diff --git a/Documentation/LICENSE-LGPL-3.0.md b/Documentation/LICENSE-LGPL-3.0.md deleted file mode 100644 index 6fb6a01ee..000000000 --- a/Documentation/LICENSE-LGPL-3.0.md +++ /dev/null @@ -1,157 +0,0 @@ -# GNU LESSER GENERAL PUBLIC LICENSE - -Version 3, 29 June 2007 - -Copyright (C) 2007 Free Software Foundation, Inc. - - -Everyone is permitted to copy and distribute verbatim copies of this -license document, but changing it is not allowed. - -This version of the GNU Lesser General Public License incorporates the -terms and conditions of version 3 of the GNU General Public License, -supplemented by the additional permissions listed below. - -## 0. Additional Definitions. - -As used herein, "this License" refers to version 3 of the GNU Lesser -General Public License, and the "GNU GPL" refers to version 3 of the -GNU General Public License. - -"The Library" refers to a covered work governed by this License, other -than an Application or a Combined Work as defined below. - -An "Application" is any work that makes use of an interface provided -by the Library, but which is not otherwise based on the Library. -Defining a subclass of a class defined by the Library is deemed a mode -of using an interface provided by the Library. - -A "Combined Work" is a work produced by combining or linking an -Application with the Library. The particular version of the Library -with which the Combined Work was made is also called the "Linked -Version". - -The "Minimal Corresponding Source" for a Combined Work means the -Corresponding Source for the Combined Work, excluding any source code -for portions of the Combined Work that, considered in isolation, are -based on the Application, and not on the Linked Version. - -The "Corresponding Application Code" for a Combined Work means the -object code and/or source code for the Application, including any data -and utility programs needed for reproducing the Combined Work from the -Application, but excluding the System Libraries of the Combined Work. - -## 1. Exception to Section 3 of the GNU GPL. - -You may convey a covered work under sections 3 and 4 of this License -without being bound by section 3 of the GNU GPL. - -## 2. Conveying Modified Versions. - -If you modify a copy of the Library, and, in your modifications, a -facility refers to a function or data to be supplied by an Application -that uses the facility (other than as an argument passed when the -facility is invoked), then you may convey a copy of the modified -version: - -- a) under this License, provided that you make a good faith effort - to ensure that, in the event an Application does not supply the - function or data, the facility still operates, and performs - whatever part of its purpose remains meaningful, or -- b) under the GNU GPL, with none of the additional permissions of - this License applicable to that copy. - -## 3. Object Code Incorporating Material from Library Header Files. - -The object code form of an Application may incorporate material from a -header file that is part of the Library. You may convey such object -code under terms of your choice, provided that, if the incorporated -material is not limited to numerical parameters, data structure -layouts and accessors, or small macros, inline functions and templates -(ten or fewer lines in length), you do both of the following: - -- a) Give prominent notice with each copy of the object code that - the Library is used in it and that the Library and its use are - covered by this License. -- b) Accompany the object code with a copy of the GNU GPL and this - license document. - -## 4. Combined Works. - -You may convey a Combined Work under terms of your choice that, taken -together, effectively do not restrict modification of the portions of -the Library contained in the Combined Work and reverse engineering for -debugging such modifications, if you also do each of the following: - -- a) Give prominent notice with each copy of the Combined Work that - the Library is used in it and that the Library and its use are - covered by this License. -- b) Accompany the Combined Work with a copy of the GNU GPL and this - license document. -- c) For a Combined Work that displays copyright notices during - execution, include the copyright notice for the Library among - these notices, as well as a reference directing the user to the - copies of the GNU GPL and this license document. -- d) Do one of the following: - - 0) Convey the Minimal Corresponding Source under the terms of - this License, and the Corresponding Application Code in a form - suitable for, and under terms that permit, the user to - recombine or relink the Application with a modified version of - the Linked Version to produce a modified Combined Work, in the - manner specified by section 6 of the GNU GPL for conveying - Corresponding Source. - - 1) Use a suitable shared library mechanism for linking with - the Library. A suitable mechanism is one that (a) uses at run - time a copy of the Library already present on the user's - computer system, and (b) will operate properly with a modified - version of the Library that is interface-compatible with the - Linked Version. -- e) Provide Installation Information, but only if you would - otherwise be required to provide such information under section 6 - of the GNU GPL, and only to the extent that such information is - necessary to install and execute a modified version of the - Combined Work produced by recombining or relinking the Application - with a modified version of the Linked Version. (If you use option - 4d0, the Installation Information must accompany the Minimal - Corresponding Source and Corresponding Application Code. If you - use option 4d1, you must provide the Installation Information in - the manner specified by section 6 of the GNU GPL for conveying - Corresponding Source.) - -## 5. Combined Libraries. - -You may place library facilities that are a work based on the Library -side by side in a single library together with other library -facilities that are not Applications and are not covered by this -License, and convey such a combined library under terms of your -choice, if you do both of the following: - -- a) Accompany the combined library with a copy of the same work - based on the Library, uncombined with any other library - facilities, conveyed under the terms of this License. -- b) Give prominent notice with the combined library that part of it - is a work based on the Library, and explaining where to find the - accompanying uncombined form of the same work. - -## 6. Revised Versions of the GNU Lesser General Public License. - -The Free Software Foundation may publish revised and/or new versions -of the GNU Lesser General Public License from time to time. Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - -Each version is given a distinguishing version number. If the Library -as you received it specifies that a certain numbered version of the -GNU Lesser General Public License "or any later version" applies to -it, you have the option of following the terms and conditions either -of that published version or of any later version published by the -Free Software Foundation. If the Library as you received it does not -specify a version number of the GNU Lesser General Public License, you -may choose any version of the GNU Lesser General Public License ever -published by the Free Software Foundation. - -If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/Documentation/ideas.md b/Documentation/ideas.md index 96d1ce279..2d14595ed 100644 --- a/Documentation/ideas.md +++ b/Documentation/ideas.md @@ -2,7 +2,7 @@ ## Before release -- Add `// SPDX-License-Identifier: LGPL-3.0-only` and similar license mentions to individual files in the project +- Add `// SPDX-License-Identifier: GPL-3.0-only` and `// SPDX-License-Identifier: Apache-2.0` to individual files in the project - Change ButtonControl to work with interrupts and xQueue - TCA9534 keyboards should use interrupts - GT911 drivers should use interrupts if it's stable diff --git a/LICENSE.md b/LICENSE.md index c9f8c1613..8340dbaa8 100644 --- a/LICENSE.md +++ b/LICENSE.md @@ -7,40 +7,30 @@ These applications are not part of the Tactility operating system's main firmwar "end-users" refers to people who install and/or use Tactility software on their devices. -## Licensing Intent - -The main intention is to make sure forks of the operating system stay open source, -while external applications can have both open or closed source licenses. - -TactilitySDK combines several subprojects and should not have source code with a GPL licenses inside. - ## Past & Present Formerly, there was a mixed usage of [GPL v3.0](Documentation/LICENSE-GPL-3.0.md) for internal subprojects and [Apache License v2.0](Documentation/LICENSE-Apache-2.0.md) for subprojects that would be used in external apps. -For future subprojects, [LGPL v3.0](Documentation/LICENSE-LGPL-3.0.md) will be chosen for internal subprojects and -Apache License v2.0 will be chosen for header-only projects. -Existing GPL-licensed projects will retain this license, as it cannot be changed to LGPL. - -The reason is that LGPL allows for logic in header files, but it comes with limitations (e.g. limit of 10 lines of code in headers). -If we write C++ wrappers for C libraries then we want them to be usable for building external apps, without such LGPL limitations. +For future subprojects, [Apache License v2.0](Documentation/LICENSE-Apache-2.0.md) will be chosen for internal subproject. +Existing GPL-licensed projects will retain this license, as it cannot be changed to a more permissive license. ## Overview Below is an overview of the licenses of some of the subprojects. -| Project | License | -|--------------------|---------------------| -| Tactility | GPL v3.0 | -| TactilityCore | GPL v3.0 | -| TactilityC | Apache License v2.0 | -| TactilityFreeRTOS | Apache License v2.0 | -| TactilityKernel | LGPL v3.0 | -| Tests | GPL v3.0 | -| Devices/* | GPL v3.0 | -| Drivers/* | (varies) | -| DevicetreeCompiler | Apache License v2.0 | +| Project | License | +|--------------------|-------------------------| +| Tactility | GNU Public License v3.0 | +| TactilityCore | GNU Public License v3.0 | +| TactilityC | Apache License v2.0 | +| TactilityFreeRTOS | Apache License v2.0 | +| TactilityKernel | Apache License v2.0 | +| Tests | GNU Public License v3.0 | +| Devices/* | GNU Public License v3.0 | +| Drivers/* | (varies) | +| DevicetreeCompiler | Apache License v2.0 | +| Platforms/* | Apache License v2.0 | Subprojects and directories in this project can contain license files. @@ -69,4 +59,4 @@ Third-party licenses and copyrights are listed in [THIRD-PARTY-NOTICES.md](THIRD ## FAQ - Q: Can I build closed source applications? -- A: Yes, external apps can be closed source. All subprojects with an Apache License or LGPL license can be used in this manner. If you fork the project and make an internal app, it must be redistributed under the GPL v3.0 license. +- A: If the applications were built with the Tactility SDK, then they can have a proprietary license. Applications inside the Tactility firmware can't be released with a proprietary license. diff --git a/Platforms/LICENSE-Apache-2.0.md b/Platforms/LICENSE-Apache-2.0.md new file mode 100644 index 000000000..f5f4b8b5e --- /dev/null +++ b/Platforms/LICENSE-Apache-2.0.md @@ -0,0 +1,195 @@ +Apache License +============== + +_Version 2.0, January 2004_ +_<>_ + +### Terms and Conditions for use, reproduction, and distribution + +#### 1. 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Additional Definitions. - -As used herein, "this License" refers to version 3 of the GNU Lesser -General Public License, and the "GNU GPL" refers to version 3 of the -GNU General Public License. - -"The Library" refers to a covered work governed by this License, other -than an Application or a Combined Work as defined below. - -An "Application" is any work that makes use of an interface provided -by the Library, but which is not otherwise based on the Library. -Defining a subclass of a class defined by the Library is deemed a mode -of using an interface provided by the Library. - -A "Combined Work" is a work produced by combining or linking an -Application with the Library. The particular version of the Library -with which the Combined Work was made is also called the "Linked -Version". - -The "Minimal Corresponding Source" for a Combined Work means the -Corresponding Source for the Combined Work, excluding any source code -for portions of the Combined Work that, considered in isolation, are -based on the Application, and not on the Linked Version. - -The "Corresponding Application Code" for a Combined Work means the -object code and/or source code for the Application, including any data -and utility programs needed for reproducing the Combined Work from the -Application, but excluding the System Libraries of the Combined Work. - -## 1. Exception to Section 3 of the GNU GPL. - -You may convey a covered work under sections 3 and 4 of this License -without being bound by section 3 of the GNU GPL. - -## 2. Conveying Modified Versions. - -If you modify a copy of the Library, and, in your modifications, a -facility refers to a function or data to be supplied by an Application -that uses the facility (other than as an argument passed when the -facility is invoked), then you may convey a copy of the modified -version: - -- a) under this License, provided that you make a good faith effort - to ensure that, in the event an Application does not supply the - function or data, the facility still operates, and performs - whatever part of its purpose remains meaningful, or -- b) under the GNU GPL, with none of the additional permissions of - this License applicable to that copy. - -## 3. Object Code Incorporating Material from Library Header Files. - -The object code form of an Application may incorporate material from a -header file that is part of the Library. You may convey such object -code under terms of your choice, provided that, if the incorporated -material is not limited to numerical parameters, data structure -layouts and accessors, or small macros, inline functions and templates -(ten or fewer lines in length), you do both of the following: - -- a) Give prominent notice with each copy of the object code that - the Library is used in it and that the Library and its use are - covered by this License. -- b) Accompany the object code with a copy of the GNU GPL and this - license document. - -## 4. Combined Works. - -You may convey a Combined Work under terms of your choice that, taken -together, effectively do not restrict modification of the portions of -the Library contained in the Combined Work and reverse engineering for -debugging such modifications, if you also do each of the following: - -- a) Give prominent notice with each copy of the Combined Work that - the Library is used in it and that the Library and its use are - covered by this License. -- b) Accompany the Combined Work with a copy of the GNU GPL and this - license document. -- c) For a Combined Work that displays copyright notices during - execution, include the copyright notice for the Library among - these notices, as well as a reference directing the user to the - copies of the GNU GPL and this license document. -- d) Do one of the following: - - 0) Convey the Minimal Corresponding Source under the terms of - this License, and the Corresponding Application Code in a form - suitable for, and under terms that permit, the user to - recombine or relink the Application with a modified version of - the Linked Version to produce a modified Combined Work, in the - manner specified by section 6 of the GNU GPL for conveying - Corresponding Source. - - 1) Use a suitable shared library mechanism for linking with - the Library. A suitable mechanism is one that (a) uses at run - time a copy of the Library already present on the user's - computer system, and (b) will operate properly with a modified - version of the Library that is interface-compatible with the - Linked Version. -- e) Provide Installation Information, but only if you would - otherwise be required to provide such information under section 6 - of the GNU GPL, and only to the extent that such information is - necessary to install and execute a modified version of the - Combined Work produced by recombining or relinking the Application - with a modified version of the Linked Version. (If you use option - 4d0, the Installation Information must accompany the Minimal - Corresponding Source and Corresponding Application Code. If you - use option 4d1, you must provide the Installation Information in - the manner specified by section 6 of the GNU GPL for conveying - Corresponding Source.) - -## 5. Combined Libraries. - -You may place library facilities that are a work based on the Library -side by side in a single library together with other library -facilities that are not Applications and are not covered by this -License, and convey such a combined library under terms of your -choice, if you do both of the following: - -- a) Accompany the combined library with a copy of the same work - based on the Library, uncombined with any other library - facilities, conveyed under the terms of this License. -- b) Give prominent notice with the combined library that part of it - is a work based on the Library, and explaining where to find the - accompanying uncombined form of the same work. - -## 6. Revised Versions of the GNU Lesser General Public License. - -The Free Software Foundation may publish revised and/or new versions -of the GNU Lesser General Public License from time to time. Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - -Each version is given a distinguishing version number. If the Library -as you received it specifies that a certain numbered version of the -GNU Lesser General Public License "or any later version" applies to -it, you have the option of following the terms and conditions either -of that published version or of any later version published by the -Free Software Foundation. If the Library as you received it does not -specify a version number of the GNU Lesser General Public License, you -may choose any version of the GNU Lesser General Public License ever -published by the Free Software Foundation. - -If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_gpio.h b/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_gpio.h index 301027153..f11ecdb2e 100644 --- a/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_gpio.h +++ b/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_gpio.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include diff --git a/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_i2c.h b/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_i2c.h index e2826b740..0a02de04d 100644 --- a/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_i2c.h +++ b/Platforms/PlatformEsp32/Include/Tactility/bindings/esp32_i2c.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include diff --git a/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32Gpio.h b/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32Gpio.h index 04245c685..43b03a4cd 100644 --- a/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32Gpio.h +++ b/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32Gpio.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef __cplusplus diff --git a/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32I2c.h b/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32I2c.h index 55b07b146..2e7de1c1d 100644 --- a/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32I2c.h +++ b/Platforms/PlatformEsp32/Include/Tactility/drivers/Esp32I2c.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include diff --git a/Platforms/PlatformEsp32/Source/Esp32Gpio.cpp b/Platforms/PlatformEsp32/Source/Esp32Gpio.cpp index 51bd2e940..adc4fa922 100644 --- a/Platforms/PlatformEsp32/Source/Esp32Gpio.cpp +++ b/Platforms/PlatformEsp32/Source/Esp32Gpio.cpp @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #include #include diff --git a/Platforms/PlatformEsp32/Source/Esp32I2c.cpp b/Platforms/PlatformEsp32/Source/Esp32I2c.cpp index 4599f7dba..b8948e8fc 100644 --- a/Platforms/PlatformEsp32/Source/Esp32I2c.cpp +++ b/Platforms/PlatformEsp32/Source/Esp32I2c.cpp @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #include #include diff --git a/Platforms/PlatformEsp32/Source/Register.cpp b/Platforms/PlatformEsp32/Source/Register.cpp index 1293e28ae..133e01f9c 100644 --- a/Platforms/PlatformEsp32/Source/Register.cpp +++ b/Platforms/PlatformEsp32/Source/Register.cpp @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #include extern "C" { diff --git a/Platforms/PlatformPosix/Source/Register.cpp b/Platforms/PlatformPosix/Source/Register.cpp index 6453236e9..b390c12f7 100644 --- a/Platforms/PlatformPosix/Source/Register.cpp +++ b/Platforms/PlatformPosix/Source/Register.cpp @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #include extern "C" { diff --git a/TactilityFreeRtos/Include/Tactility/Dispatcher.h b/TactilityFreeRtos/Include/Tactility/Dispatcher.h index 706778608..076acff09 100644 --- a/TactilityFreeRtos/Include/Tactility/Dispatcher.h +++ b/TactilityFreeRtos/Include/Tactility/Dispatcher.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 /** * Dispatcher is a thread-safe code execution queue. */ diff --git a/TactilityFreeRtos/Include/Tactility/DispatcherThread.h b/TactilityFreeRtos/Include/Tactility/DispatcherThread.h index 9e66a814d..a67809151 100644 --- a/TactilityFreeRtos/Include/Tactility/DispatcherThread.h +++ b/TactilityFreeRtos/Include/Tactility/DispatcherThread.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "Dispatcher.h" diff --git a/TactilityFreeRtos/Include/Tactility/EventGroup.h b/TactilityFreeRtos/Include/Tactility/EventGroup.h index 2d80fe72d..c016d5aaa 100644 --- a/TactilityFreeRtos/Include/Tactility/EventGroup.h +++ b/TactilityFreeRtos/Include/Tactility/EventGroup.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "freertoscompat/EventGroups.h" diff --git a/TactilityFreeRtos/Include/Tactility/Lock.h b/TactilityFreeRtos/Include/Tactility/Lock.h index 46eaafb9d..49c61d31c 100644 --- a/TactilityFreeRtos/Include/Tactility/Lock.h +++ b/TactilityFreeRtos/Include/Tactility/Lock.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "kernel/Kernel.h" diff --git a/TactilityFreeRtos/Include/Tactility/MessageQueue.h b/TactilityFreeRtos/Include/Tactility/MessageQueue.h index 54fb020c3..7dfc93eb0 100644 --- a/TactilityFreeRtos/Include/Tactility/MessageQueue.h +++ b/TactilityFreeRtos/Include/Tactility/MessageQueue.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 /** * MessageQueue is a wrapper for FreeRTOS xQueue functionality. * There is no additional thread-safety on top of the xQueue functionality, diff --git a/TactilityFreeRtos/Include/Tactility/Mutex.h b/TactilityFreeRtos/Include/Tactility/Mutex.h index 759f3bb7f..6b369ad4a 100644 --- a/TactilityFreeRtos/Include/Tactility/Mutex.h +++ b/TactilityFreeRtos/Include/Tactility/Mutex.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "Lock.h" diff --git a/TactilityFreeRtos/Include/Tactility/PubSub.h b/TactilityFreeRtos/Include/Tactility/PubSub.h index 17b8b6e2a..b7102cc52 100644 --- a/TactilityFreeRtos/Include/Tactility/PubSub.h +++ b/TactilityFreeRtos/Include/Tactility/PubSub.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "Mutex.h" diff --git a/TactilityFreeRtos/Include/Tactility/RecursiveMutex.h b/TactilityFreeRtos/Include/Tactility/RecursiveMutex.h index 5358351df..b1709aad5 100644 --- a/TactilityFreeRtos/Include/Tactility/RecursiveMutex.h +++ b/TactilityFreeRtos/Include/Tactility/RecursiveMutex.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "Lock.h" diff --git a/TactilityFreeRtos/Include/Tactility/Semaphore.h b/TactilityFreeRtos/Include/Tactility/Semaphore.h index 64b257736..278c661d0 100644 --- a/TactilityFreeRtos/Include/Tactility/Semaphore.h +++ b/TactilityFreeRtos/Include/Tactility/Semaphore.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "Lock.h" diff --git a/TactilityFreeRtos/Include/Tactility/Thread.h b/TactilityFreeRtos/Include/Tactility/Thread.h index d32d1bc32..552cc8170 100644 --- a/TactilityFreeRtos/Include/Tactility/Thread.h +++ b/TactilityFreeRtos/Include/Tactility/Thread.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "freertoscompat/Task.h" diff --git a/TactilityFreeRtos/Include/Tactility/Timer.h b/TactilityFreeRtos/Include/Tactility/Timer.h index ff0f90f34..f77b25199 100644 --- a/TactilityFreeRtos/Include/Tactility/Timer.h +++ b/TactilityFreeRtos/Include/Tactility/Timer.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "Thread.h" diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/EventGroups.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/EventGroups.h index 49b526996..d8d090883 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/EventGroups.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/EventGroups.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/PortCompat.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/PortCompat.h index 6a43514fd..3a3de3a34 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/PortCompat.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/PortCompat.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "RTOS.h" diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/Queue.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/Queue.h index ef370454e..ed80fbe16 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/Queue.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/Queue.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/RTOS.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/RTOS.h index 424812348..c42dcf5e1 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/RTOS.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/RTOS.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/Semaphore.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/Semaphore.h index 4594a9343..956047388 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/Semaphore.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/Semaphore.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/Task.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/Task.h index 59b5d65c4..821c2dcef 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/Task.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/Task.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityFreeRtos/Include/Tactility/freertoscompat/Timers.h b/TactilityFreeRtos/Include/Tactility/freertoscompat/Timers.h index 45cf6c6e1..d2cf08fae 100644 --- a/TactilityFreeRtos/Include/Tactility/freertoscompat/Timers.h +++ b/TactilityFreeRtos/Include/Tactility/freertoscompat/Timers.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityFreeRtos/Include/Tactility/kernel/Kernel.h b/TactilityFreeRtos/Include/Tactility/kernel/Kernel.h index 684d5a164..59830a6dc 100644 --- a/TactilityFreeRtos/Include/Tactility/kernel/Kernel.h +++ b/TactilityFreeRtos/Include/Tactility/kernel/Kernel.h @@ -1,3 +1,4 @@ +// SPDX-License-Identifier: Apache-2.0 #pragma once #include "../freertoscompat/PortCompat.h" diff --git a/TactilityKernel/Include/Tactility/Device.h b/TactilityKernel/Include/Tactility/Device.h index f76189605..0b0983e6d 100644 --- a/TactilityKernel/Include/Tactility/Device.h +++ b/TactilityKernel/Include/Tactility/Device.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "Driver.h" diff --git a/TactilityKernel/Include/Tactility/Driver.h b/TactilityKernel/Include/Tactility/Driver.h index ee0f88a37..937f9f5d3 100644 --- a/TactilityKernel/Include/Tactility/Driver.h +++ b/TactilityKernel/Include/Tactility/Driver.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef __cplusplus diff --git a/TactilityKernel/Include/Tactility/Error.h b/TactilityKernel/Include/Tactility/Error.h index fdfaaf450..81ccc5899 100644 --- a/TactilityKernel/Include/Tactility/Error.h +++ b/TactilityKernel/Include/Tactility/Error.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #define ERROR_UNDEFINED 1 diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/FreeRTOS.h b/TactilityKernel/Include/Tactility/FreeRTOS/FreeRTOS.h index 4d148d814..6c6608cff 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/FreeRTOS.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/FreeRTOS.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/event_groups.h b/TactilityKernel/Include/Tactility/FreeRTOS/event_groups.h index 665eeb64a..180577816 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/event_groups.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/event_groups.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "FreeRTOS.h" diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/port.h b/TactilityKernel/Include/Tactility/FreeRTOS/port.h index d897dafc5..f78a07938 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/port.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/port.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "FreeRTOS.h" diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/queue.h b/TactilityKernel/Include/Tactility/FreeRTOS/queue.h index b22e35848..aef059493 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/queue.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/queue.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "FreeRTOS.h" diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/semphr.h b/TactilityKernel/Include/Tactility/FreeRTOS/semphr.h index 9aa7332bd..b94ea2b0d 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/semphr.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/semphr.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "FreeRTOS.h" diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/task.h b/TactilityKernel/Include/Tactility/FreeRTOS/task.h index cb01be7ae..b3bbda926 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/task.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/task.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "FreeRTOS.h" diff --git a/TactilityKernel/Include/Tactility/FreeRTOS/timers.h b/TactilityKernel/Include/Tactility/FreeRTOS/timers.h index f1e60b478..61ccd9976 100644 --- a/TactilityKernel/Include/Tactility/FreeRTOS/timers.h +++ b/TactilityKernel/Include/Tactility/FreeRTOS/timers.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include "FreeRTOS.h" diff --git a/TactilityKernel/Include/Tactility/Log.h b/TactilityKernel/Include/Tactility/Log.h index 68939e205..452a14122 100644 --- a/TactilityKernel/Include/Tactility/Log.h +++ b/TactilityKernel/Include/Tactility/Log.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef ESP_PLATFORM diff --git a/TactilityKernel/Include/Tactility/bindings/bindings.h b/TactilityKernel/Include/Tactility/bindings/bindings.h index 8d46255a6..220ba53a7 100644 --- a/TactilityKernel/Include/Tactility/bindings/bindings.h +++ b/TactilityKernel/Include/Tactility/bindings/bindings.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once /** diff --git a/TactilityKernel/Include/Tactility/bindings/gpio.h b/TactilityKernel/Include/Tactility/bindings/gpio.h index 836daf73f..b7958b98a 100644 --- a/TactilityKernel/Include/Tactility/bindings/gpio.h +++ b/TactilityKernel/Include/Tactility/bindings/gpio.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include diff --git a/TactilityKernel/Include/Tactility/bindings/root.h b/TactilityKernel/Include/Tactility/bindings/root.h index f345b5c77..063f00097 100644 --- a/TactilityKernel/Include/Tactility/bindings/root.h +++ b/TactilityKernel/Include/Tactility/bindings/root.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include diff --git a/TactilityKernel/Include/Tactility/concurrent/Mutex.h b/TactilityKernel/Include/Tactility/concurrent/Mutex.h index 0297ac0a8..55b2d51c5 100644 --- a/TactilityKernel/Include/Tactility/concurrent/Mutex.h +++ b/TactilityKernel/Include/Tactility/concurrent/Mutex.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include diff --git a/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h b/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h index aba6e0dab..09dd9a9e3 100644 --- a/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h +++ b/TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #include diff --git a/TactilityKernel/Include/Tactility/drivers/Gpio.h b/TactilityKernel/Include/Tactility/drivers/Gpio.h index 0e90f1df5..8aa08b356 100644 --- a/TactilityKernel/Include/Tactility/drivers/Gpio.h +++ b/TactilityKernel/Include/Tactility/drivers/Gpio.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef __cplusplus diff --git a/TactilityKernel/Include/Tactility/drivers/GpioController.h b/TactilityKernel/Include/Tactility/drivers/GpioController.h index 3d70923d0..149e601a5 100644 --- a/TactilityKernel/Include/Tactility/drivers/GpioController.h +++ b/TactilityKernel/Include/Tactility/drivers/GpioController.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef __cplusplus diff --git a/TactilityKernel/Include/Tactility/drivers/I2cController.h b/TactilityKernel/Include/Tactility/drivers/I2cController.h index beb932a92..d2b79cff9 100644 --- a/TactilityKernel/Include/Tactility/drivers/I2cController.h +++ b/TactilityKernel/Include/Tactility/drivers/I2cController.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef __cplusplus diff --git a/TactilityKernel/Include/Tactility/drivers/Root.h b/TactilityKernel/Include/Tactility/drivers/Root.h index 001208013..e2797b937 100644 --- a/TactilityKernel/Include/Tactility/drivers/Root.h +++ b/TactilityKernel/Include/Tactility/drivers/Root.h @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #pragma once #ifdef __cplusplus diff --git a/TactilityKernel/LICENSE-Apache-2.0.md b/TactilityKernel/LICENSE-Apache-2.0.md new file mode 100644 index 000000000..f5f4b8b5e --- /dev/null +++ b/TactilityKernel/LICENSE-Apache-2.0.md @@ -0,0 +1,195 @@ +Apache License +============== + +_Version 2.0, January 2004_ +_<>_ + +### Terms and Conditions for use, reproduction, and distribution + +#### 1. 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Additional Definitions. - -As used herein, "this License" refers to version 3 of the GNU Lesser -General Public License, and the "GNU GPL" refers to version 3 of the -GNU General Public License. - -"The Library" refers to a covered work governed by this License, other -than an Application or a Combined Work as defined below. - -An "Application" is any work that makes use of an interface provided -by the Library, but which is not otherwise based on the Library. -Defining a subclass of a class defined by the Library is deemed a mode -of using an interface provided by the Library. - -A "Combined Work" is a work produced by combining or linking an -Application with the Library. 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Combined Libraries. - -You may place library facilities that are a work based on the Library -side by side in a single library together with other library -facilities that are not Applications and are not covered by this -License, and convey such a combined library under terms of your -choice, if you do both of the following: - -- a) Accompany the combined library with a copy of the same work - based on the Library, uncombined with any other library - facilities, conveyed under the terms of this License. -- b) Give prominent notice with the combined library that part of it - is a work based on the Library, and explaining where to find the - accompanying uncombined form of the same work. - -## 6. Revised Versions of the GNU Lesser General Public License. - -The Free Software Foundation may publish revised and/or new versions -of the GNU Lesser General Public License from time to time. Such new -versions will be similar in spirit to the present version, but may -differ in detail to address new problems or concerns. - -Each version is given a distinguishing version number. If the Library -as you received it specifies that a certain numbered version of the -GNU Lesser General Public License "or any later version" applies to -it, you have the option of following the terms and conditions either -of that published version or of any later version published by the -Free Software Foundation. If the Library as you received it does not -specify a version number of the GNU Lesser General Public License, you -may choose any version of the GNU Lesser General Public License ever -published by the Free Software Foundation. - -If the Library as you received it specifies that a proxy can decide -whether future versions of the GNU Lesser General Public License shall -apply, that proxy's public statement of acceptance of any version is -permanent authorization for you to choose that version for the -Library. diff --git a/TactilityKernel/Source/Device.cpp b/TactilityKernel/Source/Device.cpp index 47d28f9e5..ef8495cc6 100644 --- a/TactilityKernel/Source/Device.cpp +++ b/TactilityKernel/Source/Device.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #include #include #include diff --git a/TactilityKernel/Source/Driver.cpp b/TactilityKernel/Source/Driver.cpp index 14c0d09d1..52fd334a8 100644 --- a/TactilityKernel/Source/Driver.cpp +++ b/TactilityKernel/Source/Driver.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #include #include #include diff --git a/TactilityKernel/Source/Log.cpp b/TactilityKernel/Source/Log.cpp index 2d1c392cc..f02f9c225 100644 --- a/TactilityKernel/Source/Log.cpp +++ b/TactilityKernel/Source/Log.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #ifndef ESP_PLATFORM #include diff --git a/TactilityKernel/Source/drivers/GpioController.cpp b/TactilityKernel/Source/drivers/GpioController.cpp index cd4e49711..d97481dd9 100644 --- a/TactilityKernel/Source/drivers/GpioController.cpp +++ b/TactilityKernel/Source/drivers/GpioController.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #include #include diff --git a/TactilityKernel/Source/drivers/I2cController.cpp b/TactilityKernel/Source/drivers/I2cController.cpp index c64955347..4dc16ce3d 100644 --- a/TactilityKernel/Source/drivers/I2cController.cpp +++ b/TactilityKernel/Source/drivers/I2cController.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #include #include diff --git a/TactilityKernel/Source/drivers/Register.cpp b/TactilityKernel/Source/drivers/Register.cpp index 4983fb494..776c19962 100644 --- a/TactilityKernel/Source/drivers/Register.cpp +++ b/TactilityKernel/Source/drivers/Register.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #include extern "C" { diff --git a/TactilityKernel/Source/drivers/Root.cpp b/TactilityKernel/Source/drivers/Root.cpp index 6afb64ce6..035c1f917 100644 --- a/TactilityKernel/Source/drivers/Root.cpp +++ b/TactilityKernel/Source/drivers/Root.cpp @@ -1,3 +1,5 @@ +// SPDX-License-Identifier: Apache-2.0 + #include #include diff --git a/Tests/TactilityKernel/MutexTest.cpp b/Tests/TactilityKernel/MutexTest.cpp new file mode 100644 index 000000000..d84d10d45 --- /dev/null +++ b/Tests/TactilityKernel/MutexTest.cpp @@ -0,0 +1,66 @@ +#include "doctest.h" +#include + +TEST_CASE("mutex_construct and mutex_destruct should properly set the handle") { + Mutex mutex = { 0 }; + mutex_construct(&mutex); + CHECK_NE(mutex.handle, nullptr); + mutex_destruct(&mutex); + CHECK_EQ(mutex.handle, nullptr); +} + +TEST_CASE("mutex_is_locked should return true only when the mutex is locked") { + Mutex mutex = { 0 }; + mutex_construct(&mutex); + + CHECK_EQ(mutex_is_locked(&mutex), false); + mutex_lock(&mutex); + CHECK_EQ(mutex_is_locked(&mutex), true); + mutex_unlock(&mutex); + CHECK_EQ(mutex_is_locked(&mutex), false); + + mutex_destruct(&mutex); +} + +TEST_CASE("mutex_try_lock should succeed on first lock but not on second") { + Mutex mutex = { 0 }; + mutex_construct(&mutex); + + CHECK_EQ(mutex_try_lock(&mutex), true); + CHECK_EQ(mutex_try_lock(&mutex), false); + mutex_unlock(&mutex); + + mutex_destruct(&mutex); +} + +TEST_CASE("mutex_lock in another task should block when a lock is active") { + static int task_lock_counter = 0; + Mutex mutex = { 0 }; + task_lock_counter = 0; + + mutex_construct(&mutex); + mutex_lock(&mutex); + + TaskHandle_t task_handle; + auto task_create_result = xTaskCreate( + [](void* input) { + Mutex* mutex_ptr = static_cast(input); + mutex_lock(mutex_ptr); + task_lock_counter++; + vTaskDelete(nullptr); + }, + "mutex_test", + 2048, + &mutex, + 0, + &task_handle + ); + + CHECK_EQ(task_create_result, pdPASS); + CHECK_EQ(task_lock_counter, 0); + + mutex_unlock(&mutex); + vTaskDelay(1); + CHECK_EQ(task_lock_counter, 1); + mutex_destruct(&mutex); +} diff --git a/Tests/TactilityKernel/RecursiveMutexTest.cpp b/Tests/TactilityKernel/RecursiveMutexTest.cpp new file mode 100644 index 000000000..17c2d319f --- /dev/null +++ b/Tests/TactilityKernel/RecursiveMutexTest.cpp @@ -0,0 +1,86 @@ +#include "doctest.h" +#include + +TEST_CASE("recursive_mutex_construct and mutex_destruct should properly set the handle") { + RecursiveMutex mutex = { 0 }; + recursive_mutex_construct(&mutex); + CHECK_NE(mutex.handle, nullptr); + recursive_mutex_destruct(&mutex); + CHECK_EQ(mutex.handle, nullptr); +} + +TEST_CASE("recursive_mutex_is_locked should return true only when the mutex is locked") { + RecursiveMutex mutex = { 0 }; + recursive_mutex_construct(&mutex); + + CHECK_EQ(recursive_mutex_is_locked(&mutex), false); + recursive_mutex_lock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), true); + recursive_mutex_unlock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), false); + + recursive_mutex_destruct(&mutex); +} + +TEST_CASE("recursive_mutex_is_locked can lock twice from the same thread") { + RecursiveMutex mutex = { 0 }; + recursive_mutex_construct(&mutex); + + CHECK_EQ(recursive_mutex_is_locked(&mutex), false); + recursive_mutex_lock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), true); + recursive_mutex_lock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), true); + recursive_mutex_unlock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), true); + recursive_mutex_unlock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), false); + + recursive_mutex_destruct(&mutex); +} + +TEST_CASE("recursive_mutex_try_lock should lock multiple times from the same thread") { + RecursiveMutex mutex = { 0 }; + recursive_mutex_construct(&mutex); + + CHECK_EQ(recursive_mutex_try_lock(&mutex), true); + CHECK_EQ(recursive_mutex_try_lock(&mutex), true); + recursive_mutex_unlock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), true); + recursive_mutex_unlock(&mutex); + CHECK_EQ(recursive_mutex_is_locked(&mutex), false); + + recursive_mutex_destruct(&mutex); +} + +TEST_CASE("recursive_mutex_lock in another task should block when a lock is active") { + static int task_lock_counter = 0; + RecursiveMutex mutex = { 0 }; + task_lock_counter = 0; + + recursive_mutex_construct(&mutex); + recursive_mutex_lock(&mutex); + + TaskHandle_t task_handle; + auto task_create_result = xTaskCreate( + [](void* input) { + RecursiveMutex* mutex_ptr = static_cast(input); + recursive_mutex_lock(mutex_ptr); + task_lock_counter++; + vTaskDelete(nullptr); + }, + "mutex_test", + 2048, + &mutex, + 0, + &task_handle + ); + + CHECK_EQ(task_create_result, pdPASS); + CHECK_EQ(task_lock_counter, 0); + + recursive_mutex_unlock(&mutex); + vTaskDelay(1); + CHECK_EQ(task_lock_counter, 1); + recursive_mutex_destruct(&mutex); +}