Implement UART HAL (#212)

- Implement UART HAL
- Improved I2C and SPI HAL mocking mechanism (removed mock files)

TactilityHeadless/Include/Tactility/hal/Configuration.h

@@ -3,6 +3,7 @@
 #include "./SdCard.h"
 #include "./i2c/I2c.h"
 #include "Tactility/hal/spi/Spi.h"
+#include "Tactility/hal/uart/Uart.h"
 
 namespace tt::hal {
 
@@ -47,6 +48,9 @@ struct Configuration {
 
     /** A list of SPI interfaces */
     const std::vector<spi::Configuration> spi = {};
+
+    /** A list of UART interfaces */
+    const std::vector<uart::Configuration> uart = {};
 };
 
 } // namespace

TactilityHeadless/Include/Tactility/hal/Gpio.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <driver/gpio.h>
+#else
+typedef unsigned int gpio_num_t;
+#endif

TactilityHeadless/Include/Tactility/hal/i2c/I2cCompat.h

@@ -1,39 +1,38 @@
 #pragma once
 
 #ifdef ESP_PLATFORM
+
 #include <hal/i2c_types.h>
 #include <driver/i2c.h>
+
 #else
 
 #include <cstdint>
 
-typedef int esp_err_t;
-
-typedef enum {
+enum i2c_port_t {
     I2C_NUM_0 = 0,
     I2C_NUM_1,
     LP_I2C_NUM_0,
     I2C_NUM_MAX,
-} i2c_port_t;
+};
 
-typedef enum{
+enum i2c_mode_t {
     I2C_MODE_MASTER,
     I2C_MODE_MAX,
-} i2c_mode_t;
+};
 
-typedef struct {
+struct i2c_config_t {
     i2c_mode_t mode;
     int sda_io_num;
     int scl_io_num;
     bool sda_pullup_en;
     bool scl_pullup_en;
-
     union {
         struct {
             uint32_t clk_speed;
         } master;
     };
     uint32_t clk_flags;
-} i2c_config_t;
+};
 
 #endif

TactilityHeadless/Include/Tactility/hal/spi/SpiCompat.h

@@ -1,58 +1,19 @@
 #pragma once
 
+#include "../Gpio.h"
+
 #ifdef ESP_PLATFORM
 #include <driver/spi_common.h>
 #else
 
-#include <cstdint>
-
-enum spi_host_device_t {
-    SPI1_HOST = 0,
-    SPI2_HOST = 1,
-    SPI3_HOST = 2,
-    SPI_HOST_MAX,
-};
-
-enum spi_common_dma_t {
-    SPI_DMA_DISABLED = 0, ///< No DMA
-    SPI_DMA_CH1 = 1, ///< DMA, select DMA Channel 1
-    SPI_DMA_CH2 = 2, ///< DMA, select DMA Channel 2
-    SPI_DMA_CH_AUTO = 3, ///< DMA, channel selected by driver
-};
-
-enum esp_intr_cpu_affinity_t {
-    ESP_INTR_CPU_AFFINITY_AUTO,
-    ESP_INTR_CPU_AFFINITY_0,
-    ESP_INTR_CPU_AFFINITY_1,
-};
+#define SPI_HOST_MAX 3
 
+typedef int spi_host_device_t;
 struct spi_bus_config_t {
-    union {
-        int mosi_io_num;
-        int data0_io_num;
-    };
-    union {
-        int miso_io_num;
-        int data1_io_num;
-    };
-    int sclk_io_num;
-    union {
-        int quadwp_io_num;
-        int data2_io_num;
-    };
-    union {
-        int quadhd_io_num;
-        int data3_io_num;
-    };
-    int data4_io_num;
-    int data5_io_num;
-    int data6_io_num;
-    int data7_io_num;
-    bool data_io_default_level;
-    int max_transfer_sz;
-    uint32_t flags;
-    esp_intr_cpu_affinity_t isr_cpu_id;
-    int intr_flags;
+    gpio_num_t miso_io_num;
+    gpio_num_t mosi_io_num;
+    gpio_num_t sclk_io_num;
 };
+struct spi_common_dma_t {};
 
 #endif

TactilityHeadless/Include/Tactility/hal/uart/Uart.h

@@ -0,0 +1,61 @@
+#pragma once
+
+#include <Tactility/RtosCompat.h>
+
+#include "UartCompat.h"
+#include "../Gpio.h"
+
+#include <vector>
+#include <memory>
+
+namespace tt::hal::uart {
+
+enum class InitMode {
+    ByTactility, // Tactility will initialize it in the correct bootup phase
+    ByExternal, // The device is already initialized and Tactility should assume it works
+    Disabled // Not initialized by default
+};
+
+struct Configuration {
+    uart_port_t port;
+    /** Whether this bus should be initialized when device starts up */
+    InitMode initMode;
+    /** Whether this bus can stopped and re-started. */
+    bool canReinit;
+    /** Whether .config can be changed. */
+    bool hasMutableConfiguration;
+    /** Receive GPIO pin */
+    gpio_num_t rxPin;
+    /** Transmit GPIO pin */
+    gpio_num_t txPin;
+    /** Read-To-Send GPIO pin */
+    gpio_num_t rtsPin;
+    /** Clear-To-Send Send GPIO pin */
+    gpio_num_t ctsPin;
+    /** Receive buffer size in bytes */
+    unsigned int rxBufferSize;
+    /** Transmit buffer size in bytes */
+    unsigned int txBufferSize;
+    /** Native configuration */
+    uart_config_t config;
+};
+
+enum class Status {
+    Started,
+    Stopped,
+    Unknown
+};
+
+bool init(const std::vector<uart::Configuration>& configurations);
+
+bool start(uart_port_t port);
+bool stop(uart_port_t port);
+bool isStarted(uart_port_t port);
+
+bool lock(uart_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+bool unlock(uart_port_t port);
+
+size_t read(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+size_t write(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+
+} // namespace tt::hal::uart

TactilityHeadless/Include/Tactility/hal/uart/UartCompat.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+
+#include <driver/uart.h>
+#include <driver/gpio.h>
+#include <hal/uart_types.h>
+
+#else
+
+#define UART_NUM_MAX 3
+typedef int uart_port_t;
+
+typedef struct {
+} uart_config_t;
+
+#endif

TactilityHeadless/Include/Tactility/kernel/SystemEvents.h

@@ -11,6 +11,8 @@ enum class SystemEvent {
     BootInitI2cEnd,
     BootInitSpiBegin,
     BootInitSpiEnd,
+    BootInitUartBegin,
+    BootInitUartEnd,
     BootInitLvglBegin,
     BootInitLvglEnd,
     BootSplash,