Project restructuring (fixes macOS builds) (#198)

- Create `Include/` folder for all main projects
- Fix some issues here and there (found while moving things)
- All includes are now in `Tactility/` subfolder and must be included with that prefix. This fixes issues with clashing POSIX headers (e.g. `<semaphore.h>` versus Tactility's `Semaphore.h`)

TactilityHeadless/Include/Tactility/hal/i2c/I2c.h

@@ -0,0 +1,56 @@
+#pragma once
+
+#include "./I2cCompat.h"
+
+#include <Tactility/RtosCompat.h>
+
+#include <climits>
+#include <string>
+#include <vector>
+
+namespace tt::hal::i2c {
+
+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 {
+    std::string name;
+    /** The port to operate on */
+    i2c_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 configuration can be changed. */
+    bool hasMutableConfiguration;
+    /** Configuration that must be valid when initAtBoot is set to true. */
+    i2c_config_t config;
+};
+
+enum class Status {
+    Started,
+    Stopped,
+    Unknown
+};
+
+bool init(const std::vector<i2c::Configuration>& configurations);
+
+bool start(i2c_port_t port);
+bool stop(i2c_port_t port);
+bool isStarted(i2c_port_t port);
+
+bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
+bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout);
+bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout);
+bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeout);
+
+bool lock(i2c_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+bool unlock(i2c_port_t port);
+
+} // namespace

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

@@ -0,0 +1,39 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <hal/i2c_types.h>
+#include <driver/i2c.h>
+#else
+
+#include <cstdint>
+
+typedef int esp_err_t;
+
+typedef enum {
+    I2C_NUM_0 = 0,
+    I2C_NUM_1,
+    LP_I2C_NUM_0,
+    I2C_NUM_MAX,
+} i2c_port_t;
+
+typedef enum{
+    I2C_MODE_MASTER,
+    I2C_MODE_MAX,
+} i2c_mode_t;
+
+typedef struct {
+    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/i2c/I2cDevice.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include "./I2c.h"
+
+/**
+ * Represents an I2C peripheral at a specific port and address.
+ * It helps to read and write registers.
+ *
+ * All read and write calls are thread-safe.
+ */
+class I2cDevice {
+
+protected:
+
+    i2c_port_t port;
+    uint8_t address;
+
+    static constexpr TickType_t DEFAULT_TIMEOUT = 1000 / portTICK_PERIOD_MS;
+
+    bool readRegister8(uint8_t reg, uint8_t& result) const;
+    bool writeRegister8(uint8_t reg, uint8_t value) const;
+    bool readRegister12(uint8_t reg, float& out) const;
+    bool readRegister14(uint8_t reg, float& out) const;
+    bool readRegister16(uint8_t reg, uint16_t& out) const;
+    bool bitOn(uint8_t reg, uint8_t bitmask) const;
+    bool bitOff(uint8_t reg, uint8_t bitmask) const;
+    bool bitOnByIndex(uint8_t reg, uint8_t index) const { return bitOn(reg, 1 << index); }
+    bool bitOffByIndex(uint8_t reg, uint8_t index) const { return bitOff(reg, 1 << index); }
+public:
+
+    explicit I2cDevice(i2c_port_t port, uint32_t address) : port(port), address(address) {}
+};