ESP32 Firmware for DIY Dive Propulsion Vehicle (DPVControl)

Project Background

I wrote the initial firmware from scratch for a DIY underwater propulsion vehicle (DPV) built around an ESP32 and a 2000W VESC-controlled scooter motor. This was developed on-site with the hardware available for live testing.

Firmware Features

• Motor Control: Precise speed control via VESC UART interface
• Reed Switch Input: Magnetic switch detection for user input
• Cruise Control: Maintains constant speed without continuous input
• Boost Mode: Temporary power increase for challenging conditions
• Battery Monitoring: Real-time voltage and current measurement
• Leak Detection: Water intrusion sensors with automatic shutdown
• NeoPixel LEDs: Status indication and user feedback
• Beep/LED Safety Codes: Audible and visual alerts for various conditions
• Temperature Monitoring: Motor and battery temperature tracking

Technical Specifications

• MCU: ESP32 with dual-core processing
• Motor Controller: VESC (Vedder Electronic Speed Controller)
• Communication: UART interface to VESC
• Development: PlatformIO framework
• Language: C++ with Arduino core
• Safety: Multiple redundant safety systems

Project Evolution

The v1 I wrote was the first version that went into the water. The project has since grown significantly with contributions from the community:

• 20+ firmware releases with continuous improvements
• Full REST API for external control and monitoring
• Web-based GUI for configuration and real-time data
• Comprehensive test suite
• OpenAPI specification for API documentation

This project demonstrates my ability to work at the hardware-software boundary, dealing with real-time constraints, safety-critical systems, and embedded Linux environments.