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Add mozc dial version.

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Co-authored-by: Takashi Toyoshima <toyoshim@google.com>
Co-authored-by: Shun Ikejima <ikejima@google.com>
This commit is contained in:
Shun Ikejima
2025-10-01 10:01:00 +09:00
parent 9b4017fb9b
commit 6783bfea76
88 changed files with 233948 additions and 0 deletions
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75
mozc-dial/firmware/sub/CMakeLists.txt Normal file
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# 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)

73
mozc-dial/firmware/sub/i2c_device.cc Normal file
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// 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 <cstdio>
#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;
}
}

37
mozc-dial/firmware/sub/i2c_device.h Normal file
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// 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 <cstdint>
#include <functional>
#include "hardware/i2c.h"
#include "pico/i2c_slave.h"
class I2CDevice final {
public:
using ReadHandler = std::function<uint8_t(uint8_t /*address*/)>;
using WriteHandler = std::function<void(uint8_t /*address*/, uint8_t /*value*/)>;
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_

121
mozc-dial/firmware/sub/pico_sdk_import.cmake Normal file
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# This is a copy of <PICO_SDK_PATH>/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})

70
mozc-dial/firmware/sub/sub.cc Normal file
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// Copyright 2025 Google Inc.
// Use of this source code is governed by an Apache License that can be found
// in the LICENSE file.
#include <cstdio>
#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();
}
}