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()
This commit is contained in:
Ken Van Hoeylandt
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GitHub
parent
7e24105d0c
commit
74127a5f6c
@@ -32,12 +32,7 @@ inline static void mutex_lock(struct Mutex* mutex) {
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xSemaphoreTake(mutex->handle, portMAX_DELAY);
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}
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inline static bool mutex_try_lock(struct Mutex* mutex) {
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check(xPortInIsrContext() != pdTRUE);
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return xSemaphoreTake(mutex->handle, 0) == pdTRUE;
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}
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inline static bool mutex_try_lock_timed(struct Mutex* mutex, TickType_t timeout) {
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inline static bool mutex_try_lock(struct Mutex* mutex, TickType_t timeout) {
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check(xPortInIsrContext() != pdTRUE);
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return xSemaphoreTake(mutex->handle, timeout) == pdTRUE;
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}
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@@ -39,12 +39,7 @@ inline static bool recursive_mutex_is_locked(struct RecursiveMutex* mutex) {
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}
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}
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inline static bool recursive_mutex_try_lock(struct RecursiveMutex* mutex) {
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check(xPortInIsrContext() != pdTRUE);
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return xSemaphoreTakeRecursive(mutex->handle, 0) == pdTRUE;
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}
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inline static bool recursive_mutex_try_lock_timed(struct RecursiveMutex* mutex, TickType_t timeout) {
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inline static bool recursive_mutex_try_lock(struct RecursiveMutex* mutex, TickType_t timeout) {
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check(xPortInIsrContext() != pdTRUE);
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return xSemaphoreTakeRecursive(mutex->handle, timeout) == pdTRUE;
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}
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@@ -10,6 +10,7 @@
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#include <stdint.h>
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#include <tactility/concurrent/mutex.h>
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#include <tactility/freertos/freertos.h>
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#ifdef __cplusplus
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extern "C" {
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@@ -212,9 +213,10 @@ void device_lock(struct Device* device);
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* Try to lock the device for exclusive access.
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*
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* @param[in,out] device non-null device pointer
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* @param[in] timeout how long to wait for the lock
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* @return true if the device was locked successfully
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*/
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bool device_try_lock(struct Device* device);
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bool device_try_lock(struct Device* device, TickType_t timeout);
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/**
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* Unlock the device.
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@@ -257,6 +259,22 @@ void device_for_each_child(struct Device* device, void* callback_context, bool(*
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*/
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void device_for_each_of_type(const struct DeviceType* type, void* callback_context, bool(*on_device)(struct Device* device, void* context));
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/**
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* Check if a device of the specified type exists.
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*
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* @param[in] type the type to check
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* @return true if a device of the specified type exists
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*/
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bool device_exists_of_type(const struct DeviceType* type);
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/**
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* Find a device by its name.
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*
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* @param[in] name non-null device name to look up
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* @return the device pointer if found, or NULL if not found
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*/
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struct Device* device_find_by_name(const char* name);
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#ifdef __cplusplus
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}
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#endif
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@@ -9,6 +9,8 @@ extern "C" {
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#include "gpio.h"
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#include <tactility/error.h>
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struct Device;
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struct GpioControllerApi {
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/**
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* @brief Sets the logical level of a GPIO pin.
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@@ -13,6 +13,8 @@ extern "C" {
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#include <tactility/freertos/freertos.h>
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#include <tactility/error.h>
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struct Device;
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/**
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* @brief API for I2C controller drivers.
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*/
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@@ -14,6 +14,8 @@ extern "C" {
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#include <tactility/freertos/freertos.h>
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#include <tactility/error.h>
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struct Device;
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/**
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* @brief I2S communication format
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*/
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@@ -0,0 +1,72 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stddef.h>
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#include <tactility/freertos/freertos.h>
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#include <tactility/error.h>
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struct Device;
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/**
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* @brief API for SPI controller drivers.
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*/
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struct SpiControllerApi {
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/**
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* @brief Locks the SPI controller.
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* @param[in] device the SPI controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*lock)(struct Device* device);
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/**
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* @brief Tries to lock the SPI controller.
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* @param[in] device the SPI controller device
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* @param[in] timeout the maximum time to wait for the lock
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* @retval ERROR_NONE when the operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t (*try_lock)(struct Device* device, TickType_t timeout);
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/**
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* @brief Unlocks the SPI controller.
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* @param[in] device the SPI controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*unlock)(struct Device* device);
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};
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/**
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* @brief Locks the SPI controller using the specified controller.
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* @param[in] device the SPI controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t spi_controller_lock(struct Device* device);
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/**
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* @brief Tries to lock the SPI controller using the specified controller.
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* @param[in] device the SPI controller device
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* @param[in] timeout the maximum ticks to wait for the lock
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* @retval ERROR_NONE when the operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t spi_controller_try_lock(struct Device* device, TickType_t timeout);
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/**
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* @brief Unlocks the SPI controller using the specified controller.
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* @param[in] device the SPI controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t spi_controller_unlock(struct Device* device);
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extern const struct DeviceType SPI_CONTROLLER_TYPE;
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#ifdef __cplusplus
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}
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#endif
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@@ -0,0 +1,227 @@
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// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <stddef.h>
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#include <tactility/freertos/freertos.h>
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#include <tactility/error.h>
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struct Device;
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/**
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* @brief UART parity modes
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*/
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enum UartParity {
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UART_CONTROLLER_PARITY_DISABLE = 0x0,
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UART_CONTROLLER_PARITY_EVEN = 0x1,
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UART_CONTROLLER_PARITY_ODD = 0x2,
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};
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/**
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* @brief UART data bits
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*/
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enum UartDataBits {
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UART_CONTROLLER_DATA_5_BITS = 0x0,
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UART_CONTROLLER_DATA_6_BITS = 0x1,
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UART_CONTROLLER_DATA_7_BITS = 0x2,
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UART_CONTROLLER_DATA_8_BITS = 0x3,
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};
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/**
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* @brief UART stop bits
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*/
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enum UartStopBits {
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UART_CONTROLLER_STOP_BITS_1 = 0x1,
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UART_CONTROLLER_STOP_BITS_1_5 = 0x2,
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UART_CONTROLLER_STOP_BITS_2 = 0x3,
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};
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/**
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* @brief UART Config
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*/
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struct UartConfig {
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uint32_t baud_rate;
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enum UartDataBits data_bits;
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enum UartParity parity;
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enum UartStopBits stop_bits;
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};
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/**
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* @brief API for UART controller drivers.
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*/
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struct UartControllerApi {
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/**
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* @brief Reads a single byte from UART.
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* @param[in] device the UART controller device
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* @param[out] out the buffer to store the read byte
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* @param[in] timeout the maximum time to wait for the operation to complete
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* @retval ERROR_NONE when the read operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t (*read_byte)(struct Device* device, uint8_t* out, TickType_t timeout);
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/**
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* @brief Writes a single byte to UART.
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* @param[in] device the UART controller device
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* @param[in] out the byte to write
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* @param[in] timeout the maximum time to wait for the operation to complete
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* @retval ERROR_NONE when the write operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t (*write_byte)(struct Device* device, uint8_t out, TickType_t timeout);
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/**
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* @brief Writes multiple bytes to UART.
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* @param[in] device the UART controller device
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* @param[in] buffer the buffer containing the data to write
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* @param[in] buffer_size the number of bytes to write
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* @param[in] timeout the maximum time to wait for the operation to complete
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* @retval ERROR_NONE when the write operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t (*write_bytes)(struct Device* device, const uint8_t* buffer, size_t buffer_size, TickType_t timeout);
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/**
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* @brief Reads multiple bytes from UART.
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* @param[in] device the UART controller device
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* @param[out] buffer the buffer to store the read data
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* @param[in] buffer_size the number of bytes to read
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* @param[in] timeout the maximum time to wait for the operation to complete
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* @retval ERROR_NONE when the read operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t (*read_bytes)(struct Device* device, uint8_t* buffer, size_t buffer_size, TickType_t timeout);
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/**
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* @brief Returns the number of bytes available for reading.
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* @param[in] device the UART controller device
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* @param[out] available the number of bytes available
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* @return ERROR_NONE on success
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*/
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error_t (*get_available)(struct Device* device, size_t* available);
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/**
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* @brief Sets the UART configuration.
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* @param[in] device the UART controller device
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* @param[in] config the new configuration
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*set_config)(struct Device* device, const struct UartConfig* config);
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/**
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* @brief Gets the current UART configuration.
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* @param[in] device the UART controller device
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* @param[out] config the buffer to store the current configuration
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*get_config)(struct Device* device, struct UartConfig* config);
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/**
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* @brief Opens the UART controller.
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* @param[in] device the UART controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*open)(struct Device* device);
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/**
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* @brief Closes the UART controller.
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* @param[in] device the UART controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*close)(struct Device* device);
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/**
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* @brief Checks if the UART controller is open.
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* @param[in] device the UART controller device
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* @return true if open, false otherwise
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*/
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bool (*is_open)(struct Device* device);
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/**
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* @brief Flushes the UART input buffer.
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* @param[in] device the UART controller device
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* @retval ERROR_NONE when the operation was successful
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*/
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error_t (*flush_input)(struct Device* device);
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};
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/**
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* @brief Reads a single byte from UART using the specified controller.
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*/
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error_t uart_controller_read_byte(struct Device* device, uint8_t* out, TickType_t timeout);
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/**
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* @brief Writes a single byte to UART using the specified controller.
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*/
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error_t uart_controller_write_byte(struct Device* device, uint8_t out, TickType_t timeout);
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/**
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* @brief Writes multiple bytes to UART using the specified controller.
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*/
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error_t uart_controller_write_bytes(struct Device* device, const uint8_t* buffer, size_t buffer_size, TickType_t timeout);
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/**
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* @brief Reads multiple bytes from UART using the specified controller.
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*/
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error_t uart_controller_read_bytes(struct Device* device, uint8_t* buffer, size_t buffer_size, TickType_t timeout);
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/**
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* @brief Reads from UART until a specific byte is encountered.
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* @param[in] device the UART controller device
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* @param[out] buffer the buffer to store the read data
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* @param[in] buffer_size the size of the buffer
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* @param[in] until_byte the byte to look for
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* @param[in] timeout the maximum time to wait for the operation to complete
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* @param[in] add_null_terminator whether to add a null terminator after the until_byte
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* @param[out] bytes_read the number of bytes read (excluding null terminator if added)
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* @retval ERROR_NONE when the operation was successful
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* @retval ERROR_TIMEOUT when the operation timed out
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*/
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error_t uart_controller_read_until(struct Device* device, uint8_t* buffer, size_t buffer_size, uint8_t until_byte, bool add_null_terminator, size_t* bytes_read, TickType_t timeout);
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/**
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* @brief Get the number of bytes available for reading using the specified controller.
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*/
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error_t uart_controller_get_available(struct Device* device, size_t* available);
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/**
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* @brief Sets the UART configuration using the specified controller.
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*/
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error_t uart_controller_set_config(struct Device* device, const struct UartConfig* config);
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/**
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* @brief Gets the current UART configuration using the specified controller.
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*/
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error_t uart_controller_get_config(struct Device* device, struct UartConfig* config);
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/**
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* @brief Opens the UART controller using the specified controller.
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*/
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error_t uart_controller_open(struct Device* device);
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/**
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* @brief Closes the UART controller using the specified controller.
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*/
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error_t uart_controller_close(struct Device* device);
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/**
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* @brief Checks if the UART controller is open using the specified controller.
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*/
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bool uart_controller_is_open(struct Device* device);
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/**
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* @brief Flushes the UART input buffer using the specified controller.
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*/
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error_t uart_controller_flush_input(struct Device* device);
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extern const struct DeviceType UART_CONTROLLER_TYPE;
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#ifdef __cplusplus
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}
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#endif
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