Create hal-device module #471

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Merged

KenVanHoeylandt merged 8 commits into main from hal-devices-module

Feb 1, 2026

CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -32,6 +32,7 @@ if (DEFINED ENV{ESP_IDF_VERSION}) @@
             "Firmware"
             "Devices/${TACTILITY_DEVICE_PROJECT}"
             "Drivers"
+            "Modules"
             "Platforms/PlatformEsp32"
             "TactilityKernel"
             "Tactility"
@@ Expand Down Expand Up / @@ -84,6 +85,7 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION}) @@
         add_subdirectory(Libraries/QRCode)
         add_subdirectory(Libraries/minitar)
         add_subdirectory(Libraries/minmea)
+        add_subdirectory(Modules/hal-device)
         # FreeRTOS
         set(FREERTOS_CONFIG_FILE_DIRECTORY ${PROJECT_SOURCE_DIR}/Devices/simulator/Source CACHE STRING "")
@@ Expand Down @@

Devices/heltec-wifi-lora-32-v3/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -36,7 +36,7 @@ static bool initBoot() { @@
     using namespace tt::hal;
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             createPower(),
             ButtonControl::createOneButtonControl(0),
@@ Expand Down @@

Devices/lilygo-tdeck/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -12,7 +12,7 @@ bool initBoot(); @@
     using namespace tt::hal;
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             createPower(),
             createDisplay(),
@@ Expand Down @@

Devices/lilygo-tdeck/Source/devices/KeyboardBacklight.h

-Original file line number
+Diff line change
@@ -1,6 +1,6 @@
     #pragma once
-    #include <Tactility/hal/Device.h>
+    #include <tactility/hal/Device.h>
     #include <Tactility/TactilityCore.h>
     class KeyboardBacklightDevice final : public tt::hal::Device {
@@ Expand Down @@

Devices/lilygo-tdeck/Source/devices/TdeckKeyboard.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -5,7 +5,7 @@ @@
     #include <Tactility/settings/KeyboardSettings.h>
     #include <Tactility/settings/DisplaySettings.h>
     #include <Tactility/hal/display/DisplayDevice.h>
-    #include <Tactility/hal/Device.h>
+    #include <tactility/hal/Device.h>
     #include <Tactility/Logger.h>
     #include <KeyboardBacklight/KeyboardBacklight.h>
@@ Expand Down @@

Devices/lilygo-tdeck/Source/devices/TrackballDevice.h

-Original file line number
+Diff line change
@@ -1,6 +1,6 @@
     #pragma once
-    #include <Tactility/hal/Device.h>
+    #include <tactility/hal/Device.h>
     #include <lvgl.h>
     class TrackballDevice : public tt::hal::Device {
@@ Expand Down @@

Devices/lilygo-tdisplay-s3/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -9,7 +9,7 @@ bool initBoot(); @@
     using namespace tt::hal;
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             createPower(),
             createDisplay(),
@@ Expand Down @@

Devices/lilygo-tdisplay/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -11,7 +11,7 @@ static bool initBoot() { @@
         return driver::pwmbacklight::init(LCD_PIN_BACKLIGHT);
     }
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             createDisplay(),
             ButtonControl::createTwoButtonControl(35, 0)
@@ Expand Down @@

Devices/lilygo-tdongle-s3/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -10,7 +10,7 @@ bool initBoot(); @@
     using namespace tt::hal;
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             createDisplay(),
             createSdCard()
@@ Expand Down @@

Devices/lilygo-tlora-pager/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -22,7 +22,7 @@ static DeviceVector createDevices() { @@
         auto tca8418 = std::make_shared<Tca8418>(I2C_NUM_0);
         auto keyboard = std::make_shared<TpagerKeyboard>(tca8418);
-        return std::vector<std::shared_ptr<Device>> {
+        return std::vector<std::shared_ptr<tt::hal::Device>> {
             tca8418,
             std::make_shared<Bq25896>(I2C_NUM_0),
             bq27220,
@@ Expand Down @@

Devices/lilygo-tlora-pager/Source/module.cpp

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -9,14 +9,14 @@ extern Driver tlora_pager_driver;
  
    static error_t start() {

        /* We crash when construct fails, because if a single driver fails to construct,

         * there is no guarantee that the previously constructed drivers can be destroyed */

        check(driver_construct(&tlora_pager_driver) == ERROR_NONE);

        check(driver_construct_add(&tlora_pager_driver) == ERROR_NONE);

        return ERROR_NONE;

    }

    static error_t stop() {

        /* We crash when destruct fails, because if a single driver fails to destruct,

         * there is no guarantee that the previously destroyed drivers can be recovered */

        check(driver_destruct(&tlora_pager_driver) == ERROR_NONE);

        check(driver_remove_destruct(&tlora_pager_driver) == ERROR_NONE);

        return ERROR_NONE;

    }

Devices/simulator/Source/Simulator.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -28,7 +28,7 @@ static void deinitPower() { @@
     #endif
     }
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             std::make_shared<SdlDisplay>(),
             std::make_shared<SdlKeyboard>(),
@@ Expand Down @@

Devices/waveshare-s3-touch-lcd-147/Source/Configuration.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -10,7 +10,7 @@ bool initBoot(); @@
     using namespace tt::hal;
-    static std::vector<std::shared_ptr<Device>> createDevices() {
+    static std::vector<std::shared_ptr<tt::hal::Device>> createDevices() {
         return {
             createDisplay(),
             createSdCard()
@@ Expand Down @@

Drivers/XPT2046/Source/Xpt2046Power.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -2,7 +2,7 @@ @@
     #include "Xpt2046Touch.h"
     #include <Tactility/Logger.h>
-    #include <Tactility/hal/Device.h>
+    #include <tactility/hal/Device.h>
     static const auto LOGGER = tt::Logger("Xpt2046Power");
@@ Expand Down @@

Firmware/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -36,6 +36,7 @@ else () @@
             TactilityCore
             TactilityFreeRtos
             TactilityKernel
+            hal-device
             Simulator
             PlatformPosix
             SDL2::SDL2-static SDL2-static
@@ Expand Down @@

Modules/hal-device/CMakeLists.txt

-Original file line number
+Diff line change
@@ -0,0 +1,46 @@
+    cmake_minimum_required(VERSION 3.20)
+    if (DEFINED ENV{ESP_IDF_VERSION})
+        file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
+        list(APPEND REQUIRES_LIST
+            TactilityKernel
+            TactilityCore
+            TactilityFreeRtos
+        )
+        idf_component_register(
+            SRCS ${SOURCE_FILES}
+            INCLUDE_DIRS "Include/"
+            REQUIRES ${REQUIRES_LIST}
+        )
+        if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+            target_compile_options(${COMPONENT_LIB} PUBLIC -Wno-unused-variable)
+        endif ()
+    else ()
+        file(GLOB_RECURSE SOURCES "Source/*.c*")
+        add_library(hal-device OBJECT)
+        target_sources(hal-device PRIVATE ${SOURCES})
+        target_include_directories(hal-device
+            PRIVATE Private/
+            PUBLIC Include/
+        )
+        add_definitions(-D_Nullable=)
+        add_definitions(-D_Nonnull=)
+        target_link_libraries(hal-device PUBLIC
+            TactilityFreeRtos
+            TactilityCore
+            TactilityKernel
+            freertos_kernel
+        )
+    endif ()

Modules/hal-device/Include/tactility/drivers/hal_device.h

-Original file line number
+Diff line change
@@ -0,0 +1,28 @@
+    // SPDX-License-Identifier: Apache-2.0
+    #pragma once
+    #ifdef __cplusplus
+    extern "C" {
+    #endif
+    enum class HalDeviceType {
+        HAL_DEVICE_TYPE_I2C,
+        HAL_DEVICE_TYPE_DISPLAY,
+        HAL_DEVICE_TYPE_TOUCH,
+        HAL_DEVICE_TYPE_SDCARD,
+        HAL_DEVICE_TYPE_KEYBOARD,
+        HAL_DEVICE_TYPE_ENCODER,
+        HAL_DEVICE_TYPE_POWER,
+        HAL_DEVICE_TYPE_GPS,
+        HAL_DEVICE_TYPE_OTHER
+    };
+    HalDeviceType hal_device_get_type(struct Device* device);
+    void hal_device_for_each_of_type(HalDeviceType type, void* context, bool(*onDevice)(struct Device* device, void* context));
+    extern const struct DeviceType HAL_DEVICE_TYPE;
+    #ifdef __cplusplus
+    }
+    #endif

Modules/hal-device/Include/tactility/drivers/hal_device.hpp

-Original file line number
+Diff line change
@@ -0,0 +1,21 @@
+    // SPDX-License-Identifier: Apache-2.0
+    #pragma once
+    #include "hal_device.h"
+    #include <memory>
+    #include <tactility/hal/Device.h>
+    namespace tt::hal {
+    /**
+     * @brief Get a tt::hal::Device object from a Kernel device.
+     * @warning The input device must be of type HAL_DEVICE_TYPE
+     * @param kernelDevice The kernel device
+     * @return std::shared_ptr<Device>
+     */
+    std::shared_ptr<Device> hal_device_get_device(::Device* kernelDevice);
+    void hal_device_set_device(::Device* kernelDevice, std::shared_ptr<Device> halDevice);
+    }

Tactility/Include/Tactility/hal/Device.h → ...hal-device/Include/tactility/hal/Device.h

-Original file line number
+Diff line change
@@ -1,3 +1,4 @@
+    // SPDX-License-Identifier: Apache-2.0
     #pragma once
     #include <functional>
@@ Expand All / @@ -7,6 +8,10 @@ @@
     #include <vector>
     #include <cassert>
+    #include <tactility/device.h>
+    typedef ::Device KernelDevice;
     namespace tt::hal {
     /** Base class for HAL-related devices. */
     class Device {
@@ Expand All / @@ -27,9 +32,19 @@ class Device { @@
         typedef uint32_t Id;
+        struct KernelDeviceHolder {
+            const std::string name;
+            std::shared_ptr<KernelDevice> device = std::make_shared<KernelDevice>();
+            explicit KernelDeviceHolder(std::string name) : name(name) {
+                device->name = this->name.c_str();
+            }
+        };
     private:
         Id id;
+        std::shared_ptr<KernelDeviceHolder> kernelDeviceHolder;
     public:
@@ Expand All / @@ -49,6 +64,10 @@ class Device { @@
          * e.g. "USB charging controller with I2C interface."
          */
         virtual std::string getDescription() const = 0;
+        void setKernelDeviceHolder(std::shared_ptr<KernelDeviceHolder> kernelDeviceHolder) { this->kernelDeviceHolder = kernelDeviceHolder; }
+        std::shared_ptr<KernelDeviceHolder> getKernelDeviceHolder() const { return kernelDeviceHolder; }
     };
     /**
@@ Expand Down Expand Up @@
                 assert(target_device != nullptr);
                 result.push_back(target_device);
             }
-            return std::move(result);
+            return result;
         }
     }
@@ Expand Down @@

Modules/hal-device/Include/tactility/hal_device_module.h

-Original file line number
+Diff line change
@@ -0,0 +1,12 @@
+    // SPDX-License-Identifier: Apache-2.0
+    #pragma once
+    #ifdef __cplusplus
+    extern "C" {
+    #endif
+    extern struct Module hal_device_module;
+    #ifdef __cplusplus
+    }
+    #endif

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