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TactilityKernel improvements (#464)

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* **New Features**
  * Thread API with lifecycle, priority, affinity and state monitoring
  * Timer subsystem: one-shot/periodic timers, reset, pending callbacks, expiry queries
  * Expanded I²C: register-level ops, bulk writes, presence checks, ESP32 integration and new config properties
  * GPIO controller: pin level and options APIs
  * Error utilities: new error code, error-to-string, timeout helper and common macros
  * Device construction helpers (construct+start)

* **Tests**
  * New unit tests for thread and timer behavior

* **Documentation**
  * Expanded coding style guide (files/folders, C conventions)
This commit is contained in:
Ken Van Hoeylandt
2026-01-28 23:58:11 +01:00
committed by GitHub
parent f6ddb14ec1
commit 71f8369377
36 changed files with 1771 additions and 339 deletions
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Buildscripts/DevicetreeCompiler/source/generator.py
+6 -27
View File
@@ -135,7 +135,7 @@ def write_device_init(file, device: Device, bindings: list[Binding], verbose: bo
identifier = get_device_identifier_safe(device)
device_variable = identifier
# Write device struct
file.write(f"\tif (init_builtin_device(&{device_variable}, \"{compatible_property.value}\") != 0) return -1;\n")
file.write(f"\tif (device_construct_add_start(&{device_variable}, \"{compatible_property.value}\") != ERROR_NONE) return ERROR_RESOURCE;\n")
# Write children
for child_device in device.devices:
write_device_init(file, child_device, bindings, verbose)
@@ -145,7 +145,7 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
file.write(dedent('''\
// Default headers
#include <tactility/device.h>
#include <tactility/driver.h>
#include <tactility/error.h>
#include <tactility/log.h>
// DTS headers
'''))
@@ -156,39 +156,17 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
write_include(file, item, verbose)
file.write("\n")
file.write(dedent('''\
#define TAG LOG_TAG(devicetree)
static int init_builtin_device(struct Device* device, const char* compatible) {
struct Driver* driver = driver_find_compatible(compatible);
if (driver == NULL) {
LOG_E(TAG, "Can't find driver: %s", compatible);
return -1;
}
device_construct(device);
device_set_driver(device, driver);
device_add(device);
const int err = device_start(device);
if (err != 0) {
LOG_E(TAG, "Failed to start device %s with driver %s: error code %d", device->name, compatible, err);
return -1;
}
return 0;
}
'''))
# Then write all devices
for item in items:
if type(item) is Device:
write_device_structs(file, item, None, bindings, verbose)
# Init function body start
file.write("int devices_builtin_init() {\n")
file.write("error_t devices_builtin_init() {\n")
# Init function body logic
for item in items:
if type(item) is Device:
write_device_init(file, item, bindings, verbose)
file.write("\treturn 0;\n")
file.write("\treturn ERROR_NONE;\n")
# Init function body end
file.write("}\n")
@@ -196,12 +174,13 @@ def generate_devicetree_h(filename: str):
with open(filename, "w") as file:
file.write(dedent('''\
#pragma once
#include <tactility/error.h>
#ifdef __cplusplus
extern "C" {
#endif
extern int devices_builtin_init();
extern error_t devices_builtin_init();
#ifdef __cplusplus
}