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()

TactilityC/Include/tt_hal_uart.h

@@ -9,6 +9,13 @@
 extern "C" {
 #endif
 
+/**
+ * !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ * WARNING: THIS API IS NON-FUNCTIONAL AND DEPRECATED.
+ * IT WILL BE REMOVED IN A FUTURE RELEASE ONCE OFFICIAL APPS ARE MIGRATED.
+* !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
+ */
+
 /**
  * @file tt_hal_uart.h
  * @brief C HAL interface for UART devices used by Tactility C modules.

TactilityC/Source/tt_hal_uart.cpp

@@ -1,84 +1,61 @@
 #include "tt_hal_uart.h"
-#include <Tactility/hal/uart/Uart.h>
 
 #include <cstring>
 
-using namespace tt::hal;
-
-struct UartWrapper {
-    std::shared_ptr<uart::Uart> uart;
-};
-
-#define HANDLE_AS_UART(handle) static_cast<UartWrapper*>(handle)->uart
-
 extern "C" {
 
 size_t tt_hal_uart_get_count() {
-    return uart::getNames().size();
+    return 0;
 }
 
 bool tt_hal_uart_get_name(size_t index, char* name, size_t nameSizeLimit) {
-    assert(index < uart::getNames().size());
-    auto source_name = uart::getNames()[index];
-    return strncpy(name, source_name.c_str(), nameSizeLimit) != nullptr;
+    return false;
 }
 
 UartHandle tt_hal_uart_alloc(size_t index) {
-    assert(index < uart::getNames().size());
-    auto* wrapper = new UartWrapper();
-    auto name = uart::getNames()[index];
-    wrapper->uart = uart::open(name);
-    assert(wrapper->uart != nullptr);
-    return wrapper;
+    return nullptr;
 }
 
 void tt_hal_uart_free(UartHandle handle) {
-    auto* wrapper = static_cast<UartWrapper*>(handle);
-    assert(wrapper->uart != nullptr);
-    if (wrapper->uart->isStarted()) {
-        wrapper->uart->stop();
-    }
-    delete wrapper;
 }
 
 bool tt_hal_uart_start(UartHandle handle) {
-    return HANDLE_AS_UART(handle)->start();
+    return false;
 }
 
 bool tt_hal_uart_is_started(UartHandle handle) {
-    return HANDLE_AS_UART(handle)->isStarted();
+    return false;
 }
 
 bool tt_hal_uart_stop(UartHandle handle) {
-    return HANDLE_AS_UART(handle)->stop();
+    return false;
 }
 
 size_t tt_hal_uart_read_bytes(UartHandle handle, char* buffer, size_t bufferSize, TickType_t timeout) {
-    return HANDLE_AS_UART(handle)->readBytes(reinterpret_cast<std::byte*>(buffer), bufferSize, timeout);
+    return 0;
 }
 
 bool tt_hal_uart_read_byte(UartHandle handle, char* output, TickType_t timeout) {
-    return HANDLE_AS_UART(handle)->readByte(reinterpret_cast<std::byte*>(output), timeout);
+    return false;
 }
 
 size_t tt_hal_uart_write_bytes(UartHandle handle, const char* buffer, size_t bufferSize, TickType_t timeout) {
-    return HANDLE_AS_UART(handle)->writeBytes(reinterpret_cast<const std::byte*>(buffer), bufferSize, timeout);
+    return 0;
 }
 
 size_t tt_hal_uart_available(UartHandle handle) {
-    return HANDLE_AS_UART(handle)->available();
+    return 0;
 }
 
 bool tt_hal_uart_set_baud_rate(UartHandle handle, size_t baud_rate) {
-    return HANDLE_AS_UART(handle)->setBaudRate(baud_rate);
+    return false;
 }
 
 uint32_t tt_hal_uart_get_baud_rate(UartHandle handle) {
-    return HANDLE_AS_UART(handle)->getBaudRate();
+    return 0;
 }
 
 void tt_hal_uart_flush_input(UartHandle handle) {
-    HANDLE_AS_UART(handle)->flushInput();
 }
 
 }