esp-idf/examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild

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menu "Example Configuration"
config EXAMPLE_TX_GPIO_NUM
int "TX GPIO number"
default 20 if IDF_TARGET_ESP32S2
default 21 if IDF_TARGET_ESP32
help
This option selects the GPIO pin used for the TX signal. Connect the
TX signal to your transceiver.
config EXAMPLE_RX_GPIO_NUM
int "RX GPIO number"
default 21 if IDF_TARGET_ESP32S2
default 22 if IDF_TARGET_ESP32
help
This option selects the GPIO pin used for the RX signal. Connect the
RX signal to your transceiver.
endmenu