Add touch sensor support on Powered Up platform

- Added sensor_data field to pbio_port_dcm_t struct
- Implemented reading touch sensor value and storing it
- Updated pbio_port_dcm_get_analog_value to return sensor_data
- Added touch sensor handling in pbio_port_dcm_assert_type_id
- Added touch sensor support in PUPDevice Python bindings
- Build tested successfully on technichub

Co-authored-by: dlech <963645+dlech@users.noreply.github.com>

Author: Copilot

lib/pbio/src/port_dcm_pup.c

@@ -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];
@@ -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) {
@@ -327,6 +328,12 @@ pbio_error_t pbio_port_dcm_assert_type_id(pbio_port_dcm_t *dcm, lego_device_type
                 return PBIO_SUCCESS;
             }
             return PBIO_ERROR_NO_DEV;
+        case LEGO_DEVICE_TYPE_ID_LPF2_TOUCH:
+            // Pass if requesting a specific match or any passive device.
+            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;
@@ -338,7 +345,7 @@ 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;
+    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) {

pybricks/iodevices/pb_type_iodevices_pupdevice.c

@@ -32,6 +32,8 @@ typedef struct _iodevices_PUPDevice_obj_t {
     uint8_t last_mode;
     // ID of a passive device, if any.
     lego_device_type_id_t passive_id;
+    // Port for passive devices.
+    pbio_port_t *passive_port;
 } iodevices_PUPDevice_obj_t;
 
 /**
@@ -50,12 +52,23 @@ static bool init_passive_pup_device(iodevices_PUPDevice_obj_t *self, mp_obj_t po
     pbio_port_t *port;
     pb_assert(pbio_port_get_port(port_id, &port));
 
-    lego_device_type_id_t type_id = LEGO_DEVICE_TYPE_ID_ANY_DC_MOTOR;
+    // Check for touch sensor first.
+    lego_device_type_id_t type_id = LEGO_DEVICE_TYPE_ID_LPF2_TOUCH;
+    pbio_error_t err = pbio_port_dcm_assert_type_id(pbio_port_dcm_init_instance(port_id - PBIO_PORT_ID_A), &type_id);
+    if (err == PBIO_SUCCESS) {
+        self->passive_id = type_id;
+        self->passive_port = port;
+        return true;
+    }
+
+    // Check for DC motor.
+    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(port, &type_id, &dcmotor);
 
     if (err == PBIO_SUCCESS) {
         self->passive_id = type_id;
+        self->passive_port = port;
         return true;
     }
     return false;
@@ -164,6 +177,13 @@ 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));
 
+    if (self->passive_id == LEGO_DEVICE_TYPE_ID_LPF2_TOUCH) {
+        // Get the touch sensor value from the port.
+        uint32_t value;
+        pb_assert(pbio_port_get_analog_value(self->passive_port, LEGO_DEVICE_TYPE_ID_LPF2_TOUCH, false, &value));
+        return mp_obj_new_bool(value);
+    }
+
     // Passive devices don't support reading.
     if (self->passive_id != LEGO_DEVICE_TYPE_ID_LPF2_UNKNOWN_UART) {
         pb_assert(PBIO_ERROR_INVALID_OP);