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.

Tests/Tactility/Main.cpp

@@ -5,12 +5,27 @@
 #include "FreeRTOS.h"
 #include "task.h"
 
+#include <tactility/kernel_init.h>
+#include <tactility/hal_device_module.h>
+
 typedef struct {
     int argc;
     char** argv;
     int result;
 } TestTaskData;
 
+extern "C" {
+// From the relevant platform
+extern struct Module platform_module;
+// From the relevant device
+extern struct Module device_module;
+}
+
+struct ModuleParent tactility_tests_module_parent  {
+    "tactility-tests",
+    nullptr
+};
+
 void test_task(void* parameter) {
     auto* data = (TestTaskData*)parameter;
 
@@ -21,6 +36,12 @@ void test_task(void* parameter) {
     // overrides
     context.setOption("no-breaks", true); // don't break in the debugger when assertions fail
 
+    check(kernel_init(&platform_module, &device_module, nullptr) == ERROR_NONE);
+    // HAL compatibility module: it creates kernel driver wrappers for tt::hal::Device
+    check(module_parent_construct(&tactility_tests_module_parent) == ERROR_NONE);
+    check(module_set_parent(&hal_device_module, &tactility_tests_module_parent) == ERROR_NONE);
+    check(module_start(&hal_device_module) == ERROR_NONE);
+
     data->result = context.run();
 
     vTaskEndScheduler();
@@ -46,4 +67,6 @@ int main(int argc, char** argv) {
     assert(task_result == pdPASS);
 
     vTaskStartScheduler();
+
+    return data.result;
 }