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GPIO refactored (#495)

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* **Refactor**
  * GPIO subsystem moved to a descriptor-based model for per-pin ownership and runtime pin management; many platform drivers now acquire/release descriptors.
  * Device trees and drivers now use GPIO phandle-style pin specifications across all boards and all drivers.

* **Behavior**
  * Device list now encodes per-device status (ok/disabled); boot will skip disabled devices accordingly.

* **Deprecation**
  * Legacy GPIO HAL marked deprecated and replaced with descriptor-based interfaces.

* **Chores**
  * Bindings and platform configs updated to the new GPIO pin-spec format.
This commit is contained in:
Ken Van Hoeylandt
2026-02-11 20:34:54 +01:00
committed by GitHub
parent dff93cb655
commit 26c17986c6
80 changed files with 1129 additions and 665 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Platforms/PlatformEsp32/Source/drivers/esp32_i2c.cpp
+59 -15
View File
@@ -1,31 +1,38 @@
// SPDX-License-Identifier: Apache-2.0
#include <driver/i2c.h>
#include <tactility/driver.h>
#include <tactility/drivers/i2c_controller.h>
#include <tactility/log.h>
#include <new>
#include <tactility/time.h>
#include <tactility/error_esp32.h>
#include <tactility/driver.h>
#include <tactility/drivers/gpio_controller.h>
#include <tactility/drivers/i2c_controller.h>
#include <tactility/drivers/esp32_i2c.h>
#include <tactility/log.h>
#include <tactility/time.h>
#define TAG "esp32_i2c"
#define ACK_CHECK_EN 1
struct Esp32SpiInternal {
Mutex mutex { 0 };
struct Esp32I2cInternal {
Mutex mutex {};
GpioDescriptor* sda_descriptor = nullptr;
GpioDescriptor* scl_descriptor = nullptr;
Esp32SpiInternal() {
Esp32I2cInternal(GpioDescriptor* sda_descriptor, GpioDescriptor* scl_descriptor) :
sda_descriptor(sda_descriptor),
scl_descriptor(scl_descriptor)
{
mutex_construct(&mutex);
}
~Esp32SpiInternal() {
~Esp32I2cInternal() {
mutex_destruct(&mutex);
}
};
#define GET_CONFIG(device) ((Esp32I2cConfig*)device->config)
#define GET_DATA(device) ((Esp32SpiInternal*)device_get_driver_data(device))
#define GET_DATA(device) ((Esp32I2cInternal*)device_get_driver_data(device))
#define lock(data) mutex_lock(&data->mutex);
#define unlock(data) mutex_unlock(&data->mutex);
@@ -149,12 +156,35 @@ static error_t start(Device* device) {
ESP_LOGI(TAG, "start %s", device->name);
auto dts_config = GET_CONFIG(device);
auto& sda_spec = dts_config->pinSda;
auto& scl_spec = dts_config->pinScl;
auto* sda_descriptor = gpio_descriptor_acquire(sda_spec.gpio_controller, sda_spec.pin, GPIO_OWNER_GPIO);
if (!sda_descriptor) {
LOG_E(TAG, "Failed to acquire pin %u", sda_spec.pin);
return ERROR_RESOURCE;
}
auto* scl_descriptor = gpio_descriptor_acquire(scl_spec.gpio_controller, scl_spec.pin, GPIO_OWNER_GPIO);
if (!scl_descriptor) {
LOG_E(TAG, "Failed to acquire pin %u", scl_spec.pin);
gpio_descriptor_release(sda_descriptor);
return ERROR_RESOURCE;
}
gpio_num_t sda_pin, scl_pin;
check(gpio_descriptor_get_native_pin_number(sda_descriptor, &sda_pin) == ERROR_NONE);
check(gpio_descriptor_get_native_pin_number(scl_descriptor, &scl_pin) == ERROR_NONE);
gpio_flags_t sda_flags, scl_flags;
check(gpio_descriptor_get_flags(sda_descriptor, &sda_flags) == ERROR_NONE);
check(gpio_descriptor_get_flags(scl_descriptor, &scl_flags) == ERROR_NONE);
i2c_config_t esp_config = {
.mode = I2C_MODE_MASTER,
.sda_io_num = dts_config->pinSda,
.scl_io_num = dts_config->pinScl,
.sda_pullup_en = dts_config->pinSdaPullUp,
.scl_pullup_en = dts_config->pinSclPullUp,
.sda_io_num = sda_pin,
.scl_io_num = scl_pin,
.sda_pullup_en = (sda_flags & GPIO_FLAG_PULL_UP) != 0,
.scl_pullup_en = (scl_flags & GPIO_FLAG_PULL_UP) != 0,
.master {
.clk_speed = dts_config->clockFrequency
},
@@ -164,22 +194,33 @@ static error_t start(Device* device) {
esp_err_t error = i2c_param_config(dts_config->port, &esp_config);
if (error != ESP_OK) {
LOG_E(TAG, "Failed to configure port %d: %s", static_cast<int>(dts_config->port), esp_err_to_name(error));
check(gpio_descriptor_release(sda_descriptor) == ERROR_NONE);
check(gpio_descriptor_release(scl_descriptor) == ERROR_NONE);
return ERROR_RESOURCE;
}
error = i2c_driver_install(dts_config->port, esp_config.mode, 0, 0, 0);
if (error != ESP_OK) {
LOG_E(TAG, "Failed to install driver at port %d: %s", static_cast<int>(dts_config->port), esp_err_to_name(error));
check(gpio_descriptor_release(sda_descriptor) == ERROR_NONE);
check(gpio_descriptor_release(scl_descriptor) == ERROR_NONE);
return ERROR_RESOURCE;
}
auto* data = new Esp32SpiInternal();
auto* data = new(std::nothrow) Esp32I2cInternal(sda_descriptor, scl_descriptor);
if (data == nullptr) {
check(gpio_descriptor_release(sda_descriptor) == ERROR_NONE);
check(gpio_descriptor_release(scl_descriptor) == ERROR_NONE);
return ERROR_OUT_OF_MEMORY;
}
device_set_driver_data(device, data);
return ERROR_NONE;
}
static error_t stop(Device* device) {
ESP_LOGI(TAG, "stop %s", device->name);
auto* driver_data = static_cast<Esp32SpiInternal*>(device_get_driver_data(device));
auto* driver_data = static_cast<Esp32I2cInternal*>(device_get_driver_data(device));
i2c_port_t port = GET_CONFIG(device)->port;
esp_err_t result = i2c_driver_delete(port);
@@ -188,6 +229,9 @@ static error_t stop(Device* device) {
return ERROR_RESOURCE;
}
check(gpio_descriptor_release(driver_data->sda_descriptor) == ERROR_NONE);
check(gpio_descriptor_release(driver_data->scl_descriptor) == ERROR_NONE);
device_set_driver_data(device, nullptr);
delete driver_data;
return ERROR_NONE;