diff --git a/esp32s3/balance/main/config.h b/esp32s3/balance/main/config.h
index dd0b6af..531ea40 100644
--- a/esp32s3/balance/main/config.h
+++ b/esp32s3/balance/main/config.h
@@ -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 */