Examples

Every buildable app in examples/esp32. Each app is one main/*.cpp file selected by name at build time; the table below is generated from the app list and each file's description, so it always matches the code.

Run one

cd examples/esp32
./scripts/build_app.sh <app> Release
./scripts/flash_app.sh flash_monitor <app> Release

vortex_api_test is the place to start: it initialises the whole HAL and exercises every manager. On a complete bench (motor supply on, sensors fitted) turn on its strict checks in idf.py menuconfig, under Vortex API test (vortex_api_test), so that wiring or supply problems fail the test instead of only logging.

Motor benches move the motor

The apps under Motor benches spin a motor. Clamp the motor, set current limits for it, and read the bench matrix and the BLDC bring-up notes first.

Catalogue

From examples/esp32/app_config.yml and each source file's @brief; do not edit.

31 apps, 31 built by CI on every pull request. Target esp32c6, ESP-IDF release/v5.5.

Start here

App (APP_TYPE)	What it does	CI	Source
vortex_api_test	Primary hardware integration test for the Vortex HAL on ESP32 (noexcept)	yes	vortex_api_test.cpp

Manager tests

App (APP_TYPE)	What it does	CI	Source
gpio_stress_test	GPIO manager focused stress test for ESP32	yes	gpio_stress_test.cpp
adc_calibration_test	ADC manager focused calibration & reading test for ESP32	yes	adc_calibration_test.cpp
motor_controller_test	Motor controller focused test for ESP32 Shares its source with motor_controller_uart_test; selected by EXAMPLE_TYPE_motor_controller_test.	yes	motor_controller_test.cpp
motor_controller_uart_test	Motor controller focused test for ESP32 Shares its source with motor_controller_test; selected by EXAMPLE_TYPE_motor_controller_uart_test.	yes	motor_controller_test.cpp
encoder_imu_test	Encoder & IMU manager focused test for ESP32	yes	encoder_imu_test.cpp
led_temp_test	LED & Temperature manager focused test for ESP32	yes	led_temp_test.cpp

TMCL parameter tools

App (APP_TYPE)	What it does	CI	Source
vortex_tmcl_param_scan	Exhaustive TMCL read probe: GAP on motor 0 (Table 57 NRs 0…334, gaps skipped) + GGP (banks 0, 2, 3) over numeric TYPE ranges. Shares its source with vortex_tmcl_param_scan_spi; selected by EXAMPLE_TYPE_vortex_tmcl_param_scan.	yes	vortex_tmcl_param_scan.cpp
vortex_tmcl_param_scan_spi	Exhaustive TMCL read probe: GAP on motor 0 (Table 57 NRs 0…334, gaps skipped) + GGP (banks 0, 2, 3) over numeric TYPE ranges. Shares its source with vortex_tmcl_param_scan; selected by EXAMPLE_TYPE_vortex_tmcl_param_scan_spi.	yes	vortex_tmcl_param_scan.cpp
vortex_tmcl_param_scan_post_config	Post-config TMCL read probe — same sweep as vortex_tmcl_param_scan but runs AFTER configure_complete_bldc() so the chip is in MOTOR_TYPE = BLDC_MOTOR with DRV_EN asserted before any GAP is issued. Shares its source with vortex_tmcl_param_scan_post_config_spi; selected by EXAMPLE_TYPE_vortex_tmcl_param_scan_post_config.	yes	vortex_tmcl_param_scan_post_config.cpp
vortex_tmcl_param_scan_post_config_spi	Post-config TMCL read probe — same sweep as vortex_tmcl_param_scan but runs AFTER configure_complete_bldc() so the chip is in MOTOR_TYPE = BLDC_MOTOR with DRV_EN asserted before any GAP is issued. Shares its source with vortex_tmcl_param_scan_post_config; selected by EXAMPLE_TYPE_vortex_tmcl_param_scan_post_config_spi.	yes	vortex_tmcl_param_scan_post_config.cpp
vortex_tmcl_manual_compliance	ESP32 harness: representative TMCL operations vs TMC9660 Parameter Mode Reference Manual (Analog Devices Rev 0, 02/25).	yes	vortex_tmcl_manual_compliance.cpp
vortex_tmcl_param_existence	ESP32 harness: per-NR read path inventory (GAP vs GGP) for TMC9660 parameter mode ROM.	yes	vortex_tmcl_param_existence.cpp
vortex_tmcl_gap_smoke	Minimal TMCL-over-UART check: init onboard TMC9660 on UART, one GAP read (type 0, motor 0).	yes	vortex_tmcl_gap_smoke.cpp

Motor benches (motion)

App (APP_TYPE)	What it does	CI	Source
vortex_bldc_open_loop	Open-loop BLDC spin on the onboard SPI TMCL path (PCAL mux enables SPI_COMM_EN — see Vortex::SetOnboardTmc9660Transport). Uses the same Vortex power-stage workaround as vortex_bldc_open_loop_uart: disable UVW VGS-short protection defaults before entering FOC_OPENLOOP_VOLTAGE_MODE.	yes	vortex_bldc_open_loop.cpp
vortex_bldc_dynamics	Closed-loop hall-FOC dynamics test for a robot-dog-class BLDC actuator. Same multi-phase trajectory as before, but with FOC_HALL_SENSOR commutation so the chip can hold synchronism through the aggressive ramps that pole-slipped under open-loop voltage mode.	yes	vortex_bldc_dynamics.cpp
vortex_bldc_open_loop_uart	Confirmed-working open-loop current-mode BLDC bring-up over the TMC9660 UART transport. Spins the bench motor under FOC_OPENLOOP_CURRENT_MODE with full live telemetry of the electrical angle, per-phase currents and the inverter voltage commands.	yes	vortex_bldc_open_loop_uart.cpp
vortex_bldc_probe	Comprehensive read/write probe for the Vortex V1 + TMC9660 BLDC stack.	yes	vortex_bldc_probe.cpp
vortex_bldc_velocity_foc_hall	Hall-FOC velocity loop bench — full bring-up + velocity profile.	yes	vortex_bldc_velocity_foc_hall.cpp
vortex_bldc_velocity_foc_abn	ABN-FOC velocity loop bench — full bring-up + velocity profile.	yes	vortex_bldc_velocity_foc_abn.cpp
vortex_bldc_position_foc_as5047	Position loop on ABN-style feedback — AS5047U angle via EncoderManager; TMC uses ABN CPR.	yes	vortex_bldc_position_foc_as5047.cpp
vortex_bldc_abn_as5047_dynamics	Closed-loop ABN-FOC velocity test with dual rotor-position feedback paths exposed to the host:	yes	vortex_bldc_abn_as5047_dynamics.cpp
vortex_bldc_torque_foc_hall	Hall-FOC torque-mode bench — direct Iq command (no velocity loop).	yes	vortex_bldc_torque_foc_hall.cpp

Board bring-up and smoke tests

App (APP_TYPE)	What it does	CI	Source
vortex_led_ws2812_smoke	WS2812 smoke + visual demo on Vortex V1 (LedManager, pincfg WS2812_LED_DAT / GPIO3).	yes	vortex_led_ws2812_smoke.cpp
vortex_led_ws2812_cycle	Continuous WS2812 exercise: colours, brightness, rainbow, breath, blink (infinite loop).	yes	vortex_led_ws2812_cycle.cpp
vortex_i2c_scan_pcal_bno_pca	I2C bring-up: shared bus devices after HAL init — PCAL95555, BNO08x, optional PCA9685.	yes	vortex_i2c_scan_pcal_bno_pca.cpp
vortex_pcal_gpio_imu_bringup	PCAL95555 + IMU (BNO08x) bring-up with full I²C diagnostics.	yes	vortex_pcal_gpio_imu_bringup.cpp
vortex_i2c_la_trace	Minimal, slow I²C patterns for logic-analyzer correlation with UART.	yes	vortex_i2c_la_trace.cpp
vortex_motor_comms_smoke	TMC9660 comms smoke: PCAL95555 control-line readback, bootloader bring-up, telemetry (no motion).	yes	vortex_motor_comms_smoke.cpp
vortex_bldc_telemetry_sweep	No-motion telemetry / configuration smoke test for the TMC9660 power stage.	yes	vortex_bldc_telemetry_sweep.cpp
vortex_brake_dissipator_gpio	GPIO-level exercise of TMC9660 chip GPIO lines (brake / dissipator paths per schematic).	yes	vortex_brake_dissipator_gpio.cpp