Various improvements (#461)

* **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.

TactilityKernel/Source/Crash.cpp

@@ -0,0 +1,39 @@
+#include <Tactility/Log.h>
+#include <Tactility/FreeRTOS/task.h>
+
+static const auto* TAG = LOG_TAG("Kernel");
+
+static void log_memory_info() {
+#ifdef ESP_PLATFORM
+    LOG_E(TAG, "Default memory caps:");
+    LOG_E(TAG, "  Total: %" PRIu64, static_cast<uint64_t>(heap_caps_get_total_size(MALLOC_CAP_DEFAULT)));
+    LOG_E(TAG, "  Free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_free_size(MALLOC_CAP_DEFAULT)));
+    LOG_E(TAG, "  Min free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_minimum_free_size(MALLOC_CAP_DEFAULT)));
+    LOG_E(TAG, "Internal memory caps:");
+    LOG_E(TAG, "  Total: %" PRIu64, static_cast<uint64_t>(heap_caps_get_total_size(MALLOC_CAP_INTERNAL)));
+    LOG_E(TAG, "  Free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_free_size(MALLOC_CAP_INTERNAL)));
+    LOG_E(TAG, "  Min free: %" PRIu64, static_cast<uint64_t>(heap_caps_get_minimum_free_size(MALLOC_CAP_INTERNAL)));
+#endif
+}
+
+static void log_task_info() {
+    const char* name = pcTaskGetName(nullptr);
+    const char* safe_name = name ? name : "main";
+    LOG_E(TAG, "Task: %s", safe_name);
+}
+
+extern "C" {
+
+__attribute__((noreturn)) void __crash(void) {
+    log_task_info();
+    log_memory_info();
+    // TODO: Add breakpoint when debugger is attached.
+#ifdef ESP_PLATFORM
+    esp_system_abort("System halted. Connect debugger for more info.");
+#else
+    while (true) { /* Indefinite lock-up */ }
+#endif
+    __builtin_unreachable();
+}
+
+}

TactilityKernel/Source/Driver.cpp

@@ -70,7 +70,6 @@ static error_t driver_remove(Driver* driver) {
 
     ledger.lock();
     const auto iterator = std::ranges::find(ledger.drivers, driver);
-    // check that there actually is a 3 in our vector
     if (iterator == ledger.drivers.end()) {
         ledger.unlock();
         return ERROR_NOT_FOUND;
@@ -184,7 +183,7 @@ error_t driver_unbind(Driver* driver, Device* device) {
     driver_internal_data(driver)->use_count--;
     driver_unlock(driver);
 
-    LOG_I(TAG, "unbound %s to %s", driver->name, device->name);
+    LOG_I(TAG, "unbound %s from %s", driver->name, device->name);
 
     return ERROR_NONE;
 

TactilityKernel/Source/Log.cpp

@@ -7,6 +7,8 @@
 #include <stdio.h>
 #include <stdarg.h>
 
+extern "C" {
+
 void log_generic(const char* tag, const char* format, ...) {
     va_list args;
     va_start(args, format);
@@ -16,4 +18,6 @@ void log_generic(const char* tag, const char* format, ...) {
     va_end(args);
 }
 
+}
+
 #endif

TactilityKernel/Source/concurrent/EventGroup.cpp

@@ -48,7 +48,7 @@ error_t event_group_wait(
     uint32_t* outFlags,
     TickType_t timeout
 ) {
-    if (xPortInIsrContext()) {
+    if (xPortInIsrContext() == pdTRUE) {
         return ERROR_ISR_STATUS;
     }