TactilityKernel improvements and more (#459)

TactilityKernel/Include/Tactility/drivers/Gpio.h

@@ -6,6 +6,8 @@
 extern "C" {
 #endif
 
+#include <stdbool.h>
+#include <stdint.h>
 #include <Tactility/Device.h>
 
 #define GPIO_OPTIONS_MASK 0x1f
@@ -34,57 +36,30 @@ typedef enum {
     GPIO__MAX,
 } GpioInterruptType;
 
-/**
- * @brief Provides a type to hold a GPIO pin index.
- *
- * This reduced-size type is sufficient to record a pin number,
- * e.g. from a devicetree GPIOS property.
- */
+/** The index of a GPIO pin on a GPIO Controller */
 typedef uint8_t gpio_pin_t;
 
-/**
- * @brief Identifies a set of pins associated with a port.
- *
- * The pin with index n is present in the set if and only if the bit
- * identified by (1U << n) is set.
- */
-typedef uint32_t gpio_pinset_t;
-
-/**
- * @brief Provides a type to hold GPIO devicetree flags.
- *
- * All GPIO flags that can be expressed in devicetree fit in the low 16
- * bits of the full flags field, so use a reduced-size type to record
- * that part of a GPIOS property.
- *
- * The lower 8 bits are used for standard flags. The upper 8 bits are reserved
- * for SoC specific flags.
- */
+/** Specifies the configuration flags for a GPIO pin (or set of pins) */
 typedef uint16_t gpio_flags_t;
 
-/**
- * @brief Container for GPIO pin information specified in dts files
- *
- * This type contains a pointer to a GPIO device, pin identifier for a pin
- * controlled by that device, and the subset of pin configuration
- * flags which may be given in devicetree.
- */
+/** A configuration for a single GPIO pin */
 struct GpioPinConfig {
     /** GPIO device controlling the pin */
     const struct Device* port;
     /** The pin's number on the device */
     gpio_pin_t pin;
     /** The pin's configuration flags as specified in devicetree */
-    gpio_flags_t dt_flags;
+    gpio_flags_t flags;
 };
 
 /**
  * Check if the pin is ready to be used.
- * @param pin_config the specifications of the pin
+ *
+ * @param pinConfig the specifications of the pin
  * @return true if the pin is ready to be used
  */
-static inline bool gpio_is_ready(const struct GpioPinConfig* pin_config) {
-    return device_is_ready(pin_config->port);
+static inline bool gpio_is_ready(const struct GpioPinConfig* pinConfig) {
+    return device_is_ready(pinConfig->port);
 }
 
 #ifdef __cplusplus

TactilityKernel/Include/Tactility/drivers/GpioController.h

@@ -7,22 +7,22 @@ extern "C" {
 #endif
 
 #include "Gpio.h"
-#include <stdbool.h>
+#include <Tactility/Error.h>
 
 struct GpioControllerApi {
-    bool (*set_level)(struct Device* device, gpio_pin_t pin, bool high);
-    bool (*get_level)(struct Device* device, gpio_pin_t pin, bool* high);
-    bool (*set_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
-    bool (*get_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
+    error_t (*set_level)(struct Device* device, gpio_pin_t pin, bool high);
+    error_t (*get_level)(struct Device* device, gpio_pin_t pin, bool* high);
+    error_t (*set_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
+    error_t (*get_options)(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
 };
 
-bool gpio_controller_set_level(struct Device* device, gpio_pin_t pin, bool high);
-bool gpio_controller_get_level(struct Device* device, gpio_pin_t pin, bool* high);
-bool gpio_controller_set_options(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
-bool gpio_controller_get_options(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
+error_t gpio_controller_set_level(struct Device* device, gpio_pin_t pin, bool high);
+error_t gpio_controller_get_level(struct Device* device, gpio_pin_t pin, bool* high);
+error_t gpio_controller_set_options(struct Device* device, gpio_pin_t pin, gpio_flags_t options);
+error_t gpio_controller_get_options(struct Device* device, gpio_pin_t pin, gpio_flags_t* options);
 
-inline bool gpio_set_options_config(struct Device* device, struct GpioPinConfig* config) {
-    return gpio_controller_set_options(device, config->pin, config->dt_flags);
+static inline error_t gpio_set_options_config(struct Device* device, const struct GpioPinConfig* config) {
+    return gpio_controller_set_options(device, config->pin, config->flags);
 }
 
 #ifdef __cplusplus

TactilityKernel/Include/Tactility/drivers/I2cController.h

@@ -6,22 +6,24 @@
 extern "C" {
 #endif
 
-#include "Gpio.h"
-#include <Tactility/FreeRTOS/FreeRTOS.h>
-#include <stdbool.h>
 #include <stdint.h>
 
+#include "Gpio.h"
+
+#include <Tactility/FreeRTOS/FreeRTOS.h>
+#include <Tactility/Error.h>
+
 struct I2cControllerApi {
-    bool (*read)(struct Device* device, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
-    bool (*write)(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
-    bool (*write_read)(struct Device* device, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout);
+    error_t (*read)(struct Device* device, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
+    error_t (*write)(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+    error_t (*write_read)(struct Device* device, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout);
 };
 
-bool i2c_controller_read(struct Device* device, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
+error_t i2c_controller_read(struct Device* device, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout);
 
-bool i2c_controller_write(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
+error_t i2c_controller_write(struct Device* device, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout);
 
-bool i2c_controller_write_read(struct Device* device, uint8_t address, const uint8_t* write_data, size_t write_data_size, uint8_t* read_data, size_t read_data_size, TickType_t timeout);
+error_t i2c_controller_write_read(struct Device* device, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout);
 
 extern const struct DeviceType I2C_CONTROLLER_TYPE;