Create hal-device module, fix GPIO, fix tests, fix TactilityC (#471)
* **New Features** * Added a HAL device module providing device enumeration, type queries and a HAL↔kernel bridge. * **Improvements** * Integrated HAL module into startup; standardized module names, includes and lifecycle logging; safer file append behavior; broader build support. * **API Changes** * Driver lifecycle now uses explicit add/remove semantics; C and HAL device type/lookup APIs clarified. * **Chores** * Added module README and Apache‑2.0 license; updated build configuration to include the new module. * **Fixes** * Updated tests and object file handling to behave correctly.
This commit is contained in:
Ken Van Hoeylandt
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GitHub
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5993ceb232
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3fe1dc0312
@@ -1,125 +0,0 @@
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#pragma once
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#include <functional>
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#include <memory>
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#include <ranges>
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#include <string>
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#include <vector>
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#include <cassert>
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namespace tt::hal {
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/** Base class for HAL-related devices. */
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class Device {
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public:
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enum class Type {
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I2c,
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Display,
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Touch,
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SdCard,
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Keyboard,
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Encoder,
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Power,
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Gps,
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Other
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};
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typedef uint32_t Id;
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private:
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Id id;
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public:
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Device();
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virtual ~Device() = default;
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/** Unique identifier */
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Id getId() const { return id; }
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/** The type of device */
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virtual Type getType() const = 0;
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/** The part number or hardware name e.g. TdeckTouch, TdeckDisplay, BQ24295, etc. */
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virtual std::string getName() const = 0;
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/** A short description of what this device does.
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* e.g. "USB charging controller with I2C interface."
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*/
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virtual std::string getDescription() const = 0;
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};
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/**
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* Adds a device to the registry.
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* @warning This will leak memory if you want to destroy a device and don't call deregisterDevice()!
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*/
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void registerDevice(const std::shared_ptr<Device>& device);
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/** Remove a device from the registry. */
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void deregisterDevice(const std::shared_ptr<Device>& device);
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/** Find a single device with a custom filter */
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std::shared_ptr<Device> _Nullable findDevice(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
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/** Find devices with a custom filter */
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std::vector<std::shared_ptr<Device>> findDevices(const std::function<bool(const std::shared_ptr<Device>&)>& filterFunction);
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/** Find a device in the registry by its name. */
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std::shared_ptr<Device> _Nullable findDevice(std::string name);
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/** Find a device in the registry by its identifier. */
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std::shared_ptr<Device> _Nullable findDevice(Device::Id id);
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/** Find 0, 1 or more devices in the registry by type. */
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std::vector<std::shared_ptr<Device>> findDevices(Device::Type type);
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/** Get a copy of the entire device registry in its current state. */
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std::vector<std::shared_ptr<Device>> getDevices();
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/** Find devices of a certain type and cast them to the specified class */
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template<class DeviceType>
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std::vector<std::shared_ptr<DeviceType>> findDevices(Device::Type type) {
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auto devices = findDevices(type);
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if (devices.empty()) {
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return {};
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} else {
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std::vector<std::shared_ptr<DeviceType>> result;
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result.reserve(devices.size());
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for (auto& device : devices) {
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auto target_device = std::static_pointer_cast<DeviceType>(device);
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assert(target_device != nullptr);
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result.push_back(target_device);
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}
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return std::move(result);
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}
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}
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template<class DeviceType>
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void findDevices(Device::Type type, std::function<bool(const std::shared_ptr<DeviceType>&)> onDeviceFound) {
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auto devices_view = findDevices(type);
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for (auto& device : devices_view) {
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auto typed_device = std::static_pointer_cast<DeviceType>(device);
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if (!onDeviceFound(typed_device)) {
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break;
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}
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}
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}
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/** Find the first device of the specified type and cast it to the specified class */
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template<class DeviceType>
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std::shared_ptr<DeviceType> findFirstDevice(Device::Type type) {
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auto devices = findDevices(type);
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if (devices.empty()) {
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return {};
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} else {
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auto& first = devices[0];
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return std::static_pointer_cast<DeviceType>(first);
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}
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}
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/** @return true if there are 1 or more devices of the specified type */
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bool hasDevice(Device::Type type);
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}
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include "GpsConfiguration.h"
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#include "Satellites.h"
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@@ -110,7 +110,7 @@ public:
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return lastRmcSubscriptionId;
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}
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void unsubscribeRmc(GgaSubscriptionId subscriptionId) {
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void unsubscribeRmc(RmcSubscriptionId subscriptionId) {
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auto lock = mutex.asScopedLock();
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lock.lock();
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std::erase_if(rmcSubscriptions, [subscriptionId](auto& subscription) { return subscription.id == subscriptionId; });
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include "I2c.h"
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namespace tt::hal::i2c {
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <lvgl.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <cstdint>
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namespace tt::hal::power {
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@@ -44,4 +44,4 @@ public:
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virtual void powerOff() { /* NO-OP*/ }
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};
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} // namespace tt
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}
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include <Tactility/TactilityCore.h>
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#include <Tactility/Lock.h>
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@@ -5,7 +5,7 @@
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#include "SdCardDevice.h"
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#include <Tactility/RecursiveMutex.h>
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#include <Tactility/hal/Device.h>
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#include <tactility/hal/Device.h>
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#include <Tactility/hal/spi/Spi.h>
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#include <sd_protocol_types.h>
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#include <soc/gpio_num.h>
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@@ -1,6 +1,6 @@
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#pragma once
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#include "../Device.h"
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#include <tactility/hal/Device.h>
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#include "TouchDriver.h"
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#include <lvgl.h>
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