Remove old HAL components and refactored GPS-related code (#583)

- Added generic GPS/GNSS support with device detection, configuration, and persistent settings.
- Improved device and module lifecycle management.
- Added flexible filesystem locking support for displays and storage.
- Improved display-idle and keyboard backlight handling.
- Updated architecture, driver, module, testing, and licensing documentation.
- Removed old HAL device and related code.

.github/workflows/tests.yml

@@ -19,14 +19,8 @@ jobs:
         run: cmake -S ./ -B build
       - name: "Build Tests"
         run: cmake --build build --target build-tests
-      - name: "Run TactilityFreeRtos Tests"
+      - name: "Run Tests"
-        run: build/Tests/TactilityFreeRtos/TactilityFreeRtosTests
+        run: ctest --test-dir build/Tests
-      - name: "Run Tactility Tests"
-        run: build/Tests/Tactility/TactilityTests
-      - name: "Run TactilityKernel Tests"
-        run: build/Tests/TactilityKernel/TactilityKernelTests
-      - name: "Run CryptModuleTests Tests"
-        run: build/Tests/crypt-module/CryptModuleTests
   DevicetreeTests:
     runs-on: ubuntu-latest
     steps:

Buildscripts/DevicetreeCompiler/source/generator.py

@@ -26,7 +26,7 @@ def get_device_node_name_safe(device: Device):
 def get_device_type_name(device: Device, bindings: list[Binding]):
     device_binding = find_device_binding(device, bindings)
     if device_binding is None:
-        raise DevicetreeException(f"Binding not found for {device.node_name}")
+        raise DevicetreeException(f"Binding not found for {device.node_name}. Make sure that the driver name in the driver's yaml and driver code declarations matches with the device dts file.")
     if device_binding.compatible is None:
         raise DevicetreeException(f"Couldn't find compatible binding for {device.node_name}")
     compatible_safe = device_binding.compatible.split(",")[-1]
@@ -282,6 +282,7 @@ def write_device_structs(file, device: Device, parent_device: Device, bindings:
     file.write(f"\t.address = {address_value},\n")
     file.write(f"\t.name = \"{device.node_name}\",\n") # Use original name
     file.write(f"\t.config = &{config_variable_name},\n")
+    file.write("\t.flags = DEVICE_FLAG_DTS,\n")
     file.write(f"\t.parent = {parent_value},\n")
     file.write("\t.internal = NULL\n")
     file.write("};\n\n")

Buildscripts/DevicetreeCompiler/tests/data/expected_devicetree.c

@@ -13,6 +13,7 @@ static struct Device root = {
 	.address = 0,
 	.name = "/",
 	.config = &root_config,
+	.flags = DEVICE_FLAG_DTS,
 	.parent = NULL,
 	.internal = NULL
 };
@@ -27,6 +28,7 @@ static struct Device test_device = {
 	.address = 0,
 	.name = "test-device",
 	.config = &test_device_config,
+	.flags = DEVICE_FLAG_DTS,
 	.parent = &root,
 	.internal = NULL
 };
@@ -43,6 +45,7 @@ static struct Device bool_test_device = {
 	.address = 0,
 	.name = "bool-test-device",
 	.config = &bool_test_device_config,
+	.flags = DEVICE_FLAG_DTS,
 	.parent = &root,
 	.internal = NULL
 };

CMakeLists.txt

@@ -96,9 +96,10 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION})
     add_subdirectory(Libraries/QRCode)
     add_subdirectory(Libraries/minitar)
     add_subdirectory(Libraries/minmea)
-    add_subdirectory(Modules/hal-device-module)
     add_subdirectory(Modules/lvgl-module)
     add_subdirectory(Modules/crypt-module)
+    add_subdirectory(Modules/gps-module)
+    add_subdirectory(Drivers/gps-generic-module)
 
     # FreeRTOS
     set(FREERTOS_CONFIG_FILE_DIRECTORY ${PROJECT_SOURCE_DIR}/Devices/simulator/Source CACHE STRING "")

Devices/lilygo-tdeck-plus/devicetree.yaml

@@ -1,5 +1,6 @@
 dependencies:
   - Platforms/platform-esp32
+  - Drivers/gps-generic-module
   - Drivers/st7789-module
   - Drivers/gt911-module
   - Drivers/lilygo-module

Devices/lilygo-tdeck-plus/lilygo,tdeck-plus.dts

@@ -20,6 +20,8 @@
 #include <bindings/es7210.h>
 #include <bindings/dummy_i2s_amp.h>
 
+#include <gps_generic/bindings.h>
+
 #include <lilygo/bindings/tdeck_keyboard.h>
 #include <lilygo/bindings/tdeck_keyboard_backlight.h>
 #include <lilygo/bindings/tdeck_trackball.h>
@@ -188,5 +190,12 @@
 		port = <UART_NUM_1>;
 		pin-tx = <&gpio0 43 GPIO_FLAG_NONE>;
 		pin-rx = <&gpio0 44 GPIO_FLAG_NONE>;
+
+		gps {
+			compatible = "tactility,gps-generic";
+			status = "disabled";
+			baud-rate = <38400>;
+			model = <GPS_MODEL_UBLOX10>;
+		};
 	};
 };

Devices/lilygo-tdeck-plus/source/module.cpp

@@ -1,75 +1,57 @@
-#include <tactility/module.h>
+#include <tactility/delay.h>
 #include <tactility/error.h>
 #include <tactility/log.h>
 #include <tactility/lvgl_module.h>
+#include <tactility/module.h>
 
 #include <Tactility/SystemEvents.h>
 #include <Tactility/LogMessages.h>
-#include <Tactility/hal/Configuration.h>
-#include <Tactility/hal/gps/GpsConfiguration.h>
-#include <Tactility/kernel/Kernel.h>
-#include <Tactility/lvgl/LvglSync.h>
-#include <Tactility/service/gps/GpsService.h>
 #include <Tactility/settings/TrackballSettings.h>
 
 #include <lilygo/drivers/trackball.h>
 #include <lilygo/drivers/tdeck_power_on.h>
 
-#include <driver/gpio.h>
-
 constexpr auto* TAG = "tdeck-plus";
 
 extern "C" {
 
-void subscribe_events() {
+static tt::kernel::SystemEventSubscription tdeck_boot_splash_subscription = tt::kernel::NoSystemEventSubscription;
-    tt::kernel::subscribeSystemEvent(tt::kernel::SystemEvent::BootSplash, [](tt::kernel::SystemEvent event) {
-        auto gps_service = tt::service::gps::findGpsService();
-        if (gps_service != nullptr) {
-            std::vector<tt::hal::gps::GpsConfiguration> gps_configurations;
-            gps_service->getGpsConfigurations(gps_configurations);
-            if (gps_configurations.empty()) {
-                if (gps_service->addGpsConfiguration(tt::hal::gps::GpsConfiguration {.uartName = "uart0", .baudRate = 38400, .model = tt::hal::gps::GpsModel::UBLOX10})) {
-                    LOG_I(TAG, "Configured internal GPS");
-                } else {
-                    LOG_E(TAG, "Failed to configure internal GPS");
-                }
-            }
-        }
-    });
 
-    // The kernel trackball device is already started by kernel_init(); this just registers it as an
+void init_trackball() {
-    // LVGL input device and applies persisted settings, both of which require LVGL to be up first.
+    auto tbSettings = tt::settings::trackball::loadOrGetDefault();
-    tt::kernel::subscribeSystemEvent(tt::kernel::SystemEvent::BootSplash, [](tt::kernel::SystemEvent event) {
+    lvgl_lock();
-        auto tbSettings = tt::settings::trackball::loadOrGetDefault();
+    if (trackball::init() != nullptr) {
-        lvgl_lock();
+        trackball::setMode(tbSettings.trackballMode == tt::settings::trackball::TrackballMode::Pointer
-        if (trackball::init() != nullptr) {
+            ? trackball::Mode::Pointer
-            trackball::setMode(tbSettings.trackballMode == tt::settings::trackball::TrackballMode::Pointer
+            : trackball::Mode::Encoder);
-                ? trackball::Mode::Pointer
+        trackball::setEncoderSensitivity(tbSettings.encoderSensitivity);
-                : trackball::Mode::Encoder);
+        trackball::setPointerSensitivity(tbSettings.pointerSensitivity);
-            trackball::setEncoderSensitivity(tbSettings.encoderSensitivity);
+        trackball::setEnabled(tbSettings.trackballEnabled);
-            trackball::setPointerSensitivity(tbSettings.pointerSensitivity);
+    }
-            trackball::setEnabled(tbSettings.trackballEnabled);
+    lvgl_unlock();
-        }
-        lvgl_unlock();
-    });
 }
 
 static error_t start() {
     LOG_I(TAG, LOG_MESSAGE_POWER_ON_START);
+
     if (!tdeck_power_on()) {
         LOG_E(TAG, LOG_MESSAGE_POWER_ON_FAILED);
         return ERROR_RESOURCE;
     }
 
     // Avoids crash when no SD card is inserted. It's unknown why, but likely is related to power draw.
-    tt::kernel::delayMillis(100);
+    delay_millis(100);
 
-    subscribe_events();
+    tdeck_boot_splash_subscription = tt::kernel::subscribeSystemEvent(tt::kernel::SystemEvent::BootSplash, [](tt::kernel::SystemEvent event) {
+        init_trackball();
+    });
 
     return ERROR_NONE;
 }
 
 static error_t stop() {
+    tt::kernel::unsubscribeSystemEvent(tdeck_boot_splash_subscription);
+    tdeck_boot_splash_subscription = tt::kernel::NoSystemEventSubscription;
     return ERROR_NONE;
 }
 
@@ -77,8 +59,6 @@ Module lilygo_tdeck_plus_module = {
     .name = "lilygo-tdeck-plus",
     .start = start,
     .stop = stop,
-    .symbols = nullptr,
-    .internal = nullptr
 };
 
 }

Devices/lilygo-tdeck/source/module.cpp

@@ -1,20 +1,17 @@
 #include <tactility/module.h>
 
-#include "lilygo/drivers/tdeck_power_on.h"
-#include "tactility/lvgl_module.h"
-
 #include <tactility/error.h>
 #include <tactility/log.h>
+#include <tactility/lvgl_module.h>
 
 #include <Tactility/SystemEvents.h>
 #include <Tactility/LogMessages.h>
-#include <Tactility/hal/Configuration.h>
 #include <Tactility/kernel/Kernel.h>
 #include <Tactility/lvgl/LvglSync.h>
-#include <Tactility/service/gps/GpsService.h>
 #include <Tactility/settings/TrackballSettings.h>
 
 #include <lilygo/drivers/trackball.h>
+#include <lilygo/drivers/tdeck_power_on.h>
 
 constexpr auto* TAG = "tdeck";
 

Devices/lilygo-tlora-pager/devicetree.yaml

@@ -1,5 +1,6 @@
 dependencies:
   - Platforms/platform-esp32
+  - Drivers/gps-generic-module
   - Drivers/st7796-module
   - Drivers/bq27220-module
   - Drivers/tca8418-module

Devices/lilygo-tlora-pager/lilygo,tlora-pager.dts

@@ -11,6 +11,7 @@
 #include <tactility/bindings/esp32_sdspi.h>
 #include <tactility/bindings/esp32_pwm_ledc.h>
 #include <tactility/bindings/pwm_backlight.h>
+#include <gps_generic/bindings.h>
 #include <bindings/st7796.h>
 #include <bindings/bq27220.h>
 #include <bindings/tca8418.h>
@@ -181,6 +182,13 @@
 		port = <UART_NUM_0>;
 		pin-tx = <&gpio0 12 GPIO_FLAG_NONE>;
 		pin-rx = <&gpio0 4 GPIO_FLAG_NONE>;
+
+		gps {
+			compatible = "tactility,gps-generic";
+			status = "disabled";
+			baud-rate = <38400>;
+			model = <GPS_MODEL_UBLOX10>;
+		};
 	};
 
 	uart_external: uart1 {

Devices/lilygo-tlora-pager/source/module.cpp

@@ -1,15 +1,8 @@
-#include <tactility/check.h>
+#include <tactility/lvgl_module.h>
-#include <tactility/driver.h>
 #include <tactility/module.h>
 
-#include <Tactility/LogMessages.h>
 #include <Tactility/SystemEvents.h>
-#include <Tactility/hal/Configuration.h>
-#include <Tactility/hal/gps/GpsConfiguration.h>
 #include <Tactility/kernel/Kernel.h>
-#include <Tactility/service/gps/GpsService.h>
-#include <tactility/log.h>
-#include <tactility/lvgl_module.h>
 
 #include <lilygo/drivers/tpager_encoder_input.h>
 
@@ -17,41 +10,22 @@ constexpr auto* TAG = "T-Lora Pager";
 
 extern "C" {
 
-tt::kernel::SystemEventSubscription event_subscription;
+tt::kernel::SystemEventSubscription event_subscription = tt::kernel::NoSystemEventSubscription;
 
 static error_t start() {
-
-    LOG_I(TAG, LOG_MESSAGE_POWER_ON_START);
-
     event_subscription = tt::kernel::subscribeSystemEvent(tt::kernel::SystemEvent::BootSplash, [](tt::kernel::SystemEvent) {
         // The kernel tpager_encoder device is already started by kernel_init(); this just
         // registers it as an LVGL input device, which requires LVGL to be up first.
         lvgl_lock();
         tpager_encoder::init();
         lvgl_unlock();
-
-        auto gps_service = tt::service::gps::findGpsService();
-        if (gps_service != nullptr) {
-            std::vector<tt::hal::gps::GpsConfiguration> gps_configurations;
-            gps_service->getGpsConfigurations(gps_configurations);
-            if (gps_configurations.empty()) {
-                if (gps_service->addGpsConfiguration(tt::hal::gps::GpsConfiguration {
-                    .uartName = "uart0",
-                    .baudRate = 38400,
-                    .model = tt::hal::gps::GpsModel::UBLOX10
-                })) {
-                    LOG_I(TAG, "Configured internal GPS");
-                } else {
-                    LOG_E(TAG, "Failed to configure internal GPS");
-                }
-            }
-        }
     });
     return ERROR_NONE;
 }
 
 static error_t stop() {
     tt::kernel::unsubscribeSystemEvent(event_subscription);
+    event_subscription = tt::kernel::NoSystemEventSubscription;
     return ERROR_NONE;
 }
 

Devices/simulator/Source/Main.cpp

@@ -1,6 +1,5 @@
 #include "Main.h"
 #include <Tactility/Thread.h>
-#include <Tactility/TactilityCore.h>
 
 #include "FreeRTOS.h"
 #include "task.h"

Devices/simulator/Source/Simulator.cpp

@@ -1,22 +0,0 @@
-#include "hal/SdlDisplay.h"
-#include "hal/SdlKeyboard.h"
-#include "hal/SimulatorPower.h"
-
-#include <Tactility/hal/Configuration.h>
-
-#define TAG "hardware"
-
-using namespace tt::hal;
-
-static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
-    return {
-        std::make_shared<SdlDisplay>(),
-        std::make_shared<SdlKeyboard>(),
-        std::make_shared<SimulatorPower>(),
-    };
-}
-
-extern const Configuration hardwareConfiguration = {
-    .initBoot = nullptr,
-    .createDevices = createDevices
-};

Devices/simulator/Source/drivers/sdl_display.cpp

@@ -0,0 +1,160 @@
+// SPDX-License-Identifier: Apache-2.0
+#include "sdl_display.h"
+
+#include <tactility/device.h>
+#include <tactility/driver.h>
+#include <tactility/drivers/display.h>
+#include <tactility/log.h>
+#include <tactility/module.h>
+
+#include <SDL2/SDL.h>
+
+#include <cstdlib>
+
+constexpr auto* TAG = "SdlDisplay";
+#define GET_CONFIG(device) (static_cast<const SdlDisplayConfig*>((device)->config))
+
+struct SdlDisplayInternal {
+    SDL_Window* window;
+    SDL_Renderer* renderer;
+    SDL_Texture* texture;
+};
+
+// region Driver lifecycle
+
+static error_t start(Device* device) {
+    const auto* config = GET_CONFIG(device);
+
+    auto* internal = static_cast<SdlDisplayInternal*>(malloc(sizeof(SdlDisplayInternal)));
+    if (internal == nullptr) {
+        return ERROR_OUT_OF_MEMORY;
+    }
+
+    if (SDL_InitSubSystem(SDL_INIT_VIDEO) != 0) {
+        LOG_E(TAG, "SDL_InitSubSystem failed: %s", SDL_GetError());
+        free(internal);
+        return ERROR_RESOURCE;
+    }
+
+    internal->window = SDL_CreateWindow(
+        "Tactility",
+        SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED,
+        config->horizontal_resolution, config->vertical_resolution,
+        SDL_WINDOW_SHOWN
+    );
+    internal->renderer = internal->window != nullptr
+        ? SDL_CreateRenderer(internal->window, -1, SDL_RENDERER_ACCELERATED)
+        : nullptr;
+    internal->texture = internal->renderer != nullptr
+        ? SDL_CreateTexture(internal->renderer, SDL_PIXELFORMAT_RGB565, SDL_TEXTUREACCESS_STREAMING,
+            config->horizontal_resolution, config->vertical_resolution)
+        : nullptr;
+
+    if (internal->window == nullptr || internal->renderer == nullptr || internal->texture == nullptr) {
+        LOG_E(TAG, "Failed to create SDL window: %s", SDL_GetError());
+        if (internal->texture != nullptr) SDL_DestroyTexture(internal->texture);
+        if (internal->renderer != nullptr) SDL_DestroyRenderer(internal->renderer);
+        if (internal->window != nullptr) SDL_DestroyWindow(internal->window);
+        SDL_QuitSubSystem(SDL_INIT_VIDEO);
+        free(internal);
+        return ERROR_RESOURCE;
+    }
+
+    device_set_driver_data(device, internal);
+    return ERROR_NONE;
+}
+
+static error_t stop(Device* device) {
+    auto* internal = static_cast<SdlDisplayInternal*>(device_get_driver_data(device));
+
+    SDL_DestroyTexture(internal->texture);
+    SDL_DestroyRenderer(internal->renderer);
+    SDL_DestroyWindow(internal->window);
+    SDL_QuitSubSystem(SDL_INIT_VIDEO);
+
+    free(internal);
+    device_set_driver_data(device, nullptr);
+    return ERROR_NONE;
+}
+
+// endregion
+
+// region DisplayApi
+
+static error_t sdl_display_reset(Device*) { return ERROR_NONE; }
+static error_t sdl_display_init(Device*) { return ERROR_NONE; }
+
+static error_t sdl_display_draw_bitmap(Device* device, int32_t x_start, int32_t y_start, int32_t x_end, int32_t y_end, const void* color_data) {
+    auto* internal = static_cast<SdlDisplayInternal*>(device_get_driver_data(device));
+
+    SDL_Rect rect = { x_start, y_start, x_end - x_start, y_end - y_start };
+    // RGB565 = 2 bytes/pixel.
+    if (SDL_UpdateTexture(internal->texture, &rect, color_data, (x_end - x_start) * 2) != 0) {
+        return ERROR_RESOURCE;
+    }
+
+    SDL_RenderClear(internal->renderer);
+    SDL_RenderCopy(internal->renderer, internal->texture, nullptr, nullptr);
+    SDL_RenderPresent(internal->renderer);
+    return ERROR_NONE;
+}
+
+static enum DisplayColorFormat sdl_display_get_color_format(Device*) {
+    return DISPLAY_COLOR_FORMAT_RGB565;
+}
+
+static uint16_t sdl_display_get_resolution_x(Device* device) {
+    return GET_CONFIG(device)->horizontal_resolution;
+}
+
+static uint16_t sdl_display_get_resolution_y(Device* device) {
+    return GET_CONFIG(device)->vertical_resolution;
+}
+
+static void sdl_display_get_frame_buffer(Device*, uint8_t, void** out_buffer) {
+    *out_buffer = nullptr;
+}
+
+static uint8_t sdl_display_get_frame_buffer_count(Device*) {
+    return 0;
+}
+
+// endregion
+
+static const DisplayApi sdl_display_api = {
+    .capabilities = 0,
+    .reset = sdl_display_reset,
+    .init = sdl_display_init,
+    .draw_bitmap = sdl_display_draw_bitmap,
+    .mirror = nullptr,
+    .swap_xy = nullptr,
+    .get_swap_xy = nullptr,
+    .get_mirror_x = nullptr,
+    .get_mirror_y = nullptr,
+    .set_gap = nullptr,
+    .get_gap_x = nullptr,
+    .get_gap_y = nullptr,
+    .invert_color = nullptr,
+    .disp_on_off = nullptr,
+    .disp_sleep = nullptr,
+    .get_color_format = sdl_display_get_color_format,
+    .get_resolution_x = sdl_display_get_resolution_x,
+    .get_resolution_y = sdl_display_get_resolution_y,
+    .get_frame_buffer = sdl_display_get_frame_buffer,
+    .get_frame_buffer_count = sdl_display_get_frame_buffer_count,
+    .get_backlight = nullptr,
+    .has_capability = nullptr,
+};
+
+extern Module simulator_module;
+
+Driver sdl_display_driver = {
+    .name = "sdl-display",
+    .compatible = (const char*[]) { "tactility,sdl-display", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = &sdl_display_api,
+    .device_type = &DISPLAY_TYPE,
+    .owner = &simulator_module,
+    .internal = nullptr
+};

Devices/simulator/Source/drivers/sdl_display.h

@@ -0,0 +1,17 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+struct SdlDisplayConfig {
+    uint16_t horizontal_resolution;
+    uint16_t vertical_resolution;
+};
+
+#ifdef __cplusplus
+}
+#endif

Devices/simulator/Source/drivers/sdl_input.cpp

@@ -0,0 +1,108 @@
+// SPDX-License-Identifier: Apache-2.0
+#include "sdl_input.h"
+
+#include <lvgl.h>
+
+#include <SDL2/SDL.h>
+
+#include <cstdlib>
+
+namespace {
+
+constexpr size_t KEY_QUEUE_CAPACITY = 32;
+
+SdlPointerState pointer_state = { 0, 0, false };
+
+uint32_t key_queue[KEY_QUEUE_CAPACITY];
+size_t key_queue_head = 0;
+size_t key_queue_count = 0;
+
+bool text_input_started = false;
+
+void push_key(uint32_t key) {
+    if (key == 0 || key_queue_count >= KEY_QUEUE_CAPACITY) {
+        return;
+    }
+    key_queue[(key_queue_head + key_queue_count) % KEY_QUEUE_CAPACITY] = key;
+    key_queue_count++;
+}
+
+// Mirrors LVGL's own lv_sdl_keyboard.c keycode_to_ctrl_key(): maps navigation/control keys to
+// LV_KEY_* constants. Printable characters arrive separately via SDL_TEXTINPUT.
+uint32_t keycode_to_key(SDL_Keycode sdl_key) {
+    switch (sdl_key) {
+        case SDLK_RIGHT: return LV_KEY_RIGHT;
+        case SDLK_LEFT: return LV_KEY_LEFT;
+        case SDLK_UP: return LV_KEY_UP;
+        case SDLK_DOWN: return LV_KEY_DOWN;
+        case SDLK_ESCAPE: return LV_KEY_ESC;
+        case SDLK_BACKSPACE: return LV_KEY_BACKSPACE;
+        case SDLK_DELETE: return LV_KEY_DEL;
+        case SDLK_RETURN:
+        case SDLK_KP_ENTER: return LV_KEY_ENTER;
+        case SDLK_TAB: return LV_KEY_NEXT;
+        case SDLK_HOME: return LV_KEY_HOME;
+        case SDLK_END: return LV_KEY_END;
+        default: return 0;
+    }
+}
+
+}
+
+void sdl_input_pump() {
+    if (!text_input_started) {
+        SDL_StartTextInput();
+        text_input_started = true;
+    }
+
+    SDL_Event event;
+    while (SDL_PollEvent(&event)) {
+        switch (event.type) {
+            case SDL_MOUSEMOTION:
+                pointer_state.x = event.motion.x;
+                pointer_state.y = event.motion.y;
+                break;
+            case SDL_MOUSEBUTTONDOWN:
+                if (event.button.button == SDL_BUTTON_LEFT) {
+                    pointer_state.x = event.button.x;
+                    pointer_state.y = event.button.y;
+                    pointer_state.pressed = true;
+                }
+                break;
+            case SDL_MOUSEBUTTONUP:
+                if (event.button.button == SDL_BUTTON_LEFT) {
+                    pointer_state.pressed = false;
+                }
+                break;
+            case SDL_KEYDOWN:
+                push_key(keycode_to_key(event.key.keysym.sym));
+                break;
+            case SDL_TEXTINPUT:
+                // ASCII only (first byte of event.text.text) - sufficient for a simulator keyboard.
+                push_key(static_cast<uint8_t>(event.text.text[0]));
+                break;
+            case SDL_QUIT:
+                exit(0);
+            default:
+                break;
+        }
+    }
+}
+
+void sdl_input_get_pointer_state(SdlPointerState* out_state) {
+    *out_state = pointer_state;
+}
+
+bool sdl_input_pop_key(uint32_t* out_key) {
+    if (key_queue_count == 0) {
+        return false;
+    }
+    *out_key = key_queue[key_queue_head];
+    key_queue_head = (key_queue_head + 1) % KEY_QUEUE_CAPACITY;
+    key_queue_count--;
+    return true;
+}
+
+bool sdl_input_has_queued_key() {
+    return key_queue_count > 0;
+}

Devices/simulator/Source/drivers/sdl_input.h

@@ -0,0 +1,47 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+/**
+ * @brief Latest pointer (mouse) state as tracked by sdl_input_pump().
+ */
+struct SdlPointerState {
+    int32_t x;
+    int32_t y;
+    bool pressed;
+};
+
+/**
+ * @brief Drains all pending SDL events exactly once, updating the pointer state and key queue
+ * below. Safe to call from both the sdl-pointer and sdl-keyboard drivers' polling functions:
+ * SDL_PollEvent() drains a single global queue, so whichever driver is polled first on a given
+ * LVGL indev tick pumps events for both.
+ */
+void sdl_input_pump(void);
+
+/**
+ * @brief Gets the pointer state as of the most recent sdl_input_pump() call.
+ */
+void sdl_input_get_pointer_state(struct SdlPointerState* out_state);
+
+/**
+ * @brief Pops the next queued key event (produced by SDL_KEYDOWN/SDL_TEXTINPUT during
+ * sdl_input_pump()).
+ * @retval false when no key event is pending
+ */
+bool sdl_input_pop_key(uint32_t* out_key);
+
+/**
+ * @brief Returns true if another key event is queued after the one just popped.
+ */
+bool sdl_input_has_queued_key(void);
+
+#ifdef __cplusplus
+}
+#endif

Devices/simulator/Source/drivers/sdl_keyboard.cpp

@@ -0,0 +1,53 @@
+// SPDX-License-Identifier: Apache-2.0
+#include "sdl_input.h"
+
+#include <tactility/device.h>
+#include <tactility/driver.h>
+#include <tactility/drivers/keyboard.h>
+#include <tactility/module.h>
+
+// region Driver lifecycle
+
+static error_t start(Device*) { return ERROR_NONE; }
+static error_t stop(Device*) { return ERROR_NONE; }
+
+// endregion
+
+// region KeyboardApi
+
+static error_t sdl_keyboard_read_key(Device*, KeyboardKeyData* data) {
+    sdl_input_pump();
+
+    uint32_t key = 0;
+    if (sdl_input_pop_key(&key)) {
+        data->key = key;
+        data->pressed = true;
+        data->continue_reading = sdl_input_has_queued_key();
+    } else {
+        data->key = 0;
+        data->pressed = false;
+        data->continue_reading = false;
+    }
+
+    return ERROR_NONE;
+}
+
+// endregion
+
+static const KeyboardApi sdl_keyboard_api = {
+    .read_key = sdl_keyboard_read_key,
+    .get_backlight = nullptr,
+};
+
+extern Module simulator_module;
+
+Driver sdl_keyboard_driver = {
+    .name = "sdl-keyboard",
+    .compatible = (const char*[]) { "tactility,sdl-keyboard", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = &sdl_keyboard_api,
+    .device_type = &KEYBOARD_TYPE,
+    .owner = &simulator_module,
+    .internal = nullptr
+};

Devices/simulator/Source/drivers/sdl_pointer.cpp

@@ -0,0 +1,67 @@
+// SPDX-License-Identifier: Apache-2.0
+#include "sdl_input.h"
+
+#include <tactility/device.h>
+#include <tactility/driver.h>
+#include <tactility/drivers/pointer.h>
+#include <tactility/module.h>
+
+// region Driver lifecycle
+
+static error_t start(Device*) { return ERROR_NONE; }
+static error_t stop(Device*) { return ERROR_NONE; }
+
+// endregion
+
+// region PointerApi
+
+static error_t sdl_pointer_read_data(Device*, TickType_t) {
+    sdl_input_pump();
+    return ERROR_NONE;
+}
+
+static bool sdl_pointer_get_touched_points(Device*, uint16_t* x, uint16_t* y, uint16_t* strength, uint8_t* point_count, uint8_t max_point_count) {
+    SdlPointerState state;
+    sdl_input_get_pointer_state(&state);
+
+    if (!state.pressed || max_point_count == 0) {
+        *point_count = 0;
+        return false;
+    }
+
+    x[0] = static_cast<uint16_t>(state.x);
+    y[0] = static_cast<uint16_t>(state.y);
+    if (strength != nullptr) {
+        strength[0] = 0xFFFF;
+    }
+    *point_count = 1;
+    return true;
+}
+
+// endregion
+
+static const PointerApi sdl_pointer_api = {
+    .enter_sleep = nullptr,
+    .exit_sleep = nullptr,
+    .read_data = sdl_pointer_read_data,
+    .get_touched_points = sdl_pointer_get_touched_points,
+    .set_swap_xy = nullptr,
+    .get_swap_xy = nullptr,
+    .set_mirror_x = nullptr,
+    .get_mirror_x = nullptr,
+    .set_mirror_y = nullptr,
+    .get_mirror_y = nullptr,
+};
+
+extern Module simulator_module;
+
+Driver sdl_pointer_driver = {
+    .name = "sdl-pointer",
+    .compatible = (const char*[]) { "tactility,sdl-pointer", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = &sdl_pointer_api,
+    .device_type = &POINTER_TYPE,
+    .owner = &simulator_module,
+    .internal = nullptr
+};

Devices/simulator/Source/hal/SdlDisplay.h

@@ -1,42 +0,0 @@
-#pragma once
-
-#include "SdlTouch.h"
-#include <tactility/check.h>
-#include <Tactility/hal/display/DisplayDevice.h>
-
-class SdlDisplay final : public tt::hal::display::DisplayDevice {
-
-    lv_disp_t* displayHandle = nullptr;
-
-public:
-
-    std::string getName() const override { return "SDL Display"; }
-    std::string getDescription() const override { return ""; }
-
-    bool start() override { return true; }
-
-    bool stop() override { return true; }
-
-    bool supportsLvgl() const override { return true; }
-
-    bool startLvgl() override {
-        if (displayHandle) return true; // already started
-        displayHandle = lv_sdl_window_create(320, 240);
-        lv_sdl_window_set_title(displayHandle, "Tactility");
-        return displayHandle != nullptr;
-    }
-
-    bool stopLvgl() override {
-        if (!displayHandle) return true;
-        lv_display_delete(displayHandle);
-        displayHandle = nullptr;
-        return true;
-    }
-
-    lv_display_t* getLvglDisplay() const override { return displayHandle; }
-
-    std::shared_ptr<tt::hal::touch::TouchDevice> getTouchDevice() override { return std::make_shared<SdlTouch>(); }
-
-    bool supportsDisplayDriver() const override { return false; }
-    std::shared_ptr<tt::hal::display::DisplayDriver> getDisplayDriver() override { return nullptr; }
-};

Devices/simulator/Source/hal/SdlKeyboard.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include <Tactility/TactilityCore.h>
-#include <tactility/check.h>
-#include <Tactility/hal/keyboard/KeyboardDevice.h>
-
-class SdlKeyboard final : public tt::hal::keyboard::KeyboardDevice {
-
-    lv_indev_t* handle = nullptr;
-
-public:
-
-    std::string getName() const override { return "SDL Keyboard"; }
-    std::string getDescription() const override { return "SDL keyboard device"; }
-
-    bool startLvgl(lv_display_t* display) override {
-        handle = lv_sdl_keyboard_create();
-        return handle != nullptr;
-    }
-
-    bool stopLvgl() override { check(false, "Not supported"); }
-
-    bool isAttached() const override { return true; }
-
-    lv_indev_t* getLvglIndev() override { return handle; }
-};

Devices/simulator/Source/hal/SdlTouch.h

@@ -1,36 +0,0 @@
-#pragma once
-
-#include "Tactility/hal/touch/TouchDevice.h"
-#include <Tactility/TactilityCore.h>
-#include <tactility/check.h>
-
-class SdlTouch final : public tt::hal::touch::TouchDevice {
-
-    lv_indev_t* handle = nullptr;
-
-public:
-
-    std::string getName() const override { return "SDL Mouse"; }
-
-    std::string getDescription() const override { return "SDL mouse/touch pointer device"; }
-
-    bool start() override { return true; }
-
-    bool stop() override { check(false, "Not supported"); }
-
-    bool supportsLvgl() const override { return true; }
-
-    bool startLvgl(lv_display_t* display) override {
-        handle = lv_sdl_mouse_create();
-        return handle != nullptr;
-    }
-
-    bool stopLvgl() override { check(false, "Not supported"); }
-
-    lv_indev_t* getLvglIndev() override { return handle; }
-
-    bool supportsTouchDriver() override { return false; }
-
-    std::shared_ptr<tt::hal::touch::TouchDriver> getTouchDriver() override { return nullptr; };
-};
-

Devices/simulator/Source/hal/SimulatorPower.cpp

@@ -1,36 +0,0 @@
-#include "SimulatorPower.h"
-
-constexpr auto* TAG = "SimulatorPower";
-
-bool SimulatorPower::supportsMetric(MetricType type) const {
-    switch (type) {
-        using enum MetricType;
-        case IsCharging:
-        case Current:
-        case BatteryVoltage:
-        case ChargeLevel:
-            return true;
-    }
-
-    return false; // Safety guard for when new enum values are introduced
-}
-
-bool SimulatorPower::getMetric(MetricType type, MetricData& data) {
-    switch (type) {
-        using enum MetricType;
-        case IsCharging:
-            data.valueAsBool = true;
-            return true;
-        case Current:
-            data.valueAsInt32 = 42;
-            return true;
-        case BatteryVoltage:
-            data.valueAsUint32 = 4032;
-            return true;
-        case ChargeLevel:
-            data.valueAsUint8 = 100;
-            return true;
-    }
-
-    return false; // Safety guard for when new enum values are introduced
-}

Devices/simulator/Source/hal/SimulatorPower.h

@@ -1,26 +0,0 @@
-#pragma once
-
-#include <Tactility/hal/power/PowerDevice.h>
-#include <memory>
-
-using tt::hal::power::PowerDevice;
-
-class SimulatorPower final : public PowerDevice {
-
-    bool allowedToCharge = false;
-
-public:
-
-    SimulatorPower() = default;
-    ~SimulatorPower() override = default;
-
-    std::string getName() const override { return "Power Mock"; }
-    std::string getDescription() const override { return ""; }
-
-    bool supportsMetric(MetricType type) const override;
-    bool getMetric(MetricType type, MetricData& data) override;
-
-    bool supportsChargeControl() const override { return true; }
-    bool isAllowedToCharge() const override { return allowedToCharge; }
-    void setAllowedToCharge(bool canCharge) override { allowedToCharge = canCharge; }
-};

Devices/simulator/Source/module.cpp

@@ -1,23 +1,108 @@
+#include "drivers/sdl_display.h"
+
+#include <tactility/device.h>
+#include <tactility/device_listener.h>
+#include <tactility/driver.h>
+#include <tactility/error.h>
+#include <tactility/log.h>
 #include <tactility/module.h>
 
+#include <cstring>
+
+constexpr auto* TAG = "Simulator";
+
+extern "C" {
+
+extern Driver sdl_display_driver;
+extern Driver sdl_pointer_driver;
+extern Driver sdl_keyboard_driver;
+
+static Driver* const simulator_drivers[] = {
+    &sdl_display_driver,
+    &sdl_pointer_driver,
+    &sdl_keyboard_driver,
+    nullptr
+};
+
+}
+
+// These devices have no real bus to attach to (SDL has no notion of one), but every non-root
+// device is still expected to have a parent (see Device::parent) - they're parented to root once
+// it's available below.
+static const SdlDisplayConfig sdl_display_config = { 320, 240 };
+static Device sdl_display_device {};
+static Device sdl_pointer_device {};
+static Device sdl_keyboard_device {};
+
+static bool construct_add_start(Device* device, Device* parent, const char* name, const void* config, const char* compatible) {
+    device->address = 0;
+    device->name = name;
+    device->config = config;
+    device->parent = nullptr;
+    device->internal = nullptr;
+
+    error_t error = device_construct(device);
+    if (error != ERROR_NONE) {
+        LOG_E(TAG, "Failed to construct %s: %s", name, error_to_string(error));
+        return false;
+    }
+
+    device_set_parent(device, parent);
+
+    Driver* driver = driver_find_compatible(compatible);
+    if (driver == nullptr) {
+        LOG_E(TAG, "No driver registered for %s", compatible);
+        device_destruct(device);
+        return false;
+    }
+    device_set_driver(device, driver);
+
+    if (device_add(device) != ERROR_NONE) {
+        LOG_E(TAG, "Failed to add %s", name);
+        device_destruct(device);
+        return false;
+    }
+
+    if (device_start(device) != ERROR_NONE) {
+        LOG_E(TAG, "Failed to start %s", name);
+        device_remove(device);
+        device_destruct(device);
+        return false;
+    }
+
+    return true;
+}
+
+// Root is only constructed/added/started after all dts_modules (including this one) have already
+// started (see kernel_init()), so it can't be looked up by name from this module's own start() -
+// wait for its DEVICE_EVENT_STARTED instead, same as e.g. m5stack-tab5's display/keyboard detection.
+static void on_root_started(Device* device, DeviceEvent event, void* context) {
+    if (event != DEVICE_EVENT_STARTED || strcmp(device->name, "/") != 0) {
+        return;
+    }
+
+    construct_add_start(&sdl_display_device, device, "display0", &sdl_display_config, "tactility,sdl-display");
+    construct_add_start(&sdl_pointer_device, device, "pointer0", nullptr, "tactility,sdl-pointer");
+    construct_add_start(&sdl_keyboard_device, device, "keyboard0", nullptr, "tactility,sdl-keyboard");
+}
+
 extern "C" {
 
 static error_t start() {
-    // Empty for now
+    device_listener_add(on_root_started, nullptr);
     return ERROR_NONE;
 }
 
 static error_t stop() {
-    // Empty for now
+    device_listener_remove(on_root_started);
     return ERROR_NONE;
 }
 
-struct Module simulator_module = {
+Module simulator_module = {
     .name = "simulator",
     .start = start,
     .stop = stop,
-    .symbols = nullptr,
+    .drivers = simulator_drivers
-    .internal = nullptr
 };
 
 }

Documentation/README.md

@@ -64,11 +64,7 @@ Tests use Doctest and run on simulator (POSIX) target only:
 ```bash
 cmake -B buildsim -G Ninja
 ninja -C buildsim build-tests
-cd buildsim && ctest            # run all tests
+cd buildsim && ctest --test-dir Tests
-./buildsim/Tests/TactilityKernel/TactilityKernelTests
-./buildsim/Tests/Tactility/TactilityTests
-./buildsim/Tests/TactilityFreeRtos/TactilityFreeRtosTests
-./buildsim/Tests/crypt-module/CryptModuleTests
 ```
 
 ## Architecture
@@ -77,7 +73,7 @@ cd buildsim && ctest            # run all tests
 
 - **TactilityKernel** — C API kernel: device/driver/module lifecycle, concurrency primitives (thread, mutex, timer, dispatcher), filesystem, logging. Header convention: `<tactility/*.h>` (lowercase snake_case).
 - **TactilityFreeRtos** — Thin C++ wrappers around FreeRTOS primitives.
-- **Tactility** — Main OS layer: app framework, service framework, HAL (deprecated, replaced by TactilityKernel), LVGL integration, networking and services (Wi-Fi, BLE, NTP, ESP-NOW), settings, i18n.
+- **Tactility** — Main OS layer: app framework, service framework, LVGL integration, networking and services (Wi-Fi, BLE, NTP, ESP-NOW), settings, i18n.
 - **TactilityC** — C bindings (`tt_*.h`) for Tactility, used by side-loaded ELF apps on ESP32. Deprecated, replaced by TactilityKernel.
 - **Firmware** — Entry point (`app_main`).
 
@@ -100,34 +96,28 @@ Apps implement `tt::app::App` (or just provide callbacks). Each app has an `AppM
 
 Services implement `tt::service::Service` with a `ServiceManifest`. Services are long-running background processes (GUI, Wi-Fi, loader, statusbar, GPS, etc.).
 
-### HAL Layer
+### Hardware Abstraction Layer
-
-#### Deprecated HAL
-
-Located in Tactility folder.
-
-`tt::hal::Configuration` is declared per-device board (in `Devices/<id>/Source/Configuration.cpp`). It provides `initBoot` for early hardware setup and `createDevices` to instantiate HAL device wrappers (display, touch, power, keyboard, etc.).
-
-#### Current HAL
-
-Located in TactilityKernel. Based on Linux driver subsystems.
 
 #### Driver
 
 A driver generally consists of:
-- Registration of driver in parent module (optional)
+- Registration of driver in parent module (optional, but desirable)
 - YAML bindings in the `bindings/` folder
 - An `#include` that is used in the `.dts` file. The include is in `[projectname]/bindings/[drivername].h`
-- The driver implementation: a `.cpp` and `.h` file. The implementation is C++, but the header exposes pure C functions.
+- The driver implementation: a `.cpp` and `.h` file. The implementation is C++, but the header exposes pure C functions. C implementations are allowed, but C++ is preferred.
 
-Drivers can be stored in:
+Drivers are part of a kernel module.
+
+Modules with drivers can be stored in:
 - TactilityKernel
-- A subproject in Platforms/ folder
+- A subproject in `Platforms` folder
-- A subproject in Devices/ folder
+- A subproject in `Devices` folder
-- A subproject in Drivers/ folder. This is a kernel module. Naming is lower case and postfixed with `-module`
+- A subproject in `Drivers` folder
 
 #### Kernel Modules
 
+Kernel module names are lower case and postfixed with `-module`.
+
 Projects that are kernel modules:
 
 1. Declare a `struct Module`
@@ -169,6 +159,6 @@ Pointers are expected to be non-null unless documented otherwise.
 
 - `#ifdef ESP_PLATFORM` guards ESP32-specific code; the simulator uses POSIX equivalents.
 - The `Drivers/` directory contains hardware drivers (display controllers, touch controllers, PMICs, etc.) — each is its own CMake component.
-- `Modules/` contains cross-cutting modules: `hal-device-module` (device lifecycle) and `lvgl-module` (LVGL task management).
+- `Modules/` contains cross-cutting modules. e.g.`lvgl-module` (LVGL task management).
 - `Data/system/` and `Data/data/` are flashed as FAT filesystem images on ESP32.
 - Translations are in `Translations/` as CSV files, generated via `generate.py`.

Documentation/ideas.md

@@ -13,6 +13,7 @@
 
 ## Higher Priority
 
+- Remove and migrate `Include/Tactility/kernel/Kernel.h` into `tactility/delay.h`
 - Drivers/audio-codec-module is not a module. Move it somewhere else. Or make it an actual module.
 - LilyGO T-Dongle S3: 1 button control, stop auto-launching web server
 - Core2: support power off via software

Drivers/gps-generic-module/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.20)
+
+include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
+
+file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
+
+tactility_add_module(gps-generic-module
+    SRCS ${SOURCE_FILES}
+    PRIV_INCLUDE_DIRS private/
+    INCLUDE_DIRS include/
+    REQUIRES TactilityKernel gps-module minmea
+)

Drivers/gps-generic-module/LICENSE-GPL-3.0.md

@@ -0,0 +1,677 @@
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+                            Preamble
+
+  The GNU General Public License is a free, copyleft license for
+software and other kinds of works.
+
+  The licenses for most software and other practical works are designed
+to take away your freedom to share and change the works.  By contrast,
+the GNU General Public License is intended to guarantee your freedom to
+share and change all versions of a program--to make sure it remains free
+software for all its users.  We, the Free Software Foundation, use the
+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors.  You can apply it to
+your programs, too.
+
+  When we speak of free software, we are referring to freedom, not
+price.  Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
+them if you wish), that you receive source code or can get it if you
+want it, that you can change the software or use pieces of it in new
+free programs, and that you know you can do these things.
+
+  To protect your rights, we need to prevent others from denying you
+these rights or asking you to surrender the rights.  Therefore, you have
+certain responsibilities if you distribute copies of the software, or if
+you modify it: responsibilities to respect the freedom of others.
+
+  For example, if you distribute copies of such a program, whether
+gratis or for a fee, you must pass on to the recipients the same
+freedoms that you received.  You must make sure that they, too, receive
+or can get the source code.  And you must show them these terms so they
+know their rights.
+
+  Developers that use the GNU GPL protect your rights with two steps:
+(1) assert copyright on the software, and (2) offer you this License
+giving you legal permission to copy, distribute and/or modify it.
+
+  For the developers' and authors' protection, the GPL clearly explains
+that there is no warranty for this free software.  For both users' and
+authors' sake, the GPL requires that modified versions be marked as
+changed, so that their problems will not be attributed erroneously to
+authors of previous versions.
+
+  Some devices are designed to deny users access to install or run
+modified versions of the software inside them, although the manufacturer
+can do so.  This is fundamentally incompatible with the aim of
+protecting users' freedom to change the software.  The systematic
+pattern of such abuse occurs in the area of products for individuals to
+use, which is precisely where it is most unacceptable.  Therefore, we
+have designed this version of the GPL to prohibit the practice for those
+products.  If such problems arise substantially in other domains, we
+stand ready to extend this provision to those domains in future versions
+of the GPL, as needed to protect the freedom of users.
+
+  Finally, every program is threatened constantly by software patents.
+States should not allow patents to restrict development and use of
+software on general-purpose computers, but in those that do, we wish to
+avoid the special danger that patents applied to a free program could
+make it effectively proprietary.  To prevent this, the GPL assures that
+patents cannot be used to render the program non-free.
+
+  The precise terms and conditions for copying, distribution and
+modification follow.
+
+                       TERMS AND CONDITIONS
+
+  0. Definitions.
+
+  "This License" refers to version 3 of the GNU General Public License.
+
+  "Copyright" also means copyright-like laws that apply to other kinds of
+works, such as semiconductor masks.
+
+  "The Program" refers to any copyrightable work licensed under this
+License.  Each licensee is addressed as "you".  "Licensees" and
+"recipients" may be individuals or organizations.
+
+  To "modify" a work means to copy from or adapt all or part of the work
+in a fashion requiring copyright permission, other than the making of an
+exact copy.  The resulting work is called a "modified version" of the
+earlier work or a work "based on" the earlier work.
+
+  A "covered work" means either the unmodified Program or a work based
+on the Program.
+
+  To "propagate" a work means to do anything with it that, without
+permission, would make you directly or secondarily liable for
+infringement under applicable copyright law, except executing it on a
+computer or modifying a private copy.  Propagation includes copying,
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+public, and in some countries other activities as well.
+
+  To "convey" a work means any kind of propagation that enables other
+parties to make or receive copies.  Mere interaction with a user through
+a computer network, with no transfer of a copy, is not conveying.
+
+  An interactive user interface displays "Appropriate Legal Notices" to
+the extent that it includes a convenient and prominently visible feature
+that (1) displays an appropriate copyright notice, and (2) tells the
+user that there is no warranty for the work (except to the extent that
+warranties are provided), that licensees may convey the work under this
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+prominent item in the list meets this criterion.
+
+  1. Source Code.
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Drivers/gps-generic-module/README.md

@@ -0,0 +1,14 @@
+# gps-generic-module
+
+Kernel driver implementing the `GPS_TYPE`/`GpsApi` interface with for generic UART-connected GPS/GNSS receivers:
+NMEA parsing for MTK, Airoha/AG33xx, ATGM336H/CASIC, Unicore UC6580 and u-blox 6/7/8/9/10 modules.
+
+It is ported from [Meshtastic Firmware](https://github.com/MeshTastic/firmware), so it has a GPL v3.0 license.
+
+## License
+
+This module is licensed under **GPL-3.0-or-later** (see `LICENSE-GPL-3.0.md`), separately from
+the rest of Tactility (Apache-2.0). The probing and initialization logic (`source/probe.cpp`,
+`source/init.cpp`, `source/ublox.cpp` and their private headers) is ported from
+[meshtastic/firmware](https://github.com/meshtastic/firmware) (GPL-3.0-or-later); see the
+`From: <url>` comments in those files for the exact origin of each ported function.

Drivers/gps-generic-module/bindings/tactility,gps-generic.yaml

@@ -0,0 +1,17 @@
+description: >
+  Generic UART-connected GPS/GNSS receiver. Supports MTK, Airoha/AG33xx, ATGM336H/CASIC,
+  Unicore UC6580 and u-blox 6/7/8/9/10 chipsets, either auto-probed or fixed via 'model'.
+
+compatible: "tactility,gps-generic"
+
+properties:
+  baud-rate:
+    type: int
+    required: true
+    description: UART baud rate, e.g. 9600 or 38400
+  model:
+    type: int
+    default: 0
+    description: |
+      GpsModel enum value (see gps/gps.h, e.g. GPS_MODEL_UBLOX10 = 12). Defaults to
+      GPS_MODEL_UNKNOWN (0), which triggers an autoprobe on start().

Drivers/gps-generic-module/devicetree.yaml

@@ -0,0 +1,4 @@
+dependencies:
+  - TactilityKernel
+  - Modules/gps-module
+bindings: bindings

Drivers/gps-generic-module/include/gps_generic/bindings.h

@@ -0,0 +1,7 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+#include <tactility/bindings/bindings.h>
+#include <gps_generic/gps_generic.h>
+
+DEFINE_DEVICETREE(gps_generic, struct GpsConfig)

Drivers/gps-generic-module/include/gps_generic/gps_generic.h

@@ -0,0 +1,24 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+#include <gps/gps.h>
+#include <tactility/device.h>
+
+/**
+ * @brief Devicetree configuration for a generic UART-connected GPS/GNSS receiver.
+ */
+struct GpsConfig {
+    uint32_t baud_rate;
+    /** GPS_MODEL_UNKNOWN triggers an autoprobe on start(); the detected model is then available via get_model(). */
+    enum GpsModel model;
+};
+
+#ifdef __cplusplus
+}
+#endif

Drivers/gps-generic-module/include/gps_generic/gps_generic_module.h

@@ -0,0 +1,12 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern struct Module gps_generic_module;
+
+#ifdef __cplusplus
+}
+#endif

Drivers/gps-generic-module/private/gps_generic/private/cas_messages.h

@@ -0,0 +1,57 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+
+#pragma once
+
+#include <cstddef>
+#include <cstdint>
+
+// NEMA message IDs
+
+constexpr uint8_t CAS_NEMA_GGA = 0x00;
+constexpr uint8_t CAS_NEMA_GLL = 0x01;
+constexpr uint8_t CAS_NEMA_GSA = 0x02;
+constexpr uint8_t CAS_NEMA_GSV = 0x03;
+constexpr uint8_t CAS_NEMA_RMC = 0x04;
+constexpr uint8_t CAS_NEMA_VTG = 0x05;
+constexpr uint8_t CAS_NEMA_GST = 0x07;
+constexpr uint8_t CAS_NEMA_ZDA = 0x08;
+constexpr uint8_t CAS_NEMA_DHV = 0x0D;
+
+/** Size of a CAS-ACK-(N)ACK message  */
+constexpr size_t CAS_MESSAGE_ACK_NACK_SIZE = 0x0E; // 14 bytes
+
+/** Factory reset message */
+constexpr uint8_t CAS_MESSAGE_CFG_RST_FACTORY[] = {
+    0xFF, 0x03,
+    0x01,
+    0x03
+};
+
+/** Configure update rate to 1 Hz. */
+constexpr uint8_t CAS_MESSAGE_CFG_RATE_1HZ[] = {
+    0xE8, 0x03, // 0x03E8 = 1000ms
+    0x00, 0x00
+};
+
+/** Config navx */
+constexpr uint8_t CAS_MESSAGE_CFG_NAVX_CONF[] = {
+    0x03, 0x01, 0x00, 0x00,
+    0x03,
+    0x03,
+    0x00,
+    0x00,
+    0x00,
+    0x00,
+    0x00,
+    0x00,
+    0x00,
+    0x07,
+    0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00
+};

Drivers/gps-generic-module/private/gps_generic/private/gps_response.h

@@ -0,0 +1,11 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+// Internal-only result of waiting for a chip's ACK/NACK response during probing/initialization.
+// Not part of the public API (see gps/gps.h) - callers only ever see GpsState/GpsModel.
+enum class GpsResponse {
+    None,
+    NotAck,
+    FrameErrors,
+    Ok,
+};

Drivers/gps-generic-module/private/gps_generic/private/init.h

@@ -0,0 +1,11 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+#include <gps/gps.h>
+
+struct Device;
+
+/**
+ * Sends the init sequence for a specific, already-probed GPS model over uart.
+ */
+bool gps_init(Device* uart, GpsModel model);

Drivers/gps-generic-module/private/gps_generic/private/probe.h

@@ -0,0 +1,12 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+#include <gps/gps.h>
+
+struct Device;
+
+/**
+ * Attempts to auto-detect the GPS/GNSS chipset connected via uart.
+ * @return GPS_MODEL_UNKNOWN when no supported chipset responded
+ */
+GpsModel gps_probe(Device* uart);

Drivers/gps-generic-module/private/gps_generic/private/ublox.h

@@ -0,0 +1,22 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#pragma once
+
+#include <gps/gps.h>
+
+#include <cstddef>
+#include <cstdint>
+
+struct Device;
+
+namespace gps_ublox {
+
+void checksum(uint8_t* message, size_t length);
+
+// From https://github.com/meshtastic/firmware/blob/7648391f91f2b84e367ae2b38220b30936fb45b1/src/gps/GPS.cpp#L128
+uint8_t make_packet(uint8_t class_id, uint8_t message_id, const uint8_t* payload, uint8_t payload_size, uint8_t* buffer_out);
+
+GpsModel probe(Device* uart);
+
+bool init(Device* uart, GpsModel model);
+
+}

Drivers/gps-generic-module/private/gps_generic/private/ublox_messages.h

@@ -1,8 +1,9 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
 #pragma once
 
 #include <cstdint>
 
-namespace tt::hal::gps::ublox {
+namespace gps_ublox {
 
 // Power Management
 

Drivers/gps-generic-module/source/gps_generic.cpp

@@ -0,0 +1,343 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#include <gps/gps.h>
+#include <gps_generic/gps_generic.h>
+
+#include <gps_generic/private/init.h>
+#include <gps_generic/private/probe.h>
+
+#include <tactility/check.h>
+#include <tactility/concurrent/recursive_mutex.h>
+#include <tactility/concurrent/thread.h>
+#include <tactility/device.h>
+#include <tactility/driver.h>
+#include <tactility/drivers/uart_controller.h>
+#include <tactility/error.h>
+#include <tactility/log.h>
+#include <tactility/module.h>
+#include <tactility/time.h>
+
+#include <minmea.h>
+
+#include <cstdio>
+#include <cstdlib> // For calloc() in PC builds
+
+constexpr auto* TAG = "gps-generic";
+
+#define GET_CONFIG(device) (static_cast<const GpsConfig*>((device)->config))
+
+constexpr uint32_t GPS_UART_BUFFER_SIZE = 256;
+constexpr TickType_t GPS_THREAD_STOP_TIMEOUT_TICKS = pdMS_TO_TICKS(5000);
+constexpr TickType_t GPS_THREAD_STOP_POLL_TICKS = pdMS_TO_TICKS(1000);
+
+struct GpsInternal {
+    RecursiveMutex mutex;
+    Thread* thread;
+    volatile bool interrupt_requested;
+    GpsState state;
+    // Mirrors GpsConfig::model, but overwritten with the autodetected model once probing succeeds.
+    GpsModel model;
+    // Singly-linked list of subscribers, guarded by `mutex`.
+    GpsSubscription* subscribers;
+};
+
+static const char* gpsModelToString(GpsModel model) {
+    switch (model) {
+        case GPS_MODEL_AG3335:
+            return "AG3335";
+        case GPS_MODEL_AG3352:
+            return "AG3352";
+        case GPS_MODEL_ATGM336H:
+            return "ATGM336H";
+        case GPS_MODEL_LS20031:
+            return "LS20031";
+        case GPS_MODEL_MTK:
+            return "MTK";
+        case GPS_MODEL_MTK_L76B:
+            return "MTK L76B";
+        case GPS_MODEL_MTK_PA1616S:
+            return "MTK PA1616S";
+        case GPS_MODEL_UBLOX6:
+            return "U-blox 6";
+        case GPS_MODEL_UBLOX7:
+            return "U-blox 7";
+        case GPS_MODEL_UBLOX8:
+            return "U-blox 8";
+        case GPS_MODEL_UBLOX9:
+            return "U-blox 9";
+        case GPS_MODEL_UBLOX10:
+            return "U-blox 10";
+        case GPS_MODEL_UC6580:
+            return "UC6580";
+        case GPS_MODEL_UNKNOWN:
+            return "Auto-detect";
+        default:
+            return "Unknown";
+    }
+}
+
+// Pushes `event` to every current subscriber and wakes their waiting task. Safe to call from the
+// GPS thread's parsing loop.
+static void notify_subscribers(GpsInternal* internal, const GpsEvent& event) {
+    recursive_mutex_lock(&internal->mutex);
+
+    for (GpsSubscription* sub = internal->subscribers; sub != nullptr; sub = sub->next) {
+        sub->event = event;
+        sub->sequence++;
+        xTaskNotifyGive(sub->task);
+    }
+
+    recursive_mutex_unlock(&internal->mutex);
+}
+
+static void set_state(GpsInternal* internal, GpsState state) {
+    recursive_mutex_lock(&internal->mutex);
+    internal->state = state;
+    recursive_mutex_unlock(&internal->mutex);
+}
+
+static bool is_interrupted(GpsInternal* internal) {
+    recursive_mutex_lock(&internal->mutex);
+    bool result = internal->interrupt_requested;
+    recursive_mutex_unlock(&internal->mutex);
+    return result;
+}
+
+// region Driver lifecycle
+
+static int32_t gps_thread_main(void* context) {
+    auto* device = static_cast<Device*>(context);
+    auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
+    const auto* config = GET_CONFIG(device);
+    auto* uart = device_get_parent(device);
+    check(uart);
+    check(device_get_type(uart) == &UART_CONTROLLER_TYPE);
+
+    const UartConfig uart_config = {
+        .baud_rate = config->baud_rate,
+        .data_bits = UART_CONTROLLER_DATA_8_BITS,
+        .parity = UART_CONTROLLER_PARITY_DISABLE,
+        .stop_bits = UART_CONTROLLER_STOP_BITS_1
+    };
+
+    if (uart_controller_set_config(uart, &uart_config) != ERROR_NONE) {
+        LOG_E(TAG, "Failed to configure UART %s", uart->name);
+        set_state(internal, GpsState::GPS_STATE_ERROR);
+        return -1;
+    }
+
+    if (uart_controller_open(uart) != ERROR_NONE) {
+        LOG_E(TAG, "Failed to open UART %s", uart->name);
+        set_state(internal, GpsState::GPS_STATE_ERROR);
+        return -1;
+    }
+
+    GpsModel model = internal->model;
+    if (model == GpsModel::GPS_MODEL_UNKNOWN) {
+        model = gps_probe(uart);
+        if (model == GpsModel::GPS_MODEL_UNKNOWN) {
+            LOG_E(TAG, "Probe failed");
+            set_state(internal, GpsState::GPS_STATE_ERROR);
+            return -1;
+        }
+        recursive_mutex_lock(&internal->mutex);
+        internal->model = model;
+        recursive_mutex_unlock(&internal->mutex);
+    }
+
+    if (!gps_init(uart, model)) {
+        LOG_E(TAG, "Init failed");
+        set_state(internal, GpsState::GPS_STATE_ERROR);
+        return -1;
+    }
+
+    set_state(internal, GpsState::GPS_STATE_ON);
+
+    // Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
+    uint8_t buffer[GPS_UART_BUFFER_SIZE];
+    while (!is_interrupted(internal)) {
+        size_t bytes_read = 0;
+        uart_controller_read_until(uart, buffer, sizeof(buffer), '\n', true, &bytes_read, pdMS_TO_TICKS(100));
+
+        // Thread might've been interrupted in the meanwhile
+        if (is_interrupted(internal)) {
+            break;
+        }
+
+        if (bytes_read > 0U) {
+            switch (minmea_sentence_id(reinterpret_cast<char*>(buffer), false)) {
+                case MINMEA_SENTENCE_RMC: {
+                    GpsEvent event { .type = GPS_EVENT_MESSAGE_RMC };
+                    if (minmea_parse_rmc(&event.data.rmc, reinterpret_cast<char*>(buffer))) {
+                        notify_subscribers(internal, event);
+                    } else {
+                        LOG_E(TAG, "RMC parse error: %s", reinterpret_cast<const char*>(buffer));
+                    }
+                    break;
+                }
+                case MINMEA_SENTENCE_GGA: {
+                    GpsEvent event { .type = GPS_EVENT_MESSAGE_GGA };
+                    if (minmea_parse_gga(&event.data.gga, reinterpret_cast<char*>(buffer))) {
+                        notify_subscribers(internal, event);
+                    } else {
+                        LOG_E(TAG, "GGA parse error: %s", reinterpret_cast<const char*>(buffer));
+                    }
+                    break;
+                }
+                default:
+                    break;
+            }
+        }
+    }
+
+    if (uart_controller_close(uart) != ERROR_NONE) {
+        LOG_W(TAG, "Failed to close UART %s", uart->name);
+    }
+
+    // Wake any subscribers still awaiting an event so they don't block forever on a device that's
+    // going away, then drop them - stop() is about to free `internal`.
+    notify_subscribers(internal, GpsEvent { .type = GPS_EVENT_UNSUBSCRIBED });
+    recursive_mutex_lock(&internal->mutex);
+    internal->subscribers = nullptr;
+    recursive_mutex_unlock(&internal->mutex);
+
+    set_state(internal, GPS_STATE_OFF);
+    return 0;
+}
+
+static error_t start(Device* device) {
+    const auto* config = GET_CONFIG(device);
+
+    auto* internal = static_cast<GpsInternal*>(calloc(1, sizeof(GpsInternal)));
+    if (internal == nullptr) {
+        return ERROR_OUT_OF_MEMORY;
+    }
+
+    recursive_mutex_construct(&internal->mutex);
+    internal->model = config->model;
+    internal->state = GPS_STATE_PENDING_ON;
+    internal->thread = thread_alloc_full("gps", 4096, gps_thread_main, device, -1);
+    if (internal->thread == nullptr) {
+        recursive_mutex_destruct(&internal->mutex);
+        free(internal);
+        return ERROR_OUT_OF_MEMORY;
+    }
+    thread_set_priority(internal->thread, THREAD_PRIORITY_HIGH);
+
+    device_set_driver_data(device, internal);
+
+    if (thread_start(internal->thread) != ERROR_NONE) {
+        thread_free(internal->thread);
+        recursive_mutex_destruct(&internal->mutex);
+        free(internal);
+        device_set_driver_data(device, nullptr);
+        return ERROR_RESOURCE;
+    }
+
+    return ERROR_NONE;
+}
+
+static error_t stop(Device* device) {
+    auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
+
+    recursive_mutex_lock(&internal->mutex);
+    internal->interrupt_requested = true;
+    internal->state = GPS_STATE_PENDING_OFF;
+    recursive_mutex_unlock(&internal->mutex);
+
+    if (thread_join(internal->thread, GPS_THREAD_STOP_TIMEOUT_TICKS, GPS_THREAD_STOP_POLL_TICKS) != ERROR_NONE) {
+        LOG_E(TAG, "GPS thread for %s did not stop in time", device->name);
+        return ERROR_RESOURCE_BUSY;
+    }
+    thread_free(internal->thread);
+
+    recursive_mutex_destruct(&internal->mutex);
+    free(internal);
+    device_set_driver_data(device, nullptr);
+    return ERROR_NONE;
+}
+
+// endregion
+
+// region GpsApi
+
+static error_t gps_api_event_subscribe(Device* device, GpsSubscription* sub) {
+    auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
+
+    sub->task = xTaskGetCurrentTaskHandle();
+    sub->sequence = 0;
+    sub->consumed_sequence = 0;
+
+    recursive_mutex_lock(&internal->mutex);
+    sub->next = internal->subscribers;
+    internal->subscribers = sub;
+    recursive_mutex_unlock(&internal->mutex);
+
+    return ERROR_NONE;
+}
+
+static error_t gps_api_event_unsubscribe(Device* device, GpsSubscription* sub) {
+    auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
+
+    error_t result = ERROR_NOT_FOUND;
+    recursive_mutex_lock(&internal->mutex);
+    for (GpsSubscription** link = &internal->subscribers; *link != nullptr; link = &(*link)->next) {
+        if (*link == sub) {
+            *link = sub->next;
+            result = ERROR_NONE;
+            break;
+        }
+    }
+    recursive_mutex_unlock(&internal->mutex);
+
+    return result;
+}
+
+static error_t gps_api_event_await(Device*, GpsSubscription* sub, TickType_t timeout) {
+    uint32_t old_sequence = sub->sequence;
+
+    while (sub->sequence == old_sequence) {
+        if (ulTaskNotifyTake(pdTRUE, timeout) == 0) {
+            return ERROR_TIMEOUT;
+        }
+    }
+
+    sub->consumed_sequence = sub->sequence;
+    return ERROR_NONE;
+}
+
+static GpsState gps_api_get_state(Device* device) {
+    auto* internal = static_cast<GpsInternal*>(device_get_driver_data(device));
+    recursive_mutex_lock(&internal->mutex);
+    auto state = internal->state;
+    recursive_mutex_unlock(&internal->mutex);
+    return state;
+}
+
+static error_t gps_api_get_model_name(Device* device, char* model_name, size_t buffer_size) {
+    const auto* config = GET_CONFIG(device);
+    const char* name_to_set = gpsModelToString(config->model);
+    snprintf(model_name, buffer_size, "%s", name_to_set);
+    return ERROR_NONE;
+}
+
+// endregion
+
+static const GpsApi generic_gps_api = {
+    .event_subscribe = gps_api_event_subscribe,
+    .event_unsubscribe = gps_api_event_unsubscribe,
+    .event_await = gps_api_event_await,
+    .get_state = gps_api_get_state,
+    .get_model_name = gps_api_get_model_name
+};
+
+extern Module gps_generic_module;
+
+Driver generic_gps_driver = {
+    .name = "gps-generic",
+    .compatible = (const char*[]) { "tactility,gps-generic", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = &generic_gps_api,
+    .device_type = &GPS_TYPE,
+    .owner = &gps_generic_module
+};

Drivers/gps-generic-module/source/init.cpp

@@ -1,31 +1,31 @@
-#include <Tactility/hal/gps/Cas.h>
+// SPDX-License-Identifier: GPL-3.0-or-later
-#include <Tactility/hal/gps/GpsDevice.h>
+#include <gps_generic/private/cas_messages.h>
-#include <Tactility/hal/gps/Ublox.h>
+#include <gps_generic/private/init.h>
-#include <Tactility/kernel/Kernel.h>
+#include <gps_generic/private/ublox.h>
+#include <gps_generic/private/gps_response.h>
 
 #include <tactility/check.h>
+#include <tactility/delay.h>
 #include <tactility/device.h>
 #include <tactility/drivers/uart_controller.h>
 #include <tactility/log.h>
+#include <tactility/time.h>
 
 #include <cstring>
 
-namespace tt::hal::gps {
+constexpr auto* TAG = "gps";
 
-constexpr auto* TAG = "Gps";
+bool init_mtk(Device* uart);
-
+bool init_mtk_l76b(Device* uart);
-bool initMtk(::Device* uart);
+bool init_mtk_pa1616s(Device* uart);
-bool initMtkL76b(::Device* uart);
+bool init_atgm336h(Device* uart);
-bool initMtkPa1616s(::Device* uart);
+bool init_uc6580(Device* uart);
-bool initAtgm336h(::Device* uart);
+bool init_ag33xx(Device* uart);
-bool initUc6580(::Device* uart);
-bool initAg33xx(::Device* uart);
 
 // region CAS
 
 // Calculate the checksum for a CAS packet
-static void CASChecksum(uint8_t *message, size_t length)
+static void cas_checksum(uint8_t* message, size_t length) {
-{
     uint32_t cksum = ((uint32_t)message[5] << 24); // Message ID
     cksum += ((uint32_t)message[4]) << 16;         // Class
     cksum += message[2];                           // Payload Len
@@ -46,8 +46,7 @@ static void CASChecksum(uint8_t *message, size_t length)
 }
 
 // Function to create a CAS packet for editing in memory
-static uint8_t makeCASPacket(uint8_t* buffer, uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t *msg)
+static uint8_t make_cas_packet(uint8_t* buffer, uint8_t class_id, uint8_t msg_id, uint8_t payload_size, const uint8_t* msg) {
-{
     // General CAS structure
     //        | H1   | H2   | payload_len | cls  | msg  | Payload       ...   | Checksum                  |
     // Size:  | 1    | 1    | 2           | 1    | 1    | payload_len         | 4                         |
@@ -71,17 +70,16 @@ static uint8_t makeCASPacket(uint8_t* buffer, uint8_t class_id, uint8_t msg_id,
     for (int i = 0; i < payload_size; i++) {
         buffer[6 + i] = msg[i];
     }
-    CASChecksum(buffer, (payload_size + 10));
+    cas_checksum(buffer, (payload_size + 10));
 
     return (payload_size + 10);
 }
 
-GpsResponse getACKCas(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis)
+static GpsResponse get_ack_cas(Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wait_millis) {
-{
+    uint32_t start_time = get_millis();
-    uint32_t startTime = kernel::getMillis();
+    uint8_t buffer[CAS_MESSAGE_ACK_NACK_SIZE] = {0};
-    uint8_t buffer[CAS_ACK_NACK_MSG_SIZE] = {0};
+    uint8_t buffer_pos = 0;
-    uint8_t bufferPos = 0;
+    TickType_t wait_ticks = pdMS_TO_TICKS(wait_millis);
-    TickType_t waitTicks = pdMS_TO_TICKS(waitMillis);
 
     // CAS-ACK-(N)ACK structure
     //         | H1   | H2   | Payload Len | cls  | msg  | Payload                   | Checksum (4)              |
@@ -90,26 +88,26 @@ GpsResponse getACKCas(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t
     // ACK-NACK| 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x00 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
     // ACK-ACK | 0xBA | 0xCE | 0x04 | 0x00 | 0x05 | 0x01 | 0xXX | 0xXX | 0x00 | 0x00 | 0xXX | 0xXX | 0xXX | 0xXX |
 
-    while (kernel::getTicks() - startTime < waitTicks) {
+    while (get_ticks() - start_time < wait_ticks) {
         size_t available = 0;
         uart_controller_get_available(uart, &available);
         if (available > 0) {
-            uart_controller_read_byte(uart, &buffer[bufferPos++], 1);
+            uart_controller_read_byte(uart, &buffer[buffer_pos++], 1);
 
             // keep looking at the first two bytes of buffer until
             // we have found the CAS frame header (0xBA, 0xCE), if not
             // keep reading bytes until we find a frame header or we run
             // out of time.
-            if ((bufferPos == 2) && !(buffer[0] == 0xBA && buffer[1] == 0xCE)) {
+            if ((buffer_pos == 2) && !(buffer[0] == 0xBA && buffer[1] == 0xCE)) {
                 buffer[0] = buffer[1];
                 buffer[1] = 0;
-                bufferPos = 1;
+                buffer_pos = 1;
             }
         }
 
         // we have read all the bytes required for the Ack/Nack (14-bytes)
         // and we must have found a frame to get this far
-        if (bufferPos == sizeof(buffer) - 1) {
+        if (buffer_pos == sizeof(buffer) - 1) {
             uint8_t msg_cls = buffer[4];     // message class should be 0x05
             uint8_t msg_msg_id = buffer[5];  // message id should be 0x00 or 0x01
             uint8_t payload_cls = buffer[6]; // payload class id
@@ -117,24 +115,18 @@ GpsResponse getACKCas(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t
 
             // Check for an ACK-ACK for the specified class and message id
             if ((msg_cls == 0x05) && (msg_msg_id == 0x01) && payload_cls == class_id && payload_msg == msg_id) {
-#ifdef GPS_DEBUG
-                LOG_I(TAG, "Got ACK for class %02X message %02X in %zu ms", class_id, msg_id, kernel::getMillis() - startTime);
-#endif
                 return GpsResponse::Ok;
             }
 
             // Check for an ACK-NACK for the specified class and message id
             if ((msg_cls == 0x05) && (msg_msg_id == 0x00) && payload_cls == class_id && payload_msg == msg_id) {
-#ifdef GPS_DEBUG
-                LOG_W(TAG, "Got NACK for class %02X message %02X in %zu ms", class_id, msg_id, millis() - startTime);
-#endif
                 return GpsResponse::NotAck;
             }
 
             // This isn't the frame we are looking for, clear the buffer
             // and try again until we run out of time.
             memset(buffer, 0x0, sizeof(buffer));
-            bufferPos = 0;
+            buffer_pos = 0;
         }
     }
     return GpsResponse::None;
@@ -142,38 +134,38 @@ GpsResponse getACKCas(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t
 
 // endregion
 
-bool init(::Device* uart, GpsModel type) {
+bool gps_init(Device* uart, GpsModel type) {
     switch (type) {
-        case GpsModel::Unknown:
+        case GPS_MODEL_UNKNOWN:
             check(false);
-        case GpsModel::AG3335:
+        case GPS_MODEL_AG3335:
-        case GpsModel::AG3352:
+        case GPS_MODEL_AG3352:
-            return initAg33xx(uart);
+            return init_ag33xx(uart);
-        case GpsModel::ATGM336H:
+        case GPS_MODEL_ATGM336H:
-            return initAtgm336h(uart);
+            return init_atgm336h(uart);
-        case GpsModel::LS20031:
+        case GPS_MODEL_LS20031:
             return true;
-        case GpsModel::MTK:
+        case GPS_MODEL_MTK:
-            return initMtk(uart);
+            return init_mtk(uart);
-        case GpsModel::MTK_L76B:
+        case GPS_MODEL_MTK_L76B:
-            return initMtkL76b(uart);
+            return init_mtk_l76b(uart);
-        case GpsModel::MTK_PA1616S:
+        case GPS_MODEL_MTK_PA1616S:
-            return initMtkPa1616s(uart);
+            return init_mtk_pa1616s(uart);
-        case GpsModel::UBLOX6:
+        case GPS_MODEL_UBLOX6:
-        case GpsModel::UBLOX7:
+        case GPS_MODEL_UBLOX7:
-        case GpsModel::UBLOX8:
+        case GPS_MODEL_UBLOX8:
-        case GpsModel::UBLOX9:
+        case GPS_MODEL_UBLOX9:
-        case GpsModel::UBLOX10:
+        case GPS_MODEL_UBLOX10:
-            return ublox::init(uart, type);
+            return gps_ublox::init(uart, type);
-        case GpsModel::UC6580:
+        case GPS_MODEL_UC6580:
-            return initUc6580(uart);
+            return init_uc6580(uart);
     }
 
     LOG_I(TAG, "Init not implemented %d", static_cast<int>(type));
     return false;
 }
 
-bool initAg33xx(::Device* uart) {
+bool init_ag33xx(Device* uart) {
     uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR066,1,0,1,0,0,1*3B\r\n", 25, 250); // Enable GPS+GALILEO+NAVIC
 
     // Configure NMEA (sentences will output once per fix)
@@ -185,47 +177,47 @@ bool initAg33xx(::Device* uart) {
     uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,5,0*3B\r\n", 17, 250); // VTG OFF
     uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR062,6,0*38\r\n", 17, 250); // ZDA ON
 
-    kernel::delayMillis(250);
+    delay_millis(250);
     uart_controller_write_bytes(uart, (const uint8_t*)"$PAIR513*3D\r\n", 13, 250); // save configuration
     return true;
 }
 
-bool initUc6580(::Device* uart) {
+bool init_uc6580(Device* uart) {
     // The Unicore UC6580 can use a lot of sat systems, enable it to
     // use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS + QZSS
     // This will reset the receiver, so wait a bit afterwards
     // The paranoid will wait for the OK*04 confirmation response after each command.
     uart_controller_write_bytes(uart, (const uint8_t*)"$CFGSYS,h35155\r\n", 16, 250);
-    kernel::delayMillis(750);
+    delay_millis(750);
     // Must be done after the CFGSYS command
     // Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
     uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,0,3,0\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Turn off GSA messages, TinyGPS++ doesn't use this message.
     uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,0,2,0\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
     uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,6,0,0\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     uart_controller_write_bytes(uart, (const uint8_t*)"$CFGMSG,6,1,0\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     return true;
 }
 
-bool initAtgm336h(::Device* uart) {
+bool init_atgm336h(Device* uart) {
     uint8_t buffer[256];
 
     // Set the intial configuration of the device - these _should_ work for most AT6558 devices
-    int msglen = makeCASPacket(buffer, 0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
+    int msglen = make_cas_packet(buffer, 0x06, 0x07, sizeof(CAS_MESSAGE_CFG_NAVX_CONF), CAS_MESSAGE_CFG_NAVX_CONF);
     uart_controller_write_bytes(uart, buffer, msglen, 250);
-    if (getACKCas(uart, 0x06, 0x07, 250) != GpsResponse::Ok) {
+    if (get_ack_cas(uart, 0x06, 0x07, 250) != GpsResponse::Ok) {
         LOG_W(TAG, "ATGM336H: Could not set Config");
     }
 
     // Set the update frequence to 1Hz
-    msglen = makeCASPacket(buffer, 0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
+    msglen = make_cas_packet(buffer, 0x06, 0x04, sizeof(CAS_MESSAGE_CFG_RATE_1HZ), CAS_MESSAGE_CFG_RATE_1HZ);
     uart_controller_write_bytes(uart, buffer, msglen, 250);
-    if (getACKCas(uart, 0x06, 0x04, 250) != GpsResponse::Ok) {
+    if (get_ack_cas(uart, 0x06, 0x04, 250) != GpsResponse::Ok) {
         LOG_W(TAG, "ATGM336H: Could not set Update Frequency");
     }
 
@@ -235,64 +227,62 @@ bool initAtgm336h(::Device* uart) {
     for (unsigned int i = 0; i < sizeof(fields); i++) {
         // Construct a CAS-CFG-MSG packet
         uint8_t cas_cfg_msg_packet[] = {0x4e, fields[i], 0x01, 0x00};
-        msglen = makeCASPacket(buffer, 0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
+        msglen = make_cas_packet(buffer, 0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
         uart_controller_write_bytes(uart, buffer, msglen, 250);
-        if (getACKCas(uart, 0x06, 0x01, 250) != GpsResponse::Ok) {
+        if (get_ack_cas(uart, 0x06, 0x01, 250) != GpsResponse::Ok) {
             LOG_W(TAG, "ATGM336H: Could not enable NMEA MSG: %u", fields[i]);
         }
     }
     return true;
 }
 
-bool initMtkPa1616s(::Device* uart) {
+bool init_mtk_pa1616s(Device* uart) {
     // PA1616S is used in some GPS breakout boards from Adafruit
     // PA1616S does not have GLONASS capability. PA1616D does, but is not implemented here.
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK353,1,0,0,0,0*2A\r\n", 23, 250);
     // Above command will reset the GPS and takes longer before it will accept new commands
-    kernel::delayMillis(1000);
+    delay_millis(1000);
     // Only ask for RMC and GGA (GNRMC and GNGGA)
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n", 51, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Enable SBAS / WAAS
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK301,2*2E\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     return true;
 }
 
-bool initMtkL76b(::Device* uart) {
+bool init_mtk_l76b(Device* uart) {
     // Waveshare Pico-GPS hat uses the L76B with 9600 baud
     // Initialize the L76B Chip, use GPS + GLONASS
     // See note in L76_Series_GNSS_Protocol_Specification, chapter 3.29
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK353,1,1,0,0,0*2B\r\n", 23, 250);
     // Above command will reset the GPS and takes longer before it will accept new commands
-    kernel::delayMillis(1000);
+    delay_millis(1000);
     // only ask for RMC and GGA (GNRMC and GNGGA)
     // See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n", 51, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Enable SBAS
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK301,2*2E\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Enable PPS for 2D/3D fix only
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK285,3,100*3F\r\n", 19, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
     uart_controller_write_bytes(uart, (const uint8_t*)"$PMTK886,1*29\r\n", 15, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     return true;
 }
 
-bool initMtk(::Device* uart) {
+bool init_mtk(Device* uart) {
     // Initialize the L76K Chip, use GPS + GLONASS + BEIDOU
     uart_controller_write_bytes(uart, (const uint8_t*)"$PCAS04,7*1E\r\n", 14, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // only ask for RMC and GGA
     uart_controller_write_bytes(uart, (const uint8_t*)"$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n", 38, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
     uart_controller_write_bytes(uart, (const uint8_t*)"$PCAS11,3*1E\r\n", 14, 250);
-    kernel::delayMillis(250);
+    delay_millis(250);
     return true;
 }
-
-} // namespace tt::hal::gps

Drivers/gps-generic-module/source/module.cpp

@@ -0,0 +1,19 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#include <tactility/driver.h>
+#include <tactility/module.h>
+
+extern "C" {
+
+extern Driver generic_gps_driver;
+
+static Driver* const gps_generic_drivers[] = {
+    &generic_gps_driver,
+    nullptr
+};
+
+Module gps_generic_module = {
+    .name = "gps-generic",
+    .drivers = gps_generic_drivers
+};
+
+}

Drivers/gps-generic-module/source/probe.cpp

@@ -0,0 +1,120 @@
+// SPDX-License-Identifier: GPL-3.0-or-later
+#include <gps_generic/private/gps_response.h>
+#include <gps_generic/private/probe.h>
+#include <gps_generic/private/ublox.h>
+
+#include <tactility/delay.h>
+#include <tactility/device.h>
+#include <tactility/drivers/uart_controller.h>
+#include <tactility/log.h>
+#include <tactility/time.h>
+
+#include <cstring>
+
+constexpr auto* TAG = "Gps";
+
+static char* probe_strnstr(const char* s, const char* find, size_t slen) {
+    char c;
+    if ((c = *find++) != '\0') {
+        char sc;
+        size_t len;
+
+        len = strlen(find);
+        do {
+            do {
+                if (slen-- < 1 || (sc = *s++) == '\0')
+                    return (nullptr);
+            } while (sc != c);
+            if (len > slen)
+                return (nullptr);
+        } while (strncmp(s, find, len) != 0);
+        s--;
+    }
+    return ((char*)s);
+}
+
+static GpsResponse get_ack(Device* uart, const char* message, uint32_t wait_millis) {
+    uint8_t buffer[768] = {0};
+    uint8_t b;
+    int bytes_read = 0;
+    uint32_t start_timeout = get_millis() + wait_millis;
+    while (get_millis() < start_timeout) {
+        size_t available = 0;
+        uart_controller_get_available(uart, &available);
+        if (available > 0) {
+            uart_controller_read_byte(uart, &b, 1);
+
+            buffer[bytes_read] = b;
+            bytes_read++;
+            if ((bytes_read == 767) || (b == '\r')) {
+                if (probe_strnstr((char*)buffer, message, bytes_read) != nullptr) {
+                    return GpsResponse::Ok;
+                } else {
+                    bytes_read = 0;
+                }
+            }
+        }
+    }
+    return GpsResponse::None;
+}
+
+#define PROBE_SIMPLE(UART, CHIP, TOWRITE, RESPONSE, DRIVER, TIMEOUT, ...)   \
+    do {                                                                    \
+        LOG_I(TAG, "Probing for %s (%s)", CHIP, TOWRITE);                   \
+        uart_controller_flush_input(UART);                                  \
+        uart_controller_write_bytes(UART, (const uint8_t*)(TOWRITE "\r\n"), strlen(TOWRITE "\r\n"), TIMEOUT); \
+        if (get_ack(UART, RESPONSE, TIMEOUT) == GpsResponse::Ok) {           \
+            LOG_I(TAG, "Probe detected %s %s", CHIP, #DRIVER);              \
+            return DRIVER;                                                  \
+        }                                                                   \
+    } while (0)
+
+GpsModel gps_probe(Device* uart) {
+    // Close all NMEA sentences
+    // Valid for L76K, ATGM336H and likely other AT6558 devices
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PCAS03,0,0,0,0,0,0,0,0,0,0,,,0,0*02\r\n"), 40, 500);
+    delay_millis(20);
+
+    // Close NMEA sequences on Ublox
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PUBX,40,GLL,0,0,0,0,0,0*5C\r\n"), 29, 500);
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PUBX,40,GSV,0,0,0,0,0,0*59\r\n"), 29, 500);
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PUBX,40,VTG,0,0,0,0,0,0*5E\r\n"), 29, 500);
+    delay_millis(20);
+
+    // Unicore UFirebirdII Series: UC6580, UM620, UM621, UM670A, UM680A, or UM681A
+    PROBE_SIMPLE(uart, "UC6580", "$PDTINFO", "UC6580", GpsModel::GPS_MODEL_UC6580, 500);
+    PROBE_SIMPLE(uart, "UM600", "$PDTINFO", "UM600", GpsModel::GPS_MODEL_UC6580, 500);
+    PROBE_SIMPLE(uart, "ATGM336H", "$PCAS06,1*1A", "$GPTXT,01,01,02,HW=ATGM336H", GpsModel::GPS_MODEL_ATGM336H, 500);
+
+    // ATGM332D series (-11(GPS), -21(BDS), -31(GPS+BDS), -51(GPS+GLONASS), -71-0(GPS+BDS+GLONASS)) based on AT6558
+    PROBE_SIMPLE(uart, "ATGM332D", "$PCAS06,1*1A", "$GPTXT,01,01,02,HW=ATGM332D", GpsModel::GPS_MODEL_ATGM336H, 500);
+
+    // Airoha (Mediatek) AG3335A/M/S, A3352Q, Quectel L89 2.0, SimCom SIM65M
+    // GSA OFF, reduce volume
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PAIR062,2,0*3C\r\n"), 17, 500);
+    // GSV OFF, reduce volume
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PAIR062,3,0*3D\r\n"), 17, 500);
+    // Save configuration
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PAIR513*3D\r\n"), 13, 500);
+    PROBE_SIMPLE(uart, "AG3335", "$PAIR021*39", "$PAIR021,AG3335", GpsModel::GPS_MODEL_AG3335, 500);
+    PROBE_SIMPLE(uart, "AG3352", "$PAIR021*39", "$PAIR021,AG3352", GpsModel::GPS_MODEL_AG3352, 500);
+    PROBE_SIMPLE(uart, "LC86", "$PQTMVERNO*58", "$PQTMVERNO,LC86", GpsModel::GPS_MODEL_AG3352, 500);
+
+    PROBE_SIMPLE(uart, "L76K", "$PCAS06,0*1B", "$GPTXT,01,01,02,SW=", GpsModel::GPS_MODEL_MTK, 500);
+
+    // Close all NMEA sentences
+    // Valid for L76B MTK
+    uart_controller_write_bytes(uart, reinterpret_cast<const uint8_t*>("$PMTK514,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*2E\r\n"), 51, 500);
+    delay_millis(20);
+
+    PROBE_SIMPLE(uart, "L76B", "$PMTK605*31", "Quectel-L76B", GpsModel::GPS_MODEL_MTK_L76B, 500);
+    PROBE_SIMPLE(uart, "PA1616S", "$PMTK605*31", "1616S", GpsModel::GPS_MODEL_MTK_PA1616S, 500);
+
+    auto ublox_result = gps_ublox::probe(uart);
+    if (ublox_result != GPS_MODEL_UNKNOWN) {
+        return ublox_result;
+    } else {
+        LOG_W(TAG, "No GNSS Module");
+        return GPS_MODEL_UNKNOWN;
+    }
+}

Drivers/gps-generic-module/source/ublox.cpp

@@ -1,26 +1,32 @@
-#include <Tactility/hal/gps/Ublox.h>
+// SPDX-License-Identifier: GPL-3.0-or-later
-#include <Tactility/hal/gps/UbloxMessages.h>
+#include <gps_generic/private/ublox.h>
-#include <Tactility/kernel/Kernel.h>
+#include <gps_generic/private/gps_response.h>
+#include <gps_generic/private/ublox_messages.h>
 
+#include <gps/gps.h>
+
+#include <tactility/delay.h>
 #include <tactility/device.h>
 #include <tactility/drivers/uart_controller.h>
 #include <tactility/log.h>
+#include <tactility/time.h>
 
 #include <cstring>
+#include <cstdlib>
 
-namespace tt::hal::gps::ublox {
+namespace gps_ublox {
 
 constexpr auto* TAG = "Ublox";
 
-bool initUblox6(::Device* uart);
+bool init_ublox_6(Device* uart);
-bool initUblox789(::Device* uart, GpsModel model);
+bool init_ublox_789(Device* uart, GpsModel model);
-bool initUblox10(::Device* uart);
+bool init_ublox_10(Device* uart);
 
 #define SEND_UBX_PACKET(UART, BUFFER, TYPE, ID, DATA, ERRMSG, TIMEOUT_MILLIS) \
     do { \
-        auto msglen = makePacket(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
+        auto msglen = make_packet(TYPE, ID, DATA, sizeof(DATA), BUFFER); \
         uart_controller_write_bytes(UART, BUFFER, msglen, TIMEOUT_MILLIS / portTICK_PERIOD_MS); \
-        if (getAck(UART, TYPE, ID, TIMEOUT_MILLIS) != GpsResponse::Ok) { \
+        if (get_ack(UART, TYPE, ID, TIMEOUT_MILLIS) != GpsResponse::Ok) { \
             LOG_I(TAG, "Sending packet failed: %s", #ERRMSG); \
         } \
     } while (0)
@@ -39,37 +45,34 @@ void checksum(uint8_t* message, size_t length) {
     message[length - 1] = CK_B;
 }
 
-uint8_t makePacket(uint8_t classId, uint8_t messageId, const uint8_t* payload, uint8_t payloadSize, uint8_t* bufferOut) {
+uint8_t make_packet(uint8_t class_id, uint8_t message_id, const uint8_t* payload, uint8_t payload_size, uint8_t* buffer_out) {
     // Construct the UBX packet
-    bufferOut[0] = 0xB5U; // header
+    buffer_out[0] = 0xB5U; // header
-    bufferOut[1] = 0x62U; // header
+    buffer_out[1] = 0x62U; // header
-    bufferOut[2] = classId; // class
+    buffer_out[2] = class_id; // class
-    bufferOut[3] = messageId; // id
+    buffer_out[3] = message_id; // id
-    bufferOut[4] = payloadSize; // length
+    buffer_out[4] = payload_size; // length
-    bufferOut[5] = 0x00U;
+    buffer_out[5] = 0x00U;
 
-    bufferOut[6 + payloadSize] = 0x00U; // CK_A
+    buffer_out[6 + payload_size] = 0x00U; // CK_A
-    bufferOut[7 + payloadSize] = 0x00U; // CK_B
+    buffer_out[7 + payload_size] = 0x00U; // CK_B
 
-    for (int i = 0; i < payloadSize; i++) {
+    for (int i = 0; i < payload_size; i++) {
-        bufferOut[6 + i] = payload[i];
+        buffer_out[6 + i] = payload[i];
     }
-    checksum(bufferOut, (payloadSize + 8U));
+    checksum(buffer_out, (payload_size + 8U));
-    return (payloadSize + 8U);
+    return (payload_size + 8U);
 }
 
-GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t waitMillis) {
+GpsResponse get_ack(Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wait_millis) {
     uint8_t b;
     uint8_t ack = 0;
     const uint8_t ackP[2] = {class_id, msg_id};
     uint8_t buf[10] = {0xB5, 0x62, 0x05, 0x01, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00};
-    uint32_t startTime = kernel::getTicks();
+    uint32_t start_time = get_ticks();
-    TickType_t waitTicks = pdMS_TO_TICKS(waitMillis);
+    TickType_t wait_ticks = pdMS_TO_TICKS(wait_millis);
     const char frame_errors[] = "More than 100 frame errors";
     int sCounter = 0;
-#ifdef GPS_DEBUG
-    std::string debugmsg = "";
-#endif
 
     for (int j = 2; j < 6; j++) {
         buf[8] += buf[j];
@@ -82,11 +85,8 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
         buf[9] += buf[8];
     }
 
-    while (kernel::getTicks() - startTime < waitTicks) {
+    while (get_ticks() - start_time < wait_ticks) {
         if (ack > 9) {
-#ifdef GPS_DEBUG
-            LOG_I(TAG, "Got ACK for class %02X message %02X in %zums", class_id, msg_id, kernel::getMillis() - startTime);
-#endif
             return GpsResponse::Ok; // ACK received
         }
         size_t available = 0;
@@ -96,25 +96,15 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
             if (b == frame_errors[sCounter]) {
                 sCounter++;
                 if (sCounter == 26) {
-#ifdef GPS_DEBUG
-
-                    LOG_I(TAG, "%s", debugmsg.c_str());
-#endif
                     return GpsResponse::FrameErrors;
                 }
             } else {
                 sCounter = 0;
             }
-#ifdef GPS_DEBUG
-            debugmsg += std::format("%02X", b);
-#endif
             if (b == buf[ack]) {
                 ack++;
             } else {
                 if (ack == 3 && b == 0x00) { // UBX-ACK-NAK message
-#ifdef GPS_DEBUG
-                    LOG_I(TAG, "%s", debugmsg.c_str());
-#endif
                     LOG_W(TAG, "Got NAK for class %02X message %02X", class_id, msg_id);
                     return GpsResponse::NotAck; // NAK received
                 }
@@ -122,20 +112,17 @@ GpsResponse getAck(::Device* uart, uint8_t class_id, uint8_t msg_id, uint32_t wa
             }
         }
     }
-#ifdef GPS_DEBUG
-    LOG_I(TAG, "%s", debugmsg.c_str());
     LOG_W(TAG, "No response for class %02X message %02X", class_id, msg_id);
-#endif
     return GpsResponse::None; // No response received within timeout
 }
 
-static int getAck(::Device* uart, uint8_t* buffer, uint16_t size, uint8_t requestedClass, uint8_t requestedId, uint32_t timeoutMillis) {
+static int get_ack(Device* uart, uint8_t* buffer, uint16_t size, uint8_t requested_class, uint8_t requested_id, uint32_t timeout_millis) {
-    uint16_t ubxFrameCounter = 0;
+    uint16_t ubx_frame_counter = 0;
-    TickType_t startTime = kernel::getTicks();
+    TickType_t start_time = get_ticks();
-    TickType_t timeoutTicks = pdMS_TO_TICKS(timeoutMillis);
+    TickType_t timeout_ticks = pdMS_TO_TICKS(timeout_millis);
-    uint16_t needRead = 0;
+    uint16_t need_read = 0;
 
-    while ((kernel::getTicks() - startTime) < timeoutTicks) {
+    while ((get_ticks() - start_time) < timeout_ticks) {
         size_t available = 0;
         uart_controller_get_available(uart, &available);
         while (available > 0) {
@@ -143,56 +130,53 @@ static int getAck(::Device* uart, uint8_t* buffer, uint16_t size, uint8_t reques
             uart_controller_read_byte(uart, &c, 1);
             available--;
 
-            switch (ubxFrameCounter) {
+            switch (ubx_frame_counter) {
                 case 0:
                     if (c == 0xB5) {
-                        ubxFrameCounter++;
+                        ubx_frame_counter++;
                     }
                     break;
                 case 1:
                     if (c == 0x62) {
-                        ubxFrameCounter++;
+                        ubx_frame_counter++;
                     } else {
-                        ubxFrameCounter = 0;
+                        ubx_frame_counter = 0;
                     }
                     break;
                 case 2:
-                    if (c == requestedClass) {
+                    if (c == requested_class) {
-                        ubxFrameCounter++;
+                        ubx_frame_counter++;
                     } else {
-                        ubxFrameCounter = 0;
+                        ubx_frame_counter = 0;
                     }
                     break;
                 case 3:
-                    if (c == requestedId) {
+                    if (c == requested_id) {
-                        ubxFrameCounter++;
+                        ubx_frame_counter++;
                     } else {
-                        ubxFrameCounter = 0;
+                        ubx_frame_counter = 0;
                     }
                     break;
                 case 4:
-                    needRead = c;
+                    need_read = c;
-                    ubxFrameCounter++;
+                    ubx_frame_counter++;
                     break;
                 case 5: {
                     // Payload length msb
-                    needRead |= (c << 8);
+                    need_read |= (c << 8);
-                    ubxFrameCounter++;
+                    ubx_frame_counter++;
                     // Check for buffer overflow
-                    if (needRead >= size) {
+                    if (need_read >= size) {
-                        ubxFrameCounter = 0;
+                        ubx_frame_counter = 0;
                         break;
                     }
                     auto read_bytes = 0U;
-                    uart_controller_read_bytes(uart, buffer, needRead, 250 / portTICK_PERIOD_MS);
+                    uart_controller_read_bytes(uart, buffer, need_read, 250 / portTICK_PERIOD_MS);
-                    if (read_bytes != needRead) {
+                    if (read_bytes != need_read) {
-                        ubxFrameCounter = 0;
+                        ubx_frame_counter = 0;
                     } else {
                         // return payload length
-#ifdef GPS_DEBUG
+                        return need_read;
-                        LOG_I(TAG, "Got ACK for class %02X message %02X in %zums", requestedClass, requestedId, kernel::getMillis() - startTime);
-#endif
-                        return needRead;
                     }
                     break;
                 }
@@ -205,7 +189,7 @@ static int getAck(::Device* uart, uint8_t* buffer, uint16_t size, uint8_t reques
     return 0;
 }
 
-static struct uBloxGnssModelInfo {
+static struct UbloxGnssModelInfo {
     char swVersion[30];
     char hwVersion[10];
     uint8_t extensionNo;
@@ -213,7 +197,7 @@ static struct uBloxGnssModelInfo {
     uint8_t protocol_version;
 } ublox_info;
 
-GpsModel probe(::Device* uart) {
+GpsModel probe(Device* uart) {
     LOG_I(TAG, "Probing for U-blox");
 
     uint8_t cfg_rate[] = {0xB5, 0x62, 0x06, 0x08, 0x00, 0x00, 0x00, 0x00};
@@ -221,28 +205,28 @@ GpsModel probe(::Device* uart) {
     uart_controller_flush_input(uart);
     uart_controller_write_bytes(uart, cfg_rate, sizeof(cfg_rate), 500 / portTICK_PERIOD_MS);
     // Check that the returned response class and message ID are correct
-    GpsResponse response = getAck(uart, 0x06, 0x08, 750);
+    GpsResponse response = get_ack(uart, 0x06, 0x08, 750);
     if (response == GpsResponse::None) {
         LOG_W(TAG, "No GNSS Module");
-        return GpsModel::Unknown;
+        return GpsModel::GPS_MODEL_UNKNOWN;
     } else if (response == GpsResponse::FrameErrors) {
         LOG_W(TAG, "UBlox Frame Errors");
     }
 
     uint8_t buffer[256];
     memset(buffer, 0, sizeof(buffer));
-    uint8_t _message_MONVER[8] = {
+    uint8_t message_monver[8] = {
         0xB5, 0x62, // Sync message for UBX protocol
         0x0A, 0x04, // Message class and ID (UBX-MON-VER)
         0x00, 0x00, // Length of payload (we're asking for an answer, so no payload)
         0x00, 0x00 // Checksum
     };
     //  Get Ublox gnss module hardware and software info
-    checksum(_message_MONVER, sizeof(_message_MONVER));
+    checksum(message_monver, sizeof(message_monver));
     uart_controller_flush_input(uart);
-    uart_controller_write_bytes(uart, _message_MONVER, sizeof(_message_MONVER), 500);
+    uart_controller_write_bytes(uart, message_monver, sizeof(message_monver), 500);
 
-    uint16_t ack_response_len = getAck(uart, buffer, sizeof(buffer), 0x0A, 0x04, 1200);
+    uint16_t ack_response_len = get_ack(uart, buffer, sizeof(buffer), 0x0A, 0x04, 1200);
     if (ack_response_len) {
         uint16_t position = 0;
         for (char& i: ublox_info.swVersion) {
@@ -294,86 +278,86 @@ GpsModel probe(::Device* uart) {
         #define DETECTED_MESSAGE "%s detected, using %s Module"
         if (strncmp(ublox_info.hwVersion, "00040007", 8) == 0) {
             LOG_I(TAG, DETECTED_MESSAGE, "U-blox 6", "6");
-            return GpsModel::UBLOX6;
+            return GPS_MODEL_UBLOX6;
         } else if (strncmp(ublox_info.hwVersion, "00070000", 8) == 0) {
             LOG_I(TAG, DETECTED_MESSAGE, "U-blox 7", "7");
-            return GpsModel::UBLOX7;
+            return GPS_MODEL_UBLOX7;
         } else if (strncmp(ublox_info.hwVersion, "00080000", 8) == 0) {
             LOG_I(TAG, DETECTED_MESSAGE, "U-blox 8", "8");
-            return GpsModel::UBLOX8;
+            return GPS_MODEL_UBLOX8;
         } else if (strncmp(ublox_info.hwVersion, "00190000", 8) == 0) {
             LOG_I(TAG, DETECTED_MESSAGE, "U-blox 9", "9");
-            return GpsModel::UBLOX9;
+            return GPS_MODEL_UBLOX9;
         } else if (strncmp(ublox_info.hwVersion, "000A0000", 8) == 0) {
             LOG_I(TAG, DETECTED_MESSAGE, "U-blox 10", "10");
-            return GpsModel::UBLOX10;
+            return GPS_MODEL_UBLOX10;
         }
     }
 
-    return GpsModel::Unknown;
+    return GPS_MODEL_UNKNOWN;
 }
 
-bool init(::Device* uart, GpsModel model) {
+bool init(Device* uart, GpsModel model) {
     LOG_I(TAG, "U-blox init");
     switch (model) {
-        case GpsModel::UBLOX6:
+        case GPS_MODEL_UBLOX6:
-            return initUblox6(uart);
+            return init_ublox_6(uart);
-        case GpsModel::UBLOX7:
+        case GPS_MODEL_UBLOX7:
-        case GpsModel::UBLOX8:
+        case GPS_MODEL_UBLOX8:
-        case GpsModel::UBLOX9:
+        case GPS_MODEL_UBLOX9:
-            return initUblox789(uart, model);
+            return init_ublox_789(uart, model);
-        case GpsModel::UBLOX10:
+        case GPS_MODEL_UBLOX10:
-            return initUblox10(uart);
+            return init_ublox_10(uart);
         default:
             LOG_E(TAG, "Unknown or unsupported U-blox model");
             return false;
     }
 }
 
-bool initUblox10(::Device* uart) {
+bool init_ublox_10(Device* uart) {
     uint8_t buffer[256];
-    kernel::delayMillis(1000);
+    delay_millis(1000);
     uart_controller_flush_input(uart);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     uart_controller_flush_input(uart);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     uart_controller_flush_input(uart);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     uart_controller_flush_input(uart);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     // Here is where the init commands should go to do further M10 initialization.
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
-    kernel::delayMillis(750); // will cause a receiver restart so wait a bit
+    delay_millis(750); // will cause a receiver restart so wait a bit
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
-    kernel::delayMillis(750); // will cause a receiver restart so wait a bit
+    delay_millis(750); // will cause a receiver restart so wait a bit
 
     // Done with initialization
 
     // Enable wanted NMEA messages in BBR layer so they will survive a periodic sleep
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
-    kernel::delayMillis(750);
+    delay_millis(750);
     // Enable wanted NMEA messages in RAM layer
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
-    kernel::delayMillis(750);
+    delay_millis(750);
 
     // As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
     // BBR will survive a restart, and power off for a while, but modules with small backup
     // batteries or super caps will not retain the config for a long power off time.
-    auto packet_size = makePacket(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
+    auto packet_size = make_packet(0x06, 0x09, _message_SAVE_10, sizeof(_message_SAVE_10), buffer);
     uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
-    if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
+    if (get_ack(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
         LOG_W(TAG, "Unable to save GNSS module config");
     } else {
         LOG_I(TAG, "GNSS module configuration saved!");
@@ -381,36 +365,36 @@ bool initUblox10(::Device* uart) {
     return true;
 }
 
-bool initUblox789(::Device* uart, GpsModel model) {
+bool init_ublox_789(Device* uart, GpsModel model) {
     uint8_t buffer[256];
-    if (model == GpsModel::UBLOX7) {
+    if (model == GpsModel::GPS_MODEL_UBLOX7) {
         LOG_D(TAG, "Set GPS+SBAS");
-        auto msglen = makePacket(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
+        auto msglen = make_packet(0x06, 0x3e, _message_GNSS_7, sizeof(_message_GNSS_7), buffer);
         uart_controller_write_bytes(uart, buffer, msglen, 800 / portTICK_PERIOD_MS);
     } else { // 8,9
-        auto msglen = makePacket(0x06, 0x3e, _message_GNSS_8, sizeof(_message_GNSS_8), buffer);
+        auto msglen = make_packet(0x06, 0x3e, _message_GNSS_8, sizeof(_message_GNSS_8), buffer);
         uart_controller_write_bytes(uart, buffer, msglen, 800 / portTICK_PERIOD_MS);
     }
 
-    if (getAck(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
+    if (get_ack(uart, 0x06, 0x3e, 800) == GpsResponse::NotAck) {
         // It's not critical if the module doesn't acknowledge this configuration.
         LOG_D(TAG, "reconfigure GNSS - defaults maintained. Is this module GPS-only?");
     } else {
-        if (model == GpsModel::UBLOX7) {
+        if (model == GpsModel::GPS_MODEL_UBLOX7) {
             LOG_I(TAG, "GPS+SBAS configured");
         } else { // 8,9
             LOG_I(TAG, "GPS+SBAS+GLONASS+Galileo configured");
         }
         // Documentation say, we need wait at least 0.5s after reconfiguration of GNSS module, before sending next
         // commands for the M8 it tends to be more. 1 sec should be enough
-        kernel::delayMillis(1000);
+        delay_millis(1000);
     }
 
     uart_controller_flush_input(uart);
 
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
 
-    if (model == GpsModel::UBLOX8) { // 8
+    if (model == GpsModel::GPS_MODEL_UBLOX8) { // 8
         uart_controller_flush_input(uart);
         SEND_UBX_PACKET(uart, buffer, 0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
 
@@ -436,7 +420,7 @@ bool initUblox789(::Device* uart, GpsModel model) {
         SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
 
         // For M8 we want to enable NMEA version 4.10 so we can see the additional satellites.
-        if (model == GpsModel::UBLOX8) {
+        if (model == GpsModel::GPS_MODEL_UBLOX8) {
             uart_controller_flush_input(uart);
             SEND_UBX_PACKET(uart, buffer, 0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
         }
@@ -445,9 +429,9 @@ bool initUblox789(::Device* uart, GpsModel model) {
         SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
     }
 
-    auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
+    auto packet_size = make_packet(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
     uart_controller_write_bytes(uart, buffer, packet_size, 2000 / portTICK_PERIOD_MS);
-    if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
+    if (get_ack(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
         LOG_W(TAG, "Unable to save GNSS module config");
     } else {
         LOG_I(TAG, "GNSS module configuration saved!");
@@ -455,7 +439,7 @@ bool initUblox789(::Device* uart, GpsModel model) {
     return true;
 }
 
-bool initUblox6(::Device* uart) {
+bool init_ublox_6(Device* uart) {
     uint8_t buffer[256];
 
     uart_controller_flush_input(uart);
@@ -479,9 +463,9 @@ bool initUblox6(::Device* uart) {
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
     SEND_UBX_PACKET(uart, buffer, 0x06, 0x01, _message_AID, "disable UBX-AID", 500);
 
-    auto packet_size = makePacket(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
+    auto packet_size = make_packet(0x06, 0x09, _message_SAVE, sizeof(_message_SAVE), buffer);
     uart_controller_write_bytes(uart, buffer, packet_size, 2000);
-    if (getAck(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
+    if (get_ack(uart, 0x06, 0x09, 2000) != GpsResponse::Ok) {
         LOG_W(TAG, "Unable to save GNSS module config");
     } else {
         LOG_I(TAG, "GNSS module config saved!");
@@ -489,4 +473,4 @@ bool initUblox6(::Device* uart) {
     return true;
 }
 
-} // namespace tt::hal::gps::ublox
+}

Firmware/CMakeLists.txt

@@ -95,9 +95,10 @@ else ()
     list(APPEND REQUIRES_LIST
         Tactility
         TactilityFreeRtos
-        hal-device-module
         lvgl-module
         crypt-module
+        gps-module
+        gps-generic-module
         SDL2::SDL2-static
         SDL2-static
     )

Firmware/Source/Main.cpp

@@ -1,6 +1,5 @@
 #include <Tactility/Tactility.h>
 
-#include <tactility/driver.h>
 #include <devicetree.h>
 
 #ifdef ESP_PLATFORM
@@ -9,30 +8,15 @@
 #include <Simulator.h>
 #endif
 
-#ifdef CONFIG_TT_USE_DEPRECATED_HAL
-// Each board project declares this variable
-extern const tt::hal::Configuration hardwareConfiguration;
-#else
-// Legacy placeholder (required until legacy HAL is cleaned up everywhere)
-extern const tt::hal::Configuration hardwareConfiguration = {};
-#endif
-
 extern "C" {
 
 void app_main() {
-    static const tt::Configuration config = {
-        /**
-         * Auto-select a board based on the ./sdkconfig.board.* file
-         * that you copied to ./sdkconfig before you opened this project.
-         */
-        .hardware = &hardwareConfiguration
-    };
 
 #ifdef ESP_PLATFORM
     tt_init_tactility_c(); // ELF bindings for side-loading on ESP32
 #endif
 
-    tt::run(config, dts_modules, dts_devices);
+    tt::run(dts_modules, dts_devices);
 }
 
 } // extern

LICENSE.md

@@ -7,13 +7,16 @@ These applications are not part of the Tactility operating system's main firmwar
 
 "end-users" refers to people who install and/or use Tactility software on their devices.
 
-## Past & Present
+## Summary
 
-Formerly, there was a mixed usage of [GPL v3.0](Documentation/LICENSE-GPL-3.0.md) for internal subprojects
+The main firmware projects (`Firmware/`, `Tactility/`) are licensed under [GPL v3.0](Documentation/LICENSE-GPL-3.0.md)
-and [Apache License v2.0](Documentation/LICENSE-Apache-2.0.md) for subprojects that would be used in external apps.
 
-For future subprojects, [Apache License v2.0](Documentation/LICENSE-Apache-2.0.md) will be chosen for internal subproject.
+Most drivers have an [Apache License v2.0](Documentation/LICENSE-Apache-2.0.md), with exceptions such as `Drivers/gps-generic-module/`.
-Existing GPL-licensed projects will retain this license, as it cannot be changed to a more permissive license.
+Licensing may also differ for subprojects intended for use in external applications.
+
+Specific aren't generally used directly in external app projects, but if they are, make sure to check their licenses.
+
+All projects under `Modules/` have an [Apache License v2.0](Documentation/LICENSE-Apache-2.0.md).
 
 ## Overview
 
@@ -22,13 +25,13 @@ Below is an overview of the licenses of some of the subprojects.
 | Project            | License                 |
 |--------------------|-------------------------|
 | Tactility          | GNU Public License v3.0 |
-| TactilityCore      | GNU Public License v3.0 |
 | TactilityC         | Apache License v2.0     |
 | TactilityFreeRTOS  | Apache License v2.0     |
 | TactilityKernel    | Apache License v2.0     |
 | Tests              | GNU Public License v3.0 |
 | Devices/*          | GNU Public License v3.0 |
 | Drivers/*          | (varies)                |
+| Modules/*          | Apache License v2.0     |
 | DevicetreeCompiler | Apache License v2.0     |
 | Platforms/*        | Apache License v2.0     |
 

Modules/gps-module/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.20)
+
+include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
+
+file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
+
+tactility_add_module(gps-module
+    SRCS ${SOURCE_FILES}
+    PRIV_INCLUDE_DIRS private/
+    INCLUDE_DIRS include/
+    REQUIRES TactilityKernel minmea
+)

Modules/gps-module/LICENSE-Apache-2.0.md

@@ -0,0 +1,195 @@
+Apache License
+==============
+
+_Version 2.0, January 2004_  
+_&lt;<http://www.apache.org/licenses/>&gt;_
+
+### Terms and Conditions for use, reproduction, and distribution
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+

Modules/gps-module/devicetree.yaml

@@ -0,0 +1,2 @@
+dependencies:
+  - TactilityKernel

Modules/gps-module/include/gps/gps.h

@@ -0,0 +1,137 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <tactility/device.h>
+#include <tactility/error.h>
+#include <tactility/freertos/freertos.h>
+#include <tactility/freertos/task.h>
+
+#include <minmea.h>
+
+/**
+ * @brief Supported GPS/GNSS receiver chipsets.
+ */
+enum GpsModel {
+    GPS_MODEL_UNKNOWN = 0,
+    GPS_MODEL_AG3335,
+    GPS_MODEL_AG3352,
+    // CASIC, might work with AT6558, Neoway N58 LTE Cat.1, Neoway G2 and Neoway G7A
+    GPS_MODEL_ATGM336H,
+    GPS_MODEL_LS20031,
+    GPS_MODEL_MTK,
+    GPS_MODEL_MTK_L76B,
+    GPS_MODEL_MTK_PA1616S,
+    GPS_MODEL_UBLOX6,
+    GPS_MODEL_UBLOX7,
+    GPS_MODEL_UBLOX8,
+    GPS_MODEL_UBLOX9,
+    GPS_MODEL_UBLOX10,
+    GPS_MODEL_UC6580,
+};
+
+/** @return a human-readable name for the model, e.g. "UBLOX8" or "Unknown" */
+const char* gps_model_to_string(enum GpsModel model);
+
+/**
+ * @brief Lifecycle state of a GPS_TYPE device.
+ */
+enum GpsState {
+    GPS_STATE_OFF,
+    GPS_STATE_PENDING_ON,
+    GPS_STATE_ON,
+    GPS_STATE_ERROR,
+    GPS_STATE_PENDING_OFF,
+};
+
+enum GpsEventType {
+    GPS_EVENT_UNSUBSCRIBED, // Last event, device wants to destroy itself and unsubscribed the subscriber.
+    GPS_EVENT_MESSAGE_RMC,
+    GPS_EVENT_MESSAGE_GGA,
+};
+
+struct GpsEvent {
+    enum GpsEventType type;
+    union {
+        struct minmea_sentence_rmc rmc;
+        struct minmea_sentence_gga gga;
+    } data;
+};
+
+struct GpsSubscription {
+    TaskHandle_t task;
+
+    struct GpsEvent event;
+
+    uint32_t sequence;
+    uint32_t consumed_sequence;
+
+    struct GpsSubscription* next;
+};
+
+/**
+ * @brief API for GPS/GNSS receiver drivers.
+ */
+struct GpsApi {
+    /**
+     * @brief Registers a subscriber for GPS events (e.g. RMC/GGA sentences).
+     * @param[in] device the GPS device
+     * @param[in,out] sub subscription to register; caller owns the storage and must keep it alive until unsubscribed
+     */
+    error_t (*event_subscribe)(struct Device* device, struct GpsSubscription* sub);
+
+    /**
+     * @brief Removes a previously registered subscription.
+     * @param[in] device the GPS device
+     * @param[in] sub subscription to remove, as passed to event_subscribe
+     */
+    error_t (*event_unsubscribe)(struct Device* device, struct GpsSubscription* sub);
+
+    /**
+     * @brief Blocks the calling task until a new event arrives for the subscription, or timeout elapses.
+     * @param[in] device the GPS device
+     * @param[in,out] sub subscription to wait on
+     * @param[in] timeout max ticks to wait
+     * @return ERROR_NONE if an event arrived, ERROR_TIMEOUT if the timeout elapsed
+     */
+    error_t (*event_await)(struct Device* device, struct GpsSubscription* sub, TickType_t timeout);
+
+    /**
+     * @brief Gets the current lifecycle state.
+     * @param[in] device the GPS device
+     */
+    enum GpsState (*get_state)(struct Device* device);
+
+    /**
+     * @brief Gets a human-readable model name for the device, e.g. "UBLOX8".
+     * @param[in] device the GPS device
+     * @param[out] model_name buffer to receive the NUL-terminated name
+     * @param[in] buffer_size size of model_name in bytes
+     * @return ERROR_NONE on success
+     */
+    error_t (*get_model_name)(struct Device* device, char* model_name, size_t buffer_size);
+};
+
+/** @copydoc GpsApi::event_subscribe */
+error_t gps_event_subscribe(struct Device* device, struct GpsSubscription* sub);
+
+/** @copydoc GpsApi::event_unsubscribe */
+error_t gps_event_unsubscribe(struct Device* device, struct GpsSubscription* sub);
+
+/** @copydoc GpsApi::event_await */
+error_t gps_event_await(struct Device* device, struct GpsSubscription* sub, TickType_t timeout);
+
+/** @copydoc GpsApi::get_state */
+enum GpsState gps_get_state(struct Device* device);
+
+/** @copydoc GpsApi::get_model_name */
+error_t gps_get_model_name(struct Device* device, char* model_name, size_t buffer_size);
+
+extern const struct DeviceType GPS_TYPE;
+
+#ifdef __cplusplus
+}
+#endif

Modules/gps-module/include/gps/gps_module.h

@@ -5,7 +5,7 @@
 extern "C" {
 #endif
 
-extern struct Module hal_device_module;
+extern struct Module gps_module;
 
 #ifdef __cplusplus
 }

Modules/gps-module/include/gps/gps_settings.h

@@ -0,0 +1,51 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include <gps/gps.h>
+#include <tactility/error.h>
+
+/**
+ * @brief A persisted GPS receiver configuration.
+ */
+struct GpsConfiguration {
+    /** UART controller device name, e.g. "uart0" - resolved via device_get_by_name(). */
+    char uart_name[32];
+    uint32_t baud_rate;
+    /** GPS_MODEL_UNKNOWN triggers an autoprobe. */
+    enum GpsModel model;
+};
+
+/**
+ * @brief Persists a new GPS configuration and triggers the ledger to materialize a (not started)
+ * GPS_TYPE device for it in the device tree. Use device_start()/device_stop() on the resulting
+ * device to control whether it's actually running.
+ * @retval ERROR_RESOURCE if the configuration file could not be opened/written
+ */
+error_t gps_settings_add_configuration(const struct GpsConfiguration* configuration);
+
+/**
+ * @brief Removes the persisted GPS configuration at `index` (as seen via
+ * gps_settings_for_each_configuration()), and triggers the ledger to stop, destruct and remove
+ * its corresponding GPS_TYPE device from the device tree.
+ * @retval ERROR_NOT_FOUND if index is out of range
+ * @retval ERROR_RESOURCE if the configuration file could not be read/written
+ */
+error_t gps_settings_remove_configuration_at(size_t index);
+
+/**
+ * @brief Iterates over all persisted GPS configurations.
+ * @param[in] context passed through to on_configuration, can be NULL
+ * @param[in] on_configuration called once per configuration, in file order, with its index
+ */
+void gps_settings_for_each_configuration(void* context, void (*on_configuration)(const struct GpsConfiguration* configuration, size_t index, void* context));
+
+#ifdef __cplusplus
+}
+#endif

Modules/gps-module/private/gps/private/gps_ledger.h

@@ -0,0 +1,20 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+/**
+ * @brief Reconciles the device tree against the persisted GPS configurations (see
+ * gps/gps_settings.h): constructs+adds (but does not start) a GPS_TYPE device for every
+ * configuration that doesn't have one yet, and stops+destructs+removes any ledger-owned device
+ * whose configuration has disappeared.
+ *
+ * Only ever touches devices the ledger itself created (tagged DEVICE_FLAG_DYNAMIC) - devicetree-
+ * declared GPS_TYPE devices (tagged DEVICE_FLAG_DTS) are never constructed, started, stopped, or
+ * destructed by the ledger.
+ */
+void gps_ledger_sync();
+
+/**
+ * @brief Stops+destructs+removes every ledger-owned device. Devicetree-declared GPS_TYPE devices
+ * are left untouched.
+ */
+void gps_ledger_clear();

Modules/gps-module/source/gps.cpp

@@ -0,0 +1,57 @@
+#include <gps/gps.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+const char* gps_model_to_string(GpsModel model) {
+    switch (model) {
+        case GPS_MODEL_AG3335: return "AG3335";
+        case GPS_MODEL_AG3352: return "AG3352";
+        case GPS_MODEL_ATGM336H: return "ATGM336H";
+        case GPS_MODEL_LS20031: return "LS20031";
+        case GPS_MODEL_MTK: return "MTK";
+        case GPS_MODEL_MTK_L76B: return "MTK_L76B";
+        case GPS_MODEL_MTK_PA1616S: return "MTK_PA1616S";
+        case GPS_MODEL_UBLOX6: return "UBLOX6";
+        case GPS_MODEL_UBLOX7: return "UBLOX7";
+        case GPS_MODEL_UBLOX8: return "UBLOX8";
+        case GPS_MODEL_UBLOX9: return "UBLOX9";
+        case GPS_MODEL_UBLOX10: return "UBLOX10";
+        case GPS_MODEL_UC6580: return "UC6580";
+        default: return "Unknown";
+    }
+}
+
+error_t gps_event_subscribe(Device* device, GpsSubscription* sub) {
+    const auto* driver = device_get_driver(device);
+    return static_cast<const GpsApi*>(driver->api)->event_subscribe(device, sub);
+}
+
+error_t gps_event_unsubscribe(Device* device, GpsSubscription* sub) {
+    const auto* driver = device_get_driver(device);
+    return static_cast<const GpsApi*>(driver->api)->event_unsubscribe(device, sub);
+}
+
+error_t gps_event_await(Device* device, GpsSubscription* sub, TickType_t timeout) {
+    const auto* driver = device_get_driver(device);
+    return static_cast<const GpsApi*>(driver->api)->event_await(device, sub, timeout);
+}
+
+GpsState gps_get_state(Device* device) {
+    const auto* driver = device_get_driver(device);
+    return static_cast<const GpsApi*>(driver->api)->get_state(device);
+}
+
+error_t gps_get_model_name(Device* device, char* model_name, size_t buffer_size) {
+    const auto* driver = device_get_driver(device);
+    return static_cast<const GpsApi*>(driver->api)->get_model_name(device, model_name, buffer_size);
+}
+
+const DeviceType GPS_TYPE {
+    .name = "gps"
+};
+
+#ifdef __cplusplus
+}
+#endif

Modules/gps-module/source/gps_ledger.cpp

@@ -0,0 +1,167 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <gps/private/gps_ledger.h>
+
+#include <gps/gps.h>
+#include <gps/gps_settings.h>
+#include <tactility/device.h>
+#include <tactility/driver.h>
+#include <tactility/log.h>
+
+#include <cstdio>
+#include <cstring>
+#include <new>
+#include <vector>
+
+constexpr auto* TAG = "gps_ledger";
+
+struct GpsConfig {
+    uint32_t baud_rate;
+    enum GpsModel model;
+};
+
+// A GPS_TYPE device the ledger constructed for a persisted GpsConfiguration. Device is the first
+// member so `reinterpret_cast<GpsLedgerEntry*>(device)` is safe when a Device* obtained from the
+// device tree needs to be freed.
+struct GpsLedgerEntry {
+    Device device {};
+    GpsConfig config {};
+    // device->name points into this buffer - must outlive the device (device->name only stores a
+    // pointer, it doesn't copy).
+    char name[16] {};
+};
+
+// Unique across every device the ledger creates, so device names ("gpsN") never collide.
+static uint32_t next_device_index = 0;
+
+static bool device_matches_configuration(Device* device, const GpsConfiguration& configuration) {
+    auto* parent = device_get_parent(device);
+    if (parent == nullptr || strcmp(parent->name, configuration.uart_name) != 0) {
+        return false;
+    }
+    const auto* config = static_cast<const GpsConfig*>(device->config);
+    return config->baud_rate == configuration.baud_rate && config->model == configuration.model;
+}
+
+// Constructs+adds (not started) a GPS_TYPE device wired to `configuration`'s named UART, tagged
+// DEVICE_FLAG_DYNAMIC so the ledger recognizes it as its own on a later sync.
+static bool create_device(const GpsConfiguration& configuration) {
+    Device* uart = nullptr;
+    if (device_get_by_name(configuration.uart_name, &uart) != ERROR_NONE) {
+        LOG_E(TAG, "Failed to find device %s", configuration.uart_name);
+        return false;
+    }
+
+    auto* entry = new(std::nothrow) GpsLedgerEntry();
+    if (entry == nullptr) {
+        device_put(uart);
+        return false;
+    }
+    entry->config = GpsConfig { .baud_rate = configuration.baud_rate, .model = configuration.model };
+    snprintf(entry->name, sizeof(entry->name), "gps%u", (unsigned)next_device_index++);
+
+    auto* device = &entry->device;
+    device->address = 0;
+    device->name = entry->name;
+    device->config = &entry->config;
+    device->parent = nullptr;
+    device->flags = DEVICE_FLAG_DYNAMIC;
+    device->internal = nullptr;
+
+    bool ok = false;
+    if (device_construct(device) == ERROR_NONE) {
+        device_set_parent(device, uart);
+
+        Driver* driver = driver_find_compatible("tactility,gps-generic");
+        if (driver != nullptr) {
+            device_set_driver(device, driver);
+            ok = device_add(device) == ERROR_NONE;
+            if (!ok) {
+                LOG_E(TAG, "Failed to add %s", device->name);
+            }
+        } else {
+            LOG_E(TAG, "No driver registered for tactility,gps-generic");
+        }
+
+        if (!ok) {
+            device_destruct(device);
+        }
+    } else {
+        LOG_E(TAG, "Failed to construct %s", device->name);
+    }
+
+    device_put(uart);
+
+    if (!ok) {
+        delete entry;
+    }
+    return ok;
+}
+
+// Stops (if needed), removes and destructs a ledger-owned device, and frees its entry.
+static void destroy_device(Device* device) {
+    if (device_is_ready(device)) {
+        device_stop(device);
+    }
+    device_remove(device);
+    device_destruct(device);
+    delete reinterpret_cast<GpsLedgerEntry*>(device);
+}
+
+static bool is_ledger_owned(const Device* device) {
+    return !(device->flags & DEVICE_FLAG_DTS) && (device->flags & DEVICE_FLAG_DYNAMIC);
+}
+
+// Collects the ledger-owned GPS_TYPE devices. device_remove()/device_stop() must not run while
+// device_for_each_of_type() holds the device ledger lock, so callers process the result afterwards.
+static std::vector<Device*> collect_owned_devices() {
+    std::vector<Device*> owned;
+    device_for_each_of_type(&GPS_TYPE, &owned, [](Device* device, void* context) {
+        if (is_ledger_owned(device)) {
+            static_cast<std::vector<Device*>*>(context)->push_back(device);
+        }
+        return true;
+    });
+    return owned;
+}
+
+void gps_ledger_sync() {
+    std::vector<GpsConfiguration> configurations;
+    gps_settings_for_each_configuration(&configurations, [](const GpsConfiguration* configuration, size_t, void* context) {
+        static_cast<std::vector<GpsConfiguration>*>(context)->push_back(*configuration);
+    });
+
+    std::vector<bool> matched(configurations.size(), false);
+    std::vector<Device*> stale;
+
+    for (auto* device : collect_owned_devices()) {
+        bool found = false;
+        for (size_t i = 0; i < configurations.size(); i++) {
+            if (!matched[i] && device_matches_configuration(device, configurations[i])) {
+                matched[i] = true;
+                found = true;
+                break;
+            }
+        }
+        if (!found) {
+            stale.push_back(device);
+        }
+    }
+
+    // Configuration disappeared - stop, destruct and drop the device that was created for it.
+    for (auto* device : stale) {
+        destroy_device(device);
+    }
+
+    // New configuration - create a (not started) device for it.
+    for (size_t i = 0; i < configurations.size(); i++) {
+        if (!matched[i]) {
+            create_device(configurations[i]);
+        }
+    }
+}
+
+void gps_ledger_clear() {
+    for (auto* device : collect_owned_devices()) {
+        destroy_device(device);
+    }
+}

Modules/gps-module/source/gps_settings.cpp

@@ -0,0 +1,169 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <gps/gps_settings.h>
+#include <gps/private/gps_ledger.h>
+
+#include <tactility/filesystem/file_mutex.h>
+#include <tactility/log.h>
+#include <tactility/service/service_paths.h>
+
+#include <sys/stat.h>
+
+#include <cstdio>
+#include <cstring>
+#include <vector>
+
+constexpr auto* TAG = "gps_settings";
+
+// Storage key for the persisted configuration file (services would use their own service ID for
+// this; gps_settings has no service backing it, so it defines its own).
+constexpr auto* GPS_SETTINGS_STORAGE_ID = "gps";
+
+// region Configuration persistence
+
+// Recursively creates every missing directory component of `path` (best-effort - mkdir() failures
+// other than "already exists" are surfaced later, when the actual config file open fails).
+static void ensure_directory_exists(const char* path) {
+    char buffer[224];
+    std::strncpy(buffer, path, sizeof(buffer) - 1);
+    buffer[sizeof(buffer) - 1] = '\0';
+
+    for (char* p = buffer + 1; *p != '\0'; p++) {
+        if (*p == '/') {
+            *p = '\0';
+            mkdir(buffer, 0777);
+            *p = '/';
+        }
+    }
+    mkdir(buffer, 0777);
+}
+
+static bool get_configuration_path(char* out_path, size_t out_path_size) {
+    return service_paths_get_user_data_path(GPS_SETTINGS_STORAGE_ID, "config.bin", out_path, out_path_size) == ERROR_NONE;
+}
+
+// Holds the lock (if any) that `path` needs for the lifetime of the guard - see file_find_lock().
+class FileLockGuard {
+    FileMutex mutex;
+    bool locked;
+public:
+    explicit FileLockGuard(const char* path) {
+        file_mutex_get(&mutex, path);
+        file_mutex_lock(&mutex);
+        locked = true;
+    }
+
+    ~FileLockGuard() {
+        unlock();
+    }
+
+    void unlock() {
+        if (locked) {
+            file_mutex_unlock(&mutex);
+            locked = false;
+        }
+    }
+};
+
+void gps_settings_for_each_configuration(void* context, void (*on_configuration)(const GpsConfiguration* configuration, size_t index, void* context)) {
+    char path[224];
+    if (!get_configuration_path(path, sizeof(path))) {
+        return;
+    }
+
+    FileLockGuard lock(path);
+
+    FILE* file = fopen(path, "rb");
+    if (file == nullptr) {
+        return; // No configurations saved yet
+    }
+
+    GpsConfiguration configuration;
+    size_t index = 0;
+    while (fread(&configuration, sizeof(configuration), 1, file) == 1) {
+        on_configuration(&configuration, index, context);
+        index++;
+    }
+
+    fclose(file);
+}
+
+static void collect_configuration(const GpsConfiguration* configuration, size_t, void* context) {
+    static_cast<std::vector<GpsConfiguration>*>(context)->push_back(*configuration);
+}
+
+static void load_configurations(std::vector<GpsConfiguration>& out) {
+    gps_settings_for_each_configuration(&out, collect_configuration);
+}
+
+static error_t write_configurations(const std::vector<GpsConfiguration>& configurations) {
+    char directory[224];
+    if (service_paths_get_user_data_directory(GPS_SETTINGS_STORAGE_ID, directory, sizeof(directory)) != ERROR_NONE) {
+        return ERROR_RESOURCE;
+    }
+
+    char path[256];
+    if (!get_configuration_path(path, sizeof(path))) {
+        return ERROR_RESOURCE;
+    }
+
+    FileLockGuard lock(path);
+
+    ensure_directory_exists(directory);
+
+    FILE* file = fopen(path, "wb");
+    if (file == nullptr) {
+        LOG_E(TAG, "Failed to open %s for writing", path);
+        return ERROR_RESOURCE;
+    }
+
+    bool ok = true;
+    for (auto& configuration : configurations) {
+        if (fwrite(&configuration, sizeof(configuration), 1, file) != 1) {
+            ok = false;
+            break;
+        }
+    }
+
+    fclose(file);
+    if (!ok) {
+        return ERROR_RESOURCE;
+    }
+
+    lock.unlock();
+    gps_ledger_sync();
+
+    return ERROR_NONE;
+}
+
+// endregion
+
+error_t gps_settings_add_configuration(const GpsConfiguration* configuration) {
+    std::vector<GpsConfiguration> configurations;
+    load_configurations(configurations);
+    configurations.push_back(*configuration);
+
+    error_t error = write_configurations(configurations);
+    if (error != ERROR_NONE) {
+        return error;
+    }
+
+    return ERROR_NONE;
+}
+
+error_t gps_settings_remove_configuration_at(size_t index) {
+    std::vector<GpsConfiguration> configurations;
+    load_configurations(configurations);
+
+    if (index >= configurations.size()) {
+        return ERROR_NOT_FOUND;
+    }
+
+    configurations.erase(configurations.begin() + static_cast<ptrdiff_t>(index));
+
+    error_t error = write_configurations(configurations);
+    if (error != ERROR_NONE) {
+        return error;
+    }
+
+    return ERROR_NONE;
+}

Modules/gps-module/source/module.cpp

@@ -0,0 +1,30 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <gps/gps_module.h>
+#include <gps/private/gps_ledger.h>
+
+#include <tactility/error.h>
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Materializes devices for configurations persisted in previous sessions.
+    gps_ledger_sync();
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    gps_ledger_clear();
+    return ERROR_NONE;
+}
+
+Module gps_module = {
+    .name = "gps",
+    .start = start,
+    .stop = stop,
+    .drivers = nullptr,
+    .symbols = nullptr,
+    .internal = nullptr
+};
+
+}

Modules/hal-device-module/CMakeLists.txt

@@ -1,20 +0,0 @@
-cmake_minimum_required(VERSION 3.20)
-
-include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
-
-file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
-
-list(APPEND REQUIRES_LIST
-    TactilityKernel
-    TactilityFreeRtos
-)
-
-if (NOT DEFINED ENV{ESP_IDF_VERSION})
-    list(APPEND REQUIRES_LIST freertos_kernel)
-endif ()
-
-tactility_add_module(hal-device-module
-    SRCS ${SOURCE_FILES}
-    INCLUDE_DIRS include/
-    REQUIRES ${REQUIRES_LIST}
-)

Modules/hal-device-module/README.md

@@ -1,10 +0,0 @@
-# hal-device-module
-
-**WARNING: This module contains deprecated code**
-
-This module is the basis for the old Tactility HAL.
-This HAL existed before TactilityKernel.
-
-The C++ `tt::hal::Device` class is replaced by `struct Device` from TactilityKernel.
-
-License: [Apache v2.0](LICENSE-Apache-2.0.md)

Modules/hal-device-module/include/tactility/drivers/hal_device.h

@@ -1,28 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-enum class HalDeviceType {
-    HAL_DEVICE_TYPE_I2C,
-    HAL_DEVICE_TYPE_DISPLAY,
-    HAL_DEVICE_TYPE_TOUCH,
-    HAL_DEVICE_TYPE_SDCARD,
-    HAL_DEVICE_TYPE_KEYBOARD,
-    HAL_DEVICE_TYPE_ENCODER,
-    HAL_DEVICE_TYPE_POWER,
-    HAL_DEVICE_TYPE_GPS,
-    HAL_DEVICE_TYPE_OTHER
-};
-
-HalDeviceType hal_device_get_type(struct Device* device);
-
-void hal_device_for_each_of_type(HalDeviceType type, void* context, bool(*onDevice)(struct Device* device, void* context));
-
-extern const struct DeviceType HAL_DEVICE_TYPE;
-
-#ifdef __cplusplus
-}
-#endif

Modules/hal-device-module/include/tactility/drivers/hal_device.hpp

@@ -1,21 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#pragma once
-
-#include "hal_device.h"
-
-#include <memory>
-#include <tactility/hal/Device.h>
-
-namespace tt::hal {
-
-/**
- * @brief Get a tt::hal::Device object from a Kernel device.
- * @warning The input device must be of type HAL_DEVICE_TYPE
- * @param kernelDevice The kernel device
- * @return std::shared_ptr<Device>
- */
-std::shared_ptr<Device> hal_device_get_device(::Device* kernelDevice);
-
-void hal_device_set_device(::Device* kernelDevice, std::shared_ptr<Device> halDevice);
-
-}

Modules/hal-device-module/include/tactility/hal/Device.h

@@ -1,144 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#pragma once
-
-#include <functional>
-#include <memory>
-#include <ranges>
-#include <string>
-#include <vector>
-#include <cassert>
-
-#include <tactility/device.h>
-
-typedef ::Device KernelDevice;
-
-namespace tt::hal {
-/** Base class for HAL-related devices. */
-class Device {
-
-public:
-
-    enum class Type {
-        I2c,
-        Display,
-        Touch,
-        SdCard,
-        Keyboard,
-        Encoder,
-        Power,
-        Gps,
-        Other
-    };
-
-    typedef uint32_t Id;
-
-    struct KernelDeviceHolder {
-        const std::string name;
-        std::shared_ptr<KernelDevice> device = std::make_shared<KernelDevice>();
-
-        explicit KernelDeviceHolder(std::string name) : name(name) {
-            device->name = this->name.c_str();
-        }
-    };
-
-private:
-
-    Id id;
-    std::shared_ptr<KernelDeviceHolder> kernelDeviceHolder;
-
-public:
-
-    Device();
-    virtual ~Device() = default;
-
-    /** Unique identifier */
-    Id getId() const { return id; }
-
-    /** The type of device */
-    virtual Type getType() const = 0;
-
-    /** The part number or hardware name e.g. TdeckTouch, TdeckDisplay, BQ24295, etc. */
-    virtual std::string getName() const = 0;
-
-    /** A short description of what this device does.
-     * e.g. "USB charging controller with I2C interface."
-     */
-    virtual std::string getDescription() const = 0;
-
-    void setKernelDeviceHolder(std::shared_ptr<KernelDeviceHolder> kernelDeviceHolder) { this->kernelDeviceHolder = kernelDeviceHolder; }
-
-    std::shared_ptr<KernelDeviceHolder> getKernelDeviceHolder() const { return kernelDeviceHolder; }
-};
-
-/**
- * Adds a device to the registry.
- * @warning This will leak memory if you want to destroy a device and don't call deregisterDevice()!
- */
-void registerDevice(const std::shared_ptr<Device>& device);
-
-/** Remove a device from the registry. */
-void deregisterDevice(const std::shared_ptr<Device>& device);
-
-/** Find a single device with a custom filter. Could return nullptr if not found. */
-std::shared_ptr<Device> findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
-
-/** Find devices with a custom filter */
-std::vector<std::shared_ptr<Device>> findDevices(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
-
-/** Find a device in the registry by its name. Could return nullptr if not found. */
-std::shared_ptr<Device> findDevice(std::string name);
-
-/** Find a device in the registry by its identifier. Could return nullptr if not found.*/
-std::shared_ptr<Device> findDevice(Device::Id id);
-
-/** Find 0, 1 or more devices in the registry by type. */
-std::vector<std::shared_ptr<Device>> findDevices(Device::Type type);
-
-/** Get a copy of the entire device registry in its current state. */
-std::vector<std::shared_ptr<Device>> getDevices();
-
-/** Find devices of a certain type and cast them to the specified class */
-template<class DeviceType>
-std::vector<std::shared_ptr<DeviceType>> findDevices(Device::Type type) {
-    auto devices = findDevices(type);
-    if (devices.empty()) {
-        return {};
-    } else {
-        std::vector<std::shared_ptr<DeviceType>> result;
-        result.reserve(devices.size());
-        for (auto& device : devices) {
-            auto target_device = std::static_pointer_cast<DeviceType>(device);
-            assert(target_device != nullptr);
-            result.push_back(target_device);
-        }
-        return result;
-    }
-}
-
-template<class DeviceType>
-void findDevices(Device::Type type, std::function<bool(const std::shared_ptr<DeviceType>&)> onDeviceFound) {
-    auto devices_view = findDevices(type);
-    for (auto& device : devices_view) {
-        auto typed_device = std::static_pointer_cast<DeviceType>(device);
-        if (!onDeviceFound(typed_device)) {
-            break;
-        }
-    }
-}
-
-/** Find the first device of the specified type and cast it to the specified class */
-template<class DeviceType>
-std::shared_ptr<DeviceType> findFirstDevice(Device::Type type) {
-    auto devices = findDevices(type);
-    if (devices.empty()) {
-        return {};
-    } else {
-        auto& first = devices[0];
-        return std::static_pointer_cast<DeviceType>(first);
-    }
-}
-
-/** @return true if there are 1 or more devices of the specified type */
-bool hasDevice(Device::Type type);
-
-}

Modules/hal-device-module/source/drivers/hal_device.cpp

@@ -1,130 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <tactility/drivers/hal_device.h>
-#include <tactility/device.h>
-#include <tactility/driver.h>
-
-#include <tactility/log.h>
-#include <tactility/hal/Device.h>
-#include <memory>
-#include <utility>
-
-#define TAG "HalDevice"
-
-struct HalDevicePrivate {
-    std::shared_ptr<tt::hal::Device> halDevice;
-};
-
-#define GET_DATA(device) ((HalDevicePrivate*)device_get_driver_data(device))
-
-static enum HalDeviceType getHalDeviceType(tt::hal::Device::Type type) {
-    switch (type) {
-        case tt::hal::Device::Type::I2c:
-            return HalDeviceType::HAL_DEVICE_TYPE_I2C;
-        case tt::hal::Device::Type::Display:
-            return HalDeviceType::HAL_DEVICE_TYPE_DISPLAY;
-        case tt::hal::Device::Type::Touch:
-            return HalDeviceType::HAL_DEVICE_TYPE_TOUCH;
-        case tt::hal::Device::Type::SdCard:
-            return HalDeviceType::HAL_DEVICE_TYPE_SDCARD;
-        case tt::hal::Device::Type::Keyboard:
-            return HalDeviceType::HAL_DEVICE_TYPE_KEYBOARD;
-        case tt::hal::Device::Type::Encoder:
-            return HalDeviceType::HAL_DEVICE_TYPE_ENCODER;
-        case tt::hal::Device::Type::Power:
-            return HalDeviceType::HAL_DEVICE_TYPE_POWER;
-        case tt::hal::Device::Type::Gps:
-            return HalDeviceType::HAL_DEVICE_TYPE_GPS;
-        case tt::hal::Device::Type::Other:
-            return HalDeviceType::HAL_DEVICE_TYPE_OTHER;
-        default:
-            LOG_W(TAG, "Device type %d is not implemented", static_cast<int>(type));
-            return HalDeviceType::HAL_DEVICE_TYPE_OTHER;
-    }
-}
-
-extern "C" {
-
-HalDeviceType hal_device_get_type(struct Device* device) {
-    auto type = GET_DATA(device)->halDevice->getType();
-    return getHalDeviceType(type);
-}
-
-void hal_device_for_each_of_type(HalDeviceType type, void* context, bool(*onDevice)(struct Device* device, void* context)) {
-    struct InternalContext {
-        HalDeviceType typeParam;
-        void* contextParam;
-        bool(*onDeviceParam)(struct Device* device, void* context);
-    };
-
-    InternalContext internal_context = {
-        .typeParam = type,
-        .contextParam = context,
-        .onDeviceParam = onDevice
-    };
-
-    device_for_each_of_type(&HAL_DEVICE_TYPE, &internal_context, [](Device* device, void* context){
-        auto* hal_device_private = GET_DATA(device);
-        auto* internal_context = static_cast<InternalContext*>(context);
-        auto hal_device_type = getHalDeviceType(hal_device_private->halDevice->getType());
-        if (hal_device_type == internal_context->typeParam) {
-            if (!internal_context->onDeviceParam(device, internal_context->contextParam)) {
-                return false;
-            }
-        }
-        return true;
-    });
-}
-
-}
-
-namespace tt::hal {
-
-std::shared_ptr<Device> hal_device_get_device(::Device* device) {
-    auto* hal_device_private = GET_DATA(device);
-    return hal_device_private->halDevice;
-}
-
-void hal_device_set_device(::Device* kernelDevice, std::shared_ptr<Device> halDevice) {
-    GET_DATA(kernelDevice)->halDevice = std::move(halDevice);
-}
-
-}
-
-#pragma region Lifecycle
-
-static error_t start(Device* device) {
-    LOG_I(TAG, "start %s", device->name);
-    auto hal_device_data = new(std::nothrow) HalDevicePrivate();
-    if (hal_device_data == nullptr) return ERROR_OUT_OF_MEMORY;
-    device_set_driver_data(device, hal_device_data);
-    return ERROR_NONE;
-}
-
-static error_t stop(Device* device) {
-    LOG_I(TAG, "stop %s", device->name);
-    delete GET_DATA(device);
-    return ERROR_NONE;
-}
-
-#pragma endregion
-
-extern "C" {
-
-const struct DeviceType HAL_DEVICE_TYPE {
-    "hal-device"
-};
-
-extern struct Module hal_device_module;
-
-Driver hal_device_driver = {
-    .name = "hal-device",
-    .compatible = (const char*[]) {"hal-device", nullptr},
-    .start_device = start,
-    .stop_device = stop,
-    .api = nullptr,
-    .device_type = &HAL_DEVICE_TYPE,
-    .owner = &hal_device_module,
-    .internal = nullptr
-};
-
-}

Modules/hal-device-module/source/hal/Device.cpp

@@ -1,145 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <tactility/driver.h>
-#include <tactility/drivers/hal_device.hpp>
-#include <tactility/hal/Device.h>
-#include <tactility/log.h>
-
-#include <Tactility/RecursiveMutex.h>
-
-#include <algorithm>
-#include <format>
-
-namespace tt::hal {
-
-RecursiveMutex mutex;
-static Device::Id nextId = 0;
-
-constexpr auto* TAG = "Devices";
-
-Device::Device() : id(nextId++) {}
-
-static std::shared_ptr<Device::KernelDeviceHolder> createKernelDeviceHolder(const std::shared_ptr<Device>& device) {
-    auto kernel_device_name = std::format("hal-device-{}", device->getId());
-    LOG_I(TAG, "Registering %s with id %u as kernel device %s", device->getName().c_str(), (unsigned)device->getId(), kernel_device_name.c_str());
-    auto kernel_device_holder = std::make_shared<Device::KernelDeviceHolder>(kernel_device_name);
-    auto* kernel_device = kernel_device_holder->device.get();
-    check(device_construct(kernel_device) == ERROR_NONE);
-    check(device_add(kernel_device) == ERROR_NONE);
-    auto* driver = driver_find_compatible("hal-device");
-    check(driver);
-    device_set_driver(kernel_device, driver);
-    check(device_start(kernel_device) == ERROR_NONE);
-    hal_device_set_device(kernel_device, device);
-    return kernel_device_holder;
-}
-
-static void destroyKernelDeviceHolder(std::shared_ptr<Device::KernelDeviceHolder>& holder) {
-    auto kernel_device = holder->device.get();
-    hal_device_set_device(kernel_device, nullptr);
-    check(device_stop(kernel_device) == ERROR_NONE);
-    check(device_remove(kernel_device) == ERROR_NONE);
-    check(device_destruct(kernel_device) == ERROR_NONE);
-    holder->device = nullptr;
-}
-
-void registerDevice(const std::shared_ptr<Device>& device) {
-    auto scoped_mutex = mutex.asScopedLock();
-    scoped_mutex.lock();
-
-    if (device->getKernelDeviceHolder() == nullptr) {
-        // Kernel device
-        auto kernel_device_holder = createKernelDeviceHolder(device);
-        device->setKernelDeviceHolder(kernel_device_holder);
-    } else {
-        LOG_W(TAG, "Device %s with id %u was already registered", device->getName().c_str(), (unsigned)device->getId());
-    }
-}
-
-void deregisterDevice(const std::shared_ptr<Device>& device) {
-    auto scoped_mutex = mutex.asScopedLock();
-    scoped_mutex.lock();
-
-    // Kernel device
-    auto kernel_device_holder = device->getKernelDeviceHolder();
-    if (kernel_device_holder) {
-        destroyKernelDeviceHolder(kernel_device_holder);
-        device->setKernelDeviceHolder(nullptr);
-    } else {
-        LOG_W(TAG, "Device %s with id %u was not registered", device->getName().c_str(), (unsigned)device->getId());
-    }
-}
-
-template<typename R>
-auto toVector(R&& range) {
-    using T = std::ranges::range_value_t<R>;
-    std::vector<T> result;
-    if constexpr (std::ranges::common_range<R>) {
-        result.reserve(std::ranges::distance(range));
-    }
-    std::ranges::copy(range, std::back_inserter(result));
-    return result;
-}
-
-std::vector<std::shared_ptr<Device>> findDevices(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction) {
-    auto scoped_mutex = mutex.asScopedLock();
-    scoped_mutex.lock();
-
-    auto devices_view = getDevices() | std::views::filter([&filterFunction](auto& device) {
-        return filterFunction(device);
-    });
-    return toVector(devices_view);
-}
-
-std::shared_ptr<Device> findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction) {
-    auto scoped_mutex = mutex.asScopedLock();
-    scoped_mutex.lock();
-
-    auto result_set = getDevices() | std::views::filter([&filterFunction](auto& device) {
-         return filterFunction(device);
-    });
-    if (!result_set.empty()) {
-        return result_set.front();
-    } else {
-        return nullptr;
-    }
-}
-
-std::shared_ptr<Device> findDevice(std::string name) {
-    return findDevice([&name](auto& device){
-        return device->getName() == name;
-    });
-}
-
-std::shared_ptr<Device> findDevice(Device::Id id) {
-    return findDevice([id](auto& device){
-      return device->getId() == id;
-    });
-}
-
-std::vector<std::shared_ptr<Device>> findDevices(Device::Type type) {
-    return findDevices([type](auto& device) {
-        return device->getType() == type;
-    });
-}
-
-std::vector<std::shared_ptr<Device>> getDevices() {
-    std::vector<std::shared_ptr<Device>> devices;
-    device_for_each_of_type(&HAL_DEVICE_TYPE, &devices ,[](auto* kernelDevice, auto* context) {
-        auto devices_ptr = static_cast<std::vector<std::shared_ptr<Device>>*>(context);
-        auto hal_device = hal_device_get_device(kernelDevice);
-        (*devices_ptr).push_back(hal_device);
-        return true;
-    });
-    return devices;
-}
-
-bool hasDevice(Device::Type type) {
-    auto scoped_mutex = mutex.asScopedLock();
-    scoped_mutex.lock();
-    auto result_set = getDevices() | std::views::filter([&type](auto& device) {
-         return device->getType() == type;
-    });
-    return !result_set.empty();
-}
-
-}

Modules/hal-device-module/source/module.cpp

@@ -1,19 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <tactility/driver.h>
-#include <tactility/module.h>
-
-extern "C" {
-
-extern Driver hal_device_driver;
-
-static Driver* const hal_device_drivers[] = {
-    &hal_device_driver,
-    nullptr
-};
-
-Module hal_device_module = {
-    .name = "hal-device",
-    .drivers = hal_device_drivers
-};
-
-}

Modules/lvgl-module/include/tactility/lvgl_module.h

@@ -72,7 +72,7 @@ void lvgl_module_configure(struct LvglModuleConfig config);
  * It is a recursive mutex.
  * @retval true when a lock was acquired, false otherwise
  */
-bool lvgl_lock(void);
+void lvgl_lock(void);
 
 /**
  * @brief Tries to lock the LVGL mutex with a timeout.

Modules/lvgl-module/source/arch/lvgl_esp32.c

@@ -13,19 +13,19 @@ extern void lvgl_devices_detach();
 
 static bool initialized = false;
 
-bool lvgl_lock(void) {
+void lvgl_lock(void) {
-    if (!initialized) return true; // We allow (fake) locking because it's safe to do so as LVGL is not running yet
+    if (!initialized) { return; }
-    return lvgl_port_lock(portMAX_DELAY);
+    lvgl_port_lock(portMAX_DELAY);
 }
 
 bool lvgl_try_lock(uint32_t timeoutTicks) {
-    if (!initialized) return true; // We allow (fake) locking because it's safe to do so as LVGL is not running yet
+    if (!initialized) { return false; }
     // lvgl_port_lock expects milliseconds
     return lvgl_port_lock(timeoutTicks * portTICK_PERIOD_MS);
 }
 
 void lvgl_unlock(void) {
-    if (!initialized) return;
+    if (!initialized) { return; }
     lvgl_port_unlock();
 }
 

Modules/lvgl-module/source/arch/lvgl_posix.c

@@ -13,6 +13,8 @@
 #include <tactility/lvgl_module.h>
 
 extern struct LvglModuleConfig lvgl_module_config;
+extern void lvgl_devices_attach();
+extern void lvgl_devices_detach();
 
 // Mutex for LVGL drawing
 static struct RecursiveMutex lvgl_mutex;
@@ -37,10 +39,9 @@ static void task_unlock(void) {
     recursive_mutex_unlock(&task_mutex);
 }
 
-bool lvgl_lock(void) {
+void lvgl_lock(void) {
-    if (!lvgl_mutex_initialised) return false;
+    if (!lvgl_mutex_initialised) return;
     recursive_mutex_lock(&lvgl_mutex);
-    return true;
 }
 
 bool lvgl_try_lock(uint32_t timeout) {
@@ -71,6 +72,9 @@ static void lvgl_task(void* arg) {
 
     check(!lvgl_task_is_interrupt_requested());
 
+    // Must run from this task (like on_start below), otherwise the display doesn't work.
+    lvgl_devices_attach();
+
     // on_start must be called from the task, otherwise the display doesn't work
     if (lvgl_module_config.on_start) lvgl_module_config.on_start();
 
@@ -89,6 +93,8 @@ static void lvgl_task(void* arg) {
 
     if (lvgl_module_config.on_stop) lvgl_module_config.on_stop();
 
+    lvgl_devices_detach();
+
     task_lock();
     lvgl_task_handle = NULL;
     task_unlock();

Tactility/CMakeLists.txt

@@ -7,12 +7,12 @@ file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
 list(APPEND REQUIRES_LIST
     TactilityKernel
     TactilityFreeRtos
-    hal-device-module
     lvgl-module
     crypt-module
+    gps-module
+    gps-generic-module
     lv_screenshot
     minitar
-    minmea
 )
 
 if (DEFINED ENV{ESP_IDF_VERSION})

Tactility/Include/Tactility/SystemEvents.h

@@ -6,8 +6,6 @@
 namespace tt::kernel {
 
 enum class SystemEvent {
-    BootInitHalBegin,
-    BootInitHalEnd,
     BootSplash,
     /** Gained IP address */
     NetworkConnected,

Tactility/Include/Tactility/Tactility.h

@@ -1,11 +1,9 @@
 #pragma once
 
-#include "tactility/concurrent/dispatcher.h"
+#include <tactility/concurrent/dispatcher.h>
-#include "tactility/device.h"
+#include <tactility/device.h>
-#include "tactility/module.h"
+#include <tactility/module.h>
 #include <Tactility/app/AppManifest.h>
-#include <Tactility/hal/Configuration.h>
-#include <Tactility/service/ServiceManifest.h>
 
 #include <functional>
 
@@ -40,27 +38,12 @@ private:
     DispatcherHandle_t handle;
 };
 
-/** @brief The configuration for the operating system
- * It contains the hardware configuration, apps and services
- */
-struct Configuration {
-    /** HAL configuration (drivers) */
-    const hal::Configuration* hardware = nullptr;
-};
-
 /**
  * @brief Main entry point for Tactility.
  * @param dtsModules List of modules from devicetree, null-terminated, non-null parameter
  * @param dtsDevices Array that is terminated with DTS_DEVICE_TERMINATOR
  */
-void run(const Configuration& config, Module* dtsModules[], DtsDevice dtsDevices[]);
+void run(Module* dtsModules[], DtsDevice dtsDevices[]);
-
-/**
- * While technically nullable, this instance is always set if tt_init() succeeds.
- * Could return nullptr if init was not called.
- * @return the Configuration instance that was passed on to tt_init() if init is successful
- */
-const Configuration* getConfiguration();
 
 /** Provides access to the dispatcher that runs on the main task.
  * @warning This dispatcher is used for WiFi and might block for some time during WiFi connection.
@@ -68,11 +51,4 @@ const Configuration* getConfiguration();
  */
 MainDispatcher getMainDispatcher();
 
-namespace hal {
-
-/** While technically this configuration is nullable, it's never null after initHeadless() is called. */
-const Configuration* getConfiguration();
-
-} // namespace hal
-
 } // namespace tt

Tactility/Include/Tactility/file/File.h

@@ -45,15 +45,11 @@ struct FileCloser {
     }
 };
 
-typedef std::function<std::shared_ptr<Lock>(const std::string&)> FindLockFunction;
-
 /**
  * @param[in] path the path to get a lock for
  * @return a lock instance (never null)
  */
-std::shared_ptr<Lock> getLock(const std::string& path);
+std::shared_ptr<Lock> getLock(const std::string& path) __attribute__((deprecated("Use file_mutex.h from TactilityKernel")));
-
-void setFindLockFunction(const FindLockFunction& function);
 
 long getSize(FILE* file);
 

Tactility/Include/Tactility/file/FileLock.h

@@ -13,8 +13,9 @@ namespace tt::file {
 
 /**
  * @param[in] path the path to find a lock for
+ * @deprecated
  * @return a lock instance when a lock was found, otherwise nullptr
  */
-std::shared_ptr<Lock> findLock(const std::string& path);
+std::shared_ptr<Lock> findLock(const std::string& path) __attribute__((deprecated("Use file_get_mutex() from TactilityKernel")));
 
 }

Tactility/Include/Tactility/hal/Configuration.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#include <memory>
-#include <tactility/hal/Device.h>
-#include <vector>
-
-namespace tt::hal {
-
-typedef bool (*InitBoot)();
-
-typedef std::vector<std::shared_ptr<Device>> DeviceVector;
-
-typedef std::shared_ptr<Device> (*CreateDevice)();
-
-struct Configuration {
-    /**
-     * Used for powering on the peripherals manually.
-     */
-    const InitBoot initBoot = nullptr;
-
-    const std::function<DeviceVector()> createDevices = [] { return DeviceVector(); };
-};
-
-} // namespace

Tactility/Include/Tactility/hal/display/DisplayDevice.h

@@ -1,63 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-
-#include <lvgl.h>
-
-namespace tt::hal::touch {
-class TouchDevice;
-}
-
-namespace tt::hal::display {
-
-class DisplayDriver;
-
-class DisplayDevice : public Device {
-
-public:
-
-    Type getType() const override { return Type::Display; }
-
-    /** Starts the internal driver */
-    virtual bool start() = 0;
-    virtual bool stop() = 0;
-
-    virtual void setPowerOn(bool turnOn) {}
-    virtual bool isPoweredOn() const { return true; }
-    virtual bool supportsPowerControl() const { return false; }
-
-    /** For e-paper screens */
-    virtual void requestFullRefresh() {}
-
-    /** Blocks until any frame already handed to this display has physically
-     * finished drawing. Displays that draw synchronously within their flush
-     * callback can rely on the default no-op; displays with an asynchronous
-     * refresh pipeline (e.g. e-paper, where a full refresh can take seconds)
-     * should override this so callers can safely do something irreversible
-     * (like cutting power) right after a screen update. */
-    virtual void waitForFlushComplete() {}
-
-    /** Could return nullptr if not started */
-    virtual std::shared_ptr<touch::TouchDevice> getTouchDevice() = 0;
-
-    /** Set a value in the range [0, 255] */
-    virtual void setBacklightDuty(uint8_t backlightDuty) { /* NO-OP */ }
-    virtual bool supportsBacklightDuty() const { return false; }
-
-    /** Set a value in the range [0, 255] */
-    virtual void setGammaCurve(uint8_t index) { /* NO-OP */ }
-    virtual uint8_t getGammaCurveCount() const { return 0; }
-
-    virtual bool supportsLvgl() const = 0;
-    virtual bool startLvgl() = 0;
-    virtual bool stopLvgl() = 0;
-
-    /** Could return nullptr if not started */
-    virtual lv_display_t* getLvglDisplay() const = 0;
-
-    virtual bool supportsDisplayDriver() const = 0;
-    /** Could return nullptr if not supported */
-    virtual std::shared_ptr<DisplayDriver> getDisplayDriver() = 0;
-};
-
-} // namespace tt::hal::display

Tactility/Include/Tactility/hal/display/DisplayDriver.h

@@ -1,37 +0,0 @@
-#pragma once
-
-#include <Tactility/Lock.h>
-#include <cstdint>
-
-namespace tt::hal::display {
-
-enum class ColorFormat {
-    Monochrome, // 1 bpp
-    BGR565,
-    BGR565Swapped,
-    RGB565,
-    RGB565Swapped,
-    RGB888
-};
-
-class DisplayDriver {
-
-public:
-
-    virtual ~DisplayDriver() = default;
-
-    virtual ColorFormat getColorFormat() const = 0;
-    virtual uint16_t getPixelWidth() const = 0;
-    virtual uint16_t getPixelHeight() const = 0;
-    virtual bool drawBitmap(int xStart, int yStart, int xEnd, int yEnd, const void* pixelData) = 0;
-
-    /**
-     * Returns direct pointers to the panel's hardware frame buffer(s), if the
-     * underlying driver supports it (DPI/MIPI-DSI panels only).
-     * @param[out] outBuffers receives up to 2 frame buffer pointers
-     * @return number of buffers written to outBuffers (0 if unsupported)
-     */
-    virtual uint8_t getFrameBuffers(void* outBuffers[2]) const { return 0; }
-};
-
-}

Tactility/Include/Tactility/hal/display/KernelDisplayDriver.h

@@ -1,26 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#pragma once
-
-#include <Tactility/hal/display/DisplayDriver.h>
-
-#include <tactility/device.h>
-
-namespace tt::hal::display {
-
-/** Wraps a TactilityKernel Device of type DISPLAY_TYPE as a DisplayDriver. */
-class KernelDisplayDriver final : public DisplayDriver {
-
-    ::Device* device;
-
-public:
-
-    explicit KernelDisplayDriver(::Device* device);
-
-    ColorFormat getColorFormat() const override;
-    uint16_t getPixelWidth() const override;
-    uint16_t getPixelHeight() const override;
-    bool drawBitmap(int xStart, int yStart, int xEnd, int yEnd, const void* pixelData) override;
-    uint8_t getFrameBuffers(void* outBuffers[2]) const override;
-};
-
-}

Tactility/Include/Tactility/hal/encoder/EncoderDevice.h

@@ -1,24 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-
-#include <lvgl.h>
-
-namespace tt::hal::encoder {
-
-class Display;
-
-class EncoderDevice : public Device {
-
-public:
-
-    Type getType() const override { return Type::Encoder; }
-
-    virtual bool startLvgl(lv_display_t* display) = 0;
-    virtual bool stopLvgl() = 0;
-
-    /** Could return nullptr if not started */
-    virtual lv_indev_t* getLvglIndev() = 0;
-};
-
-}

Tactility/Include/Tactility/hal/gpio/Gpio.h

@@ -1,34 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-namespace tt::hal::gpio {
-
-typedef unsigned int Pin;
-constexpr Pin NO_PIN = -1;
-
-/** @warning The order must match GpioMode from tt_hal_gpio.h */
-enum class Mode {
-    Disable = 0,
-    Input,
-    Output,
-    OutputOpenDrain,
-    InputOutput,
-    InputOutputOpenDrain
-};
-
-/** Configure a single pin */
-bool configure(Pin pin, Mode mode, bool pullUp, bool pullDown);
-
-/** Configure a set of pins defined by their bit index */
-bool configureWithPinBitmask(uint64_t pinBitMask, Mode mode, bool pullUp, bool pullDown);
-
-bool setMode(Pin pin, Mode mode);
-
-bool getLevel(Pin pin);
-
-bool setLevel(Pin pin, bool level);
-
-int getPinCount();
-
-}

Tactility/Include/Tactility/hal/gps/GpsConfiguration.h

@@ -1,36 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <vector>
-#include <string>
-
-namespace tt::hal::gps {
-
-enum class GpsModel {
-    Unknown = 0,
-    AG3335,
-    AG3352,
-    ATGM336H, // Casic (might work with AT6558, Neoway N58 LTE Cat.1, Neoway G2, Neoway G7A)
-    LS20031,
-    MTK,
-    MTK_L76B,
-    MTK_PA1616S,
-    UBLOX6,
-    UBLOX7,
-    UBLOX8,
-    UBLOX9,
-    UBLOX10,
-    UC6580,
-};
-
-const char* toString(GpsModel model);
-
-std::vector<std::string> getModels();
-
-struct GpsConfiguration {
-    char uartName[32]; // e.g. "Internal" or "/dev/ttyUSB0"
-    uint32_t baudRate;
-    GpsModel model; // Choosing "Unknown" will result in a probe
-};
-
-}

Tactility/Include/Tactility/hal/gps/GpsDevice.h

@@ -1,124 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-#include "GpsConfiguration.h"
-#include "Satellites.h"
-
-#include <Tactility/Thread.h>
-#include <Tactility/RecursiveMutex.h>
-
-#include <minmea.h>
-#include <utility>
-
-namespace tt::hal::gps {
-
-enum class GpsResponse {
-    None,
-    NotAck,
-    FrameErrors,
-    Ok,
-};
-
-class GpsDevice : public Device {
-
-public:
-
-    typedef int GgaSubscriptionId;
-    typedef int RmcSubscriptionId;
-
-    enum class State {
-        PendingOn,
-        On,
-        Error,
-        PendingOff,
-        Off
-    };
-
-private:
-
-    struct GgaSubscription {
-        GgaSubscriptionId id;
-        std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_gga&)>> onData;
-    };
-
-    struct RmcSubscription {
-        RmcSubscriptionId id;
-        std::shared_ptr<std::function<void(Device::Id id, const minmea_sentence_rmc&)>> onData;
-    };
-
-    const GpsConfiguration configuration;
-    RecursiveMutex mutex;
-    std::unique_ptr<Thread> thread;
-    bool threadInterrupted = false;
-    std::vector<GgaSubscription> ggaSubscriptions;
-    std::vector<RmcSubscription> rmcSubscriptions;
-    GgaSubscriptionId lastSatelliteSubscriptionId = 0;
-    RmcSubscriptionId lastRmcSubscriptionId = 0;
-    GpsModel model = GpsModel::Unknown;
-    State state = State::Off;
-
-    int32_t threadMain();
-
-    bool isThreadInterrupted() const;
-
-    void setState(State newState);
-
-public:
-
-    explicit GpsDevice(GpsConfiguration configuration) : configuration(std::move(configuration)) {}
-
-    ~GpsDevice() override = default;
-
-    Type getType() const override { return Type::Gps; }
-
-    std::string getName() const override {
-        if (model != GpsModel::Unknown) {
-            return toString(model);
-        } else {
-            return "Unknown GPS";
-        }
-    }
-
-    std::string getDescription() const override { return ""; }
-
-    bool start();
-    bool stop();
-
-    GgaSubscriptionId subscribeGga(const std::function<void(Device::Id deviceId, const minmea_sentence_gga&)>& onData) {
-        auto lock = mutex.asScopedLock();
-        lock.lock();
-        ggaSubscriptions.push_back({
-            .id = ++lastSatelliteSubscriptionId,
-            .onData = std::make_shared<std::function<void(Device::Id, const minmea_sentence_gga&)>>(onData)
-        });
-        return lastSatelliteSubscriptionId;
-    }
-
-    void unsubscribeGga(GgaSubscriptionId subscriptionId) {
-        auto lock = mutex.asScopedLock();
-        lock.lock();
-        std::erase_if(ggaSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
-    }
-
-    RmcSubscriptionId subscribeRmc(const std::function<void(Device::Id deviceId, const minmea_sentence_rmc&)>& onData) {
-        auto lock = mutex.asScopedLock();
-        lock.lock();
-        rmcSubscriptions.push_back({
-            .id = ++lastRmcSubscriptionId,
-            .onData = std::make_shared<std::function<void(Device::Id, const minmea_sentence_rmc&)>>(onData)
-        });
-        return lastRmcSubscriptionId;
-    }
-
-    void unsubscribeRmc(RmcSubscriptionId subscriptionId) {
-        auto lock = mutex.asScopedLock();
-        lock.lock();
-        std::erase_if(rmcSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
-    }
-
-    GpsModel getModel() const;
-
-    State getState() const;
-};
-
-}

Tactility/Include/Tactility/hal/gps/Satellites.h

@@ -1,59 +0,0 @@
-#pragma once
-
-#include <Tactility/freertoscompat/RTOS.h>
-#include <Tactility/RecursiveMutex.h>
-
-#include <minmea.h>
-
-#include <ranges>
-#include <memory>
-
-namespace tt::hal::gps {
-
-/** Thread-safe storage of recent satellites */
-class SatelliteStorage {
-
-public:
-
-    static constexpr size_t recordCount = 32;
-
-private:
-
-    struct SatelliteRecord {
-        minmea_sat_info data {
-            .nr = 0,
-            .elevation = 0,
-            .azimuth = 0,
-            .snr = 0
-        };
-        TickType_t lastUpdated = 0;
-        bool inUse = false;
-    };
-
-    RecursiveMutex mutex;
-    std::array<SatelliteRecord, recordCount> records;
-    uint16_t recycleTimeSeconds;
-    uint16_t recentTimeSeconds;
-
-    SatelliteRecord* findRecord(int number);
-
-    SatelliteRecord* findUnusedRecord();
-
-    SatelliteRecord* findRecordToRecycle();
-
-    /** Tries to find an existing record, otherwise return a free one, otherwise return the oldest active one */
-    SatelliteRecord* findWithFallback(int number);
-
-public:
-
-    explicit SatelliteStorage(
-        uint16_t recycleTimeSeconds = 120,
-        uint16_t recentTimeSeconds = 60
-    ) : recycleTimeSeconds(recycleTimeSeconds), recentTimeSeconds(recentTimeSeconds) {}
-
-    void notify(const minmea_sat_info& info);
-
-    void getRecords(const std::function<void(const minmea_sat_info&)>& onRecord) const;
-};
-
-} // namespace tt::hal::gps

Tactility/Include/Tactility/hal/i2c/I2cDevice.h

@@ -1,49 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-#include <tactility/drivers/i2c_controller.h>
-
-namespace tt::hal::i2c {
-
-/**
- * Represents an I2C peripheral at a specific port and address.
- * It helps to read and write registers.
- *
- * All read and write calls are thread-safe.
- * @deprecated Use the device API from the Kernel project
- */
-class I2cDevice : public Device {
-
-protected:
-
-    ::Device* controller;
-    uint8_t address;
-
-    static constexpr TickType_t DEFAULT_TIMEOUT = 1000 / portTICK_PERIOD_MS;
-
-    bool read(uint8_t* data, size_t dataSize, TickType_t timeout = DEFAULT_TIMEOUT);
-    bool write(const uint8_t* data, uint16_t dataSize, TickType_t timeout = DEFAULT_TIMEOUT);
-    bool writeRead(const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout = DEFAULT_TIMEOUT);
-    bool readRegister8(uint8_t reg, uint8_t& result) const;
-    bool writeRegister(uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout = DEFAULT_TIMEOUT);
-    bool writeRegister8(uint8_t reg, uint8_t value) const;
-    bool readRegister12(uint8_t reg, float& out) const;
-    bool readRegister14(uint8_t reg, float& out) const;
-    bool readRegister16(uint8_t reg, uint16_t& out) const;
-    bool bitOn(uint8_t reg, uint8_t bitmask) const;
-    bool bitOff(uint8_t reg, uint8_t bitmask) const;
-    bool bitOnByIndex(uint8_t reg, uint8_t index) const { return bitOn(reg, 1 << index); }
-    bool bitOffByIndex(uint8_t reg, uint8_t index) const { return bitOff(reg, 1 << index); }
-
-public:
-
-    explicit I2cDevice(::Device* controller, uint32_t address) : controller(controller), address(address) {}
-
-    Type getType() const override { return Type::I2c; }
-
-    ::Device* getController() const { return controller; }
-
-    uint8_t getAddress() const { return address; }
-};
-
-} // namespace tt::hal::i2c

Tactility/Include/Tactility/hal/keyboard/KeyboardDevice.h

@@ -1,27 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-
-#include <lvgl.h>
-
-namespace tt::hal::keyboard {
-
-class Display;
-
-class KeyboardDevice : public Device {
-
-public:
-
-    Type getType() const override { return Type::Keyboard; }
-
-    virtual bool startLvgl(lv_display_t* display) = 0;
-    virtual bool stopLvgl() = 0;
-
-    /** @return true when the keyboard currently is physically attached */
-    virtual bool isAttached() const = 0;
-
-    /** Could return nullptr if not started */
-    virtual lv_indev_t* getLvglIndev() = 0;
-};
-
-}

Tactility/Include/Tactility/hal/power/PowerDevice.h

@@ -1,63 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-#include <cstdint>
-#include <string>
-
-namespace tt::hal::power {
-
-class PowerDevice : public Device {
-
-public:
-
-    PowerDevice();
-    ~PowerDevice() override;
-
-    Type getType() const override { return Type::Power; }
-
-    enum class MetricType {
-        IsCharging, // bool
-        Current, // int32_t, mAh - battery current: either during charging (positive value) or discharging (negative value)
-        BatteryVoltage, // uint32_t, mV
-        ChargeLevel, // uint8_t [0, 100]
-    };
-
-    union MetricData {
-        int32_t valueAsInt32 = 0;
-        uint32_t valueAsUint32;
-        uint8_t valueAsUint8;
-        float valueAsFloat;
-        bool valueAsBool;
-    };
-
-    virtual bool supportsMetric(MetricType type) const = 0;
-
-    /**
-     * @return false when metric is not supported or (temporarily) not available.
-     */
-    virtual bool getMetric(MetricType type, MetricData& data) = 0;
-
-    virtual bool supportsChargeControl() const { return false; }
-    virtual bool isAllowedToCharge() const { return false; }
-    virtual void setAllowedToCharge(bool canCharge) { /* NO-OP*/ }
-
-    virtual bool supportsQuickCharge() const { return false; }
-    virtual bool isQuickChargeEnabled() const { return false; }
-    virtual void setQuickChargeEnabled(bool enabled) { /* NO-OP */ }
-
-    virtual bool supportsPowerOff() const { return false; }
-    virtual void powerOff() { /* NO-OP*/ }
-
-private:
-
-    /** Creates the kernel-level power_supply device that exposes this instance to TactilityKernel. */
-    void createPowerSupplyDevice();
-
-    /** Destroys the kernel-level power_supply device created by createPowerSupplyDevice(). */
-    void destroyPowerSupplyDevice();
-
-    std::string kernelDeviceName;
-    KernelDevice kernelDevice {};
-};
-
-}

Tactility/Include/Tactility/hal/touch/KernelTouchDriver.h

@@ -1,22 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#pragma once
-
-#include <Tactility/hal/touch/TouchDriver.h>
-
-#include <tactility/device.h>
-
-namespace tt::hal::touch {
-
-/** Wraps a TactilityKernel Device of type POINTER_TYPE as a TouchDriver. */
-class KernelTouchDriver final : public TouchDriver {
-
-    ::Device* device;
-
-public:
-
-    explicit KernelTouchDriver(::Device* device);
-
-    bool getTouchedPoints(uint16_t* x, uint16_t* y, uint16_t* strength, uint8_t* pointCount, uint8_t maxPointCount) override;
-};
-
-}

Tactility/Include/Tactility/hal/touch/TouchDevice.h

@@ -1,36 +0,0 @@
-#pragma once
-
-#include <tactility/hal/Device.h>
-#include "TouchDriver.h"
-
-#include <lvgl.h>
-
-namespace tt::hal::touch {
-
-class Display;
-
-class TouchDevice : public Device {
-
-public:
-
-    Type getType() const override { return Type::Touch; }
-
-    virtual bool start() = 0;
-    virtual bool stop() = 0;
-
-    virtual bool supportsLvgl() const = 0;
-    virtual bool startLvgl(lv_display_t* display) = 0;
-    virtual bool stopLvgl() = 0;
-
-    /** Could return nullptr if not started */
-    virtual lv_indev_t* getLvglIndev() = 0;
-
-    virtual bool supportsTouchDriver() = 0;
-
-    virtual bool supportsCalibration() const { return false; }
-
-    /** Could return nullptr if not supported */
-    virtual std::shared_ptr<TouchDriver> getTouchDriver() = 0;
-};
-
-}

Tactility/Include/Tactility/hal/touch/TouchDriver.h

@@ -1,25 +0,0 @@
-#pragma once
-
-#include <cstdint>
-
-namespace tt::hal::touch {
-
-class TouchDriver {
-
-public:
-
-    /**
-     * Get the coordinates for the currently touched points on the screen.
-     *
-     * @param[in] x array of X coordinates
-     * @param[in] y array of Y coordinates
-     * @param[in] strength optional array of strengths (nullable)
-     * @param[in] pointCount the number of points currently touched on the screen
-     * @param[in] maxPointCount the maximum number of points that can be touched at once
-     *
-     * @return true when touched and coordinates are available
-     */
-    virtual bool getTouchedPoints(uint16_t* x, uint16_t* y, uint16_t* strength, uint8_t* pointCount, uint8_t maxPointCount) = 0;
-};
-
-}

Tactility/Include/Tactility/lvgl/LvglSync.h

@@ -14,11 +14,11 @@ constexpr TickType_t defaultLockTime = 500 / portTICK_PERIOD_MS;
  * @warning when passing zero, we wait forever, as this is the default behaviour for esp_lvgl_port, and we want it to remain consistent
  * @deprecated Use lvgl_lock() or lvgl_try_lock() from lvgl-module instead.
  */
-bool lock(TickType_t timeout = portMAX_DELAY);
+bool lock(TickType_t timeout = portMAX_DELAY) __attribute__((deprecated("Use lvgl_lock() from lvgl-module")));
 
 /** @deprecated Use lvgl_unlock() from lvgl-module instead. */
-void unlock();
+void unlock() __attribute__((deprecated("Use lvgl_unlock() from lvgl-module")));
 
-std::shared_ptr<Lock> getSyncLock();
+std::shared_ptr<Lock> getSyncLock() __attribute__((deprecated("Use lvgl locking functions from lvgl-module")));
 
 } // namespace

Tactility/Include/Tactility/service/gps/GpsService.h

@@ -1,73 +0,0 @@
-#pragma once
-
-#include <Tactility/PubSub.h>
-#include <Tactility/Mutex.h>
-#include <Tactility/RecursiveMutex.h>
-#include <Tactility/hal/gps/GpsDevice.h>
-#include <Tactility/service/Service.h>
-#include <Tactility/service/ServiceContext.h>
-#include <Tactility/service/gps/GpsState.h>
-
-namespace tt::service::gps {
-
-class GpsService final : public Service {
-
-    struct GpsDeviceRecord {
-        std::shared_ptr<hal::gps::GpsDevice> device = nullptr;
-        hal::gps::GpsDevice::GgaSubscriptionId satelliteSubscriptionId = -1;
-        hal::gps::GpsDevice::RmcSubscriptionId rmcSubscriptionId = -1;
-    };
-
-    minmea_sentence_rmc rmcRecord;
-    TickType_t rmcTime = 0;
-
-    minmea_sentence_gga ggaRecord;
-    TickType_t ggaTime = 0;
-
-    RecursiveMutex mutex;
-    Mutex stateMutex;
-    std::vector<GpsDeviceRecord> deviceRecords;
-    std::shared_ptr<PubSub<State>> statePubSub = std::make_shared<PubSub<State>>();
-    std::unique_ptr<ServicePaths> paths;
-    State state = State::Off;
-
-    bool startGpsDevice(GpsDeviceRecord& deviceRecord);
-    static bool stopGpsDevice(GpsDeviceRecord& deviceRecord);
-
-    /** return nullptr when not found */
-    GpsDeviceRecord* findGpsRecord(const std::shared_ptr<hal::gps::GpsDevice>& record);
-
-    void onGgaSentence(hal::Device::Id deviceId, const minmea_sentence_gga& gga);
-    void onRmcSentence(hal::Device::Id deviceId, const minmea_sentence_rmc& rmc);
-
-    void setState(State newState);
-
-    void addGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
-    void removeGpsDevice(const std::shared_ptr<hal::gps::GpsDevice>& device);
-
-    bool getConfigurationFilePath(std::string& output) const;
-
-public:
-
-    bool onStart(ServiceContext &serviceContext) override;
-    void onStop(ServiceContext &serviceContext) override;
-
-    bool addGpsConfiguration(hal::gps::GpsConfiguration configuration);
-    bool removeGpsConfiguration(hal::gps::GpsConfiguration configuration);
-    bool getGpsConfigurations(std::vector<hal::gps::GpsConfiguration>& configurations) const;
-
-    bool startReceiving();
-    void stopReceiving();
-    State getState() const;
-
-    bool hasCoordinates() const;
-    bool getCoordinates(minmea_sentence_rmc& rmc) const;
-    bool getGga(minmea_sentence_gga& gga) const;
-
-    /** @return GPS service pubsub that broadcasts State* objects */
-    std::shared_ptr<PubSub<State>> getStatePubsub() const { return statePubSub; }
-};
-
-std::shared_ptr<GpsService> findGpsService();
-
-} // tt::service::gps

Tactility/Include/Tactility/service/gps/GpsState.h

@@ -1,12 +0,0 @@
-#pragma once
-
-namespace tt::service::gps {
-
-enum class State {
-    OnPending,
-    On,
-    OffPending,
-    Off
-};
-
-}

Tactility/Include/Tactility/service/gps/GpsUtil.h

@@ -1,10 +0,0 @@
-#pragma once
-
-#include <minmea.h>
-
-namespace tt::hal::gps {
-
-/** @return true when the input float is valid (contains non-zero values) */
-inline bool isValid(const minmea_float& inFloat) { return inFloat.value != 0 && inFloat.scale != 0; }
-
-}

Tactility/Private/Tactility/hal/HalPrivate.h

@@ -1,9 +0,0 @@
-#pragma once
-
-#include "Tactility/hal/Configuration.h"
-
-namespace tt::hal {
-
-void init(const Configuration& configuration);
-
-} // namespace

Tactility/Private/Tactility/hal/SdCard.h

@@ -7,14 +7,6 @@
 
 namespace tt::hal::sdcard {
 
-/**
+void startAll();
- * Attempt to find an SD card that the specified belongs to,
- * and returns its lock if the SD card is mounted. Otherwise it returns nullptr.
- * @param[in] a path on a file system (e.g. file, directory, etc.)
- * @return the lock of a mounted SD card or otherwise null
- */
-std::shared_ptr<Lock> findSdCardLock(const std::string& path);
-
-void mountAll();
 
 }

Tactility/Private/Tactility/hal/gps/Cas.h

@@ -1,68 +0,0 @@
-/**
- * Source: https://raw.githubusercontent.com/meshtastic/firmware/3b0232de1b6282eacfbff6e50b68fca7e67b8511/src/gps/cas.h
- */
-#pragma once
-
-#include <cstdint>
-
-// CASIC binary message definitions
-// Reference: https://www.icofchina.com/d/file/xiazai/2020-09-22/20f1b42b3a11ac52089caf3603b43fb5.pdf
-// ATGM33H-5N: https://www.icofchina.com/pro/mokuai/2016-08-01/4.html
-// (https://www.icofchina.com/d/file/xiazai/2016-12-05/b5c57074f4b1fcc62ba8c7868548d18a.pdf)
-
-// NEMA (Class ID - 0x4e) message IDs
-#define CAS_NEMA_GGA 0x00
-#define CAS_NEMA_GLL 0x01
-#define CAS_NEMA_GSA 0x02
-#define CAS_NEMA_GSV 0x03
-#define CAS_NEMA_RMC 0x04
-#define CAS_NEMA_VTG 0x05
-#define CAS_NEMA_GST 0x07
-#define CAS_NEMA_ZDA 0x08
-#define CAS_NEMA_DHV 0x0D
-
-// Size of a CAS-ACK-(N)ACK message (14 bytes)
-#define CAS_ACK_NACK_MSG_SIZE 0x0E
-
-// CFG-RST (0x06, 0x02)
-// Factory reset
-constexpr uint8_t _message_CAS_CFG_RST_FACTORY[] = {
-    0xFF, 0x03, // Fields to clear
-    0x01,       // Reset Mode: Controlled Software reset
-    0x03        // Startup Mode: Factory
-};
-
-// CFG_RATE (0x06, 0x01)
-// 1HZ update rate, this should always be the case after
-// factory reset but update it regardless
-constexpr uint8_t _message_CAS_CFG_RATE_1HZ[] = {
-    0xE8, 0x03, // Update Rate: 0x03E8 = 1000ms
-    0x00, 0x00  // Reserved
-};
-
-// CFG-NAVX (0x06, 0x07)
-// Initial ATGM33H-5N configuration, Updates for Dynamic Mode, Fix Mode, and SV system
-// Qwirk: The ATGM33H-5N-31 should only support GPS+BDS, however it will happily enable
-//  and use GPS+BDS+GLONASS iff the correct CFG_NAVX command is used.
-constexpr uint8_t _message_CAS_CFG_NAVX_CONF[] = {
-    0x03, 0x01, 0x00, 0x00, // Update Mask: Dynamic Mode, Fix Mode, Nav Settings
-    0x03,                   // Dynamic Mode: Automotive
-    0x03,                   // Fix Mode: Auto 2D/3D
-    0x00,                   // Min SV
-    0x00,                   // Max SVs
-    0x00,                   // Min CNO
-    0x00,                   // Reserved1
-    0x00,                   // Init 3D fix
-    0x00,                   // Min Elevation
-    0x00,                   // Dr Limit
-    0x07,                   // Nav System: 2^0 = GPS, 2^1 = BDS 2^2 = GLONASS: 2^3
-    // 3=GPS+BDS, 7=GPS+BDS+GLONASS
-    0x00, 0x00,             // Rollover Week
-    0x00, 0x00, 0x00, 0x00, // Fix Altitude
-    0x00, 0x00, 0x00, 0x00, // Fix Height Error
-    0x00, 0x00, 0x00, 0x00, // PDOP Maximum
-    0x00, 0x00, 0x00, 0x00, // TDOP Maximum
-    0x00, 0x00, 0x00, 0x00, // Position Accuracy Max
-    0x00, 0x00, 0x00, 0x00, // Time Accuracy Max
-    0x00, 0x00, 0x00, 0x00  // Static Hold Threshold
-};

Tactility/Private/Tactility/hal/gps/GpsInit.h

@@ -1,14 +0,0 @@
-#pragma once
-
-#include "Tactility/hal/gps/GpsDevice.h"
-
-struct Device;
-
-namespace tt::hal::gps {
-
-/**
- * Init sequence on UART for a specific GPS model.
- */
-bool init(::Device* uart, GpsModel type);
-
-}