Enhance BLE reconnect handling and decouple UI updates

.claude/settings.local.json

@@ -6,7 +6,9 @@
       "Bash(cpplint:*)",
       "Bash(grep:*)",
       "Bash(pio test:*)",
-      "Bash(pio run:*)"
+      "Bash(pio run:*)",
+      "Bash(pio --version)",
+      "Bash(python -c \"import platformio; print\\(platformio.__file__\\)\")"
     ],
     "deny": []
   }

.vscode/extensions.json

@@ -3,8 +3,7 @@
     // for the documentation about the extensions.json format
     "recommendations": [
         "ms-vscode.cpptools-extension-pack",
-        "pioarduino.pioarduino-ide",
-        "platformio.platformio-ide"
+        "pioarduino.pioarduino-ide"
     ],
     "unwantedRecommendations": [
         "ms-vscode.cpptools-extension-pack"

extra_script.py

@@ -2,12 +2,6 @@
 import subprocess
 
 Import("env")
-folder = env.GetProjectOption("custom_src_folder")
-
-# Generic
-env.Replace(
-    PROJECT_SRC_DIR="$PROJECT_DIR/src/" + folder
-)
 
 def get_git_revision_short_hash():
     try:

inc/sp140/alert_display.h

@@ -73,6 +73,9 @@ void updateAlertCounterDisplay(const AlertCounts& counts);
 // Helper for monitors/UI logger to push alert events
 void sendAlertEvent(SensorID id, AlertLevel level);
 
+// Current active alert counts limited to ESC and BMS categories.
+AlertCounts getEscBmsAlertCounts();
+
 // ILogger sink that pushes events to the alert queue (for UI)
 struct AlertUILogger : ILogger {
   void log(SensorID id, AlertLevel lvl, float v) override {

inc/sp140/altimeter.h

@@ -29,4 +29,10 @@ float getBaroTemperature();
 // Get the pressure in hPa
 float getBaroPressure();
 
+// Cached getters — safe to call from any task (atomic float reads on Xtensa).
+// Populated by the designated I2C reader (uiTask via getAltitude()).
+float getCachedAltitude();
+float getCachedBaroTemperature();
+float getCachedVerticalSpeed();
+
 #endif  // INC_SP140_ALTIMETER_H_

inc/sp140/ble/ble_core.h

@@ -17,5 +17,6 @@ void requestNormalConnParams();
 // Temporarily disable whitelist filtering so a new device can bond.
 // Advertising reopens for ~60 seconds then whitelisting is restored.
 void enterBLEPairingMode();
+bool isBLEPairingModeActive();
 
 #endif  // INC_SP140_BLE_BLE_CORE_H_

inc/sp140/esc.h

@@ -15,6 +15,16 @@ inline bool isMotorTempValidC(float tempC) {
 #include <SineEsc.h>
 #include <CanardAdapter.h>
 
+enum class EscStatusLightMode : uint8_t {
+  OFF = 0,
+  DISARMED_NOMINAL,
+  DISARMED_WARNING,
+  DISARMED_CRITICAL,
+  FLIGHT_NOMINAL,
+  FLIGHT_WARNING,
+  FLIGHT_CRITICAL,
+};
+
 void initESC();
 void setESCThrottle(int throttlePWM);
 void readESCTelemetry();
@@ -58,6 +68,13 @@ bool hasMotorIDet2Error(uint16_t errorCode);
 bool hasSwHwIncompatError(uint16_t errorCode);
 bool hasBootloaderBadError(uint16_t errorCode);
 
+// ESC LED control
+void requestEscStatusLightMode(EscStatusLightMode mode);
+
+// ESC motor beep
+void queueEscMotorBeepArm();
+void queueEscMotorBeepDisarm();
+
 // for debugging
 void dumpThrottleResponse(const sine_esc_SetThrottleSettings2Response *res);
 void dumpESCMessages();  // dumps all messages to USBSerial

inc/sp140/lvgl/lvgl_updates.h

@@ -79,5 +79,7 @@ void stopCriticalBorderFlashDirect();
 // BLE pairing icon flash functions
 void startBLEPairingIconFlash();
 void stopBLEPairingIconFlash();
+void showBLEStatusIcon();
+void hideBLEStatusIcon();
 
 #endif  // INC_SP140_LVGL_LVGL_UPDATES_H_

inc/sp140/utilities.h

@@ -1,22 +1,14 @@
-#ifndef INC_SP140_UTILITIES_H_
-#define INC_SP140_UTILITIES_H_
-
-#include <Arduino.h>
-
-// Function to get unique chip ID
-String chipId();
+#ifndef INC_SP140_UTILITIES_H_
+#define INC_SP140_UTILITIES_H_
 
-// Definitions for main rainbow colors in WRGB format for NeoPixel.
-// The 32-bit color value is WRGB. W (White) is ignored for RGB pixels.
-// The next bytes are R (Red), G (Green), and B (Blue).
-// For example, YELLOW is 0x00FFFF00, with FF for Red and Green, and 00 for Blue.
+#include <Arduino.h>
 
-#define LED_RED 0x00FF0000
-#define LED_ORANGE 0x00FF7F00
-#define LED_YELLOW 0x00FFFF00
-#define LED_GREEN 0x0000FF00
-#define LED_BLUE 0x000000FF
-#define LED_INDIGO 0x004B0082
-#define LED_VIOLET 0x008000FF
+// Function to get unique chip ID
+String chipId();
+
+// Controller status LED colors in WRGB format for NeoPixel.
+#define STATUS_LED_RED 0x00FF0000
+#define STATUS_LED_YELLOW 0x00FFFF00
+#define STATUS_LED_GREEN 0x0000FF00
 
 #endif  // INC_SP140_UTILITIES_H_

platformio.ini

@@ -11,6 +11,7 @@
 [platformio]
 lib_dir = libraries
 include_dir = inc
+src_dir = src/sp140
 default_envs =
 	OpenPPG-CESP32S3-CAN-SP140
 
@@ -27,7 +28,6 @@ framework = arduino, espidf
 board_build.f_cpu = 240000000L
 board_build.flash_mode = qio
 board_build.partitions = default_8MB.csv
-custom_src_folder = sp140 ; Used by extra_script.py to rewrite PROJECT_SRC_DIR
 ; If esptool.py complains about missing intelhex, install into the tool package:
 ;   ~/.platformio/penv/bin/python -m pip install intelhex -t ~/.platformio/packages/tool-esptoolpy
 extra_scripts =
@@ -42,7 +42,8 @@ build_flags =
 	-D CORE_DEBUG_LEVEL=2
 	-D CONFIG_ARDUINO_LOOP_STACK_SIZE=8192
 	-Wno-error=format
-	-D BLE_PAIR_ON_BOOT
+	-Wno-error=int-in-bool-context
+	;-D BLE_PAIR_ON_BOOT
 build_type = debug
 debug_speed = 12000
 debug_tool = esp-builtin
@@ -58,7 +59,7 @@ lib_deps =
 	adafruit/Adafruit CAN@0.2.3
 	adafruit/Adafruit MCP2515@0.2.1
 	https://github.com/rlogiacco/CircularBuffer@1.4.0
-	https://github.com/openppg/SINE-ESC-CAN#8caa93996b5d000fe10ca5265bd1c472dfdf885b
+	https://github.com/openppg/SINE-ESC-CAN#2ab56a4e5b52e4456317c8ee3e3d802b232c6148
 	https://github.com/openppg/ANT-BMS-CAN#fd54852bc6f1c9608e37af9ca7c13ea4135c095b
 	lvgl/lvgl@^9.5.0
 	h2zero/NimBLE-Arduino@^2.3.9
@@ -105,9 +106,9 @@ build_flags =
   -std=c++17
 build_src_filter =
   -<*>
-  +<sp140/lvgl/lvgl_main_screen.cpp>
-  +<sp140/lvgl/lvgl_updates.cpp>
-  +<sp140/lvgl/lvgl_alerts.cpp>
+  +<lvgl/lvgl_main_screen.cpp>
+  +<lvgl/lvgl_updates.cpp>
+  +<lvgl/lvgl_alerts.cpp>
 test_filter = test_screenshots
 lib_deps =
   lvgl/lvgl@^9.5.0