/
#define ORIN_UART_PORT UART_NUM_0
#define ORIN_UART_BAUD 460800
#define ORIN_UART_TX_GPIO 43 /* ESP32→CH343 RXD */
#define ORIN_UART_RX_GPIO 44 /* CH343 TXD→ESP32 */
#define ORIN_UART_TX_GPIO 17 /* unused — Orin uses USB-CDC */
#define ORIN_UART_RX_GPIO 18 /* unused — Orin uses USB-CDC */
#define ORIN_UART_RX_BUF 1024
#define ORIN_TX_QUEUE_DEPTH 16
/* ── VESC CAN TWAI (SN65HVD230 transceiver, rewired for bd-66hx) ── */
#define VESC_CAN_TX_GPIO 2 /* ESP32 TWAI TX → SN65HVD230 TXD */
#define VESC_CAN_RX_GPIO 1 /* SN65HVD230 RXD → ESP32 TWAI RX */
/* ── VESC CAN TWAI (SN65HVD230 transceiver on original GPIO 43/44) ── */
#define VESC_CAN_TX_GPIO 43 /* ESP32 TWAI TX → SN65HVD230 TXD */
#define VESC_CAN_RX_GPIO 44 /* SN65HVD230 RXD → ESP32 TWAI RX */
#define VESC_CAN_RX_QUEUE 32
/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */