CommChannelsManager Class Reference

Singleton managing all board communication channels for Vortex V1. More...

#include <CommChannelsManager.h>

Collaboration diagram for CommChannelsManager:

Classes
struct	RuntimeI2cSlot

Public Member Functions
	CommChannelsManager (const CommChannelsManager &)=delete
CommChannelsManager &	operator= (const CommChannelsManager &)=delete
	CommChannelsManager (CommChannelsManager &&)=delete
CommChannelsManager &	operator= (CommChannelsManager &&)=delete
bool	EnsureInitialized () noexcept
	Initialise all communication buses if not already initialised.
bool	IsInitialized () const noexcept
	Check whether the communication subsystem has been initialised.
CommError	GetLastError () const noexcept
	Get the most recent error code.
CommError	GetSystemDiagnostics (CommSystemDiagnostics &diagnostics) const noexcept
	Fill a diagnostics snapshot with current system state.
bool	Deinitialize () noexcept
	Release all bus resources and reset to uninitialized state.
BaseSpi *	GetSpiDevice (SpiDeviceId device_id) noexcept
	Get an SPI device handle by enum identifier.
BaseSpi *	GetSpiDevice (uint8_t device_index) noexcept
	Get an SPI device handle by raw index.
BaseI2c *	GetI2cDevice (I2cDeviceId device_id) noexcept
	Get a built-in I²C device by enum identifier.
BaseI2c *	GetI2cDevice (uint8_t bus_index, int device_index) noexcept
	Get I2C device by bus index and device index.
int	CreateI2cDevice (uint8_t device_address, uint32_t speed_hz=400000) noexcept
	Create an I2C device on the primary bus at runtime.
bool	HasI2cDeviceAtAddress (uint8_t bus_index, uint8_t device_address) const noexcept
	Check if an I2C device exists at the specified address.
bool	RemoveI2cDevice (int device_index) noexcept
	Remove a runtime-created I2C device.
bool	I2cProbeAddress (uint8_t address, uint32_t timeout_ms=25) noexcept
	Probe a single 7-bit address on the primary I²C bus.
size_t	I2cScanBus (uint8_t *out, size_t max_results) noexcept
	Scan the primary I²C bus and copy ACKing addresses into out.
bool	I2cResetBus () noexcept
	Reset the I²C peripheral / clear-bus sequence (only attempts when bus is up).
BaseUart *	GetUartBus () noexcept
	Get the UART bus (TMC9660 TMCL).
BaseCan *	GetCanBus () noexcept
	Get the TWAI/CAN bus.
BaseCan *	GetCanOpenBus () noexcept
	TWAI bus used for CANopen / hf-utils-canopen framing (HfUtilsCanOpenTransport).
uint32_t	GetCanBitRate () const noexcept
	Nominal bit rate the TWAI bus was configured with (bit/s).
void	DumpStatistics () const noexcept
	Log communication channel statistics and bus health to the console.

Static Public Member Functions
static CommChannelsManager &	GetInstance () noexcept
	Return the singleton CommChannelsManager instance.

Private Member Functions
	CommChannelsManager () noexcept
	~CommChannelsManager ()
bool	Initialize () noexcept
void	ReleaseLocked () noexcept
	Close every bus through the binding and forget the indices. Caller holds mutex_.
void	UpdateLastError (CommError error) noexcept

Private Attributes
std::array< int, kSpiDeviceCount >	spi_device_indices_ {}
bool	spi_bus_valid_ {false}
bool	uart_bus_valid_ {false}
bool	can_bus_valid_ {false}
std::array< int, kI2cBuiltinCount >	i2c_builtin_indices_ {}
bool	i2c_bus_valid_ {false}
std::array< RuntimeI2cSlot, kMaxI2cRuntimeDevices >	i2c_runtime_slots_ {}
BaseUart *	uart_bus_ {nullptr}
BaseCan *	can_bus_ {nullptr}
std::atomic< bool >	initialized_ {false}
std::atomic< CommError >	last_error_ {CommError::SUCCESS}
RtosMutex	mutex_

Static Private Attributes
static constexpr uint8_t	kSpiDeviceCount
static constexpr uint8_t	kI2cBuiltinCount
static constexpr uint8_t	kMaxI2cRuntimeDevices = 4

Detailed Description

Singleton managing all board communication channels for Vortex V1.

Design decisions :

• Fixed compile-time device counts (no heap vectors for device tracking).
• SPI bus + four devices known at link time.
• I2C bus with two built-in devices + bounded runtime slots for ImuManager.
• UART bus for TMC9660 TMCL protocol.
• CAN bus for network communication.

Constructor & Destructor Documentation

CommChannelsManager() [1/3]

CommChannelsManager::CommChannelsManager ( const CommChannelsManager &  )

delete

CommChannelsManager() [2/3]

CommChannelsManager::CommChannelsManager ( CommChannelsManager &&  )

delete

CommChannelsManager() [3/3]

CommChannelsManager::CommChannelsManager ( )

privatenoexcept

~CommChannelsManager()

CommChannelsManager::~CommChannelsManager ( )

privatedefault

Member Function Documentation

CreateI2cDevice()

int CommChannelsManager::CreateI2cDevice ( uint8_t  device_address, uint32_t  speed_hz = 400000  )

noexcept

Create an I2C device on the primary bus at runtime.

Parameters

device_address	7-bit I2C address
speed_hz	I2C clock speed (default 400 kHz)

Returns

Device index on success, -1 on failure

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Deinitialize()

bool CommChannelsManager::Deinitialize ( )

noexcept

Release all bus resources and reset to uninitialized state.

Returns

true on success

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DumpStatistics()

void CommChannelsManager::DumpStatistics ( ) const

noexcept

Log communication channel statistics and bus health to the console.

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EnsureInitialized()

bool CommChannelsManager::EnsureInitialized ( )

noexcept

Initialise all communication buses if not already initialised.

Returns

true on success or if already initialised.

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GetCanBitRate()

uint32_t CommChannelsManager::GetCanBitRate ( ) const

noexcept

Nominal bit rate the TWAI bus was configured with (bit/s).

GetCanBus()

BaseCan * CommChannelsManager::GetCanBus ( )

noexcept

Get the TWAI/CAN bus.

Returns

Pointer to BaseCan, or nullptr if not initialised.

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GetCanOpenBus()

BaseCan * CommChannelsManager::GetCanOpenBus ( )

inlinenoexcept

TWAI bus used for CANopen / hf-utils-canopen framing (HfUtilsCanOpenTransport).

Vortex V1: same instance as GetCanBus(). Prefer this name in app code that wires CANOpenBLDCThread / CanOpenHostServiceThread so ownership stays with CommChannelsManager.

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GetI2cDevice() [1/2]

BaseI2c * CommChannelsManager::GetI2cDevice ( I2cDeviceId  device_id )

noexcept

Get a built-in I²C device by enum identifier.

Parameters

device_id

I²C device identifier.

Returns

Pointer to BaseI2c, or nullptr on invalid id or uninitialised.

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GetI2cDevice() [2/2]

BaseI2c * CommChannelsManager::GetI2cDevice ( uint8_t  bus_index, int  device_index  )

noexcept

Get I2C device by bus index and device index.

Parameters

bus_index	Bus index (only 0 supported)
device_index	Device index returned by CreateI2cDevice or bus init

Returns

Pointer to BaseI2c device, or nullptr if invalid

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GetInstance()

CommChannelsManager & CommChannelsManager::GetInstance ( )

staticnoexcept

Return the singleton CommChannelsManager instance.

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GetLastError()

CommError CommChannelsManager::GetLastError ( ) const

inlinenoexcept

Get the most recent error code.

Returns

Last CommError set by any API call

GetSpiDevice() [1/2]

BaseSpi * CommChannelsManager::GetSpiDevice ( SpiDeviceId  device_id )

noexcept

Get an SPI device handle by enum identifier.

Parameters

device_id

SPI device identifier.

Returns

Pointer to BaseSpi, or nullptr on invalid id or uninitialised.

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GetSpiDevice() [2/2]

BaseSpi * CommChannelsManager::GetSpiDevice ( uint8_t  device_index )

noexcept

Get an SPI device handle by raw index.

Parameters

device_index

Zero-based device index.

Returns

Pointer to BaseSpi, or nullptr on invalid index or uninitialised.

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GetSystemDiagnostics()

CommError CommChannelsManager::GetSystemDiagnostics ( CommSystemDiagnostics &  diagnostics ) const

noexcept

Fill a diagnostics snapshot with current system state.

Parameters

diagnostics

Output structure to populate

Returns

CommError::SUCCESS on success, CommError::NOT_INITIALIZED if not init

GetUartBus()

BaseUart * CommChannelsManager::GetUartBus ( )

noexcept

Get the UART bus (TMC9660 TMCL).

Returns

Pointer to BaseUart, or nullptr if not initialised.

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HasI2cDeviceAtAddress()

bool CommChannelsManager::HasI2cDeviceAtAddress ( uint8_t  bus_index, uint8_t  device_address  ) const

noexcept

Check if an I2C device exists at the specified address.

Parameters

bus_index	Bus index (only 0 supported)
device_address	7-bit I2C address

Returns

true if device exists

I2cProbeAddress()

bool CommChannelsManager::I2cProbeAddress ( uint8_t  address, uint32_t  timeout_ms = 25  )

noexcept

Probe a single 7-bit address on the primary I²C bus.

Parameters

address	7-bit slave address (0x08 .. 0x77).
timeout_ms	Per-probe timeout in ms (default 25 ms).

Returns

true if the device ACKs.

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I2cResetBus()

bool CommChannelsManager::I2cResetBus ( )

noexcept

Reset the I²C peripheral / clear-bus sequence (only attempts when bus is up).

Returns

true on success.

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I2cScanBus()

size_t CommChannelsManager::I2cScanBus ( uint8_t *  out, size_t  max_results  )

noexcept

Scan the primary I²C bus and copy ACKing addresses into out.

Parameters

out	Buffer to receive the discovered addresses.
max_results	Maximum number of entries to write into out.

Returns

Number of devices that ACKed (also size of out written).

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Initialize()

bool CommChannelsManager::Initialize ( )

privatenoexcept

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IsInitialized()

bool CommChannelsManager::IsInitialized ( ) const

inlinenoexcept

Check whether the communication subsystem has been initialised.

Returns

true if initialised.

operator=() [1/2]

CommChannelsManager & CommChannelsManager::operator= ( CommChannelsManager &&  )

delete

operator=() [2/2]

CommChannelsManager & CommChannelsManager::operator= ( const CommChannelsManager &  )

delete

ReleaseLocked()

void CommChannelsManager::ReleaseLocked ( )

privatenoexcept

Close every bus through the binding and forget the indices. Caller holds mutex_.

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RemoveI2cDevice()

bool CommChannelsManager::RemoveI2cDevice ( int  device_index )

noexcept

Remove a runtime-created I2C device.

Parameters

device_index

Device index returned by CreateI2cDevice

Returns

true if removed successfully

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UpdateLastError()

void CommChannelsManager::UpdateLastError ( CommError  error )

inlineprivatenoexcept

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Member Data Documentation

can_bus_

BaseCan* CommChannelsManager::can_bus_ {nullptr}

private

can_bus_valid_

bool CommChannelsManager::can_bus_valid_ {false}

private

i2c_builtin_indices_

std::array<int, kI2cBuiltinCount> CommChannelsManager::i2c_builtin_indices_ {}

private

i2c_bus_valid_

bool CommChannelsManager::i2c_bus_valid_ {false}

private

i2c_runtime_slots_

std::array<RuntimeI2cSlot, kMaxI2cRuntimeDevices> CommChannelsManager::i2c_runtime_slots_ {}

private

initialized_

std::atomic<bool> CommChannelsManager::initialized_ {false}

private

kI2cBuiltinCount

constexpr uint8_t CommChannelsManager::kI2cBuiltinCount

staticconstexprprivate

Initial value:

=
        static_cast<uint8_t>(I2cDeviceId::DEVICE_COUNT)

kMaxI2cRuntimeDevices

constexpr uint8_t CommChannelsManager::kMaxI2cRuntimeDevices = 4

staticconstexprprivate

kSpiDeviceCount

constexpr uint8_t CommChannelsManager::kSpiDeviceCount

staticconstexprprivate

Initial value:

=
        static_cast<uint8_t>(SpiDeviceId::DEVICE_COUNT)

last_error_

std::atomic<CommError> CommChannelsManager::last_error_ {CommError::SUCCESS}

private

mutex_

RtosMutex CommChannelsManager::mutex_

mutableprivate

spi_bus_valid_

bool CommChannelsManager::spi_bus_valid_ {false}

private

spi_device_indices_

std::array<int, kSpiDeviceCount> CommChannelsManager::spi_device_indices_ {}

private

uart_bus_

BaseUart* CommChannelsManager::uart_bus_ {nullptr}

private

uart_bus_valid_

bool CommChannelsManager::uart_bus_valid_ {false}

private

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The documentation for this class was generated from the following files:

• CommChannelsManager.h
• CommChannelsManager.cpp