The gc9a01 display SPI initialization causes a ~50mA current transient
that trips the brownout detector, causing a boot loop. The bd-66hx power
supply needs decoupling improvement; disabling brownout is the software
workaround until hardware is reworked.
Also discovered the previous sdkconfig was manually corrupted (wrong
partition table, USB JTAG console instead of UART, Memprot lock enabled).
Deleting sdkconfig and regenerating from sdkconfig.defaults restores the
correct OTA partition table, UART0 console, and proper rollback config.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add dual OTA partitions (ota_0/ota_1 × 1.75 MB each) and otadata to
both esp32s3/balance/ and esp32s3/io/ on 4 MB flash layouts.
Enable CONFIG_BOOTLOADER_APP_ROLLBACK_ENABLE and OTA HTTP on Balance.
Create esp32s3/io/ project scaffold with config.h pin assignments.
Co-Authored-By: Claude Sonnet 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>
