embeded/raspberry pi2021. 7. 1. 17:34

rpi pico USB 키보드 코드 수정

GND에 빨간선이 연결되어있고

스위치의 반대편은 GPIO로 연결되어 있는데

GPIO에 pull up이 있어서 인지 스위치를 누르면 ground로 인식이 된다.

(아래 코드에서 4번째 라인 not을 지웠다가 파일 바꾼다고 dog 고생을...)

while True:
    # Check each pin
    for key_pin in key_pin_array:
        if not key_pin.value:  # Is it grounded?
            i = key_pin_array.index(key_pin)
            print("Pin #{} is grounded.".format(i))

            # Turn on the red LED
            led.value = True

            while not key_pin.value:
                pass  # Wait for it to be ungrounded!
            # "Type" the Keycode or string
            key = keys_pressed[i]  # Get the corresponding Keycode or string
            if isinstance(key, str):  # If it's a string...
                keyboard_layout.write(key)  # ...Print the string
            else:  # If it's not a string...
                keyboard.press(control_key, key)  # "Press"...
                keyboard.release_all()  # ..."Release"!

            # Turn off the red LED
            led.value = False

    time.sleep(0.01)

 

아무튼.. 원래 의도는 3V 전원에서 330옴 통해서 전류 제한해서 gpio로 3.3V가 들어가게 하는거였는데

멀 잘못했네.. 멀티메터로는 정상적으로 3.3V 나오던데 ㅠㅠ

 

[링크 : https://tutorial.cytron.io/.../keyboard-emulator-using-raspberry-pi-pico-maker-pi-pico-and-circuitpython/]

[링크 : https://circuitpython.readthedocs.io/projects/hid/en/latest/api.html]

 

 

+

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embeded/raspberry pi2021. 6. 30. 18:25

aarch, armv8 asimd build (neon)

 

5.7.2 Advanced SIMD Mnemonics Although derived from the AArch32 Advanced SIMD syntax, a number of changes have been made to harmonise with the AArch64 core integer and floating point instruction set syntax, and to unify AArch32’s divergent “architectural” and “programmers’” notations: • The ‘V’ mnemonic prefix has been removed, and S/U/F/P added to indicate signed/unsigned/floatingpoint/polynomial data type. The mnemonic always indicates the data type(s) of the operation. • The vector organisation (element size and number of lanes) is described by the register qualifiers and never by a mnemonic qualifier. See the description of the vector register syntax in §4.4.2 above. • The ‘P’ prefix for “pairwise” operations becomes a suffix. • A ‘V’ suffix has been added for the new reduction (across-all-lanes) operations • A ‘2’ suffix has been added for the new widening/narrowing “second part” instructions, described below. • Vector compares now use the integer condition code names to indicate whether an integer comparison is signed or unsigned (e.g. CMLT, CMLO, CMGE, CMHI, etc) • Some mnemonics have been renamed where the removal of the V prefix caused clash with the core instruction set mnemonics.

ADD Vd.<T>, Vn.<T>, Vm.<T> 
Integer add (vector). Where <T> is 8B, 16B, 4H, 8H, 2S, 4S or 2D

[링크 : https://www.element14.com/community/servlet/JiveServlet/previewBody/41836-102-1-229511/ARM.Reference_Manual.pdf]

 

$ gcc neon.c -fopt-info-vec -O3
neon.c:10:9: note: loop vectorized

 

vadd 이런게 안보이네?

$ objdump -d a.out

a.out:     file format elf64-littleaarch64


Disassembly of section .init:

00000000000005d0 <_init>:
 5d0:   a9bf7bfd        stp     x29, x30, [sp, #-16]!
 5d4:   910003fd        mov     x29, sp
 5d8:   94000043        bl      6e4 <call_weak_fn>
 5dc:   a8c17bfd        ldp     x29, x30, [sp], #16
 5e0:   d65f03c0        ret

Disassembly of section .plt:

00000000000005f0 <.plt>:
 5f0:   a9bf7bf0        stp     x16, x30, [sp, #-16]!
 5f4:   90000090        adrp    x16, 10000 <__FRAME_END__+0xf680>
 5f8:   f947fe11        ldr     x17, [x16, #4088]
 5fc:   913fe210        add     x16, x16, #0xff8
 600:   d61f0220        br      x17
 604:   d503201f        nop
 608:   d503201f        nop
 60c:   d503201f        nop

0000000000000610 <__cxa_finalize@plt>:
 610:   b0000090        adrp    x16, 11000 <__cxa_finalize@GLIBC_2.17>
 614:   f9400211        ldr     x17, [x16]
 618:   91000210        add     x16, x16, #0x0
 61c:   d61f0220        br      x17

0000000000000620 <__libc_start_main@plt>:
 620:   b0000090        adrp    x16, 11000 <__cxa_finalize@GLIBC_2.17>
 624:   f9400611        ldr     x17, [x16, #8]
 628:   91002210        add     x16, x16, #0x8
 62c:   d61f0220        br      x17

0000000000000630 <__gmon_start__@plt>:
 630:   b0000090        adrp    x16, 11000 <__cxa_finalize@GLIBC_2.17>
 634:   f9400a11        ldr     x17, [x16, #16]
 638:   91004210        add     x16, x16, #0x10
 63c:   d61f0220        br      x17

0000000000000640 <abort@plt>:
 640:   b0000090        adrp    x16, 11000 <__cxa_finalize@GLIBC_2.17>
 644:   f9400e11        ldr     x17, [x16, #24]
 648:   91006210        add     x16, x16, #0x18
 64c:   d61f0220        br      x17

0000000000000650 <printf@plt>:
 650:   b0000090        adrp    x16, 11000 <__cxa_finalize@GLIBC_2.17>
 654:   f9401211        ldr     x17, [x16, #32]
 658:   91008210        add     x16, x16, #0x20
 65c:   d61f0220        br      x17

Disassembly of section .text:

0000000000000660 <main>:
 660:   d13003ff        sub     sp, sp, #0xc00
 664:   912003e0        add     x0, sp, #0x800
 668:   911003e2        add     x2, sp, #0x400
 66c:   910003e1        mov     x1, sp
 670:   913003e3        add     x3, sp, #0xc00
 674:   d503201f        nop
 678:   3cc10401        ldr     q1, [x0], #16
 67c:   3cc10440        ldr     q0, [x2], #16
 680:   eb03001f        cmp     x0, x3
 684:   4ea18400        add     v0.4s, v0.4s, v1.4s
 688:   3c810420        str     q0, [x1], #16
 68c:   54ffff61        b.ne    678 <main+0x18>  // b.any
 690:   b94003e1        ldr     w1, [sp]
 694:   90000000        adrp    x0, 0 <_init-0x5d0>
 698:   b94403e2        ldr     w2, [sp, #1024]
 69c:   91214000        add     x0, x0, #0x850
 6a0:   b94803e3        ldr     w3, [sp, #2048]
 6a4:   913003ff        add     sp, sp, #0xc00
 6a8:   17ffffea        b       650 <printf@plt>

00000000000006ac <_start>:
 6ac:   d280001d        mov     x29, #0x0                       // #0
 6b0:   d280001e        mov     x30, #0x0                       // #0
 6b4:   aa0003e5        mov     x5, x0
 6b8:   f94003e1        ldr     x1, [sp]
 6bc:   910023e2        add     x2, sp, #0x8
 6c0:   910003e6        mov     x6, sp
 6c4:   90000080        adrp    x0, 10000 <__FRAME_END__+0xf680>
 6c8:   f947ec00        ldr     x0, [x0, #4056]
 6cc:   90000083        adrp    x3, 10000 <__FRAME_END__+0xf680>
 6d0:   f947e863        ldr     x3, [x3, #4048]
 6d4:   90000084        adrp    x4, 10000 <__FRAME_END__+0xf680>
 6d8:   f947d884        ldr     x4, [x4, #4016]
 6dc:   97ffffd1        bl      620 <__libc_start_main@plt>
 6e0:   97ffffd8        bl      640 <abort@plt>

00000000000006e4 <call_weak_fn>:
 6e4:   90000080        adrp    x0, 10000 <__FRAME_END__+0xf680>
 6e8:   f947e400        ldr     x0, [x0, #4040]
 6ec:   b4000040        cbz     x0, 6f4 <call_weak_fn+0x10>
 6f0:   17ffffd0        b       630 <__gmon_start__@plt>
 6f4:   d65f03c0        ret

00000000000006f8 <deregister_tm_clones>:
 6f8:   b0000080        adrp    x0, 11000 <__cxa_finalize@GLIBC_2.17>
 6fc:   9100e000        add     x0, x0, #0x38
 700:   b0000081        adrp    x1, 11000 <__cxa_finalize@GLIBC_2.17>
 704:   9100e021        add     x1, x1, #0x38
 708:   eb00003f        cmp     x1, x0
 70c:   540000a0        b.eq    720 <deregister_tm_clones+0x28>  // b.none
 710:   90000081        adrp    x1, 10000 <__FRAME_END__+0xf680>
 714:   f947dc21        ldr     x1, [x1, #4024]
 718:   b4000041        cbz     x1, 720 <deregister_tm_clones+0x28>
 71c:   d61f0020        br      x1
 720:   d65f03c0        ret
 724:   d503201f        nop

0000000000000728 <register_tm_clones>:
 728:   b0000080        adrp    x0, 11000 <__cxa_finalize@GLIBC_2.17>
 72c:   9100e000        add     x0, x0, #0x38
 730:   b0000081        adrp    x1, 11000 <__cxa_finalize@GLIBC_2.17>
 734:   9100e021        add     x1, x1, #0x38
 738:   cb000021        sub     x1, x1, x0
 73c:   9343fc21        asr     x1, x1, #3
 740:   8b41fc21        add     x1, x1, x1, lsr #63
 744:   9341fc21        asr     x1, x1, #1
 748:   b40000a1        cbz     x1, 75c <register_tm_clones+0x34>
 74c:   90000082        adrp    x2, 10000 <__FRAME_END__+0xf680>
 750:   f947f042        ldr     x2, [x2, #4064]
 754:   b4000042        cbz     x2, 75c <register_tm_clones+0x34>
 758:   d61f0040        br      x2
 75c:   d65f03c0        ret

0000000000000760 <__do_global_dtors_aux>:
 760:   a9be7bfd        stp     x29, x30, [sp, #-32]!
 764:   910003fd        mov     x29, sp
 768:   f9000bf3        str     x19, [sp, #16]
 76c:   b0000093        adrp    x19, 11000 <__cxa_finalize@GLIBC_2.17>
 770:   3940e260        ldrb    w0, [x19, #56]
 774:   35000140        cbnz    w0, 79c <__do_global_dtors_aux+0x3c>
 778:   90000080        adrp    x0, 10000 <__FRAME_END__+0xf680>
 77c:   f947e000        ldr     x0, [x0, #4032]
 780:   b4000080        cbz     x0, 790 <__do_global_dtors_aux+0x30>
 784:   b0000080        adrp    x0, 11000 <__cxa_finalize@GLIBC_2.17>
 788:   f9401800        ldr     x0, [x0, #48]
 78c:   97ffffa1        bl      610 <__cxa_finalize@plt>
 790:   97ffffda        bl      6f8 <deregister_tm_clones>
 794:   52800020        mov     w0, #0x1                        // #1
 798:   3900e260        strb    w0, [x19, #56]
 79c:   f9400bf3        ldr     x19, [sp, #16]
 7a0:   a8c27bfd        ldp     x29, x30, [sp], #32
 7a4:   d65f03c0        ret

00000000000007a8 <frame_dummy>:
 7a8:   17ffffe0        b       728 <register_tm_clones>
 7ac:   d503201f        nop

00000000000007b0 <__libc_csu_init>:
 7b0:   a9bc7bfd        stp     x29, x30, [sp, #-64]!
 7b4:   910003fd        mov     x29, sp
 7b8:   a90153f3        stp     x19, x20, [sp, #16]
 7bc:   90000094        adrp    x20, 10000 <__FRAME_END__+0xf680>
 7c0:   91370294        add     x20, x20, #0xdc0
 7c4:   a9025bf5        stp     x21, x22, [sp, #32]
 7c8:   90000095        adrp    x21, 10000 <__FRAME_END__+0xf680>
 7cc:   9136e2b5        add     x21, x21, #0xdb8
 7d0:   cb150294        sub     x20, x20, x21
 7d4:   2a0003f6        mov     w22, w0
 7d8:   a90363f7        stp     x23, x24, [sp, #48]
 7dc:   aa0103f7        mov     x23, x1
 7e0:   aa0203f8        mov     x24, x2
 7e4:   9343fe94        asr     x20, x20, #3
 7e8:   97ffff7a        bl      5d0 <_init>
 7ec:   b4000174        cbz     x20, 818 <__libc_csu_init+0x68>
 7f0:   d2800013        mov     x19, #0x0                       // #0
 7f4:   d503201f        nop
 7f8:   f8737aa3        ldr     x3, [x21, x19, lsl #3]
 7fc:   aa1803e2        mov     x2, x24
 800:   91000673        add     x19, x19, #0x1
 804:   aa1703e1        mov     x1, x23
 808:   2a1603e0        mov     w0, w22
 80c:   d63f0060        blr     x3
 810:   eb13029f        cmp     x20, x19
 814:   54ffff21        b.ne    7f8 <__libc_csu_init+0x48>  // b.any
 818:   a94153f3        ldp     x19, x20, [sp, #16]
 81c:   a9425bf5        ldp     x21, x22, [sp, #32]
 820:   a94363f7        ldp     x23, x24, [sp, #48]
 824:   a8c47bfd        ldp     x29, x30, [sp], #64
 828:   d65f03c0        ret
 82c:   d503201f        nop

0000000000000830 <__libc_csu_fini>:
 830:   d65f03c0        ret

Disassembly of section .fini:

0000000000000834 <_fini>:
 834:   a9bf7bfd        stp     x29, x30, [sp, #-16]!
 838:   910003fd        mov     x29, sp
 83c:   a8c17bfd        ldp     x29, x30, [sp], #16
 840:   d65f03c0        ret
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embeded/raspberry pi2021. 6. 30. 18:12

rpi 4b 32bit vs 64bit?

라고 적기에는 좀 애매한데

아무튼 NEON 가속을 통해 동일한 프로그램을 돌리는데

32bit 에서는 초당 7.5 프레임

64bit 에서는 초당 11 프레임까지 연산이 가능해지는게 신기해서 찾아보는 중

 

 

다른분에게 여쭤보니

메모리 대역폭이 늘어나거나 neon bit width 영향이 아닐까 라고 말씀하셔서 찾아보는데

보기에는 어짜피 float 변수라 single precision으로 차이가 없고

int 형이 연산에 시간을 많이 빼앗길 부분이라 up to 16x8bit operations per instruction 이라

속도에 영향을 주는건 그럼.. 전송 대역폭 혹은 메모리 복사에 다른 속도 차이 정도 이려나?

[링크 : https://community.arm.com/developer/tools-software/oss-platforms/b/android-blog/posts/arm-neon-programming-quick-reference]

 

 

[링크 : https://developer.arm.com/documentation/dht0002/a/Introducing-NEON/NEON-architecture-overview/NEON-registers]

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embeded/raspberry pi2021. 6. 30. 16:30

rpi 4 32bit / 64bit cpuinfo

32bit kernel info

$ cat /proc/cpuinfo
processor       : 3
model name      : ARMv7 Processor rev 3 (v7l)
BogoMIPS        : 108.00
Features        : half thumb fastmult vfp edsp neon vfpv3 tls vfpv4 idiva idivt vfpd32 lpae evtstrm crc32
CPU implementer : 0x41
CPU architecture: 7
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 3

Hardware        : BCM2711
Revision        : c03112
Serial          : 100000003e728750
Model           : Raspberry Pi 4 Model B Rev 1.2

$ uname -a
Linux raspberrypi 5.10.17-v7l+ #1403 SMP Mon Feb 22 11:33:35 GMT 2021 armv7l GNU/Linux

 

64bit kernel info

$ cat /proc/cpuinfo
processor       : 3
BogoMIPS        : 108.00
Features        : fp asimd evtstrm crc32 cpuid
CPU implementer : 0x41
CPU architecture: 8
CPU variant     : 0x0
CPU part        : 0xd08
CPU revision    : 3

Hardware        : BCM2835
Revision        : c03112
Serial          : 100000003e728750
Model           : Raspberry Pi 4 Model B Rev 1.2

$ uname -a
Linux raspberrypi 5.10.17-v8+ #1403 SMP PREEMPT Mon Feb 22 11:37:54 GMT 2021 aarch64 GNU/Linux
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embeded/raspberry pi2021. 6. 30. 16:23

AArch64 linux cpu features

cpuinfo 플래그가 희한하게 떠서 찾아보니 aarch64 에서는 명칭들이 죄다 바뀐 듯

asimd는 Advanced SIMD 줄여서 표현한건데 기존의 neon을 대체하고

fp는 vfp이런걸 전부 다 대체하는건가?

Features        : fp asimd evtstrm aes pmull sha1 sha2 crc32 cpuid

 

[링크 : https://unix.stackexchange.com/questions/43539/what-do-the-flags-in-proc-cpuinfo-mean]

[링크 : https://stackoverflow.com/questions/59379848/]

 

[링크 : http://javathunderx.blogspot.com/2018/11/cheat-sheet-for-cpuinfo-features-on.html]

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embeded/raspberry pi2021. 6. 28. 23:58

citcuitpyrhon joystick

예제대로 넣으니까 먼가 뜨긴 한데

장치 관리자에서는 이정도 밖에 발견하지 못했고

 

 

 

 

시작에서 컨트롤러 쳐서 조이스틱 상태를 보니

 

오..?! CircuitPython HID 라는게 뜬다.

장치관리자에는 안보이던데 어딨냐 너 -_-

 

아무튼 이정도면 dog 훌륭아닌가?!

내 joytron 보다 더 많은 단추를 제공하는 느낌인데...

조금 아쉬운건 x/y/z 축은 있지만 시야는 없다는 정도?

[링크 : https://circuitpython.readthedocs.io/en/2.x/shared-bindings/gamepad/GamePad.html]

 

+

심심해서 usb_hid 와 gamepad 둘다 로드하니 순서와는 상관없이 gamepad만 뜬다.

조이스틱과 키보드 마우스 동시에 쓸 순 없나?

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embeded/raspberry pi2021. 6. 28. 16:14

rpi pico, circuitpython, USB HID

usb hid 라이브러리

[링크 : https://circuitpython.org/libraries]

circuit python uf2 다운로드

[링크 : https://circuitpython.org/board/raspberry_pi_pico/]

 

step 1. circuit python uf2 파일 쓰기

BOOTSEL 누르고 부팅해서 adafruit-circuitpython-raspberry_pi_pico-en_US-6.3.0.uf2 파일을 드라이브에 던진다.

 

step 2. lib 복사

circuitpython이 설치되면 리부팅 되고 아래와 같은 구조의 디렉토리가 보이게 된다.

adafruit-circuitpython-bundle-6.x-mpy-20210625.zip 를 받아 zip 파일내의

adafruit_hid 디렉토리를 lib/adafruit_hid 에 복사한다.

[링크 : https://learn.adafruit.com/welcome-to-circuitpython/circuitpython-libraries]

 

step 3. code.py 작성

아래는 꽂으면 A만 미친듯이 눌러대는 녀석이다. (그러니 현재는 테러용 USB ㅋㅋ)

마치 shift가 눌린 것 처럼 작동하는데 코드는 좀 더 분석이 필요하다.

Import time

import board
import digitalio
import usb_hid
from adafruit_hid.keyboard import Keyboard
from adafruit_hid.keyboard_layout_us import KeyboardLayoutUS
from adafruit_hid.keycode import Keycode

# The Keycode sent for each button, will be paired with a control key
keys_pressed = [Keycode.A, "Hello World!\n"]
control_key = Keycode.SHIFT

# The keyboard object!
time.sleep(1)  # Sleep for a bit to avoid a race condition on some systems
keyboard = Keyboard(usb_hid.devices)
keyboard_layout = KeyboardLayoutUS(keyboard)  # We're in the US :)

while True:
    keyboard_layout.write('A')
    time.sleep(0.01)

 

Hello world 출력하는 키보드(!) 예제 ㅋㅋ

import time

import board
import digitalio
import usb_hid
from adafruit_hid.keyboard import Keyboard
from adafruit_hid.keyboard_layout_us import KeyboardLayoutUS
from adafruit_hid.keycode import Keycode

# The keyboard object!
time.sleep(1)  # Sleep for a bit to avoid a race condition on some systems
keyboard = Keyboard(usb_hid.devices)
keyboard_layout = KeyboardLayoutUS(keyboard)  # We're in the US :)

while True:
    keyboard_layout.write('H')
    keyboard_layout.write('e')
    keyboard_layout.write('l')
    keyboard_layout.write('l')
    keyboard_layout.write('o')
    keyboard_layout.write(' ')
    keyboard_layout.write('w')
    keyboard_layout.write('o')
    keyboard_layout.write('r')
    keyboard_layout.write('l')
    keyboard_layout.write('d')
    time.sleep(1)

[링크 : https://tutorial.cytron.io/.../keyboard-emulator-using-raspberry-pi-pico-maker-pi-pico-and-circuitpython/]

[링크 : https://learn.adafruit.com/getting-started-with-raspberry-pi-pico-circuitpython]

[링크 : https://learn.adafruit.com/circuitpython-essentials/circuitpython-hid-keyboard-and-mouse]

 

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embeded/raspberry pi2021. 6. 28. 11:51

rpi pico pinout

VBUS(GP40, 우측 상단)에 연결하면 USB Host 모드로만 작동해야 한다는 의미 같은데

아마 USB device 모드라면 USB를 통해 전원을 입력받아야 하기 때문이려나?

Whilst it is possible to connect the Raspberry Pi’s 5V pin to the Raspberry Pi Pico VBUS pin, this is not recommended.
Shorting the 5V rails together will mean that the Micro USB cannot be used. An exception is when using the Raspberry
Pi Pico in USB host mode, in this case 5V must be connected to the VBUS pin.

 

 

GP0이 TX GP1이 RX

 

LED는 GPIO25에 연결되어 있고, TP5로도 연결이 되어있는데

BOOTSEL은 TP6에만 되어있고 GPIO로 연결은 되어 있지 않다.

TP1 – Ground (close coupled ground for differential USB signals)
TP2 – USB DM
TP3 – USB DP
TP4 – GPIO23/SMPS PS pin (do not use)
TP5 – GPIO25/LED (not recommended to be used)
TP6 – BOOTSEL

[링크 : https://www.raspberrypi-spy.co.uk/2021/01/pi-pico-pinout-and-power-pins/#prettyPhoto]

 

[링크 : https://datasheets.raspberrypi.org/pico/getting-started-with-pico.pdf]

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rpi 3b+ with bt / uart

라즈베리파이 3B를 사용중인데 ttyAMA0를 하니 minicom 자체가 먹통이 되서

rpi pico랑 연결하는글을 보다가 발견

$ minicom -b 115200 -o -D /dev/serial0

[링크 : https://datasheets.raspberrypi.org/pico/getting-started-with-pico.pdf]

 

흐음.. serial0을 쓰도록 해야 할 것 같네.

$ ls -al /dev/serial*
lrwxrwxrwx 1 root root  5 Jun 28 02:17 /dev/serial0 -> ttyS0
lrwxrwxrwx 1 root root  7 Jun 28 02:17 /dev/serial1 -> ttyAMA0

 

+

원래 시리얼통신 포트 이름은 /dev/ttyAMA0이다. 그런데 파이3에서는, 이전까지 /dev/ttyAMA0에 할당되어있던 시리얼포트가 블루투스에 할당되었다. 시리얼포트는 /dev/ttyS0로 옮겨졌다.

[링크 : http://lhdangerous.godohosting.com/wiki/index.php/라즈베리파이_시리얼_통신_설정...]

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rpi pico USB OTG를 이용한 오실로스코프

USB OTG 케이블을 이용하여

간이 오실로스코프를 만들수 있다니 혹하는데 3.3V 까지 밖에 안되니 주의를 기울여야 할지도..

 

[링크 : https://hackaday.com/2021/06/26/raspberry-pi-pico-oscilloscope/]

[링크 : https://github.com/fhdm-dev/scoppy]

 

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