Various fixes and improvements (#515)

* Optional internal pull-ups for SD/MMC pins in DTS
  * Selectable on‑chip LDO channel for SD/MMC power (can be disabled)
  * Added several sensor/driver modules to generic ESP32 device configurations so that they become part of the SDKs
  * SD card mount now prints card information for clearer diagnostics
  * Fix for bug DTS boolean parsing. Improved tests to catch these issues.
  * Expanded SDK integration test to include new modules and headers
  * Modularized packaging to generate per‑module build files and include driver assets

Buildscripts/DevicetreeCompiler/source/generator.py

@@ -64,7 +64,10 @@ def property_to_string(property: DeviceProperty, devices: list[Device]) -> str:
     if type == "value" or type == "int":
         return property.value
     elif type == "boolean" or type == "bool":
-        return "true"
+        if property.value is None or not property.value:
+            return "false"
+        else:
+            return "true"
     elif type == "text":
         return f"\"{property.value}\""
     elif type == "values":
@@ -120,6 +123,7 @@ def resolve_parameters_from_bindings(device: Device, bindings: list[Binding], de
     result = [0] * len(binding_properties)
     for index, binding_property in enumerate(binding_properties):
         device_property = find_device_property(device, binding_property.name)
+        # No property specified in DTS, use binding defaults
         if device_property is None:
             if binding_property.default is not None:
                 temp_prop = DeviceProperty(
@@ -130,8 +134,11 @@ def resolve_parameters_from_bindings(device: Device, bindings: list[Binding], de
                 result[index] = property_to_string(temp_prop, devices)
             elif binding_property.required:
                 raise DevicetreeException(f"device {device.node_name} doesn't have property '{binding_property.name}'")
-            elif binding_property.type == "bool":
+            elif binding_property.type == "bool" or binding_property.type == "boolean":
-                result[index] = "false"
+                if binding_property.default == "true" or binding_property.default == None:
+                    result[index] = "true"
+                else: # Explicit or implied false
+                    result[index] = "false"
             else:
                 raise DevicetreeException(f"Device {device.node_name} doesn't have property '{binding_property.name}' and no default value is set")
         else:

Buildscripts/DevicetreeCompiler/tests/data/bindings/test,bool-device.yaml

@@ -0,0 +1,16 @@
+description: Boolean test device binding
+compatible: "test,bool-device"
+properties:
+  binding-default-true-setting-implied:
+    type: boolean
+    default: true
+  binding-default-false-setting-implied:
+    type: boolean
+    default: false
+  binding-default-false-setting-direct:
+    type: boolean
+    default: false
+  binding-implied-true-setting-direct:
+    type: boolean
+  binding-implied-true-setting-implied:
+    type: boolean

Buildscripts/DevicetreeCompiler/tests/data/bindings/test,device.yaml

@@ -1,12 +0,0 @@
-description: Test device binding
-compatible: "test,device"
-properties:
-  reg:
-    type: int
-    required: true
-  boolean-prop:
-    type: boolean
-  int-prop:
-    type: int
-  string-prop:
-    type: string

Buildscripts/DevicetreeCompiler/tests/data/bindings/test,generic-device.yaml

@@ -0,0 +1,10 @@
+description: Generic test device binding
+compatible: "test,generic-device"
+properties:
+  reg:
+    type: int
+    required: true
+  int-prop:
+    type: int
+  string-prop:
+    type: string

Buildscripts/DevicetreeCompiler/tests/data/expected_devicetree.c

@@ -0,0 +1,57 @@
+// Default headers
+#include <tactility/device.h>
+#include <tactility/dts.h>
+#include <tactility/module.h>
+// DTS headers
+#include <test_include.h>
+
+static const root_config_dt root_config = {
+	"Test Model"
+};
+
+static struct Device root = {
+	.name = "/",
+	.config = &root_config,
+	.parent = NULL,
+	.internal = NULL
+};
+
+static const generic_device_config_dt test_device@0_config = {
+	0,
+	42,
+	"hello"
+};
+
+static struct Device test_device@0 = {
+	.name = "test-device@0",
+	.config = &test_device@0_config,
+	.parent = &root,
+	.internal = NULL
+};
+
+static const bool_device_config_dt bool_test_device_config = {
+	true,
+	false,
+	true,
+	true,
+	true
+};
+
+static struct Device bool_test_device = {
+	.name = "bool-test-device",
+	.config = &bool_test_device_config,
+	.parent = &root,
+	.internal = NULL
+};
+
+struct DtsDevice dts_devices[] = {
+	{ &root, "test,root", DTS_DEVICE_STATUS_OKAY },
+	{ &test_device@0, "test,generic-device", DTS_DEVICE_STATUS_OKAY },
+	{ &bool_test_device, "test,bool-device", DTS_DEVICE_STATUS_OKAY },
+	DTS_DEVICE_TERMINATOR
+};
+
+
+struct Module* dts_modules[] = {
+	NULL
+};

Buildscripts/DevicetreeCompiler/tests/data/expected_devicetree.h

@@ -0,0 +1,17 @@
+#pragma once
+#include <tactility/error.h>
+#include <tactility/dts.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// Array of device tree modules terminated with DTS_MODULE_TERMINATOR
+extern struct DtsDevice dts_devices[];
+
+// Array of module symbols terminated with NULL
+extern struct Module* dts_modules[];
+
+#ifdef __cplusplus
+}
+#endif

Buildscripts/DevicetreeCompiler/tests/data/test.dts

@@ -7,11 +7,16 @@
     model = "Test Model";
 
     test_device1: test-device@0 {
-        compatible = "test,device";
+        compatible = "test,generic-device";
         reg = <0>;
         status = "okay";
-        boolean-prop;
         int-prop = <42>;
         string-prop = "hello";
     };
+
+    bool-test-device {
+        compatible = "test,bool-device";
+        binding-default-false-setting-direct;
+        binding-implied-true-setting-direct;
+    };
 };

Buildscripts/DevicetreeCompiler/tests/test_integration.py

@@ -30,13 +30,23 @@ def test_compile_success():
             print(f"FAILED: Compilation failed: {result.stderr} {result.stdout}")
             return False
             
-        if not os.path.exists(os.path.join(output_dir, "devicetree.c")):
+        for filename in ["devicetree.c", "devicetree.h"]:
-            print("FAILED: devicetree.c not generated")
+            generated_path = os.path.join(output_dir, filename)
-            return False
+            expected_path = os.path.join(TEST_DATA_DIR, f"expected_{filename}")
             
-        if not os.path.exists(os.path.join(output_dir, "devicetree.h")):
+            if not os.path.exists(generated_path):
-            print("FAILED: devicetree.h not generated")
+                print(f"FAILED: {filename} not generated")
-            return False
+                return False
+                
+            if not os.path.exists(expected_path):
+                print(f"FAILED: {os.path.basename(expected_path)} not found in test data")
+                return False
+
+            diff_result = subprocess.run(["diff", "-u", expected_path, generated_path], capture_output=True, text=True)
+            if diff_result.returncode != 0:
+                print(f"FAILED: {filename} does not match expected_{filename}")
+                print(diff_result.stdout)
+                return False
             
         print("PASSED")
         return True

Buildscripts/TactilitySDK/CMakeLists.txt

@@ -2,18 +2,15 @@ idf_component_register(
     INCLUDE_DIRS
         "Libraries/TactilityC/include"
         "Libraries/TactilityKernel/include"
-        "Libraries/TactilityFreeRtos/include"
         "Libraries/lvgl/include"
-        "Libraries/lvgl-module/include"
     REQUIRES esp_timer
 )
 
+# Regular and core features
 add_prebuilt_library(TactilityC Libraries/TactilityC/binary/libTactilityC.a)
 add_prebuilt_library(TactilityKernel Libraries/TactilityKernel/binary/libTactilityKernel.a)
 add_prebuilt_library(lvgl Libraries/lvgl/binary/liblvgl.a)
-add_prebuilt_library(lvgl-module Libraries/lvgl-module/binary/liblvgl-module.a)
 
 target_link_libraries(${COMPONENT_LIB} INTERFACE TactilityC)
 target_link_libraries(${COMPONENT_LIB} INTERFACE TactilityKernel)
 target_link_libraries(${COMPONENT_LIB} INTERFACE lvgl)
-target_link_libraries(${COMPONENT_LIB} INTERFACE lvgl-module)

Buildscripts/TactilitySDK/TactilitySDK.cmake

@@ -14,4 +14,22 @@ macro(tactility_project project_name)
     if (NOT "$ENV{ESP_IDF_VERSION}" STREQUAL "${TACTILITY_SDK_IDF_VERSION}")
         message(FATAL_ERROR "ESP-IDF version of Tactility SDK (${TACTILITY_SDK_IDF_VERSION}) does not match current ESP-IDF version ($ENV{ESP_IDF_VERSION})")
     endif()
+
+    set(EXTRA_COMPONENT_DIRS
+        "Libraries/TactilityFreeRtos"
+        "Modules"
+        "Drivers"
+    )
+
+    set(COMPONENTS
+        TactilityFreeRtos
+        bm8563-module
+        bm8563-module
+        bmi270-module
+        mpu6886-module
+        pi4ioe5v6408-module
+        qmi8658-module
+        rx8130ce-module
+    )
+
 endmacro()

Buildscripts/release-sdk.py

@@ -5,6 +5,7 @@ import shutil
 import glob
 import subprocess
 import sys
+from textwrap import dedent
 
 def map_copy(mappings, target_base):
     """
@@ -59,6 +60,45 @@ def map_copy(mappings, target_base):
 
             os.makedirs(os.path.dirname(final_dst), exist_ok=True)
             shutil.copy2(src, final_dst)
+            
+def get_driver_mappings(driver_name):
+    return [
+        {'src': f'Drivers/{driver_name}/include/**', 'dst': f'Drivers/{driver_name}/include/'},
+        {'src': f'Drivers/{driver_name}/*.md', 'dst': f'Drivers/{driver_name}/'},
+        {'src': f'build/esp-idf/{driver_name}/lib{driver_name}.a', 'dst': f'Drivers/{driver_name}/binary/lib{driver_name}.a'},
+    ]
+
+def get_module_mappings(module_name):
+    return [
+        {'src': f'Modules/{module_name}/include/**', 'dst': f'Modules/{module_name}/include/'},
+        {'src': f'Modules/{module_name}/*.md', 'dst': f'Modules/{module_name}/'},
+        {'src': f'build/esp-idf/{module_name}/lib{module_name}.a', 'dst': f'Modules/{module_name}/binary/lib{module_name}.a'},
+    ]
+
+def create_module_cmakelists(module_name):
+    return dedent(f'''
+    cmake_minimum_required(VERSION 3.20)
+    idf_component_register(
+        INCLUDE_DIRS "include"
+    )
+    add_prebuilt_library({module_name} "binary/lib{module_name}.a")
+    '''.format(module_name=module_name))
+
+def write_module_cmakelists(path, content):
+    with open(path, 'w') as f:
+        f.write(content)
+
+def add_driver(target_path, driver_name):
+    mappings = get_driver_mappings(driver_name)
+    map_copy(mappings, target_path)
+    cmakelists_content = create_module_cmakelists(driver_name)
+    write_module_cmakelists(os.path.join(target_path, f"Drivers/{driver_name}/CMakeLists.txt"), cmakelists_content)
+
+def add_module(target_path, module_name):
+    mappings = get_module_mappings(module_name)
+    map_copy(mappings, target_path)
+    cmakelists_content = create_module_cmakelists(module_name)
+    write_module_cmakelists(os.path.join(target_path, f"Modules/{module_name}/CMakeLists.txt"), cmakelists_content)
 
 def main():
     if len(sys.argv) < 2:
@@ -85,12 +125,7 @@ def main():
         {'src': 'build/esp-idf/TactilityKernel/libTactilityKernel.a', 'dst': 'Libraries/TactilityKernel/binary/'},
         {'src': 'TactilityKernel/include/**', 'dst': 'Libraries/TactilityKernel/include/'},
         {'src': 'TactilityKernel/CMakeLists.txt', 'dst': 'Libraries/TactilityKernel/'},
-        {'src': 'TactilityKernel/LICENSE*.*', 'dst': 'Libraries/TactilityKernel/'},
+        {'src': 'TactilityKernel/*.md', 'dst': 'Libraries/TactilityKernel/'},
-        # lvgl-module
-        {'src': 'build/esp-idf/lvgl-module/liblvgl-module.a', 'dst': 'Libraries/lvgl-module/binary/'},
-        {'src': 'Modules/lvgl-module/include/**', 'dst': 'Libraries/lvgl-module/include/'},
-        {'src': 'Modules/lvgl-module/CMakeLists.txt', 'dst': 'Libraries/lvgl-module/'},
-        {'src': 'Modules/lvgl-module/LICENSE*.*', 'dst': 'Libraries/lvgl-module/'},
         # lvgl (basics)
         {'src': 'build/esp-idf/lvgl__lvgl/liblvgl__lvgl.a', 'dst': 'Libraries/lvgl/binary/liblvgl.a'},
         {'src': 'Libraries/lvgl/lvgl.h', 'dst': 'Libraries/lvgl/include/'},
@@ -108,6 +143,17 @@ def main():
 
     map_copy(mappings, target_path)
 
+    # Modules
+    add_module(target_path, "lvgl-module")
+
+    # Drivers
+    add_driver(target_path, "bm8563-module")
+    add_driver(target_path, "bmi270-module")
+    add_driver(target_path, "mpu6886-module")
+    add_driver(target_path, "pi4ioe5v6408-module")
+    add_driver(target_path, "qmi8658-module")
+    add_driver(target_path, "rx8130ce-module")
+
     # Output ESP-IDF SDK version to file
     esp_idf_version = os.environ.get("ESP_IDF_VERSION", "")
     with open(os.path.join(target_path, "idf-version.txt"), "a") as f:

Devices/generic-esp32/devicetree.yaml

@@ -1,3 +1,10 @@
 dependencies:
   - Platforms/platform-esp32
+  # Add all driver modules because the generic devices are used to build the SDK
+  - Drivers/bm8563-module
+  - Drivers/bmi270-module
+  - Drivers/mpu6886-module
+  - Drivers/pi4ioe5v6408-module
+  - Drivers/qmi8658-module
+  - Drivers/rx8130ce-module
 dts: generic,esp32.dts

Devices/generic-esp32c6/devicetree.yaml

@@ -1,3 +1,10 @@
 dependencies:
   - Platforms/platform-esp32
+  # Add all driver modules because the generic devices are used to build the SDK
+  - Drivers/bm8563-module
+  - Drivers/bmi270-module
+  - Drivers/mpu6886-module
+  - Drivers/pi4ioe5v6408-module
+  - Drivers/qmi8658-module
+  - Drivers/rx8130ce-module
 dts: generic,esp32c6.dts

Devices/generic-esp32p4/devicetree.yaml

@@ -1,3 +1,10 @@
 dependencies:
   - Platforms/platform-esp32
+  # Add all driver modules because the generic devices are used to build the SDK
+  - Drivers/bm8563-module
+  - Drivers/bmi270-module
+  - Drivers/mpu6886-module
+  - Drivers/pi4ioe5v6408-module
+  - Drivers/qmi8658-module
+  - Drivers/rx8130ce-module
 dts: generic,esp32p4.dts

Devices/generic-esp32s3/devicetree.yaml

@@ -1,3 +1,10 @@
 dependencies:
   - Platforms/platform-esp32
+  # Add all driver modules because the generic devices are used to build the SDK
+  - Drivers/bm8563-module
+  - Drivers/bmi270-module
+  - Drivers/mpu6886-module
+  - Drivers/pi4ioe5v6408-module
+  - Drivers/qmi8658-module
+  - Drivers/rx8130ce-module
 dts: generic,esp32s3.dts

Devices/lilygo-thmi/lilygo,thmi.dts

@@ -29,5 +29,6 @@
 		pin-cmd = <&gpio0 11 GPIO_FLAG_NONE>;
 		pin-d0 = <&gpio0 13 GPIO_FLAG_NONE>;
 		bus-width = <1>;
+		pullups;
 	};
 };

Platforms/platform-esp32/bindings/espressif,esp32-sdmmc.yaml

@@ -50,4 +50,12 @@ properties:
   enable-uhs:
     type: boolean
     default: false
-    description: Enable UHS mode
+    description: Enable UHS mode
+  pullups:
+    type: boolean
+    default: false
+    description: Enable internal pullups for SDMMC pins
+  on-chip-ldo-chan:
+    type: int
+    default: -1
+    description: On-chip LDO channel for SD power (e.g. 4 for LDO4). Set to -1 to disable.

Platforms/platform-esp32/include/tactility/drivers/esp32_sdmmc.h

@@ -28,6 +28,8 @@ struct Esp32SdmmcConfig {
     uint8_t bus_width;
     bool wp_active_high;
     bool enable_uhs;
+    bool pullups;
+    int32_t on_chip_ldo_chan;
 };
 
 /**

Platforms/platform-esp32/source/drivers/esp32_sdmmc_fs.cpp

@@ -78,20 +78,24 @@ static error_t mount(void* data) {
     sdmmc_host_t host = SDMMC_HOST_DEFAULT();
 
 #if SOC_SD_PWR_CTRL_SUPPORTED
-    sd_pwr_ctrl_ldo_config_t ldo_config = {
+    // Treat non-positive values as disabled to remain safe with zero-initialized configs.
-        .ldo_chan_id = 4, // LDO4 is typically used for SDMMC on ESP32-S3
+    if (config->on_chip_ldo_chan > 0) {
-    };
+        sd_pwr_ctrl_ldo_config_t ldo_config = {
-    esp_err_t pwr_err = sd_pwr_ctrl_new_on_chip_ldo(&ldo_config, &fs_data->pwr_ctrl_handle);
+            .ldo_chan_id = (uint32_t)config->on_chip_ldo_chan,
-    if (pwr_err != ESP_OK) {
+        };
-        LOG_E(TAG, "Failed to create SD power control driver, err=0x%x", pwr_err);
+        esp_err_t pwr_err = sd_pwr_ctrl_new_on_chip_ldo(&ldo_config, &fs_data->pwr_ctrl_handle);
-        return ERROR_NOT_SUPPORTED;
+        if (pwr_err != ESP_OK) {
+            LOG_E(TAG, "Failed to create SD power control driver, err=0x%x", pwr_err);
+            return ERROR_NOT_SUPPORTED;
+        }
+        host.pwr_ctrl_handle = fs_data->pwr_ctrl_handle;
     }
-    host.pwr_ctrl_handle = fs_data->pwr_ctrl_handle;
 #endif
 
     uint32_t slot_config_flags = 0;
     if (config->enable_uhs) slot_config_flags |= SDMMC_SLOT_FLAG_UHS1;
     if (config->wp_active_high) slot_config_flags |= SDMMC_SLOT_FLAG_WP_ACTIVE_HIGH;
+    if (config->pullups) slot_config_flags |= SDMMC_SLOT_FLAG_INTERNAL_PULLUP;
 
     sdmmc_slot_config_t slot_config = {
         .clk = to_native_pin(config->pin_clk),
@@ -127,6 +131,7 @@ static error_t mount(void* data) {
         return ERROR_UNDEFINED;
     }
 
+    sdmmc_card_print_info(stdout, fs_data->card);
     LOG_I(TAG, "Mounted %s", fs_data->mount_path.c_str());
 
     return ERROR_NONE;

Tactility/Source/hal/sdcard/SpiSdCardDevice.cpp

@@ -21,11 +21,16 @@ static const auto LOGGER = Logger("SpiSdCardDevice");
 bool SpiSdCardDevice::applyGpioWorkAround() {
     LOGGER.info("applyGpioWorkAround");
 
-    uint64_t pin_bit_mask = BIT64(config->spiPinCs);
+    uint64_t pin_bit_mask = config->spiPinCs != GPIO_NUM_NC ? BIT64(config->spiPinCs) : 0;
     for (auto const& pin: config->csPinWorkAround) {
         pin_bit_mask |= BIT64(pin);
     }
 
+    // Nothing to do
+    if (pin_bit_mask == 0) {
+        return true;
+    }
+
     if (!gpio::configureWithPinBitmask(pin_bit_mask, gpio::Mode::Output, false, false)) {
         LOGGER.error("GPIO work-around failed");
         return false;

Tests/SdkIntegration/CMakeLists.txt

@@ -5,12 +5,12 @@ include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 if (DEFINED ENV{TACTILITY_SDK_PATH})
     set(TACTILITY_SDK_PATH $ENV{TACTILITY_SDK_PATH})
 else()
-    set(TACTILITY_SDK_PATH "../../release/TactilitySDK")
+    set(TACTILITY_SDK_PATH ../../release/TactilitySDK)
-    message(WARNING "⚠️ TACTILITY_SDK_PATH environment variable is not set, defaulting to ${TACTILITY_SDK_PATH}")
+    message(WARNING "TACTILITY_SDK_PATH environment variable is not set, defaulting to ${TACTILITY_SDK_PATH}")
 endif()
 
 include("${TACTILITY_SDK_PATH}/TactilitySDK.cmake")
-set(EXTRA_COMPONENT_DIRS ${TACTILITY_SDK_PATH})
+set(EXTRA_COMPONENT_DIRS ${TACTILITY_SDK_PATH} ${TACTILITY_SDK_PATH}/Modules ${TACTILITY_SDK_PATH}/Drivers)
 
 project(SdkTest)
 tactility_project(SdkTest)

Tests/SdkIntegration/main/CMakeLists.txt

@@ -3,4 +3,11 @@ file(GLOB_RECURSE SOURCE_FILES Source/*.c)
 idf_component_register(
     SRCS ${SOURCE_FILES}
     REQUIRES TactilitySDK
+        lvgl-module
+        bm8563-module
+        bmi270-module
+        mpu6886-module
+        pi4ioe5v6408-module
+        qmi8658-module
+        rx8130ce-module
 )

Tests/SdkIntegration/main/Source/main.c

@@ -24,6 +24,13 @@
 
 #include <tactility/lvgl_module.h>
 
+#include <drivers/bm8563.h>
+#include <drivers/bmi270.h>
+#include <drivers/mpu6886.h>
+#include <drivers/pi4ioe5v6408.h>
+#include <drivers/qmi8658.h>
+#include <drivers/rx8130ce.h>
+
 static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
     lv_obj_t* toolbar = tt_lvgl_toolbar_create_for_app(parent, app);
     lv_obj_align(toolbar, LV_ALIGN_TOP_MID, 0, 0);