Fixes

Buildscripts/devicetree-compiler/source/config.py

@@ -8,7 +8,7 @@ class DeviceTreeConfig:
     bindings: list[str] = field(default_factory=list)
     dts: str = ""
 
-def parse_config(file_path: str, project_root: str) -> list[DeviceTreeConfig]:
+def parse_config(file_path: str, project_root: str) -> DeviceTreeConfig:
     """
     Parses devicetree.yaml and recursively finds dependencies.
     Returns a list of DeviceTreeConfig objects in post-order (dependencies first).

Buildscripts/devicetree-compiler/source/generator.py

@@ -146,23 +146,6 @@ def write_device_init(file, device: Device, bindings: list[Binding], verbose: bo
     for child_device in device.devices:
         write_device_init(file, child_device, bindings, verbose)
 
-def write_device_list_entry(file, device: Device):
-    compatible_property = find_binding_property(device, "compatible")
-    if compatible_property is None:
-        raise Exception(f"Cannot find 'compatible' property for {device.identifier}")
-    identifier = get_device_identifier_safe(device)
-    file.write(f"\t&{identifier},\n")
-    for child in device.devices:
-        write_device_list_entry(file, child)
-
-def write_device_list(file, devices: list[Device]):
-    file.write("struct device* devices_builtin[] = {\n")
-    for device in devices:
-        write_device_list_entry(file, device)
-    # Terminator
-    file.write(f"\tNULL\n")
-    file.write("};\n\n")
-
 def generate_devicetree_c(filename: str, items: list[object], bindings: list[Binding], verbose: bool):
     with open(filename, "w") as file:
         file.write(dedent('''\

Drivers/drivers-esp/source/Esp32I2c.cpp

@@ -19,7 +19,7 @@ struct InternalData {
     }
 };
 
-#define GET_CONFIG(device) ((Esp32I2cConfig*)device->internal.driver_data)
+#define GET_CONFIG(device) ((Esp32I2cConfig*)device->config)
 #define GET_DATA(device) ((InternalData*)device->internal.driver_data)
 
 #define lock(data) mutex_lock(&data->mutex);
@@ -52,7 +52,7 @@ static bool write_read(Device* device, uint8_t address, const uint8_t* write_dat
     auto* driver_data = GET_DATA(device);
     lock(driver_data);
     const esp_err_t result = i2c_master_write_read_device(GET_CONFIG(device)->port, address, write_data, write_data_size, read_data, read_data_size, timeout);
-    unlock(driver_data)
+    unlock(driver_data);
     ESP_ERROR_CHECK_WITHOUT_ABORT(result);
     return result == ESP_OK;
 }

Firmware/CMakeLists.txt

@@ -2,26 +2,17 @@ cmake_minimum_required(VERSION 3.20)
 
 file(GLOB_RECURSE SOURCE_FILES "Source/*.c*")
 
-# Determine device identifier and project location
-if (DEFINED ENV{ESP_IDF_VERSION})
-    include("../Buildscripts/device.cmake")
-    init_tactility_globals("../sdkconfig")
-    get_property(TACTILITY_DEVICE_PROJECT GLOBAL PROPERTY TACTILITY_DEVICE_PROJECT)
-else ()
-    set(TACTILITY_DEVICE_PROJECT "Devices/simulator")
-endif ()
-
-set(DEVICETREE_LOCATION "Devices/${TACTILITY_DEVICE_ID}")
-
-if (NOT DEFINED ${COMPONENT_LIB})
+if (NOT DEFINED ENV{ESP_IDF_VERSION})
     set(COMPONENT_LIB FirmwareSim)
 endif ()
 
 if (DEFINED ENV{ESP_IDF_VERSION})
+    include("../Buildscripts/device.cmake")
+    init_tactility_globals("../sdkconfig")
+    get_property(TACTILITY_DEVICE_PROJECT GLOBAL PROPERTY TACTILITY_DEVICE_PROJECT)
 
     idf_component_register(
         SRCS ${SOURCE_FILES}
-        REQUIRES ${DEVICE_COMPONENTS}
         REQUIRES Tactility TactilityC TactilityKernel drivers-esp ${TACTILITY_DEVICE_PROJECT}
     )
 

TactilityKernel/include/Tactility/Error.h

@@ -2,7 +2,7 @@
 
 #include <sys/errno.h>
 
-#define CUSTOM_ERROR_CODE(x) (-__ELASTERROR - x)
+#define CUSTOM_ERROR_CODE(x) (-2000 - x)
 
 #define ERROR_UNDEFINED CUSTOM_ERROR_CODE(1)
 #define ERROR_INVALID_STATE CUSTOM_ERROR_CODE(2)

TactilityKernel/include/Tactility/concurrent/RecursiveMutex.h

@@ -1,5 +1,8 @@
 #pragma once
 
+#include "freertos/semphr.h"
+
+
 #include <Tactility/FreeRTOS/semphr.h>
 
 #ifdef __cplusplus
@@ -23,7 +26,7 @@ inline static void recursive_mutex_destruct(struct RecursiveMutex* mutex) {
 
 inline static void recursive_mutex_lock(struct RecursiveMutex* mutex) {
     assert(mutex->handle != NULL);
-    xSemaphoreTake(mutex->handle, portMAX_DELAY);
+    xSemaphoreTakeRecursive(mutex->handle, portMAX_DELAY);
 }
 
 inline static bool recursive_mutex_is_locked(struct RecursiveMutex* mutex) {
@@ -33,12 +36,12 @@ inline static bool recursive_mutex_is_locked(struct RecursiveMutex* mutex) {
 
 inline static bool recursive_mutex_try_lock(struct RecursiveMutex* mutex) {
     assert(mutex->handle != NULL);
-    return xSemaphoreTake(mutex->handle, 0) == pdTRUE;
+    return xSemaphoreTakeRecursive(mutex->handle, 0) == pdTRUE;
 }
 
 inline static void recursive_mutex_unlock(struct RecursiveMutex* mutex) {
     assert(mutex->handle != NULL);
-    xSemaphoreGive(mutex->handle);
+    xSemaphoreGiveRecursive(mutex->handle);
 }
 
 #ifdef __cplusplus

TactilityKernel/source/Log.cpp

@@ -1,6 +1,6 @@
 #ifndef ESP_PLATFORM
 
-#include <tactility/log.h>
+#include <Tactility/Log.h>
 
 #include <stdio.h>
 #include <stdarg.h>