ESP32C6_HAL.hpp

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#pragma once
 
#include "TLE92466ED_HAL.hpp"
#include "TLE92466ED_Config.hpp"
#include "driver/spi_master.h"
#include "driver/gpio.h"
#include "esp_timer.h"
#include "esp_log.h"
#include <memory>
 
class ESP32C6_HAL : public TLE92466ED_HAL {
public:
    struct SPIConfig {
        spi_host_device_t host = SPI2_HOST;     
        int miso_pin = 2;                       
        int mosi_pin = 7;                       
        int sclk_pin = 6;                       
        int cs_pin = 10;                        
        int frequency = 1000000;                
        int mode = 0;                           
        int queue_size = 1;                     
    };
 
    ESP32C6_HAL() : ESP32C6_HAL(SPIConfig{}) {}
 
    explicit ESP32C6_HAL(const SPIConfig& config);
 
    ~ESP32C6_HAL() override;
 
    auto initialize() noexcept -> std::expected<void, HALError>;
 
    auto spiTransfer(std::span<const uint8_t> txData, 
                     std::span<uint8_t> rxData) noexcept 
        -> std::expected<void, HALError> override;
 
    void delayMicroseconds(uint32_t us) noexcept override;
 
    auto getConfig() const noexcept -> const SPIConfig& { return config_; }
 
    auto isInitialized() const noexcept -> bool { return initialized_; }
 
private:
    SPIConfig config_;                          
    spi_device_handle_t spi_device_ = nullptr; 
    bool initialized_ = false;                  
    
    static constexpr const char* TAG = "ESP32C6_HAL"; 
 
    auto initializeSPI() noexcept -> std::expected<void, HALError>;
 
    auto addSPIDevice() noexcept -> std::expected<void, HALError>;
};
 
inline auto createTLE92466ED_HAL() -> std::unique_ptr<ESP32C6_HAL> {
    using namespace TLE92466ED_Config;
    
    ESP32C6_HAL::SPIConfig config;
    
    // Configuration from TLE92466ED_Config.hpp
    config.host = SPI2_HOST;
    config.miso_pin = SPIPins::MISO;
    config.mosi_pin = SPIPins::MOSI;
    config.sclk_pin = SPIPins::SCLK;
    config.cs_pin = SPIPins::CS;
    config.frequency = SPIParams::FREQUENCY;
    config.mode = SPIParams::MODE;
    config.queue_size = SPIParams::QUEUE_SIZE;
    
    return std::make_unique<ESP32C6_HAL>(config);
}