#pragma once

/* ── ESP32-S3 BALANCE board — Waveshare ESP32-S3-Touch-LCD-1.28 pinout ─────
 *
 * Orin comms:  CH343 USB-to-serial on UART0 (GPIO43/44) → /dev/ttyACM0 on Orin
 * VESC CAN:    SN65HVD230 transceiver on GPIO15 (TX) / GPIO16 (RX)
 * Display:     GC9A01 on SPI2 — BL=GPIO40, RST=GPIO12
 *
 * GPIO2 is NOT used for CAN — it is free. Earlier versions had an erroneous
 * conflict between DISP_BL (GPIO2) and VESC_CAN_TX (GPIO2); corrected here
 * to match motor-test-firmware verified hardware layout (commit 8e66430).
 */

/* ── Orin serial (CH343 USB-to-UART, 1a86:55d3 on Orin side) ── */
#define ORIN_UART_PORT          UART_NUM_0
#define ORIN_UART_BAUD          460800
#define ORIN_UART_TX_GPIO       43      /* ESP32 UART0 TX → CH343 RXD */
#define ORIN_UART_RX_GPIO       44      /* CH343 TXD → ESP32 UART0 RX */
#define ORIN_UART_RX_BUF        1024
#define ORIN_TX_QUEUE_DEPTH     16

/* ── Inter-board UART (ESP32 BALANCE ↔ ESP32 IO) ── */
#define IO_UART_TX_GPIO         17
#define IO_UART_RX_GPIO         18

/* ── VESC CAN TWAI (SN65HVD230 on Waveshare header GPIO15/16) ── */
#define VESC_CAN_TX_GPIO        15      /* ESP32 TWAI TX → SN65HVD230 TXD */
#define VESC_CAN_RX_GPIO        16      /* SN65HVD230 RXD → ESP32 TWAI RX */
#define VESC_CAN_RX_QUEUE       32

/* VESC node IDs */
#define VESC_ID_A               61u     /* FRONT VESC — drive + telemetry (0x81) */
#define VESC_ID_B               79u     /* REAR  VESC — telemetry only    (0x82) */

/* ── GC9A01 240×240 round display (Waveshare ESP32-S3-Touch-LCD-1.28, SPI2) ── */
#define DISP_DC_GPIO     8
#define DISP_CS_GPIO     9
#define DISP_SCK_GPIO   10
#define DISP_MOSI_GPIO  11
#define DISP_RST_GPIO   12
#define DISP_BL_GPIO    40

/* ── Safety / timing ── */
#define HB_TIMEOUT_MS           500u    /* heartbeat watchdog: disarm if exceeded */
#define DRIVE_TIMEOUT_MS        500u    /* drive command staleness timeout */
#define TELEM_STATUS_PERIOD_MS  100u    /* 10 Hz status telemetry to Orin */
#define TELEM_VESC_PERIOD_MS    100u    /* 10 Hz VESC telemetry to Orin */

/* ── Drive → VESC RPM scaling ── */
#define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */