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.

TactilityKernel/Include/tactility/driver.h

@@ -37,6 +37,14 @@ error_t driver_construct(struct Driver* driver);
 
 error_t driver_destruct(struct Driver* driver);
 
+error_t driver_add(struct Driver* driver);
+
+error_t driver_remove(struct Driver* driver);
+
+error_t driver_construct_add(struct Driver* driver);
+
+error_t driver_remove_destruct(struct Driver* driver);
+
 error_t driver_bind(struct Driver* driver, struct Device* device);
 
 error_t driver_unbind(struct Driver* driver, struct Device* device);

TactilityKernel/Include/tactility/freertos/port.h

@@ -5,6 +5,15 @@
 #include "freertos.h"
 
 #ifndef ESP_PLATFORM
+
+// TactilityFreeRTOS co-existence check
+#ifndef xPortInIsrContext
 #define xPortInIsrContext() (pdFALSE)
+#endif
+
+// TactilityFreeRTOS co-existence check
+#ifndef vPortAssertIfInISR
 #define vPortAssertIfInISR()
 #endif
+
+#endif

TactilityKernel/Include/tactility/kernel_init.h

@@ -11,8 +11,8 @@ extern "C" {
 /**
  * Initialize the kernel with platform and device modules, and a device tree.
  * @param platform_module The platform module to start. This module should not be constructed yet.
- * @param device_module The device module to start. This module should not be constructed yet.
- * @param devicetree_devices The list of generated devices from the devicetree. The array must be terminated by an entry { NULL, NULL }
+ * @param device_module The device module to start. This module should not be constructed yet. This parameter can be NULL.
+ * @param devicetree_devices The list of generated devices from the devicetree. The array must be terminated by an entry { NULL, NULL }. This parameter can be NULL.
  * @return ERROR_NONE on success, otherwise an error code
  */
 error_t kernel_init(struct Module* platform_module, struct Module* device_module, struct CompatibleDevice devicetree_devices[]);

TactilityKernel/Include/tactility/module.h

@@ -17,6 +17,8 @@ struct Module {
     /**
      * The name of the module, for logging/debugging purposes
      * Should never be NULL.
+     * Characters allowed: a-z A-Z 0-9 - _ .
+     * Desirable format "platform-esp32", "lilygo-tdeck", etc.
      */
     const char* name;
 

TactilityKernel/Source/crash.cpp

@@ -1,3 +1,4 @@
+#include <cstdlib>
 #include <tactility/freertos/task.h>
 #include <tactility/log.h>
 
@@ -31,7 +32,7 @@ __attribute__((noreturn)) void __crash(void) {
 #ifdef ESP_PLATFORM
     esp_system_abort("System halted. Connect debugger for more info.");
 #else
-    while (true) { /* Indefinite lock-up */ }
+    exit(1);
 #endif
     __builtin_unreachable();
 }

TactilityKernel/Source/device.cpp

@@ -49,7 +49,7 @@ error_t device_construct(Device* device) {
     if (device->internal.device_private == nullptr) {
         return ERROR_OUT_OF_MEMORY;
     }
-    LOG_I(TAG, "construct %s", device->name);
+    LOG_D(TAG, "construct %s", device->name);
     mutex_construct(&device->internal.mutex);
     return ERROR_NONE;
 }
@@ -61,7 +61,7 @@ error_t device_destruct(Device* device) {
     if (!get_device_private(device)->children.empty()) {
         return ERROR_INVALID_STATE;
     }
-    LOG_I(TAG, "destruct %s", device->name);
+    LOG_D(TAG, "destruct %s", device->name);
     mutex_destruct(&device->internal.mutex);
     delete get_device_private(device);
     device->internal.device_private = nullptr;
@@ -88,7 +88,7 @@ static void device_remove_child(struct Device* device, struct Device* child) {
 }
 
 error_t device_add(Device* device) {
-    LOG_I(TAG, "add %s", device->name);
+    LOG_D(TAG, "add %s", device->name);
 
     // Already added
     if (device->internal.state.started || device->internal.state.added) {
@@ -111,7 +111,7 @@ error_t device_add(Device* device) {
 }
 
 error_t device_remove(Device* device) {
-    LOG_I(TAG, "remove %s", device->name);
+    LOG_D(TAG, "remove %s", device->name);
 
     if (device->internal.state.started || !device->internal.state.added) {
         return ERROR_INVALID_STATE;

TactilityKernel/Source/driver.cpp

@@ -58,28 +58,6 @@ static DriverLedger& get_ledger() {
 #define driver_lock(driver) mutex_lock(&get_driver_private(driver)->mutex);
 #define driver_unlock(driver) mutex_unlock(&get_driver_private(driver)->mutex);
 
-static void driver_add(Driver* driver) {
-    LOG_I(TAG, "add %s", driver->name);
-    ledger.lock();
-    ledger.drivers.push_back(driver);
-    ledger.unlock();
-}
-
-static error_t driver_remove(Driver* driver) {
-    LOG_I(TAG, "remove %s", driver->name);
-
-    ledger.lock();
-    const auto iterator = std::ranges::find(ledger.drivers, driver);
-    if (iterator == ledger.drivers.end()) {
-        ledger.unlock();
-        return ERROR_NOT_FOUND;
-    }
-    ledger.drivers.erase(iterator);
-    ledger.unlock();
-
-    return ERROR_NONE;
-}
-
 extern "C" {
 
 error_t driver_construct(Driver* driver) {
@@ -87,7 +65,6 @@ error_t driver_construct(Driver* driver) {
     if (driver->driver_private == nullptr) {
         return ERROR_OUT_OF_MEMORY;
     }
-    driver_add(driver);
     return ERROR_NONE;
 }
 
@@ -104,10 +81,6 @@ error_t driver_destruct(Driver* driver) {
     }
     get_driver_private(driver)->destroying = true;
 
-    if (driver_remove(driver) != ERROR_NONE) {
-        LOG_W(TAG, "Failed to remove driver from ledger: %s", driver->name);
-    }
-
     driver_unlock(driver);
     delete get_driver_private(driver);
     driver->driver_private = nullptr;
@@ -115,6 +88,41 @@ error_t driver_destruct(Driver* driver) {
     return ERROR_NONE;
 }
 
+error_t driver_add(Driver* driver) {
+    LOG_I(TAG, "add %s", driver->name);
+    ledger.lock();
+    ledger.drivers.push_back(driver);
+    ledger.unlock();
+    return ERROR_NONE;
+}
+
+error_t driver_remove(Driver* driver) {
+    LOG_I(TAG, "remove %s", driver->name);
+
+    ledger.lock();
+    const auto iterator = std::ranges::find(ledger.drivers, driver);
+    if (iterator == ledger.drivers.end()) {
+        ledger.unlock();
+        return ERROR_NOT_FOUND;
+    }
+    ledger.drivers.erase(iterator);
+    ledger.unlock();
+
+    return ERROR_NONE;
+}
+
+error_t driver_construct_add(struct Driver* driver) {
+    if (driver_construct(driver) != ERROR_NONE) return ERROR_RESOURCE;
+    if (driver_add(driver) != ERROR_NONE) return ERROR_RESOURCE;
+    return ERROR_NONE;
+}
+
+error_t driver_remove_destruct(struct Driver* driver) {
+    if (driver_remove(driver) != ERROR_NONE) return ERROR_RESOURCE;
+    if (driver_destruct(driver) != ERROR_NONE) return ERROR_RESOURCE;
+    return ERROR_NONE;
+}
+
 bool driver_is_compatible(Driver* driver, const char* compatible) {
     if (compatible == nullptr || driver->compatible == nullptr) {
         return false;

TactilityKernel/Source/kernel_init.cpp

@@ -14,7 +14,7 @@ struct ModuleParent kernel_module_parent = {
 
 static error_t init_kernel_drivers() {
     extern Driver root_driver;
-    if (driver_construct(&root_driver) != ERROR_NONE) return ERROR_RESOURCE;
+    if (driver_construct_add(&root_driver) != ERROR_NONE) return ERROR_RESOURCE;
     return ERROR_NONE;
 }
 
@@ -37,19 +37,23 @@ error_t kernel_init(struct Module* platform_module, struct Module* device_module
         return ERROR_RESOURCE;
     }
 
-    module_set_parent(device_module, &kernel_module_parent);
-    if (module_start(device_module) != ERROR_NONE) {
-        LOG_E(TAG, "init failed to start device module");
-        return ERROR_RESOURCE;
-    }
-
-    CompatibleDevice* compatible_device = devicetree_devices;
-    while (compatible_device->device != nullptr) {
-        if (device_construct_add_start(compatible_device->device, compatible_device->compatible) != ERROR_NONE) {
-            LOG_E(TAG, "kernel_init failed to construct device: %s (%s)", compatible_device->device->name, compatible_device->compatible);
+    if (device_module != nullptr) {
+        module_set_parent(device_module, &kernel_module_parent);
+        if (module_start(device_module) != ERROR_NONE) {
+            LOG_E(TAG, "init failed to start device module");
             return ERROR_RESOURCE;
         }
-        compatible_device++;
+    }
+
+    if (devicetree_devices) {
+        CompatibleDevice* compatible_device = devicetree_devices;
+        while (compatible_device->device != nullptr) {
+            if (device_construct_add_start(compatible_device->device, compatible_device->compatible) != ERROR_NONE) {
+                LOG_E(TAG, "kernel_init failed to construct device: %s (%s)", compatible_device->device->name, compatible_device->compatible);
+                return ERROR_RESOURCE;
+            }
+            compatible_device++;
+        }
     }
 
     LOG_I(TAG, "init done");

TactilityKernel/Source/module.cpp

@@ -3,6 +3,8 @@
 #include <tactility/concurrent/mutex.h>
 #include <tactility/module.h>
 
+#define TAG LOG_TAG(module)
+
 struct ModuleParentPrivate {
     std::vector<struct Module*> modules;
     struct Mutex mutex = { 0 };
@@ -72,6 +74,8 @@ error_t module_set_parent(struct Module* module, struct ModuleParent* parent) {
 }
 
 error_t module_start(struct Module* module) {
+    LOG_I(TAG, "start %s", module->name);
+
     if (module->internal.started) return ERROR_NONE;
     if (!module->internal.parent) return ERROR_INVALID_STATE;
 
@@ -85,6 +89,8 @@ bool module_is_started(struct Module* module) {
 }
 
 error_t module_stop(struct Module* module) {
+    LOG_I(TAG, "stop %s", module->name);
+
     if (!module->internal.started) return ERROR_NONE;
 
     error_t error = module->stop();