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()

Tactility/Private/Tactility/hal/gps/GpsInit.h

@@ -2,13 +2,13 @@
 
 #include "Tactility/hal/gps/GpsDevice.h"
 
-namespace tt::hal::uart { class Uart; }
+struct Device;
 
 namespace tt::hal::gps {
 
 /**
  * Init sequence on UART for a specific GPS model.
  */
-bool init(uart::Uart& uart, GpsModel type);
+bool init(::Device* uart, GpsModel type);
 
 }

Tactility/Private/Tactility/hal/gps/Probe.h

@@ -1,10 +1,9 @@
 #pragma once
 
-#include "Tactility/hal/gps/GpsDevice.h"
-#include "Tactility/hal/uart/Uart.h"
+struct Device;
 
 namespace tt::hal::gps {
 
-GpsModel probe(uart::Uart& iart);
+GpsModel probe(::Device* uart);
 
 }

Tactility/Private/Tactility/hal/gps/Ublox.h

@@ -1,11 +1,12 @@
 #pragma once
 
 #include "Tactility/hal/gps/GpsDevice.h"
-#include "Tactility/hal/uart/Uart.h"
 
 #include <cstdint>
 #include <cstddef>
 
+struct Device;
+
 namespace tt::hal::gps::ublox {
 
 void checksum(uint8_t* message, size_t length);
@@ -13,15 +14,8 @@ void checksum(uint8_t* message, size_t length);
 // From https://github.com/meshtastic/firmware/blob/7648391f91f2b84e367ae2b38220b30936fb45b1/src/gps/GPS.cpp#L128
 uint8_t makePacket(uint8_t classId, uint8_t messageId, const uint8_t* payload, uint8_t payloadSize, uint8_t* bufferOut);
 
-template<size_t DataSize>
-inline void sendPacket(uart_port_t port, uint8_t type, uint8_t id, uint8_t data[DataSize], const char* errorMessage, TickType_t timeout) {
-    static uint8_t buffer[250] = {0};
-    size_t length = makePacket(type, id, data, DataSize, buffer);
-//    hal::uart::writeBytes(port, buffer, length);
+GpsModel probe(::Device* uart);
+
+bool init(::Device* uart, GpsModel model);
+
 }
-
-GpsModel probe(uart::Uart& uart);
-
-bool init(uart::Uart& uart, GpsModel model);
-
-} // namespace tt::service::gps

Tactility/Private/Tactility/hal/uart/UartEsp.h

@@ -1,36 +0,0 @@
-#pragma once
-#ifdef ESP_PLATFORM
-
-#include "Tactility/Mutex.h"
-#include "Tactility/hal/uart/Uart.h"
-#include "Tactility/hal/uart/Configuration.h"
-
-namespace tt::hal::uart {
-
-class UartEsp final : public Uart {
-
-    Mutex mutex;
-    const Configuration& configuration;
-    bool started = false;
-
-public:
-
-    explicit UartEsp(const Configuration& configuration) : configuration(configuration) {}
-
-    bool start() override;
-    bool isStarted() const override;
-    bool stop() override;
-    size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) override;
-    bool readByte(std::byte* output, TickType_t timeout) override;
-    size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) override;
-    size_t available(TickType_t timeout) override;
-    bool setBaudRate(uint32_t baudRate, TickType_t timeout) override;
-    uint32_t getBaudRate() override;
-    void flushInput() override;
-};
-
-std::unique_ptr<Uart> create(const Configuration& configuration);
-
-} // namespace tt::hal::uart
-
-#endif

Tactility/Private/Tactility/hal/uart/UartInit.h

@@ -1,9 +0,0 @@
-#pragma once
-
-#include "Tactility/hal/uart/Uart.h"
-
-namespace tt::hal::uart {
-
-bool init(const std::vector<uart::Configuration>& configurations);
-
-}

Tactility/Private/Tactility/hal/uart/UartPosix.h

@@ -1,47 +0,0 @@
-#pragma once
-#ifndef ESP_PLATFORM
-
-#include "Tactility/Mutex.h"
-#include "Tactility/hal/uart/Configuration.h"
-#include "Tactility/hal/uart/Uart.h"
-
-#include <termios.h>
-
-namespace tt::hal::uart {
-
-class UartPosix final : public Uart {
-
-private:
-    struct AutoCloseFileDeleter {
-        void operator()(FILE* file) {
-            fclose(file);
-        }
-    };
-
-    Mutex mutex;
-    const Configuration& configuration;
-    std::unique_ptr<FILE, AutoCloseFileDeleter> device;
-
-    bool awaitAvailable(TickType_t timeout);
-
-public:
-
-    explicit UartPosix(const Configuration& configuration) : configuration(configuration) {}
-
-    bool start() final;
-    bool isStarted() const final;
-    bool stop() final;
-    size_t readBytes(std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
-    bool readByte(std::byte* output, TickType_t timeout) final;
-    size_t writeBytes(const std::byte* buffer, size_t bufferSize, TickType_t timeout) final;
-    size_t available(TickType_t timeout) final;
-    bool setBaudRate(uint32_t baudRate, TickType_t timeout) final;
-    uint32_t getBaudRate() final;
-    void flushInput() final;
-};
-
-std::unique_ptr<Uart> create(const Configuration& configuration);
-
-} // namespace tt::hal::uart
-
-#endif