From 47e1abdbc7ba23dac7b6596bacd22416002649ec Mon Sep 17 00:00:00 2001 From: Jeff Epler Date: Mon, 6 Mar 2023 16:04:39 -0600 Subject: [PATCH] Add IncrementalEncoder for mimxrt1011 .. and write a general 'pin change interrupt' facility to power it This uses the same quadrature state machine as atmel-samd, nrf, and rp2040. The 1011 doesn't have a dedicated encoder peripheral, so we go the pin-change + software route. --- .../common-hal/digitalio/DigitalInOut.c | 2 +- .../common-hal/digitalio/DigitalInOut.h | 2 + .../common-hal/microcontroller/Pin.c | 98 +++++++++++++++++++ .../common-hal/microcontroller/Pin.h | 4 + .../common-hal/rotaryio/IncrementalEncoder.c | 87 ++++++++++++++++ .../common-hal/rotaryio/IncrementalEncoder.h | 44 +++++++++ .../mimxrt10xx/common-hal/rotaryio/__init__.c | 0 .../mimxrt10xx/common-hal/rotaryio/__init__.h | 0 ports/mimxrt10xx/mpconfigport.mk | 3 +- 9 files changed, 238 insertions(+), 2 deletions(-) create mode 100644 ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.c create mode 100644 ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.h create mode 100644 ports/mimxrt10xx/common-hal/rotaryio/__init__.c create mode 100644 ports/mimxrt10xx/common-hal/rotaryio/__init__.h diff --git a/ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.c b/ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.c index 3445cf42a0..2b4a78948e 100644 --- a/ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.c +++ b/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) diff --git a/ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.h b/ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.h index 4c19de20b6..06adb93cb8 100644 --- a/ports/mimxrt10xx/common-hal/digitalio/DigitalInOut.h +++ b/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 diff --git a/ports/mimxrt10xx/common-hal/microcontroller/Pin.c b/ports/mimxrt10xx/common-hal/microcontroller/Pin.c index 3c8c7f2b27..9d55382306 100644 --- a/ports/mimxrt10xx/common-hal/microcontroller/Pin.c +++ b/ports/mimxrt10xx/common-hal/microcontroller/Pin.c @@ -84,6 +84,7 @@ 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; @@ -116,3 +117,100 @@ void claim_pin(const mcu_pin_obj_t *pin) { void common_hal_mcu_pin_reset_number(uint8_t pin_no) { common_hal_reset_pin((mcu_pin_obj_t *)(mcu_pin_globals.map.table[pin_no].value)); } + +/* 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; + +typedef struct { + gpio_change_interrupt_t *func; + void *data; +} pin_change_interrupt_data; + +volatile static 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 diff --git a/ports/mimxrt10xx/common-hal/microcontroller/Pin.h b/ports/mimxrt10xx/common-hal/microcontroller/Pin.h index 1bfbe41a18..cbcce13e2b 100644 --- a/ports/mimxrt10xx/common-hal/microcontroller/Pin.h +++ b/ports/mimxrt10xx/common-hal/microcontroller/Pin.h @@ -45,4 +45,8 @@ extern const mcu_pin_obj_t *mimxrt10xx_reset_forbidden_pins[]; // the port-default reset behavior. extern bool mimxrt10xx_board_reset_pin_number(const mcu_pin_obj_t *pin); +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); + #endif // MICROPY_INCLUDED_MIMXRT10XX_COMMON_HAL_MICROCONTROLLER_PIN_H diff --git a/ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.c b/ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.c new file mode 100644 index 0000000000..dab74c1ce9 --- /dev/null +++ b/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 "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; +} diff --git a/ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.h b/ports/mimxrt10xx/common-hal/rotaryio/IncrementalEncoder.h new file mode 100644 index 0000000000..920b32cba9 --- /dev/null +++ b/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; // + 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); diff --git a/ports/mimxrt10xx/common-hal/rotaryio/__init__.c b/ports/mimxrt10xx/common-hal/rotaryio/__init__.c new file mode 100644 index 0000000000..e69de29bb2 diff --git a/ports/mimxrt10xx/common-hal/rotaryio/__init__.h b/ports/mimxrt10xx/common-hal/rotaryio/__init__.h new file mode 100644 index 0000000000..e69de29bb2 diff --git a/ports/mimxrt10xx/mpconfigport.mk b/ports/mimxrt10xx/mpconfigport.mk index 236d5b9966..15a0a0e466 100644 --- a/ports/mimxrt10xx/mpconfigport.mk +++ b/ports/mimxrt10xx/mpconfigport.mk @@ -20,7 +20,8 @@ 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