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()
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Ken Van Hoeylandt
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GitHub
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7e24105d0c
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74127a5f6c
@@ -2,8 +2,6 @@
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#include <Tactility/hal/sdcard/SdCardDevice.h>
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#include <Tactility/hal/spi/Spi.h>
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#include <Tactility/hal/uart/Uart.h>
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#include "i2c/I2c.h"
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namespace tt::hal {
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@@ -43,9 +41,6 @@ struct Configuration {
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/** A list of SPI interface configurations */
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const std::vector<spi::Configuration> spi = {};
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/** A list of UART interface configurations */
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const std::vector<uart::Configuration> uart = {};
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};
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} // namespace
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@@ -1,43 +0,0 @@
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#pragma once
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#include "UartCompat.h"
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namespace tt::hal::uart {
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#ifdef ESP_PLATFORM
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struct Configuration {
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/** The unique name for this UART */
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std::string name;
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/** The port identifier (e.g. UART_NUM_0) */
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uart_port_t port;
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/** Receive GPIO pin */
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gpio_num_t rxPin;
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/** Transmit GPIO pin */
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gpio_num_t txPin;
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/** Read-To-Send GPIO pin */
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gpio_num_t rtsPin;
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/** Clear-To-Send Send GPIO pin */
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gpio_num_t ctsPin;
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/** Receive buffer size in bytes */
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unsigned int rxBufferSize;
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/** Transmit buffer size in bytes */
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unsigned int txBufferSize;
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/** Native configuration */
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uart_config_t config;
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};
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#else
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struct Configuration {
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/** The unique name for this UART */
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std::string name;
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/** The port identifier (e.g. UART_NUM_0) */
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uart_port_t port;
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/** Initial baud rate in bits per second */
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uint32_t baudRate;
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};
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#endif
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}
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@@ -1,131 +0,0 @@
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#pragma once
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#include <Tactility/freertoscompat/RTOS.h>
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#include "../gpio/Gpio.h"
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#include "Tactility/Lock.h"
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#include "UartCompat.h"
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#include "Tactility/hal/uart/Configuration.h"
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#include <memory>
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#include <vector>
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namespace tt::hal::uart {
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constexpr TickType_t defaultTimeout = 10 / portTICK_PERIOD_MS;
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enum class InitMode {
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ByTactility, // Tactility will initialize it in the correct bootup phase
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ByExternal, // The device is already initialized and Tactility should assume it works
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Disabled // Not initialized by default
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};
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enum class Status {
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Started,
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Stopped,
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Unknown
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};
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class Uart {
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uint32_t id;
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public:
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Uart();
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virtual ~Uart();
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uint32_t getId() const { return id; }
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virtual bool start() = 0;
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virtual bool isStarted() const = 0;
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virtual bool stop() = 0;
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/**
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* Read up to a specified amount of bytes
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* @param[out] buffer
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* @param[in] bufferSize
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* @param[in] timeout
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* @return the amount of bytes that were read
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*/
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virtual size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) = 0;
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size_t readBytes(std::uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) {
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return readBytes(reinterpret_cast<std::byte*>(buffer), bufferSize, timeout);
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}
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/** Read a single byte */
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virtual bool readByte(std::byte* output, TickType_t timeout = defaultTimeout) = 0;
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bool readByte(char* output, TickType_t timeout = defaultTimeout) {
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return readByte(reinterpret_cast<std::byte*>(output), timeout);
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}
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bool readByte(uint8_t* output, TickType_t timeout = defaultTimeout) {
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return readByte(reinterpret_cast<std::byte*>(output), timeout);
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}
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/**
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* Read up to a specified amount of bytes
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* @param[in] buffer
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* @param[in] bufferSize
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* @param[in] timeout
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* @return the amount of bytes that were read
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*/
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virtual size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) = 0;
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size_t writeBytes(const std::uint8_t* buffer, size_t bufferSize, TickType_t timeout = defaultTimeout) {
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return writeBytes(reinterpret_cast<const std::byte*>(buffer), bufferSize, timeout);
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}
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/** @return the amount of bytes available for reading */
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virtual size_t available(TickType_t timeout = defaultTimeout) = 0;
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/** Set the baud rate for the specified port */
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virtual bool setBaudRate(uint32_t baudRate, TickType_t timeout = defaultTimeout) = 0;
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/** Get the baud rate for the specified port */
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virtual uint32_t getBaudRate() = 0;
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/** Flush input buffers */
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virtual void flushInput() = 0;
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/**
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* Write a string (excluding null terminator character)
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* @param[in] buffer
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* @param[in] timeout
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* @return the amount of bytes that were written
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*/
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bool writeString(const char* buffer, TickType_t timeout = defaultTimeout);
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/**
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* Read a buffer as a string until the specified character (the "untilChar" is included in the result)
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* @warning if the input data doesn't return "untilByte" then the device goes out of memory
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*/
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std::string readStringUntil(char untilChar, TickType_t timeout = defaultTimeout);
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/**
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* Read a buffer as a byte array until the specified character (the "untilChar" is included in the result)
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* @return the amount of bytes read from UART
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*/
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size_t readUntil(std::byte* buffer, size_t bufferSize, uint8_t untilByte, TickType_t timeout = defaultTimeout, bool addNullTerminator = true);
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};
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/**
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* Opens a UART.
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* @param[in] name the UART name as specified in the board configuration.
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* @return the UART when it was successfully opened, or nullptr when it is in use.
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*/
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std::unique_ptr<Uart> open(std::string name);
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/**
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* Opens a UART.
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* @param[in] port the UART port as specified in the board configuration.
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* @return the UART when it was successfully opened, or nullptr when it is in use.
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*/
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std::unique_ptr<Uart> open(uart_port_t port);
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std::vector<std::string> getNames();
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} // namespace tt::hal::uart
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@@ -1,17 +0,0 @@
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#pragma once
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#ifdef ESP_PLATFORM
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#include <driver/uart.h>
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#include <driver/gpio.h>
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#include <hal/uart_types.h>
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#else
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#define UART_NUM_MAX 3
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typedef int uart_port_t;
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typedef struct {
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} uart_config_t;
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#endif
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