AdcManager¶

Gives you every ADC channel of the pin map by name or by enum. On Vortex V1 all of them are hosted by the TMC9660: its analog inputs AIN0 to AIN3 and its internal measurements (phase currents, supply and driver voltages, chip and external temperatures, motor current, velocity and position). The ESP32-C6's own ADC is not used. Source: AdcManager.h.

Channels¶

The channels and their names are in the pin map. Every one is read through a single Tmc9660AdcWrapper that borrows the onboard TMC9660 handler from MotorController, so this manager is up only if the motor controller is.

API¶

Call	Notes
`ReadVoltage(name, float& volts, samples = 1, time_between_samples = 0)`	Also takes an `HfFunctionalAdcChannel`; averages `samples` readings
`ReadRaw(name, uint32_t& raw, samples = 1, time_between_samples = 0)`	Raw counts; also takes the enum
`Get(name)`, `Get(HfFunctionalAdcChannel)`	`BaseAdc*` for the channel, or `nullptr`
`Contains(name)`, `Size()`	Lookup helpers
`GetLastError()`, `GetSystemDiagnostics(AdcSystemDiagnostics&)`, `DumpStatistics()`	Counters and the last error

Example: read the supply voltage¶

#include "api/Vortex.h"
#include "managers/AdcManager.h"

auto& adc = Vortex::GetInstance().adc;
float vsupply = 0.0f;
if (adc.ReadVoltage(HfFunctionalAdcChannel::TMC9660_SUPPLY_VOLTAGE, vsupply, 4) == hf_adc_err_t::ADC_SUCCESS) {
    // vsupply holds the average of four readings
}

Pitfalls¶

Depends on the TMC9660. If MotorController did not start, every read fails; check adc.IsInitialized().
Internal channels are TMC9660 parameters, read over the motor controller's host link (UART or SPI), so a read costs a TMCL transaction, not a microsecond ADC conversion.
Use names from the pin map (or the enum). A name that is not in the map returns an error, not a reading.