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

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- 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()
This commit is contained in:
Ken Van Hoeylandt
2026-02-07 21:28:11 +01:00
committed by GitHub
parent 7e24105d0c
commit 74127a5f6c
119 changed files with 1679 additions and 1792 deletions
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Tactility/Source/hal/gps/GpsDevice.cpp
+23 -11
View File
@@ -1,9 +1,11 @@
#include <Tactility/hal/gps/GpsDevice.h>
#include <Tactility/hal/gps/GpsInit.h>
#include <Tactility/hal/gps/Probe.h>
#include <Tactility/hal/uart/Uart.h>
#include <Tactility/Logger.h>
#include <tactility/device.h>
#include <tactility/drivers/uart_controller.h>
#include <cstring>
#include <minmea.h>
@@ -16,25 +18,34 @@ static const auto LOGGER = Logger("GpsDevice");
int32_t GpsDevice::threadMain() {
uint8_t buffer[GPS_UART_BUFFER_SIZE];
auto uart = uart::open(configuration.uartName);
auto* uart = device_find_by_name(configuration.uartName);
if (uart == nullptr) {
LOGGER.error("Failed to open UART {}", configuration.uartName);
LOGGER.error("Failed to find UART {}", configuration.uartName);
return -1;
}
if (!uart->start()) {
LOGGER.error("Failed to start UART {}", configuration.uartName);
struct UartConfig uartConfig = {
.baud_rate = configuration.baudRate,
.data_bits = UART_CONTROLLER_DATA_8_BITS,
.parity = UART_CONTROLLER_PARITY_DISABLE,
.stop_bits = UART_CONTROLLER_STOP_BITS_1
};
error_t error = uart_controller_set_config(uart, &uartConfig);
if (error != ERROR_NONE) {
LOGGER.error("Failed to configure UART {}: {}", configuration.uartName, error_to_string(error));
return -1;
}
if (!uart->setBaudRate(static_cast<int>(configuration.baudRate))) {
LOGGER.error("Failed to set baud rate to {} for UART {}", configuration.baudRate, configuration.uartName);
error = uart_controller_open(uart);
if (error != ERROR_NONE) {
LOGGER.error("Failed to open UART {}: {}", configuration.uartName, error_to_string(error));
return -1;
}
GpsModel model = configuration.model;
if (model == GpsModel::Unknown) {
model = probe(*uart);
model = probe(uart);
if (model == GpsModel::Unknown) {
LOGGER.error("Probe failed");
setState(State::Error);
@@ -45,7 +56,7 @@ int32_t GpsDevice::threadMain() {
this->model = model;
mutex.unlock();
if (!init(*uart, model)) {
if (!init(uart, model)) {
LOGGER.error("Init failed");
setState(State::Error);
return -1;
@@ -55,7 +66,8 @@ int32_t GpsDevice::threadMain() {
// Reference: https://gpsd.gitlab.io/gpsd/NMEA.html
while (!isThreadInterrupted()) {
size_t bytes_read = uart->readUntil(reinterpret_cast<std::byte*>(buffer), GPS_UART_BUFFER_SIZE, '\n', 100 / portTICK_PERIOD_MS);
size_t bytes_read = 0;
uart_controller_read_until(uart, buffer, GPS_UART_BUFFER_SIZE, '\n', true, &bytes_read, 100 / portTICK_PERIOD_MS);
// Thread might've been interrupted in the meanwhile
if (isThreadInterrupted()) {
@@ -103,7 +115,7 @@ int32_t GpsDevice::threadMain() {
}
}
if (uart->isStarted() && !uart->stop()) {
if (uart_controller_close(uart) != ERROR_NONE) {
LOGGER.warn("Failed to stop UART {}", configuration.uartName);
}