Kernel improvements (#468)

* **New Features**
  * Plugin-style modules for platforms and devices with start/stop lifecycle and a runtime-consumable device tree array.

* **Refactor**
  * Consolidated initialization into a kernel/module startup flow.
  * Generated devicetree artifacts moved to the build Generated directory.

* **Changes**
  * Removed legacy no-op registration hooks and I2C lock/unlock wrappers.
  * Driver ownership and private state moved to explicit module/owner model.
  * Added ERROR_NOT_ALLOWED error code.

Buildscripts/DevicetreeCompiler/source/generator.py

@@ -135,7 +135,7 @@ def write_device_init(file, device: Device, bindings: list[Binding], verbose: bo
     identifier = get_device_identifier_safe(device)
     device_variable = identifier
     # Write device struct
-    file.write(f"\tif (device_construct_add_start(&{device_variable}, \"{compatible_property.value}\") != ERROR_NONE) return ERROR_RESOURCE;\n")
+    file.write("\t{ " f"&{device_variable}, \"{compatible_property.value}\"" " },\n")
     # Write children
     for child_device in device.devices:
         write_device_init(file, child_device, bindings, verbose)
@@ -145,8 +145,6 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
         file.write(dedent('''\
         // Default headers
         #include <tactility/device.h>
-        #include <tactility/error.h>
-        #include <tactility/log.h>
         // DTS headers
         '''))
 
@@ -161,14 +159,14 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
             if type(item) is Device:
                 write_device_structs(file, item, None, bindings, verbose)
         # Init function body start
-        file.write("error_t devices_builtin_init() {\n")
+        file.write("struct CompatibleDevice devicetree_devices[] = {\n")
         # Init function body logic
         for item in items:
             if type(item) is Device:
                 write_device_init(file, item, bindings, verbose)
-        file.write("\treturn ERROR_NONE;\n")
         # Init function body end
-        file.write("}\n")
+        file.write("\t{ NULL, NULL },\n")
+        file.write("};\n")
 
 def generate_devicetree_h(filename: str):
     with open(filename, "w") as file:
@@ -180,7 +178,7 @@ def generate_devicetree_h(filename: str):
         extern "C" {
         #endif
         
-        extern error_t devices_builtin_init();
+        extern struct CompatibleDevice devicetree_devices[];
         
         #ifdef __cplusplus
         }

Devices/btt-panda-touch/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/btt-panda-touch/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "BigTreeTech Panda Touch / K Touch",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-2432s024c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-2432s024c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-2432s028r/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-2432s028r/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-2432s028rv3/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-2432s028rv3/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-2432s032c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-2432s032c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-4848s040c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-4848s040c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-8048s043c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-8048s043c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-e32r28t/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-e32r28t/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/cyd-e32r32p/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/cyd-e32r32p/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/elecrow-crowpanel-advance-28/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/elecrow-crowpanel-advance-28/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/elecrow-crowpanel-advance-35/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/elecrow-crowpanel-advance-35/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/elecrow-crowpanel-advance-50/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/elecrow-crowpanel-advance-50/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/elecrow-crowpanel-basic-28/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/elecrow-crowpanel-basic-28/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/elecrow-crowpanel-basic-35/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/elecrow-crowpanel-basic-35/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/elecrow-crowpanel-basic-50/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/elecrow-crowpanel-basic-50/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/generic-esp32/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/generic-esp32/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/generic-esp32c6/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/generic-esp32c6/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/generic-esp32p4/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/generic-esp32p4/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/generic-esp32s3/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/generic-esp32s3/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/guition-jc1060p470ciwy/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/guition-jc1060p470ciwy/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/guition-jc2432w328c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/guition-jc2432w328c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/guition-jc3248w535c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/guition-jc3248w535c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/guition-jc8048w550c/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/guition-jc8048w550c/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

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

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

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

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/lilygo-tdeck/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "LilyGO T-Deck",
+    .start = start,
+    .stop = stop
+};
+
+}

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

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

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

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/lilygo-tdisplay/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/lilygo-tdisplay/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

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

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

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

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

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

@@ -1,10 +0,0 @@
-#include <tactility/driver.h>
-
-extern "C" {
-
-extern void register_device_drivers() {
-    extern Driver tlora_pager_driver;
-    driver_construct(&tlora_pager_driver);
-}
-
-}

Devices/lilygo-tlora-pager/Source/drivers/Register.cpp

@@ -1,10 +0,0 @@
-#include <tactility/driver.h>
-
-extern "C" {
-
-extern void register_device_drivers() {
-    extern Driver tlora_pager_driver;
-    driver_construct(&tlora_pager_driver);
-}
-
-}

Devices/lilygo-tlora-pager/Source/drivers/TloraPager.cpp

@@ -6,6 +6,8 @@
 
 extern "C" {
 
+extern struct Module device_module;
+
 static int start(Device* device) {
     return 0;
 }
@@ -21,7 +23,8 @@ Driver tlora_pager_driver = {
     .stopDevice = stop,
     .api = nullptr,
     .deviceType = nullptr,
-    .internal = { 0 }
+    .owner = &device_module,
+    .driver_private = nullptr
 };
 
 }

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

@@ -0,0 +1,30 @@
+#include <tactility/check.h>
+#include <tactility/driver.h>
+#include <tactility/module.h>
+
+extern "C" {
+
+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);
+    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);
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "LilyGO T-Lora Pager",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-cardputer-adv/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-cardputer-adv/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-cardputer/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-cardputer/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-core2/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-core2/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-cores3/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-cores3/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-stickc-plus/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-stickc-plus/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-stickc-plus2/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-stickc-plus2/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/m5stack-tab5/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/m5stack-tab5/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/simulator/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/simulator/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/unphone/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/unphone/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/waveshare-esp32-s3-geek/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/waveshare-esp32-s3-geek/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/waveshare-s3-lcd-13/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/waveshare-s3-lcd-13/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/waveshare-s3-touch-lcd-128/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/waveshare-s3-touch-lcd-128/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

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

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

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

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/waveshare-s3-touch-lcd-43/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/waveshare-s3-touch-lcd-43/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Devices/wireless-tag-wt32-sc01-plus/Source/Drivers.cpp

@@ -1,7 +0,0 @@
-extern "C" {
-
-extern void register_device_drivers() {
-    /* NO-OP */
-}
-
-}

Devices/wireless-tag-wt32-sc01-plus/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    // Empty for now
+    return ERROR_NONE;
+}
+
+/** @warning The variable name must be exactly "device_module" */
+struct Module device_module = {
+    .name = "Module",
+    .start = start,
+    .stop = stop
+};
+
+}

Firmware/.gitignore

@@ -1 +0,0 @@
-Generated/

Firmware/CMakeLists.txt

@@ -14,16 +14,23 @@ endif ()
 
 set(DEVICETREE_LOCATION "${CMAKE_SOURCE_DIR}/Devices/${TACTILITY_DEVICE_ID}")
 
+set(GENERATED_DIR "${CMAKE_CURRENT_BINARY_DIR}/Generated")
+# Ensure the directory is built in the correct CMake build phase
+# If the check is not done, then another directory is created in the root of the build folder.
+if (DEFINED CMAKE_CURRENT_BINARY_DIR)
+    file(MAKE_DIRECTORY "${GENERATED_DIR}")
+endif ()
+
 if (DEFINED ENV{ESP_IDF_VERSION})
 
     idf_component_register(
-        SRCS ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
+        SRCS ${SOURCE_FILES} "${GENERATED_DIR}/devicetree.c"
         REQUIRES Tactility TactilityC TactilityKernel PlatformEsp32 ${TACTILITY_DEVICE_PROJECT}
     )
 
 else ()
 
-    add_executable(FirmwareSim ${SOURCE_FILES} "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+    add_executable(FirmwareSim ${SOURCE_FILES} "${GENERATED_DIR}/devicetree.c")
     target_link_libraries(FirmwareSim PRIVATE
         Tactility
         TactilityCore
@@ -38,22 +45,22 @@ else ()
     add_definitions(-D_Nonnull=)
 endif ()
 
-file(MAKE_DIRECTORY "${CMAKE_SOURCE_DIR}/Firmware/Generated")
+add_custom_target(AlwaysRun
-
+    COMMAND ${CMAKE_COMMAND} -E rm -f "${GENERATED_DIR}/devicetree.c"
-# Generate devicetree code and attach to Firmware component
+)
 add_custom_command(
-    OUTPUT "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
+    OUTPUT "${GENERATED_DIR}/devicetree.c"
-        "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h"
+        "${GENERATED_DIR}/devicetree.h"
     COMMAND pip install lark pyyaml
     COMMAND python "${CMAKE_SOURCE_DIR}/Buildscripts/DevicetreeCompiler/compile.py"
-    "${DEVICETREE_LOCATION}" "Firmware/Generated"
+    "${DEVICETREE_LOCATION}" "${GENERATED_DIR}"
     WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
-    DEPENDS "${DEVICETREE_LOCATION}/devicetree.yaml" # Optional: trigger rebuild if source changes
+    DEPENDS AlwaysRun "${DEVICETREE_LOCATION}/devicetree.yaml" # AlwaysRun ensures it always gets built
     COMMENT "Generating devicetree source files..."
 )
-add_custom_target(Generated DEPENDS "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+add_custom_target(Generated DEPENDS "${GENERATED_DIR}/devicetree.c")
-set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c" PROPERTIES GENERATED TRUE)
+set_source_files_properties("${GENERATED_DIR}/devicetree.c" PROPERTIES GENERATED TRUE)
-set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h" PROPERTIES GENERATED TRUE)
+set_source_files_properties("${GENERATED_DIR}/devicetree.h" PROPERTIES GENERATED TRUE)
 # Update target for generated code
-target_sources(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
+target_sources(${COMPONENT_LIB} PRIVATE "${GENERATED_DIR}/devicetree.c")
-target_include_directories(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")
+target_include_directories(${COMPONENT_LIB} PRIVATE "${GENERATED_DIR}")

Firmware/Source/Main.cpp

@@ -3,6 +3,11 @@
 #include <tactility/driver.h>
 #include <devicetree.h>
 
+// From the relevant platform
+extern struct Module platform_module;
+// From the relevant device
+extern struct Module device_module;
+
 #ifdef ESP_PLATFORM
 #include <tt_init.h>
 #else
@@ -14,10 +19,6 @@ extern const tt::hal::Configuration hardwareConfiguration;
 
 extern "C" {
 
-extern void register_kernel_drivers();
-extern void register_platform_drivers();
-extern void register_device_drivers();
-
 void app_main() {
     static const tt::Configuration config = {
         /**
@@ -31,12 +32,7 @@ void app_main() {
     tt_init_tactility_c(); // ELF bindings for side-loading on ESP32
 #endif
 
-    register_kernel_drivers();
+    tt::run(config, &platform_module, &device_module, devicetree_devices);
-    register_platform_drivers();
-    register_device_drivers();
-
-    devices_builtin_init();
-    tt::run(config);
 }
 
 } // extern

Platforms/PlatformEsp32/Include/tactility/drivers/esp32_i2c.h

@@ -18,8 +18,6 @@ struct Esp32I2cConfig {
 };
 
 error_t esp32_i2c_get_port(struct Device* device, i2c_port_t* port);
-void esp32_i2c_lock(struct Device* device);
-void esp32_i2c_unlock(struct Device* device);
 
 #ifdef __cplusplus
 }

Platforms/PlatformEsp32/Source/drivers/esp32_gpio.cpp

@@ -107,6 +107,8 @@ const static GpioControllerApi esp32_gpio_api  = {
     .get_options = get_options
 };
 
+extern struct Module platform_module;
+
 Driver esp32_gpio_driver = {
     .name = "esp32_gpio",
     .compatible = (const char*[]) { "espressif,esp32-gpio", nullptr },
@@ -114,7 +116,8 @@ Driver esp32_gpio_driver = {
     .stopDevice = stop,
     .api =  (void*)&esp32_gpio_api,
     .deviceType = nullptr,
-    .internal = { 0 }
+    .owner = &platform_module,
+    .driver_private = nullptr
 };
 
 } // extern "C"

Platforms/PlatformEsp32/Source/drivers/esp32_i2c.cpp

@@ -150,14 +150,6 @@ error_t esp32_i2c_get_port(struct Device* device, i2c_port_t* port) {
     return ERROR_NONE;
 }
 
-void esp32_i2c_lock(struct Device* device) {
-    mutex_lock(&GET_DATA(device)->mutex);
-}
-
-void esp32_i2c_unlock(struct Device* device) {
-    mutex_unlock(&GET_DATA(device)->mutex);
-}
-
 static error_t start(Device* device) {
     ESP_LOGI(TAG, "start %s", device->name);
     auto dts_config = GET_CONFIG(device);
@@ -214,6 +206,8 @@ const static I2cControllerApi esp32_i2c_api = {
     .write_register = write_register
 };
 
+extern struct Module platform_module;
+
 Driver esp32_i2c_driver = {
     .name = "esp32_i2c",
     .compatible = (const char*[]) { "espressif,esp32-i2c", nullptr },
@@ -221,7 +215,8 @@ Driver esp32_i2c_driver = {
     .stopDevice = stop,
     .api = (void*)&esp32_i2c_api,
     .deviceType = &I2C_CONTROLLER_TYPE,
-    .internal = { 0 }
+    .owner = &platform_module,
+    .driver_private = nullptr
 };
 
 } // extern "C"

Platforms/PlatformEsp32/Source/drivers/register.cpp

@@ -1,13 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <tactility/driver.h>
-
-extern "C" {
-
-extern void register_platform_drivers() {
-    extern Driver esp32_gpio_driver;
-    driver_construct(&esp32_gpio_driver);
-    extern Driver esp32_i2c_driver;
-    driver_construct(&esp32_i2c_driver);
-}
-
-}

Platforms/PlatformEsp32/Source/module.cpp

@@ -0,0 +1,33 @@
+#include <tactility/check.h>
+#include <tactility/driver.h>
+#include <tactility/module.h>
+
+extern "C" {
+
+extern Driver esp32_gpio_driver;
+extern Driver esp32_i2c_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(&esp32_gpio_driver) == ERROR_NONE);
+    check(driver_construct(&esp32_i2c_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(&esp32_gpio_driver) == ERROR_NONE);
+    check(driver_destruct(&esp32_i2c_driver) == ERROR_NONE);
+    return ERROR_NONE;
+}
+
+// The name must be exactly "platform_module"
+struct Module platform_module = {
+    .name = "ESP32 Platform",
+    .start = start,
+    .stop = stop
+};
+
+}

Platforms/PlatformPosix/Source/Register.cpp

@@ -1,10 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <tactility/driver.h>
-
-extern "C" {
-
-extern void register_platform_drivers() {
-    /* Placeholder */
-}
-
-}

Platforms/PlatformPosix/Source/module.cpp

@@ -0,0 +1,22 @@
+#include <tactility/module.h>
+
+extern "C" {
+
+static error_t start() {
+    /* NO-OP for now */
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    /* NO-OP for now */
+    return ERROR_NONE;
+}
+
+// The name must be exactly "platform_module"
+struct Module platform_module = {
+    .name = "POSIX Platform",
+    .start = start,
+    .stop = stop
+};
+
+}