micropython · robert-hh · Sep 24, 2021 · Feb 11, 2022 · Mar 10, 2022 · Apr 19, 2022
diff --git a/docs/library/index.rst b/docs/library/index.rst
@@ -193,6 +193,16 @@ The following libraries are specific to the Zephyr port.
 
 .. _micropython_lib_extending:
 
+Libraries specific to MIMXRT devices
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+The following libraries are specific MIMXRT devices.
+
+.. toctree::
+  :maxdepth: 2
+
+  machine.QECNT.rst
+
 Extending built-in libraries from Python
 ----------------------------------------
 

diff --git a/docs/library/machine.QECNT.rst b/docs/library/machine.QECNT.rst
diff --git a/docs/mimxrt/quickref.rst b/docs/mimxrt/quickref.rst
@@ -540,6 +540,62 @@ port and LAN(1) for the 1G port.
 
 For details of the network interface refer to the class :ref:`network.LAN <network.LAN>`.
 
+class Encoder -- Quadrature Encoder for i.MXRT MCUs
+---------------------------------------------------
+
+This class provides the Quadrature Encoder Service.
+
+Example usage::
+
+    # Samples for Teensy
+    #
+
+    from machine import Pin, Encoder
+
+    qe = Encoder(0, Pin("D0"), Pin("D1")) # create Quadrature Encoder object
+    qe.value()                      # get current counter values
+    qe.value(0)                     # set value and cycles to 0
+    qe.init(cpc=128)                # specify 128 counts/cycle
+    qe.init(index=Pin(3))           # specify Pin 3 as Index pulse input
+    qe.deinit()                     # turn off the Quadrature Encoder
+    qe.init(match=64)               # set a match event at count 64
+    qe.irq(qe.IRQ_MATCH, value=100, handler=handler)
+                                    # call the function handler at a match event
+
+    qe                              # show the Encoder object properties
+
+The Quadrature Encoder is hardware based. It is available at all MIMXRT devices except the ones
+based on the i.MX RT 1010 MCU. For details about using the Encoder with a MIMXRT board
+see :ref:`machine.Encoder <mimxrt_machine.Encoder>`:
+
+
+class Counter-- Signal counter for i.MXRT MCUs
+----------------------------------------------
+
+This class provides a Counter service using the Quadrature Encoder module
+
+Example usage::
+
+    # Samples for Teensy
+    #
+
+    from machine import Pin, Counter
+
+    counter = Counter(0, Pin("D0"))          # create Counter object
+    counter.value()                       # get current counter value
+    counter.value(0)                      # set the counter to 0
+    counter.init(cpc=128)                 # specify 128 counts/cycle
+    counter.deinit()                      # turn off the Counter
+    counter.init(match=1000)              # create a match event at count 1000
+    counter.irq(Counter.IRQ_MATCH, handler) # call the function handler at a counter match
+
+    counter                               # show the Counter object properties
+
+The Counter is hardware based. It is available at all MIMXRT devices except the ones
+based on the i.MX RT 1010 MCU. For details about using the Counter with a MIMXRT board
+see :ref:`machine.Counter <mimxrt_machine.Counter>`:
+
+
 Transferring files
 ------------------
 

diff --git a/extmod/modmachine.h b/extmod/modmachine.h
@@ -215,6 +215,10 @@ extern const mp_obj_type_t machine_timer_type;
 extern const mp_obj_type_t machine_uart_type;
 extern const mp_obj_type_t machine_usbd_type;
 extern const mp_obj_type_t machine_wdt_type;
+#if MICROPY_PY_MACHINE_QECNT
+extern const mp_obj_type_t machine_encoder_type;
+extern const mp_obj_type_t machine_counter_type;
+#endif
 
 #if MICROPY_PY_MACHINE_SOFTI2C
 extern const mp_obj_type_t mp_machine_soft_i2c_type;

diff --git a/ports/mimxrt/Makefile b/ports/mimxrt/Makefile
@@ -159,7 +159,11 @@ endif
 ifeq ($(MCU_SERIES),$(filter $(MCU_SERIES), MIMXRT1015 MIMXRT1021 MIMXRT1052 MIMXRT1062 MIMXRT1064 MIMXRT1176))
 SRC_HAL_IMX_C += \
 	$(MCU_DIR)/drivers/fsl_qtmr.c \
+	$(MCU_DIR)/drivers/fsl_enc.c \
+	$(MCU_DIR)/drivers/fsl_xbara.c \
 	$(MCU_DIR)/drivers/fsl_romapi.c
+
+CFLAGS += -DMICROPY_PY_MACHINE_QECNT=1
 endif
 
 ifeq ($(MCU_SERIES), MIMXRT1176)
@@ -198,6 +202,7 @@ SRC_C += \
 	machine_i2c.c \
 	machine_led.c \
 	machine_pin.c \
+	machine_encoder.c \
 	machine_rtc.c \
 	machine_sdcard.c \
 	machine_spi.c \

diff --git a/ports/mimxrt/boards/MIMXRT1010_EVK/mpconfigboard.h b/ports/mimxrt/boards/MIMXRT1010_EVK/mpconfigboard.h
@@ -82,3 +82,5 @@
         I2S_GPIO(1, WS, TX, GPIO_07, IOMUXC_GPIO_07_SAI1_TX_SYNC),  \
         I2S_GPIO(1, SD, TX, GPIO_04, IOMUXC_GPIO_04_SAI1_TX_DATA00),  \
     }
+
+#define XBARA1  XBARA
diff --git a/ports/mimxrt/boards/MIMXRT1011_af.csv b/ports/mimxrt/boards/MIMXRT1011_af.csv
@@ -20,14 +20,14 @@ GPIO_AD_03,LPSPI1_SDI,PIT_TRIGGER3,FLEXPWM1_PWM2_B,KPP_ROW2,GPT2_CLK,GPIO1_IO17,
 GPIO_AD_04,LPSPI1_SDO,PIT_TRIGGER2,FLEXPWM1_PWM2_A,KPP_COL2,GPT2_COMPARE1,GPIO1_IO18,SNVS_VIO_5_CTL,,,,ADC1_IN4,,ALT5
 GPIO_AD_05,LPSPI1_PCS0,PIT_TRIGGER1,FLEXPWM1_PWM3_B,KPP_ROW1,GPT2_CAPTURE1,GPIO1_IO19,,,,,ADC1_IN5,,ALT5
 GPIO_AD_06,LPSPI1_SCK,PIT_TRIGGER0,FLEXPWM1_PWM3_A,KPP_COL1,GPT2_COMPARE2,GPIO1_IO20,LPI2C1_HREQ,,,,ADC1_IN6,,ALT5
-GPIO_AD_07,LPI2C2_SDA,LPUART3_RXD,ARM_CM7_RXEV,LPUART2_RTS_B,GPT2_CAPTURE2,GPIO1_IO21,OCOTP_FUSE_LATCHED,XBAR1_INOUT03,,,ADC1_IN7,,ALT5
+GPIO_AD_07,LPI2C2_SDA,LPUART3_RXD,ARM_CM7_RXEV,LPUART2_RTS_B,GPT2_CAPTURE2,GPIO1_IO21,OCOTP_FUSE_LATCHED,XBAR_INOUT03,,,ADC1_IN7,,ALT5
 GPIO_AD_08,LPI2C2_SCL,LPUART3_TXD,ARM_CM7_TXEV,LPUART2_CTS_B,GPT2_COMPARE3,GPIO1_IO22,EWM_OUT_B,JTAG_TRSTB,,,ADC1_IN8,,ALT7
 GPIO_AD_09,LPSPI2_SDI,FLEXPWM1_PWM3_X,KPP_ROW2,ARM_TRACE_SWO,FLEXIO1_IO21,GPIO1_IO23,REF_CLK_32K,JTAG_TDO,,,ADC1_IN9,,ALT7
 GPIO_AD_10,LPSPI2_SDO,FLEXPWM1_PWM2_X,KPP_COL2,PIT_TRIGGER3,FLEXIO1_IO22,GPIO1_IO24,USB_OTG1_ID,JTAG_TDI,,,ADC1_IN10,,ALT7
 GPIO_AD_11,LPSPI2_PCS0,FLEXPWM1_PWM1_X,KPP_ROW1,PIT_TRIGGER2,FLEXIO1_IO23,GPIO1_IO25,WDOG1_B,JTAG_MOD,,,ADC1_IN11,,ALT7
 GPIO_AD_12,LPSPI2_SCK,FLEXPWM1_PWM0_X,KPP_COL1,PIT_TRIGGER1,FLEXIO1_IO24,GPIO1_IO26,USB_OTG1_PWR,JTAG_TCK,,,ADC1_IN12,,ALT7
 GPIO_AD_13,LPI2C1_SDA,LPUART3_RTS_B,KPP_ROW0,LPUART4_RTS_B,FLEXIO1_IO25,GPIO1_IO27,ARM_NMI,JTAG_TMS,,,ADC1_IN13,,ALT7
-GPIO_AD_14,LPI2C1_SCL,LPUART3_CTS_B,KPP_COL0,LPUART4_CTS_B,FLEXIO1_IO26,GPIO1_IO28,REF_CLK_24M,XBAR1_INOUT02,,,ADC1_IN14,,ALT5
+GPIO_AD_14,LPI2C1_SCL,LPUART3_CTS_B,KPP_COL0,LPUART4_CTS_B,FLEXIO1_IO26,GPIO1_IO28,REF_CLK_24M,XBAR_INOUT02,,,ADC1_IN14,,ALT5
 GPIO_SD_00,FLEXSPI_B_SS0_B,SAI3_TX_SYNC,ARM_CM7_RXEV,CCM_STOP,FLEXIO1_IO06,GPIO2_IO00,SRC_BT_CFG2,,,,,,ALT5
 GPIO_SD_01,FLEXSPI_B_DATA1,SAI3_TX_BCLK,FLEXPWM1_PWM0_B,CCM_CLKO2,FLEXIO1_IO07,GPIO2_IO01,SRC_BT_CFG1,,,,,,ALT5
 GPIO_SD_02,FLEXSPI_B_DATA2,SAI3_TX_DATA,FLEXPWM1_PWM0_A,CCM_CLKO1,FLEXIO1_IO08,GPIO2_IO02,SRC_BT_CFG0,,,,,,ALT5

diff --git a/ports/mimxrt/boards/MIMXRT1015_EVK/mpconfigboard.h b/ports/mimxrt/boards/MIMXRT1015_EVK/mpconfigboard.h
@@ -87,3 +87,5 @@
         I2S_GPIO(1, WS, TX, GPIO_EMC_27, IOMUXC_GPIO_EMC_27_SAI1_TX_SYNC),  \
         I2S_GPIO(1, SD, TX, GPIO_EMC_25, IOMUXC_GPIO_EMC_25_SAI1_TX_DATA00), \
     }
+
+#define XBARA1  XBARA
diff --git a/ports/mimxrt/boards/MIMXRT1015_EVK/pins.csv b/ports/mimxrt/boards/MIMXRT1015_EVK/pins.csv
@@ -22,6 +22,8 @@ A4,GPIO_AD_B1_15
 A5,GPIO_AD_B1_14
 RX,GPIO_EMC_33
 TX,GPIO_EMC_32
+ENC1,GPIO_EMC_06
+ENC2,GPIO_EMC_07
 SDA,GPIO_AD_B1_15
 SCL,GPIO_AD_B1_14
 SCK,GPIO_AD_B0_10

diff --git a/ports/mimxrt/boards/MIMXRT1020_EVK/mpconfigboard.h b/ports/mimxrt/boards/MIMXRT1020_EVK/mpconfigboard.h
@@ -181,3 +181,5 @@
     { IOMUXC_GPIO_AD_B0_15_ENET_TDATA01, 0, 0xB0E9u }, \
     { IOMUXC_GPIO_EMC_40_ENET_MDIO, 0, 0xB0E9u }, \
     { IOMUXC_GPIO_EMC_41_ENET_MDC, 0, 0xB0E9u },
+
+#define XBARA1   XBARA
diff --git a/ports/mimxrt/boards/OLIMEX_RT1010/mpconfigboard.h b/ports/mimxrt/boards/OLIMEX_RT1010/mpconfigboard.h
@@ -88,3 +88,5 @@
         I2S_GPIO(3, WS, TX, GPIO_SD_00, IOMUXC_GPIO_SD_00_SAI3_TX_SYNC), /* pin D9 */ \
         I2S_GPIO(3, SD, TX, GPIO_SD_02, IOMUXC_GPIO_SD_02_SAI3_TX_DATA) /* pin D11 */ \
     }
+
+#define XBARA1  XBARA
diff --git a/ports/mimxrt/boards/make-pins.py b/ports/mimxrt/boards/make-pins.py
@@ -26,7 +26,7 @@
     r"IOMUXC_(?P<pin>GPIO_SNVS_\d\d_DIG)_(?P<function>\w+) (?P<muxRegister>\w+), (?P<muxMode>\w+), (?P<inputRegister>\w+), (?P<inputDaisy>\w+), (?P<configRegister>\w+)",
 ]
 
-SUPPORTED_AF_FNS = {"GPIO", "USDHC", "FLEXPWM", "TMR"}
+SUPPORTED_AF_FNS = {"GPIO", "USDHC", "FLEXPWM", "TMR", "XBAR"}
 
 
 class MimxrtPin(boardgen.Pin):
@@ -183,7 +183,7 @@ def load_inputs(self, out_source):
     # the CMD pin of the USDHC1 function on the GPIO_SD_B0_00 pin.
     def print_module_instances(self, out_header):
         print(file=out_header)
-        for match_fn in ("USDHC", "FLEXPWM", "TMR"):
+        for match_fn in ("USDHC", "FLEXPWM", "TMR", "XBAR"):
             module_instances = defaultdict(list)
             for pin in self.available_pins():
                 for i, (_af_idx, _input_reg, _input_daisy, instance, fn, af) in enumerate(
@@ -200,6 +200,8 @@ def print_module_instances(self, out_header):
                 print("#define {:s}_AVAIL (1)".format(k), file=out_header)
                 if match_fn == "FLEXPWM":
                     print("#define {:s} {:s}".format(k, k[-4:]), file=out_header)
+                if match_fn == "XBAR":
+                    print("#define {:s} {:s}A1".format(k, k[:4]), file=out_header)
                 for i in v:
                     print(i, file=out_header)