Implement UART HAL (#212)

- Implement UART HAL
- Improved I2C and SPI HAL mocking mechanism (removed mock files)

.clang-format

@@ -41,7 +41,7 @@ ContinuationIndentWidth: 4
 EmptyLineBeforeAccessModifier: Always
 EmptyLineAfterAccessModifier: Always
 IndentCaseLabels: true
-IndentPPDirectives: BeforeHash
+IndentPPDirectives: None
 IndentWidth: 4
 KeepEmptyLinesAtTheStartOfBlocks: true
 MaxEmptyLinesToKeep: 2

Boards/LilygoTdeck/Source/LilygoTdeck.cpp

@@ -80,5 +80,32 @@ extern const tt::hal::Configuration lilygo_tdeck = {
             .hasMutableConfiguration = false,
             .lock = tt::lvgl::getLvglSyncLockable() // esp_lvgl_port owns the lock for the display
         }
+    },
+    .uart {
+        tt::hal::uart::Configuration {
+            .port = UART_NUM_0,
+            .initMode = tt::hal::uart::InitMode::ByTactility,
+            .canReinit = false,
+            .hasMutableConfiguration = false,
+            .rxPin = GPIO_NUM_44,
+            .txPin = GPIO_NUM_43,
+            .rtsPin = GPIO_NUM_NC,
+            .ctsPin = GPIO_NUM_NC,
+            .rxBufferSize = 1024,
+            .txBufferSize = 1024,
+            .config = {
+                .baud_rate = 9600,
+                .data_bits = UART_DATA_8_BITS,
+                .parity    = UART_PARITY_DISABLE,
+                .stop_bits = UART_STOP_BITS_1,
+                .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+                .rx_flow_ctrl_thresh = 0,
+                .source_clk = UART_SCLK_DEFAULT,
+                .flags = {
+                    .allow_pd = 0,
+                    .backup_before_sleep = 0,
+                }
+            }
+        }
     }
 };

Documentation/ideas.md

@@ -1,4 +1,6 @@
 # TODOs
+- Start using non_null (either via MS GSL, or custom)
+- `hal/Configuration.h` defines C function types: Use C++ std::function instead
 - Fix system time to not be 1980 (use build year as minimum)
 - Use std::span or string_view in StringUtils https://youtu.be/FRkJCvHWdwQ?t=2754 
 - Fix bug in T-Deck/etc: esp_lvgl_port settings has a large stack size (~9kB) to fix an issue where the T-Deck would get a stackoverflow. This sometimes happens when WiFi is auto-enabled and you open the app while it is still connecting.

TactilityHeadless/Include/Tactility/hal/Configuration.h

@@ -3,6 +3,7 @@
 #include "./SdCard.h"
 #include "./i2c/I2c.h"
 #include "Tactility/hal/spi/Spi.h"
+#include "Tactility/hal/uart/Uart.h"
 
 namespace tt::hal {
 
@@ -47,6 +48,9 @@ struct Configuration {
 
     /** A list of SPI interfaces */
     const std::vector<spi::Configuration> spi = {};
+
+    /** A list of UART interfaces */
+    const std::vector<uart::Configuration> uart = {};
 };
 
 } // namespace

TactilityHeadless/Include/Tactility/hal/Gpio.h

@@ -0,0 +1,7 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include <driver/gpio.h>
+#else
+typedef unsigned int gpio_num_t;
+#endif

TactilityHeadless/Include/Tactility/hal/i2c/I2cCompat.h

@@ -1,39 +1,38 @@
 #pragma once
 
 #ifdef ESP_PLATFORM
+
 #include <hal/i2c_types.h>
 #include <driver/i2c.h>
+
 #else
 
 #include <cstdint>
 
-typedef int esp_err_t;
+enum i2c_port_t {
-
-typedef enum {
     I2C_NUM_0 = 0,
     I2C_NUM_1,
     LP_I2C_NUM_0,
     I2C_NUM_MAX,
-} i2c_port_t;
+};
 
-typedef enum{
+enum i2c_mode_t {
     I2C_MODE_MASTER,
     I2C_MODE_MAX,
-} i2c_mode_t;
+};
 
-typedef struct {
+struct i2c_config_t {
     i2c_mode_t mode;
     int sda_io_num;
     int scl_io_num;
     bool sda_pullup_en;
     bool scl_pullup_en;
-
     union {
         struct {
             uint32_t clk_speed;
         } master;
     };
     uint32_t clk_flags;
-} i2c_config_t;
+};
 
 #endif

TactilityHeadless/Include/Tactility/hal/spi/SpiCompat.h

@@ -1,58 +1,19 @@
 #pragma once
 
+#include "../Gpio.h"
+
 #ifdef ESP_PLATFORM
 #include <driver/spi_common.h>
 #else
 
-#include <cstdint>
+#define SPI_HOST_MAX 3
-
-enum spi_host_device_t {
-    SPI1_HOST = 0,
-    SPI2_HOST = 1,
-    SPI3_HOST = 2,
-    SPI_HOST_MAX,
-};
-
-enum spi_common_dma_t {
-    SPI_DMA_DISABLED = 0, ///< No DMA
-    SPI_DMA_CH1 = 1, ///< DMA, select DMA Channel 1
-    SPI_DMA_CH2 = 2, ///< DMA, select DMA Channel 2
-    SPI_DMA_CH_AUTO = 3, ///< DMA, channel selected by driver
-};
-
-enum esp_intr_cpu_affinity_t {
-    ESP_INTR_CPU_AFFINITY_AUTO,
-    ESP_INTR_CPU_AFFINITY_0,
-    ESP_INTR_CPU_AFFINITY_1,
-};
 
+typedef int spi_host_device_t;
 struct spi_bus_config_t {
-    union {
+    gpio_num_t miso_io_num;
-        int mosi_io_num;
+    gpio_num_t mosi_io_num;
-        int data0_io_num;
+    gpio_num_t sclk_io_num;
-    };
-    union {
-        int miso_io_num;
-        int data1_io_num;
-    };
-    int sclk_io_num;
-    union {
-        int quadwp_io_num;
-        int data2_io_num;
-    };
-    union {
-        int quadhd_io_num;
-        int data3_io_num;
-    };
-    int data4_io_num;
-    int data5_io_num;
-    int data6_io_num;
-    int data7_io_num;
-    bool data_io_default_level;
-    int max_transfer_sz;
-    uint32_t flags;
-    esp_intr_cpu_affinity_t isr_cpu_id;
-    int intr_flags;
 };
+struct spi_common_dma_t {};
 
 #endif

TactilityHeadless/Include/Tactility/hal/uart/Uart.h

@@ -0,0 +1,61 @@
+#pragma once
+
+#include <Tactility/RtosCompat.h>
+
+#include "UartCompat.h"
+#include "../Gpio.h"
+
+#include <vector>
+#include <memory>
+
+namespace tt::hal::uart {
+
+enum class InitMode {
+    ByTactility, // Tactility will initialize it in the correct bootup phase
+    ByExternal, // The device is already initialized and Tactility should assume it works
+    Disabled // Not initialized by default
+};
+
+struct Configuration {
+    uart_port_t port;
+    /** Whether this bus should be initialized when device starts up */
+    InitMode initMode;
+    /** Whether this bus can stopped and re-started. */
+    bool canReinit;
+    /** Whether .config can be changed. */
+    bool hasMutableConfiguration;
+    /** Receive GPIO pin */
+    gpio_num_t rxPin;
+    /** Transmit GPIO pin */
+    gpio_num_t txPin;
+    /** Read-To-Send GPIO pin */
+    gpio_num_t rtsPin;
+    /** Clear-To-Send Send GPIO pin */
+    gpio_num_t ctsPin;
+    /** Receive buffer size in bytes */
+    unsigned int rxBufferSize;
+    /** Transmit buffer size in bytes */
+    unsigned int txBufferSize;
+    /** Native configuration */
+    uart_config_t config;
+};
+
+enum class Status {
+    Started,
+    Stopped,
+    Unknown
+};
+
+bool init(const std::vector<uart::Configuration>& configurations);
+
+bool start(uart_port_t port);
+bool stop(uart_port_t port);
+bool isStarted(uart_port_t port);
+
+bool lock(uart_port_t port, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+bool unlock(uart_port_t port);
+
+size_t read(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+size_t write(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout = 10 / portTICK_PERIOD_MS);
+
+} // namespace tt::hal::uart

TactilityHeadless/Include/Tactility/hal/uart/UartCompat.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+
+#include <driver/uart.h>
+#include <driver/gpio.h>
+#include <hal/uart_types.h>
+
+#else
+
+#define UART_NUM_MAX 3
+typedef int uart_port_t;
+
+typedef struct {
+} uart_config_t;
+
+#endif

TactilityHeadless/Include/Tactility/kernel/SystemEvents.h

@@ -11,6 +11,8 @@ enum class SystemEvent {
     BootInitI2cEnd,
     BootInitSpiBegin,
     BootInitSpiEnd,
+    BootInitUartBegin,
+    BootInitUartEnd,
     BootInitLvglBegin,
     BootInitLvglEnd,
     BootSplash,

TactilityHeadless/Source/hal/Hal.cpp

@@ -1,7 +1,8 @@
+#include "Tactility/hal/Configuration.h"
 #include "Tactility/hal/Device.h"
-#include "Tactility/hal/Hal_i.h"
 #include "Tactility/hal/i2c/I2c.h"
 #include "Tactility/hal/spi/Spi.h"
+#include "Tactility/hal/uart/Uart.h"
 #include "Tactility/hal/Power.h"
 
 #include <Tactility/kernel/SystemEvents.h>
@@ -21,6 +22,10 @@ void init(const Configuration& configuration) {
     tt_check(spi::init(configuration.spi), "SPI init failed");
     kernel::systemEventPublish(kernel::SystemEvent::BootInitSpiEnd);
 
+    kernel::systemEventPublish(kernel::SystemEvent::BootInitUartBegin);
+    tt_check(uart::init(configuration.uart), "UART init failed");
+    kernel::systemEventPublish(kernel::SystemEvent::BootInitUartEnd);
+
     if (configuration.initBoot != nullptr) {
         TT_LOG_I(TAG, "Init power");
         tt_check(configuration.initBoot(), "Init power failed");

TactilityHeadless/Source/hal/i2c/I2c.cpp

@@ -1,11 +1,11 @@
-#ifdef ESP_PLATFORM
-
 #include "Tactility/hal/i2c/I2c.h"
 
 #include <Tactility/Log.h>
 #include <Tactility/Mutex.h>
 
+#ifdef ESP_PLATFORM
 #include <esp_check.h>
+#endif // ESP_PLATFORM
 
 #define TAG "i2c"
 
@@ -41,17 +41,21 @@ static void printInfo(const Data& data) {
     TT_LOG_V(TAG, "  initMode: %s", initModeToString(data.configuration.initMode));
     TT_LOG_V(TAG, "  canReinit: %d", data.configuration.canReinit);
     TT_LOG_V(TAG, "  hasMutableConfiguration: %d", data.configuration.hasMutableConfiguration);
+#ifdef ESP_PLATFORM
     TT_LOG_V(TAG, "  SDA pin: %d", data.configuration.config.sda_io_num);
     TT_LOG_V(TAG, "  SCL pin: %d", data.configuration.config.scl_io_num);
+#endif // ESP_PLATFORM
 }
 
 bool init(const std::vector<i2c::Configuration>& configurations) {
    TT_LOG_I(TAG, "Init");
    for (const auto& configuration: configurations) {
+#ifdef ESP_PLATFORM
        if (configuration.config.mode != I2C_MODE_MASTER) {
            TT_LOG_E(TAG, "Currently only master mode is supported");
            return false;
        }
+#endif // ESP_PLATFORM
        Data& data = dataArray[configuration.port];
        data.configuration = configuration;
        data.isConfigured = true;
@@ -111,6 +115,7 @@ static bool startLocked(i2c_port_t port) {
         return false;
     }
 
+#ifdef ESP_PLATFORM
     esp_err_t result = i2c_param_config(port, &config.config);
     if (result != ESP_OK) {
         TT_LOG_E(TAG, "(%d) Starting: Failed to configure: %s", port, esp_err_to_name(result));
@@ -121,9 +126,10 @@ static bool startLocked(i2c_port_t port) {
     if (result != ESP_OK) {
         TT_LOG_E(TAG, "(%d) Starting: Failed to install driver: %s", port, esp_err_to_name(result));
         return false;
-    } else {
-        data.isStarted = true;
     }
+#endif // ESP_PLATFORM
+
+    data.isStarted = true;
 
     TT_LOG_I(TAG, "(%d) Started", port);
     return true;
@@ -154,13 +160,15 @@ static bool stopLocked(i2c_port_t port) {
         return false;
     }
 
+#ifdef ESP_PLATFORM
     esp_err_t result = i2c_driver_delete(port);
     if (result != ESP_OK) {
         TT_LOG_E(TAG, "(%d) Stopping: Failed to delete driver: %s", port, esp_err_to_name(result));
         return false;
-    } else {
-        data.isStarted = false;
     }
+#endif // ESP_PLATFORM
+
+    data.isStarted = false;
 
     TT_LOG_I(TAG, "(%d) Stopped", port);
     return true;
@@ -189,6 +197,7 @@ bool isStarted(i2c_port_t port) {
 }
 
 bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     if (lock(port)) {
         // TODO: We're passing an inaccurate timeout value as we already lost time with locking and previous writes in this loop
         esp_err_t result = i2c_master_read_from_device(port, address, data, dataSize, timeout);
@@ -198,9 +207,13 @@ bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize
         TT_LOG_E(TAG, "(%d) Mutex timeout", port);
         return false;
     }
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     if (!lock(port)) {
         TT_LOG_E(TAG, "(%d) Mutex timeout", port);
         return false;
@@ -229,9 +242,13 @@ bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t*
     ESP_ERROR_CHECK_WITHOUT_ABORT(result);
 
     return result == ESP_OK;
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     if (lock(port)) {
         // TODO: We're passing an inaccurate timeout value as we already lost time with locking
         esp_err_t result = i2c_master_write_to_device(port, address, data, dataSize, timeout);
@@ -241,9 +258,13 @@ bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t
         TT_LOG_E(TAG, "(%d) Mutex timeout", port);
         return false;
     }
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     tt_check(reg != 0);
 
     if (!lock(port)) {
@@ -266,9 +287,13 @@ bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const ui
     ESP_ERROR_CHECK_WITHOUT_ABORT(result);
 
     return result == ESP_OK;
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     assert(dataSize % 2 == 0);
     bool result = true;
     for (int i = 0; i < dataSize; i += 2) {
@@ -278,9 +303,13 @@ bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* d
         }
     }
     return result;
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     if (lock(port)) {
         // TODO: We're passing an inaccurate timeout value as we already lost time with locking
         esp_err_t result = i2c_master_write_read_device(port, address, writeData, writeDataSize, readData, readDataSize, timeout);
@@ -290,9 +319,13 @@ bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData,
         TT_LOG_E(TAG, "(%d) Mutex timeout", port);
         return false;
     }
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeout) {
+#ifdef ESP_PLATFORM
     if (lock(port)) {
         uint8_t message[2] = { 0, 0 };
         // TODO: We're passing an inaccurate timeout value as we already lost time with locking
@@ -303,6 +336,9 @@ bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeo
         TT_LOG_E(TAG, "(%d) Mutex timeout", port);
         return false;
     }
+#else
+    return false;
+#endif // ESP_PLATFORM
 }
 
 bool lock(i2c_port_t port, TickType_t timeout) {
@@ -314,5 +350,3 @@ bool unlock(i2c_port_t port) {
 }
 
 } // namespace
-
-#endif

TactilityHeadless/Source/hal/i2c/I2cMock.cpp

@@ -1,121 +0,0 @@
-#ifndef ESP_PLATFORM
-
-/**
- * This code is based on i2c_manager from https://github.com/ropg/i2c_manager/blob/master/i2c_manager/i2c_manager.c (original has MIT license)
- */
-#include "Tactility/TactilityCore.h"
-#include "Tactility/hal/i2c/I2c.h"
-
-namespace tt::hal::i2c {
-
-typedef struct Data {
-    Mutex mutex;
-    bool isConfigured = false;
-    bool isStarted = false;
-    Configuration configuration;
-} Data;
-
-static Data dataArray[I2C_NUM_MAX];
-
-#define TAG "i2c"
-
-bool init(const std::vector<i2c::Configuration>& configurations) {
-   TT_LOG_I(TAG, "Init");
-   for (const auto& configuration: configurations) {
-       Data& data = dataArray[configuration.port];
-       data.configuration = configuration;
-       data.isConfigured = true;
-   }
-
-   for (const auto& config: configurations) {
-       if (config.initMode == InitMode::ByTactility && !start(config.port)) {
-           return false;
-       } else if (config.initMode == InitMode::ByExternal) {
-           dataArray[config.port].isStarted = true;
-       }
-   }
-
-   return true;
-}
-
-static bool configureLocked(i2c_port_t port, const i2c_config_t& configuration) {
-    Data& data = dataArray[port];
-    if (data.isStarted) {
-        TT_LOG_E(TAG, "(%d) Cannot reconfigure while interface is started", port);
-        return false;
-    } else if (!data.configuration.hasMutableConfiguration) {
-        TT_LOG_E(TAG, "(%d) Mutation not allowed by original configuration", port);
-        return false;
-    } else {
-        data.configuration.config = configuration;
-        return true;
-    }
-}
-
-bool configure(i2c_port_t port, const i2c_config_t& configuration) {
-    lock(port);
-    bool result = configureLocked(port, configuration);
-    unlock(port);
-    return result;
-}
-
-bool start(i2c_port_t port) {
-    lock(port);
-    dataArray[port].isStarted = true;
-    unlock(port);
-    return true;
-}
-
-bool stop(i2c_port_t port) {
-    lock(port);
-    dataArray[port].isStarted = false;
-    unlock(port);
-    return true;
-}
-
-bool isStarted(i2c_port_t port) {
-    lock(port);
-    bool started = dataArray[port].isStarted;
-    unlock(port);
-    return started;
-}
-
-bool lock(i2c_port_t port, TickType_t timeout) {
-    return dataArray[port].mutex.lock(timeout);
-}
-
-bool unlock(i2c_port_t port) {
-    return dataArray[port].mutex.unlock();
-}
-
-bool masterRead(i2c_port_t port, uint8_t address, uint8_t* data, size_t dataSize, TickType_t timeout) {
-    return false;
-}
-
-bool masterReadRegister(i2c_port_t port, uint8_t address, uint8_t reg, uint8_t* data, size_t dataSize, TickType_t timeout) {
-    return false;
-}
-
-bool masterWrite(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
-    return false;
-}
-
-bool masterWriteRegister(i2c_port_t port, uint8_t address, uint8_t reg, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
-    return false;
-}
-
-bool masterWriteRegisterArray(i2c_port_t port, uint8_t address, const uint8_t* data, uint16_t dataSize, TickType_t timeout) {
-    return false;
-}
-
-bool masterWriteRead(i2c_port_t port, uint8_t address, const uint8_t* writeData, size_t writeDataSize, uint8_t* readData, size_t readDataSize, TickType_t timeout) {
-    return false;
-}
-
-bool masterHasDeviceAtAddress(i2c_port_t port, uint8_t address, TickType_t timeout) {
-    return (rand()) % 25 == 0;
-}
-
-} // namespace
-
-#endif

TactilityHeadless/Source/hal/uart/Uart.cpp

@@ -0,0 +1,247 @@
+#include "Tactility/hal/uart/Uart.h"
+
+#include <Tactility/Log.h>
+#include <Tactility/LogMessages.h>
+#include <Tactility/Mutex.h>
+
+#ifdef ESP_PLATFORM
+#include <esp_check.h>
+#endif
+
+#define TAG "uart"
+
+namespace tt::hal::uart {
+
+struct Data {
+    Mutex mutex;
+    bool isConfigured = false;
+    bool isStarted = false;
+    Configuration configuration;
+};
+
+static Data dataArray[UART_NUM_MAX];
+
+static const char* initModeToString(InitMode mode) {
+    switch (mode) {
+        using enum InitMode;
+        case ByTactility:
+            return TT_STRINGIFY(InitMode::ByTactility);
+        case ByExternal:
+            return TT_STRINGIFY(InitMode::ByExternal);
+        case Disabled:
+            return TT_STRINGIFY(InitMode::Disabled);
+    }
+    tt_crash("not implemented");
+}
+
+static void printInfo(const Data& data) {
+    TT_LOG_V(TAG, "UART info for port %d", data.configuration.port);
+    TT_LOG_V(TAG, "  isStarted: %d", data.isStarted);
+    TT_LOG_V(TAG, "  isConfigured: %d", data.isConfigured);
+    TT_LOG_V(TAG, "  initMode: %s", initModeToString(data.configuration.initMode));
+    TT_LOG_V(TAG, "  canReinit: %d", data.configuration.canReinit);
+    TT_LOG_V(TAG, "  hasMutableConfiguration: %d", data.configuration.hasMutableConfiguration);
+    TT_LOG_V(TAG, "  RX pin: %d", data.configuration.rxPin);
+    TT_LOG_V(TAG, "  TX pin: %d", data.configuration.txPin);
+    TT_LOG_V(TAG, "  RTS pin: %d", data.configuration.rtsPin);
+    TT_LOG_V(TAG, "  CTS pin: %d", data.configuration.ctsPin);
+}
+
+bool init(const std::vector<uart::Configuration>& configurations) {
+    TT_LOG_I(TAG, "Init");
+    for (const auto& configuration: configurations) {
+        Data& data = dataArray[configuration.port];
+        data.configuration = configuration;
+        data.isConfigured = true;
+    }
+
+    for (const auto& config: configurations) {
+        printInfo(dataArray[config.port]);
+        if (config.initMode == InitMode::ByTactility) {
+            if (!start(config.port)) {
+                return false;
+            }
+        } else if (config.initMode == InitMode::ByExternal) {
+            dataArray[config.port].isStarted = true;
+        }
+    }
+
+    return true;
+}
+
+static bool configureLocked(uart_port_t port, const uart_config_t& configuration) {
+    Data& data = dataArray[port];
+    if (data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Cannot reconfigure while interface is started", port);
+        return false;
+    } else if (!data.configuration.hasMutableConfiguration) {
+        TT_LOG_E(TAG, "(%d) Mutation not allowed by original configuration", port);
+        return false;
+    } else {
+        data.configuration.config = configuration;
+        return true;
+    }
+}
+
+bool configure(uart_port_t port, const uart_config_t& configuration) {
+    if (lock(port)) {
+        bool result = configureLocked(port, configuration);
+        unlock(port);
+        return result;
+    } else {
+        TT_LOG_E(TAG, "(%d) Mutex timeout", port);
+        return false;
+    }
+}
+
+static bool startLocked(uart_port_t port) {
+    Data& data = dataArray[port];
+    printInfo(data);
+
+    if (data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Starting: Already started", port);
+        return false;
+    }
+
+    if (!data.isConfigured) {
+        TT_LOG_E(TAG, "(%d) Starting: Not configured", port);
+        return false;
+    }
+
+#ifdef ESP_PLATFORM
+
+    Configuration& config = data.configuration;
+
+    int intr_alloc_flags;
+#if CONFIG_UART_ISR_IN_IRAM
+    intr_alloc_flags = ESP_INTR_FLAG_IRAM;
+#else
+    intr_alloc_flags = 0;
+#endif
+    esp_err_t result = uart_param_config(config.port, &config.config);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Starting: Failed to configure: %s", port, esp_err_to_name(result));
+        return false;
+    }
+
+    result = uart_set_pin(config.port, config.txPin, config.rxPin, config.rtsPin, config.ctsPin);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Starting: Failed set pins: %s", port, esp_err_to_name(result));
+        return false;
+    }
+
+    result = uart_driver_install(config.port, (int)config.rxBufferSize, (int)config.txBufferSize, 0, nullptr, intr_alloc_flags);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Starting: Failed to install driver: %s", port, esp_err_to_name(result));
+        return false;
+    }
+
+#endif // ESP_PLATFORM
+
+    data.isStarted = true;
+
+    TT_LOG_I(TAG, "(%d) Started", port);
+    return true;
+}
+
+bool start(uart_port_t port) {
+    if (lock(port)) {
+        bool result = startLocked(port);
+        unlock(port);
+        return result;
+    } else {
+        TT_LOG_E(TAG, "(%d) Mutex timeout", port);
+        return false;
+    }
+}
+
+static bool stopLocked(uart_port_t port) {
+    Data& data = dataArray[port];
+    Configuration& config = data.configuration;
+
+    if (!config.canReinit) {
+        TT_LOG_E(TAG, "(%d) Stopping: Not allowed to re-init", port);
+        return false;
+    }
+
+    if (!data.isStarted) {
+        TT_LOG_E(TAG, "(%d) Stopping: Not started", port);
+        return false;
+    }
+
+#ifdef ESP_PLATFORM
+    esp_err_t result = uart_driver_delete(port);
+    if (result != ESP_OK) {
+        TT_LOG_E(TAG, "(%d) Stopping: Failed to delete driver: %s", port, esp_err_to_name(result));
+        return false;
+    } else {
+        data.isStarted = false;
+    }
+#else
+    data.isStarted = true;
+#endif // ESP_PLATFORM
+
+    TT_LOG_I(TAG, "(%d) Stopped", port);
+    return true;
+}
+
+bool stop(uart_port_t port) {
+    if (lock(port)) {
+        bool result = stopLocked(port);
+        unlock(port);
+        return result;
+    } else {
+        TT_LOG_E(TAG, "(%d) Mutex timeout", port);
+        return false;
+    }
+}
+
+bool isStarted(uart_port_t port) {
+    if (lock(port, 50 / portTICK_PERIOD_MS)) {
+        bool started = dataArray[port].isStarted;
+        unlock(port);
+        return started;
+    } else {
+        // If we can't get a lock, we assume the device is busy and thus has started
+        return true;
+    }
+}
+
+bool lock(uart_port_t port, TickType_t timeout) {
+    return dataArray[port].mutex.lock(timeout);
+}
+
+bool unlock(uart_port_t port) {
+    return dataArray[port].mutex.unlock();
+}
+
+size_t read(uart_port_t port, uint8_t* buffer, size_t bufferSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
+    auto start_time = kernel::getTicks();
+    if (lock(port, timeout)) {
+        auto lock_time = kernel::getTicks() - start_time;
+        auto remaining_timeout = std::max(timeout - lock_time, 0UL);
+        auto result = uart_read_bytes(port, buffer, bufferSize, remaining_timeout);
+        unlock(port);
+        return result;
+    } else {
+        TT_LOG_E(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "read()");
+    }
+#endif // ESP_PLATFORM
+    return 0;
+}
+
+size_t write(uart_port_t port, const uint8_t* buffer, size_t bufferSize, TickType_t timeout) {
+#ifdef ESP_PLATFORM
+    if (lock(port, timeout)) {
+        auto result = uart_write_bytes(port, buffer, bufferSize);
+        unlock(port);
+        return result;
+    } else {
+        TT_LOG_E(TAG, LOG_MESSAGE_MUTEX_LOCK_FAILED_FMT, "write()");
+    }
+#endif // ESP_PLATFORM
+    return 0;
+}
+
+} // namespace tt::hal::uart

TactilityHeadless/Source/kernel/SystemEvents.cpp

@@ -34,6 +34,10 @@ static const char* getEventName(SystemEvent event) {
             return TT_STRINGIFY(BootInitSpiBegin);
         case BootInitSpiEnd:
             return TT_STRINGIFY(BootInitSpiEnd);
+        case BootInitUartBegin:
+            return TT_STRINGIFY(BootInitUartBegin);
+        case BootInitUartEnd:
+            return TT_STRINGIFY(BootInitUartEnd);
         case BootInitLvglBegin:
             return TT_STRINGIFY(BootInitLvglBegin);
         case BootInitLvglEnd: