8e66430c86
Tee confirmed physical wiring on Waveshare ESP32-S3 board: - GPIO 15 = CAN TX (SN65HVD230 TXD) - GPIO 16 = CAN RX (SN65HVD230 RXD) - GPIO 17/18 = inter-board UART to ESP32 IO Previous configs (GPIO 2/1, 43/44) were spec assumptions that didn't match the actual board wiring. GPIO 43/44 are internal to PCB, not on the header where the transceiver is connected. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
55 lines
2.3 KiB
C
55 lines
2.3 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, /dev/ttyACM0 on Orin) ── */
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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 43 /* unused — Orin uses USB-CDC */
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#define ORIN_UART_RX_GPIO 44 /* 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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/* ── Inter-board UART (ESP32 Balance ↔ ESP32 IO) ── */
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#define IO_UART_TX_GPIO 17
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#define IO_UART_RX_GPIO 18
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/* ── VESC CAN TWAI (SN65HVD230 on Waveshare header pins) ── */
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#define VESC_CAN_TX_GPIO 15 /* GPIO15 → SN65HVD230 TXD */
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#define VESC_CAN_RX_GPIO 16 /* GPIO16 ← SN65HVD230 RXD */
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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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/* ── GC9A01 240×240 round display (bd-1yr8, SPI2) ── */
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#define DISP_CS_GPIO 12
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#define DISP_DC_GPIO 11
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#define DISP_RST_GPIO 10
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#define DISP_BL_GPIO 9
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#define DISP_MOSI_GPIO 13
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#define DISP_SCK_GPIO 14
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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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