GpioManager

Registers every GPIO-category pin of the pin map, whichever chip it is on, and lets you drive or read it by name or by enum. On Vortex V1 those pins live on three chips: the ESP32-C6, the PCAL95555 I/O expander and the TMC9660. Source: GpioManager.h.

Which pins it owns

At start-up it walks the pin map and registers the pins whose category is GPIO (and the user, ADC and SPI categories). Core pins (crystal, boot, USB) and comm pins (bus lines, the LED data line) are skipped; their owners configure them. The names are the Name column of the pin map, for example GPIO_PCAL_TMC_DRV_EN, GPIO_PCAL_IMU_RST, GPIO_EXT_GPIO_CS_1.

Chip	Pins	How they are reached
ESP32-C6	The two external chip selects	A pin object from the board binding (McuGpioOpen())
PCAL95555	TMC9660 control and fault lines, IMU boot / interrupt / reset, CAN standby, power good, TMC9660 GPIO17/18 read-back	Pin objects from the Pcal95555Handler, over I2C
TMC9660	TMC_GPIO17, TMC_GPIO18	The TMC9660 handler, registered once MotorController has created the onboard device

Each pin takes its polarity from the pin map. "Active" means the asserted level, so for an active-low pin SetActive() drives it low.

API

Call	Notes
Get(std::string_view name), Get(HfFunctionalGpioPin pin)	BaseGpio* (not owned; valid until the manager is de-initialised), nullptr if the pin is not registered. Look a pin up once and keep the pointer
Set(name, bool active), SetActive(name), SetInactive(name), Toggle(name)	Return hf_gpio_err_t
Read(name, bool& active), IsActive(name, bool& active)	Logical state: true means asserted (polarity applied)
SetDirection, SetPullMode, SetOutputMode	Reconfigure a pin at run time
ConfigureInterrupt(...), EnableInterrupt, DisableInterrupt, SupportsInterrupts	Edge interrupts on pins that support them
Contains(name), Size()	Lookup helpers
GetLastError(), GetSystemDiagnostics(GpioSystemDiagnostics&), DumpStatistics()	Operation counters and the last error

Example: read the TMC9660 fault line

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

auto& gpio = Vortex::GetInstance().gpio;
bool fault = false;
if (gpio.Read("GPIO_PCAL_TMC_FAULT_STATUS", fault) == hf_gpio_err_t::GPIO_SUCCESS && fault) {
    // the TMC9660 is signalling a fault (the line is active low; Read() reports "asserted")
}

In a loop, look the pin up once and keep it: auto drv = gpio.Get(HfFunctionalGpioPin::PCAL_TMC_DRV_EN);. The string calls search the table on every call.

Diagnostics

GetSystemDiagnostics() reports the number of registered pins and the total, successful and failed operation counts. DumpStatistics() logs the same, with per-pin access and error counts.

Pitfalls

• Read() returns the logical state, not the electrical level, the same as IsActive(). For an active-low pin, true means the line is low. Set(name, true) likewise drives the pin to its active level.
• Expander pins are slow. Every PCAL95555 access is an I2C transfer; do not toggle them in a fast loop.
• MotorController owns the TMC9660 control lines. Driving PCAL_TMC_DRV_EN, PCAL_TMC_RST_CTRL or PCAL_TMC_SPI_COMM_EN yourself disables or confuses the motor controller.
• Pin operations are serialised, but a read-then-write sequence of your own is not atomic; give such a pin one owner task. See Threading.
• A wrong name returns GPIO_ERR_PIN_NOT_FOUND. Copy names from the pin map.