Claude/duet3 async actors a0j gn

.cargo/config.toml

@@ -0,0 +1,9 @@
+[target.thumbv7em-none-eabihf]
+runner = "probe-rs run --chip ATSAME54P20A"
+rustflags = ["-C", "link-arg=-Tlink.x"]
+
+[build]
+target = "thumbv7em-none-eabihf"
+
+[env]
+DEFMT_LOG = "debug"

.github/workflows/ci.yml

@@ -2,35 +2,68 @@ name: CI
 
 on:
   push:
-    branches: [main, master]
+    branches: [main]
   pull_request:
-    branches: [main, master]
+    branches: [main]
+
+env:
+  CARGO_TERM_COLOR: always
 
 jobs:
-  build-and-test:
+  fmt:
+    name: Format
     runs-on: ubuntu-latest
-
+    permissions:
+      contents: write
     steps:
-      - name: Checkout code
-        uses: actions/checkout@v4
-
-      - name: Install dependencies
-        run: |
-          sudo apt-get update
-          sudo apt-get install -y cmake g++ libboost-dev lcov
-
-      - name: Build
-        run: make build
+      - uses: actions/checkout@v4
+        with:
+          ref: ${{ github.head_ref }}
+          token: ${{ secrets.GITHUB_TOKEN }}
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          components: rustfmt
+      - name: Run cargo fmt
+        run: cargo fmt --all
+      - name: Commit formatting changes
+        uses: stefanzweifel/git-auto-commit-action@v5
+        with:
+          commit_message: "style: apply cargo fmt"
+          branch: ${{ github.head_ref }}
 
-      - name: Test
-        run: make test
+  check:
+    name: Check
+    needs: fmt
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: thumbv7em-none-eabihf
+      - uses: Swatinem/rust-cache@v2
+      - run: cargo check --workspace
 
-      - name: Generate coverage report
-        run: make coverage
+  test:
+    name: Test
+    needs: fmt
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: thumbv7em-none-eabihf
+      - uses: Swatinem/rust-cache@v2
+      - run: cargo test -p gcode-parser --target x86_64-unknown-linux-gnu
 
-      - name: Upload coverage artifacts
-        uses: actions/upload-artifact@v4
+  clippy:
+    name: Clippy
+    needs: fmt
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
         with:
-          name: coverage-report
-          path: build/coverage/
-          retention-days: 30
+          targets: thumbv7em-none-eabihf
+          components: clippy
+      - uses: Swatinem/rust-cache@v2
+      - run: cargo clippy --workspace -- -D warnings

.gitignore

@@ -0,0 +1 @@
+/target

CLAUDE.md

@@ -0,0 +1,43 @@
+# CLAUDE.md
+
+## Project
+
+Multi-board 3D printer firmware using Embassy async actors.
+Supports Duet 3 Mini 5+ (ATSAME54P20A), BTT EBB42 (STM32G0B1), and BTT SKR Pico (RP2040).
+
+## Build
+
+```bash
+cargo check --workspace          # type-check all crates
+cargo test --workspace \
+  --exclude duet3-firmware --exclude ebb42-firmware --exclude pico-firmware \
+  --exclude actor-framework --exclude wasm-sim \
+  --target x86_64-unknown-linux-gnu  # run all tests on host
+cargo clippy --workspace         # lint
+cargo fmt --all                  # format
+```
+
+## Architecture
+
+Portable library crates with HAL trait boundary:
+- `printer-hal` — trait definitions (StepperDriver, TemperatureSensor, etc.)
+- `gcode-parser` — zero-allocation G-code parsing
+- `dispatcher` — command routing (gcode → motion/thermal/sdcard actors)
+- `motion-planner` — trapezoidal profiles + Bresenham step generator
+- `thermal` — PID controller + heater/fan manager
+- `sdcard` — line reader + file protocol
+- `actor-framework` — Embassy-based mailbox/event bus
+Board-specific pin mapping crates:
+- `board-hal` — Duet 3 Mini 5+ (ATSAME54P20A) pin mappings + TMC2209
+- `board-ebb42` — BTT EBB42 v1.2 (STM32G0B1CBT6) CAN toolboard pins
+- `board-pico` — BTT SKR Pico v1.0 (RP2040) mainboard pins
+
+Binary crates (thin hardware wiring layers):
+- `firmware/` — Duet 3 Mini 5+ mainboard firmware
+- `firmware-ebb42/` — EBB42 CAN toolboard firmware (stepper + thermal + CAN)
+- `firmware-pico/` — SKR Pico mainboard firmware (full stack)
+- `wasm-sim/` — mock HAL impls for browser/host testing
+
+## Pull Request Policy
+
+Pull requests should be automatically merged when all CI checks pass. Use `gh pr merge --auto --squash` after creating a PR to enable auto-merge.