Managers

A manager is the one object that owns a board function: it knows which chips and pins implement it (from the pin map), creates and owns the hf-core handlers for them, and gives you a small API. Every manager is a singleton reached through the Vortex facade.

Manager	Member	What it gives you	Start-up step
CommChannelsManager	vortex.comms	SPI2 devices, the I2C bus, the UART to the TMC9660, the TWAI (CAN) bus	required
NvsManager	vortex.nvs	Three flash key-value namespaces: application, calibration, configuration	required
GpioManager	vortex.gpio	Every GPIO-category pin by name or enum, on the ESP32-C6, the PCAL95555 and the TMC9660	required
MotorController	vortex.motors	The onboard TMC9660 (and up to two external ones), motor and load-frame velocity and position	best effort
AdcManager	vortex.adc	The 15 TMC9660-hosted ADC channels: currents, supply voltages, temperatures, AIN inputs	best effort
ImuManager	vortex.imu	The onboard BNO08x IMU and up to three external ones, data-ready interrupts	best effort
EncoderManager	vortex.encoders	Up to four AS5047U angle encoders, created by you	best effort
LedManager	vortex.leds	The WS2812 status LED: colours, brightness, animations, status patterns	required
TemperatureManager	vortex.temp	ESP32-C6 die, NTC thermistor and TMC9660 chip temperatures	best effort

Every manager has the same lifecycle calls: GetInstance(), EnsureInitialized() (idempotent), IsInitialized(), Deinitialize() (or Shutdown() for the LED manager), GetLastError(), GetSystemDiagnostics(...) and DumpStatistics(). The start-up step column says whether a failure stops Vortex::EnsureInitialized(); see Initialisation.