From 6783bfea76703ea131a29ebbe41f54bcdd8cbdf6 Mon Sep 17 00:00:00 2001 From: Shun Ikejima Date: Wed, 1 Oct 2025 10:01:00 +0900 Subject: [PATCH] Add mozc dial version. Co-authored-by: Takashi Toyoshima Co-authored-by: Shun Ikejima --- README.md | 12 + images/dial.webp | Bin 0 -> 65246 bytes mozc-dial/README.md | 49 + mozc-dial/README_ja.md | 49 + mozc-dial/board/Library.kicad_sym | 614 + .../board/Library.pretty/Registor.kicad_mod | 268 + .../Library.pretty/SW_SMD_PUSH.kicad_mod | 140 + .../board/Library.pretty/USBC_24P.kicad_mod | 933 + .../board/Library.pretty/rpr220.kicad_mod | 114 + mozc-dial/board/README.md | 178 + mozc-dial/board/README_ja.md | 187 + mozc-dial/board/gerber/sensors.zip | Bin 0 -> 30356 bytes mozc-dial/board/main/fp-lib-table | 4 + mozc-dial/board/main/main.kicad_prl | 131 + mozc-dial/board/main/main.kicad_pro | 675 + mozc-dial/board/main/main.kicad_sch | 18111 +++ mozc-dial/board/main/rp2040.kicad_sch | 8313 ++ mozc-dial/board/main/sym-lib-table | 4 + mozc-dial/board/sensors/fp-lib-table | 4 + mozc-dial/board/sensors/sensors.kicad_pcb | 3653 + mozc-dial/board/sensors/sensors.kicad_prl | 130 + mozc-dial/board/sensors/sensors.kicad_pro | 646 + mozc-dial/board/sensors/sensors.kicad_sch | 2422 + mozc-dial/board/sensors/sym-lib-table | 4 + mozc-dial/buildguide.md | 168 + mozc-dial/buildguide_ja.md | 164 + mozc-dial/firmware/.gitignore | 2 + mozc-dial/firmware/README.md | 61 + mozc-dial/firmware/README_ja.md | 61 + mozc-dial/firmware/common/dial_controller.cc | 45 + mozc-dial/firmware/common/dial_controller.h | 28 + mozc-dial/firmware/common/motor_controller.cc | 108 + mozc-dial/firmware/common/motor_controller.h | 38 + mozc-dial/firmware/common/photo_sensor.cc | 32 + mozc-dial/firmware/common/photo_sensor.h | 33 + mozc-dial/firmware/common/usage_tables.cc | 145 + mozc-dial/firmware/common/usage_tables.h | 54 + mozc-dial/firmware/common/usb_device.cc | 353 + mozc-dial/firmware/common/usb_device.h | 145 + mozc-dial/firmware/common/usb_hid_device.cc | 94 + mozc-dial/firmware/common/usb_hid_device.h | 60 + mozc-dial/firmware/common/usb_hid_keyboard.cc | 203 + mozc-dial/firmware/common/usb_hid_keyboard.h | 49 + mozc-dial/firmware/main/CMakeLists.txt | 78 + mozc-dial/firmware/main/i2c_controller.cc | 47 + mozc-dial/firmware/main/i2c_controller.h | 27 + mozc-dial/firmware/main/main.cc | 170 + mozc-dial/firmware/main/pico_sdk_import.cmake | 121 + mozc-dial/firmware/one_dial/CMakeLists.txt | 73 + mozc-dial/firmware/one_dial/one_dial.cc | 56 + .../firmware/one_dial/pico_sdk_import.cmake | 121 + mozc-dial/firmware/prebuilt/main.uf2 | Bin 0 -> 191488 bytes mozc-dial/firmware/prebuilt/one_dial.uf2 | Bin 0 -> 188416 bytes mozc-dial/firmware/prebuilt/sub.uf2 | Bin 0 -> 163328 bytes mozc-dial/firmware/sub/CMakeLists.txt | 75 + mozc-dial/firmware/sub/i2c_device.cc | 73 + mozc-dial/firmware/sub/i2c_device.h | 37 + mozc-dial/firmware/sub/pico_sdk_import.cmake | 121 + mozc-dial/firmware/sub/sub.cc | 70 + mozc-dial/images/assemble.webp | Bin 0 -> 159468 bytes mozc-dial/images/connect-left-and-right.webp | Bin 0 -> 135076 bytes mozc-dial/images/cover-back.webp | Bin 0 -> 531276 bytes mozc-dial/images/cover-front.webp | Bin 0 -> 542016 bytes mozc-dial/images/dial.webp | Bin 0 -> 98346 bytes mozc-dial/images/diy.webp | Bin 0 -> 245934 bytes mozc-dial/images/encoder-mark.webp | Bin 0 -> 135038 bytes mozc-dial/images/encoder.webp | Bin 0 -> 216172 bytes mozc-dial/images/main_pcb_preview.webp | Bin 0 -> 69078 bytes mozc-dial/images/mark-on-encoder.webp | Bin 0 -> 20590 bytes mozc-dial/images/motor_driver.webp | Bin 0 -> 44408 bytes mozc-dial/images/nine-dial.webp | Bin 0 -> 312292 bytes mozc-dial/images/one-dial-connection.png | Bin 0 -> 60694 bytes mozc-dial/images/one-dial.webp | Bin 0 -> 230540 bytes mozc-dial/images/pico_pinheader.webp | Bin 0 -> 46354 bytes mozc-dial/images/pico_pinout.webp | Bin 0 -> 36404 bytes mozc-dial/images/sensor_pair.webp | Bin 0 -> 61786 bytes mozc-dial/images/sensor_regs.webp | Bin 0 -> 22216 bytes mozc-dial/images/sensor_rpr.webp | Bin 0 -> 18102 bytes mozc-dial/pattern/one_dial.svg | 101 + mozc-dial/pattern/tools/generate.py | 112 + mozc-dial/stls/one_dial/case_bottom.stl | 3782 + mozc-dial/stls/one_dial/case_top.stl | 12602 ++ mozc-dial/stls/one_dial/clutch.stl | 9144 ++ mozc-dial/stls/one_dial/cover.stl | 9214 ++ mozc-dial/stls/one_dial/dial.stl | 95685 ++++++++++++++++ mozc-dial/stls/one_dial/dial_cap.stl | 46552 ++++++++ mozc-dial/stls/one_dial/encoder.stl | 14961 +++ mozc-dial/stls/one_dial/end3.stl | 2242 + 88 files changed, 233948 insertions(+) create mode 100644 images/dial.webp create mode 100644 mozc-dial/README.md create mode 100644 mozc-dial/README_ja.md create mode 100644 mozc-dial/board/Library.kicad_sym create mode 100644 mozc-dial/board/Library.pretty/Registor.kicad_mod create mode 100644 mozc-dial/board/Library.pretty/SW_SMD_PUSH.kicad_mod create mode 100644 mozc-dial/board/Library.pretty/USBC_24P.kicad_mod create mode 100644 mozc-dial/board/Library.pretty/rpr220.kicad_mod create mode 100644 mozc-dial/board/README.md create mode 100644 mozc-dial/board/README_ja.md create mode 100644 mozc-dial/board/gerber/sensors.zip create mode 100644 mozc-dial/board/main/fp-lib-table create mode 100644 mozc-dial/board/main/main.kicad_prl create mode 100644 mozc-dial/board/main/main.kicad_pro create mode 100644 mozc-dial/board/main/main.kicad_sch create mode 100644 mozc-dial/board/main/rp2040.kicad_sch create mode 100644 mozc-dial/board/main/sym-lib-table create mode 100644 mozc-dial/board/sensors/fp-lib-table create mode 100644 mozc-dial/board/sensors/sensors.kicad_pcb create mode 100644 mozc-dial/board/sensors/sensors.kicad_prl create mode 100644 mozc-dial/board/sensors/sensors.kicad_pro create mode 100644 mozc-dial/board/sensors/sensors.kicad_sch create mode 100644 mozc-dial/board/sensors/sym-lib-table create mode 100644 mozc-dial/buildguide.md create mode 100644 mozc-dial/buildguide_ja.md create mode 100644 mozc-dial/firmware/.gitignore create mode 100644 mozc-dial/firmware/README.md create mode 100644 mozc-dial/firmware/README_ja.md create mode 100644 mozc-dial/firmware/common/dial_controller.cc create mode 100644 mozc-dial/firmware/common/dial_controller.h create mode 100644 mozc-dial/firmware/common/motor_controller.cc create mode 100644 mozc-dial/firmware/common/motor_controller.h create mode 100644 mozc-dial/firmware/common/photo_sensor.cc create mode 100644 mozc-dial/firmware/common/photo_sensor.h create mode 100644 mozc-dial/firmware/common/usage_tables.cc create mode 100644 mozc-dial/firmware/common/usage_tables.h create mode 100644 mozc-dial/firmware/common/usb_device.cc create mode 100644 mozc-dial/firmware/common/usb_device.h create mode 100644 mozc-dial/firmware/common/usb_hid_device.cc create mode 100644 mozc-dial/firmware/common/usb_hid_device.h create mode 100644 mozc-dial/firmware/common/usb_hid_keyboard.cc create mode 100644 mozc-dial/firmware/common/usb_hid_keyboard.h create mode 100644 mozc-dial/firmware/main/CMakeLists.txt create mode 100644 mozc-dial/firmware/main/i2c_controller.cc create mode 100644 mozc-dial/firmware/main/i2c_controller.h create mode 100644 mozc-dial/firmware/main/main.cc create mode 100644 mozc-dial/firmware/main/pico_sdk_import.cmake create mode 100644 mozc-dial/firmware/one_dial/CMakeLists.txt create mode 100644 mozc-dial/firmware/one_dial/one_dial.cc create mode 100644 mozc-dial/firmware/one_dial/pico_sdk_import.cmake create mode 100644 mozc-dial/firmware/prebuilt/main.uf2 create mode 100644 mozc-dial/firmware/prebuilt/one_dial.uf2 create mode 100644 mozc-dial/firmware/prebuilt/sub.uf2 create mode 100644 mozc-dial/firmware/sub/CMakeLists.txt create mode 100644 mozc-dial/firmware/sub/i2c_device.cc create mode 100644 mozc-dial/firmware/sub/i2c_device.h create mode 100644 mozc-dial/firmware/sub/pico_sdk_import.cmake create mode 100644 mozc-dial/firmware/sub/sub.cc create mode 100644 mozc-dial/images/assemble.webp create mode 100644 mozc-dial/images/connect-left-and-right.webp create mode 100644 mozc-dial/images/cover-back.webp create mode 100644 mozc-dial/images/cover-front.webp create mode 100644 mozc-dial/images/dial.webp create mode 100644 mozc-dial/images/diy.webp create mode 100644 mozc-dial/images/encoder-mark.webp create mode 100644 mozc-dial/images/encoder.webp create mode 100644 mozc-dial/images/main_pcb_preview.webp create mode 100644 mozc-dial/images/mark-on-encoder.webp create mode 100644 mozc-dial/images/motor_driver.webp create mode 100644 mozc-dial/images/nine-dial.webp create mode 100644 mozc-dial/images/one-dial-connection.png create mode 100644 mozc-dial/images/one-dial.webp create mode 100644 mozc-dial/images/pico_pinheader.webp create mode 100644 mozc-dial/images/pico_pinout.webp create mode 100644 mozc-dial/images/sensor_pair.webp create mode 100644 mozc-dial/images/sensor_regs.webp create mode 100644 mozc-dial/images/sensor_rpr.webp create mode 100644 mozc-dial/pattern/one_dial.svg create mode 100644 mozc-dial/pattern/tools/generate.py create mode 100644 mozc-dial/stls/one_dial/case_bottom.stl create mode 100644 mozc-dial/stls/one_dial/case_top.stl create mode 100644 mozc-dial/stls/one_dial/clutch.stl create mode 100644 mozc-dial/stls/one_dial/cover.stl create mode 100644 mozc-dial/stls/one_dial/dial.stl create mode 100644 mozc-dial/stls/one_dial/dial_cap.stl create mode 100644 mozc-dial/stls/one_dial/encoder.stl create mode 100644 mozc-dial/stls/one_dial/end3.stl diff --git a/README.md b/README.md index 50c8b69..65e3aba 100644 --- a/README.md +++ b/README.md @@ -223,6 +223,18 @@ Please refer to the README in each directory for more details. +![dial](./images/dial.webp) + +[Gboard ダイヤルバージョン](./mozc-dial/README_ja.md)
+[Gboard double sided version](./mozc-dial) + +まるくおさめました。 + +- [Promotional video](https://youtu.be/BgdWyD0cBx4) +- [Announce](https://blog.google/intl/ja-jp/products/android-chrome-play/gboard-2025) +- Release date: Oct 1, 2025 +- Source: [/mozc-dial](./mozc-dial) + diff --git a/images/dial.webp b/images/dial.webp new file mode 100644 index 0000000000000000000000000000000000000000..a0b3e7c40ab4c08eb6488ed7fe02be4f83b2f652 GIT binary patch literal 65246 zcmYJaV{j%+v@IOlwvCBxYcjEIJDJ$FZQHi3iEZ0Xp69;j+z$jI%z8 z{)v$cjRs_kebb=NvglU3;OxD^jJ0&;^n4)v`^}CJ#fQ*sezd`M|1mK6L$(sg3wZm$ z{(Spndh(|i+VEosQeI~_2rc??0OjAp9`2@qCH_7@>Yx5EVnF^=zL(IZzuULrN8=CE zcl=wuqrw4j444D71U&u7eQEs6=NP=~-3eUzZ2=R0;@%;@^FRDw<8OtU`}_88`bmHb z{%Jt`+vd;qSN})ieg9rRe*lO-DZu?r=j#K=^@I%QZ=Cx+P{FW zM*x+dz4!WOgBO2);Ei7zpcB{xg#Rl30s^z2$v?24_9p$`fc^bX{UAc_z5zlWy>mhV zepdkhAB(a2IsbGZ-v{Q`=;i!zzrauY*Zfug8}K9l#7|l12uOXPQ}2K0C+!{k9e%yH zEz}Ck0HXe!0rtLxdV%}?Q{VZ|7H9Eqz*OL=zb#<69}l4RWAjyi7601*DReGy2Hdz) 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zG{5rR)kmba-up~1Ordl_r!vTW_-CAQv!Zpk^PvPa8#_Kz8lmRG0n1vv77ou9XN>z} z&1~?u%tOrLYBca%007C7Dv8%tgqFp;z?Sv-N*na)j=0BrOco!6g@AVk60mLCK|#m3 z>~bqRWt!B_2a}CrU+dI9AOt#lNkJ63-*#kC`;;D!g+^7PVZ*1)K?;ANG*B<@8d>05V(Bn}^ z)#|0m?L3u%6C|rZy5iZR6Qnw^^*om=#Lg!(6SzP2+2O53D3mZe$O=^{Ri1?E$?mhn zre3s1OAwi^La{Fd8-|?&9=eKAr3vt(kvk^W^7N-Kgp3B82p(?I&SG-bcmOS6Md(O6 z>bDtRkhM%Mj+z{IuxsBa00(c}hl+SR*&Be2Wmibv;P4Tp1Oi>};pis!1z2IMnHz(w zc8c{EIAtM0m`xD!;n=*HYIY+z`POBU?6tnM_brkd&~}xLXiRR99`=sT* +[Available on the App Store](https://apps.apple.com/us/app/gboard-the-google-keyboard/id1091700242) + +## [Other versions](https://github.com/google/mozc-devices) + +## License + +See [LICENSE](../LICENSE) file in this directory. diff --git a/mozc-dial/README_ja.md b/mozc-dial/README_ja.md new file mode 100644 index 0000000..ef66ac1 --- /dev/null +++ b/mozc-dial/README_ja.md @@ -0,0 +1,49 @@ +Gboard[English version](./README.md) is available. + +# Gboard ダイヤルバージョン + +このディレクトリは 2025 年 10 月 1 日にリリースされた Gboard ダイヤルバージョンの設計データとファームウエアを含んでいます。 +Gboard ダイヤルバージョンは正式な Google 製品ではありません。 + +![Gboard dial version](./images/dial.webp) + +**まるくおさめました。** + +「キーボードは打つだけじゃつまらない」 + +そんなユーザーのみなさまの声に応えて + +まわす事ができるキーボードを作りました。 + +回転による文字入力を実現した、 + +Gboard ダイヤルバージョン + +## 作ってみよう + +![Gboard DIY](./images/diy.webp) + +今年も 3D プリント用モデルデータ、基板データ、ファームウエアを公開しています。 + +[ビルドガイドはこちら](./buildguide_ja.md) + +## まわらないGboardもあります + +いままでの打つ文字入力に慣れ親しんだ方には、 + +通常版の Gboard もご用意しております。 + +音声入力や翻訳機能など + +Google の各種サービスと連携した + +快適な入力体験を提供します。 + +[Google Play で公開中](https://play.google.com/store/apps/details?id=com.google.android.inputmethod.latin&hl=ja)
+[App Store で公開中](https://apps.apple.com/jp/app/id1091700242) + +## [その他のバージョン](https://github.com/google/mozc-devices) + +## ライセンス + +このディレクトリに置かれた [LICENSE](../LICENSE) ファイルを参照してください。 diff --git a/mozc-dial/board/Library.kicad_sym b/mozc-dial/board/Library.kicad_sym new file mode 100644 index 0000000..f6dd104 --- /dev/null +++ b/mozc-dial/board/Library.kicad_sym @@ -0,0 +1,614 @@ +(kicad_symbol_lib + (version 20241209) + (generator "kicad_symbol_editor") + (generator_version "9.0") + (symbol "RPR220" + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (property "Reference" "U" + (at 11.938 0.254 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Value" "" + (at 0 0 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Footprint" "" + (at 0 0 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Datasheet" "" + (at 0 0 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Description" "" + (at 0 0 0) + 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+ ) + (embedded_fonts no) + ) + (symbol "TBD62083AFNG" + (exclude_from_sim no) + (in_bom yes) + (on_board yes) + (property "Reference" "U" + (at -7.62 11.43 0) + (effects + (font + (size 1.27 1.27) + ) + (justify left) + ) + ) + (property "Value" "TBD62083AFNG" + (at 8.128 11.43 0) + (effects + (font + (size 1.27 1.27) + ) + ) + ) + (property "Footprint" "" + (at 18.034 -14.224 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Datasheet" "" + (at 63.881 -16.51 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (property "Description" "" + (at 0 0 0) + (effects + (font + (size 1.27 1.27) + ) + (hide yes) + ) + ) + (symbol "TBD62083AFNG_0_1" + (rectangle + (start -7.62 10.16) + (end 7.62 -12.7) + (stroke + (width 0.254) + (type default) + ) + (fill + (type background) + ) + ) + (polyline + (pts + (xy -1.778 2.794) (xy -1.778 2.794) + ) + (stroke + (width 0.254) + (type default) + ) + (fill + (type none) + ) + ) + (polyline + (pts + (xy -1.778 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(layers "*.Cu" "*.Mask") + (remove_unused_layers no) + (uuid "b338b8f3-f557-49ee-8333-131c1f2eabec") + ) + (pad "4" thru_hole circle + (at 1.4 1.25) + (size 1.8 1.8) + (drill 1) + (layers "*.Cu" "*.Mask") + (remove_unused_layers no) + (uuid "34aa61fd-127c-45e1-9719-bb74301a49d4") + ) + (embedded_fonts no) +) diff --git a/mozc-dial/board/README.md b/mozc-dial/board/README.md new file mode 100644 index 0000000..7514caf --- /dev/null +++ b/mozc-dial/board/README.md @@ -0,0 +1,178 @@ +# Board Assembly Guide + +For the entire keyboard assembly, please refer to the [Build Guide](../buildguide.md). + +## Common to All Editions + +### Sensor Board (per board) + +#### Bill of Materials + +| Ref | Description | Qty | Notes | +|---|---|---|---| +| R1,R3,R5 | Resistor 330Ω | 3 | Through-hole or surface-mount | +| R2,R4,R6 | Not populated | - | | +| U1-3 | Reflective photo sensor RPR-220 | 3 | (e.g., [Reflective Photo Sensor (Photoreflector) RPR-220](https://akizukidenshi.com/catalog/g/g111401/)) | +| J1 | 2.54mm pitch 1x5 pin header | 1 | L-shaped is desirable (e.g., [Pin Header (Male L-type) 1x40 (40P)](https://akizukidenshi.com/catalog/g/g101627/)) | + +#### Assembly + +This explanation covers the case where all 3 bits are populated. However, for the 9-dial edition, some sensors may only require 1 or 2 bits. In that case, populate only the required number of components from the top (U1). For details, follow the instructions for the 9-dial edition. + +Also, before making everything, it is recommended to check if the Gray code plate values can be read properly to reduce rework in case of problems. If it doesn't work well, populate resistors on R2, R4, and R6. For details, see [Reading Sensor Adjustment](#reading-sensor-adjustment). + +![Sensor RPR-220](../images/sensor_rpr.webp) + +First, attach the photo sensors from the side where the U1, U2, and U3 markings are visible. Pay close attention to the orientation. The upper right corner is chamfered, so check the marking and the shape of the sensor to ensure they are in the same orientation. After correct placement, cut off the excess leads from the back and solder them. + +![Sensor Resistors](../images/sensor_regs.webp) + +On the back side, there are places to attach three resistors on the `(SENSOR)` side and three on the `(LED)` side, as shown in the figure. Both through-hole and chip resistors can be used, so use the parts of your choice. However, even for through-hole types, it is more stable to mount them without passing them through the holes when attaching the dial. + +As mentioned earlier, the resistors depend on the adjustment, but it is recommended to leave the `(SENSOR)` side unpopulated and install 330Ω resistors on the `(LED)` side as a standard. + +For the 1x5 pin header, using an L-shaped one will fit well in the case. + +During assembly, pay attention to the `⇧Center` mark. The inner circumference of the dial will be in the direction of the arrow. + +## 1-Dial Edition + +This is an introductory edition that uses commercially available general-purpose parts other than the sensor board. + +### Parts + +- Raspberry Pi Pico: 1 +- Sensor board (3-bit populated): 2 +- [Unipolar Stepping Motor 28BYJ-48 5V](https://akizukidenshi.com/catalog/g/g113256/): 1 +- [Stepping Motor Drive Module [M2003S]](https://www.aitendo.com/product/12366): 1 +- Wiring materials: as needed + +### Assembly + +#### Sensor Board + +Assemble two 3-bit populated sensor boards as described in the common section for all dial editions. We will call one `SENSOR L` and the other `SENSOR H`. + +Although not a clean example as it was used for experiments, here are examples of mounting both through-hole and chip resistors. + +![Sensor PCB Pair](../images/sensor_pair.webp) + +Each board's pin header has five terminals: `V`, `1`, `2`, `3`, and `G`. +Of these, `V` connects to the 3.3V power supply, but the Raspberry Pi Pico we are using has only one 3.3V output terminal. Therefore, connect the terminal pair where `V` passes on the board, as shown by the red wiring in the photo. +In the diagram for the sensor board, the terminals inside the rectangle labeled `V`, that is, the six outer locations of the resistor patterns, are `V`. + +The upper sensor board is `SENSOR L` for the inner circumference, and the lower sensor board is `SENSOR H` for the outer circumference. +Since `V` is interconnected, the `V` at the top-most, inner-most terminal is not needed for this connection. + +#### Stepping Motor Drive Module + +![Motor Driver](../images/motor_driver.webp) + +The Raspberry Pi Pico's GPIO cannot drive the motor directly, so the 1-dial edition uses a commercially available drive module. Any sink-type driver other than the one specified here will work, and you can also build your own by referring to the circuit of the 9-dial edition. + +Taking the one mentioned here as an example, `IN1` to `IN4` enclosed in green are the terminals that receive the outputs `1` to `4` from the Raspberry Pi Pico. `GND` enclosed in black and `VCC` enclosed in red are `G` and `V` respectively. +The motor draws 5V power from the USB bus via the Raspberry Pi Pico. It requires about 0.3A, so the firmware for the 1-dial edition requests the 0.5A upper limit for USB micro. + +The white terminal is used for connection with the stepping motor. + +#### Raspberry Pi Pico + +![Raspberry Pi Pico - Pin Headers](../images/pico_pinheader.webp) + +Attach L-shaped pin headers to a commercially available Raspberry Pi Pico as shown in the photo. +The three DEBUG pins at the bottom of the photo are optional and only needed if you need to develop and debug the firmware. + +![Raspberry Pi Pico - Pin Out](../images/pico_pinout.webp) + +The pins used in the 1-dial edition are assigned as shown in the diagram. Connect to SENSOR L, SENSOR H, and MOTOR according to this diagram. When debugging, the standard output is output from TX via UART. + +### Firmware Flashing + +Follow the general method for the Raspberry Pi Pico. Connect the Raspberry Pi Pico to your PC while holding down the `BOOT` button on the board. A drive named `RPI-RP2` will appear. Copy `firmware/prebuilt/one_dial.uf2` into this drive. If the flashing is successful, the drive will disappear. Your OS may show a warning, but this is not a problem. From now on, when you connect this device to your PC without holding down the `BOOT` button, it will be recognized as a USB keyboard. + +## 9-Dial Edition + +### Parts + +- Main board: 1 +- Sensor board (3-bit populated): 6 +- Sensor board (2-bit populated): 4 +- Sensor board (1-bit populated): 1 +- [Unipolar Stepping Motor 28BYJ-48 5V](https://akizukidenshi.com/catalog/g/g113256/): 9 +- Wiring materials: as needed + +### Main Board + +#### Bill of Materials + +| Ref | Description | Qty | Notes | +|---|---|---|---| +| C101 | Capacitor 10uF | 1 | | +| C102-121,C202-208,C212,C302-308,C312 | Capacitor 100nF | 36 | | +| C201,C209,C301,C309 | Capacitor 1uF | 4 | | +| C210,C211,C310,C311 | Capacitor 20pF | 4 | | +| J102-103 | 2.54mm pitch 1x3 pin header | 2 | | +| J106-J125 | 2.54mm pitch 1x5 pin header | 20 | | +| J201,J301 | USB TYPE C Receptacle | 2 | | +| R201-202,R301-302 | Resistor 27.4Ω | 4 | | +| R203-204,R303-304 | Resistor 5.1KΩ | 4 | | +| R205,R207,R305,R307 | Resistor 1KΩ | 4 | | +| R206,R306 | Resistor 10KΩ | 2 | | +| SW101,SW201,SW301 | Switch | 3 | | +| U101 | AMS1117 3.3V Regulator | 1 | | +| U102-103,U105,U107,U109 | TBD62083AFNG | 5 | | +| U104,U106,U108,U110 | 74HC238 | 4 | | +| U201,U301 | RP2040 | 2 | | +| U202,U302 | W25Q128JVS | 2 | | +| Y201,Y301 | 12MHz Crystal Oscillator | 2 | | +| N/A | Jumper pin | 2 | | + +#### Assembly + +Currently, we have released up to the schematics. We will release the Gerber data soon, so please look forward to it! + +![Coming Soon!!](../images/main_pcb_preview.webp) + +### Assembly + +Attach 1x5 L-shaped pin headers for connecting to the sensor boards to `SENSOR A-L`, `SENSOR A-H`, `SENSOR B`, `SENSOR C`, `SENSOR D`, `SENSOR E`, `SENSOR F`, `SENSOR G`, `SENSOR H`, `SENSOR I-L`, and `SENSOR I-H`. + +Attach 1x5 L-shaped pin headers for connecting to the motors to `MOTOR A`, `MOTOR B`, `MOTOR C`, `MOTOR D`, `MOTOR E`, `MOTOR F`, `MOTOR G`, `MOTOR H`, and `MOTOR I`. + +Attach a 1x3 pin header to the location marked `U1 PWR U2` and short the `U1` and `PWR` positions with a jumper pin. + +Attach a 1x3 pin header to the location marked `USB V_MTR ALT` and short the `USB` and `V_MTR` positions with a jumper pin. + +### Sensor Board + +Referring to the [Common to All Dial Editions](#common-to-all-dial-editions) section, prepare a total of 11 sensor boards with the following populated bit widths. There is no problem other than an increase in standby power consumption if you populate more bits, so it is also fine to prepare all of them with a 3-bit width. + +| Ref | Populated Bit Width | +|---|---| +| SENSOR A-L | 3 | +| SENSOR A-H | 3 | +| SENSOR B | 2 | +| SENSOR C | 3 | +| SENSOR D | 2 | +| SENSOR E | 3 | +| SENSOR F | 3 | +| SENSOR G | 2 | +| SENSOR H | 2 | +| SENSOR I-L | 3 | +| SENSOR I-H | 1 | + +## Photo Sensor Adjustment + +The photo sensor readings should not vary greatly as they are taken inside the case, but differences may arise due to the brightness of the 3D printing material or the quality of the paper on which the Gray code is printed. If the dial reading is unstable or the rotation does not stop, the sensor value change range may not be within the expected range. In that case, please adjust the sensor paying attention to the following points. + +### Reading with RP2040 + +The sensor value is processed as a digital value by GPIO. Therefore, it needs to be adjusted so that HIGH is in the range of 2.0 - 3.3[V] and LOW is in the range of 0.0 - 0.3[V] when operating at 3.3V. + +### LED Sensor Adjustment + +If the current flowing through the LED is small, the light emission will be weak, and the amount of light read by the sensor will be insufficient. This will result in higher readings, and the voltage difference between white and black will not be clear. In that case, try changing the three resistors on the `(LED)` side to weaker ones. The standard is adjusted with 330Ω, but with the photo sensor RPR-220 used this time, it will stay within the rated value even if you lower it to about 40Ω. However, it will greatly affect the standby power consumption, so if possible, please adjust with the resistor on the reading sensor side. + +### Reading Sensor Adjustment + +You can shift the read voltage value by changing the pull-up resistance of the reading sensor. However, if you change it too much, the voltage difference between white and black will become less clear. You can adjust it by populating the three resistors on the `(SENSOR)` side. The standard firmware expects a pull-up of about 50-80KΩ by the RP2040's pull-up. If the voltage does not rise sufficiently with black, it is better to pull-up more strongly with an additional resistor. By following the [Firmware Development Guide](../firmware/README.md) and disabling the RP2040's pull-up, the resistor populated here will become the pull-up resistor. If you do not disable it, it will be pulled up by the combined resistance in parallel. The calculation is a bit complicated, but it may be easier to pull-up in parallel with an additional resistor without changing the firmware if you want to pull-up more strongly. diff --git a/mozc-dial/board/README_ja.md b/mozc-dial/board/README_ja.md new file mode 100644 index 0000000..94d467b --- /dev/null +++ b/mozc-dial/board/README_ja.md @@ -0,0 +1,187 @@ +# 基板組立ガイド + +キーボードの組み立て全体については[ビルドガイド](../buildguide_ja.md)を参照してください。 + +## 各ダイヤル版共通 + +### センサー基板（１枚あたり） + +#### 部品表 + +参照名 | 内容 | 数 | 備考 +-------- | -------------------- | --- | --- +R1,R3,R5 | 抵抗 330Ω | 3 | スルーホール用でも表面実装用でも可 +R2,R4,R6 | 未実装 | - | +U1-3 | 反射型フォトセンサー RPR-220 | 3 | （例：[反射型フォトセンサー(フォトリフレクター) RPR-220](https://akizukidenshi.com/catalog/g/g111401/)） +J1 | 2.54mmピッチ 1x5 ピンヘッダー | 1 | L字のものが望ましい（例：[ピンヘッダー (オスL型) 1×40 (40P)](https://akizukidenshi.com/catalog/g/g101627/)） + +#### 実装 + +この説明では3ビット分全て実装する場合について説明していますが、9ダイヤル版ではセンサーによっては1ビットまたは2ビット分の実装で良い場合があります。その場合は、上(U1)から順に必要な数だけ実装してください。詳しくは9ダイヤル版の説明に従ってください。 + +また、すべて制作する前に、実際にグレイコード板の値が適切に読み取れるか確認し、問題がない事を確認してから作ると万が一の際の手間が軽減できます。うまくいかない場合にはR2,R4,R6に抵抗を実装します。詳しくは[読み取りセンサー調整](#読み取りセンサー調整)を確認してください。 + +![Sensor RPR-220](../images/sensor_rpr.webp) + +まずはU1、U2、U3の印刷が見える方から、フォトセンサーを取りつけます。向きに十分気をつけて下さい。右上の角が面取りされているので、印刷面とセンサーの形状を見て、同じ向きになるよう設置してください。正しく設置したら、裏側から不要な足を切り取りハンダ付けします。 + +![Sensor Registors](../images/sensor_regs.webp) + +裏面はこの図のように`(SENSOR)`側に3つ、`(LED)`側に3つの抵抗を取り付けられるようになっています。抵抗はスルーホール用のものと、チップ抵抗と、いずれのタイプでも取り付けられるようになっているので、お好みいのパーツを使って取り付けてください。ただし、スルーホール用の物でも、穴には通さずに取り付けた方がダイヤル取り付け時に安定します。 + +抵抗については前述の通り調整に依存しますが、標準では`(SENSOR)`側は未実装、`(LED)`側に330Ωの抵抗を取り付ける事を推奨します。 + +また、1x5のピンヘッダーについては、L字の物を使うとケースにうまく収まります。 + +組立時には`⇧Center`マークに注意してください。ダイヤル内周側が矢印の方向になります。 + +## 1ダイヤル版 + +センサー基板以外は市販の汎用部品を使う入門版です。 + +### 部品 + +- Raspberry Pi Pico: 1個 +- センサー基板（3bit実装）: 2個 +- [ユニポーラー ステッピングモーター 28BYJ-48 5V](https://akizukidenshi.com/catalog/g/g113256/): + 1個 +- [ステッピングモータドライブモジュール [M2003S]](https://www.aitendo.com/product/12366): 1個 +- 配線材: 適宜 + +### 組み立て + +#### センサー基板 + +各ダイヤル版共通で説明したセンサー基板を、3bit実装で2つ組み立てます。 1つを`SENSOR L`、もう1つを`SENSOR H`と呼ぶことにします。 + +実験時に使用したもので見本としては綺麗なものではありませんが、スルーホール型の抵抗とチップ抵抗それぞれの実装例がこちらになります。 + +![Sensor PCB Pair](../images/sensor_pair.webp) + +それぞれに基板のピンヘッダーには`V`、`1`、`2`、`3`、`G`の5つの端子があります。 +このうち`V`は3.3V電源へ繋ぐのですが、今回利用するRaspberry Pi +Picoには3.3V出力端子は1つしかありませんので、写真の赤い配線のように基板上で`V`が通っている端子ペアを接続します。 +センサー基板の説明で上げた図において`V`と書かれた長方形の内側にある端子、つまり抵抗用パターンのうち外側の6箇所が`V`になっています。 + +上側のセンサー基板が`SENSOR L`で内周側、下側のセンサー基板が`SENSOR H`で外周側になります。 +`V`を相互接続したので、一番上の最も内側にあたる端子の`V`は今回接続不要となります。 + +#### ステッピングモータドライブモジュール + +![Motor Driver](../images/motor_driver.webp) + +Raspberry Pi +PicoのGPIOでは直接モーターをドライブできないため、1ダイヤル版では市販のドライブモジュールを流用します。シンクタイプのドライバなら今回指定したもの以外でも構いませんし、9ダイヤル版の回路を参考に自作する事も可能です。 + +今回参考に上げた物を例にすると、緑で囲んだ`IN1`〜`IN4`がRaspberry Pi +Picoからの出力の`1`〜`4`を受ける端子になります。黒で囲んだ`GND`と赤で囲んだ`VCC`がそれぞれ`G`と`V`です。 +モーターの方はUSBバスから5Vの電源をRaspberry Pi +Pico経由で引き込みます。0.3Aくらい必要となるため、1ダイヤル版のファームウェアではUSB microでの上限である0.5Aを要求しています。 + +白い端子はステッピングモータとの接続に使います。 + +#### Raspberry Pi Pico + +![Raspberry Pi Pico - Pin Headers](../images/pico_pinheader.webp) + +市販のRaspberry Pi Picoに対して、写真のようにL字のピンヘッダーを取り付けます。 +写真で下の方にあるDEBUG用のピン3つについては、ファームウェアの開発とデバッグが必要な場合のみで構いませんので、お好みで取り付けてください。 + +![Raspberry Pi Pico - Pin Out](../images/pico_pinout.webp) + +1ダイヤル版で使うピンについては、図のような割り当てになっています。この図に従って、SENSOR L、SENSOR +H、MOTORと接続します。デバッグ時の標準出力をUARTから出力する場合はTXから出力されます。 + +### ファームウェア書き込み + +Raspberry Pi Picoの一般的な方法に従います。Raspberry Pi +Pico基板上の`BOOT`ボタンを押しながらPCに接続すると`RPI-RP2`という名前のドライブが出現するので、`firmware/prebuilt/one_dial.uf2`をこのドライブの中にコピーします。正しく書き込みができた場合ドライブが消えます。OSによって警告が表示されますが問題ありません。これ以降、このデバイスを`BOOT`ボタンを押さずにPCに接続した場合は、USBキーボードとして認識されるようになります。 + +## 9ダイヤル版 + +### 部品 + +- メイン基板: 1個 +- センサー基板（3bit実装）: 6個 +- センサー基板（2bit実装）: 4個 +- センサー基板（1bit実装）: 1個 +- [ユニポーラー ステッピングモーター 28BYJ-48 5V](https://akizukidenshi.com/catalog/g/g113256/): + 9個 +- 配線材: 適宜 + +### メイン基板 + +#### 部品表 + +参照名 | 内容 | 数 +------------------------------------ | ----------------------- | --- +C101 | コンデンサ 10uF | 1 +C102-121,C202-208,C212,C302-308,C312 | コンデンサ 100nF | 36 +C201,C209,C301,C309 | コンデンサ 1uF | 4 +C210,C211,C310,C311 | コンデンサ 20pF | 4 +J102-103 | 2.54mmピッチ 1x3 ピンヘッダ | 2 +J106-J125 | 2.54mmピッチ 1x5 ピンヘッダ | 20 +J201,J301 | USB TYPE C Receptacle | 2 +R201-202,R301-302 | 抵抗 27.4Ω | 4 +R203-204,R303-304 | 抵抗 5.1KΩ | 4 +R205,R207,R305,R307 | 抵抗 1KΩ | 4 +R206,R306 | 抵抗 10KΩ | 2 +SW101,SW201,SW301 | スイッチ | 3 +U101 | AMS1117 3.3V レギュレーター | 1 +U102-103,U105,U107,U109 | TBD62083AFNG | 5 +U104,U106,U108,U110 | 74HC238 | 4 +U201,U301 | RP2040 | 2 +U202,U302 | W25Q128JVS | 2 +Y201,Y301 | 12MHz Crystal Oscilator | 2 +N/A | ジャンパーピン | 2 + +#### 実装 + +現在、回路図まで公開しています。近日中にガーバーデータを公開しますのでお楽しみに！ + +![Coming Soon!!](../images/main_pcb_preview.webp) + +### 組み立て + +`SENSOR A-L`、`SENSOR A-H`、`SENSOR B`、`SENSOR C`、`SENSOR D`、`SENSOR E`、`SENSOR F`、`SENSOR G`、`SENSOR H`、`SENSOR I-L`、`SENSOR I-H`それぞれに、センサー基板との接続に用いる1x5のL字型ピンヘッダを取り付けます。 + +`MOTOR A`、`MOTOR B`、`MOTOR C`、`MOTOR D`、`MOTOR E`、`MOTOR F`、`MOTOR G`、`MOTOR H`、`MOTOR I`についてはモーターとの接続に用いる1x5のL字型ピンヘッダを取り付けます。 + +`U1 PWR U2`と書かれた箇所に1x3のピンヘッダを取り付け、ジャンパーピンで`U1`と`PWR`の位置をショートします。 + +`USB V_MTR ALT`と書かれた箇所に1x3のピンヘッダと取り付け、ジャンパーピンで`USB`と`V_MTR`の位置をショートします。 + +### センサー基板 + +[各ダイヤル版共通](#各ダイヤル版共通)の説明を参照して、合計11個のセンサー基板をそれぞれ以下の実装ビット幅で用意します。多めに実装する分には待機時消費電力の増加以外は問題ないので、全てを3ビット幅で用意してしまっても問題はありません。 + +参照名 | 実装ビット幅 +---------- | ------ +SENSOR A-L | 3 +SENSOR A-H | 3 +SENSOR B | 2 +SENSOR C | 3 +SENSOR D | 2 +SENSOR E | 3 +SENSOR F | 3 +SENSOR G | 2 +SENSOR H | 2 +SENSOR I-L | 3 +SENSOR I-H | 1 + +## フォトセンサーの調整について + +フォトセンサーの読み取り値は、ケース内での読み取りになるため大きな差は出にくいはずですが、3Dプリント素材の明るさの違いや、グレイコードを印刷した紙の質などによって違いが出てくる可能性があります。ダイヤルの読み取りが安定しない、回転が止まらないなどの症状が出ている場合にはセンサー値の変化範囲が想定内に収まっていない可能性がありますので、以下の点に注意してセンサーの調整をしてください。 + +### RP2040での読み取り + +センサーの値はGPIOでデジタル値として処理しています。そのため、3.3V稼働時にHIGHは2.0 - 3.3[V]、LOWは0.0 - +0.3[V]の範囲に収まるよう調整されている必要があります。 + +### LEDセンサー調整 + +LEDに流れる電流が少ないと発光も弱くなり、センサーで読み取る光量も不足します。そのため、読み取り値が高くなり、白と黒で電圧差がはっきりとでなくなってきます。その場合、`(LED)`と書かれた側にある3つの抵抗を弱いものに変えてみてください。標準では330Ωで調整していますが、今回用いているフォトセンサーRPR-220では40Ωくらいまで下げても定格内に収まります。ただし、待機時の消費電力に大きく影響しますので、可能なら読み取りセンサー側の抵抗で調整してください。 + +### 読み取りセンサー調整 + +読み取りセンサーのpull-up抵抗値を変える事で、読み取る電圧値をシフトさせる事ができます。ただし、大きく変えすぎるとやはり白と黒の電圧差が出にくくなります。`(SENSOR)`と書かれた側にある3つの抵抗を実装する事で調整できます。標準のファームウェアではRP2040のpull-upにより、およそ50-80KΩでpull-upされる事を期待しています。黒で十分に電圧が上がらない場合は、追加の抵抗でより強くpull-upすると良いでしょう。[ファームウェア開発ガイド](../firmware/README_ja.md)に従いRP2040のpull-upを無効化すると、ここに実装した抵抗がそのままpull-up抵抗になります。無効化しない場合は並列接続での合成抵抗でpull-upする事になります。計算が少し煩雑ですが、より強くpull-upする分にはファームウェアを変えずに追加の抵抗で並列でpull-upする方が簡単かもしれません。 diff --git a/mozc-dial/board/gerber/sensors.zip b/mozc-dial/board/gerber/sensors.zip new file mode 100644 index 0000000000000000000000000000000000000000..827f618d2811bf41ccfccb74cb0a4a7db0a2de21 GIT binary patch literal 30356 zcmZs?1yEeU(l(rg00DwS2oAwLxVt+9_uv-XWg)nGa9AwC-F=bZ!GgQn;tsp8{G0np 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ze!=2+RlFkz+%k)#3a`3bw}9O=AA`UpA4?SMmRLT9R7I^rObvhi?Z~eGeX~q3e)spk zHxD@<|8wiipXq + +namespace { + +constexpr uint8_t kBasePosition = 0; + +uint8_t ConvertGrayToBinary(uint8_t gray) { + uint8_t binary = gray; + uint8_t mask = gray >> 1; + + while (mask) { + binary ^= mask; + mask >>= 1; + } + return binary; +} + +} // namespace + +DialController::DialController() {} + +void DialController::Update(uint8_t sensor_gray_code) { + position_ = ConvertGrayToBinary(sensor_gray_code); + max_position_ = std::max(max_position_, position_); + if (position_ == kBasePosition && max_position_ != kBasePosition) { + decided_position_ = max_position_; + max_position_ = kBasePosition; + } +} + +bool DialController::IsBasePosition() const { + return position_ == kBasePosition; +} + +std::optional DialController::PopDecidedPosition() { + auto result = decided_position_; + decided_position_ = std::nullopt; + return result; +} \ No newline at end of file diff --git a/mozc-dial/firmware/common/dial_controller.h b/mozc-dial/firmware/common/dial_controller.h new file mode 100644 index 0000000..f2f2cfb --- /dev/null +++ b/mozc-dial/firmware/common/dial_controller.h @@ -0,0 +1,28 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_DIAL_CONTROLLER_H +#define COMMON_DIAL_CONTROLLER_H + +#include +#include + +class DialController { + public: + DialController(); + DialController(const DialController&) = delete; + DialController& operator=(const DialController&) = delete; + ~DialController() = default; + + void Update(uint8_t sensor_gray_code); + bool IsBasePosition() const; + std::optional PopDecidedPosition(); + + private: + uint8_t position_ = 0u; + uint8_t max_position_ = 0u; + std::optional decided_position_; +}; + +#endif // COMMON_DIAL_CONTROLLER_H \ No newline at end of file diff --git a/mozc-dial/firmware/common/motor_controller.cc b/mozc-dial/firmware/common/motor_controller.cc new file mode 100644 index 0000000..a567fc5 --- /dev/null +++ b/mozc-dial/firmware/common/motor_controller.cc @@ -0,0 +1,108 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "motor_controller.h" + +#include +#include + +#include "hardware/gpio.h" +#include "pico/time.h" + +static constexpr int kMotorStepIntervalInUs = 2000; + +// Activate 1 of 8 motor drivers in a specific step phase. +class MotorController::Decoder { + public: + Decoder(int8_t a0, int8_t a1, int8_t a2, int8_t en) + : a0_(a0), a1_(a1), a2_(a2), en_(en) { + for (int8_t gpio : {en, a0, a1, a2}) { + gpio_init(gpio); + gpio_set_dir(gpio, GPIO_OUT); + gpio_put(gpio, false); + } + } + Decoder(const Decoder&) = delete; + Decoder& operator=(const Decoder&) = delete; + ~Decoder() = default; + + void Select(uint8_t index) { + hard_assert(index < 8); + gpio_put(a0_, index & 1); + gpio_put(a1_, index & 2); + gpio_put(a2_, index & 4); + gpio_put(en_, true); + } + void Unselect() { gpio_put(en_, false); } + + private: + int8_t a0_; + int8_t a1_; + int8_t a2_; + int8_t en_; +}; + +// static +bool MotorController::OnAlarm(repeating_timer* t) { + static_cast(t->user_data)->Step(); + return true; +} + +MotorController::MotorController(Mode mode) { + if (mode == Mode::k9Motor) { + // Each decoder is responsible for a specific phase to driver 1 of 8 motor + // drivers. As we have 4 phases, it can drive 4 motors at the same time, and + // by time division multiplexing, we make them drive 8 motors. + decoder_[0] = std::make_unique(1, 2, 3, 4); + decoder_[1] = std::make_unique(5, 6, 7, 8); + decoder_[2] = std::make_unique(9, 10, 11, 12); + decoder_[3] = std::make_unique(13, 14, 15, 16); + } + + // 9th motor driver is controlled via GPIOs directly. + for (int8_t gpio : {17, 18, 19, 20}) { + gpio_init(gpio); + gpio_set_dir(gpio, GPIO_OUT); + gpio_put(gpio, false); + } + + add_repeating_timer_us(-kMotorStepIntervalInUs, OnAlarm, this, &timer_); +} + +MotorController::~MotorController() {} + +void MotorController::Start(uint8_t index) { + hard_assert(index < kNumOfMotors); + started_[index] = true; +} + +void MotorController::Stop(uint8_t index) { + hard_assert(index < kNumOfMotors); + started_[index] = false; +} + +void MotorController::Step() { + // Drive first 4 motor drivers in even phases, and later 4 ones in odd + // phases. + size_t start_index = (phase_ & 1) ? kNumOfPhases : 0; + size_t half_phase = phase_ >> 1; + for (size_t i = start_index; i < start_index + kNumOfPhases; ++i) { + if (!decoder_[i]) { + continue; + } + if (started_[i]) { + decoder_[(i + half_phase) % kNumOfPhases]->Select(i); + } else { + decoder_[(i + half_phase) % kNumOfPhases]->Unselect(); + } + } + // Drive the last 9th motor drivers. + bool on = started_[8] && phase_ & 1; + gpio_put(17, on && half_phase == 0); + gpio_put(18, on && half_phase == 1); + gpio_put(19, on && half_phase == 2); + gpio_put(20, on && half_phase == 3); + + phase_ = (phase_ + 7) % 8; +} \ No newline at end of file diff --git a/mozc-dial/firmware/common/motor_controller.h b/mozc-dial/firmware/common/motor_controller.h new file mode 100644 index 0000000..0bef2e1 --- /dev/null +++ b/mozc-dial/firmware/common/motor_controller.h @@ -0,0 +1,38 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_MOTOR_CONTROLLER_H_ +#define COMMON_MOTOR_CONTROLLER_H_ + +#include +#include + +#include "pico/time.h" + +class MotorController final { + public: + enum class Mode { k1Motor, k9Motor }; + explicit MotorController(Mode = Mode::k9Motor); + MotorController(const MotorController&) = delete; + MotorController& operator=(const MotorController&) = delete; + ~MotorController(); + + void Start(uint8_t index); + void Stop(uint8_t index); + + private: + class Decoder; + + static bool OnAlarm(repeating_timer* t); + void Step(); + + static constexpr size_t kNumOfPhases = 4; + static constexpr size_t kNumOfMotors = 9; + std::unique_ptr decoder_[kNumOfPhases]; + bool started_[kNumOfMotors] = { false }; + uint8_t phase_ = 0; + repeating_timer timer_; +}; + +#endif // COMMON_MOTOR_CONTROLLER_H_ \ No newline at end of file diff --git a/mozc-dial/firmware/common/photo_sensor.cc b/mozc-dial/firmware/common/photo_sensor.cc new file mode 100644 index 0000000..0b9711d --- /dev/null +++ b/mozc-dial/firmware/common/photo_sensor.cc @@ -0,0 +1,32 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "photo_sensor.h" + +#include "hardware/gpio.h" + +PhotoSensor::PhotoSensor(int8_t bit0, + int8_t bit1, + int8_t bit2, + int8_t bit3, + int8_t bit4, + int8_t bit5) + : bits({bit0, bit1, bit2, bit3, bit4, bit5}) { + for (int8_t gpio : bits) { + gpio_init(gpio); + gpio_set_dir(gpio, GPIO_IN); + gpio_pull_up(gpio); // Built-in 50-80K pull-up + } +} + +uint8_t PhotoSensor::Read() { + uint8_t value = 0; + for (size_t bit = 0; bit < bits.size(); ++bit) { + if (bits[bit] == kNotUsed) { + break; + } + value |= gpio_get(bits[bit]) ? (1 << bit) : 0; + } + return value; +} \ No newline at end of file diff --git a/mozc-dial/firmware/common/photo_sensor.h b/mozc-dial/firmware/common/photo_sensor.h new file mode 100644 index 0000000..6fe6efa --- /dev/null +++ b/mozc-dial/firmware/common/photo_sensor.h @@ -0,0 +1,33 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_PHOTO_SENSOR_H_ +#define COMMON_PHOTO_SENSOR_H_ + +#include +#include +#include + +class PhotoSensor final { + public: + PhotoSensor(int8_t bit0, + int8_t bit1 = kNotUsed, + int8_t bit2 = kNotUsed, + int8_t bit3 = kNotUsed, + int8_t bit4 = kNotUsed, + int8_t bit5 = kNotUsed); + PhotoSensor(const PhotoSensor&) = delete; + PhotoSensor& operator=(const PhotoSensor&) = delete; + ~PhotoSensor() = default; + + uint8_t Read(); + + private: + static constexpr int8_t kNotUsed = -1; + static constexpr size_t kMaxWidth = 6; + + std::array bits; +}; + +#endif // COMMON_PHOTO_SENSOR_H_ \ No newline at end of file diff --git a/mozc-dial/firmware/common/usage_tables.cc b/mozc-dial/firmware/common/usage_tables.cc new file mode 100644 index 0000000..beb2baf --- /dev/null +++ b/mozc-dial/firmware/common/usage_tables.cc @@ -0,0 +1,145 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "usage_tables.h" + +namespace usage_tables { + +const std::vector a = { + 0x00, // no input (blank area between the base and the first position) + 0x2f, // @ + 0x34, // : + 0x87, // _ + 0x13, // p + 0x33, // ; + 0x38, // / + 0x12, // o + 0x0f, // l + 0x37, // . + 0x0c, // i + 0x0e, // k + 0x36, // , + 0x18, // u + 0x0d, // j + 0x10, // m + 0x1c, // y + 0x0b, // h + 0x11, // n + 0x17, // t + 0x0a, // g + 0x05, // b + 0x15, // r + 0x09, // f + 0x19, // v + 0x08, // e + 0x07, // d + 0x06, // c + 0x1a, // w + 0x16, // s + 0x1b, // x + 0x14, // q + 0x04, // a + 0x1d, // z + 0x39, // + 0x2c, // +}; +const std::vector fn_a = {}; +const std::vector modifier_a = {}; + +const std::vector b = { + 0x2e, // ^ (~) + 0x29, // + 0x2b, // +}; +const std::vector fn_b = {}; +const std::vector modifier_b = {}; + +const std::vector c = { + 0x00, // + 0x00, // + 0x00, // + 0x00, // +}; +const std::vector fn_c = {}; +const std::vector modifier_c = { + kModifierLeftShift, + kModifierLeftCtrl, + kModifierLeftAlt, + kModifierLeftGUI, +}; + +const std::vector d = { + 0x00, // no input + 0x28, // +}; +const std::vector fn_d = {}; +const std::vector modifier_d = {}; + +const std::vector e = { + 0x00, // no input + 0x4d, // + 0x4e, // + 0x4b, // + 0x4a, // + 0x49, // + 0x4c, // +}; +const std::vector fn_e = {}; +const std::vector modifier_e = {}; + +const std::vector f = { + 0x00, // no input + 0x4f, // + 0x52, // + 0x50, // + 0x51, // +}; +const std::vector fn_f = {}; +const std::vector modifier_f = {}; + +const std::vector g = { + 0x55, // KP-* + 0x56, // KP-/ + 0x63, // KP-. +}; +const std::vector fn_g = {}; +const std::vector modifier_g = {}; + +const std::vector h = { + 0x57, // KP-+ + 0x56, // KP-- + 0x67, // KP-= +}; +const std::vector fn_h = {}; +const std::vector modifier_h = {}; + +const std::vector i = { + 0x00, // no input + 0x26, // 9 + 0x25, // 8 + 0x24, // 7 + 0x23, // 6 + 0x22, // 5 + 0x21, // 4 + 0x20, // 3 + 0x1f, // 2 + 0x1e, // 1 + 0x27, // 0 +}; +const std::vector fn_i = { + 0x00, // no input + 0x42, // F9 + 0x41, // F8 + 0x40, // F7 + 0x3f, // F6 + 0x3e, // F5 + 0x3d, // F4 + 0x3c, // F3 + 0x3b, // F2 + 0x3a, // F1 + 0x43, // F10 +}; +const std::vector modifier_i = {}; + +} // namespace usage_tables \ No newline at end of file diff --git a/mozc-dial/firmware/common/usage_tables.h b/mozc-dial/firmware/common/usage_tables.h new file mode 100644 index 0000000..390533a --- /dev/null +++ b/mozc-dial/firmware/common/usage_tables.h @@ -0,0 +1,54 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_USAGE_TABLES_ +#define COMMON_USAGE_TABLES_ + +#include +#include + +namespace usage_tables { + +static constexpr uint8_t kModifierLeftCtrl = (1 << 0); +static constexpr uint8_t kModifierLeftShift = (1 << 1); +static constexpr uint8_t kModifierLeftAlt = (1 << 2); +static constexpr uint8_t kModifierLeftGUI = (1 << 3); +static constexpr uint8_t kModifierRightCtrl = (1 << 4); +static constexpr uint8_t kModifierRightShift = (1 << 5); +static constexpr uint8_t kModifierRightAlt = (1 << 6); +static constexpr uint8_t kModifierRightGUI = (1 << 7); + +extern const std::vector a; +extern const std::vector b; +extern const std::vector c; +extern const std::vector d; +extern const std::vector e; +extern const std::vector f; +extern const std::vector g; +extern const std::vector h; +extern const std::vector i; + +extern const std::vector fn_a; +extern const std::vector fn_b; +extern const std::vector fn_c; +extern const std::vector fn_d; +extern const std::vector fn_e; +extern const std::vector fn_f; +extern const std::vector fn_g; +extern const std::vector fn_h; +extern const std::vector fn_i; + +extern const std::vector modifier_a; +extern const std::vector modifier_b; +extern const std::vector modifier_c; +extern const std::vector modifier_d; +extern const std::vector modifier_e; +extern const std::vector modifier_f; +extern const std::vector modifier_g; +extern const std::vector modifier_h; +extern const std::vector modifier_i; + +} // namespace usage_tables + +#endif // COMMON_USAGE_TABLES_ \ No newline at end of file diff --git a/mozc-dial/firmware/common/usb_device.cc b/mozc-dial/firmware/common/usb_device.cc new file mode 100644 index 0000000..e688369 --- /dev/null +++ b/mozc-dial/firmware/common/usb_device.cc @@ -0,0 +1,353 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "usb_device.h" + +#include +#include +#include + +#include "hardware/irq.h" +#include "hardware/regs/usb.h" +#include "hardware/resets.h" +#include "hardware/structs/usb.h" +#include "pico/types.h" + +namespace { + +constexpr uint8_t kControlEndpoint = 0u; + +UsbDevice* sUsbDevice = nullptr; + +} // namespace + +extern "C" void isr_usbctrl(void) { + UsbDevice::HandleInterrupt(); +} + +// static +void UsbDevice::HandleInterrupt() { + uint32_t status = usb_hw->ints; + + if (status & USB_INTS_SETUP_REQ_BITS) { + static_cast(hw_clear_alias_untyped(usb_hw))->sie_status = + USB_SIE_STATUS_SETUP_REC_BITS; + sUsbDevice->HandleSetupRequest(); + } + if (status & USB_INTS_BUFF_STATUS_BITS) { + sUsbDevice->HandleBufferStatus(); + } + if (status & USB_INTS_BUS_RESET_BITS) { + static_cast(hw_clear_alias_untyped(usb_hw))->sie_status = + USB_SIE_STATUS_BUS_RESET_BITS; + sUsbDevice->HandleBusReset(); + } +} + +UsbDevice::UsbDevice( + const DeviceDescriptor& device_descriptor, + const ConfigurationDescriptor& configuration_descriptor, + const std::vector& interface_descriptors, + const std::vector& endpoint_descriptors, + const std::vector& strings) + : device_descriptor_(device_descriptor), + configuration_descriptor_(configuration_descriptor), + interface_descriptors_(interface_descriptors), + endpoint_descriptors_(endpoint_descriptors), + strings_(strings) { + hard_assert(sUsbDevice == nullptr); + sUsbDevice = this; + + reset_unreset_block_num_wait_blocking(RESET_USBCTRL); + memset(usb_dpram, 0, sizeof(*usb_dpram)); + + irq_set_enabled(USBCTRL_IRQ, true); + + usb_hw->muxing = USB_USB_MUXING_TO_PHY_BITS | USB_USB_MUXING_SOFTCON_BITS; + usb_hw->pwr = + USB_USB_PWR_VBUS_DETECT_BITS | USB_USB_PWR_VBUS_DETECT_OVERRIDE_EN_BITS; + usb_hw->main_ctrl = USB_MAIN_CTRL_CONTROLLER_EN_BITS; + usb_hw->sie_ctrl = USB_SIE_CTRL_EP0_INT_1BUF_BITS; + usb_hw->inte = USB_INTS_BUFF_STATUS_BITS | USB_INTS_BUS_RESET_BITS | + USB_INTS_SETUP_REQ_BITS; + + sending_data_.push_back(std::span()); + receiving_data_.push_back(std::span()); + + uint32_t dpram_offset = offsetof(usb_device_dpram_t, epx_data); + for (size_t i = 0; i < endpoint_descriptors_.size(); ++i) { + uint32_t control = + EP_CTRL_ENABLE_BITS | EP_CTRL_INTERRUPT_PER_BUFFER | + (endpoint_descriptors_[i].bmAttributes << EP_CTRL_BUFFER_TYPE_LSB) | + dpram_offset; + if (endpoint_descriptors_[i].bEndpointAddress & kDirIn) { + usb_dpram->ep_ctrl[i].in = control; + } else { + usb_dpram->ep_ctrl[i].out = control; + } + dpram_offset += endpoint_descriptors_[i].wMaxPacketSize; + sending_data_.push_back(std::span()); + receiving_data_.push_back(std::span()); + } + size_t endpoints = sending_data_.size(); + in_next_pid_.resize(endpoints); + out_next_pid_.resize(endpoints); + + static_cast(hw_set_alias_untyped(usb_hw))->sie_ctrl = + USB_SIE_CTRL_PULLUP_EN_BITS; +} + +void UsbDevice::FillConfigurations(std::vector& buffer) { + buffer.clear(); + buffer.reserve(configuration_descriptor_.wTotalLength); + std::span config_span( + reinterpret_cast(&configuration_descriptor_), + sizeof(configuration_descriptor_)); + buffer.insert(buffer.end(), config_span.begin(), config_span.end()); + for (const auto& interface_descriptor : interface_descriptors_) { + std::span interface_span( + reinterpret_cast(&interface_descriptor), + sizeof(interface_descriptor)); + buffer.insert(buffer.end(), interface_span.begin(), interface_span.end()); + } + for (const auto& endpoint_descriptor : endpoint_descriptors_) { + std::span endpoint_span( + reinterpret_cast(&endpoint_descriptor), + sizeof(endpoint_descriptor)); + buffer.insert(buffer.end(), endpoint_span.begin(), endpoint_span.end()); + } +} + +void UsbDevice::GetDescriptor(volatile SetupPacket* setup) { + uint8_t type = setup->wValue >> 8; + switch (type) { + case kDescriptorTypeDevice: + Send(kControlEndpoint, std::span( + reinterpret_cast(&device_descriptor_), + std::min(sizeof(device_descriptor_), + static_cast(setup->wLength)))); + break; + case kDescriptorTypeConfiguration: { + FillConfigurations(setup_buffer_); + Send(kControlEndpoint, std::span( + setup_buffer_.data(), + std::min(setup_buffer_.size(), + static_cast(setup->wLength)))); + break; + } + case kDescriptorTypeString: { + uint8_t index = setup->wValue & 0xff; + setup_buffer_.clear(); + if (index == 0) { + setup_buffer_.reserve(4); + setup_buffer_.push_back(0x04); + setup_buffer_.push_back(kDescriptorTypeString); + setup_buffer_.push_back(0x09); + setup_buffer_.push_back(0x04); + } else if (index <= strings_.size()) { + size_t size = strings_[index - 1].size() * 2 + 2; + setup_buffer_.reserve(size); + setup_buffer_.push_back(size); + setup_buffer_.push_back(kDescriptorTypeString); + for (size_t i = 0; i < strings_[index - 1].size(); ++i) { + setup_buffer_.push_back(strings_[index - 1][i]); + setup_buffer_.push_back(0); + } + } else { + setup_buffer_.reserve(2); + setup_buffer_.push_back(0x02); + setup_buffer_.push_back(kDescriptorTypeString); + } + Send(kControlEndpoint, std::span( + setup_buffer_.data(), + std::min(setup_buffer_.size(), + static_cast(setup->wLength)))); + break; + } + default: + printf("unsupported get descriptor: $%02x\n", type); + break; + } +} + +// Note: better to return STALL on unsupported requests. +void UsbDevice::HandleSetupRequest(volatile SetupPacket* setup) { + uint8_t type = + setup->bmRequestType & ~(kRecipientInterface | kRecipientEndPoint); + if (type == kDirOut) { + switch (setup->bRequest) { + case kRequestClearFeature: + AcknowledgeOutRequest(); + break; + case kRequestSetAddress: + SetAddress(setup); + break; + case kRequestSetConfiguration: + SetConfiguration(setup); + break; + default: + printf("unsupported setup out: $%02x\n", setup->bRequest); + break; + } + } else if (type == kDirIn) { + switch (setup->bRequest) { + case kRequestGetDescriptor: + GetDescriptor(setup); + break; + default: + printf("unsupported setup in: $%02x\n", setup->bRequest); + break; + } + } +} + +void UsbDevice::AcknowledgeOutRequest() { + Send(kControlEndpoint, std::span({})); +} + +void UsbDevice::Send(uint8_t endpoint, std::span data) { + if (endpoint == kControlEndpoint) { + in_next_pid_[endpoint] = 1u; + } + sending_data_[endpoint] = data; + SendInternal(endpoint); +} + +void UsbDevice::Receive(uint8_t endpoint, std::span data) { + receiving_data_[endpoint] = data; + out_next_pid_[endpoint] = 1u; + ReceiveInternal(endpoint); +} + +void UsbDevice::SendInternal(uint8_t endpoint) { + size_t transfer_size = std::min(sending_data_[endpoint].size(), GetMaxPacketSize(endpoint)); + uint8_t* buffer = GetTransferBuffer(endpoint); + memcpy(buffer, sending_data_[endpoint].data(), transfer_size); + uint32_t pid = + in_next_pid_[endpoint] ? USB_BUF_CTRL_DATA1_PID : USB_BUF_CTRL_DATA0_PID; + in_next_pid_[endpoint] ^= 1u; + usb_dpram->ep_buf_ctrl[endpoint].in = + transfer_size | USB_BUF_CTRL_AVAIL | USB_BUF_CTRL_FULL | pid; + + size_t remaining_size = sending_data_[endpoint].size() - transfer_size; + if (remaining_size) { + sending_data_[endpoint] = + std::span(&sending_data_[endpoint][transfer_size], remaining_size); + } else { + sending_data_[endpoint] = std::span(); + } +} + +void UsbDevice::ReceiveInternal(uint8_t endpoint) { + size_t transfer_size = std::min(receiving_data_[endpoint].size(), GetMaxPacketSize(endpoint)); + uint32_t pid = + out_next_pid_[endpoint] ? USB_BUF_CTRL_DATA1_PID : USB_BUF_CTRL_DATA0_PID; + usb_dpram->ep_buf_ctrl[endpoint].out = + transfer_size | USB_BUF_CTRL_AVAIL | pid; +} + +void UsbDevice::HandleSetupRequest() { + volatile SetupPacket* setup = + reinterpret_cast(&usb_dpram->setup_packet); + HandleSetupRequest(setup); +} + +void UsbDevice::HandleBufferStatus() { + uint32_t status = usb_hw->buf_status; + uint8_t endpoint_bits = (1 + endpoint_descriptors_.size()) * 2; + for (uint8_t i = 0; i < endpoint_bits; ++i) { + uint32_t bit = 1 << i; + uint8_t endpoint = i >> 1; + bool out = i & 1; + if ((status & bit) == 0) { + continue; + } + static_cast(hw_clear_alias_untyped(usb_hw))->buf_status = bit; + if (out) { + OnReceived(endpoint, + usb_dpram->ep_buf_ctrl[endpoint].out & USB_BUF_CTRL_LEN_MASK); + } else { + OnSent(endpoint, + usb_dpram->ep_buf_ctrl[endpoint].in & USB_BUF_CTRL_LEN_MASK); + } + } +} + +void UsbDevice::HandleBusReset() { + address_ = 0; + ready_ = false; + usb_hw->dev_addr_ctrl = 0; + should_set_address_ = false; + for (auto& data : sending_data_) { + data = std::span(); + } + for (auto& data : receiving_data_) { + data = std::span(); + } +} + +void UsbDevice::OnSent(uint8_t endpoint, uint32_t length) { + if (should_set_address_) { + usb_hw->dev_addr_ctrl = address_; + should_set_address_ = false; + } else if (length == 0) { + return; + } else if (sending_data_[endpoint].empty()) { + Receive(endpoint, {}); + OnCompleteToSend(endpoint); + } else { + SendInternal(endpoint); + } +} + +void UsbDevice::OnReceived(uint8_t endpoint, uint32_t length) { + if (length == 0) { + return; + } + size_t receive_size = + std::min(receiving_data_[endpoint].size(), static_cast(length)); + uint8_t* buffer = GetTransferBuffer(endpoint); + memcpy(receiving_data_[endpoint].data(), buffer, receive_size); + size_t remaining_size = receiving_data_[endpoint].size() - receive_size; + if (remaining_size) { + receiving_data_[endpoint] = + std::span(&receiving_data_[endpoint][receive_size], remaining_size); + ReceiveInternal(endpoint); + } else { + receiving_data_[endpoint] = std::span(); + Send(endpoint, {}); + } +} + +void UsbDevice::SetAddress(volatile SetupPacket* setup) { + address_ = setup->wValue & 0xff; + should_set_address_ = true; + AcknowledgeOutRequest(); +} + +void UsbDevice::SetConfiguration(volatile SetupPacket* setup) { + ready_ = true; + AcknowledgeOutRequest(); +} + +size_t UsbDevice::GetMaxPacketSize(uint8_t endpoint) { + if (endpoint == kControlEndpoint) { + return device_descriptor_.bMaxPacketSize0; + } else if (endpoint <= endpoint_descriptors_.size()) { + return endpoint_descriptors_[endpoint - 1].wMaxPacketSize; + } + hard_assert(false); + return 0; +} + +uint8_t* UsbDevice::GetTransferBuffer(uint8_t endpoint) { + if (endpoint == kControlEndpoint) { + return usb_dpram->ep0_buf_a; + } + uint8_t* buffer = usb_dpram->epx_data; + for (size_t i = 1; i < endpoint; ++i) { + buffer += endpoint_descriptors_[i].wMaxPacketSize; + } + return buffer; +} \ No newline at end of file diff --git a/mozc-dial/firmware/common/usb_device.h b/mozc-dial/firmware/common/usb_device.h new file mode 100644 index 0000000..4f31bfa --- /dev/null +++ b/mozc-dial/firmware/common/usb_device.h @@ -0,0 +1,145 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_USB_DEVICE_H_ +#define COMMON_USB_DEVICE_H_ + +#include +#include +#include +#include + +class UsbDevice { + public: + struct SetupPacket { + uint8_t bmRequestType; + uint8_t bRequest; + uint16_t wValue; + uint16_t wIndex; + uint16_t wLength; + } __attribute__((packed)); + + struct DeviceDescriptor { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t bcdUSB; + uint8_t bDeviceClass; + uint8_t bDeviceSubClass; + uint8_t bDeviceProtocol; + uint8_t bMaxPacketSize0; + uint16_t idVendor; + uint16_t idProduct; + uint16_t bcdDevice; + uint8_t iManufacturer; + uint8_t iProduct; + uint8_t iSerialNumber; + uint8_t bNumConfigurations; + } __attribute__((packed)); + + struct ConfigurationDescriptor { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t wTotalLength; + uint8_t bNumInterfaces; + uint8_t bConfigurationValue; + uint8_t iConfiguration; + uint8_t bmAttributes; + uint8_t bMaxPower; + } __attribute__((packed)); + + struct InterfaceDescriptor { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bInterfaceNumber; + uint8_t bAlternateSetting; + uint8_t bNumEndpoints; + uint8_t bInterfaceClass; + uint8_t bInterfaceSubClass; + uint8_t bInterfaceProtocol; + uint8_t iInterface; + } __attribute__((packed)); + + struct EndPointDescriptor { + uint8_t bLength; + uint8_t bDescriptorType; + uint8_t bEndpointAddress; + uint8_t bmAttributes; + uint16_t wMaxPacketSize; + uint8_t bInterval; + } __attribute__((packed)); + + static constexpr uint8_t kDirOut = 0x00u; + static constexpr uint8_t kDirIn = 0x80u; + static constexpr uint8_t kTypeClass = 0x20; + static constexpr uint8_t kRecipientInterface = 0x01; + static constexpr uint8_t kRecipientEndPoint = 0x02; + + static constexpr uint8_t kRequestClearFeature = 0x01u; + static constexpr uint8_t kRequestSetAddress = 0x05u; + static constexpr uint8_t kRequestGetDescriptor = 0x06u; + static constexpr uint8_t kRequestSetConfiguration = 0x09u; + + static constexpr uint8_t kDescriptorTypeDevice = 0x01u; + static constexpr uint8_t kDescriptorTypeConfiguration = 0x02u; + static constexpr uint8_t kDescriptorTypeString = 0x03u; + static constexpr uint8_t kDescriptorTypeInterface = 0x04u; + static constexpr uint8_t kDescriptorTypeEndPoint = 0x05u; + + static constexpr uint8_t kEndPointAttributeInterrupt = 0x03u; + + static void HandleInterrupt(); + + UsbDevice(const DeviceDescriptor& device_descriptor, + const ConfigurationDescriptor& configuration_descriptor, + const std::vector& interface_descriptors, + const std::vector& endpoint_descriptors, + const std::vector& strings); + UsbDevice(const UsbDevice&) = delete; + UsbDevice& operator=(const UsbDevice&) = delete; + virtual ~UsbDevice() = default; + + protected: + virtual void FillConfigurations(std::vector& buffer); + virtual void GetDescriptor(volatile SetupPacket* setup); + virtual void HandleSetupRequest(volatile SetupPacket* setup); + virtual void OnCompleteToSend(uint8_t endpoint) {}; + + void AcknowledgeOutRequest(); + void Send(uint8_t endpoint, std::span data); + void Receive(uint8_t endpoint, std::span data); + + private: + void HandleSetupRequest(); + void HandleBufferStatus(); + void HandleBusReset(); + + void SendInternal(uint8_t endpoint); + void ReceiveInternal(uint8_t endpoint); + + void OnSent(uint8_t endpoint, uint32_t length); + void OnReceived(uint8_t endpoint, uint32_t length); + + void SetAddress(volatile SetupPacket*); + void SetConfiguration(volatile SetupPacket*); + + size_t GetMaxPacketSize(uint8_t endpoint); + uint8_t* GetTransferBuffer(uint8_t endpoint); + + const DeviceDescriptor& device_descriptor_; + const ConfigurationDescriptor& configuration_descriptor_; + const std::vector& interface_descriptors_; + const std::vector& endpoint_descriptors_; + const std::vector& strings_; + + uint8_t address_ = 0; + bool should_set_address_ = false; + bool ready_ = false; + std::vector in_next_pid_ = {0u}; + std::vector out_next_pid_ = {0u}; + std::vector setup_buffer_; + std::vector> sending_data_; + std::vector> receiving_data_; +}; + +#endif // COMMON_USB_DEVICE_H_ \ No newline at end of file diff --git a/mozc-dial/firmware/common/usb_hid_device.cc b/mozc-dial/firmware/common/usb_hid_device.cc new file mode 100644 index 0000000..6c73365 --- /dev/null +++ b/mozc-dial/firmware/common/usb_hid_device.cc @@ -0,0 +1,94 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "usb_hid_device.h" + +UsbHidDevice::UsbHidDevice( + const DeviceDescriptor& device_descriptor, + const ConfigurationDescriptor& configuration_descriptor, + const std::vector& interface_descriptors, + const std::vector& endpoint_descriptors, + const HidDescriptor& hid_descriptor, + const std::vector& report_descriptor, + const std::vector& strings) + : UsbDevice(device_descriptor, + configuration_descriptor, + interface_descriptors, + endpoint_descriptors, + strings), + configuration_descriptor_(configuration_descriptor), + interface_descriptors_(interface_descriptors), + endpoint_descriptors_(endpoint_descriptors), + hid_descriptor_(hid_descriptor), + report_descriptor_(report_descriptor) {} + +void UsbHidDevice::Report(uint8_t endpoint, std::span report) { + Send(endpoint, report); +} + +void UsbHidDevice::FillConfigurations(std::vector& buffer) { + buffer.clear(); + buffer.reserve(configuration_descriptor_.wTotalLength); + std::span config_span( + reinterpret_cast(&configuration_descriptor_), + sizeof(configuration_descriptor_)); + buffer.insert(buffer.end(), config_span.begin(), config_span.end()); + for (const auto& interface_descriptor : interface_descriptors_) { + std::span interface_span( + reinterpret_cast(&interface_descriptor), + sizeof(interface_descriptor)); + buffer.insert(buffer.end(), interface_span.begin(), interface_span.end()); + } + std::span hid_span( + reinterpret_cast(&hid_descriptor_), + sizeof(hid_descriptor_)); + buffer.insert(buffer.end(), hid_span.begin(), hid_span.end()); + for (const auto& endpoint_descriptor : endpoint_descriptors_) { + std::span endpoint_span( + reinterpret_cast(&endpoint_descriptor), + sizeof(endpoint_descriptor)); + buffer.insert(buffer.end(), endpoint_span.begin(), endpoint_span.end()); + } +} + +void UsbHidDevice::GetDescriptor(volatile SetupPacket* setup) { + uint8_t type = setup->wValue >> 8; + switch (type) { + case UsbHidDevice::kDescriptorTypeReport: + Send(0, std::span(report_descriptor_)); + break; + default: + UsbDevice::GetDescriptor(setup); + break; + } +} + +void UsbHidDevice::HandleSetupRequest(volatile SetupPacket* setup) { + uint8_t type = + setup->bmRequestType & ~(kRecipientInterface | kRecipientEndPoint); + if (type == (kDirOut | kTypeClass)) { + switch (setup->bRequest) { + case kHidRequestSetReport: + receive_buffer_.resize(setup->wLength); + Receive(0, receive_buffer_); + break; + case kHidRequestSetIdle: + AcknowledgeOutRequest(); + break; + case kHidRequestSetProtocol: + printf("set protocol: %s\n", setup->wValue ? "report" : "boot"); + AcknowledgeOutRequest(); + break; + default: + AcknowledgeOutRequest(); + printf("unsupported HID class setup out: $%02x\n", setup->bRequest); + break; + } + } else if (type == (kDirIn | kTypeClass)) { + AcknowledgeOutRequest(); + printf("unsupported HID class setup in: $%02x\n", setup->bRequest); + } else { + UsbDevice::HandleSetupRequest(setup); + } +} \ No newline at end of file diff --git a/mozc-dial/firmware/common/usb_hid_device.h b/mozc-dial/firmware/common/usb_hid_device.h new file mode 100644 index 0000000..0cd10b1 --- /dev/null +++ b/mozc-dial/firmware/common/usb_hid_device.h @@ -0,0 +1,60 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_USB_HID_DEVICE_H_ +#define COMMON_USB_HID_DEVICE_H_ + +#include "usb_device.h" + +#include +#include +#include + +class UsbHidDevice : public UsbDevice { + public: + struct HidDescriptor { + uint8_t bLength; + uint8_t bDescriptorType; + uint16_t bcdHID; + uint8_t bCountryCode; + uint8_t bNumDescriptors; + uint8_t bReportDescriptorType; + uint16_t wDescriptorLength; + } __attribute__((packed)); + + static constexpr uint8_t kHidRequestSetReport = 0x09u; + static constexpr uint8_t kHidRequestSetIdle = 0x0au; + static constexpr uint8_t kHidRequestSetProtocol = 0x0bu; + + static constexpr uint8_t kDescriptorTypeHid = 0x21u; + static constexpr uint8_t kDescriptorTypeReport = 0x22u; + + UsbHidDevice(const DeviceDescriptor& device_descriptor, + const ConfigurationDescriptor& configuration_descriptor, + const std::vector& interface_descriptors, + const std::vector& endpoint_descriptors, + const HidDescriptor& hid_descriptor, + const std::vector& report_descriptor, + const std::vector& strings); + UsbHidDevice(const UsbHidDevice&) = delete; + UsbHidDevice& operator=(const UsbHidDevice&) = delete; + ~UsbHidDevice() override = default; + + void Report(uint8_t endpoint, std::span report); + + private: + // Implement UsbDevice. + void FillConfigurations(std::vector& buffer) override; + void GetDescriptor(volatile SetupPacket* setup_packet) override; + void HandleSetupRequest(volatile SetupPacket* setup_packet) override; + + const ConfigurationDescriptor& configuration_descriptor_; + const std::vector& interface_descriptors_; + const std::vector& endpoint_descriptors_; + const HidDescriptor& hid_descriptor_; + const std::vector& report_descriptor_; + std::vector receive_buffer_; +}; + +#endif // COMMON_USB_HID_DEVICE_H_ diff --git a/mozc-dial/firmware/common/usb_hid_keyboard.cc b/mozc-dial/firmware/common/usb_hid_keyboard.cc new file mode 100644 index 0000000..b2b6101 --- /dev/null +++ b/mozc-dial/firmware/common/usb_hid_keyboard.cc @@ -0,0 +1,203 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "usb_hid_keyboard.h" + +namespace { + +constexpr uint8_t kManufacturerStringIndex = 1; +constexpr uint8_t kProductStringIndex = 2; +constexpr uint8_t kSerialNumberStringIndex = 3; + +constexpr uint8_t kModifierReportIndex = 0; +constexpr uint8_t kKeycodeReportIndex = 2; + +UsbDevice::DeviceDescriptor device_descriptor = { + .bLength = sizeof(UsbDevice::DeviceDescriptor), + .bDescriptorType = UsbDevice::kDescriptorTypeDevice, + .bcdUSB = 0x0110, + .bDeviceClass = 0, + .bDeviceSubClass = 0, + .bDeviceProtocol = 0, + .bMaxPacketSize0 = 64, + .idVendor = 0, + .idProduct = 0, + .bcdDevice = 0, + .iManufacturer = kManufacturerStringIndex, + .iProduct = kProductStringIndex, + .iSerialNumber = kSerialNumberStringIndex, + .bNumConfigurations = 1}; + +std::vector endpoint_descriptors = { + {.bLength = sizeof(UsbDevice::EndPointDescriptor), + .bDescriptorType = UsbDevice::kDescriptorTypeEndPoint, + .bEndpointAddress = UsbDevice::kDirIn | 1, + .bmAttributes = UsbDevice::kEndPointAttributeInterrupt, + .wMaxPacketSize = 64, + .bInterval = 10}, + {.bLength = sizeof(UsbDevice::EndPointDescriptor), + .bDescriptorType = UsbDevice::kDescriptorTypeEndPoint, + .bEndpointAddress = UsbDevice::kDirOut | 1, + .bmAttributes = UsbDevice::kEndPointAttributeInterrupt, + .wMaxPacketSize = 64, + .bInterval = 10}}; + +std::vector interface_descriptors = { + {.bLength = sizeof(UsbDevice::InterfaceDescriptor), + .bDescriptorType = UsbDevice::kDescriptorTypeInterface, + .bInterfaceNumber = 0, + .bAlternateSetting = 0, + .bNumEndpoints = static_cast(endpoint_descriptors.size()), + .bInterfaceClass = 3, // HID + .bInterfaceSubClass = 1, // Boot + .bInterfaceProtocol = 1, // Keyboard + .iInterface = 0}}; + +std::vector report_descriptor = { + 0x05, 0x01, /* USAGE_PAGE (Generic Desktop) */ + 0x09, 0x06, /* USAGE (Keyboard) */ + 0xa1, 0x01, /* COLLECTION (Application) */ + 0x05, 0x07, /* USAGE_PAGE (Keyboard) */ + 0x19, 0xe0, /* USAGE_MINIMUM (224) */ + 0x29, 0xe7, /* USAGE_MAXIMUM (231) */ + 0x15, 0x00, /* LOGICAL_MINIMUM (0) */ + 0x25, 0x01, /* LOGICAL_MAXIMUM (1) */ + 0x75, 0x01, /* REPORT_SIZE (1) */ + 0x95, 0x08, /* REPORT_COUNT (8) */ + 0x81, 0x02, /* INPUT (Data,Var,Abs); Modifier byte */ + 0x75, 0x08, /* REPORT_SIZE (8) */ + 0x95, 0x01, /* REPORT_COUNT (1) */ + 0x81, 0x01, /* INPUT (Constant); Reserved byte */ + 0x75, 0x01, /* REPORT_SIZE (1) */ + 0x95, 0x05, /* REPORT_COUNT (5) */ + 0x05, 0x08, /* USAGE_PAGE (LEDs) */ + 0x19, 0x01, /* USAGE_MINIMUM (1) */ + 0x29, 0x05, /* USAGE_MAXIMUM (5) */ + 0x91, 0x02, /* OUTPUT (Data,Var,Abs); LED report */ + 0x75, 0x03, /* REPORT_SIZE (3) */ + 0x95, 0x01, /* REPORT_COUNT (1) */ + 0x91, 0x01, /* OUTPUT (Constant); LED report padding */ + 0x75, 0x08, /* REPORT_SIZE (8) */ + 0x95, 0x06, /* REPORT_COUNT (6) */ + 0x15, 0x00, /* LOGICAL_MINIMUM (0) */ + 0x25, 0x65, /* LOGICAL_MAXIMUM (101) */ + 0x05, 0x07, /* USAGE_PAGE (Keyboard) */ + 0x19, 0x00, /* USAGE_MINIMUM (0) */ + 0x29, 0x65, /* USAGE_MAXIMUM (101) */ + 0x81, 0x00, /* INPUT (Data,Ary,Abs) */ + 0xC0, /* END_COLLECTION */ +}; + +UsbHidDevice::HidDescriptor hid_descriptor = { + .bLength = sizeof(UsbHidDevice::HidDescriptor), + .bDescriptorType = UsbHidDevice::kDescriptorTypeHid, + .bcdHID = 0x0110, + .bCountryCode = 0x00, + .bNumDescriptors = 1, + .bReportDescriptorType = UsbHidDevice::kDescriptorTypeReport, + .wDescriptorLength = static_cast(report_descriptor.size())}; + +UsbDevice::ConfigurationDescriptor configuration_descriptor = { + .bLength = sizeof(configuration_descriptor), + .bDescriptorType = UsbDevice::kDescriptorTypeConfiguration, + .wTotalLength = static_cast( + sizeof(UsbDevice::ConfigurationDescriptor) + + sizeof(UsbDevice::InterfaceDescriptor) + + sizeof(UsbDevice::EndPointDescriptor) * endpoint_descriptors.size() + + sizeof(UsbHidDevice::HidDescriptor)), + .bNumInterfaces = static_cast(interface_descriptors.size()), + .bConfigurationValue = 1, + .iConfiguration = 0, + .bmAttributes = 0xc0, + .bMaxPower = 250}; + +std::vector strings = {"", "", ""}; + +} // namespace + +UsbHidKeyboard::UsbHidKeyboard(uint16_t vendor_id, + uint16_t product_id, + uint16_t version, + std::string vendor_name, + std::string product_name, + std::string version_name) + : UsbHidDevice(device_descriptor, + configuration_descriptor, + interface_descriptors, + endpoint_descriptors, + hid_descriptor, + report_descriptor, + strings) { + device_descriptor.idVendor = vendor_id; + device_descriptor.idProduct = product_id; + device_descriptor.bcdDevice = version; + strings[kManufacturerStringIndex - 1] = vendor_name; + strings[kProductStringIndex - 1] = product_name; + strings[kSerialNumberStringIndex - 1] = version_name; + + report_.resize(8); +} + +void UsbHidKeyboard::SetAutoKeyRelease(bool enabled) { + auto_key_release_ = enabled; +} + +void UsbHidKeyboard::SetModifiers(uint8_t modifiers) { + modifiers_ = modifiers; +} + +void UsbHidKeyboard::PressByUsageId(uint8_t usage_id) { + keycodes_.insert(usage_id); + if (reporting_) { + dirty_ = true; + } else { + Report(); + } +} + +void UsbHidKeyboard::ReleaseByUsageId(uint8_t usage_id) { + auto it = keycodes_.find(usage_id); + if (it != keycodes_.end()) { + keycodes_.erase(it); + if (reporting_) { + dirty_ = true; + } else { + Report(); + } + } +} + +void UsbHidKeyboard::OnCompleteToSend(uint8_t endpoint) { + reporting_ = false; + if (dirty_) { + Report(); + } +} + +void UsbHidKeyboard::Report() { + report_[0] = modifiers_; + report_[1] = 0x00; + if (keycodes_.size() > 6) { + // Phantom state + for (size_t i = 2; i < report_.size(); ++i) { + report_[i] = 0x01; + } + } else { + size_t i = 2; + for (size_t keycode : keycodes_) { + report_[i++] = keycode; + } + while (i < 8) { + report_[i++] = 0x00; + } + } + dirty_ = false; + if (auto_key_release_ && !keycodes_.empty()) { + keycodes_.clear(); + modifiers_ = 0; + dirty_ = true; + } + reporting_ = true; + UsbHidDevice::Report(1, report_); +} \ No newline at end of file diff --git a/mozc-dial/firmware/common/usb_hid_keyboard.h b/mozc-dial/firmware/common/usb_hid_keyboard.h new file mode 100644 index 0000000..f489c81 --- /dev/null +++ b/mozc-dial/firmware/common/usb_hid_keyboard.h @@ -0,0 +1,49 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef COMMON_USB_HID_KEYBOARD_H_ +#define COMMON_USB_HID_KEYBOARD_H_ + +#include +#include +#include +#include + +#include "usb_hid_device.h" + +class UsbHidKeyboard : public UsbHidDevice { + public: + UsbHidKeyboard(uint16_t vendor_id, + uint16_t product_id, + uint16_t version, + std::string vendor_name, + std::string product_name, + std::string version_name); + UsbHidKeyboard(const UsbHidKeyboard&) = delete; + UsbHidKeyboard& operator=(const UsbHidKeyboard&) = delete; + ~UsbHidKeyboard() override = default; + + void SetAutoKeyRelease(bool enabled); + + void SetModifiers(uint8_t modifiers); + uint8_t GetModifiers() const { return modifiers_; } + + void PressByUsageId(uint8_t usage_id); + void ReleaseByUsageId(uint8_t usage_id); + + private: + // Implement UsbDevice. + void OnCompleteToSend(uint8_t endpoint) override; + + void Report(); + + bool auto_key_release_ = false; + bool reporting_ = false; + bool dirty_ = false; + uint8_t modifiers_ = 0; + std::set keycodes_; + std::vector report_; +}; + +#endif // COMMON_USB_HID_KEYBOARD_H_ diff --git a/mozc-dial/firmware/main/CMakeLists.txt b/mozc-dial/firmware/main/CMakeLists.txt new file mode 100644 index 0000000..f431145 --- /dev/null +++ b/mozc-dial/firmware/main/CMakeLists.txt @@ -0,0 +1,78 @@ +# Generated Cmake Pico project file + +cmake_minimum_required(VERSION 3.13) + +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +# Initialise pico_sdk from installed location +# (note this can come from environment, CMake cache etc) + +# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work == +if(WIN32) + set(USERHOME $ENV{USERPROFILE}) +else() + set(USERHOME $ENV{HOME}) +endif() +set(sdkVersion 2.2.0) +set(toolchainVersion 14_2_Rel1) +set(picotoolVersion 2.2.0) +set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake) +if (EXISTS ${picoVscode}) + include(${picoVscode}) +endif() +# ==================================================================================== +set(PICO_BOARD none CACHE STRING "Board type") + +# Pull in Raspberry Pi Pico SDK (must be before project) +include(pico_sdk_import.cmake) + +project(main C CXX ASM) + +# Initialise the Raspberry Pi Pico SDK +pico_sdk_init() + +# Add executable. Default name is the project name, version 0.1 + +add_executable(main + ../common/dial_controller.cc + ../common/dial_controller.h + ../common/photo_sensor.cc + ../common/photo_sensor.h + ../common/usage_tables.cc + ../common/usage_tables.h + ../common/usb_device.cc + ../common/usb_device.h + ../common/usb_hid_device.cc + ../common/usb_hid_device.h + ../common/usb_hid_keyboard.cc + ../common/usb_hid_keyboard.h + i2c_controller.cc + i2c_controller.h + main.cc + ) + +pico_set_program_name(main "main") +pico_set_program_version(main "0.1") + +# Modify the below lines to enable/disable output over UART/USB/SEMIHOSTING +pico_enable_stdio_uart(main 1) +pico_enable_stdio_usb(main 0) +pico_enable_stdio_semihosting(main 0) + +# Add the standard library to the build +target_link_libraries(main + pico_stdlib) + +# Add the standard include files to the build +target_include_directories(main PRIVATE + ${CMAKE_CURRENT_LIST_DIR} +) + +# Add any user requested libraries +target_link_libraries(main + hardware_i2c + ) + +pico_add_extra_outputs(main) \ No newline at end of file diff --git a/mozc-dial/firmware/main/i2c_controller.cc b/mozc-dial/firmware/main/i2c_controller.cc new file mode 100644 index 0000000..1d12788 --- /dev/null +++ b/mozc-dial/firmware/main/i2c_controller.cc @@ -0,0 +1,47 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "i2c_controller.h" + +#include +#include + +#include "hardware/gpio.h" + +static constexpr int kI2CSpeedInHz = 400 * 1000; + +I2CController::I2CController(i2c_inst_t* i2c, int8_t sda, int8_t scl) + : i2c_(i2c) { + hard_assert(i2c == i2c0 || i2c == i2c1); + gpio_init(sda); + gpio_init(scl); + gpio_set_function(sda, GPIO_FUNC_I2C); + gpio_set_function(scl, GPIO_FUNC_I2C); + gpio_pull_up(sda); + gpio_pull_up(scl); + i2c_init(i2c_, kI2CSpeedInHz); +} + +bool I2CController::Read(uint8_t device_addr, + uint8_t mem_addr, + std::span data) { + uint8_t addr[1] = {mem_addr}; + int result = i2c_write_blocking(i2c_, device_addr, addr, 1, true); + if (result != 1) { + return false; + } + result = i2c_read_blocking(i2c_, device_addr, data.data(), data.size(), false); + return result == data.size(); +} + +bool I2CController::Write(uint8_t device_addr, + uint8_t mem_addr, + std::span data) { + std::vector buf; + buf.reserve(data.size() + 1); + buf.push_back(mem_addr); + buf.insert(buf.end(), data.begin(), data.end()); + int rc = i2c_write_blocking(i2c_, device_addr, buf.data(), buf.size(), false); + return rc == buf.size(); +} \ No newline at end of file diff --git a/mozc-dial/firmware/main/i2c_controller.h b/mozc-dial/firmware/main/i2c_controller.h new file mode 100644 index 0000000..e5bd2dd --- /dev/null +++ b/mozc-dial/firmware/main/i2c_controller.h @@ -0,0 +1,27 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef I2C_CONTROLLER_H_ +#define I2C_CONTROLLER_H_ + +#include +#include + +#include "hardware/i2c.h" + +class I2CController final { + public: + I2CController(i2c_inst_t* i2c, int8_t sda, int8_t scl); + I2CController(const I2CController&) = delete; + I2CController& operator=(const I2CController&) = delete; + ~I2CController() = default; + + bool Write(uint8_t device_addr, uint8_t mem_addr, std::span data); + bool Read(uint8_t device_addr, uint8_t mem_addr, std::span data); + + private: + i2c_inst_t* i2c_ = nullptr; +}; + +#endif // I2C_CONTROLLER_H_ \ No newline at end of file diff --git a/mozc-dial/firmware/main/main.cc b/mozc-dial/firmware/main/main.cc new file mode 100644 index 0000000..3244e1e --- /dev/null +++ b/mozc-dial/firmware/main/main.cc @@ -0,0 +1,170 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include +#include +#include +#include + +#include "hardware/uart.h" +#if LIB_PICO_STDIO_UART +#include "pico/stdio_uart.h" +#endif +#include "pico/stdlib.h" + +#include "../common/dial_controller.h" +#include "../common/motor_controller.h" +#include "../common/photo_sensor.h" +#include "../common/usage_tables.h" +#include "../common/usb_hid_keyboard.h" +#include "i2c_controller.h" + +int main() { +#if LIB_PICO_STDIO_UART + stdio_uart_init_full(uart0, /*baud_rate=*/115200, /*tx_pin=*/0, + /*rx_pin=*/-1); +#else + stdio_init_all(); +#endif + + I2CController i2c(i2c0, /*sda=*/28, /*scl=*/29); + + // Sensor A, B, C, D, E, F, G, I (note: H is missing here as it's accessed via + // I2C) + std::array sensors = { + PhotoSensor(1, 2, 3, 4, 5, 6), // A + PhotoSensor(7, 8), // B + PhotoSensor(9, 10, 11), // C + PhotoSensor(12, 13), // D (3 sensors are implemented, but...) + PhotoSensor(15, 16, 17), // E + PhotoSensor(18, 19, 20), // F + PhotoSensor(21, 22), // G (3 sensors are implemented, but...) + PhotoSensor(24, 25, 26, 27), // I + }; + + std::array dials = { + DialController(), // A + DialController(), // B + DialController(), // C + DialController(), // D + DialController(), // E + DialController(), // F + DialController(), // G + DialController(), // I + + DialController(), // H + }; + + std::array*, 9> usages = { + &usage_tables::a, // A + &usage_tables::b, // B + &usage_tables::c, // C + &usage_tables::d, // D + &usage_tables::e, // E + &usage_tables::f, // F + &usage_tables::g, // G + &usage_tables::i, // I + + &usage_tables::h, // H + }; + + std::array*, 9> fn_usages = { + &usage_tables::fn_a, // A + &usage_tables::fn_b, // B + &usage_tables::fn_c, // C + &usage_tables::fn_d, // D + &usage_tables::fn_e, // E + &usage_tables::fn_f, // F + &usage_tables::fn_g, // G + &usage_tables::fn_i, // I + + &usage_tables::fn_h, // H + }; + + std::array*, 9> modifiers = { + &usage_tables::modifier_a, // A + &usage_tables::modifier_b, // B + &usage_tables::modifier_c, // C + &usage_tables::modifier_d, // D + &usage_tables::modifier_e, // E + &usage_tables::modifier_f, // F + &usage_tables::modifier_g, // G + &usage_tables::modifier_i, // I + + &usage_tables::modifier_h, // H + }; + + UsbHidKeyboard usb_hid_keyboard( + /*vendor_id=*/0x6666, /*product_id=*/0x2025, + /*version=*/0x0109, /*vendor_name=*/"Gboard DIY prototype", + /*product_name=*/"Gboard Dial version", /*version_name=*/"9 Dial"); + usb_hid_keyboard.SetAutoKeyRelease(true); + + // Wait for a while, just in case, so that the sub-controller can be ready on + // I2C. + sleep_ms(100); + + std::vector i2c_buffer(2); + bool fn = false; + + while (true) { + uint16_t motor_start_bitmap = 0; + for (size_t i = 0; i < sensors.size(); ++i) { + dials[i].Update(sensors[i].Read()); + if (!dials[i].IsBasePosition()) { + motor_start_bitmap |= (1 << i); + } + } + // Read the remote sensor H value via I2C. + bool rc = i2c.Read(68, 0, std::span({i2c_buffer.data(), 1})); + if (rc) { + dials[8].Update(i2c_buffer[0]); + if (!dials[8].IsBasePosition()) { + motor_start_bitmap |= (1 << 8); + } + } + + // Drive all motors via I2C. + i2c_buffer[0] = motor_start_bitmap & 0xff; + i2c_buffer[1] = motor_start_bitmap >> 8; + rc = i2c.Write(68, 0, i2c_buffer); + + // Check all dials to see if we have pending inputs to send over USB HID. + for (size_t i = 0; i < dials.size(); ++i) { + // `decided_position` is std::nullopt while the dial is not moved at the + // base position, or moving. But once it returns to the base position from + // non-base positions, it will have a 1 or a larger value that indicates + // the position where the dial starts returning. + std::optional decided_position = dials[i].PopDecidedPosition(); + if (!decided_position) { + continue; + } + // One-time flip to use an alternative set of usages, by the Fn key. + std::array*, 9>& current_usages = + fn ? fn_usages : usages; + + // Adjust the index as it is 1-based. + size_t index = *decided_position - 1; + + if (index < current_usages[i]->size()) { + uint8_t usage = (*current_usages[i])[index]; + if (usage) { + usb_hid_keyboard.PressByUsageId(usage); + fn = false; + } + } + if (index < modifiers[i]->size()) { + uint8_t modifier = (*modifiers[i])[index]; + if (modifier == usage_tables::kModifierLeftGUI) { + // This device interprets the left GUI key as a one-time keymap + // alternate key instead of the normal GUI modifier key use. + fn = true; + } else { + usb_hid_keyboard.SetModifiers( + (usb_hid_keyboard.GetModifiers() | modifier)); + } + } + } + } +} \ No newline at end of file diff --git a/mozc-dial/firmware/main/pico_sdk_import.cmake b/mozc-dial/firmware/main/pico_sdk_import.cmake new file mode 100644 index 0000000..d493cc2 --- /dev/null +++ b/mozc-dial/firmware/main/pico_sdk_import.cmake @@ -0,0 +1,121 @@ +# This is a copy of /external/pico_sdk_import.cmake + +# This can be dropped into an external project to help locate this SDK +# It should be include()ed prior to project() + +# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd. +# +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +# following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +# disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided with the distribution. +# +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products +# derived from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, +# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH)) + set(PICO_SDK_PATH $ENV{PICO_SDK_PATH}) + message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) + set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) + message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) + set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) + message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG)) + set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG}) + message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')") +endif () + +if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG) + set(PICO_SDK_FETCH_FROM_GIT_TAG "master") + message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG") +endif() + +set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK") +set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable") +set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK") +set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK") + +if (NOT PICO_SDK_PATH) + if (PICO_SDK_FETCH_FROM_GIT) + include(FetchContent) + set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) + if (PICO_SDK_FETCH_FROM_GIT_PATH) + get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") + endif () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + ) + + if (NOT pico_sdk) + message("Downloading Raspberry Pi Pico SDK") + # GIT_SUBMODULES_RECURSE was added in 3.17 + if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0") + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + GIT_SUBMODULES_RECURSE FALSE + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + else () + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + endif () + + set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) + endif () + set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${PICO_SDK_PATH}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") +endif () + +set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) +if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK") +endif () + +set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE) + +include(${PICO_SDK_INIT_CMAKE_FILE}) diff --git a/mozc-dial/firmware/one_dial/CMakeLists.txt b/mozc-dial/firmware/one_dial/CMakeLists.txt new file mode 100644 index 0000000..9ac2d65 --- /dev/null +++ b/mozc-dial/firmware/one_dial/CMakeLists.txt @@ -0,0 +1,73 @@ +# Generated Cmake Pico project file + +cmake_minimum_required(VERSION 3.13) + +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +# Initialise pico_sdk from installed location +# (note this can come from environment, CMake cache etc) + +# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work == +if(WIN32) + set(USERHOME $ENV{USERPROFILE}) +else() + set(USERHOME $ENV{HOME}) +endif() +set(sdkVersion 2.2.0) +set(toolchainVersion 14_2_Rel1) +set(picotoolVersion 2.2.0) +set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake) +if (EXISTS ${picoVscode}) + include(${picoVscode}) +endif() +# ==================================================================================== +set(PICO_BOARD pico CACHE STRING "Board type") + +# Pull in Raspberry Pi Pico SDK (must be before project) +include(pico_sdk_import.cmake) + +project(one_dial C CXX ASM) + +# Initialise the Raspberry Pi Pico SDK +pico_sdk_init() + +# Add executable. Default name is the project name, version 0.1 + +add_executable(one_dial + ../common/dial_controller.cc + ../common/dial_controller.h + ../common/motor_controller.cc + ../common/motor_controller.h + ../common/photo_sensor.cc + ../common/photo_sensor.h + ../common/usage_tables.cc + ../common/usage_tables.h + ../common/usb_device.cc + ../common/usb_device.h + ../common/usb_hid_device.cc + ../common/usb_hid_device.h + ../common/usb_hid_keyboard.cc + ../common/usb_hid_keyboard.h + one_dial.cc + ) + +pico_set_program_name(one_dial "one_dial") +pico_set_program_version(one_dial "0.1") + +# Modify the below lines to enable/disable output over UART/USB/SEMIHOSTING +pico_enable_stdio_uart(one_dial 1) +pico_enable_stdio_usb(one_dial 0) +pico_enable_stdio_semihosting(one_dial 0) + +# Add the standard library to the build +target_link_libraries(one_dial + pico_stdlib) + +# Add the standard include files to the build +target_include_directories(one_dial PRIVATE + ${CMAKE_CURRENT_LIST_DIR} +) + +pico_add_extra_outputs(one_dial) diff --git a/mozc-dial/firmware/one_dial/one_dial.cc b/mozc-dial/firmware/one_dial/one_dial.cc new file mode 100644 index 0000000..312a857 --- /dev/null +++ b/mozc-dial/firmware/one_dial/one_dial.cc @@ -0,0 +1,56 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include +#include +#include + +#include "pico/stdlib.h" + +#include "../common/dial_controller.h" +#include "../common/motor_controller.h" +#include "../common/photo_sensor.h" +#include "../common/usage_tables.h" +#include "../common/usb_hid_keyboard.h" + +int main() { + // GPIO0 and 1 are used for stdout, and stdin by default. + stdio_init_all(); + + // GPIO17, 18, 19, and 20 are used for motor phase control. + MotorController motor_controller(MotorController::Mode::k1Motor); + + // GPIO2, 3, 4, 5, 6, and 7 are used for 6bit photo sensing. + PhotoSensor photo_sensor(2, 3, 4, 5, 6, 7); + + DialController dial_controller; + + UsbHidKeyboard usb_hid_keyboard( + /*vendor_id=*/0x6666, /*product_id=*/0x2025, + /*version=*/0x0101, /*vendor_name=*/"Gboard DIY prototype", + /*product_name=*/"Gboard Dial version", /*version_name=*/"1 Dial"); + usb_hid_keyboard.SetAutoKeyRelease(true); + + while (true) { + dial_controller.Update(photo_sensor.Read()); + if (dial_controller.IsBasePosition()) { + motor_controller.Stop(8); + } else { + motor_controller.Start(8); + } + // `decided_position` is std::nullopt while the dial is not moved at the + // base position, or moving. But once it returns to the base position from + // non-base positions, it will have a 1 or a larger value that indicates the + // position where the dial starts returning. + std::optional decided_position = + dial_controller.PopDecidedPosition(); + if (decided_position && *decided_position <= usage_tables::a.size()) { + // Adjust the index as it is 1-based. + uint8_t usage = usage_tables::a[*decided_position - 1]; + if (usage) { + usb_hid_keyboard.PressByUsageId(usage); + } + } + } +} diff --git a/mozc-dial/firmware/one_dial/pico_sdk_import.cmake b/mozc-dial/firmware/one_dial/pico_sdk_import.cmake new file mode 100644 index 0000000..d493cc2 --- /dev/null +++ b/mozc-dial/firmware/one_dial/pico_sdk_import.cmake @@ -0,0 +1,121 @@ +# This is a copy of /external/pico_sdk_import.cmake + +# This can be dropped into an external project to help locate this SDK +# It should be include()ed prior to project() + +# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd. +# +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +# following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +# disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided with the distribution. +# +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products +# derived from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, +# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH)) + set(PICO_SDK_PATH $ENV{PICO_SDK_PATH}) + message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) + set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) + message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) + set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) + message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG)) + set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG}) + message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')") +endif () + +if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG) + set(PICO_SDK_FETCH_FROM_GIT_TAG "master") + message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG") +endif() + +set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK") +set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable") +set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK") +set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK") + +if (NOT PICO_SDK_PATH) + if (PICO_SDK_FETCH_FROM_GIT) + include(FetchContent) + set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) + if (PICO_SDK_FETCH_FROM_GIT_PATH) + get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") + endif () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + ) + + if (NOT pico_sdk) + message("Downloading Raspberry Pi Pico SDK") + # GIT_SUBMODULES_RECURSE was added in 3.17 + if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0") + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + GIT_SUBMODULES_RECURSE FALSE + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + else () + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + endif () + + set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) + endif () + set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${PICO_SDK_PATH}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") +endif () + +set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) +if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK") +endif () + +set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE) + +include(${PICO_SDK_INIT_CMAKE_FILE}) diff --git a/mozc-dial/firmware/prebuilt/main.uf2 b/mozc-dial/firmware/prebuilt/main.uf2 new file mode 100644 index 0000000000000000000000000000000000000000..6360820ae218a13d6f2e528c9a10987f35ce1520 GIT binary patch literal 191488 zcmd?Sdwdkt`9FSUXYad7HWy$ox$GrCZa_!?xu|S*!z9^7?zBjhE(CA`D2uil)M^mg 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b/mozc-dial/firmware/sub/CMakeLists.txt new file mode 100644 index 0000000..0af47da --- /dev/null +++ b/mozc-dial/firmware/sub/CMakeLists.txt @@ -0,0 +1,75 @@ +# Generated Cmake Pico project file + +cmake_minimum_required(VERSION 3.13) + +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +# Initialise pico_sdk from installed location +# (note this can come from environment, CMake cache etc) + +# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work == +if(WIN32) + set(USERHOME $ENV{USERPROFILE}) +else() + set(USERHOME $ENV{HOME}) +endif() +set(sdkVersion 2.2.0) +set(toolchainVersion 14_2_Rel1) +set(picotoolVersion 2.2.0) +set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake) +if (EXISTS ${picoVscode}) + include(${picoVscode}) +endif() +# ==================================================================================== +set(PICO_BOARD none CACHE STRING "Board type") +#set(PICO_BOARD pico CACHE STRING "Board type") + +# Pull in Raspberry Pi Pico SDK (must be before project) +include(pico_sdk_import.cmake) + +project(sub C CXX ASM) + +# Initialise the Raspberry Pi Pico SDK +pico_sdk_init() + +# Add executable. Default name is the project name, version 0.1 + +add_executable(sub + ../common/motor_controller.cc + ../common/motor_controller.h + ../common/photo_sensor.cc + ../common/photo_sensor.h + i2c_device.cc + i2c_device.h + sub.cc + ) + +pico_set_program_name(sub "sub") +pico_set_program_version(sub "0.1") + +# Modify the below lines to enable/disable output over UART/USB/SEMIHOSTING +pico_enable_stdio_uart(sub 1) +pico_enable_stdio_usb(sub 0) +pico_enable_stdio_semihosting(sub 0) + +# Add the standard library to the build +target_link_libraries(sub + pico_i2c_slave + pico_stdlib + ) + +# Add the standard include files to the build +target_include_directories(sub PRIVATE + ${CMAKE_CURRENT_LIST_DIR} +) + +# Add any user requested libraries +target_link_libraries(sub + hardware_i2c + hardware_timer + hardware_clocks + ) + +pico_add_extra_outputs(sub) diff --git a/mozc-dial/firmware/sub/i2c_device.cc b/mozc-dial/firmware/sub/i2c_device.cc new file mode 100644 index 0000000..b9cc08d --- /dev/null +++ b/mozc-dial/firmware/sub/i2c_device.cc @@ -0,0 +1,73 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include "i2c_device.h" + +#include + +#include "hardware/gpio.h" +#include "hardware/i2c.h" +#include "pico/i2c_slave.h" + +static constexpr int kI2CSpeedInHz = 400 * 1000; + +namespace { +I2CDevice* sI2CDevice = nullptr; +}; // namespace + +// static +void I2CDevice::HandleEvent(i2c_inst_t* i2c, i2c_slave_event_t event) { + sI2CDevice->HandleEventInternal(i2c, event); +} + +I2CDevice::I2CDevice(i2c_inst_t* i2c, + uint8_t sda, + uint8_t scl, + uint8_t address) { + hard_assert(sI2CDevice == nullptr); + sI2CDevice = this; + + gpio_init(sda); + gpio_init(scl); + gpio_set_function(sda, GPIO_FUNC_I2C); + gpio_set_function(scl, GPIO_FUNC_I2C); + gpio_pull_up(sda); + gpio_pull_up(scl); + + i2c_init(i2c, kI2CSpeedInHz); + i2c_slave_init(i2c, address, &I2CDevice::HandleEvent); +} + +void I2CDevice::SetReadHandler(ReadHandler handler) { + reader_ = handler; +} + +void I2CDevice::SetWriteHandler(WriteHandler handler) { + writer_ = handler; +} + +void I2CDevice::HandleEventInternal(i2c_inst_t* i2c, i2c_slave_event_t event) { + switch (event) { + case I2C_SLAVE_RECEIVE: + if (!address_ready_) { + address_ = i2c_read_byte_raw(i2c); + address_ready_ = true; + } else { + if (writer_) { + writer_(address_, i2c_read_byte_raw(i2c)); + } else { + printf("ignore write at $%02x: $%02x\n", address_, i2c_read_byte_raw(i2c)); + } + ++address_; + } + break; + case I2C_SLAVE_REQUEST: + i2c_write_byte_raw(i2c, reader_ ? reader_(address_) : 0); + address_++; + break; + case I2C_SLAVE_FINISH: + address_ready_ = false; + break; + } +} diff --git a/mozc-dial/firmware/sub/i2c_device.h b/mozc-dial/firmware/sub/i2c_device.h new file mode 100644 index 0000000..90b7fbe --- /dev/null +++ b/mozc-dial/firmware/sub/i2c_device.h @@ -0,0 +1,37 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#ifndef I2C_DEVICE_H_ +#define I2C_DEVICE_H_ + +#include +#include + +#include "hardware/i2c.h" +#include "pico/i2c_slave.h" + +class I2CDevice final { + public: + using ReadHandler = std::function; + using WriteHandler = std::function; + + I2CDevice(i2c_inst_t* i2c, uint8_t sda, uint8_t scl, uint8_t address); + I2CDevice(const I2CDevice&) = delete; + I2CDevice& operator=(const I2CDevice&) = delete; + ~I2CDevice() = default; + + void SetReadHandler(ReadHandler handler); + void SetWriteHandler(WriteHandler handler); + + private: + static void HandleEvent(i2c_inst_t* i2c, i2c_slave_event_t event); + void HandleEventInternal(i2c_inst_t* i2c, i2c_slave_event_t event); + + ReadHandler reader_ = nullptr; + WriteHandler writer_ = nullptr; + bool address_ready_ = false; + uint8_t address_ = 0; +}; + +#endif // I2C_DEVICE_H_ \ No newline at end of file diff --git a/mozc-dial/firmware/sub/pico_sdk_import.cmake b/mozc-dial/firmware/sub/pico_sdk_import.cmake new file mode 100644 index 0000000..d493cc2 --- /dev/null +++ b/mozc-dial/firmware/sub/pico_sdk_import.cmake @@ -0,0 +1,121 @@ +# This is a copy of /external/pico_sdk_import.cmake + +# This can be dropped into an external project to help locate this SDK +# It should be include()ed prior to project() + +# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd. +# +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +# following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +# disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided with the distribution. +# +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products +# derived from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, +# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH)) + set(PICO_SDK_PATH $ENV{PICO_SDK_PATH}) + message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) + set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) + message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) + set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) + message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG)) + set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG}) + message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')") +endif () + +if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG) + set(PICO_SDK_FETCH_FROM_GIT_TAG "master") + message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG") +endif() + +set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK") +set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable") +set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK") +set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK") + +if (NOT PICO_SDK_PATH) + if (PICO_SDK_FETCH_FROM_GIT) + include(FetchContent) + set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) + if (PICO_SDK_FETCH_FROM_GIT_PATH) + get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") + endif () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + ) + + if (NOT pico_sdk) + message("Downloading Raspberry Pi Pico SDK") + # GIT_SUBMODULES_RECURSE was added in 3.17 + if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0") + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + GIT_SUBMODULES_RECURSE FALSE + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + else () + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + endif () + + set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) + endif () + set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${PICO_SDK_PATH}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") +endif () + +set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) +if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK") +endif () + +set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE) + +include(${PICO_SDK_INIT_CMAKE_FILE}) diff --git a/mozc-dial/firmware/sub/sub.cc b/mozc-dial/firmware/sub/sub.cc new file mode 100644 index 0000000..804ce9b --- /dev/null +++ b/mozc-dial/firmware/sub/sub.cc @@ -0,0 +1,70 @@ +// Copyright 2025 Google Inc. +// Use of this source code is governed by an Apache License that can be found +// in the LICENSE file. + +#include + +#include "hardware/uart.h" +#include "pico/stdio.h" +#if LIB_PICO_STDIO_UART +#include "pico/stdio_uart.h" +#endif + +#include "../common/motor_controller.h" +#include "../common/photo_sensor.h" +#include "i2c_device.h" + +namespace { + +MotorController motor_controller; +PhotoSensor sensor_h(26, 27); + +uint8_t i2c_reader(uint8_t address) { + switch (address) { + case 0: // Read Sensor H + return sensor_h.Read(); + default: + return 0xff; + } +} + +void i2c_writer(uint8_t address, uint8_t value) { + switch (address) { + case 0: // Set Motor 1-8 State + for (uint8_t motor = 0; motor < 8; ++motor) { + if (value & (1 << motor)) { + motor_controller.Start(motor); + } else { + motor_controller.Stop(motor); + } + } + break; + case 1: // Set Motor 9 State + if (value & 1) { + motor_controller.Start(8); + } else { + motor_controller.Stop(8); + } + break; + } +} + +} // namespace + +int main() { +#if LIB_PICO_STDIO_UART + // Customized initialization to use only GPIO 0 for TX. + stdio_uart_init_full(uart0, /*baud_rate=*/115200, /*tx_pin=*/0, + /*rx_pin=*/-1); +#else + stdio_init_all(); +#endif + + I2CDevice i2c(/*i2c=*/i2c0, /*sda=*/28, /*scl=*/29, /*address=*/68); + i2c.SetReadHandler(i2c_reader); + i2c.SetWriteHandler(i2c_writer); + + while (true) { + tight_loop_contents(); + } +} diff --git a/mozc-dial/images/assemble.webp b/mozc-dial/images/assemble.webp new file mode 100644 index 0000000000000000000000000000000000000000..72cb44e640a9bad01d1d35f32ce4c7c1bb476721 GIT binary patch literal 159468 zcmV(tKeg~ZaDgXon13noFgF&GM5-J1$VJz&` z5_$RBfB)pyII`k(86CO#K@+xCC*zu^DO z|H}U*|L^|C+@Jja^MBiZ>-^>YRsTEvKi{|DC-E=mAKt&S|Cawb{hR;i{6ED1`u}bI z8UF5nzWtZ@EBzDuSNebPKe)fYAM}4Izwdt6`~Cj${|EmM`ycWjAb-{WyMNFBQ~S;F z+w7nF$LtIJm;HzSPiNoyzx)5&|F{3!^vC@({crvs^Z&k|^!~&DnEzz|f%&=qlmGwz zKfn+DzS@7lKkxd0e*gN%`d9vcG`~^%iTQ#3&(c59zVZGa`H$N#@jv^2*8S%HQU6ba z4~zeA|3~I8xc_!PVg6_RANrs0f4SdxKezwc{`1HG)<2y8#re(ti{vBnZ|Fbbf4zRu 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sector_ring(self, outer_radius_mm, inner_radius_mm, start_degree, end_degree): + """outer_radius_mmの円から、inner_radius_mmの円を切り取り、start_degreeからend_degreeまでを取り出した扇形環を描く""" + + def polar_to_cartesian(radius, angle_in_degrees): + angle_in_radians = (angle_in_degrees - 90) * math.pi / 180.0 + return ( + (self.width_mm / 2) + (radius * math.cos(angle_in_radians)), + (self.height_mm / 2) + (radius * math.sin(angle_in_radians)) + ) + + start_outer = polar_to_cartesian(outer_radius_mm, end_degree) + end_outer = polar_to_cartesian(outer_radius_mm, start_degree) + start_inner = polar_to_cartesian(inner_radius_mm, end_degree) + end_inner = polar_to_cartesian(inner_radius_mm, start_degree) + + large_arc_flag = "1" if end_degree - start_degree > 180 else "0" + + path_data = [ + f"M {start_outer[0]} {start_outer[1]}", + f"A {outer_radius_mm} {outer_radius_mm} 0 {large_arc_flag} 0 {end_outer[0]} {end_outer[1]}", + f"L {end_inner[0]} {end_inner[1]}", + f"A {inner_radius_mm} {inner_radius_mm} 0 {large_arc_flag} 1 {start_inner[0]} {start_inner[1]}", + "Z" + ] + self.elements.append(f'') + + def indicator(self, inner_radius_mm, pos_digree): + """inner_radius_mm、0度の位置に大きさ2mm程度の三角を描く""" + size_mm = 2 + + def polar_to_cartesian(radius, angle_in_degrees): + angle_in_radians = (angle_in_degrees - 90) * math.pi / 180.0 + return ( + (self.width_mm / 2) + (radius * math.cos(angle_in_radians)), + (self.height_mm / 2) + (radius * math.sin(angle_in_radians)) + ) + + # Tip of the triangle, pointing towards the center + p1 = polar_to_cartesian(inner_radius_mm, 0 + pos_digree) + + # Base of the triangle is further out + base_radius = inner_radius_mm + size_mm + + half_base_width = size_mm / 2 + half_base_angle_rad = half_base_width / base_radius + half_base_angle_deg = half_base_angle_rad * 180 / math.pi + + p2 = polar_to_cartesian(base_radius, -half_base_angle_deg + pos_digree) + p3 = polar_to_cartesian(base_radius, half_base_angle_deg + pos_digree) + + self.elements.append( + f'' + ) + + def export_to_svg(self): + """描いたデータをsvgにして出力する。""" + svg_elements = "\n".join(self.elements) + return ( + f'\n' + + svg_elements + + "\n" + ) + +encoders = [ + { + "name": "one_dial", + "bits": 6, + "degrees": [ + 0, # 最初の遊び + ]+[ + (i * 23 / 3 + 20) for i in range(33+2) + ] + [320], + "indicator": 23/3*.5+20 + 23/3+5, + } +] + + +for encoder in encoders: + gen = SVGGenerator() + bits = encoder["bits"] + templ = encoder["degrees"] + gen.circle(8) + gen.circle(8+5*bits) + gen.indicator(8+5*bits, encoder["indicator"]) + + for i in range(len(templ)-1): + num = i+1 + gray = num ^ (num>>1) + s = f'{gray:0{bits}b}' + # print(s) + for j in range(bits): + if (s[bits-j-1] == "1"): + gen.sector_ring(8+5+5*j, 8+5*j, templ[i], templ[i+1]) + + with open(f"{encoder["name"]}.svg", "w") as f: + f.write(gen.export_to_svg()) diff --git a/mozc-dial/stls/one_dial/case_bottom.stl b/mozc-dial/stls/one_dial/case_bottom.stl new file mode 100644 index 0000000..7d1b508 --- /dev/null +++ b/mozc-dial/stls/one_dial/case_bottom.stl @@ -0,0 +1,3782 @@ +solid + facet normal 0.000000e+00 1.000000e+00 0.000000e+00 + outer loop + vertex -2.500000e+00 7.700000e+01 -2.800000e+01 + vertex -7.150000e+01 7.700000e+01 -3.800000e+01 + vertex -7.150000e+01 7.700000e+01 -3.000000e+00 + endloop + endfacet + facet normal 0.000000e+00 1.000000e+00 -0.000000e+00 + outer loop + vertex -2.500000e+00 7.700000e+01 -2.800000e+01 + vertex -7.150000e+01 7.700000e+01 -3.000000e+00 + vertex -2.500000e+00 7.700000e+01 -3.000000e+00 + endloop + endfacet + facet normal 0.000000e+00 1.000000e+00 0.000000e+00 + outer loop + vertex 7.150000e+01 7.700000e+01 -3.000000e+00 + vertex 2.500000e+00 7.700000e+01 -2.800000e+01 + vertex 2.500000e+00 7.700000e+01 -3.000000e+00 + endloop + endfacet + facet normal 0.000000e+00 1.000000e+00 -0.000000e+00 + outer loop + vertex 7.150000e+01 7.700000e+01 -3.800000e+01 + vertex 2.500000e+00 7.700000e+01 -2.800000e+01 + vertex 7.150000e+01 7.700000e+01 -3.000000e+00 + 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