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Create hal-device module, fix GPIO, fix tests, fix TactilityC (#471)

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* **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
2026-02-01 01:05:16 +01:00
committed by GitHub
parent 5993ceb232
commit 3fe1dc0312
74 changed files with 836 additions and 211 deletions
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TactilityKernel/Source/kernel_init.cpp
+16 -12
View File
@@ -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");