Merge pull request #1521 from nickzoic/circuitpython-nickzoic-1045-nrf-rotaryio

Circuitpython nickzoic 1045 nrf rotaryio

ports/nrf/Makefile

@@ -166,6 +166,8 @@ SRC_COMMON_HAL += \
 	pulseio/PulseIn.c \
 	pulseio/PulseOut.c \
 	pulseio/__init__.c \
+        rotaryio/__init__.c \
+        rotaryio/IncrementalEncoder.c \
 	supervisor/Runtime.c \
 	supervisor/__init__.c \
 	time/__init__.c \

ports/nrf/common-hal/rotaryio/IncrementalEncoder.c

@@ -0,0 +1,116 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Nick Moore for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include "common-hal/rotaryio/IncrementalEncoder.h"
+#include "nrfx_gpiote.h"
+
+#include "py/runtime.h"
+
+#include <stdio.h>
+
+// obj array to map pin number -> self since nrfx hide the mapping
+static rotaryio_incrementalencoder_obj_t *_objs[NUMBER_OF_PINS];
+
+static void _intr_handler(nrfx_gpiote_pin_t pin, nrf_gpiote_polarity_t action) {
+    rotaryio_incrementalencoder_obj_t *self = _objs[pin];
+    if (!self) return;
+
+    // reads a state 0 .. 3 *in order*.
+    uint8_t new_state = nrf_gpio_pin_read(self->pin_a);
+    new_state = (new_state << 1) + (new_state ^ nrf_gpio_pin_read(self->pin_b));
+
+    uint8_t change = (new_state - self->state) & 0x03;
+    if (change == 1) self->quarter++;
+    else if (change == 3) self->quarter--;
+    // ignore other state transitions
+
+    self->state = new_state;
+
+    // logic from the atmel-samd port: provides some damping and scales movement 
+    // down by 4:1.  
+    if (self->quarter >= 4) { 
+        self->position++;
+        self->quarter = 0;
+    } else if (self->quarter <= -4) {
+        self->position--;
+        self->quarter = 0;
+    }
+}
+
+void common_hal_rotaryio_incrementalencoder_construct(rotaryio_incrementalencoder_obj_t* self,
+    const mcu_pin_obj_t* pin_a, const mcu_pin_obj_t* pin_b) {
+
+    self->pin_a = pin_a->number;
+    self->pin_b = pin_b->number;
+
+    _objs[self->pin_a] = self;
+    _objs[self->pin_b] = self;
+
+    nrfx_gpiote_in_config_t cfg = {
+        .sense = NRF_GPIOTE_POLARITY_TOGGLE,
+        .pull = NRF_GPIO_PIN_PULLUP,
+        .is_watcher = false,
+        .hi_accuracy = true,
+        .skip_gpio_setup = false
+    };
+    nrfx_gpiote_in_init(self->pin_a, &cfg, _intr_handler);
+    nrfx_gpiote_in_init(self->pin_b, &cfg, _intr_handler);
+    nrfx_gpiote_in_event_enable(self->pin_a, true);
+    nrfx_gpiote_in_event_enable(self->pin_b, true);
+
+    claim_pin(pin_a);
+    claim_pin(pin_b);
+}
+
+bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t* self) {
+    return self->pin_a == NO_PIN;
+}
+
+void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t* self) {
+    if (common_hal_rotaryio_incrementalencoder_deinited(self)) {
+        return;
+    }
+    _objs[self->pin_a] = NULL;
+    _objs[self->pin_b] = NULL;
+
+    nrfx_gpiote_in_event_disable(self->pin_a);
+    nrfx_gpiote_in_event_disable(self->pin_b);
+    nrfx_gpiote_in_uninit(self->pin_a);
+    nrfx_gpiote_in_uninit(self->pin_b);
+    reset_pin_number(self->pin_a);
+    reset_pin_number(self->pin_b);
+    self->pin_a = NO_PIN;
+    self->pin_b = NO_PIN;
+}
+
+mp_int_t common_hal_rotaryio_incrementalencoder_get_position(rotaryio_incrementalencoder_obj_t* self) {
+    return self->position;
+}
+
+void common_hal_rotaryio_incrementalencoder_set_position(rotaryio_incrementalencoder_obj_t* self,
+        mp_int_t new_position) {
+    self->position = new_position;
+}

ports/nrf/common-hal/rotaryio/IncrementalEncoder.h

@@ -0,0 +1,46 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Scott Shawcroft for Adafruit Industries
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#ifndef MICROPY_INCLUDED_NRF_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H
+#define MICROPY_INCLUDED_NRF_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H
+
+#include "common-hal/microcontroller/Pin.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    uint8_t pin_a;
+    uint8_t pin_b;
+    uint8_t state;
+    int8_t quarter;
+    mp_int_t position;
+} rotaryio_incrementalencoder_obj_t;
+
+
+void incrementalencoder_interrupt_handler(uint8_t channel);
+
+#endif // MICROPY_INCLUDED_NRF_COMMON_HAL_ROTARYIO_INCREMENTALENCODER_H

ports/nrf/common-hal/rotaryio/__init__.c

@@ -0,0 +1 @@
+// No rotaryio module functions.

ports/nrf/mpconfigport.h

@@ -169,6 +169,7 @@ extern const struct _mp_obj_module_t busio_module;
 extern const struct _mp_obj_module_t board_module;
 extern const struct _mp_obj_module_t os_module;
 extern const struct _mp_obj_module_t random_module;
+extern const struct _mp_obj_module_t rotaryio_module;
 extern const struct _mp_obj_module_t storage_module;
 extern const struct _mp_obj_module_t struct_module;
 extern const struct _mp_obj_module_t time_module;
@@ -205,6 +206,7 @@ extern const struct _mp_obj_module_t touchio_module;
     { MP_OBJ_NEW_QSTR (MP_QSTR_bitbangio       ), (mp_obj_t)&bitbangio_module       }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_os              ), (mp_obj_t)&os_module              }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_random          ), (mp_obj_t)&random_module          }, \
+    { MP_OBJ_NEW_QSTR (MP_QSTR_rotaryio        ), (mp_obj_t)&rotaryio_module        }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_storage         ), (mp_obj_t)&storage_module         }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_struct          ), (mp_obj_t)&struct_module          }, \
     { MP_OBJ_NEW_QSTR (MP_QSTR_supervisor      ), (mp_obj_t)&supervisor_module      }, \