Sebastien Vayrette 06219afe69 fix: Move CAN TWAI to GPIO 43/44 where transceiver is actually wired ...

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>

2026-04-20 11:38:44 -04:00

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Description

SaltyLab self-balancing bot firmware (STM32F722)

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