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) -> DeviceTreeConfig:
+def parse_config(file_path: str, project_root: str) -> list[DeviceTreeConfig]:
     """
     Parses devicetree.yaml and recursively finds dependencies.
     Returns a list of DeviceTreeConfig objects in post-order (dependencies first).
@@ -42,9 +42,8 @@ def parse_config(file_path: str, project_root: str) -> DeviceTreeConfig:
             config.dts = os.path.join(current_path, dts_path)
 
         bindings = data.get("bindings", "")
-        if bindings:
+        bindings_resolved = os.path.join(current_path, bindings)
-            bindings_resolved = os.path.join(current_path, bindings)
+        config.bindings.append(bindings_resolved)
-            config.bindings.append(bindings_resolved)
 
     _parse_recursive(file_path, True)
     return config

Buildscripts/devicetree-compiler/source/generator.py

@@ -31,8 +31,8 @@ def find_device_property(device: Device, name: str) -> DeviceProperty:
             return property
     return None
 
-def find_binding_property(device: Device, name: str) -> BindingProperty:
+def find_binding_property(binding: Binding, name: str) -> BindingProperty:
-    for property in device.properties:
+    for property in binding.properties:
         if property.name == name:
             return property
     return None
@@ -97,7 +97,7 @@ def write_config(file, device: Device, bindings: list[Binding], type_name: str):
     # Indent all params
     for index, config_param in enumerate(config_params):
         config_params[index] = f"\t{config_param}"
-    # Join with command and newline
+    # Join with comman and newline
     if len(config_params) > 0:
         config_params_joined = ",\n".join(config_params)
         file.write(f"{config_params_joined}\n")
@@ -146,6 +146,23 @@ 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('''\
@@ -171,7 +188,7 @@ def generate_devicetree_c(filename: str, items: list[object], bindings: list[Bin
                 LOG_E(TAG, "Can't find driver: %s", compatible);
                 return -1;
             }
-            device_construct(device);
+        	device_construct(device);
             device_set_driver(device, driver);
             device_add(device);
             const int err = device_start(device);

Devices/btt-panda-touch/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-2432s024c/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-2432s028r/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-2432s028rv3/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-2432s032c/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-4848s040c/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-8048s043c/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-e32r28t/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/cyd-e32r32p/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/elecrow-crowpanel-advance-28/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/elecrow-crowpanel-advance-35/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/elecrow-crowpanel-advance-50/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/elecrow-crowpanel-basic-28/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/elecrow-crowpanel-basic-35/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/elecrow-crowpanel-basic-50/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/generic-esp32/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/generic-esp32c6/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/generic-esp32p4/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Devices/generic-esp32s3/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+  - TactilityKernel
+dts: ../placeholder.dts

Drivers/drivers-esp/source/Esp32I2c.cpp

@@ -19,7 +19,7 @@ struct InternalData {
     }
 };
 
-#define GET_CONFIG(device) ((Esp32I2cConfig*)device->config)
+#define GET_CONFIG(device) ((Esp32I2cConfig*)device->internal.driver_data)
 #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

@@ -2,21 +2,26 @@ cmake_minimum_required(VERSION 3.20)
 
 file(GLOB_RECURSE SOURCE_FILES "Source/*.c*")
 
-# For Generate target below
+# 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_ID simulator)
+    set(TACTILITY_DEVICE_PROJECT "Devices/simulator")
+endif ()
+
+set(DEVICETREE_LOCATION "Devices/${TACTILITY_DEVICE_ID}")
+
+if (NOT DEFINED ${COMPONENT_LIB})
     set(COMPONENT_LIB FirmwareSim)
 endif ()
 
-set(DEVICETREE_LOCATION "${CMAKE_SOURCE_DIR}/Devices/${TACTILITY_DEVICE_ID}")
-
 if (DEFINED ENV{ESP_IDF_VERSION})
+
     idf_component_register(
         SRCS ${SOURCE_FILES}
+        REQUIRES ${DEVICE_COMPONENTS}
         REQUIRES Tactility TactilityC TactilityKernel drivers-esp ${TACTILITY_DEVICE_PROJECT}
     )
 
@@ -32,16 +37,17 @@ else ()
         PRIVATE SDL2::SDL2-static SDL2-static
     )
 
+    target_include_directories(FirmwareSim PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")
+
     add_definitions(-D_Nullable=)
     add_definitions(-D_Nonnull=)
 endif ()
 
-file(MAKE_DIRECTORY "${CMAKE_SOURCE_DIR}/Firmware/Generated")
-
 # Generate devicetree code and attach to Firmware component
 add_custom_command(
     OUTPUT "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c"
         "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.h"
+    COMMAND mkdir -p "${CMAKE_SOURCE_DIR}/Firmware/Generated"
     COMMAND pip install lark pyyaml
     COMMAND python "${CMAKE_SOURCE_DIR}/Buildscripts/devicetree-compiler/compile.py"
     "${DEVICETREE_LOCATION}" "Firmware/Generated"
@@ -49,8 +55,6 @@ add_custom_command(
     DEPENDS "${DEVICETREE_LOCATION}/devicetree.yaml" # Optional: trigger rebuild if source changes
     COMMENT "Generating devicetree source files..."
 )
-add_custom_target(Generated DEPENDS "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
 set_source_files_properties("${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c" PROPERTIES GENERATED TRUE)
-# Update target for generated code
+add_custom_target(Generated DEPENDS "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
 target_sources(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated/devicetree.c")
-target_include_directories(${COMPONENT_LIB} PRIVATE "${CMAKE_SOURCE_DIR}/Firmware/Generated")

TactilityKernel/include/Tactility/Error.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <errno.h>
+#include <sys/errno.h>
 
-#define CUSTOM_ERROR_CODE(x) (-2000 - x)
+#define CUSTOM_ERROR_CODE(x) (-__ELASTERROR - x)
 
 #define ERROR_UNDEFINED CUSTOM_ERROR_CODE(1)
 #define ERROR_INVALID_STATE CUSTOM_ERROR_CODE(2)

TactilityKernel/include/Tactility/concurrent/RecursiveMutex.h

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