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Add touch sensor support for Powered Up platform #454

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7 changes: 7 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,13 @@

## [Unreleased]

### Added
- Added support for Powered Up touch sensors that are supported according to
the specification, but were never released. Users can make their own switch
inputs ([pybricks-micropython#454]).

[pybricks-micropython#454]: https://github.com/pybricks/pybricks-micropython/pull/454

## [4.0.0b4] - 2026-01-22

### Added
Expand Down
19 changes: 15 additions & 4 deletions lib/pbio/src/port_dcm_pup.c
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Expand Up @@ -43,6 +43,8 @@ struct _pbio_port_dcm_t {
dev_id_group_t dev_id1_group;
uint8_t gpio_value;
uint8_t prev_gpio_value;
/** Touch sensor data. */
uint32_t sensor_data;
};

pbio_port_dcm_t dcm_state[PBIO_CONFIG_PORT_DCM_NUM_DEV];
Expand Down Expand Up @@ -127,8 +129,7 @@ pbio_error_t pbio_port_dcm_thread(pbio_os_state_t *state, pbio_os_timer_t *timer
PBIO_OS_AWAIT_MS(state, timer, DCM_AWAIT_MS);

// ID1 is inverse of touch sensor value
// TODO: save this value to sensor dcm
// sensor_data = !pbdrv_gpio_input(&pins->p5);
dcm->sensor_data = !pbdrv_gpio_input(&pins->p5);
}
// if ID2 changed from low to high
else if (dcm->prev_gpio_value == 0 && dcm->gpio_value == 1) {
Expand Down Expand Up @@ -320,13 +321,21 @@ pbio_error_t pbio_port_dcm_assert_type_id(pbio_port_dcm_t *dcm, lego_device_type
case LEGO_DEVICE_TYPE_ID_LPF2_MMOTOR:
case LEGO_DEVICE_TYPE_ID_LPF2_TRAIN:
case LEGO_DEVICE_TYPE_ID_LPF2_LIGHT:
// On Powered Up, the only known existing passive devices are DC
// On Powered Up, the only known official passive devices are DC
// devices. Pass if requesting a specific match or any DC device.
if (*type_id == LEGO_DEVICE_TYPE_ID_ANY_DC_MOTOR || *type_id == dcm->prev_type_id) {
*type_id = dcm->prev_type_id;
return PBIO_SUCCESS;
}
return PBIO_ERROR_NO_DEV;
case LEGO_DEVICE_TYPE_ID_LPF2_TOUCH:
// The Powered Up protocol appears to have been designed to support
// basic switches as touch sensors. None of such sensors were ever
// released, but we can still detect matching custom devices here.
if (*type_id == LEGO_DEVICE_TYPE_ID_LPF2_TOUCH) {
return PBIO_SUCCESS;
}
return PBIO_ERROR_NO_DEV;
case LEGO_DEVICE_TYPE_ID_LPF2_UNKNOWN_UART:
if (*type_id == LEGO_DEVICE_TYPE_ID_ANY_LUMP_UART) {
return PBIO_SUCCESS;
Expand All @@ -338,7 +347,9 @@ pbio_error_t pbio_port_dcm_assert_type_id(pbio_port_dcm_t *dcm, lego_device_type
}

uint32_t pbio_port_dcm_get_analog_value(pbio_port_dcm_t *dcm, const pbdrv_ioport_pins_t *pins, bool active) {
return 0;
// This platform does not have any analog sensors, but we can use this to
// return the state of a passive touch sensor.
return dcm->sensor_data;
}

pbio_error_t pbio_port_dcm_get_analog_rgba(pbio_port_dcm_t *dcm, pbio_port_dcm_analog_rgba_t *rgba) {
Expand Down
44 changes: 30 additions & 14 deletions pybricks/iodevices/pb_type_iodevices_pupdevice.c
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Expand Up @@ -32,35 +32,36 @@ typedef struct _iodevices_PUPDevice_obj_t {
uint8_t last_mode;
// ID of a passive device, if any.
lego_device_type_id_t passive_id;
// Device port.
pbio_port_t *port;
} iodevices_PUPDevice_obj_t;

/**
* Tests if the given device is a passive device and stores ID.
*
* @param [in] self The PUP device.
* @param [in] port_in The port.
* @return True if passive device, false otherwise.
*/
static bool init_passive_pup_device(iodevices_PUPDevice_obj_t *self, mp_obj_t port_in) {
pb_module_tools_assert_blocking();
static bool init_passive_pup_device(iodevices_PUPDevice_obj_t *self) {

pbio_port_id_t port_id = pb_type_enum_get_value(port_in, &pb_enum_type_Port);

// Get the port instance.
pbio_port_t *port;
pb_assert(pbio_port_get_port(port_id, &port));
// Check for custom devices that follow the Powered Up spec for simple
// switches as touch sensors.
uint32_t value;
pbio_error_t err = pbio_port_get_analog_value(self->port, LEGO_DEVICE_TYPE_ID_LPF2_TOUCH, false, &value);
if (err == PBIO_SUCCESS) {
self->passive_id = LEGO_DEVICE_TYPE_ID_LPF2_TOUCH;
return true;
}

// Check for DC motor or light.
lego_device_type_id_t type_id = LEGO_DEVICE_TYPE_ID_ANY_DC_MOTOR;
pbio_dcmotor_t *dcmotor;
pbio_error_t err = pbio_port_get_dcmotor(port, &type_id, &dcmotor);

err = pbio_port_get_dcmotor(self->port, &type_id, &dcmotor);
if (err == PBIO_SUCCESS) {
self->passive_id = type_id;
return true;
}
return false;

self->passive_id = type_id;
}

// pybricks.iodevices.PUPDevice.__init__
Expand All @@ -70,8 +71,14 @@ static mp_obj_t iodevices_PUPDevice_make_new(const mp_obj_type_t *type, size_t n

iodevices_PUPDevice_obj_t *self = mp_obj_malloc(iodevices_PUPDevice_obj_t, type);

pb_module_tools_assert_blocking();

// Get the port instance.
pbio_port_id_t port_id = pb_type_enum_get_value(port_in, &pb_enum_type_Port);
pb_assert(pbio_port_get_port(port_id, &self->port));

// For backwards compatibility, allow class to be used with passive devices.
if (init_passive_pup_device(self, port_in)) {
if (init_passive_pup_device(self)) {
return MP_OBJ_FROM_PTR(self);
}

Expand Down Expand Up @@ -164,7 +171,16 @@ static mp_obj_t iodevices_PUPDevice_read(size_t n_args, const mp_obj_t *pos_args
iodevices_PUPDevice_obj_t, self,
PB_ARG_REQUIRED(mode));

// Passive devices don't support reading.
// Allow reading from passive touch sensors as per the Powered Up spec.
// These do not have modes. For this special case, alwyas return a bool,
// even in async mode when other reads would return awaitables.
if (self->passive_id == LEGO_DEVICE_TYPE_ID_LPF2_TOUCH) {
uint32_t value;
pb_assert(pbio_port_get_analog_value(self->port, self->passive_id, false, &value));
return mp_obj_new_bool(value);
}

// Other passive devices don't support reading.
if (self->passive_id != LEGO_DEVICE_TYPE_ID_LPF2_UNKNOWN_UART) {
pb_assert(PBIO_ERROR_INVALID_OP);
}
Expand Down