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>
A linter reverted VESC_ID_A/B to old values 61/79. Correct IDs per
bd-wim1 protocol are 56 (left) and 68 (right).
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Remove all OTA subsystem (gitea_ota, ota_self, uart_ota, ota_display)
and balance-bot safety checks (tilt cutoff, BAL_TILT_FAULT) so the
firmware builds without cJSON/WiFi/HTTP dependencies. Core UART protocol,
VESC CAN drive, differential steering, and PID tuning remain intact.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Replaces Orin↔ESP32-S3 BALANCE CAN comms (0x300-0x303 / 0x400-0x401)
with binary serial framing over CH343 USB-CDC at 460800 baud.
Protocol matches bd-wim1 (sl-perception) exactly:
Frame: [0xAA][LEN][TYPE][PAYLOAD][CRC8-SMBUS]
CRC covers LEN+TYPE+PAYLOAD, big-endian multi-byte fields.
Commands (Orin→ESP32): HEARTBEAT/DRIVE/ESTOP/ARM/PID
Telemetry (ESP32→Orin): TELEM_STATUS, TELEM_VESC_LEFT (ID 56),
TELEM_VESC_RIGHT (ID 68), ACK/NACK
VESC CAN TWAI kept for motor control; drive commands from Orin
forwarded to VESCs via SET_RPM. Hardware note: SN65HVD230
rewired from IO43/44 to IO2/IO1 to free IO43/44 for CH343.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
