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CLAUDE.md

This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.

Build and Development Commands

This is an Arduino/ESP32 project using PlatformIO for build management.

Build Commands:

  • pio run - Build the project (compiles firmware)
  • pio run --target upload - Flash firmware to connected device
  • pio run --target clean - Clean build artifacts
  • pio device list - List connected devices/serial ports
  • pio device monitor - Serial monitor for debugging

Environment:

  • Default target: OpenPPG-CESP32S3-CAN-SP140 (ESP32-S3 based)
  • Build type: debug (configurable in platformio.ini)
  • Monitor speed: 115200 baud

Binary Generation: For creating update files, use esptool to merge binaries:

esptool.py --chip esp32s3 merge_bin \
  -o .pio/build/OpenPPG-CESP32S3-CAN-SP140/merged-firmware.bin \
  --flash_mode dio --flash_freq 80m --flash_size 8MB \
  0x0 .pio/build/OpenPPG-CESP32S3-CAN-SP140/bootloader.bin \
  0x8000 .pio/build/OpenPPG-CESP32S3-CAN-SP140/partitions.bin \
  0xe000 ~/.platformio/packages/framework-arduinoespressif32/tools/partitions/boot_app0.bin \
  0x10000 .pio/build/OpenPPG-CESP32S3-CAN-SP140/firmware.bin

Testing:

  • Basic test files exist in /test/ directory
  • No automated test framework configured - testing is primarily hardware-in-the-loop

Code Architecture

Project Structure:

  • /src/sp140/ - Main application source code
  • /inc/sp140/ - Header files and configuration
  • /src/assets/ - Fonts, images, and UI resources
  • /lib/ - Custom libraries
  • platformio.ini - Build configuration

Core Components:

Main Controller (sp140.ino): The entry point that coordinates all subsystems. Handles:

  • Hardware initialization and SPI bus management
  • Main control loop and state management
  • Button input processing with debouncing
  • Safety interlocks and watchdog management

Key Subsystems:

  • ESC Control (esc.h/cpp) - Motor speed control and CAN communication
  • BMS Interface (bms.h/cpp) - Battery management system communication
  • Throttle Processing (throttle.h/cpp) - Input filtering and response curves
  • Display/LVGL (lvgl/) - LCD graphics and user interface
  • Altimeter (altimeter.h/cpp) - Barometric altitude sensing
  • Device State (device_state.h/cpp) - System state machine management
  • Mode Control (mode.h/cpp) - Flight modes (manual, cruise, etc.)

Hardware Platform:

  • ESP32-S3 microcontroller (M5Stack STAMPS3 board)
  • CAN bus communication for ESC and BMS
  • Shared SPI bus for display and peripherals
  • NeoPixel RGB LEDs for status indication
  • Analog throttle input with ResponsiveAnalogRead filtering

Configuration:

  • Hardware pin definitions in esp32s3-config.h
  • Device settings and globals in globals.h
  • Build flags and library versions in platformio.ini

Data Structures:

  • Telemetry data structures defined in structs.h
  • Temperature monitoring with multiple sensor states
  • BMS pack data with cell-level monitoring
  • ESC telemetry with real-time performance data

This codebase implements a safety-critical paramotor throttle controller with real-time requirements and hardware integration.