Add mozc-caps.

mozc-caps/firmware/mozc-caps/.gitignore

@@ -0,0 +1,5 @@
+imu.cpp
+imu.h
+debug.cfg
+debug_custom.json
+esp32.svd

mozc-caps/firmware/mozc-caps/mozc-caps.ino

@@ -0,0 +1,172 @@
+#include <BleKeyboard.h>
+#include <M5StickCPlus.h>
+
+#include "imu.h"
+
+// Comment out the line below to use English alphabet mode.
+#define JAPANESE_
+
+#ifdef JAPANESE_
+// Japanese (hiragana) mode. Must be used with romaji input mode.
+
+// clang-format off
+const char* characters[] = {
+  "a", "i", "u", "e", "o",
+  "ka", "ki", "ku", "ke", "ko",
+  "ga", "gi", "gu", "ge", "go",
+  "sa", "si", "su", "se", "so",
+  "za", "zi", "zu", "ze", "zo",
+  "ta", "ti", "tu", "te", "to",
+  "da", "di", "du", "de", "do",
+  "na", "ni", "nu", "ne", "no",
+  "ha", "hi", "hu", "he", "ho",
+  "ba", "bi", "bu", "be", "bo",
+  "pa", "pi", "pu", "pe", "po",
+  "ma", "mi", "mu", "me", "mo",
+  "ya", "yu", "yo",
+  "ra", "ri", "ru", "re", "ro",
+  "wa", "wo", "nn",
+  "lya", "lyu", "lyo", "ltu",
+  "-",
+};
+// clang-format on
+
+#else
+
+// English alphabet mode.
+
+const char* characters[] = {"a", "b", "c", "d", "e", "f", "g", "h", "i",
+                            "j", "k", "l", "m", "n", "o", "p", "q", "r",
+                            "s", "t", "u", "v", "w", "x", "y", "z", " "};
+
+#endif
+
+// A class that handles character input, interactively showing
+// unsettled characater on the target device.
+class Compositor {
+ public:
+  Compositor() : last_character_unsettled_(false) {}
+  // TODO: add commit() which commits the Japanese composition by Enter key.
+  void enter();
+  void select(const char* str);
+
+ private:
+  bool last_character_unsettled_;
+};
+
+const float kSamplingFrequency = 100.;
+const float kIntervalMicros = 1e6 / kSamplingFrequency;
+const uint8_t PUSH_SW = G33;
+
+BleKeyboard bleKeyboard("mozc-caps");
+M5StackIMUManager imu;
+Compositor compositor;
+long last_time_micros;
+float yaw_origin = 180;
+int current_key = 0;
+int last_key = 0;
+
+void Compositor::enter() {
+  if (!last_character_unsettled_) {
+    return;
+  }
+  last_character_unsettled_ = false;
+}
+
+void Compositor::select(const char* str) {
+  if (last_character_unsettled_) {
+    // It is assumed there is only one unsettled character,
+    // as the IME should be set to the romaji input mode.
+    bleKeyboard.write('\b');
+  }
+  for (const char* p = str; *p; p++) {
+    bleKeyboard.write(*p);
+  }
+  last_character_unsettled_ = true;
+}
+
+void setup() {
+  M5.begin();
+  M5.Lcd.setRotation(3);
+  M5.Lcd.fillScreen(BLACK);
+  imu.Init();
+  last_time_micros = micros();
+  pinMode(PUSH_SW, INPUT_PULLUP);
+  bleKeyboard.begin();
+}
+
+void loop() {
+  float gyro_x, gyro_y, gyro_z, acc_x, acc_y, acc_z;
+  M5.IMU.getGyroData(&gyro_x, &gyro_y, &gyro_z);
+  M5.IMU.getAccelData(&acc_x, &acc_y, &acc_z);
+  // Convert coordinate system to use the rotation around the Y axis as "yaw"
+  // angle.
+  imu.Update(kSamplingFrequency, gyro_z, gyro_y, -gyro_x, acc_z, acc_y, -acc_x);
+  float pitch, roll, yaw;
+  imu.GetAHRSData(&pitch, &roll, &yaw);
+
+  M5.update();
+  if (M5.BtnA.wasPressed()) {
+    yaw_origin = yaw;
+  }
+  if (M5.BtnA.pressedFor(1000)) {
+    imu.Init();
+  }
+
+  float relative_angle = yaw - yaw_origin;
+  if (relative_angle > 180) {
+    relative_angle -= 360;
+  } else if (relative_angle < -180) {
+    relative_angle += 360;
+  }
+
+  bool key_pressed = false;
+  if (digitalRead(PUSH_SW) == LOW) {
+    key_pressed = true;
+  }
+
+  // The range of rotation angle [deg] from the center, used for selecting
+  // characters.
+  const float kAngleRange = 80;
+  int num_keys = sizeof(characters) / sizeof(characters[0]);
+  float position = (relative_angle + kAngleRange) / kAngleRange / 2 * num_keys;
+  int key_index = static_cast<int>(position + 0.5);
+  if (key_index < 0) key_index = 0;
+  if (key_index > num_keys - 1) key_index = num_keys - 1;
+  float residual = position - key_index;
+  if (residual < -0.5) residual += 1;
+  if (residual > 0.5) residual -= 1;
+  if (residual < 0) {
+    residual = -residual;
+  }
+  if (residual < 0.4 && !key_pressed) {
+    current_key = key_index;
+    if (current_key != last_key) {
+      compositor.select(characters[current_key]);
+    }
+    last_key = current_key;
+  }
+  if (key_pressed) {
+    compositor.enter();
+  }
+
+  M5.Lcd.setTextSize(1);
+  M5.Lcd.setTextColor(OLIVE, 0x000000);
+  M5.Lcd.setCursor(30, 110);
+  if (imu.Ready()) {
+    M5.Lcd.printf("                           ");
+  } else {
+    M5.Lcd.printf("calibrating gyro sensors...");
+  }
+
+  M5.Lcd.setTextSize(7);
+  M5.Lcd.setCursor(0, 24);
+  M5.Lcd.setTextColor(key_pressed ? YELLOW : DARKGREEN, 0x000000);
+  M5.Lcd.printf(" %3s ", characters[current_key]);
+
+  long next_time_micros = last_time_micros + kIntervalMicros;
+  while (micros() < next_time_micros) {
+    delay(1);
+  }
+  last_time_micros = next_time_micros;
+}