Handler Reference

Handlers are the bridge layer between platform-agnostic base interfaces and CRTP-templated device drivers. Each handler:

• Accepts BaseXxx& references (I2C, SPI, UART, GPIO, ADC) at construction
• Performs lazy initialization of the underlying driver
• Provides a thread-safe public API (most handlers use RtosMutex)
• Exposes GetDriver() / GetSensor() for direct driver access
• Optionally provides visitDriver(fn) for mutex-protected callable dispatch
• Reports errors via handler-specific return types or driver-native codes

Handler Summary

Handler	Driver	Interface	Key Features
As5047uHandler	hf-as5047u-driver	BaseSpi	14-bit angle, velocity, DAEC, GetDriver/visitDriver
Bno08xHandler	hf-bno08x-driver	BaseI2c / BaseSpi	9-DOF IMU, type-erased IBno08xDriverOps, GetDriver/visitDriver
Pca9685Handler	hf-pca9685-driver	BaseI2c	16-ch PWM, duty + phase, sleep/wake, PwmAdapter
Pcal95555Handler	hf-pcal95555-driver	BaseI2c	16-pin GPIO expander, interrupts, Agile I/O, batch ops
NtcTemperatureHandler	hf-ntc-thermistor-driver	BaseAdc	Temperature sensing, EMA filter, thresholds, monitoring
Tmc9660Handler	hf-tmc9660-driver	BaseSpi / BaseUart	BLDC motor, GPIO/ADC/Temp wrappers, GetDriver/visitDriver
Tmc5160Handler	hf-tmc5160-driver	BaseSpi / BaseUart	Stepper motor, 15 subsystems, GetDriver/visitDriver
Tle92466edHandler	hf-tle92466ed-driver	BaseSpi	6-ch solenoid driver, PWM, diagnostics, watchdog
Max22200Handler	hf-max22200-driver	BaseSpi	8-ch solenoid/motor, CDR/VDR, HIT/HOLD, DPM
Ws2812Handler	hf-ws2812-rmt-driver	RMT	Addressable LED strip, GetDriver/visitDriver/visitAnimator
Logger	—	—	Singleton, colors, ASCII art, per-tag filtering

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Table of contents

• AS5047U Handler
• BNO08x Handler
• PCA9685 Handler
• PCAL95555 Handler
• NTC Temperature Handler
• TMC9660 Handler
• Logger
• TMC5160 Handler
• TLE92466ED Handler
• MAX22200 Handler
• WS2812 Handler