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.

Author: jepler

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

@@ -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

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

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;
+}

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/common-hal/rotaryio/__init__.c

@@ -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