Merge pull request #7690 from jepler/mimxrt10xx-rotaryio

Add IncrementalEncoder for mimxrt1011

main.c

@@ -1111,6 +1111,8 @@ void gc_collect(void) {
     // have lost their references in the VM even though they are mounted.
     gc_collect_root((void **)&MP_STATE_VM(vfs_mount_table), sizeof(mp_vfs_mount_t) / sizeof(mp_uint_t));
 
+    port_gc_collect();
+
     background_callback_gc_collect();
 
     #if CIRCUITPY_ALARM
@@ -1143,6 +1145,10 @@ void gc_collect(void) {
     gc_collect_end();
 }
 
+// Ports may provide an implementation of this function if it is needed
+MP_WEAK void port_gc_collect() {
+}
+
 void NORETURN nlr_jump_fail(void *val) {
     reset_into_safe_mode(SAFE_MODE_NLR_JUMP_FAIL);
     while (true) {

ports/mimxrt10xx/Makefile

@@ -137,6 +137,7 @@ SRC_C += \
 	peripherals/mimxrt10xx/$(CHIP_FAMILY)/clocks.c \
 	peripherals/mimxrt10xx/$(CHIP_FAMILY)/periph.c \
 	peripherals/mimxrt10xx/$(CHIP_FAMILY)/pins.c \
+	peripherals/mimxrt10xx/pins.c \
 	reset.c \
 	supervisor/flexspi_nor_flash_ops.c
 

ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.c

@@ -40,7 +40,7 @@
 
 #define IOMUXC_SW_MUX_CTL_PAD_MUX_MODE_ALT5 5U
 
-STATIC void pin_config(const mcu_pin_obj_t *pin, bool open_drain, digitalio_pull_t pull) {
+void pin_config(const mcu_pin_obj_t *pin, bool open_drain, digitalio_pull_t pull) {
     IOMUXC_SetPinConfig(0, 0, 0, 0, pin->cfg_reg,
         IOMUXC_SW_PAD_CTL_PAD_HYS(1)
         | IOMUXC_SW_PAD_CTL_PAD_PUS((pull == PULL_UP) ? 2 : 0)

ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.h

@@ -40,4 +40,6 @@ typedef struct {
     digitalio_pull_t pull;
 } digitalio_digitalinout_obj_t;
 
+void pin_config(const mcu_pin_obj_t *pin, bool open_drain, digitalio_pull_t pull);
+
 #endif // MICROPY_INCLUDED_MIMXRT10XX_COMMON_HAL_DIGITALIO_DIGITALINOUT_H

ports/mimxrt10xx/common-hal/microcontroller/Pin.c

@@ -29,6 +29,8 @@
 #include "shared-bindings/microcontroller/Pin.h"
 #include "shared-bindings/microcontroller/__init__.h"
 
+#include "py/gc.h"
+
 STATIC bool claimed_pins[IOMUXC_SW_PAD_CTL_PAD_COUNT];
 STATIC bool never_reset_pins[IOMUXC_SW_PAD_CTL_PAD_COUNT];
 
@@ -85,6 +87,7 @@ void common_hal_reset_pin(const mcu_pin_obj_t *pin) {
         return;
     }
 
+    disable_pin_change_interrupt(pin);
     never_reset_pins[pin->mux_idx] = false;
     claimed_pins[pin->mux_idx] = false;
     *(uint32_t *)pin->mux_reg = pin->mux_reset;

ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.c

@@ -0,0 +1,87 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2019 Nick Moore for Adafruit Industries
+ * Copyright (c) 2023 Jeff Epler 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/digitalio/DigitalInOut.h"
+#include "common-hal/rotaryio/IncrementalEncoder.h"
+#include "shared-module/rotaryio/IncrementalEncoder.h"
+#include "shared-bindings/microcontroller/Pin.h"
+#include "shared-bindings/rotaryio/IncrementalEncoder.h"
+
+#include "py/runtime.h"
+
+#include "sdk/drivers/igpio/fsl_gpio.h"
+static void encoder_change(void *self_in) {
+    rotaryio_incrementalencoder_obj_t *self = self_in;
+
+    bool value_a = GPIO_PinRead(self->pin_a->gpio, self->pin_a->number);
+    bool value_b = GPIO_PinRead(self->pin_b->gpio, self->pin_b->number);
+    uint8_t new_state = (value_a << 1) | value_b;
+    shared_module_softencoder_state_update(self, new_state);
+}
+
+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;
+    self->pin_b = pin_b;
+
+    // GPIO is always IOMUXC_SW_MUX_CTL_PAD_MUX_MODE_ALT5 until proven otherwise
+#define IOMUXC_SW_MUX_CTL_PAD_MUX_MODE_ALT5 5U
+    IOMUXC_SetPinMux(pin_a->mux_reg, IOMUXC_SW_MUX_CTL_PAD_MUX_MODE_ALT5, 0, 0, 0, 0);
+    IOMUXC_SetPinMux(pin_b->mux_reg, IOMUXC_SW_MUX_CTL_PAD_MUX_MODE_ALT5, 0, 0, 0, 0);
+
+    const gpio_pin_config_t config = { kGPIO_DigitalInput, 0, kGPIO_IntRisingOrFallingEdge };
+    GPIO_PinInit(pin_a->gpio, pin_a->number, &config);
+    GPIO_PinInit(pin_b->gpio, pin_b->number, &config);
+
+    enable_pin_change_interrupt(pin_a, encoder_change, self);
+    enable_pin_change_interrupt(pin_b, encoder_change, self);
+
+    pin_config(pin_a, false, PULL_UP);
+    pin_config(pin_b, false, PULL_UP);
+
+    claim_pin(pin_a);
+    claim_pin(pin_b);
+}
+
+bool common_hal_rotaryio_incrementalencoder_deinited(rotaryio_incrementalencoder_obj_t *self) {
+    return !self->pin_a;
+}
+
+void common_hal_rotaryio_incrementalencoder_deinit(rotaryio_incrementalencoder_obj_t *self) {
+    if (common_hal_rotaryio_incrementalencoder_deinited(self)) {
+        return;
+    }
+    disable_pin_change_interrupt(self->pin_a);
+    disable_pin_change_interrupt(self->pin_b);
+
+    common_hal_reset_pin(self->pin_a);
+    common_hal_reset_pin(self->pin_b);
+
+    self->pin_a = NULL;
+    self->pin_b = NULL;
+}

ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.h

@@ -0,0 +1,44 @@
+/*
+ * This file is part of the MicroPython project, http://micropython.org/
+ *
+ * The MIT License (MIT)
+ *
+ * Copyright (c) 2018 Scott Shawcroft for Adafruit Industries
+ * Copyright (c) 2023 Jeff Epler 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.
+ */
+
+#pragma once
+
+#include "common-hal/microcontroller/Pin.h"
+
+#include "py/obj.h"
+
+typedef struct {
+    mp_obj_base_t base;
+    const mcu_pin_obj_t *pin_a, *pin_b;
+    uint8_t state;        // <old A><old B>
+    int8_t sub_count; // count intermediate transitions between detents
+    int8_t divisor; // Number of quadrature edges required per count
+    mp_int_t position;
+} rotaryio_incrementalencoder_obj_t;
+
+
+void incrementalencoder_interrupt_handler(uint8_t channel);

ports/mimxrt10xx/mpconfigport.mk

@@ -24,7 +24,8 @@ CIRCUITPY_I2CTARGET = 0
 CIRCUITPY_NVM = 0
 CIRCUITPY_PARALLELDISPLAY = 0
 CIRCUITPY_PULSEIO = 0
-CIRCUITPY_ROTARYIO = 0
+CIRCUITPY_ROTARYIO = 1
+CIRCUITPY_ROTARYIO_SOFTENCODER = 1
 CIRCUITPY_USB_MIDI = 1
 LONGINT_IMPL = MPZ
 

ports/mimxrt10xx/peripherals/mimxrt10xx/pins.c

@@ -0,0 +1,99 @@
+#include "peripherals/mimxrt10xx/pins.h"
+
+typedef struct {
+    gpio_change_interrupt_t *func;
+    void *data;
+} pin_change_interrupt_data;
+
+/* Array of GPIO peripheral base address. */
+static GPIO_Type *const s_gpioBases[] = GPIO_BASE_PTRS;
+static uint32_t GPIO_GetInstance(GPIO_Type *base) {
+    uint32_t instance;
+
+    /* Find the instance index from base address mappings. */
+    for (instance = 0U; instance < ARRAY_SIZE(s_gpioBases); instance++)
+    {
+        if (s_gpioBases[instance] == base) {
+            break;
+        }
+    }
+
+    assert(instance < ARRAY_SIZE(s_gpioBases));
+
+    return instance;
+}
+
+
+/* to find IRQ based on GPIO */
+static const IRQn_Type low_irqs[] = GPIO_COMBINED_LOW_IRQS;
+static const IRQn_Type high_irqs[] = GPIO_COMBINED_HIGH_IRQS;
+
+static volatile pin_change_interrupt_data pcid[MP_ARRAY_SIZE(s_gpioBases)][32];
+
+void enable_pin_change_interrupt(const mcu_pin_obj_t *pin, gpio_change_interrupt_t func, void *data) {
+    int instance = GPIO_GetInstance(pin->gpio);
+    volatile pin_change_interrupt_data *pci = &pcid[instance][pin->number];
+    common_hal_mcu_disable_interrupts();
+    pci->data = data;
+    pci->func = func;
+    IRQn_Type irq = pin->number < 16 ? low_irqs[instance] : high_irqs[instance];
+    if (irq != NotAvail_IRQn) {
+        EnableIRQ(irq);
+    }
+    pin->gpio->IMR |= (1 << pin->number);
+    common_hal_mcu_enable_interrupts();
+}
+
+void disable_pin_change_interrupt(const mcu_pin_obj_t *pin) {
+    volatile pin_change_interrupt_data *pci = &pcid[GPIO_GetInstance(pin->gpio)][pin->number];
+    common_hal_mcu_disable_interrupts();
+    pin->gpio->IMR &= ~(1 << pin->number);
+    pci->data = NULL;
+    pci->func = NULL;
+    pin->gpio->ISR = (1 << pin->number); // acknowledge any pending interrupt
+    common_hal_mcu_enable_interrupts();
+}
+
+static void pin_change_interrupt_common(uint32_t isr, volatile pin_change_interrupt_data *pcr) {
+    for (uint32_t i = 0; i < 32; i++) {
+        if (isr & (1 << i)) {
+            pin_change_interrupt_data cb = pcr[i];
+            if (cb.func) {
+                cb.func(cb.data);
+            }
+        }
+    }
+}
+
+#define GPIO_INTERRUPT_HANDLER(name, ptr, instance, offset) \
+    void name(void); \
+    __attribute__((used)) void name(void) { \
+        uint32_t isr = ptr->ISR; \
+        ptr->ISR = isr; \
+        pin_change_interrupt_common(isr, pcid[instance]); \
+    }
+
+#if defined(GPIO1)
+GPIO_INTERRUPT_HANDLER(GPIO1_Combined_0_15_IRQHandler, GPIO1, 1, 0);
+GPIO_INTERRUPT_HANDLER(GPIO1_Combined_16_31_IRQHandler, GPIO1, 1, 16);
+#endif
+#if defined(GPIO2)
+GPIO_INTERRUPT_HANDLER(GPIO2_Combined_0_15_IRQHandler, GPIO2, 2, 0);
+GPIO_INTERRUPT_HANDLER(GPIO2_Combined_16_31_IRQHandler, GPIO2, 2, 16);
+#endif
+#if defined(GPIO3)
+GPIO_INTERRUPT_HANDLER(GPIO3_Combined_0_15_IRQHandler, GPIO3, 3, 0);
+GPIO_INTERRUPT_HANDLER(GPIO3_Combined_16_31_IRQHandler, GPIO3, 3, 16);
+#endif
+#if defined(GPIO4)
+GPIO_INTERRUPT_HANDLER(GPIO4_Combined_0_15_IRQHandler, GPIO4, 4, 0);
+GPIO_INTERRUPT_HANDLER(GPIO4_Combined_16_31_IRQHandler, GPIO4, 4, 16);
+#endif
+#if defined(GPIO5)
+GPIO_INTERRUPT_HANDLER(GPIO5_Combined_0_15_IRQHandler, GPIO5, 5, 0);
+GPIO_INTERRUPT_HANDLER(GPIO5_Combined_16_31_IRQHandler, GPIO5, 5, 16);
+#endif
+#if defined(GPIO6)
+GPIO_INTERRUPT_HANDLER(GPIO6_Combined_0_15_IRQHandler, GPIO6, 6, 0);
+GPIO_INTERRUPT_HANDLER(GPIO6_Combined_16_31_IRQHandler, GPIO6, 6, 16);
+#endif

ports/mimxrt10xx/peripherals/mimxrt10xx/pins.h

@@ -72,6 +72,10 @@ typedef struct {
         .pad_reset = p_pad_reset, \
     }
 
+typedef void (gpio_change_interrupt_t)(void *data);
+void disable_pin_change_interrupt(const mcu_pin_obj_t *pin);
+void enable_pin_change_interrupt(const mcu_pin_obj_t *pin, gpio_change_interrupt_t func, void *data);
+
 #ifdef MIMXRT1011_SERIES
 #include "MIMXRT1011/pins.h"
 #elif defined(MIMXRT1021_SERIES)

shared-bindings/countio/Counter.c

@@ -57,7 +57,7 @@ STATIC mp_obj_t countio_counter_make_new(const mp_obj_type_t *type, size_t n_arg
     const countio_edge_t edge = validate_edge(args[ARG_edge].u_obj, MP_QSTR_edge);
     const digitalio_pull_t pull = validate_pull(args[ARG_pull].u_obj, MP_QSTR_pull);
     // Make long-lived because some implementations use a pointer to the object as interrupt-handler data.
-    countio_counter_obj_t *self = m_new_ll_obj(countio_counter_obj_t);
+    countio_counter_obj_t *self = m_new_ll_obj_with_finaliser(countio_counter_obj_t);
     self->base.type = &countio_counter_type;
 
     common_hal_countio_counter_construct(self, pin, edge, pull);
@@ -134,6 +134,7 @@ MP_DEFINE_CONST_FUN_OBJ_1(countio_counter_reset_obj, countio_counter_reset);
 STATIC const mp_rom_map_elem_t countio_counter_locals_dict_table[] = {
     // Methods
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&countio_counter_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&countio_counter_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
     { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&countio_counter___exit___obj) },
     { MP_ROM_QSTR(MP_QSTR_count), MP_ROM_PTR(&countio_counter_count_obj) },

shared-bindings/pulseio/PulseIn.c

@@ -89,7 +89,7 @@ STATIC mp_obj_t pulseio_pulsein_make_new(const mp_obj_type_t *type, size_t n_arg
     const mcu_pin_obj_t *pin = validate_obj_is_free_pin(args[ARG_pin].u_obj, MP_QSTR_pin);
 
     // Make object long-lived to avoid moving between imports
-    pulseio_pulsein_obj_t *self = m_new_ll_obj(pulseio_pulsein_obj_t);
+    pulseio_pulsein_obj_t *self = m_new_ll_obj_with_finaliser(pulseio_pulsein_obj_t);
     self->base.type = &pulseio_pulsein_type;
 
     common_hal_pulseio_pulsein_construct(self, pin, args[ARG_maxlen].u_int,
@@ -277,6 +277,7 @@ STATIC mp_obj_t pulsein_subscr(mp_obj_t self_in, mp_obj_t index_obj, mp_obj_t va
 STATIC const mp_rom_map_elem_t pulseio_pulsein_locals_dict_table[] = {
     // Methods
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&pulseio_pulsein_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&pulseio_pulsein_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
     { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&pulseio_pulsein___exit___obj) },
     { MP_ROM_QSTR(MP_QSTR_pause), MP_ROM_PTR(&pulseio_pulsein_pause_obj) },

shared-bindings/rotaryio/IncrementalEncoder.c

@@ -76,7 +76,7 @@ STATIC mp_obj_t rotaryio_incrementalencoder_make_new(const mp_obj_type_t *type,
     const mcu_pin_obj_t *pin_b = validate_obj_is_free_pin(args[ARG_pin_b].u_obj, MP_QSTR_pin_b);
 
     // Make long-lived because some implementations use a pointer to the object as interrupt-handler data.
-    rotaryio_incrementalencoder_obj_t *self = m_new_ll_obj(rotaryio_incrementalencoder_obj_t);
+    rotaryio_incrementalencoder_obj_t *self = m_new_ll_obj_with_finaliser(rotaryio_incrementalencoder_obj_t);
     self->base.type = &rotaryio_incrementalencoder_type;
 
     common_hal_rotaryio_incrementalencoder_construct(self, pin_a, pin_b);
@@ -171,6 +171,7 @@ MP_PROPERTY_GETSET(rotaryio_incrementalencoder_position_obj,
 STATIC const mp_rom_map_elem_t rotaryio_incrementalencoder_locals_dict_table[] = {
     // Methods
     { MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&rotaryio_incrementalencoder_deinit_obj) },
+    { MP_ROM_QSTR(MP_QSTR___del__), MP_ROM_PTR(&rotaryio_incrementalencoder_deinit_obj) },
     { MP_ROM_QSTR(MP_QSTR___enter__), MP_ROM_PTR(&default___enter___obj) },
     { MP_ROM_QSTR(MP_QSTR___exit__), MP_ROM_PTR(&rotaryio_incrementalencoder___exit___obj) },
     { MP_ROM_QSTR(MP_QSTR_position), MP_ROM_PTR(&rotaryio_incrementalencoder_position_obj) },

supervisor/port.h

@@ -128,4 +128,8 @@ void port_post_boot_py(bool heap_valid);
 // A default weak implementation is provided that does nothing.
 void port_boot_info(void);
 
+// Some ports want to mark additional pointers as gc roots.
+// A default weak implementation is provided that does nothing.
+void port_gc_collect(void);
+
 #endif  // MICROPY_INCLUDED_SUPERVISOR_PORT_H