LoRa device type + SX1262 kernel driver (first checkpoint) (#565)

Adds sub-GHz radio support to Tactility as a first-class kernel device type, plus a driver for the Semtech SX1262. Continues the radio work discussed in #342, brought up to the current kernel driver model (rather than the deprecated tt::hal layer the earlier prototype targeted).
2026-07-30 13:32:23 -04:00
parent 606b918f9c
commit f13c18f398
20 changed files with 2548 additions and 1 deletions
@@ -0,0 +1,65 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <RadioLib.h>
+
+#include <driver/gpio.h>
+#include <driver/spi_master.h>
+
+struct Device;
+
+/**
+ * RadioLib HAL on top of ESP-IDF GPIO and SPI master.
+ *
+ * RadioLib drives the chip-select manually across multiple transfers, so every
+ * command/response exchange must be atomic on the bus. Two locks wrap each
+ * exchange: the kernel SPI controller lock (spi_controller_lock) is the
+ * abstraction other kernel drivers on this host serialise through, and ESP-IDF's
+ * per-host bus lock (spi_device_acquire_bus) additionally blocks the IDF-managed
+ * spi_master devices (display, SD) that don't take the controller lock. The
+ * controller lock is taken as the outer lock; nothing else takes both, so there
+ * is no lock-ordering hazard.
+ */
+class Sx126xRadiolibHal final : public RadioLibHal {
+private:
+    spi_host_device_t spiHostDevice;
+    int spiFrequency;
+    struct Device* spiController;
+    spi_device_handle_t spiDeviceHandle = nullptr;
+    bool spiInitialized = false;
+
+public:
+    Sx126xRadiolibHal(spi_host_device_t spiHostDevice, int spiFrequency, struct Device* spiController)
+        : RadioLibHal(
+              GPIO_MODE_INPUT,
+              GPIO_MODE_OUTPUT,
+              0, // LOW
+              1, // HIGH
+              GPIO_INTR_POSEDGE,
+              GPIO_INTR_NEGEDGE
+          )
+        , spiHostDevice(spiHostDevice)
+        , spiFrequency(spiFrequency)
+        , spiController(spiController) {}
+
+    void init() override;
+    void term() override;
+
+    void pinMode(uint32_t pin, uint32_t mode) override;
+    void digitalWrite(uint32_t pin, uint32_t value) override;
+    uint32_t digitalRead(uint32_t pin) override;
+    void attachInterrupt(uint32_t interruptNum, void (*interruptCb)(void), uint32_t mode) override;
+    void detachInterrupt(uint32_t interruptNum) override;
+
+    void delay(unsigned long ms) override;
+    void delayMicroseconds(unsigned long us) override;
+    unsigned long millis() override;
+    unsigned long micros() override;
+    long pulseIn(uint32_t pin, uint32_t state, unsigned long timeout) override;
+
+    void spiBegin() override;
+    void spiBeginTransaction() override;
+    void spiTransfer(uint8_t* out, size_t len, uint8_t* in) override;
+    void spiEndTransaction() override;
+    void spiEnd() override;
+};