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Description
The battlefields, as said on the SCHG, are done using two background layers - BG2 and BG3, with BG2 being the upper layer and BG3 being the lower layer. The walls are sprites drawn in after to create the '3D Battlefield' effect.
In the game's RAM, BG2 begins at 0600E000 and BG3 begins at 0600F000. The way the fields are set up is by numbering the tiles used on the ground. For instance, and using Green Hill Zone as an example, if we were to change the values 0600E600 from

to

then we could change this platform from

to

Which is all fine and dandy. The tile layouts of the maps are stored in the same exactly way they pop up in the RAM, too, so it's easy to find. For instance, the upper layer part of Green Hill Zone begins at 467478.

The issue with this, however, is how the game decides these platforms can be stood on. The walls aren't drawn in based on the position of the platforms or anything - I modified Green Hill Zone a bit to be sure - and the walls seem to be what make platforms able to be stood on. Without them, you just fall through any additions to the upper layer. I haven't the slightest idea how the game decides where to write in walls. As such, completely retooling maps is impossible right now.
You can totally fiddle with the tiles and make pretty elaborate texture hacks of already existing levels, though.