Implemented TactilityKernel and DevicetreeCompiler, updated licenses & copyrights (#452)

**New features**

- Created a devicetree DTS and YAML parser in Python
- Created new modules:
  - TactilityKernel (LGPL v3.0 license)
  - Platforms/PlatformEsp32 (LGPL v3.0 license) 
  - Platforms/PlatformPosix (LGPL v3.0 license)
  - Tests/TactilityKernelTests

Most boards have a placeholder DTS file, while T-Lora Pager has a few devices attached.

**Licenses**

Clarified licenses and copyrights better.

- Add explanation about the intent behind them.
- Added explanation about licenses for past and future subprojects
- Added more details explanations with regards to the logo usage
- Copied licenses to subprojects to make it more explicit

Firmware/.gitignore

@@ -0,0 +1 @@
+Generated/

Firmware/CMakeLists.txt

@@ -2,28 +2,58 @@ cmake_minimum_required(VERSION 3.20)
 
 file(GLOB_RECURSE SOURCE_FILES "Source/*.c*")
 
+# For Generate target below
 if (DEFINED ENV{ESP_IDF_VERSION})
-    # Read device id/project
     include("../Buildscripts/device.cmake")
     init_tactility_globals("../sdkconfig")
     get_property(TACTILITY_DEVICE_PROJECT GLOBAL PROPERTY TACTILITY_DEVICE_PROJECT)
+else ()
+    set(TACTILITY_DEVICE_ID simulator)
+    set(COMPONENT_LIB FirmwareSim)
+endif ()
+
+set(DEVICETREE_LOCATION "${CMAKE_SOURCE_DIR}/Devices/${TACTILITY_DEVICE_ID}")
+
+if (DEFINED ENV{ESP_IDF_VERSION})
 
     idf_component_register(
-        SRCS ${SOURCE_FILES}
-        REQUIRES ${DEVICE_COMPONENTS}
-        REQUIRES Tactility TactilityC ${TACTILITY_DEVICE_PROJECT}
+        SRCS ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
+        REQUIRES Tactility TactilityC TactilityKernel PlatformEsp32 ${TACTILITY_DEVICE_PROJECT}
     )
+
 else ()
 
-    add_executable(FirmwareSim ${SOURCE_FILES})
-    target_link_libraries(FirmwareSim
-        PRIVATE Tactility
-        PRIVATE TactilityCore
-        PRIVATE TactilityFreeRtos
-        PRIVATE Simulator
-        PRIVATE SDL2::SDL2-static SDL2-static
+    add_executable(FirmwareSim ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+    target_link_libraries(FirmwareSim PRIVATE
+        Tactility
+        TactilityCore
+        TactilityFreeRtos
+        TactilityKernel
+        Simulator
+        PlatformPosix
+        SDL2::SDL2-static SDL2-static
     )
 
     add_definitions(-D_Nullable=)
     add_definitions(-D_Nonnull=)
 endif ()
+
+file(MAKE_DIRECTORY "${CMAKE_SOURCE_DIR}/Firmware/Generated")
+
+# Generate devicetree code and attach to Firmware component
+add_custom_command(
+    OUTPUT "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
+        "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h"
+    COMMAND pip install lark pyyaml
+    COMMAND python "${CMAKE_SOURCE_DIR}/Buildscripts/DevicetreeCompiler/compile.py"
+    "${DEVICETREE_LOCATION}" "Firmware/Generated"
+    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+    DEPENDS "${DEVICETREE_LOCATION}/devicetree.yaml" # Optional: trigger rebuild if source changes
+    COMMENT "Generating devicetree source files..."
+)
+add_custom_target(Generated DEPENDS "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c" PROPERTIES GENERATED TRUE)
+set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h" PROPERTIES GENERATED TRUE)
+# Update target for generated code
+target_sources(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+target_include_directories(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")

Firmware/Source/Main.cpp

@@ -1,5 +1,8 @@
 #include <Tactility/Tactility.h>
 
+#include <Tactility/Driver.h>
+#include <devicetree.h>
+
 #ifdef ESP_PLATFORM
 #include <tt_init.h>
 #else
@@ -11,6 +14,10 @@ extern const tt::hal::Configuration hardwareConfiguration;
 
 extern "C" {
 
+extern void register_kernel_drivers();
+extern void register_platform_drivers();
+extern void register_device_drivers();
+
 void app_main() {
     static const tt::Configuration config = {
         /**
@@ -24,6 +31,11 @@ void app_main() {
     tt_init_tactility_c(); // ELF bindings for side-loading on ESP32
 #endif
 
+    register_kernel_drivers();
+    register_platform_drivers();
+    register_device_drivers();
+
+    devices_builtin_init();
     tt::run(config);
 }