adolforeyna/tactility
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Kernel improvements (#468)

Browse Source 
* **New Features**
  * Plugin-style modules for platforms and devices with start/stop lifecycle and a runtime-consumable device tree array.

* **Refactor**
  * Consolidated initialization into a kernel/module startup flow.
  * Generated devicetree artifacts moved to the build Generated directory.

* **Changes**
  * Removed legacy no-op registration hooks and I2C lock/unlock wrappers.
  * Driver ownership and private state moved to explicit module/owner model.
  * Added ERROR_NOT_ALLOWED error code.
This commit is contained in:
Ken Van Hoeylandt
2026-01-31 09:18:02 +01:00
committed by GitHub
parent d62314f41f
commit c9185740d7
119 changed files with 1639 additions and 440 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/.gitignore
-1
View File
@@ -1 +0,0 @@
Generated/
Firmware/CMakeLists.txt
+21 -14
View File
@@ -14,16 +14,23 @@ endif ()
set(DEVICETREE_LOCATION "${CMAKE_SOURCE_DIR}/Devices/${TACTILITY_DEVICE_ID}")
set(GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/Generated")
# Ensure the directory is built in the correct CMake build phase
# If the check is not done, then another directory is created in the root of the build folder.
if (DEFINED CMAKE_CURRENT_BINARY_DIR)
file(MAKE_DIRECTORY "${GENERATED_DIR}")
endif ()
if (DEFINED ENV{ESP_IDF_VERSION})
idf_component_register(
SRCS ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
SRCS ${SOURCE_FILES} "${GENERATED_DIR}/devicetree.c"
REQUIRES Tactility TactilityC TactilityKernel PlatformEsp32 ${TACTILITY_DEVICE_PROJECT}
)
else ()
add_executable(FirmwareSim ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
add_executable(FirmwareSim ${SOURCE_FILES} "${GENERATED_DIR}/devicetree.c")
target_link_libraries(FirmwareSim PRIVATE
Tactility
TactilityCore
@@ -38,22 +45,22 @@ else ()
add_definitions(-D_Nonnull=)
endif ()
file(MAKE_DIRECTORY "${CMAKE_SOURCE_DIR}/Firmware/Generated")
# Generate devicetree code and attach to Firmware component
add_custom_target(AlwaysRun
COMMAND ${CMAKE_COMMAND} -E rm -f "${GENERATED_DIR}/devicetree.c"
)
add_custom_command(
OUTPUT "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
"${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h"
OUTPUT "${GENERATED_DIR}/devicetree.c"
"${GENERATED_DIR}/devicetree.h"
COMMAND pip install lark pyyaml
COMMAND python "${CMAKE_SOURCE_DIR}/Buildscripts/DevicetreeCompiler/compile.py"
"${DEVICETREE_LOCATION}" "Firmware/Generated"
"${DEVICETREE_LOCATION}" "${GENERATED_DIR}"
WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
DEPENDS "${DEVICETREE_LOCATION}/devicetree.yaml" # Optional: trigger rebuild if source changes
DEPENDS AlwaysRun "${DEVICETREE_LOCATION}/devicetree.yaml" # AlwaysRun ensures it always gets built
COMMENT "Generating devicetree source files..."
)
add_custom_target(Generated DEPENDS "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c" PROPERTIES GENERATED TRUE)
set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h" PROPERTIES GENERATED TRUE)
add_custom_target(Generated DEPENDS "${GENERATED_DIR}/devicetree.c")
set_source_files_properties("${GENERATED_DIR}/devicetree.c" PROPERTIES GENERATED TRUE)
set_source_files_properties("${GENERATED_DIR}/devicetree.h" PROPERTIES GENERATED TRUE)
# Update target for generated code
target_sources(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
target_include_directories(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")
target_sources(${COMPONENT_LIB} PRIVATE "${GENERATED_DIR}/devicetree.c")
target_include_directories(${COMPONENT_LIB} PRIVATE "${GENERATED_DIR}")
Firmware/Source/Main.cpp
+6 -10
View File
@@ -3,6 +3,11 @@
#include <tactility/driver.h>
#include <devicetree.h>
// From the relevant platform
extern struct Module platform_module;
// From the relevant device
extern struct Module device_module;
#ifdef ESP_PLATFORM
#include <tt_init.h>
#else
@@ -14,10 +19,6 @@ extern const tt::hal::Configuration hardwareConfiguration;
extern "C" {
extern void register_kernel_drivers();
extern void register_platform_drivers();
extern void register_device_drivers();
void app_main() {
static const tt::Configuration config = {
/**
@@ -31,12 +32,7 @@ void app_main() {
tt_init_tactility_c(); // ELF bindings for side-loading on ESP32
#endif
register_kernel_drivers();
register_platform_drivers();
register_device_drivers();
devices_builtin_init();
tt::run(config);
tt::run(config, &platform_module, &device_module, devicetree_devices);
}
} // extern