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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_spi.cpp
+44 -8
View File
@@ -3,6 +3,8 @@
#include <tactility/drivers/esp32_spi.h>
#include <tactility/concurrent/recursive_mutex.h>
#include "tactility/drivers/gpio_descriptor.h"
#include <tactility/drivers/esp32_gpio_helpers.h>
#include <cstring>
#include <esp_log.h>
#include <new>
@@ -19,13 +21,29 @@ struct Esp32SpiInternal {
RecursiveMutex mutex = {};
bool initialized = false;
Esp32SpiInternal() {
// Pin descriptors
GpioDescriptor* sclk_descriptor = nullptr;
GpioDescriptor* mosi_descriptor = nullptr;
GpioDescriptor* miso_descriptor = nullptr;
GpioDescriptor* wp_descriptor = nullptr;
GpioDescriptor* hd_descriptor = nullptr;
explicit Esp32SpiInternal() {
recursive_mutex_construct(&mutex);
}
~Esp32SpiInternal() {
cleanup_pins();
recursive_mutex_destruct(&mutex);
}
void cleanup_pins() {
release_pin(&sclk_descriptor);
release_pin(&mosi_descriptor);
release_pin(&miso_descriptor);
release_pin(&wp_descriptor);
release_pin(&hd_descriptor);
}
};
static error_t lock(Device* device) {
@@ -50,19 +68,35 @@ static error_t unlock(Device* device) {
static error_t start(Device* device) {
ESP_LOGI(TAG, "start %s", device->name);
auto* data = new(std::nothrow) Esp32SpiInternal();
auto* data = new (std::nothrow) Esp32SpiInternal();
if (!data) return ERROR_OUT_OF_MEMORY;
device_set_driver_data(device, data);
auto* dts_config = GET_CONFIG(device);
// Acquire pins from the specified GPIO pin specs. Optional pins are allowed.
bool pins_ok =
acquire_pin_or_set_null(dts_config->pin_sclk, &data->sclk_descriptor) &&
acquire_pin_or_set_null(dts_config->pin_mosi, &data->mosi_descriptor) &&
acquire_pin_or_set_null(dts_config->pin_miso, &data->miso_descriptor) &&
acquire_pin_or_set_null(dts_config->pin_wp, &data->wp_descriptor) &&
acquire_pin_or_set_null(dts_config->pin_hd, &data->hd_descriptor);
if (!pins_ok) {
ESP_LOGE(TAG, "Failed to acquire required SPI pins");
data->cleanup_pins();
device_set_driver_data(device, nullptr);
delete data;
return ERROR_RESOURCE;
}
spi_bus_config_t buscfg = {
.mosi_io_num = dts_config->pin_mosi,
.miso_io_num = dts_config->pin_miso,
.sclk_io_num = dts_config->pin_sclk,
.data2_io_num = dts_config->pin_wp,
.data3_io_num = dts_config->pin_hd,
.mosi_io_num = get_native_pin(data->mosi_descriptor),
.miso_io_num = get_native_pin(data->miso_descriptor),
.sclk_io_num = get_native_pin(data->sclk_descriptor),
.data2_io_num = get_native_pin(data->wp_descriptor),
.data3_io_num = get_native_pin(data->hd_descriptor),
.data4_io_num = GPIO_NUM_NC,
.data5_io_num = GPIO_NUM_NC,
.data6_io_num = GPIO_NUM_NC,
@@ -76,8 +110,9 @@ static error_t start(Device* device) {
esp_err_t ret = spi_bus_initialize(dts_config->host, &buscfg, SPI_DMA_CH_AUTO);
if (ret != ESP_OK) {
delete data;
data->cleanup_pins();
device_set_driver_data(device, nullptr);
delete data;
ESP_LOGE(TAG, "Failed to initialize SPI bus: %s", esp_err_to_name(ret));
return ERROR_RESOURCE;
}
@@ -95,6 +130,7 @@ static error_t stop(Device* device) {
spi_bus_free(dts_config->host);
}
driver_data->cleanup_pins();
device_set_driver_data(device, nullptr);
delete driver_data;
return ERROR_NONE;