VortexBoardBindEsp32c6.h File Reference

ESP32-C6-only accessors of the Vortex board binding, for platform code above the HAL. More...

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Namespaces
namespace	vortex
namespace	vortex::bsp
namespace	vortex::bsp::esp32c6

Functions
EspCan *	vortex::bsp::esp32c6::CanController () noexcept
	The TWAI controller CommChannelsManager opened, as its concrete EspCan.

Detailed Description

ESP32-C6-only accessors of the Vortex board binding, for platform code above the HAL.

The managers are MCU-free and hand out only Base* objects. Some platform code needs the concrete ESP32 object behind one of them: the CANopen device builds hf-core's hf::can::EspTwaiPort on the TWAI controller, and that port takes an EspCan&. This header is where such code gets it. Include it only from ESP32-C6 platform code (the product's CANopen bring-up), never from a manager or from MCU-neutral application logic.

#include "bsp_bind/esp32c6/VortexBoardBindEsp32c6.h"
#include "managers/CommChannelsManager.h"
 
auto& comms = Vortex::GetInstance().comms;          // after EnsureInitialized()
EspCan* twai = vortex::bsp::esp32c6::CanController();
if (twai != nullptr) {
    hf::can::EspTwaiPort port(*twai, comms.GetCanBitRate());
}

Ownership: the binding owns the object (static storage); it stays valid until CommChannelsManager is de-initialised (vortex::bsp::CanClose()). Thread safety: the call itself reads one pointer; the EspCan has its own locking.