GpioManager.h File Reference

GPIO management for the HardFOC Vortex V1 platform. More...

#include <array>
#include <atomic>
#include <cstdint>
#include <optional>
#include <string_view>
#include "base/BaseGpio.h"
#include "handlers/pcal95555/Pcal95555Handler.h"
#include "RtosMutex.h"
#include "core/hf-core-drivers/internal/hf-pincfg/src/hf_functional_pin_config_vortex_v1.hpp"

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Classes
struct	GpioEntry
	A single GPIO entry in the fixed-size registry. More...
struct	GpioSystemDiagnostics
	System-level GPIO diagnostics snapshot. More...
class	GpioManager
	Singleton managing GPIO pins across ESP32, PCAL95555 I/O expander, and TMC9660 controllers. More...

Functions
GpioManager &	GetGpioManager () noexcept
	Convenience accessor — equivalent to GpioManager::GetInstance().

Detailed Description

GPIO management for the HardFOC Vortex V1 platform.

The Vortex board spans three GPIO chip types:

• ESP32 internal GPIOs
• PCAL95555 I²C GPIO expander
• TMC9660 motor-controller GPIO bridge (GPIO17, GPIO18)

Uses a fixed-size std::array indexed by the platform mapping index (all pins known at compile time) instead of a heap-allocated unordered_map. String lookups iterate the constexpr mapping table.

Vortex TMC9660 / PCAL: motor-facing lines use PCAL_TMC_* (e.g. DRV_EN, RST, SPI mux, WAKE). TMC9660 GPIO17/18 are duplicated — read via PCAL inputs PCAL_TMC_GPIO17_EXP_IN / PCAL_TMC_GPIO18_EXP_IN (I²C expander), or configure/read the same nets through TMC_GPIO17 / TMC_GPIO18 once the handler bridge is registered.

Each entry stores a non-owning BaseGpio* (no heap, no reference counting). The pin objects live in static storage for the life of the manager:

• ESP32 pins: in the board binding (vortex::bsp::McuGpioOpen)
• PCAL95555 pins: in this manager's fixed pcal_pins_ array, attached to the expander handler with Pcal95555Handler::AttachStaticPin()
• TMC9660 pins: in the MotorController onboard handler; registered by RegisterTmc9660BridgePinsIfNeeded(), removed by UnregisterTmc9660BridgePins() before MotorController destroys the handler

Pointers returned by Get() stay valid until Deinitialize() (or, for the two TMC9660 pins, until MotorController::Deinitialize()).

Version

2.0

Function Documentation

GetGpioManager()

GpioManager & GetGpioManager ( )

inlinenoexcept

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

Returns

Reference to the singleton GpioManager.

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