CommChannelsManager.cpp File Reference

Implementation of the Vortex V1 communication channels manager. More...

#include "CommChannelsManager.h"
#include "bsp_bind/VortexBoardBind.h"
#include "core/hf-core-drivers/internal/hf-pincfg/src/hf_functional_pin_config_vortex_v1.hpp"
#include "handlers/logger/Logger.h"
#include <algorithm>

Include dependency graph for CommChannelsManager.cpp:

Variables
static constexpr const char *	TAG = "VortexComm"
static constexpr uint32_t	kCanBitRate = 500000U
	TWAI nominal bit rate. Step 7 of the CANopen plan reads it from the LSS record instead.
static constexpr HfFunctionalGpioPin	kSpiCsPins []
	CS pin configuration — order matches SpiDeviceId enum.

Detailed Description

Implementation of the Vortex V1 communication channels manager.

Configures four communication buses for the Vortex board through the board binding (bsp_bind/VortexBoardBind.h); no MCU type appears here:

• UART : TMC9660 TMCL protocol (115200 8N1)
• SPI : TMC9660 (Mode 3) + AS5047U (Mode 1) + 2 ext (Mode 0)
• I2C : BNO08x IMU (0x4A) + PCAL95555 (0x20) @ 100 kHz; BNO device uses extended scl_wait_us for SH-2 clock stretching (see add_builtin_device)
• CAN : TWAI 500 kbps

Version

2.1

Variable Documentation

kCanBitRate

constexpr uint32_t kCanBitRate = 500000U

staticconstexpr

TWAI nominal bit rate. Step 7 of the CANopen plan reads it from the LSS record instead.

kSpiCsPins

constexpr HfFunctionalGpioPin kSpiCsPins[]

staticconstexpr

Initial value:

= {
    HfFunctionalGpioPin::SPI2_CS_TMC9660,
    HfFunctionalGpioPin::SPI2_CS_AS5047,
    HfFunctionalGpioPin::EXT_GPIO_CS_1,
    HfFunctionalGpioPin::EXT_GPIO_CS_2,
}

CS pin configuration — order matches SpiDeviceId enum.

TAG

constexpr const char* TAG = "VortexComm"

staticconstexpr