Pinscape Pico is a comprehensive I/O controller for virtual pinball cabinets, designed for the Raspberry Pi Pico RP2040. It handles nearly all of the common input and output functions in a virtual pin cab: arcade-style pushbuttons and switches, accelerometer-based nudging, mechanical plunger position sensing, and feedback effect devices such as lights, shaker motors, fans, and solenoids. It can be used on a standalone Pico, and also with a wide range of peripheral devices that expand the Pico's hardware capabilities: accelerometers, PWM/LED driver chips, shift registers, GPIO expanders, ADCs, and clock/calendar chips. The project includes hardware designs for a number of expansion boards that implement particular collections of peripherals selected to meet the needs of most pin cab builders.
This project is a sequel to the original Pinscape KL25Z controller, but it's all new code, not a port of the KL25Z software. The Pico is a more powerful platform than the KL25Z, so I wanted to make a fresh start to take advantage of the Pico's expanded capabilities. Pinscape Pico has all (I'm pretty sure) of the features of the original KL25Z Pinscape, plus some neat new tricks. It's also a little more "technical" than the KL25Z system, but also more powerful and flexible.
Here are some examples of how you can set up a Pinscape Pico system. There's a more comprehensive list of features a little later in this article, but it might help to start with some more concrete examples of what your overall system might look like.
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Button controller: A really simple way to use Pinscape is as a button encoder, for connecting arcade pushbuttons to the PC. The Pico is the only piece of hardware you need for this, since you can just connect the buttons directly to the Pico's GPIO ports. The Pico has a total of 26 external GPIO pins, so you can connect up to 26 buttons. Each button can be mapped to the PC as a keyboard key, a gamepad button, or a variety of other options, and the Pico responds to button presses within microseconds, for very small latencies sending input to the PC. (If you need more than 26 buttons, there are also options to add just about as many extra ports as you'd like by adding some external chips, but that's not required if you can make do with 26 buttons.)
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Accelerometer-based nudge device: A slightly more complex setup adds an accelerometer, to detect when you nudge the cabinet, so that the pinball simulator can apply the nudge force within the game. Analog nudging adds a wonderful extra dimension to video pinball that lets you interact with the game in a much more natural, physical way. The Pico doesn't have a built-in accelerometer, though, so this setup requires adding an external accelerometer. Fortunately, Adafruit and Sparkfun make inexpensive (under $10) breakout boards for the popular LIS3DH chip, which is relatively easy to connect to the Pico and works well with Pinscape. You can combine this with button inputs, too (although you'll only get 24 buttons in this case, because the accelerometer connection takes up two of the GPIOs).
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Plunger: You can also add a mechanical plunger position sensor. Apart from the plunger sensor itself, no other hardware is needed. The simplest plunger sensor type is a slide potentiometer, which connects to the Pico with three wires. You can combine this with the accelerometer and button functions as well.
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Feedback device controller: Pinscape can act as a replacement for the LedWiz and its competitors - devices that control a fixed set of feedback devices, and do nothing else. Pinscape can even emulate the original LedWiz USB interface, if you want it to, which makes it plug-and-play compatible with old LedWiz-based software. To control feedback devices, though, you need to add some custom external hardware, because the Pico by itself can only control tiny amounts of power, just enough for a small LED. So you need "booster" (amplifier) circuitry to control motors, solenoids, and bigger lights. Pinscape is flexible enough to work with a wide range of booster circuits, so you can roll your own if you want, but you don't have to. The Pinscape Pico project includes several "reference" expansion board designs, which are open-source circuit board layouts that anyone is free to build on their own, or to customize to fit specific requirements.
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Comprehensive I/O controller: The reference expansion boards don't just control feedback devices. They're designed as all-in-one boards that handle just about everything you'd need in a full-featured pin cab, including accelerometer, plunger, buttons, and feedback devices. So you can combine the features of a button encoder, nudge device, and feedback controller into a single Pico running Pinscape.
A pre-built Windows installation is available on the github project page, under the Releases section in the right panel.
The distribution is a ZIP file. To install, just unpack the ZIP file into a local directory on your hard disk. Just about any folder location will work, except that you should avoid any of the Windows system folders and the C:\Program Files tree, since those folders are protected.
Once you unpack the files, you can launch the Pinscape Pico GUI Config Tool by double-clicking GUIConfigTool.exe. That's designed to be your main gateway to the system, and it'll display on-screen instructions for setting up a new Pico with the Pinscape software.
More setup details can be found below.
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USB keyboard emulation, for button input mapping
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USB gamepad emulation, for button inputs, accelerometer, and plunger
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XBox controller emulation ("XInput"), as an alternative to the HID gamepad (and the controller's feedback features (LEDs and rumble motors) can be mapped to output ports via the "computed output" feature)
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Open Pinball Device support
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All input devices (keyboard, gamepad, XBox, Open Pinball Device) are optional, they can be mixed and matched in any combination, and and all of their virtual controls (buttons, joystick axes) can be individually mapped to whichever physical inputs you like (physical buttons, accelerometer axes, plunger sensor)
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Support for PWM outputs directly through Pico GPIO ports, as well as multiple external PWM output controller chips (TLC5940, TLC59116, PCA9685), and even shift-register chips (74HC595)
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Gamma correction option for PWM output ports, with the gamma calculated at the device's full resolution for higher-resolution devices (e.g., 12-bit gamma scaling for TLC5940)
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Configurable "flipper logic" timer protection (in software) for all output ports
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Support for shift register output ports via 74HC595, which can be configured as digital ON/OFF outputs or as PWM outputs
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Support for digital ON/OFF output ports via PCA9555 GPIO expander chips
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An add-on project, "PWMWorker", turns additional Picos into 24-port I2C PWM controllers, the equivalent of 1½ TLC59116 or PCA9685 chips, but in the DIY-friendly Pico package, and at the DIY-friendly Pico price point. Add more PWM ports to your system, 24 at a time, without any SMD soldering (Data Sheet • Project subtree)
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Support for button inputs directly through Pico GPIO ports, as well as through 74HC165 shift registers and PCA9555 GPIO expanders
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Extremely low latency on GPIO and 74HC165 input ports (microseconds on the device side, 1-2 milliseconds end-to-end delivery to the application through USB)
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Ports on PCA9555 chips can be individually assigned as button inputs ports and feedback device output ports, freely mixing port types on the same chip
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An extensible design for all of the external hardware interfaces, to allow new chips to be added in the future
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"Logical button" design that allows mapping multiple types of physical inputs to multiple types of PC inputs and other actions, including keyboard keys, gamepad buttons, IR remote control code transmissions, and internal actions such as engaging Night Mode or firing an output port
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Button macros, to carry out a timed series of actions when a button (physical or logical) is pressed
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"Shift buttons", to allow mapping multiple functions to a single physical input; multiple shift buttons can be defined, to allow for shift "chords" (analogous to PC key combinations like Shift+Ctrl+X)
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"Logical output" design that allows mapping physical outputs to DOF ports, internal sources, and "computed" sources that let you combine DOF ports, control multiple things with one DOF port, control ports based on timed events or internal device events, and all sorts of other things
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DOF support, via Pinscape Pico device recognition in DOF (present in unified R3++ DOF releases since late 2024)
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Support for legacy LedWiz-only applications, via two levels of emulation:
- Windows API-level emulation, via an open-source LEDWIZ.DLL replacement. This is the preferred method, since it's compatible with all of the other Pinscape features.
- Full USB protocol emulation, for systems or applications where the LEDWIZ.DLL replacement can't be used. This is a last resort when the first option doesn't work, because it restricts what other Pinscape features you can use.
These two approaches are mutually exclusive, and have certain trade-offs. See LedWiz Emulation Options for more details.
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Night Mode, to disable designated outputs as a group for quieter play
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Time-of-day features, and support for an external real-time clock (RTC) chip to keep time while the power is off
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IR remote control receiver/transmitter, with the full universal-learning-remote design from the KL25Z Pinscape
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The "TV ON" feature from the KL25Z Pinscape, with support for the same type of external power-sensing circuit, and the same support for a TV Relay and IR command activation when a power-on transition occurs
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Plunger sensor support for all of the KL25Z Pinscape sensors, with the same plunger logic features
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Nudging, with support for multiple accelerometer chips (MXC6655XA, MC3416, LIS3DH, LIS3DSH), with an extensible design to allow support for more accelerometer chips to be added in the future
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Nudge Velocity input support for the latest Visual Pinball
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Plunger and accelerometer inputs can be mapped to any suitable gamepad axes, and can also be used as inputs to logical buttons and logical output ports; for example, you can set up a button that triggers when the accelerometer X axis exceeds a given threshold, or set up an LED that turns on when the plunger is pulled
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Plunger Velocity input support for the latest Visual Pinball
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Extremely flexible configuration system, with practically all of the hardware setup under user control, using the human-friendly JSON text file format
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Detailed error/status logging, viewable on the PC via UART (physical serial port), USB CDC (virtual COM port), and the Config Tool, for easier troubleshooting
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A simple command console, accessible through UART and USB CDC ports, with access to internal debugging and troubleshooting commands; mostly a debugging tool for developers, but possibly useful for troubleshooting problems that don't easily yield to other means
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GUI configuration and testing tool, with detailed visualizations of hardware and software status for button inputs, feedback device outputs, plunger sensor, and IR features
Pinscape Pico is billed as a "comprehensive" I/O controller for virtual pinball cabinets, but there are a few I/O functions that Pinscape doesn't handle. In each case, the decision to omit them was based primarily on the resource limits of the Pico: there would be too many compromises trying to make a single Pico perform all of its Pinscape duties plus these other tasks. Fortunately, all of these functions are already covered by other open-source projects that run on similarly inexpensive hardware, so leaving them out of Pinscape shouldn't be an obstacle to including them in a DIY pin cab.
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No smart light strips: Pinscape doesn't control smart light strips - the kind with individually addressable RGB LEDs, such as WS2812B strips. The resource limit that makes this impractical to include in Pinscape is the Pico's relatively small number of GPIO ports. For a typical pin cab light strip setup, you'd need four to eight GPIO ports dedicated to the light strips. Pinscape needs almost all of the GPIO ports to itself as it is.
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No Dot-Matrix Displays (DMDs): Pinscape also doesn't control the 128x32 dot-matrix display panels found in 1990s pinball machines, and still popular in virtual pinball cabinets. The main reason to dedicate a separate controller to the DMD is that it requires a lot of USB bandwidth, since the DMD is essentially a small video display. A separate device with its own USB port is the simplest way to ensure plenty of bandwidth for everyone.
The main documentation right now is the Config Tool help. That has extensive information on the Config Tool itself, with a lot of details on the how the firmware works. The JSON Configuration Reference section in particular has extremely detailed information on all of the features, subsystems, and peripheral hardware supported.
You can access this from the Help menu in the GUI Config Tool (GUIConfigTool.exe), or you can simply open Help\ConfigTool.htm in your favorite browser.
In case you'd like to just read about the system without actually installing anything, I've made the same help files available online, at mjrnet.org/pinscape/PinscapePico/Help/ConfigTool.htm
The Pinscape Pico Config Tool guides you through the initial setup process for a new device. Just run the program and follow the on-screen instructions under the "New Device Setup" section.
If you prefer to carry out the steps manually, without the Config Tool involved, you can also use the standard, native Boot Loader procedure you'd use with any Pico software:
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Unplug your Pico from USB (and all other power sources)
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Press and hold the button on top of the Pico while plugging it in, then release the button
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You should see the Pico appear on your Windows desktop as a virtual thumb drive
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Drag and drop PinscapePico.uf2 from the Pinscape folder onto the Pico virtual disk (or use a COPY command in a DOS box)
The Pico should now automatically reboot into the Pinscape software. If the software is working properly, the little green LED on top of the Pico will blink at about 1 Hz, and the device should appear as a Pinscape Pico unit in the Config Tool.
After the initial install, you can install firmware updates directly through the Config Tool without all of the manual steps.
This project's configuration setup is rather different from the KL25Z Pinscape setup. Instead of a graphical config tool, Pinscape Pico uses a text file written in the widely-used JSON format.
The JSON file format and contents are documented in the Config Tool help. The Config Tool features an integrated text editor (based on Scintilla) with JSON syntax-aware coloring and indenting, and quick linking from the current editing location (based on live syntax scanning) to the relevant documentation.
When you first fire up the GUI Config Tool and go to the Main Configuration view, the program will offer a choice of initial template configurations that you can use as a starting point. The templates contain many examples of common configuration elements, commented out, that you can un-comment and edit as needed to add to your own configuration.
Alternatively, you can also send a config file to the Pico using the command-line Config Tool, from a DOS box:
ConfigTool --put-config MyConfig.json --reset
Replace MyConfig.json with the actual name of your JSON file. The
--put-config part installs your JSON file on the device. The new
settings don't go into effect until you reboot the device, which is
why we also added --reset at the end.
You can update the firmware using the same procedure as the initial install, by forcing the Pico into Boot Loader mode via the BOOTSEL button and manually copying the new UF2 file.
But there's also an easier way. Once Pinscape is installed, the Config Tool can install firmware updates for you with a couple of mouse clicks, with no need to physically unplug the Pico or fuss with the BOOTSEL button.
In the GUI config tool, the main Overview window has controls for updating the firmware.
To update the firmware from a DOS box, use the command-line config tool:
ConfigTool --update PinscapePico.uf2
That automatically places the Pico into Boot Loader mode, copies the specified UF2 file into its flash, and reboots the Pico to launch the updated firmware.
Pinscape uses the Pico's hardware watchdog module to automatically detect most software crashes. The watchdog is essentially a hardware timer that performs a power-cycle reboot on the Pico if the software ever stops responding for more than a fraction of a second. This is an excellent way to detect software crashes, freezes, and other problems that make the software stop functioning correctly, and in most cases, it prevents the Pico from ever getting into a truly unresponsive state.
When the hardware watchdog detects a crash, it reboots Pinscape into Safe Mode. Safe Mode runs the normal Pinscape firmware, but it bypasses the usual JSON configuration file, and instead uses a stripped-down configuration with a minimal number of features enabled. The idea is that most crashes are caused by specific features in the software, rather than by the core system software, so disabling most of the optional features will allow the basic core software to run without problems.
When Safe Mode is active, the Config Tool can connect to the Pico, and you can inspect and edit the JSON configuration file. You can also use Safe Mode to install new firmware, if you're aware of a newer firmware version that contains a fix for the crash.
If you suspect that the crash that led to Safe Mode activation was due to a particular feature, you can use Safe Mode to edit the configuration file and disable the suspect feature. If you think it was due to a setting, but you're not sure which one, you can experiment with disabling features until you find the one responsible.
If you think the crash was purely random or sporadic, you can just reboot the Pico and try again. If the Pico keeps going back into Safe Mode after each reboot, you probably will need to disable something in the configuration to get back to normal operation.
By default, Safe Mode uses default "factory" settings for everything. You can optionally create your own Safe Mode configuration file via the Config Tool, in the Safe Mode Config window. This works exactly like the regular JSON configuration; it's just a separate JSON file that's loaded instead of the regular one when Safe Mode is triggered. The Safe Mode config file lets you enable specific features even when in Safe Mode. Naturally, you should minimize the features you enable here, since the whole point is to create a minimal configuration that's less likely to crash due its very simplicity. I like to configure the ID information here to match the main configuration, and also enable the UART ports, so that I can access the command console for troubleshooting even when Safe Mode is active.
First, you can't actually "brick" a Pico, in the sense of rendering it permanently unrecoverable due to a software error. But the Pinscape software certainly can crash, and it can crash at startup, such that it won't connect to the Config Tool long enough to let you perform an update. So the Pico might appear to be bricked. Even this is unlikely, because the Pico will automatically detect most crashes and reboot itself into Safe Mode (see above), giving you access to basic configuration functions.
In the event that Safe Mode doesn't kick in, it's still essentially impossible to truly brick a Pico, thanks to the Pico's boot loader being etched into inalterable hardware ROM. No matter how badly the software screws up, there's just no physical way that it can break the ROM. If the Pinscape software ever makes your Pico appear unresponsive, you can always restore it to Boot Loader condition as follows:
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Disconnect the Pico from USB (and any other power sources)
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Press and hold the BOOTSEL button on top of the Pico while plugging in the USB cable
Holding the BOOTSEL button during a power cycle activates the Pico boot loader, bypassing any software loaded in flash. Since it's impossible to erase the boot loader program itself (as it's stored in unerasable ROM), and since the BOOTSEL button physically bypasses the flash during the reset, there's nothing that a firmware program can do to prevent this assertion of Boot Loader control, even if it were deliberately trying to.
After you perform the BOOTSEL maneuver, the Pico should appear as a virtual thumb drive on your Windows desktop. You can now replace the flash firmware by dragging the new .UF2 onto the Pico thumb drive.
For most programs, it would be enough at this point to reinstall the firmware. However, that's not necessarily good enough with Pinscape, because Pinscape also stores your configuration file in the Pico's flash memory, in a separate area from the program executable. You can fully reset the Pico to factory conditions using the Config Tool, via the Device menu on the main Overview page, or via the Boot Loader view, if the device is currently in Boot Loader mode.
Pinscape Pico will work on a completely stand-alone Pico, but for a full virtual pin cab setup, you'll almost certainly want to add some external peripherals to supplement the Pico's relatively small complement of GPIO ports, and its lack of an on-board accelerometer.
As part of the Pinscape Pico project, I've developed a few custom "expansion boards" purpose-built for virtual pin cabs. They're all open-source designs that anyone can build; you can find the EAGLE layouts in the ExpansionBoards folder.
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DIY-friendly expansion board set: A two-board set, designed to work together as a unit, providing a complete virtual pin cab I/O controller powerful enough for a high-end build with just about every toy known. "DIY-friendly" means that it's designed entirely from parts that are easy to source and easy to solder by hand - it's meant to be something you can build yourself.
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"Pro" expansion board: An all-in-one board with a similar set of features to the DIY-friendly set, just with everything packed into a single board, thanks to the higher density made possible by fine-pitch SMD parts. I call it the "Pro" board not because it's any better than the DIY board, but just because it's not the sort of thing most people would want to build by hand, thanks to the use of small SMD parts. It's really only practical to assemble robotically, and that probably means that it will only be economical to produce in moderately large batches, like tens or hundreds or units. I expect that this will be an obstacle to DIYers, but one of our enterprising community members who's set up for retail sales might be able to build them and offer them for sale. But even so, the "pro" isn't for "proprietary" - it's still an open-source design that you can build yourself, provided you have the means to work with the small SMD parts involved.
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KL25Z adapter: An adapter board that makes the Pico mimic a KL25Z, for use with the original Pinscape KL25Z expansion boards. This is designed for people that already have the KL25Z boards, and want to keep using them, but also want to upgrade to the new Pico software. This is designed as a drop-in replacement for the KL25Z in your old setup.
But Pinscape Pico isn't limited to my expansion board designs. The software was designed from the ground up to be fully configurable, and has support for numerous peripheral options. It doesn't make any assumptions about which peripheral devices are present. It'll work just as well with other people's expansion board designs as with my board designs.
Part of this project is a C++ API for accessing a Pinscape Pico device from a Windows application. The API is packaged as a C++ static-link library (.lib) that you can include in any C++ project. Refer to WinAPI/README.md, and the source files in the WinAPI/ folder.
The Windows C++ API is built atop a set of documented, structured, and extensible USB protocols. You can access the device directly through its USB protocols in cases where the Windows API isn't suitable, such as from a Linux host, from another microcontroller, or from a Windows programming language that can't readily import C++ APIs. See USBProtocol/README.md for details.
The firmware implements a very simplistic command console, which provides access to some internal debugging and troubleshooting information. It was designed for use by the developers, so user friendliness was not foremost in mind. However, it might be useful at times for in-depth troubleshooting, and might be of passing interest to the curious.
The console must be enabled explicitly, since it requires a serial connection of some kind, either UART or USB CDC. Those consume some resources on the Pico, so they're not enabled by default. The console also consumes some additional resources of its own when enabled. See the Config Tool help section on the JSON configuration for details on setting up serial port access and enabling the console.
Once enabled, you can access the console via a terminal program such
as PuTTY. Connect PuTTY (or another terminal program of your choice)
to the Pico's COM port (real or virtual). You should be presented
with a command prompt. Type help for a list of commands. The
console provides simple tab-completion for commands and option flags.
The original Pinscape software runs on the NXP FRDM-KL25Z, a microcontroller based on the Arm M0+. The KL25Z was marketed primarily as a development platform for NXP's Arm CPUs, but in many ways, it was an ideal platform for something like Pinscape: it has a generous complement of GPIOs, an excellent MEMS accelerometer on board, built-in USB, an integrated high-resolution ADC, and on-chip hardware interfaces for all of the common peripheral interconnects (UART, SPI, I2C). It has almost everything you'd need for a virtual pin cab controller built into the board; the only thing that pin cab builders had to add externally was MOSFET drivers to switch high-power devices. In a full system, we also had to add external PWM controllers, since the KL25Z didn't have as many PWM control channels as are needed for a typical virtual pin cab. The KL25Z was also quite reasonably priced, at under $20 MSRP.
But alas, NXP hasn't produced new KL25Z units since around 2018, and most retailers that sold them ran out of inventory around 2021. It's been getting increasingly difficult to find them available for sale in the years since. Sellers who do have any left know how scarce they are and are demanding scalper prices, as much as 5X MSRP. The Pico, in contrast, is amply available, and Raspberry Pi has publicly committed to keeping them in production for many years to come. (Raspberry Pi also recently released the Pico 2, an updated version with an even faster CPU. That will extend the life of the product family even further.) The Pico is also even less expensive than the KL25Z's original retail price, at just $4 MSRP.
Like the KL25Z, the Pico based on the Arm M0+ CPU core, but that's about the only thing that the devices have in common technologically. Arm's CPUs are designed to be customized by the OEM, so the M0+ from NXP and the M0+ from Raspberry Pi are quite different, sharing a common machine code language but not much else. The Pico's version doesn't use any of the same on-chip peripherals as the KL25Z. It does provide many of the same peripheral functions that the KL25Z did, at a conceptual level, including GPIOs, DMA, ADC, USB, I2C, SPI, and UART, but the concrete implementations are very different in the details from their KL25Z counterparts, so code written for one machine needs to be largely rewritten to run on the other. The Pico also lacks an accelerometer, which is a key feature for a pin cab controller.
Because of the differences in capabilities, the Pico requires not only a whole new software port, but also a whole new external hardware environment, to fill in the gaps in the Pico's peripherals vs the KL25Z. We obviously have to add an accelerometer, but we also have to compensate for the relatively small number of GPIOs on the Pico relative to the KL25Z - we can't just wire 20 or 30 button inputs to GPIOs, which we could get away with on the KL25Z with its 50+ ports.
What the Pico lacks in on-board peripherals, it more than makes up for with excellent hardware support for external peripherals. The Pico has a novel and extremely flexible hardware subsystem that makes it possible to interface to a wide range of external devices with minimal CPU load. Pinscape Pico takes advantage of the Pico's unique hardware to provide support for large number of external peripherals, with extremely flexible configuration options. It offers several different ways to attach ample sets of button inputs and feedback device outputs, using only a few GPIO ports; it supports multiple accelerometers, with an open architecture that will allow expanding to new devices in the future; it supports multiple external ADCs to supplement the somewhat meager on-board ADC; and it supports all of the original Pinscape KL25Z plunger sensors.
The standard Pico boards come with 2MB of flash memory built in. The flash chip is there primarily for storing the user's firmware program, and the Pico's designers didn't really make provisions for any other use. In particular, they didn't bother putting a "file system" on the flash; it's just a big unstructured byte array, like an unformatted disk drive.
It might look like the Pico has a FAT file system on the flash, because the Pico pretends that it's a FAT-formatted thumb drive when you put the Pico in Boot Loader mode. But it's a carefully crafted illusion. The thumb drive you see isn't actually a window on the flash memory, but more like a virtual in-memory RAM disk. Importantly, it can't actually store regular files. The only thing it can do is accept a UF2 file, which it parses into a Pico program image that it installs into the flash memory space. If you try copying a regular text file or a Word document or anything else onto the drive, it won't stick, since the virtual thumb drive's only job is to install program images from UF2 files.
Even though the flash memory space is so completely raw and unstructured, the Pico Boot Loader's usage of the space is at least predictable. The Boot Loader always installs the program image at the "bottom" of flash (the lowest memory address), in a contiguous block equal to the size of the image. This predictability is what allows Pinscape to share the flash space with the program image, to store its own persistent application data. Pinscape uses a portion of flash at a safe distance from the bottom section where the program image goes (all the way at the opposite end, in fact, at the "top" of the flash space). Pinscape uses this capability to store your configuration file and other settings, such as plunger calibration data. Since it's not in the part of flash that the boot loader uses, the configuration data survives firmware updates.
Pinscape imprints its own simple file-system-like layout on this extra data space, and the command console has some simple tools that let you view the layout, primarily for development and debugging purposes. But it's not a real file system by any means; it's just a way for Pinscape to organize its internal data structures.
Copyright 2024, 2025 Michael J Roberts
Released under a BSD 3-clause license - NO WARRANTY
CRC++, Copyright (c) 2022, Daniel Bahr. Distributed under a BSD 3-clause license.
M0 Fault Dispatch, by Dmitry.GR <me@dmitry.gr>. Distributed under a free/no-commercial-use license; see firmware/m0FaultDispatch.h in the source tree for the license text.
Pico C++ SDK, Copyright 2020 by Raspberry Pi (Trading) ltd. Distributed under a BSD 3-clause license.
Scintlla Edit Control, Copyright 1998-2021 by Neil Hodgson neilh@scintilla.org. Distributed under a Python-like license; see Scintilla/License.txt in this source tree for the full license text.
