adolforeyna/tactility
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Various improvements (#461)

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* **New Features**
  * Time and delay utilities added (ticks, ms, µs); SD card now uses an expansion-header CS pin; HTTP downloads warn when run on the GUI task and yield to avoid blocking.

* **Bug Fixes / Reliability**
  * Many hard-crash paths converted to guarded checks to reduce abrupt termination and improve stability.

* **Tests**
  * Unit tests added to validate time and delay accuracy.

* **Chores**
  * License header and build/macro updates.
This commit is contained in:
Ken Van Hoeylandt
2026-01-27 08:04:21 +01:00
committed by GitHub
parent 619b5aa53b
commit e6abd496f9
95 changed files with 433 additions and 284 deletions
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Tactility/Source/hal/Hal.cpp
+5 -5
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@@ -1,4 +1,5 @@
#include <Tactility/Tactility.h>
#include <Tactility/Check.h>
#include <Tactility/hal/Configuration.h>
#include <Tactility/hal/Device.h>
#include <Tactility/hal/gps/GpsInit.h>
@@ -68,20 +69,19 @@ void init(const Configuration& configuration) {
kernel::publishSystemEvent(kernel::SystemEvent::BootInitHalBegin);
kernel::publishSystemEvent(kernel::SystemEvent::BootInitI2cBegin);
tt_check(i2c::init(configuration.i2c), "I2C init failed");
check(i2c::init(configuration.i2c), "I2C init failed");
kernel::publishSystemEvent(kernel::SystemEvent::BootInitI2cEnd);
kernel::publishSystemEvent(kernel::SystemEvent::BootInitSpiBegin);
tt_check(spi::init(configuration.spi), "SPI init failed");
check(spi::init(configuration.spi), "SPI init failed");
kernel::publishSystemEvent(kernel::SystemEvent::BootInitSpiEnd);
kernel::publishSystemEvent(kernel::SystemEvent::BootInitUartBegin);
tt_check(uart::init(configuration.uart), "UART init failed");
check(uart::init(configuration.uart), "UART init failed");
kernel::publishSystemEvent(kernel::SystemEvent::BootInitUartEnd);
if (configuration.initBoot != nullptr) {
LOGGER.info("Init boot");
tt_check(configuration.initBoot(), "Init boot failed");
check(configuration.initBoot(), "Init boot failed");
}
registerDevices(configuration);
Tactility/Source/hal/gps/GpsInit.cpp
+1 -1
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@@ -139,7 +139,7 @@ GpsResponse getACKCas(uart::Uart& uart, uint8_t class_id, uint8_t msg_id, uint32
bool init(uart::Uart& uart, GpsModel type) {
switch (type) {
case GpsModel::Unknown:
tt_crash();
check(false);
case GpsModel::AG3335:
case GpsModel::AG3352:
return initAg33xx(uart);
Tactility/Source/hal/i2c/I2c.cpp
+1 -1
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@@ -202,7 +202,7 @@ bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t
}
bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
tt_check(reg != 0);
check(reg != 0);
auto lock = getLock(port).asScopedLock();
if (!lock.lock(timeout)) {