Merge #1986

1986: Touch Panel HIL and ft6x06 driver r=bradjc a=alexandruradovici

### Pull Request Overview

This pull request adds:

* a HIL for touch panels with optional multi touch and gestures
* a driver for the ft6x06 touch panel


### Testing Strategy

This pull request was tested using the STM32F412g Discovery Kit.


### TODO or Help Wanted

This pull request still needs some feedback. 

Even tough the documentation for [ft6x06](http://www.tvielectronics.com/ocart/download/controller/FT6206.pdf) states that gestures should be recognized, my device does not seem to recognize them. I might be doing something wrong, any ideas would be helpful. The test setup is https://github.com/UPBIoT/tock/tree/touch.


### Documentation Updated

- [x] no updates are required.

### Formatting

- [x] Ran `make prepush`.


Co-authored-by: Alexandru Radovici <msg4alex@gmail.com>

boards/components/src/ft6x06.rs

@@ -0,0 +1,63 @@
+//! Components for the Ft6x06 Touch Panel.
+//!
+//! Usage
+//! -----
+//! ```rust
+//! let ft6x06 = components::ft6x06::Ft6x06Component::new()
+//!    .finalize(components::ft6x06_i2c_component_helper!(mux_i2c));
+//! ```
+use capsules::ft6x06::Ft6x06;
+use capsules::virtual_i2c::I2CDevice;
+use core::mem::MaybeUninit;
+use kernel::component::Component;
+use kernel::hil::gpio;
+use kernel::static_init_half;
+
+// Setup static space for the objects.
+#[macro_export]
+macro_rules! ft6x06_i2c_component_helper {
+    ($i2c_mux: expr) => {{
+        use capsules::ft6x06::Ft6x06;
+        use capsules::virtual_i2c::I2CDevice;
+        use core::mem::MaybeUninit;
+        let i2c = components::i2c::I2CComponent::new($i2c_mux, 0x38)
+            .finalize(components::i2c_component_helper!());
+        static mut ft6x06: MaybeUninit<Ft6x06<'static>> = MaybeUninit::uninit();
+        (&i2c, &mut ft6x06)
+    };};
+}
+
+pub struct Ft6x06Component {
+    interupt_pin: &'static dyn gpio::InterruptPin<'static>,
+}
+
+impl Ft6x06Component {
+    pub fn new(pin: &'static dyn gpio::InterruptPin) -> Ft6x06Component {
+        Ft6x06Component { interupt_pin: pin }
+    }
+}
+
+impl Component for Ft6x06Component {
+    type StaticInput = (
+        &'static I2CDevice<'static>,
+        &'static mut MaybeUninit<Ft6x06<'static>>,
+    );
+    type Output = &'static Ft6x06<'static>;
+
+    unsafe fn finalize(self, static_buffer: Self::StaticInput) -> Self::Output {
+        let ft6x06 = static_init_half!(
+            static_buffer.1,
+            Ft6x06<'static>,
+            Ft6x06::new(
+                static_buffer.0,
+                self.interupt_pin,
+                &mut capsules::ft6x06::BUFFER,
+                &mut capsules::ft6x06::EVENTS_BUFFER
+            )
+        );
+        static_buffer.0.set_client(ft6x06);
+        self.interupt_pin.set_client(ft6x06);
+
+        ft6x06
+    }
+}

boards/components/src/lib.rs

@@ -8,7 +8,7 @@ pub mod console;
 pub mod crc;
 pub mod debug_queue;
 pub mod debug_writer;
-pub mod ft6206;
+pub mod ft6x06;
 pub mod gpio;
 pub mod hd44780;
 pub mod hmac;
@@ -33,3 +33,4 @@ pub mod si7021;
 pub mod spi;
 pub mod st7735;
 pub mod temperature;
+pub mod touch;

boards/components/src/touch.rs

@@ -0,0 +1,126 @@
+//! Components for the Touch Panel.
+//!
+//! Usage
+//! -----
+//!
+//! Touch
+//!
+//! ```rust
+//! // Just Touch
+//! let touch =
+//!     components::touch::TouchComponent::new(board_kernel, ts, None, Some(screen))
+//!         .finalize(());
+//!
+//! // With Gesture
+//! let touch =
+//!     components::touch::TouchComponent::new(board_kernel, ts, Some(ts), Some(screen))
+//!         .finalize(());
+//! ```
+//!
+//! Multi Touch
+//!
+//! ```rust
+//! // Just Multi Touch
+//! let touch =
+//!     components::touch::MultiTouchComponent::new(board_kernel, ts, None, Some(screen))
+//!         .finalize(());
+//!
+//! // With Gesture
+//! let touch =
+//!     components::touch::MultiTouchComponent::new(board_kernel, ts, Some(ts), Some(screen))
+//!         .finalize(());
+//! ```
+use kernel::capabilities;
+use kernel::component::Component;
+use kernel::create_capability;
+use kernel::static_init;
+
+pub struct TouchComponent {
+    board_kernel: &'static kernel::Kernel,
+    touch: &'static dyn kernel::hil::touch::Touch<'static>,
+    gesture: Option<&'static dyn kernel::hil::touch::Gesture<'static>>,
+    screen: Option<&'static dyn kernel::hil::screen::Screen>,
+}
+
+impl TouchComponent {
+    pub fn new(
+        board_kernel: &'static kernel::Kernel,
+        touch: &'static dyn kernel::hil::touch::Touch<'static>,
+        gesture: Option<&'static dyn kernel::hil::touch::Gesture<'static>>,
+        screen: Option<&'static dyn kernel::hil::screen::Screen>,
+    ) -> TouchComponent {
+        TouchComponent {
+            board_kernel: board_kernel,
+            touch: touch,
+            gesture: gesture,
+            screen: screen,
+        }
+    }
+}
+
+impl Component for TouchComponent {
+    type StaticInput = ();
+    type Output = &'static capsules::touch::Touch<'static>;
+
+    unsafe fn finalize(self, _static_input: Self::StaticInput) -> Self::Output {
+        let grant_cap = create_capability!(capabilities::MemoryAllocationCapability);
+        let grant_touch = self.board_kernel.create_grant(&grant_cap);
+
+        let touch = static_init!(
+            capsules::touch::Touch,
+            capsules::touch::Touch::new(Some(self.touch), None, self.screen, grant_touch)
+        );
+
+        kernel::hil::touch::Touch::set_client(self.touch, touch);
+        if let Some(gesture) = self.gesture {
+            kernel::hil::touch::Gesture::set_client(gesture, touch);
+        }
+
+        touch
+    }
+}
+
+pub struct MultiTouchComponent {
+    board_kernel: &'static kernel::Kernel,
+    multi_touch: &'static dyn kernel::hil::touch::MultiTouch<'static>,
+    gesture: Option<&'static dyn kernel::hil::touch::Gesture<'static>>,
+    screen: Option<&'static dyn kernel::hil::screen::Screen>,
+}
+
+impl MultiTouchComponent {
+    pub fn new(
+        board_kernel: &'static kernel::Kernel,
+        multi_touch: &'static dyn kernel::hil::touch::MultiTouch<'static>,
+        gesture: Option<&'static dyn kernel::hil::touch::Gesture<'static>>,
+        screen: Option<&'static dyn kernel::hil::screen::Screen>,
+    ) -> MultiTouchComponent {
+        MultiTouchComponent {
+            board_kernel: board_kernel,
+            multi_touch: multi_touch,
+            gesture: gesture,
+            screen: screen,
+        }
+    }
+}
+
+impl Component for MultiTouchComponent {
+    type StaticInput = ();
+    type Output = &'static capsules::touch::Touch<'static>;
+
+    unsafe fn finalize(self, _static_input: Self::StaticInput) -> Self::Output {
+        let grant_cap = create_capability!(capabilities::MemoryAllocationCapability);
+        let grant_touch = self.board_kernel.create_grant(&grant_cap);
+
+        let touch = static_init!(
+            capsules::touch::Touch,
+            capsules::touch::Touch::new(None, Some(self.multi_touch), self.screen, grant_touch)
+        );
+
+        kernel::hil::touch::MultiTouch::set_client(self.multi_touch, touch);
+        if let Some(gesture) = self.gesture {
+            kernel::hil::touch::Gesture::set_client(gesture, touch);
+        }
+
+        touch
+    }
+}

boards/stm32f412gdiscovery/src/main.rs

@@ -48,8 +48,9 @@ struct STM32F412GDiscovery {
         VirtualMuxAlarm<'static, stm32f412g::tim2::Tim2<'static>>,
     >,
     gpio: &'static capsules::gpio::GPIO<'static, stm32f412g::gpio::Pin<'static>>,
-    ft6206: &'static capsules::ft6206::Ft6206<'static>,
     adc: &'static capsules::adc::Adc<'static, stm32f412g::adc::Adc>,
+    ft6x06: &'static capsules::ft6x06::Ft6x06<'static>,
+    touch: &'static capsules::touch::Touch<'static>,
 }
 
 /// Mapping of integer syscalls to objects that implement syscalls.
@@ -65,8 +66,9 @@ impl Platform for STM32F412GDiscovery {
             capsules::alarm::DRIVER_NUM => f(Some(self.alarm)),
             kernel::ipc::DRIVER_NUM => f(Some(&self.ipc)),
             capsules::gpio::DRIVER_NUM => f(Some(self.gpio)),
-            capsules::ft6206::DRIVER_NUM => f(Some(self.ft6206)),
             capsules::adc::DRIVER_NUM => f(Some(self.adc)),
+            capsules::ft6x06::DRIVER_NUM => f(Some(self.ft6x06)),
+            capsules::touch::DRIVER_NUM => f(Some(self.touch)),
             _ => f(None),
         }
     }
@@ -478,13 +480,20 @@ pub unsafe fn reset_handler() {
     )
     .finalize(components::i2c_mux_component_helper!());
 
-    let ft6206 = components::ft6206::Ft6206Component::new(
+    let ft6x06 = components::ft6x06::Ft6x06Component::new(
         stm32f412g::gpio::PinId::PG05.get_pin().as_ref().unwrap(),
     )
-    .finalize(components::ft6206_i2c_component_helper!(mux_i2c));
+    .finalize(components::ft6x06_i2c_component_helper!(mux_i2c));
 
-    ft6206.is_present();
+    let touch = components::touch::TouchComponent::new(board_kernel, ft6x06, Some(ft6x06), None)
+        .finalize(());
 
+    // Uncomment this for multi touch support
+    // let touch =
+    //     components::touch::MultiTouchComponent::new(board_kernel, ft6x06, Some(ft6x06), None)
+    //         .finalize(());
+
+    // ADC
     let adc_channels = static_init!(
         [&'static stm32f412g::adc::Channel; 6],
         [
@@ -511,15 +520,16 @@ pub unsafe fn reset_handler() {
     );
     stm32f412g::adc::ADC1.set_client(adc);
 
-    let nucleo_f412g = STM32F412GDiscovery {
+    let stm32f412g = STM32F412GDiscovery {
         console: console,
         ipc: kernel::ipc::IPC::new(board_kernel, &memory_allocation_capability),
         led: led,
         button: button,
         alarm: alarm,
         gpio: gpio,
-        ft6206: ft6206,
         adc: adc,
+        ft6x06: ft6x06,
+        touch: touch,
     };
 
     // // Optional kernel tests
@@ -572,9 +582,9 @@ pub unsafe fn reset_handler() {
     });
 
     board_kernel.kernel_loop(
-        &nucleo_f412g,
+        &stm32f412g,
         chip,
-        Some(&nucleo_f412g.ipc),
+        Some(&stm32f412g.ipc),
         &main_loop_capability,
     );
 }

capsules/src/driver.rs

@@ -63,10 +63,11 @@ pub enum NUM {
     Nrf51822Serialization = 0x80004,
     Hd44780               = 0x80005,
     St7735                = 0x80006,
-    Ft6206                = 0x80007,
+    Ft6x06                = 0x80007,
 
     // Misc
     Buzzer                = 0x90000,
-    Screen                = 0x90001
+    Screen                = 0x90001,
+    Touch                 = 0x90002
 }
 }