stdio, keyboard, compact UI, package manifest, and more

Buildscripts/TactilitySDK/TactilitySDK.esp32.cmake

@@ -24,6 +24,12 @@ macro(tactility_project_post project_name)
         idf_build_set_property(COMPILE_OPTIONS "-fno-omit-frame-pointer" APPEND)
     endif()
 
+    # ESP-IDF's own <sys/ioctl.h> (esp_libc/platform_include) is found before app-module's, which adds
+    # the terminal ioctls (TIOCGWINSZ) Tactility's ioctl() supports for app fds.
+    # C and C++ only: assembly sources can't include a C header.
+    idf_build_set_property(C_COMPILE_OPTIONS "SHELL:-include ${TACTILITY_SDK_PATH}/Modules/app-module/include/sys/ioctl.h" APPEND)
+    idf_build_set_property(CXX_COMPILE_OPTIONS "SHELL:-include ${TACTILITY_SDK_PATH}/Modules/app-module/include/sys/ioctl.h" APPEND)
+
     include("${TACTILITY_SDK_PATH}/Libraries/elf_loader/elf_loader.cmake")
     project_elf($project_name)
 

Buildscripts/TactilitySDK/TactilitySDK.posix.cmake

@@ -32,6 +32,12 @@ macro(tactility_project_post project_name)
         ${TACTILITY_SDK_PATH}/Libraries/FreeRTOS-Kernel/portable/ThirdParty/GCC/Posix/utils
     )
     target_compile_definitions(TactilitySDK INTERFACE LV_LVGL_H_INCLUDE_SIMPLE)
+    # An app's references to its own functions must bind to its own definitions, not to a same-named
+    # libc function already loaded in the Tactility process (e.g. an app shipping its own regcomp()).
+    # ESP32 apps get the same through -fvisibility=hidden. Mach-O binds within the image by default.
+    if (NOT APPLE)
+        target_link_options(TactilitySDK INTERFACE -Wl,-Bsymbolic)
+    endif ()
 
     # ESP-IDF's project() auto-discovers the "main" component; plain CMake doesn't.
     add_subdirectory(main)

CMakeLists.txt

@@ -63,7 +63,7 @@ if (DEFINED ENV{ESP_IDF_VERSION})
     # Wraps newlib's reentrant syscall stubs, not the plain read()/write()/close() newlib itself.
     # Implements as thin wrappers around them. newlib's own stdio (fflush()'s buffer-flush path in particular)
     # calls these _r stubs directly, bypassing the plain names entirely.
-    # See Modules/app-module/source/stdio_wrap_esp32.cpp's own comment for the exact call chain.
+    # See Modules/app-esp32-module/source/stdio_wrap.cpp's own comment for the exact call chain.
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=_read_r" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=_write_r" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=_close_r" APPEND)
@@ -82,6 +82,13 @@ if (DEFINED ENV{ESP_IDF_VERSION})
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=tcgetattr" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=tcsetattr" APPEND)
 
+    # elf_loader's full D-cache write-back must not run concurrently with a cache operation on the other core.
+    # See Modules/app-esp32-module/source/elf_cache.cpp.
+    idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=esp_elf_arch_flush" APPEND)
+
+    # elf_loader's Xtensa relocation drops GLOB_DAT/JMP_SLOT addends. See Modules/app-esp32-module/source/elf_relocate.cpp.
+    idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=esp_elf_arch_relocate" APPEND)
+
     # exit() from an app ends only that app (see app_scheduler_exit_current()) instead of aborting.
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=exit" APPEND)
 

Devices/cl32/source/cl32_v2_keyboard.cpp

@@ -17,31 +17,31 @@ static constexpr uint32_t KEYMAP_LC[80] = {
     37, 49, 50, 51, 52, 53, 54, 55, 56, 0,   // % 1 2 3 4 5 6 7 8
     57, 48, 8, 91, 93, 43, 34, 39, 27, 0,    // 9 0 BKSP [ ] + " ' EXIT
     9, 113, 119, 101, 114, 116, 121, 117, 105, 0, // TAB q w e r t y u i
-    111, 112, 13, 40, 41, 45, 59, 58, 3, 0,  // o p ENTER ( ) - ; : STOP
+    111, 112, 10, 40, 41, 45, 59, 58, 3, 0,  // o p ENTER ( ) - ; : STOP
     0, 97, 115, 100, 102, 103, 104, 106, 107, 0,  //   a s d f g h j k
     108, 17, 35, 123, 125, 42, 44, 46, 2, 0, // l UP # { } * , . MENU
     122, 120, 99, 118, 98, 32, 32, 110, 109, 0,   // z x c v b   n m
-    CODEPOINT_ARROW_LEFT, CODEPOINT_ARROW_DOWN, CODEPOINT_ARROW_RIGHT, 60, 62, 47, 92, 61, 13, 0,   // LEFT DOWN RIGHT < > / \ = RUN
+    CODEPOINT_ARROW_LEFT, CODEPOINT_ARROW_DOWN, CODEPOINT_ARROW_RIGHT, 60, 62, 47, 92, 61, 10, 0,   // LEFT DOWN RIGHT < > / \ = RUN
 };
 static constexpr uint32_t KEYMAP_UC[80] = {
     37, 49, 50, 51, 52, 53, 54, 55, 56, 0,   // % 1 2 3 4 5 6 7 8
     57, 48, 8, 91, 93, 43, 34, 39, 27, 0,    // 9 0 BKSP [ ] + " ' EXIT
     9, 81, 87, 69, 82, 84, 89, 85, 73, 0,    // TAB Q W E R T Y U I
-    79, 80, 13, 40, 41, 45, 59, 58, 3, 0,    // O P ENTER ( ) - ; : STOP
+    79, 80, 10, 40, 41, 45, 59, 58, 3, 0,    // O P ENTER ( ) - ; : STOP
     0, 65, 83, 68, 70, 71, 72, 74, 75, 0,    //   A S D F G H J K
     76, 17, 35, 123, 125, 42, 44, 46, 2, 0,  // L UP # { } * , . MENU
     90, 88, 67, 86, 66, 32, 32, 78, 77, 0,   // Z X C V B   N M
-    CODEPOINT_ARROW_LEFT, CODEPOINT_ARROW_DOWN, CODEPOINT_ARROW_RIGHT, 60, 62, 47, 92, 61, 13, 0,   // LEFT DOWN RIGHT < > / \ = RUN
+    CODEPOINT_ARROW_LEFT, CODEPOINT_ARROW_DOWN, CODEPOINT_ARROW_RIGHT, 60, 62, 47, 92, 61, 10, 0,   // LEFT DOWN RIGHT < > / \ = RUN
 };
 static constexpr uint32_t KEYMAP_SY[80] = {
     37, 49, 50, 51, 52, 53, 54, 55, 56, 0,   // % 1 2 3 4 5 6 7 8
     57, 48, 8, 91, 93, 43, 34, 39, 27, 0,    // 9 0 BKSP [ ] + " ' EXIT
     9, 113, 119, 101, 114, 116, 121, 117, 105, 0, // TAB q w e r t y u i
-    111, 112, 13, 40, 41, 45, 59, 58, 3, 0,  // o p ENTER ( ) - ; : STOP
+    111, 112, 10, 40, 41, 45, 59, 58, 3, 0,  // o p ENTER ( ) - ; : STOP
     0, 97, 115, 100, 102, 103, 104, 106, 107, 0,  //   a s d f g h j k
     108, 17, 35, 123, 125, 42, 44, 46, 2, 0, // l UP # { } * , . MENU
     122, 120, 99, 118, 98, 32, 32, 110, 109, 0,   // z x c v b   n m
-    CODEPOINT_ARROW_LEFT, CODEPOINT_ARROW_DOWN, CODEPOINT_ARROW_RIGHT, 60, 62, 47, 92, 61, 13, 0,   // LEFT DOWN RIGHT < > / \ = RUN
+    CODEPOINT_ARROW_LEFT, CODEPOINT_ARROW_DOWN, CODEPOINT_ARROW_RIGHT, 60, 62, 47, 92, 61, 10, 0,   // LEFT DOWN RIGHT < > / \ = RUN
 };
 
 static Tca8418Config cl32_keyboard_config {};

Devices/lilygo-tdeck-max/lilygo,tdeck-max.dts

@@ -88,19 +88,19 @@
 			keymap-lc = [
 				113 119 101 114 116 121 117 105 111 112 // q w e r t y u i o p
 				97 115 100 102 103 104 106 107 108 8    // a s d f g h j k l BACKSPACE
-				0 122 120 99 118 98 110 109 36 13       //   z x c v b n m $ ENTER
+				0 122 120 99 118 98 110 109 36 10       //   z x c v b n m $ ENTER
 				0 0 0 0 0 11 48 32 0 9                  //         PREV 0 SPC   NEXT
 			];
 			keymap-uc = [
 				81 87 69 82 84 89 85 73 79 80 // Q W E R T Y U I O P
 				65 83 68 70 71 72 74 75 76 8  // A S D F G H J K L BACKSPACE
-				0 90 88 67 86 66 78 77 36 13  //   Z X C V B N M $ ENTER
+				0 90 88 67 86 66 78 77 36 10  //   Z X C V B N M $ ENTER
 				0 0 0 0 0 11 48 32 0 9        //         PREV 0 SPC   NEXT
 			];
 			keymap-sy = [
 				49 50 51 52 53 54 55 56 57 48 // 1 2 3 4 5 6 7 8 9 0
 				64 35 43 45 42 47 40 41 95 8  // @ # + - * / ( ) _ BACKSPACE
-				0 33 63 59 58 39 34 44 46 13  //   ! ? ; : ' " , . ENTER
+				0 33 63 59 58 39 34 44 46 10  //   ! ? ; : ' " , . ENTER
 				0 0 0 0 0 11 48 32 0 9        //         PREV 0 SPC   NEXT
 			];
 			shift-row = <2>;

Devices/lilygo-tdeck-pro/lilygo,tdeck-pro.dts

@@ -60,19 +60,19 @@
 			keymap-lc = [
 				113 119 101 114 116 121 117 105 111 112 // q w e r t y u i o p
 				97 115 100 102 103 104 106 107 108 8    // a s d f g h j k l BACKSPACE
-				0 122 120 99 118 98 110 109 36 13       //   z x c v b n m $ ENTER
+				0 122 120 99 118 98 110 109 36 10       //   z x c v b n m $ ENTER
 				0 0 0 0 0 11 48 32 0 9                  //         PREV 0 SPC   NEXT
 			];
 			keymap-uc = [
 				81 87 69 82 84 89 85 73 79 80 // Q W E R T Y U I O P
 				65 83 68 70 71 72 74 75 76 8  // A S D F G H J K L BACKSPACE
-				0 90 88 67 86 66 78 77 36 13  //   Z X C V B N M $ ENTER
+				0 90 88 67 86 66 78 77 36 10  //   Z X C V B N M $ ENTER
 				0 0 0 0 0 11 48 32 0 9        //         PREV 0 SPC   NEXT
 			];
 			keymap-sy = [
 				49 50 51 52 53 54 55 56 57 48 // 1 2 3 4 5 6 7 8 9 0
 				64 35 43 45 42 47 40 41 95 8  // @ # + - * / ( ) _ BACKSPACE
-				0 33 63 59 58 39 34 44 46 13  //   ! ? ; : ' " , . ENTER
+				0 33 63 59 58 39 34 44 46 10  //   ! ? ; : ' " , . ENTER
 				0 0 0 0 0 11 48 32 0 9        //         PREV 0 SPC   NEXT
 			];
 			shift-row = <2>;

Devices/lilygo-tlora-pager/device.properties

@@ -21,3 +21,4 @@ display.dpi=227
 
 lvgl.colorDepth=16
 lvgl.dpi=150
+lvgl.uiDensity=compact

Devices/lilygo-tlora-pager/lilygo,tlora-pager.dts

@@ -58,21 +58,21 @@
 			columns = <10>;
 			keymap-lc = [
 				113 119 101 114 116 121 117 105 111 112 // q w e r t y u i o p
-				97 115 100 102 103 104 106 107 108 13   // a s d f g h j k l ENTER
+				97 115 100 102 103 104 106 107 108 10   // a s d f g h j k l ENTER
 				0 122 120 99 118 98 110 109 0 8          //   z x c v b n m   BACKSPACE
 				32 0 0 0 0 0 0 0 0 0                     // SPC
 			];
 			keymap-uc = [
 				81 87 69 82 84 89 85 73 79 80 // Q W E R T Y U I O P
-				65 83 68 70 71 72 74 75 76 13 // A S D F G H J K L ENTER
+				65 83 68 70 71 72 74 75 76 10 // A S D F G H J K L ENTER
 				0 90 88 67 86 66 78 77 0 8    //   Z X C V B N M   BACKSPACE
 				32 0 0 0 0 0 0 0 0 0          // SPC
 			];
 			keymap-sy = [
 				49 50 51 52 53 54 55 56 57 48 // 1 2 3 4 5 6 7 8 9 0
-				46 47 43 45 61 58 39 34 64 9  // . / + - = : ' " @ TAB
+				46 47 43 45 61 58 39 34 64 27 // . / + - = : ' " @ ESC
 				0 95 36 59 63 33 44 46 0 8    //   _ $ ; ? ! , .   BACKSPACE
-				32 0 0 0 0 0 0 0 0 0          // SPC
+				9 0 0 0 0 0 0 0 0 0           // TAB
 			];
 			shift-row = <2>;
 			shift-col = <8>;

Devices/lilygo-tlora-pager/module.yaml

@@ -8,3 +8,4 @@ dependencies:
   - Drivers/drv2605-module
   - Drivers/gpio-encoder-module
 dts: lilygo,tlora-pager.dts
+dts-only: true

Documentation/ideas.md

@@ -11,7 +11,8 @@
 - CrashDiagnostics shouldn't show a QR when there's no callstack
 - Move USB host task stacks to SPIRAM when available: esp32_usbhost*.cpp
 - Add bold fonts for e-ink readability improvement
-- Improve Setup: Add keyboard/keypad navigation explanation
+- Improve Setup: Add keyboard/keypad/encoder navigation explanation.
+  e.g. encoder long press on t-lora pager to get out of textarea
 - Drivers/audio-codec-module is not a module. Move it somewhere else. Or make it an actual module.
 - Improve SPI kernel driver (implement read, write, transactions)
 - TCA9534 keyboards should use interrupts

Drivers/m5stack-module/source/cardputer_keyboard.cpp

@@ -54,7 +54,7 @@ static const CardputerKeyDef cardputer_key_map[CARDPUTER_ROWS][CARDPUTER_COLS] =
     { K('\t', '\t'), K('q', 'Q'), K('w', 'W'), K('e', 'E'), K('r', 'R'), K('t', 'T'), K('y', 'Y'),
       K('u', 'U'), K('i', 'I'), K('o', 'O'), K('p', 'P'), K('[', '{'), K(']', '}'), K('\\', '|') },
     { { CARDPUTER_KEY_FN, 0, 0 }, { CARDPUTER_KEY_SHIFT, 0, 0 }, K('a', 'A'), K('s', 'S'), K('d', 'D'), K('f', 'F'), K('g', 'G'),
-      K('h', 'H'), K('j', 'J'), K('k', 'K'), K('l', 'L'), K(';', ':'), K('\'', '"'), K('\r', '\r') },
+      K('h', 'H'), K('j', 'J'), K('k', 'K'), K('l', 'L'), K(';', ':'), K('\'', '"'), K('\n', '\n') },
     { { CARDPUTER_KEY_CTRL, 0, 0 }, { CARDPUTER_KEY_OPT, 0, 0 }, { CARDPUTER_KEY_ALT, 0, 0 }, K('z', 'Z'), K('x', 'X'), K('c', 'C'), K('v', 'V'),
       K('b', 'B'), K('n', 'N'), K('m', 'M'), K(',', '<'), K('.', '>'), K('/', '?'), K(' ', ' ') },
 };

Modules/app-esp32-module/CMakeLists.txt

@@ -8,4 +8,6 @@ tactility_add_module(app-esp32-module
     SRCS ${SOURCE_FILES}
     INCLUDE_DIRS include/
     REQUIRES TactilityKernel app-module service-module elf_loader
+    # The libc wraps in source/stdio_wrap.cpp are only reached through -Wl,--wrap=, never by direct reference
+    WHOLE_ARCHIVE
 )

Modules/app-esp32-module/source/app_esp32_loader_service.cpp

@@ -150,6 +150,10 @@ error_t api_load(AppLocation location, AppRuntime* out_runtime) {
         return ERROR_RESOURCE;
     }
 
+    // Relocation copied everything it needs (segments, symbol names) out of the file buffer
+    free(runtime->file_data);
+    runtime->file_data = nullptr;
+
     *out_runtime = runtime;
     return ERROR_NONE;
 }

Modules/app-esp32-module/source/elf_cache.cpp

@@ -0,0 +1,70 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <sdkconfig.h>
+
+#ifdef CONFIG_ELF_LOADER_LOAD_PSRAM
+
+#include <esp_ipc.h>
+#include <freertos/FreeRTOS.h>
+
+#include <atomic>
+
+// elf_loader writes back the whole D-cache with the ROM's Cache_WriteBack_All(), which doesn't take
+// esp_cache_msync()'s lock. A cache operation running at the same time on the other core (e.g. a display
+// driver syncing a PSRAM framebuffer) then fails with "Dcache sync parameter configuration error".
+// The write-back therefore runs in core 0's IPC task while core 1 is parked in its own IPC task. An IPC task
+// only runs when its core is not in a critical section, which is where esp_cache_msync() does its work.
+extern "C" {
+
+void __real_esp_elf_arch_flush(void);
+void Cache_WriteBack_All(void);
+void spi_flash_disable_interrupts_caches_and_other_cpu(void);
+void spi_flash_enable_interrupts_caches_and_other_cpu(void);
+
+}
+
+#if !CONFIG_FREERTOS_UNICORE && !CONFIG_IDF_TARGET_ESP32S31
+
+namespace {
+
+std::atomic<bool> other_core_parked { false };
+std::atomic<bool> other_core_release { false };
+
+void IRAM_ATTR park_core(void*) {
+    const uint32_t state = portSET_INTERRUPT_MASK_FROM_ISR();
+    other_core_parked.store(true, std::memory_order_release);
+    while (!other_core_release.load(std::memory_order_acquire)) {
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR(state);
+}
+
+void IRAM_ATTR write_back_with_core1_parked(void*) {
+    other_core_parked.store(false, std::memory_order_relaxed);
+    other_core_release.store(false, std::memory_order_relaxed);
+    esp_ipc_call(1, park_core, nullptr);
+    while (!other_core_parked.load(std::memory_order_acquire)) {
+    }
+    const uint32_t state = portSET_INTERRUPT_MASK_FROM_ISR();
+    Cache_WriteBack_All();
+    portCLEAR_INTERRUPT_MASK_FROM_ISR(state);
+    other_core_release.store(true, std::memory_order_release);
+}
+
+} // namespace
+
+// IRAM: spi_flash_disable_interrupts_caches_and_other_cpu() returns here with the caches disabled
+extern "C" void IRAM_ATTR __wrap_esp_elf_arch_flush(void) {
+    esp_ipc_call_blocking(0, write_back_with_core1_parked, nullptr);
+    // Same as elf_loader's own esp_elf_arch_flush() after its write-back
+    spi_flash_disable_interrupts_caches_and_other_cpu();
+    spi_flash_enable_interrupts_caches_and_other_cpu();
+}
+
+#else
+
+extern "C" void IRAM_ATTR __wrap_esp_elf_arch_flush(void) {
+    __real_esp_elf_arch_flush();
+}
+
+#endif
+
+#endif // CONFIG_ELF_LOADER_LOAD_PSRAM

Modules/app-esp32-module/source/elf_relocate.cpp

@@ -0,0 +1,27 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <sdkconfig.h>
+
+#include <esp_elf.h>
+#include <private/elf_platform.h>
+
+// elf_loader's Xtensa relocation ignores the addend of R_XTENSA_GLOB_DAT/R_XTENSA_JMP_SLOT, which is
+// S + A per the ABI. The compiler does emit addends there: newlib's ctype macros read (_ctype_ + 1)[c],
+// which becomes "R_XTENSA_GLOB_DAT _ctype_ + 1". Without the addend every ctype lookup in an app reads
+// the previous character's entry (e.g. isspace('!') is true).
+extern "C" {
+
+int __real_esp_elf_arch_relocate(esp_elf_t* elf, const elf32_rela_t* rela, const elf32_sym_t* sym, uint32_t addr);
+
+int __wrap_esp_elf_arch_relocate(esp_elf_t* elf, const elf32_rela_t* rela, const elf32_sym_t* sym, uint32_t addr) {
+#if CONFIG_IDF_TARGET_ARCH_XTENSA
+    constexpr uint32_t R_XTENSA_GLOB_DAT = 3;
+    constexpr uint32_t R_XTENSA_JMP_SLOT = 4;
+    const uint32_t type = ELF_R_TYPE(rela->info);
+    if (type == R_XTENSA_GLOB_DAT || type == R_XTENSA_JMP_SLOT) {
+        addr += rela->addend;
+    }
+#endif
+    return __real_esp_elf_arch_relocate(elf, rela, sym, addr);
+}
+
+}