Add mozc-dial nine dial edition.

Co-authored-by: Takashi Toyoshima <toyoshim@google.com>
Co-authored-by: Shun Ikejima <ikejima@google.com>

mozc-dial/firmware/README.md

@@ -16,6 +16,10 @@ We have included pre-built firmware under `prebuilt/`, so you can use them as is
 
 Use `main.uf2` and `sub.uf2` for the 9-dial edition, and `one_dial.uf2` for the 1-dial edition.
 
+We have also prepared `main_no_pull.uf2`, `sub_no_pull.uf2`, and `one_dial_no_pull.uf2` that do not use internal pull-up for the sensors. For details, please see [About Sensor Adjustment](#about-sensor-adjustment).
+
+If the dial rotation is reversed, try using the firmware with `backward` in its name. It seems that the direction of rotation may differ depending on the shipping time even for the same model number product.
+
 ## Guide to Developing Your Own Firmware
 
 Install [Visual Studio Code](https://code.visualstudio.com/) and add the [Raspberry Pi Pico extension](https://marketplace.visualstudio.com/items?itemName=raspberry-pi.raspberry-pi-pico).

mozc-dial/firmware/README_ja.md

@@ -8,7 +8,7 @@
 - common/ : 各ボード共通で用いられるライブラリのソースファイル
 - main/ : 9ダイヤル版メインチップ用のソースファイルとプロジェクト
 - sub/ : 9ダイヤル版サブチップ用のソースファイルとプロジェクト
-- one_dial/ : 1ダイヤル版 Raspberry Pi Pico用のソーとファイルとプロジェクト
+- one_dial/ : 1ダイヤル版 Raspberry Pi Pico用のソースファイルとプロジェクト
 
 ## 事前にビルドしたファームウェア
 
@@ -16,6 +16,10 @@
 
 9ダイヤル板は`main.uf2`と`sub.uf2`を、1ダイヤル板は`one_dial.uf2`を使用します。
 
+それぞれセンサに内部pull-upを使わない`main_no_pull.uf2`、`sub_no_pull.uf2`、`one_dial_no_pull.uf2`も用意しています。詳しくは[センサの調整について](#センサの調整について)をご覧ください。
+
+ダイヤルの回転方向が逆だった場合には`backward`の名前がついたものを使用してみてください。同じ型番の製品でも出荷時期により回転方向が異なるようです。
+
 ## 独自のファームウェア開発の手引き
 
 [Visual Studio Code](https://code.visualstudio.com/) をインストールし、[Raspberry Pi Pico拡張](https://marketplace.visualstudio.com/items?itemName=raspberry-pi.raspberry-pi-pico) を追加します。
@@ -52,9 +56,9 @@ Activity Barの`Raspberry Pi Pico Projects`の拡張機能から`Import Project`
 
 などを定義し、`CMakeFiles.txt`のボード設定で指定する事で、キャッシュミス時のQSPI経由でのEEPROMアクセスを最適化し、さらなる性能を引き出す事も可能です。
 
-### センサーの調整について
+### センサの調整について
 
-標準ではセンサーは内部抵抗でpull-upされています。外部抵抗によりpull-upで調整したい場合、`photo_sensor.cc`の`PhotoSensor::PhotoSensor()`内にある`gpio_pull_up(gpio);`を`gpio_disable_pulls(gpio);`に変更してください。
+標準ではセンサは内部抵抗でpull-upされています。外部抵抗によりpull-upで調整したい場合、`photo_sensor.cc`の`PhotoSensor::PhotoSensor()`内にある`gpio_pull_up(gpio);`を`gpio_disable_pulls(gpio);`に変更してください。
 
 あるいは、内部抵抗を有効にしたまま外部抵抗との合成抵抗でpull-upする事も可能です。この場合、内部抵抗は公称値で50-80KΩ、外部抵抗とは並列接続になります。
 

mozc-dial/firmware/common/motor_controller.cc

@@ -49,9 +49,10 @@ bool MotorController::OnAlarm(repeating_timer* t) {
   return true;
 }
 
-MotorController::MotorController(Mode mode) {
+MotorController::MotorController(Mode mode, Direction direction)
+    : direction_(direction) {
   if (mode == Mode::k9Motor) {
-    // Each decoder is responsible for a specific phase to driver 1 of 8 motor
+    // Each decoder is responsible for a specific phase to drive 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<Decoder>(1, 2, 3, 4);
@@ -88,7 +89,7 @@ void MotorController::Step() {
   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]) {
+    if (!decoder_[i % kNumOfPhases]) {
       continue;
     }
     if (started_[i]) {
@@ -104,5 +105,9 @@ void MotorController::Step() {
   gpio_put(19, on && half_phase == 2);
   gpio_put(20, on && half_phase == 3);
 
-  phase_ = (phase_ + 7) % 8;
+  if (direction_ == Direction::kForward) {
+    phase_ = (phase_ + 1) % 8;
+  } else if (direction_ == Direction::kBackward) {
+    phase_ = (phase_ + 7) % 8;
+  }
 }

mozc-dial/firmware/common/motor_controller.h

@@ -13,7 +13,8 @@
 class MotorController final {
  public:
   enum class Mode { k1Motor, k9Motor };
-  explicit MotorController(Mode = Mode::k9Motor);
+  enum class Direction { kForward, kBackward };
+  explicit MotorController(Mode = Mode::k9Motor, Direction = Direction::kForward);
   MotorController(const MotorController&) = delete;
   MotorController& operator=(const MotorController&) = delete;
   ~MotorController();
@@ -33,6 +34,7 @@ class MotorController final {
   bool started_[kNumOfMotors] = { false };
   uint8_t phase_ = 0;
   repeating_timer timer_;
+  Direction direction_ = Direction::kForward;
 };
 
 #endif  // COMMON_MOTOR_CONTROLLER_H_

mozc-dial/firmware/common/photo_sensor.cc

@@ -6,6 +6,8 @@
 
 #include "hardware/gpio.h"
 
+//#define NO_SENSOR_PULL
+
 PhotoSensor::PhotoSensor(int8_t bit0,
                          int8_t bit1,
                          int8_t bit2,
@@ -16,7 +18,13 @@ PhotoSensor::PhotoSensor(int8_t bit0,
   for (int8_t gpio : bits) {
     gpio_init(gpio);
     gpio_set_dir(gpio, GPIO_IN);
-    gpio_pull_up(gpio);  // Built-in 50-80K pull-up
+#ifdef NO_SENSOR_PULL
+    gpio_disable_pulls(gpio);
+#else
+    // Built-in 50-80K pull-up is expected, but the actual value appears to
+    // depend on the RP2040's shipping years?
+    gpio_pull_up(gpio);
+#endif  // NO_SENSOR_PULL
   }
 }
 

mozc-dial/firmware/common/usage_tables.cc

@@ -41,8 +41,8 @@ const std::vector<uint8_t> a = {
     0x14,  // q
     0x04,  // a
     0x1d,  // z
-    0x39,  // <CAPS>
     0x2c,  // <SPACE>
+    0x39,  // <CAPS>
 };
 const std::vector<uint8_t> fn_a = {};
 const std::vector<uint8_t> modifier_a = {};

mozc-dial/firmware/main/main.cc

@@ -43,6 +43,8 @@ int main() {
       PhotoSensor(24, 25, 26, 27),    // I
   };
 
+  const std::array<int8_t, 9> sensor_indices = { 0, 1, 2, 3, 4, 5, 6, -1, 7 };
+
   std::array<DialController, 9> dials = {
       DialController(),  // A
       DialController(),  // B
@@ -98,37 +100,39 @@ int main() {
   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");
+      /*product_name=*/"Gboard Dial version", /*version_name=*/"9 Dial rev2");
   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<uint8_t> i2c_buffer(2);
+  std::vector<uint8_t> i2c_buffer(1);
   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());
+    for (size_t i = 0; i < sensor_indices.size(); ++i) {
+      if (sensor_indices[i] < 0) {
+        // Read the remote sensor H value via I2C.
+        if (i2c.Read(68, 0, i2c_buffer)) {
+          dials[i].Update(i2c_buffer[0]);
+        }
+      } else {
+        // Read one of the local sensors.
+        dials[i].Update(sensors[sensor_indices[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<uint8_t>({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.
+    // Use non-burst mode for better stability.
     i2c_buffer[0] = motor_start_bitmap & 0xff;
-    i2c_buffer[1] = motor_start_bitmap >> 8;
-    rc = i2c.Write(68, 0, i2c_buffer);
+    i2c.Write(68, 0, i2c_buffer);
+    i2c_buffer[0] = motor_start_bitmap >> 8;
+    i2c.Write(68, 1, 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) {

mozc-dial/firmware/one_dial/one_dial.cc

@@ -14,12 +14,16 @@
 #include "../common/usage_tables.h"
 #include "../common/usb_hid_keyboard.h"
 
+#define MOTOR_DIRECTION MotorController::Direction::kForward
+//#define MOTOR_DIRECTION MotorController::Direction::kBackward
+
 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);
+  MotorController motor_controller(MotorController::Mode::k1Motor,
+                                   MOTOR_DIRECTION);
 
   // GPIO2, 3, 4, 5, 6, and 7 are used for 6bit photo sensing.
   PhotoSensor photo_sensor(2, 3, 4, 5, 6, 7);

mozc-dial/firmware/sub/CMakeLists.txt

@@ -24,7 +24,6 @@ if (EXISTS ${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)

mozc-dial/firmware/sub/sub.cc

@@ -14,9 +14,13 @@
 #include "../common/photo_sensor.h"
 #include "i2c_device.h"
 
+#define MOTOR_DIRECTION MotorController::Direction::kForward
+//#define MOTOR_DIRECTION MotorController::Direction::kBackward
+
 namespace {
 
-MotorController motor_controller;
+MotorController motor_controller(MotorController::Mode::k9Motor,
+                                 MOTOR_DIRECTION);
 PhotoSensor sensor_h(26, 27);
 
 uint8_t i2c_reader(uint8_t address) {