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Tactility/Platforms/platform-esp32/source/module.cpp
Ken Van Hoeylandt cb4ce5246d
USB host refactored (#684) 
- Create `USB_HOST_TYPE` base driver in TactilityKernel
- Refactor esp32_usbhost dts format, and create child devices dynamically
- Use PSRAM for task stacks where possible: saving 20 kB from just the task stacks, but roughly 30 kB when nothing is connected.
- Allow the user to disable USB host interface in the USB settings app, saving an additionaly 20 kB of IRAM when nothing was connected.
- Change listener-based APIs to subscribe and poll/await pattern. This avoids callstacks of apps and services leaking into the USB API

This results in big IRAM savings: 30 kB when USB host is on and nothing is connected, and 50 kB total when USB host is disabled.
This brings the total free IRAM after boot from roughly 170 kB to 200 kB (host enabled) or 220 kB (host disabled).
2026-10-10 13:33:32 +02:00

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#ifdef ESP_PLATFORM
#include <sdkconfig.h>
#endif
#include <assert.h>
#include <driver/gpio.h>
#include <driver/i2s_common.h>
#include <driver/i2s_std.h>
#include <driver/ledc.h>
#include <esp_err.h>
#include <esp_event.h>
#include <esp_heap_caps.h>
#include <esp_log.h>
#include <esp_log_level.h>
#include <esp_log_timestamp.h>
#include <esp_log_write.h>
#include <esp_random.h>
#include <esp_system.h>
#include <esp_timer.h>
#include <esp_vfs.h>
#include <miniz.h>
#include <sys/errno.h>
#ifdef CONFIG_IDF_TARGET_ESP32P4
#include <esp_cache.h>
#include <driver/ppa.h>
#endif
#include <tactility/module.h>
#include <soc/soc_caps.h>
// GCC soft-float / compiler-rt helpers an app may need but can't reach through a header -
// reference: https://gcc.gnu.org/onlinedocs/gccint/Soft-float-library-routines.html
// ESP32P4 (RISC-V, native single-precision FPU) only needs the double-precision + 64-bit-div
// subset; every other (Xtensa) target needs the full single- and double-precision set.
extern "C" {
#ifndef CONFIG_IDF_TARGET_ESP32P4
extern float __addsf3(float a, float b);
extern double __adddf3(double a, double b);
extern float __subsf3(float a, float b);
extern double __subdf3(double a, double b);
extern float __mulsf3(float a, float b);
extern double __muldf3(double a, double b);
extern float __divsf3(float a, float b);
extern double __divdf3(double a, double b);
extern float __negsf2(float a);
extern double __negdf2(double a);
extern double __extendsfdf2(float a);
extern float __truncdfsf2(double a);
extern int __fixsfsi(float a);
extern int __fixdfsi(double a);
extern long __fixsfdi(float a);
extern long __fixdfdi(double a);
extern unsigned int __fixunssfsi(float a);
extern unsigned int __fixunsdfsi(double a);
extern unsigned long __fixunssfdi(float a);
extern unsigned long __fixunsdfdi(double a);
extern float __floatsisf(int i);
extern double __floatsidf(int i);
extern float __floatdisf(long i);
extern double __floatdidf(long i);
extern float __floatunsisf(unsigned int i);
extern double __floatunsidf(unsigned int i);
extern float __floatundisf(unsigned long i);
extern double __floatundidf(unsigned long i);
float __powisf2(float a, int b);
double __powidf2(double a, int b);
int __cmpdf2(double a, double b);
int __unordsf2(float a, float b);
int __unorddf2(double a, double b);
int __eqsf2(float a, float b);
int __eqdf2(double a, double b);
int __nesf2(float a, float b);
int __nedf2(double a, double b);
int __gesf2(float a, float b);
int __gedf2(double a, double b);
int __ltsf2(float a, float b);
int __ltdf2(double a, double b);
int __lesf2(float a, float b);
int __ledf2(double a, double b);
int __gtsf2(float a, float b);
int __gtdf2(double a, double b);
// GCC integer arithmetic helpers (needed on 32-bit targets for 64-bit ops)
long long __divdi3(long long a, long long b);
long long __moddi3(long long a, long long b);
#else
extern double __adddf3(double a, double b);
extern double __subdf3(double a, double b);
extern double __muldf3(double a, double b);
extern double __divdf3(double a, double b);
extern double __negdf2(double a);
extern double __extendsfdf2(float a);
extern float __truncdfsf2(double a);
extern int __fixdfsi(double a);
extern long __fixdfdi(double a);
extern unsigned int __fixunsdfsi(double a);
extern unsigned long __fixunssfdi(float a);
extern unsigned long __fixunsdfdi(double a);
extern double __floatsidf(int i);
extern float __floatdisf(long i);
extern double __floatdidf(long i);
extern double __floatunsidf(unsigned int i);
extern float __floatundisf(unsigned long i);
extern double __floatundidf(unsigned long i);
float __powisf2(float a, int b);
double __powidf2(double a, int b);
int __cmpdf2(double a, double b);
int __unorddf2(double a, double b);
int __eqdf2(double a, double b);
int __nedf2(double a, double b);
int __gedf2(double a, double b);
int __ltdf2(double a, double b);
int __ledf2(double a, double b);
int __gtdf2(double a, double b);
// GCC integer/bitwise helpers (compiler-rt)
int __clzsi2(unsigned int x);
// GCC 64-bit integer arithmetic helpers (needed for 64-bit div on 32-bit RISC-V)
long long __divdi3(long long a, long long b);
long long __moddi3(long long a, long long b);
unsigned long long __udivdi3(unsigned long long a, unsigned long long b);
unsigned long long (__atomic_load_8)(const volatile void*, int);
void (__atomic_store_8)(volatile void*, unsigned long long, int);
unsigned long long (__atomic_exchange_8)(volatile void*, unsigned long long, int);
#endif
}
error_t platform_esp32_start_partitions();
extern "C" {
static const ModuleSymbol platform_esp32_symbols[] = {
// cassert
DEFINE_MODULE_SYMBOL(__assert_func),
// esp_log
DEFINE_MODULE_SYMBOL(esp_log),
DEFINE_MODULE_SYMBOL(esp_log_level_set),
DEFINE_MODULE_SYMBOL(esp_log_set_vprintf),
DEFINE_MODULE_SYMBOL(esp_log_write),
DEFINE_MODULE_SYMBOL(esp_log_timestamp),
// esp_err
DEFINE_MODULE_SYMBOL(esp_err_to_name),
DEFINE_MODULE_SYMBOL(_esp_error_check_failed),
// esp random
DEFINE_MODULE_SYMBOL(esp_random),
DEFINE_MODULE_SYMBOL(esp_fill_random),
// esp_event_loop
DEFINE_MODULE_SYMBOL(esp_event_loop_create),
DEFINE_MODULE_SYMBOL(esp_event_loop_delete),
DEFINE_MODULE_SYMBOL(esp_event_loop_create_default),
DEFINE_MODULE_SYMBOL(esp_event_loop_delete_default),
DEFINE_MODULE_SYMBOL(esp_event_loop_run),
DEFINE_MODULE_SYMBOL(esp_event_handler_register),
DEFINE_MODULE_SYMBOL(esp_event_handler_register_with),
DEFINE_MODULE_SYMBOL(esp_event_handler_instance_register_with),
DEFINE_MODULE_SYMBOL(esp_event_handler_instance_register),
DEFINE_MODULE_SYMBOL(esp_event_handler_unregister),
DEFINE_MODULE_SYMBOL(esp_event_handler_unregister_with),
DEFINE_MODULE_SYMBOL(esp_event_handler_instance_unregister_with),
DEFINE_MODULE_SYMBOL(esp_event_handler_instance_unregister),
DEFINE_MODULE_SYMBOL(esp_event_post),
DEFINE_MODULE_SYMBOL(esp_event_post_to),
DEFINE_MODULE_SYMBOL(esp_event_isr_post),
DEFINE_MODULE_SYMBOL(esp_event_isr_post_to),
// sys/errno.h
DEFINE_MODULE_SYMBOL(__errno),
// esp_vfs.h
DEFINE_MODULE_SYMBOL(esp_vfs_register),
DEFINE_MODULE_SYMBOL(esp_vfs_unregister),
// driver/gpio.h
DEFINE_MODULE_SYMBOL(gpio_config),
DEFINE_MODULE_SYMBOL(gpio_get_level),
DEFINE_MODULE_SYMBOL(gpio_set_level),
DEFINE_MODULE_SYMBOL(gpio_reset_pin),
// driver/i2s_common.h
DEFINE_MODULE_SYMBOL(i2s_new_channel),
DEFINE_MODULE_SYMBOL(i2s_del_channel),
DEFINE_MODULE_SYMBOL(i2s_channel_enable),
DEFINE_MODULE_SYMBOL(i2s_channel_disable),
DEFINE_MODULE_SYMBOL(i2s_channel_write),
DEFINE_MODULE_SYMBOL(i2s_channel_get_info),
DEFINE_MODULE_SYMBOL(i2s_channel_read),
DEFINE_MODULE_SYMBOL(i2s_channel_register_event_callback),
DEFINE_MODULE_SYMBOL(i2s_channel_preload_data),
DEFINE_MODULE_SYMBOL(i2s_channel_tune_rate),
// driver/i2s_std.h
DEFINE_MODULE_SYMBOL(i2s_channel_init_std_mode),
DEFINE_MODULE_SYMBOL(i2s_channel_reconfig_std_clock),
DEFINE_MODULE_SYMBOL(i2s_channel_reconfig_std_slot),
DEFINE_MODULE_SYMBOL(i2s_channel_reconfig_std_gpio),
// miniz.h
DEFINE_MODULE_SYMBOL(tinfl_decompress),
DEFINE_MODULE_SYMBOL(tinfl_decompress_mem_to_callback),
DEFINE_MODULE_SYMBOL(tinfl_decompress_mem_to_mem),
DEFINE_MODULE_SYMBOL(tdefl_init),
DEFINE_MODULE_SYMBOL(tdefl_compress),
DEFINE_MODULE_SYMBOL(tdefl_compress_buffer),
DEFINE_MODULE_SYMBOL(tdefl_compress_mem_to_mem),
DEFINE_MODULE_SYMBOL(tdefl_compress_mem_to_output),
DEFINE_MODULE_SYMBOL(tdefl_get_adler32),
DEFINE_MODULE_SYMBOL(tdefl_get_prev_return_status),
// ledc
DEFINE_MODULE_SYMBOL(ledc_update_duty),
DEFINE_MODULE_SYMBOL(ledc_set_freq),
DEFINE_MODULE_SYMBOL(ledc_channel_config),
DEFINE_MODULE_SYMBOL(ledc_set_duty),
DEFINE_MODULE_SYMBOL(ledc_set_fade),
DEFINE_MODULE_SYMBOL(ledc_set_fade_with_step),
DEFINE_MODULE_SYMBOL(ledc_set_fade_with_time),
DEFINE_MODULE_SYMBOL(ledc_set_fade_step_and_start),
DEFINE_MODULE_SYMBOL(ledc_set_fade_time_and_start),
DEFINE_MODULE_SYMBOL(ledc_set_pin),
DEFINE_MODULE_SYMBOL(ledc_timer_config),
DEFINE_MODULE_SYMBOL(ledc_timer_pause),
DEFINE_MODULE_SYMBOL(ledc_timer_resume),
DEFINE_MODULE_SYMBOL(ledc_timer_rst),
// esp_heap_caps.h
DEFINE_MODULE_SYMBOL(heap_caps_get_total_size),
DEFINE_MODULE_SYMBOL(heap_caps_get_allocated_size),
DEFINE_MODULE_SYMBOL(heap_caps_get_free_size),
DEFINE_MODULE_SYMBOL(heap_caps_get_largest_free_block),
DEFINE_MODULE_SYMBOL(heap_caps_aligned_alloc),
DEFINE_MODULE_SYMBOL(heap_caps_malloc),
DEFINE_MODULE_SYMBOL(heap_caps_calloc),
DEFINE_MODULE_SYMBOL(heap_caps_free),
// esp_timer.h
DEFINE_MODULE_SYMBOL(esp_timer_create),
DEFINE_MODULE_SYMBOL(esp_timer_stop),
DEFINE_MODULE_SYMBOL(esp_timer_delete),
DEFINE_MODULE_SYMBOL(esp_timer_start_periodic),
DEFINE_MODULE_SYMBOL(esp_timer_start_once),
DEFINE_MODULE_SYMBOL(esp_timer_get_time),
#ifdef CONFIG_IDF_TARGET_ESP32P4
// driver/ppa.h
DEFINE_MODULE_SYMBOL(ppa_register_client),
DEFINE_MODULE_SYMBOL(ppa_unregister_client),
DEFINE_MODULE_SYMBOL(ppa_do_scale_rotate_mirror),
// esp_cache.h
DEFINE_MODULE_SYMBOL(esp_cache_msync),
#endif
// esp_system.h
DEFINE_MODULE_SYMBOL(esp_restart),
// soft float
#ifndef CONFIG_IDF_TARGET_ESP32P4
DEFINE_MODULE_SYMBOL(__addsf3),
DEFINE_MODULE_SYMBOL(__adddf3),
DEFINE_MODULE_SYMBOL(__subsf3),
DEFINE_MODULE_SYMBOL(__subdf3),
DEFINE_MODULE_SYMBOL(__mulsf3),
DEFINE_MODULE_SYMBOL(__muldf3),
DEFINE_MODULE_SYMBOL(__divsf3),
DEFINE_MODULE_SYMBOL(__divdf3),
DEFINE_MODULE_SYMBOL(__negsf2),
DEFINE_MODULE_SYMBOL(__negdf2),
DEFINE_MODULE_SYMBOL(__extendsfdf2),
DEFINE_MODULE_SYMBOL(__truncdfsf2),
DEFINE_MODULE_SYMBOL(__fixsfsi),
DEFINE_MODULE_SYMBOL(__fixdfsi),
DEFINE_MODULE_SYMBOL(__fixsfdi),
DEFINE_MODULE_SYMBOL(__fixdfdi),
DEFINE_MODULE_SYMBOL(__fixunssfsi),
DEFINE_MODULE_SYMBOL(__fixunsdfsi),
DEFINE_MODULE_SYMBOL(__fixunssfdi),
DEFINE_MODULE_SYMBOL(__fixunsdfdi),
DEFINE_MODULE_SYMBOL(__floatsisf),
DEFINE_MODULE_SYMBOL(__floatsidf),
DEFINE_MODULE_SYMBOL(__floatdisf),
DEFINE_MODULE_SYMBOL(__floatdidf),
DEFINE_MODULE_SYMBOL(__floatunsisf),
DEFINE_MODULE_SYMBOL(__floatunsidf),
DEFINE_MODULE_SYMBOL(__floatundisf),
DEFINE_MODULE_SYMBOL(__floatundidf),
DEFINE_MODULE_SYMBOL(__powisf2),
DEFINE_MODULE_SYMBOL(__powidf2),
DEFINE_MODULE_SYMBOL(__unordsf2),
DEFINE_MODULE_SYMBOL(__unorddf2),
DEFINE_MODULE_SYMBOL(__eqsf2),
DEFINE_MODULE_SYMBOL(__eqdf2),
DEFINE_MODULE_SYMBOL(__nesf2),
DEFINE_MODULE_SYMBOL(__nedf2),
DEFINE_MODULE_SYMBOL(__gesf2),
DEFINE_MODULE_SYMBOL(__gedf2),
DEFINE_MODULE_SYMBOL(__ltsf2),
DEFINE_MODULE_SYMBOL(__ltdf2),
DEFINE_MODULE_SYMBOL(__lesf2),
DEFINE_MODULE_SYMBOL(__ledf2),
DEFINE_MODULE_SYMBOL(__gtsf2),
DEFINE_MODULE_SYMBOL(__gtdf2),
DEFINE_MODULE_SYMBOL(__divdi3),
DEFINE_MODULE_SYMBOL(__moddi3),
#else
DEFINE_MODULE_SYMBOL(__adddf3),
DEFINE_MODULE_SYMBOL(__subdf3),
DEFINE_MODULE_SYMBOL(__muldf3),
DEFINE_MODULE_SYMBOL(__divdf3),
DEFINE_MODULE_SYMBOL(__negdf2),
DEFINE_MODULE_SYMBOL(__extendsfdf2),
DEFINE_MODULE_SYMBOL(__truncdfsf2),
DEFINE_MODULE_SYMBOL(__fixdfsi),
DEFINE_MODULE_SYMBOL(__fixdfdi),
DEFINE_MODULE_SYMBOL(__fixunsdfsi),
DEFINE_MODULE_SYMBOL(__fixunssfdi),
DEFINE_MODULE_SYMBOL(__fixunsdfdi),
DEFINE_MODULE_SYMBOL(__floatsidf),
DEFINE_MODULE_SYMBOL(__floatdisf),
DEFINE_MODULE_SYMBOL(__floatdidf),
DEFINE_MODULE_SYMBOL(__floatunsidf),
DEFINE_MODULE_SYMBOL(__floatundisf),
DEFINE_MODULE_SYMBOL(__floatundidf),
DEFINE_MODULE_SYMBOL(__powisf2),
DEFINE_MODULE_SYMBOL(__powidf2),
DEFINE_MODULE_SYMBOL(__unorddf2),
DEFINE_MODULE_SYMBOL(__eqdf2),
DEFINE_MODULE_SYMBOL(__nedf2),
DEFINE_MODULE_SYMBOL(__gedf2),
DEFINE_MODULE_SYMBOL(__ltdf2),
DEFINE_MODULE_SYMBOL(__ledf2),
DEFINE_MODULE_SYMBOL(__gtdf2),
DEFINE_MODULE_SYMBOL(__clzsi2),
DEFINE_MODULE_SYMBOL(__divdi3),
DEFINE_MODULE_SYMBOL(__moddi3),
DEFINE_MODULE_SYMBOL(__udivdi3),
DEFINE_MODULE_SYMBOL(__atomic_load_8),
DEFINE_MODULE_SYMBOL(__atomic_store_8),
DEFINE_MODULE_SYMBOL(__atomic_exchange_8),
#endif
MODULE_SYMBOL_TERMINATOR,
};
extern Driver esp32_adc_oneshot_driver;
extern Driver esp32_gpio_driver;
extern Driver esp32_i2c_master_driver;
extern Driver esp32_i2s_driver;
#if SOC_LCD_I80_SUPPORTED
extern Driver esp32_i8080_driver;
#endif
extern Driver esp32_pwm_ledc_driver;
#if SOC_SDMMC_HOST_SUPPORTED
extern Driver esp32_sdmmc_driver;
#endif
extern Driver esp32_sdspi_driver;
extern Driver esp32_spi_driver;
extern Driver esp32_uart_driver;
extern Driver esp32_grove_driver;
#if defined(CONFIG_SOC_WIFI_SUPPORTED) || defined(CONFIG_ESP_HOSTED_ENABLED)
extern Driver esp32_wifi_driver;
extern Driver esp32_wifi_pinned_driver;
#endif
#if defined(CONFIG_BT_NIMBLE_ENABLED)
extern Driver esp32_bluetooth_driver;
extern Driver esp32_ble_serial_driver;
extern Driver esp32_ble_midi_driver;
extern Driver esp32_ble_hid_device_driver;
#endif
#if SOC_USB_OTG_SUPPORTED
extern Driver esp32_usbhost_driver;
extern Driver esp32_usbhost_hid_driver;
extern Driver esp32_usbhost_hid_keyboard_driver;
extern Driver esp32_usbhost_midi_driver;
extern Driver esp32_usbhost_msc_driver;
#if CONFIG_IDF_TARGET_ESP32P4 || CONFIG_IDF_TARGET_ESP32S3
extern Driver usb_uac_codec_driver;
#endif
#endif
#if SOC_USB_OTG_SUPPORTED && (CONFIG_TINYUSB_HID_COUNT || CONFIG_TINYUSB_MSC_ENABLED || CONFIG_TINYUSB_MIDI_COUNT || CONFIG_TINYUSB_CDC_ENABLED)
extern Driver esp32_usb_device_controller_driver;
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_HID_COUNT
extern Driver esp32_usb_hid_device_driver;
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_MSC_ENABLED
extern Driver esp32_usb_msc_device_driver;
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_MIDI_COUNT
extern Driver esp32_usb_midi_device_driver;
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_CDC_ENABLED
extern Driver esp32_usb_cdc_device_driver;
#endif
static Driver* const platform_esp32_drivers[] = {
&esp32_adc_oneshot_driver,
&esp32_gpio_driver,
&esp32_i2c_master_driver,
&esp32_i2s_driver,
#if SOC_LCD_I80_SUPPORTED
&esp32_i8080_driver,
#endif
&esp32_pwm_ledc_driver,
#if SOC_SDMMC_HOST_SUPPORTED
&esp32_sdmmc_driver,
#endif
&esp32_sdspi_driver,
&esp32_spi_driver,
&esp32_uart_driver,
&esp32_grove_driver,
#if defined(CONFIG_SOC_WIFI_SUPPORTED) || defined(CONFIG_ESP_HOSTED_ENABLED)
&esp32_wifi_driver,
&esp32_wifi_pinned_driver,
#endif
#ifdef CONFIG_BT_NIMBLE_ENABLED
&esp32_bluetooth_driver,
&esp32_ble_serial_driver,
&esp32_ble_midi_driver,
&esp32_ble_hid_device_driver,
#endif
#if SOC_USB_OTG_SUPPORTED
&esp32_usbhost_driver,
&esp32_usbhost_hid_driver,
&esp32_usbhost_hid_keyboard_driver,
&esp32_usbhost_midi_driver,
&esp32_usbhost_msc_driver,
#if CONFIG_IDF_TARGET_ESP32P4 || CONFIG_IDF_TARGET_ESP32S3
&usb_uac_codec_driver,
#endif
#endif
#if SOC_USB_OTG_SUPPORTED && (CONFIG_TINYUSB_HID_COUNT || CONFIG_TINYUSB_MSC_ENABLED || CONFIG_TINYUSB_MIDI_COUNT || CONFIG_TINYUSB_CDC_ENABLED)
&esp32_usb_device_controller_driver,
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_HID_COUNT
&esp32_usb_hid_device_driver,
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_MSC_ENABLED
&esp32_usb_msc_device_driver,
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_MIDI_COUNT
&esp32_usb_midi_device_driver,
#endif
#if SOC_USB_OTG_SUPPORTED && CONFIG_TINYUSB_CDC_ENABLED
&esp32_usb_cdc_device_driver,
#endif
nullptr,
};
Module platform_esp32_module = {
.name = "platform-esp32",
.start = platform_esp32_start_partitions,
.stop = nullptr,
.drivers = platform_esp32_drivers,
.symbols = platform_esp32_symbols,
.internal = nullptr,
};
}
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