API reference

The full C++ API of the HAL, from the Doxygen comments in lib/api and lib/managers.

Open the API reference

Start here

Page	What it is
Vortex	The board facade: GetInstance(), EnsureInitialized(), the transport choice for the onboard TMC9660, the manager members, system diagnostics
MotorController	The TMC9660 devices: motor- and load-frame motion, visitDriver() for every TMCL parameter
EncoderManager	AS5047U angle encoders
CommChannelsManager	SPI2 devices, I2C, the TMC9660 UART, CAN and USB Serial/JTAG
GpioManager	GPIO pins of the pin map by name, on the ESP32-C6, the PCAL95555 and the TMC9660

Build it locally

Run Doxygen from the repository root and open the index.html it writes:

mkdir -p build/doxygen && doxygen Doxyfile
open build/doxygen/html/index.html    # xdg-open on Linux

The published reference uses the HardFOC stylesheet, which the docs workflow adds; a local build uses Doxygen's default look.