Add kernel drivers for SPI and UART and make locking APIs more consistent (#489)

- Add kernel support for SPI driver - Add kernel support for UART driver - Implemented ESP32 UART kernel driver - Update existing UART-related code in Tactility to use new kernel driver - Remove UART from tt::hal::Configuration - Remove tt_hal_uart functionality but keep functions for now - Update devicetrees for UART changes - Kernel mutex and recursive mutex: improved locking API design - Other kernel improvements - Added device_exists_of_type() and device_find_by_name()
2026-02-07 21:28:11 +01:00
parent 7e24105d0c
commit 74127a5f6c
119 changed files with 1679 additions and 1792 deletions
@@ -0,0 +1,122 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/device.h>
+#include <tactility/drivers/esp32_spi.h>
+#include <tactility/concurrent/mutex.h>
+
+#include <cstring>
+#include <esp_log.h>
+#include <new>
+#include <soc/gpio_num.h>
+
+#define TAG "esp32_spi"
+
+#define GET_CONFIG(device) ((const struct Esp32SpiConfig*)device->config)
+#define GET_DATA(device) ((struct Esp32SpiInternal*)device_get_driver_data(device))
+
+extern "C" {
+
+struct Esp32SpiInternal {
+    Mutex mutex;
+    bool initialized = false;
+
+    Esp32SpiInternal() {
+        mutex_construct(&mutex);
+    }
+
+    ~Esp32SpiInternal() {
+        mutex_destruct(&mutex);
+    }
+};
+
+static error_t lock(Device* device) {
+    auto* driver_data = GET_DATA(device);
+    mutex_lock(&driver_data->mutex);
+    return ERROR_NONE;
+}
+
+static error_t try_lock(Device* device, TickType_t timeout) {
+    auto* driver_data = GET_DATA(device);
+    if (mutex_try_lock(&driver_data->mutex, timeout)) {
+        return ERROR_NONE;
+    }
+    return ERROR_TIMEOUT;
+}
+
+static error_t unlock(Device* device) {
+    auto* driver_data = GET_DATA(device);
+    mutex_unlock(&driver_data->mutex);
+    return ERROR_NONE;
+}
+
+static error_t start(Device* device) {
+    ESP_LOGI(TAG, "start %s", device->name);
+    auto* data = new(std::nothrow) Esp32SpiInternal();
+    if (!data) return ERROR_OUT_OF_MEMORY;
+
+    device_set_driver_data(device, data);
+
+    auto* dts_config = GET_CONFIG(device);
+
+    spi_bus_config_t buscfg = {
+        .mosi_io_num = dts_config->pin_mosi,
+        .miso_io_num = dts_config->pin_miso,
+        .sclk_io_num = dts_config->pin_sclk,
+        .data2_io_num = dts_config->pin_wp,
+        .data3_io_num = dts_config->pin_hd,
+        .data4_io_num = GPIO_NUM_NC,
+        .data5_io_num = GPIO_NUM_NC,
+        .data6_io_num = GPIO_NUM_NC,
+        .data7_io_num = GPIO_NUM_NC,
+        .data_io_default_level = false,
+        .max_transfer_sz = dts_config->max_transfer_size,
+        .flags = 0,
+        .isr_cpu_id = ESP_INTR_CPU_AFFINITY_AUTO,
+        .intr_flags = 0
+    };
+
+    esp_err_t ret = spi_bus_initialize(dts_config->host, &buscfg, SPI_DMA_CH_AUTO);
+    if (ret != ESP_OK) {
+        delete data;
+        device_set_driver_data(device, nullptr);
+        ESP_LOGE(TAG, "Failed to initialize SPI bus: %s", esp_err_to_name(ret));
+        return ERROR_RESOURCE;
+    }
+
+    data->initialized = true;
+    return ERROR_NONE;
+}
+
+static error_t stop(Device* device) {
+    ESP_LOGI(TAG, "stop %s", device->name);
+    auto* driver_data = GET_DATA(device);
+    auto* dts_config = GET_CONFIG(device);
+
+    if (driver_data->initialized) {
+        spi_bus_free(dts_config->host);
+    }
+
+    device_set_driver_data(device, nullptr);
+    delete driver_data;
+    return ERROR_NONE;
+}
+
+const static struct SpiControllerApi esp32_spi_api = {
+    .lock = lock,
+    .try_lock = try_lock,
+    .unlock = unlock
+};
+
+extern struct Module platform_module;
+
+Driver esp32_spi_driver = {
+    .name = "esp32_spi",
+    .compatible = (const char*[]) { "espressif,esp32-spi", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = (void*)&esp32_spi_api,
+    .device_type = &SPI_CONTROLLER_TYPE,
+    .owner = &platform_module,
+    .internal = nullptr
+};
+
+} // extern "C"