CommChannelsManager.h File Reference

Communication channels manager for the HardFOC Vortex V1 platform. More...

#include <array>
#include <atomic>
#include <cstdint>
#include <memory>
#include "base/BaseSpi.h"
#include "base/BaseI2c.h"
#include "base/BaseUart.h"
#include "base/BaseCan.h"
#include "RtosMutex.h"

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Classes
struct	CommSystemDiagnostics
	System-level diagnostics snapshot for communication channels. More...
class	CommChannelsManager
	Singleton managing all board communication channels for Vortex V1. More...
struct	CommChannelsManager::RuntimeI2cSlot

Enumerations
enum class	CommError : uint8_t {   SUCCESS = 0 , NOT_INITIALIZED , INITIALIZATION_FAILED , BUS_NOT_AVAILABLE ,   DEVICE_NOT_FOUND , INVALID_BUS_INDEX , INVALID_DEVICE_INDEX , DEVICE_ALREADY_EXISTS ,   DEVICE_CREATION_FAILED , COMMUNICATION_FAILED , INVALID_PARAMETER , MUTEX_LOCK_FAILED }
	Communication channels manager error codes for consistent error reporting. More...
enum class	SpiDeviceId : uint8_t {   TMC9660_MOTOR_CONTROLLER = 0 , AS5047U_POSITION_ENCODER = 1 , EXTERNAL_DEVICE_1 = 2 , EXTERNAL_DEVICE_2 = 3 ,   DEVICE_COUNT }
	SPI device identifiers for the Vortex V1 board. More...
enum class	I2cDeviceId : uint8_t { BNO08X_IMU = 0 , PCAL9555_GPIO_EXPANDER = 1 , DEVICE_COUNT }
	I2C device identifiers for the Vortex V1 board (built-in devices). More...

Functions
constexpr const char *	CommErrorToString (CommError error) noexcept
	Convert CommError to a human-readable string.
CommChannelsManager &	GetCommChannelsManager () noexcept
	Convenience accessor — equivalent to CommChannelsManager::GetInstance().

Detailed Description

Communication channels manager for the HardFOC Vortex V1 platform.

Manages all board communication buses (SPI, I2C, UART, CAN) for the Vortex motor-control board. The Vortex board uses:

• SPI : TMC9660 motor controller, AS5047U position encoder, 2 ext slots
• I2C : BNO08x IMU, PCAL95555 GPIO expander (+ runtime devices)
• UART : TMC9660 TMCL protocol communication
• CAN : TWAI 500 kbps network bus

MCU-free: the bus objects are created by the board binding (bsp_bind/VortexBoardBind.h, ESP32-C6 implementation in bsp_bind/esp32c6/), which keeps them in static storage. This manager holds device indices and non-owning Base* pointers, and one RtosMutex.

Extends with runtime I2C device creation for ImuManager (external BNO08x devices).

Version

2.0

Enumeration Type Documentation

CommError

enum class CommError : uint8_t

strong

Communication channels manager error codes for consistent error reporting.

Manager-layer errors for communication bus lifecycle and device operations. Covers SPI, I2C, UART, and CAN bus management failures.

Enumerator
SUCCESS	Operation completed successfully.
NOT_INITIALIZED	Manager not yet initialised.
INITIALIZATION_FAILED	Bus or device initialisation failed.
BUS_NOT_AVAILABLE	Requested bus is not present or not ready.
DEVICE_NOT_FOUND	Device index or id not in registry.
INVALID_BUS_INDEX	Bus index out of range.
INVALID_DEVICE_INDEX	Device index out of range.
DEVICE_ALREADY_EXISTS	A device at that address already exists.
DEVICE_CREATION_FAILED	Heap allocation or driver init for device failed.
COMMUNICATION_FAILED	A bus-level transfer failed.
INVALID_PARAMETER	Null pointer or out-of-range argument.
MUTEX_LOCK_FAILED	RTOS mutex acquire timed out.

I2cDeviceId

enum class I2cDeviceId : uint8_t

strong

I2C device identifiers for the Vortex V1 board (built-in devices).

Enumerator
BNO08X_IMU	BNO08x IMU sensor (address 0x4A)
PCAL9555_GPIO_EXPANDER	PCAL95555 GPIO expander (address 0x20)
DEVICE_COUNT	Sentinel — total number of built-in I2C devices.

SpiDeviceId

enum class SpiDeviceId : uint8_t

strong

SPI device identifiers for the Vortex V1 board.

The order matches the CS pin configuration in the CommChannelsManager.

Enumerator
TMC9660_MOTOR_CONTROLLER	TMC9660 motor controller (SPI Mode 3)
AS5047U_POSITION_ENCODER	AS5047U position encoder (SPI Mode 1)
EXTERNAL_DEVICE_1	External device slot 1 (SPI Mode 0)
EXTERNAL_DEVICE_2	External device slot 2 (SPI Mode 0)
DEVICE_COUNT	Sentinel — total number of SPI devices.

Function Documentation

CommErrorToString()

constexpr const char * CommErrorToString ( CommError  error )

constexprnoexcept

Convert CommError to a human-readable string.

Parameters

error

Error code to convert.

Returns

Null-terminated string representation.

GetCommChannelsManager()

CommChannelsManager & GetCommChannelsManager ( )

inlinenoexcept

Convenience accessor — equivalent to CommChannelsManager::GetInstance().

Returns

Reference to the singleton CommChannelsManager.

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