06219afe69
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>
47 lines
2.2 KiB
C
47 lines
2.2 KiB
C
#pragma once
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/* ── ESP32-S3 BALANCE board — bd-66hx pin/config definitions ───────────────
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*
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* Hardware change from pre-bd-66hx design:
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* Previously: IO43/IO44 = CAN SN65HVD230 (shared Orin+VESC bus via CANable2)
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* After bd-66hx: IO43/IO44 = CH343 UART0 (Orin serial comms)
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* IO2/IO1 = CAN SN65HVD230 rewired (VESC-only bus)
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*
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* The SN65HVD230 transceiver physical wiring must be updated from IO43/44
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* to IO2/IO1 when deploying this firmware. See docs/SAUL-TEE-SYSTEM-REFERENCE.md.
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*/
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/* ── Orin serial: USB Serial/JTAG (native USB, no GPIO needed) ──
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* sdkconfig: CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG=y
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* The Orin↔ESP32 link uses the built-in USB-CDC peripheral.
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* UART0 on GPIO 43/44 is NOT used for Orin comms.
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*/
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#define ORIN_UART_PORT UART_NUM_0
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#define ORIN_UART_BAUD 460800
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#define ORIN_UART_TX_GPIO 17 /* unused — Orin uses USB-CDC */
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#define ORIN_UART_RX_GPIO 18 /* unused — Orin uses USB-CDC */
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#define ORIN_UART_RX_BUF 1024
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#define ORIN_TX_QUEUE_DEPTH 16
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/* ── VESC CAN TWAI (SN65HVD230 transceiver on original GPIO 43/44) ── */
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#define VESC_CAN_TX_GPIO 43 /* ESP32 TWAI TX → SN65HVD230 TXD */
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#define VESC_CAN_RX_GPIO 44 /* SN65HVD230 RXD → ESP32 TWAI RX */
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#define VESC_CAN_RX_QUEUE 32
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/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */
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#define VESC_ID_A 56u /* TELEM_VESC_LEFT (0x81) */
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#define VESC_ID_B 68u /* TELEM_VESC_RIGHT (0x82) */
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/* ── Safety / timing ── */
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#define HB_TIMEOUT_MS 500u /* heartbeat watchdog: disarm if exceeded */
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#define DRIVE_TIMEOUT_MS 500u /* drive command staleness timeout */
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#define TELEM_STATUS_PERIOD_MS 100u /* 10 Hz status telemetry to Orin */
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#define TELEM_VESC_PERIOD_MS 100u /* 10 Hz VESC telemetry to Orin */
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/* ── Drive → VESC RPM scaling ── */
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#define RPM_PER_SPEED_UNIT 5 /* speed_units=1000 → 5000 ERPM */
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#define RPM_PER_STEER_UNIT 3 /* steer differential scale */
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/* ── Tilt cutoff ── */
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#define TILT_CUTOFF_DEG 25.0f
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