HF-Core Platform Documentation

Welcome to the HardFOC Core Platform (hf-core) documentation. This module provides the handler layer, RTOS utilities, and driver integration that form the backbone of the HardFOC motor control system.

What is hf-core?

hf-core is the bridge layer between hardware-agnostic base interfaces (BaseI2c, BaseSpi, BaseGpio, BaseAdc, BaseTemperature) and the CRTP-templated device drivers (hf-tmc9660-driver, hf-bno08x-driver, hf-as5047u-driver, etc.).

It provides:

  • 11 Handlers — Thread-safe facades for AS5047U, BNO08x, PCA9685, PCAL95555, NTC, TMC9660, TMC5160, TLE92466ED, MAX22200, WS2812, and singleton Logger
  • RTOS Wrappers — FreeRTOS C++ abstractions (mutex, timer, thread, queue, semaphore)
  • General Utilities — Circular buffers, filters, state machines, interpolation, CRC, and more
  • CANopen Utilities — Frame construction, SDO/NMT protocol helpers

Quick Navigation

Section Description
Architecture System design, ownership model, layering
Folder Structure Repository organization
Handlers Per-handler API reference
Utilities RTOS wrappers, general utils, CANopen
Testing Test infrastructure, CI pipelines

Getting Started 

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# Clone with submodules
git clone --recursive https://github.com/N3b3x/hf-hal-vortex-v1.git
cd hf-hal-vortex-v1/lib/core

# Build a specific test app
cd examples/esp32/scripts
./build_app.sh as5047u_handler_test Debug

See the Testing Guide for detailed instructions.