GpioManager.cpp File Reference

Implementation of the Vortex V1 GPIO manager. More...

#include "GpioManager.h"
#include "CommChannelsManager.h"
#include "MotorController.h"
#include "handlers/pcal95555/Pcal95555Handler.h"
#include "handlers/tmc9660/Tmc9660Handler.h"
#include "bsp_bind/VortexBoardBind.h"
#include "handlers/logger/Logger.h"
#include "core/hf-core-utils/hf-utils-rtos-wrap/include/OsUtility.h"

Include dependency graph for GpioManager.cpp:

Functions
static hf_gpio_direction_t	pcal_pin_direction (size_t map_index) noexcept

Variables
static constexpr const char *	TAG = "VortexGpio"

Detailed Description

Implementation of the Vortex V1 GPIO manager.

Multi-chip GPIO initialization:

• ESP32 internal: created by the board binding (vortex::bsp::McuGpioOpen)
• PCAL95555 expander: Pcal95555Handler::CreateGpioPin(...) — includes host→TMC control outputs (PCAL_TMC_DRV_EN, PCAL_TMC_RST_CTRL, PCAL_TMC_SPI_COMM_EN, PCAL_TMC_WAKE_CTRL) and inputs (PCAL_TMC_FAULT_STATUS, PCAL_PWR_GOOD, PCAL_IMU_INT), plus TMC GPIO17/18 on PCAL P1–P2 as PCAL_TMC_GPIO17_EXP_IN / PCAL_TMC_GPIO18_EXP_IN.
• TMC9660 controller: non-owning alias to handler->gpio(17|18), registered after MotorController::CreateOnboardDevice() via RegisterTmc9660BridgePinsIfNeeded()

Version

2.0

Function Documentation

pcal_pin_direction()

static hf_gpio_direction_t pcal_pin_direction ( size_t  map_index )

staticnoexcept

PCAL95555 lines that are inputs on Vortex (fault, power-good, IMU INT, TMC GPIO17/18 feeds).

Here is the caller graph for this function:

Variable Documentation

TAG

constexpr const char* TAG = "VortexGpio"

staticconstexpr