fix: correct 3D fingertip sampling and PCB mapping

src/app.rs

@@ -6,7 +6,7 @@ use crate::render::{ActiveMode, FingerMode, HandGatewayMode};
 use crate::style::{self, ONE_DARK_PRO, apply_fonts, apply_theme, dim_text, layout};
 use crate::ui::SerialMode;
 use crate::{
-    matrix::{MATRIX_COLS, MATRIX_ROWS},
+    matrix::{MATRIX_COLS, MATRIX_ROWS, UNFOLDED_SENSOR_SEGMENT_COUNTS},
     render::{
         BackgroundRenderResources, PRESSURE_CELL_COUNT, PressureFrame, PressureSamples,
         WgpuBackgroundCallback,
@@ -21,8 +21,8 @@ use eframe::{egui, egui_wgpu};
 use std::sync::Arc;
 
 const SUMMARY_POINTS_PER_SERIES: usize = 42;
-const HAND_FORCE_PANEL_COUNT: usize = 7;
+const HAND_FORCE_PANEL_COUNT: usize = UNFOLDED_SENSOR_SEGMENT_COUNTS.len();
-const HAND_FORCE_SEGMENT_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = [84, 84, 84, 84, 84, 70, 44];
+const HAND_FORCE_SEGMENT_COUNTS: [usize; HAND_FORCE_PANEL_COUNT] = UNFOLDED_SENSOR_SEGMENT_COUNTS;
 
 pub struct EskinDesktopApp {
     connect_panel: FloatingPanelState,
@@ -218,6 +218,12 @@ impl EskinDesktopApp {
 
     fn update_pressure_matrix(&mut self) {
         if let Some(sample) = self.connection.take_latest_sample() {
+            if self.config_state.mode == SerialMode::Finger3D {
+                eprintln!(
+                    "[3d-rawdata] rows={} cols={} values={:?}",
+                    sample.rows, sample.cols, sample.matrix
+                );
+            }
             normalize_pressure_sample(
                 &sample.matrix,
                 sample.rows,
@@ -244,10 +250,6 @@ impl EskinDesktopApp {
             if self.signal_history.len() > SUMMARY_POINTS_PER_SERIES {
                 self.signal_history.remove(0);
             }
-
-            if self.config_state.mode == SerialMode::Hand {
-                update_hand_signal_histories(&mut self.hand_signal_histories, &sample.matrix);
-            }
         }
     }
 
@@ -395,6 +397,14 @@ impl EskinDesktopApp {
                     self.latest_spatial_force,
                 );
             }
+            SerialMode::Finger3D => {
+                draw_stats_panel(
+                    ctx,
+                    &mut self.stats_panel,
+                    &self.signal_history,
+                    self.latest_spatial_force,
+                );
+            }
             SerialMode::Hand => {
                 draw_hand_force_panels(ctx, self.stats_panel.visible, &self.hand_signal_histories);
             }
@@ -498,6 +508,15 @@ impl EskinDesktopApp {
     }
 
     fn switch_mode(&mut self, next: SerialMode) {
+        if next == SerialMode::Finger3D {
+            // The 3D fingertip PCB sends one 12x9 TactileA frame (108 cells).
+            self.matrix_config = MatrixConfigState {
+                rows: 12,
+                cols: 9,
+                color_min: 0.0,
+                color_max: 7000.0,
+            };
+        }
         self.connect_state.mode = next;
         self.config_state.mode = next;
         self.config_state.baud_rate = next.baud_rate();
@@ -518,8 +537,10 @@ impl EskinDesktopApp {
                 range: 0..7000,
                 dot: true,
             }),
-            SerialMode::Hand => ActiveMode::Hand(HandGatewayMode { range: 0..7000 }),
+            SerialMode::Finger3D | SerialMode::Hand => {
-        }
+                ActiveMode::Hand(HandGatewayMode { range: 0..7000 })
+            }
+        };
     }
 }
 
@@ -675,12 +696,6 @@ fn draw_config_bar_mode(ui: &mut egui::Ui, config: &mut ConfigPanelState) -> Opt
         if mode_button(ui, &mut config.mode, SerialMode::Finger, "单面指尖") {
             changed_to = Some(SerialMode::Finger);
         }
-        // if mode_button(ui, &mut config.mode, SerialMode::Finger3D, "3D指尖") {
-        //     changed_to = Some(SerialMode::Finger3D);
-        // }
-        if mode_button(ui, &mut config.mode, SerialMode::Hand, "展示手掌") {
-            changed_to = Some(SerialMode::Hand);
-        }
     });
 
     changed_to

src/matrix.rs

@@ -1,5 +1,31 @@
 pub const MATRIX_ROWS: u32 = 12;
 pub const MATRIX_COLS: u32 = 7;
+pub const UNFOLDED_L_CHANNEL_COUNT: usize = 8;
+pub const UNFOLDED_H_CHANNEL_COUNT: usize = 13;
+pub const UNFOLDED_SENSOR_COUNT: usize = UNFOLDED_L_CHANNEL_COUNT * UNFOLDED_H_CHANNEL_COUNT;
+pub const UNFOLDED_SENSOR_SEGMENT_COUNTS: [usize; 10] = [8, 3, 5, 8, 10, 44, 3, 5, 8, 10];
+
+pub const fn unfolded_lh_sample_index(l: usize, h: usize) -> usize {
+    debug_assert!(l < UNFOLDED_L_CHANNEL_COUNT);
+    debug_assert!(h < UNFOLDED_H_CHANNEL_COUNT);
+    h * UNFOLDED_L_CHANNEL_COUNT + l
+}
+
+#[cfg(test)]
+mod adc_scan_tests {
+    use super::*;
+
+    #[test]
+    fn scan_changes_l_before_advancing_h() {
+        let first_h0_scan = (0..UNFOLDED_L_CHANNEL_COUNT)
+            .map(|l| unfolded_lh_sample_index(l, 0))
+            .collect::<Vec<_>>();
+
+        assert_eq!(first_h0_scan, (0..8).collect::<Vec<_>>());
+        assert_eq!(unfolded_lh_sample_index(0, 1), 8);
+        assert_eq!(unfolded_lh_sample_index(7, 12), 103);
+    }
+}
 
 const BASE_MATRIX_SPAN: f32 = 24.0;
 const MATRIX_SPAN_GROWTH: f32 = 0.6;

src/render.rs

@@ -1,5 +1,8 @@
 use crate::{
-    matrix::{MatrixLayout, build_view_projection, glyph_world_position},
+    matrix::{
+        MatrixLayout, UNFOLDED_SENSOR_COUNT, build_view_projection, glyph_world_position,
+        unfolded_lh_sample_index,
+    },
     model::{AlphaMode, InstanceRaw, ModelVertex, Vertex},
     resources, texture,
 };
@@ -70,26 +73,96 @@ const HAND_TIP_MATRICES: [HandTipMatrix; 5] = [
     },
 ];
 
-const HAND_PALM_CHIPS: [HandPalmChip; 2] = [
+const UNFOLDED_CANVAS_SIZE: [f32; 2] = [850.0, 750.0];
+const UNFOLDED_CELL_SPACING_PX: f32 = 42.0;
+const UNFOLDED_SENSOR_CHIPS: [HandPalmChip; 10] = [
+    // Top cap: 2 rows x 4 columns.
     HandPalmChip {
-        center_px: [538.0, 608.0],
+        center_px: [425.0, 165.0],
-        size_px: [248.0, 82.0],
+        size_px: [176.0, 88.0],
-        angle_rad: 0.06,
+        angle_rad: 0.0,
-        rows: 5,
+        rows: 2,
-        cols: 14,
+        cols: 4,
+        sample_offset: 0,
+    },
+    // Left wing, authored from the outside towards the 11x4 center block.
+    HandPalmChip {
+        center_px: [140.0, 578.0],
+        size_px: [46.0, 132.0],
+        angle_rad: 0.0,
+        rows: 3,
+        cols: 1,
+        sample_offset: 8,
     },
     HandPalmChip {
-        center_px: [606.0, 780.0],
+        center_px: [188.0, 534.0],
-        size_px: [72.0, 214.0],
+        size_px: [46.0, 220.0],
-        angle_rad: 0.05,
+        angle_rad: 0.0,
+        rows: 5,
+        cols: 1,
+        sample_offset: 11,
+    },
+    HandPalmChip {
+        center_px: [236.0, 468.0],
+        size_px: [46.0, 352.0],
+        angle_rad: 0.0,
+        rows: 8,
+        cols: 1,
+        sample_offset: 16,
+    },
+    HandPalmChip {
+        center_px: [284.0, 424.0],
+        size_px: [46.0, 440.0],
+        angle_rad: 0.0,
+        rows: 10,
+        cols: 1,
+        sample_offset: 24,
+    },
+    // Center spine: 11 rows x 4 columns.
+    HandPalmChip {
+        center_px: [425.0, 444.0],
+        size_px: [176.0, 484.0],
+        angle_rad: 0.0,
         rows: 11,
         cols: 4,
+        sample_offset: 34,
+    },
+    // Right wing mirrors the left wing. Data remains ordered 3, 5, 8, 10.
+    HandPalmChip {
+        center_px: [710.0, 578.0],
+        size_px: [46.0, 132.0],
+        angle_rad: 0.0,
+        rows: 3,
+        cols: 1,
+        sample_offset: 78,
+    },
+    HandPalmChip {
+        center_px: [662.0, 534.0],
+        size_px: [46.0, 220.0],
+        angle_rad: 0.0,
+        rows: 5,
+        cols: 1,
+        sample_offset: 81,
+    },
+    HandPalmChip {
+        center_px: [614.0, 468.0],
+        size_px: [46.0, 352.0],
+        angle_rad: 0.0,
+        rows: 8,
+        cols: 1,
+        sample_offset: 86,
+    },
+    HandPalmChip {
+        center_px: [566.0, 424.0],
+        size_px: [46.0, 440.0],
+        angle_rad: 0.0,
+        rows: 10,
+        cols: 1,
+        sample_offset: 94,
     },
 ];
 
 const HAND_FINGER_SENSOR_CELLS: usize = 12 * 7;
-const HAND_PALM_HORIZONTAL_OFFSET: usize = HAND_FINGER_SENSOR_CELLS * 5;
-const HAND_PALM_VERTICAL_OFFSET: usize = HAND_PALM_HORIZONTAL_OFFSET + 5 * 14;
 
 // Each entry pins one miniature matrix to a fingertip in hand.png.
 // Coordinates are authored in source-image pixels so they are easy to tune by eye.
@@ -100,14 +173,15 @@ struct HandTipMatrix {
     angle_rad: f32,
 }
 
-// Palm chips follow the hand layout: one horizontal 5x14 matrix and one vertical
+// One block in the flat 270-degree sensor layout. Coordinates use a dedicated
-// 11x4 matrix, rendered as dark inset chip tiles on the palm.
+// 850x750 canvas so the unfolded shape stays prominent across window sizes.
 struct HandPalmChip {
     center_px: [f32; 2],
     size_px: [f32; 2],
     angle_rad: f32,
     rows: u32,
     cols: u32,
+    sample_offset: usize,
 }
 
 impl egui_wgpu::CallbackTrait for WgpuBackgroundCallback {
@@ -156,7 +230,6 @@ pub struct BackgroundRenderResources {
     dot_pipeline: wgpu::RenderPipeline,
     hand_membrane_pipeline: wgpu::RenderPipeline,
     hand_dot_pipeline: wgpu::RenderPipeline,
-    hand_palm_chip_pipeline: wgpu::RenderPipeline,
     hand_palm_dot_pipeline: wgpu::RenderPipeline,
     hand_image_bind_group: wgpu::BindGroup,
     hand_image_texture: texture::Texture,
@@ -168,8 +241,6 @@ pub struct BackgroundRenderResources {
     hand_membrane_instances: Vec<GlyphInstance>,
     hand_dot_instance_buffer: wgpu::Buffer,
     hand_dot_instances: Vec<GlyphInstance>,
-    hand_palm_chip_instance_buffer: wgpu::Buffer,
-    hand_palm_chip_instances: Vec<GlyphInstance>,
     hand_palm_dot_instance_buffer: wgpu::Buffer,
     hand_palm_dot_instances: Vec<GlyphInstance>,
     render_options: RenderOptions,
@@ -277,10 +348,7 @@ impl BackgroundRenderResources {
             build_view_projection(1.0, &layout),
             surface_is_srgb,
             render_options,
-            [
+            UNFOLDED_CANVAS_SIZE,
-                hand_image_texture.width as f32,
-                hand_image_texture.height as f32,
-            ],
         );
         let uniform_buffer = device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
             label: Some("Pressure Matrix Uniform Buffer"),
@@ -497,8 +565,6 @@ impl BackgroundRenderResources {
             create_hand_membrane_pipeline(device, target_format, &shader, &pipeline_layout);
         let hand_dot_pipeline =
             create_hand_dot_pipeline(device, target_format, &shader, &pipeline_layout);
-        let hand_palm_chip_pipeline =
-            create_hand_palm_chip_pipeline(device, target_format, &shader, &pipeline_layout);
         let hand_palm_dot_pipeline =
             create_hand_palm_dot_pipeline(device, target_format, &shader, &pipeline_layout);
 
@@ -551,23 +617,8 @@ impl BackgroundRenderResources {
                 contents: bytemuck::cast_slice(&hand_dot_instances),
                 usage: wgpu::BufferUsages::VERTEX | wgpu::BufferUsages::COPY_DST,
             });
-        let hand_palm_chip_instances = build_hand_palm_chip_instances(
+        let hand_palm_dot_instances =
-            hand_image_texture.width as f32,
+            build_hand_palm_dot_instances(rows, cols, &[[0.0, 0.0]; PRESSURE_CELL_COUNT]);
-            hand_image_texture.height as f32,
-        );
-        let hand_palm_chip_instance_buffer =
-            device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
-                label: Some("Hand Palm Chip Instance Buffer"),
-                contents: bytemuck::cast_slice(&hand_palm_chip_instances),
-                usage: wgpu::BufferUsages::VERTEX,
-            });
-        let hand_palm_dot_instances = build_hand_palm_dot_instances(
-            rows,
-            cols,
-            hand_image_texture.width as f32,
-            hand_image_texture.height as f32,
-            &[[0.0, 0.0]; PRESSURE_CELL_COUNT],
-        );
         let hand_palm_dot_instance_buffer =
             device.create_buffer_init(&wgpu::util::BufferInitDescriptor {
                 label: Some("Hand Palm Chip Dot Instance Buffer"),
@@ -589,7 +640,6 @@ impl BackgroundRenderResources {
             dot_pipeline,
             hand_membrane_pipeline,
             hand_dot_pipeline,
-            hand_palm_chip_pipeline,
             hand_palm_dot_pipeline,
             hand_image_bind_group,
             hand_image_texture,
@@ -600,8 +650,6 @@ impl BackgroundRenderResources {
             hand_membrane_instances,
             hand_dot_instance_buffer,
             hand_dot_instances,
-            hand_palm_chip_instance_buffer,
-            hand_palm_chip_instances,
             hand_palm_dot_instance_buffer,
             hand_palm_dot_instances,
             render_options,
@@ -623,10 +671,7 @@ impl BackgroundRenderResources {
             build_view_projection(aspect, &self.layout),
             self.surface_is_srgb,
             self.render_options,
-            [
+            UNFOLDED_CANVAS_SIZE,
-                self.hand_image_texture.width as f32,
-                self.hand_image_texture.height as f32,
-            ],
         );
         queue.write_buffer(
             &self.uniform_buffer,
@@ -653,8 +698,8 @@ impl BackgroundRenderResources {
             hand_pressure
         };
 
-        // Hand mode uses UV-anchored fingertip matrices over hand.png.
+        // Keep legacy fingertip buffers current while both hardware modes share
-        // Rebuild their instance positions here so pressure colors update every frame.
+        // the same renderer resources.
         self.hand_dot_instances = build_hand_dot_instances(
             self.rows,
             self.cols,
@@ -668,15 +713,9 @@ impl BackgroundRenderResources {
             bytemuck::cast_slice(&self.hand_dot_instances),
         );
 
-        // Palm chips reuse the same live 12x7 pressure frame, but draw it as
+        // Rebuild the 104-cell unfolded layout with the latest gateway samples.
-        // embedded micro-pixels inside dark chip tiles.
+        self.hand_palm_dot_instances =
-        self.hand_palm_dot_instances = build_hand_palm_dot_instances(
+            build_hand_palm_dot_instances(self.rows, self.cols, hand_pressure);
-            self.rows,
-            self.cols,
-            self.hand_image_texture.width as f32,
-            self.hand_image_texture.height as f32,
-            hand_pressure,
-        );
         queue.write_buffer(
             &self.hand_palm_dot_instance_buffer,
             0,
@@ -692,12 +731,7 @@ impl BackgroundRenderResources {
 
         match active_mode {
             ActiveMode::Finger(mode) => self.paint_finger(render_pass, mode),
-            ActiveMode::Hand(mode) => {
+            ActiveMode::Hand(mode) => self.paint_hand(render_pass, mode),
-                render_pass.set_pipeline(&self.hand_image_pipeline);
-                render_pass.set_bind_group(1, &self.hand_image_bind_group, &[]);
-                render_pass.draw(0..6, 0..1);
-                self.paint_hand(render_pass, mode);
-            }
         }
     }
 
@@ -719,22 +753,7 @@ impl BackgroundRenderResources {
     fn paint_hand(&self, render_pass: &mut wgpu::RenderPass<'_>, mode: &HandGatewayMode) {
         let _range = mode.range.clone();
 
-        // First draw the translucent sensor membranes, then draw live pressure beads on their grid.
+        // Match Finger mode: draw only the 104 independent pressure dots.
-        render_pass.set_pipeline(&self.hand_membrane_pipeline);
-        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
-        render_pass.set_vertex_buffer(1, self.hand_membrane_instance_buffer.slice(..));
-        render_pass.draw(0..6, 0..self.hand_membrane_instances.len() as u32);
-
-        render_pass.set_pipeline(&self.hand_dot_pipeline);
-        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
-        render_pass.set_vertex_buffer(1, self.hand_dot_instance_buffer.slice(..));
-        render_pass.draw(0..6, 0..self.hand_dot_instances.len() as u32);
-
-        render_pass.set_pipeline(&self.hand_palm_chip_pipeline);
-        render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
-        render_pass.set_vertex_buffer(1, self.hand_palm_chip_instance_buffer.slice(..));
-        render_pass.draw(0..6, 0..self.hand_palm_chip_instances.len() as u32);
-
         render_pass.set_pipeline(&self.hand_palm_dot_pipeline);
         render_pass.set_vertex_buffer(0, self.glyph_vertex_buffer.slice(..));
         render_pass.set_vertex_buffer(1, self.hand_palm_dot_instance_buffer.slice(..));
@@ -1072,39 +1091,6 @@ fn create_hand_dot_pipeline(
     })
 }
 
-fn create_hand_palm_chip_pipeline(
-    device: &wgpu::Device,
-    target_format: &wgpu::TextureFormat,
-    shader: &wgpu::ShaderModule,
-    layout: &wgpu::PipelineLayout,
-) -> wgpu::RenderPipeline {
-    device.create_render_pipeline(&wgpu::RenderPipelineDescriptor {
-        label: Some("Hand Palm Embedded Chip Pipeline"),
-        layout: Some(layout),
-        vertex: wgpu::VertexState {
-            module: shader,
-            entry_point: Some("vs_hand_palm_chip"),
-            compilation_options: Default::default(),
-            buffers: &[GlyphVertex::desc(), GlyphInstance::desc()],
-        },
-        fragment: Some(wgpu::FragmentState {
-            module: shader,
-            entry_point: Some("fs_hand_palm_chip"),
-            compilation_options: Default::default(),
-            targets: &[Some(wgpu::ColorTargetState {
-                format: *target_format,
-                blend: Some(wgpu::BlendState::ALPHA_BLENDING),
-                write_mask: wgpu::ColorWrites::ALL,
-            })],
-        }),
-        primitive: wgpu::PrimitiveState::default(),
-        depth_stencil: None,
-        multisample: wgpu::MultisampleState::default(),
-        multiview_mask: None,
-        cache: None,
-    })
-}
-
 fn create_hand_palm_dot_pipeline(
     device: &wgpu::Device,
     target_format: &wgpu::TextureFormat,
@@ -1156,28 +1142,6 @@ fn build_hand_membrane_instances(image_width: f32, image_height: f32) -> Vec<Gly
         .collect()
 }
 
-fn build_hand_palm_chip_instances(image_width: f32, image_height: f32) -> Vec<GlyphInstance> {
-    HAND_PALM_CHIPS
-        .iter()
-        .map(|chip| {
-            let uv_x = chip.center_px[0] / image_width.max(1.0);
-            let uv_y = chip.center_px[1] / image_height.max(1.0);
-
-            GlyphInstance {
-                // Palm chip shaders read xy as hand.png UV.
-                world_position: [uv_x, uv_y, 0.0, 1.0],
-                // Store chip angle, source-image pixel size, and matrix shape for the shader grid.
-                style: [
-                    chip.angle_rad,
-                    chip.size_px[0],
-                    chip.size_px[1],
-                    (chip.rows * 100 + chip.cols) as f32,
-                ],
-            }
-        })
-        .collect()
-}
-
 fn build_hand_dot_instances(
     rows: u32,
     cols: u32,
@@ -1225,44 +1189,26 @@ fn build_hand_dot_instances(
 fn build_hand_palm_dot_instances(
     _rows: u32,
     _cols: u32,
-    image_width: f32,
-    image_height: f32,
     pressure: &[[f32; 2]],
 ) -> Vec<GlyphInstance> {
-    let chip_dot_count: usize = HAND_PALM_CHIPS
+    let chip_dot_count: usize = UNFOLDED_SENSOR_CHIPS
         .iter()
         .map(|chip| (chip.rows * chip.cols) as usize)
         .sum();
+    debug_assert_eq!(chip_dot_count, UNFOLDED_SENSOR_COUNT);
     let mut instances = Vec::with_capacity(chip_dot_count);
 
-    for (chip_index, chip) in HAND_PALM_CHIPS.into_iter().enumerate() {
+    for (chip_index, chip) in UNFOLDED_SENSOR_CHIPS.iter().enumerate() {
-        let cos = chip.angle_rad.cos();
-        let sin = chip.angle_rad.sin();
-        // Leave a bevel around the chip so the matrix reads as embedded pixels.
-        let active_size = [chip.size_px[0] * 0.72, chip.size_px[1] * 0.76];
-
         for row in 0..chip.rows {
             for col in 0..chip.cols {
-                let index = (row * chip.cols + col) as usize;
+                let index = unfolded_adc_sample_index(chip_index, row, col);
-                let offset = match chip_index {
+                let [normalized, display_value] = sample_pressure_at(pressure, index, index);
-                    0 => HAND_PALM_HORIZONTAL_OFFSET,
+                let [x, y] = unfolded_cell_position(&chip, row, col);
-                    _ => HAND_PALM_VERTICAL_OFFSET,
-                };
-                let [normalized, display_value] =
-                    sample_pressure_at(pressure, offset + index, index);
-
-                let local_x =
-                    (col as f32 - chip.cols as f32 / 2.0 + 0.5) / chip.cols as f32 * active_size[0];
-                let local_y =
-                    (row as f32 - chip.rows as f32 / 2.0 + 0.5) / chip.rows as f32 * active_size[1];
-
-                let x = chip.center_px[0] + local_x * cos - local_y * sin;
-                let y = chip.center_px[1] + local_x * sin + local_y * cos;
 
                 instances.push(GlyphInstance {
                     world_position: [
-                        x / image_width.max(1.0),
+                        x / UNFOLDED_CANVAS_SIZE[0],
-                        y / image_height.max(1.0),
+                        y / UNFOLDED_CANVAS_SIZE[1],
                         0.0,
                         1.0,
                     ],
@@ -1275,6 +1221,47 @@ fn build_hand_palm_dot_instances(
     instances
 }
 
+fn unfolded_adc_sample_index(chip_index: usize, row: u32, col: u32) -> usize {
+    // Raw sample 0 is L0H0. The scan advances L first:
+    // L0H0, L1H0, …, L7H0, L0H1, …, L7H12.
+    // The PCB unfolds those channel pairs into the ten visual regions below.
+    let (l, h) = match chip_index {
+        0 => (5 - col, 12 - row),         // top cap: L5…L2 × H12…H11
+        1 => (6, row),                    // left outer tip: L6 × H0…H2
+        2 => (7, folded_five_row_h(row)), // left folded wing
+        3 => (7, 10 - row),               // left inner wing: L7 × H10…H3
+        4 => (6, 12 - row),               // left inner spine: L6 × H12…H3
+        5 => (5 - col, 10 - row),         // center: L5…L2 × H10…H0
+        6 => (1, row),                    // right outer tip: L1 × H0…H2
+        7 => (0, folded_five_row_h(row)), // right folded wing
+        8 => (0, 10 - row),               // right inner wing: L0 × H10…H3
+        9 => (1, 12 - row),               // right inner spine: L1 × H12…H3
+        _ => unreachable!("invalid unfolded PCB region"),
+    };
+
+    unfolded_lh_sample_index(l as usize, h as usize)
+}
+
+fn folded_five_row_h(row: u32) -> u32 {
+    const PCB_H_ROUTE: [u32; 5] = [12, 11, 0, 1, 2];
+    PCB_H_ROUTE[row as usize]
+}
+fn unfolded_cell_position(chip: &HandPalmChip, row: u32, col: u32) -> [f32; 2] {
+    let cos = chip.angle_rad.cos();
+    let sin = chip.angle_rad.sin();
+    // Author every region on the same point grid. Using the last row as the
+    // vertical anchor keeps the stepped wing columns exactly bottom-aligned.
+    let bottom_center_y = chip.center_px[1] + chip.size_px[1] * 0.5 - 22.0;
+    let local_x = (col as f32 - chip.cols as f32 / 2.0 + 0.5) * UNFOLDED_CELL_SPACING_PX;
+    let y_from_bottom = (chip.rows.saturating_sub(row + 1)) as f32 * UNFOLDED_CELL_SPACING_PX;
+    let local_y = -y_from_bottom;
+
+    [
+        chip.center_px[0] + local_x * cos - local_y * sin,
+        bottom_center_y + local_x * sin + local_y * cos,
+    ]
+}
+
 fn sample_pressure_at(pressure: &[[f32; 2]], index: usize, fallback_index: usize) -> [f32; 2] {
     pressure
         .get(index)
@@ -1283,6 +1270,225 @@ fn sample_pressure_at(pressure: &[[f32; 2]], index: usize, fallback_index: usize
         .unwrap_or([0.0, 0.0])
 }
 
+#[cfg(test)]
+mod unfolded_layout_tests {
+    use super::*;
+    use crate::matrix::UNFOLDED_SENSOR_SEGMENT_COUNTS;
+
+    #[test]
+    fn unfolded_layout_maps_every_lh_adc_channel_once() {
+        let mut seen = [false; UNFOLDED_SENSOR_COUNT];
+
+        for (chip_index, chip) in UNFOLDED_SENSOR_CHIPS.iter().enumerate() {
+            for row in 0..chip.rows {
+                for col in 0..chip.cols {
+                    let index = unfolded_adc_sample_index(chip_index, row, col);
+                    assert!(index < UNFOLDED_SENSOR_COUNT);
+                    assert!(!seen[index], "duplicate ADC sample index {index}");
+                    seen[index] = true;
+                }
+            }
+        }
+
+        assert!(seen.into_iter().all(|mapped| mapped));
+        assert_eq!(unfolded_lh_sample_index(0, 0), 0); // first raw sample
+        assert_eq!(unfolded_lh_sample_index(1, 0), 1); // L changes first
+        assert_eq!(unfolded_lh_sample_index(7, 0), 7);
+        assert_eq!(unfolded_lh_sample_index(0, 1), 8); // then H advances
+        assert_eq!(unfolded_adc_sample_index(7, 0, 0), 96); // L0H12
+        assert_eq!(unfolded_adc_sample_index(6, 0, 0), 1); // L1H0
+        assert_eq!(unfolded_lh_sample_index(7, 12), 103); // last rendered sample
+    }
+
+    #[test]
+    fn unfolded_layout_matches_annotated_adc_intersections() {
+        // Right folded/outer intersections: 1=L0H0, 2=L1H0,
+        // 9=L0H1, 10=L1H1, 17=L0H2, 18=L1H2.
+        assert_eq!(unfolded_adc_sample_index(7, 2, 0) + 1, 1);
+        assert_eq!(unfolded_adc_sample_index(6, 0, 0) + 1, 2);
+        assert_eq!(unfolded_adc_sample_index(7, 3, 0) + 1, 9);
+        assert_eq!(unfolded_adc_sample_index(6, 1, 0) + 1, 10);
+        assert_eq!(unfolded_adc_sample_index(7, 4, 0) + 1, 17);
+        assert_eq!(unfolded_adc_sample_index(6, 2, 0) + 1, 18);
+
+        // Right inner routes continue upward from H3.
+        assert_eq!(
+            (0..8)
+                .map(|row| unfolded_adc_sample_index(8, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![81, 73, 65, 57, 49, 41, 33, 25]
+        );
+        assert_eq!(
+            (0..10)
+                .map(|row| unfolded_adc_sample_index(9, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![98, 90, 82, 74, 66, 58, 50, 42, 34, 26]
+        );
+
+        // Left routes mirror the right side's PCB continuation.
+        assert_eq!(
+            (0..3)
+                .map(|row| unfolded_adc_sample_index(1, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![7, 15, 23]
+        );
+        assert_eq!(
+            (0..5)
+                .map(|row| unfolded_adc_sample_index(2, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![104, 96, 8, 16, 24]
+        );
+        assert_eq!(
+            (0..8)
+                .map(|row| unfolded_adc_sample_index(3, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![88, 80, 72, 64, 56, 48, 40, 32]
+        );
+        assert_eq!(
+            (0..10)
+                .map(|row| unfolded_adc_sample_index(4, row, 0) + 1)
+                .collect::<Vec<_>>(),
+            vec![103, 95, 87, 79, 71, 63, 55, 47, 39, 31]
+        );
+
+        // Center rows H0…H7, each ordered L5, L4, L3, L2.
+        for h in 0..=7 {
+            let row = 10 - h;
+            let expected = (2..=5)
+                .rev()
+                .map(|l| unfolded_lh_sample_index(l, h as usize) + 1)
+                .collect::<Vec<_>>();
+            let rendered = (0..4)
+                .map(|col| unfolded_adc_sample_index(5, row, col) + 1)
+                .collect::<Vec<_>>();
+            assert_eq!(rendered, expected);
+        }
+    }
+
+    #[test]
+    fn annotated_folded_points_share_the_same_physical_rows() {
+        let same_y = |left_chip: usize, left_row: u32, right_chip: usize, right_row: u32| {
+            let left = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[left_chip], left_row, 0)[1];
+            let right = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[right_chip], right_row, 0)[1];
+            assert!((left - right).abs() < 0.01);
+        };
+
+        // Left outer pairs: 7/8, 15/16, 23/24.
+        for row in 0..3 {
+            same_y(1, row, 2, row + 2);
+        }
+
+        // Right outer pairs: 2/1, 10/9, 18/17.
+        for row in 0..3 {
+            same_y(6, row, 7, row + 2);
+        }
+
+        // Inner continuations align by H despite belonging to different strips.
+        for row in 0..8 {
+            same_y(3, row, 4, row + 2);
+            same_y(8, row, 9, row + 2);
+        }
+    }
+
+    #[test]
+    fn unfolded_layout_matches_requested_shapes() {
+        let shapes = UNFOLDED_SENSOR_CHIPS.map(|chip| (chip.rows, chip.cols));
+        let sample_counts = UNFOLDED_SENSOR_CHIPS.map(|chip| (chip.rows * chip.cols) as usize);
+
+        assert_eq!(
+            shapes,
+            [
+                (2, 4),
+                (3, 1),
+                (5, 1),
+                (8, 1),
+                (10, 1),
+                (11, 4),
+                (3, 1),
+                (5, 1),
+                (8, 1),
+                (10, 1),
+            ]
+        );
+        assert_eq!(sample_counts, UNFOLDED_SENSOR_SEGMENT_COUNTS);
+    }
+
+    #[test]
+    fn unfolded_wings_are_mirrored_around_center() {
+        let center_x = UNFOLDED_SENSOR_CHIPS[5].center_px[0];
+
+        for (left, right) in UNFOLDED_SENSOR_CHIPS[1..5]
+            .iter()
+            .zip(UNFOLDED_SENSOR_CHIPS[6..10].iter())
+        {
+            assert_eq!((left.rows, left.cols), (right.rows, right.cols));
+            assert_eq!(left.center_px[1], right.center_px[1]);
+            assert!(
+                ((center_x - left.center_px[0]) - (right.center_px[0] - center_x)).abs() < 0.01
+            );
+        }
+    }
+
+    #[test]
+    fn unfolded_layout_fits_its_canvas() {
+        for chip in UNFOLDED_SENSOR_CHIPS {
+            let half_width = chip.size_px[0] * 0.5;
+            let half_height = chip.size_px[1] * 0.5;
+
+            assert!(chip.center_px[0] - half_width >= 0.0);
+            assert!(chip.center_px[0] + half_width <= UNFOLDED_CANVAS_SIZE[0]);
+            assert!(chip.center_px[1] - half_height >= 0.0);
+            assert!(chip.center_px[1] + half_height <= UNFOLDED_CANVAS_SIZE[1]);
+        }
+    }
+
+    #[test]
+    fn unfolded_wing_rows_share_one_bottom_baseline() {
+        let wing_indices = [1usize, 2, 3, 4, 6, 7, 8, 9];
+        let expected_y = unfolded_cell_position(
+            &UNFOLDED_SENSOR_CHIPS[wing_indices[0]],
+            UNFOLDED_SENSOR_CHIPS[wing_indices[0]].rows - 1,
+            0,
+        )[1];
+
+        for index in wing_indices {
+            let chip = &UNFOLDED_SENSOR_CHIPS[index];
+            let bottom_y = unfolded_cell_position(chip, chip.rows - 1, 0)[1];
+            assert!((bottom_y - expected_y).abs() < 0.01);
+        }
+    }
+
+    #[test]
+    fn unfolded_wings_are_compact_with_more_space_at_center() {
+        let left_x = UNFOLDED_SENSOR_CHIPS[1..5]
+            .iter()
+            .map(|chip| chip.center_px[0])
+            .collect::<Vec<_>>();
+        let wing_gap = left_x[1] - left_x[0];
+        assert!((wing_gap - 48.0).abs() < 0.01);
+        assert!(
+            left_x
+                .windows(2)
+                .all(|pair| (pair[1] - pair[0] - wing_gap).abs() < 0.01)
+        );
+
+        let center_left_x = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[5], 0, 0)[0];
+        let left_inner_x = unfolded_cell_position(&UNFOLDED_SENSOR_CHIPS[4], 0, 0)[0];
+        assert!(center_left_x - left_inner_x > wing_gap);
+    }
+
+    #[test]
+    fn unfolded_top_block_sits_close_to_center_block() {
+        let top = &UNFOLDED_SENSOR_CHIPS[0];
+        let center = &UNFOLDED_SENSOR_CHIPS[5];
+        let top_bottom_y = unfolded_cell_position(top, top.rows - 1, 0)[1];
+        let center_top_y = unfolded_cell_position(center, 0, 0)[1];
+
+        assert!(center_top_y > top_bottom_y);
+        assert!(center_top_y - top_bottom_y < UNFOLDED_CELL_SPACING_PX * 2.0);
+    }
+}
+
 fn build_glyph_instances(
     rows: u32,
     cols: u32,

src/serial_core/codecs/tactile_a.rs

@@ -188,3 +188,61 @@ impl Codec<TactileAFrame> for TactileACodec {
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use crate::serial_core::codec::Codec;
+    use std::time::Instant;
+
+    const FINGER_3D_ROWS: usize = 12;
+    const FINGER_3D_COLS: usize = 9;
+    const FINGER_3D_DATA_LEN: usize = FINGER_3D_ROWS * FINGER_3D_COLS * 2;
+
+    #[test]
+    fn finger_3d_request_asks_for_108_samples() {
+        let codec = TactileACodec::new(FINGER_3D_COLS, FINGER_3D_ROWS);
+        let frame = TactileACodec::build_req_frame(FINGER_3D_COLS, FINGER_3D_ROWS).unwrap();
+        let encoded = codec.encode(&frame).unwrap();
+
+        assert_eq!(
+            u16::from_le_bytes([encoded[11], encoded[12]]) as usize,
+            FINGER_3D_DATA_LEN
+        );
+    }
+
+    #[test]
+    fn finger_3d_decode_accepts_108_samples_across_reads() {
+        let mut codec = TactileACodec::new(FINGER_3D_COLS, FINGER_3D_ROWS);
+        let payload = (0..FINGER_3D_ROWS * FINGER_3D_COLS)
+            .flat_map(|value| (value as u16).to_le_bytes())
+            .collect::<Vec<_>>();
+        let mut response = Vec::new();
+        response.extend_from_slice(&[0xAA, 0x55]);
+        response.extend_from_slice(&9_u16.to_le_bytes());
+        response.extend_from_slice(&[0x34, 0x00, 0xFB]);
+        response.extend_from_slice(&7168_u32.to_le_bytes());
+        response.extend_from_slice(&(FINGER_3D_DATA_LEN as u16).to_le_bytes());
+        response.push(0);
+        response.extend_from_slice(&payload);
+        response.push(calc_crc8_itu(&response));
+
+        let split = response.len() / 2;
+        assert!(
+            codec
+                .decode(&response[..split], Instant::now())
+                .unwrap()
+                .is_empty()
+        );
+        let frames = codec.decode(&response[split..], Instant::now()).unwrap();
+
+        let TactileAFrame::Rep(rep) = &frames[0] else {
+            panic!("expected response frame");
+        };
+        assert_eq!(rep.payload.len(), FINGER_3D_DATA_LEN);
+        assert_eq!(
+            TactileACodec::parse_data_frame(&rep.payload).unwrap().len(),
+            108
+        );
+    }
+}

src/ui.rs

@@ -53,7 +53,7 @@ pub struct ConnectPanelState {
 #[derive(Clone, Copy, PartialEq, Eq)]
 pub enum SerialMode {
     Finger,
-    // Finger3D,
+    Finger3D,
     Hand,
 }
 
@@ -61,16 +61,26 @@ impl SerialMode {
     pub fn baud_rate(self) -> u32 {
         match self {
             SerialMode::Finger => 921_600,
-            SerialMode::Hand => 1_152_000,
+            SerialMode::Finger3D => 921_600,
+            SerialMode::Hand => 921_600,
         }
     }
 
     pub fn protocol(self) -> SerialProtocol {
         match self {
             SerialMode::Finger => SerialProtocol::TactileA,
+            SerialMode::Finger3D => SerialProtocol::TactileA,
             SerialMode::Hand => SerialProtocol::HandGateway,
         }
     }
+
+    pub fn matrix_shape(self) -> (u32, u32) {
+        match self {
+            SerialMode::Finger => (12, 7),
+            SerialMode::Finger3D => (12, 9),
+            SerialMode::Hand => (12, 7),
+        }
+    }
 }
 
 #[derive(Clone, Copy, PartialEq, Eq)]
@@ -483,11 +493,11 @@ fn draw_config_bar_mode(ui: &mut egui::Ui, config: &mut ConfigPanelState) -> Opt
         if mode_button(ui, &mut config.mode, SerialMode::Finger, "指尖模块") {
             changed_to = Some(SerialMode::Finger)
         }
-        if mode_button(ui, &mut config.mode, SerialMode::Hand, "手掌模块") {
-            changed_to = Some(SerialMode::Hand)
-        }
         // mode_button(ui, &mut config.mode, SerialMode::Model, "模型");
 
+        if mode_button(ui, &mut config.mode, SerialMode::Finger3D, "3D指尖") {
+            changed_to = Some(SerialMode::Finger3D)
+        }
         // Legacy reconnect controls. Current sensors run fixed 921600 baud without auto-reconnect UI.
         // ui.with_layout(egui::Layout::right_to_left(egui::Align::Center), |ui| {
         //     ui.checkbox(&mut config.auto_reconnect, "自动");
@@ -566,10 +576,11 @@ fn draw_config_bar_connection(
         if is_connected {
             connection.disconnect();
         } else if !config.port.is_empty() {
+            let (rows, cols) = config.mode.matrix_shape();
             connection.connect(
                 &config.port,
-                12,
+                rows,
-                7,
+                cols,
                 config.mode.baud_rate(),
                 config.mode.protocol(),
                 recorder.clone(),
@@ -637,10 +648,11 @@ fn draw_connection_row(
             if is_connected {
                 connection.disconnect();
             } else if !config.port.is_empty() {
+                let (rows, cols) = config.mode.matrix_shape();
                 connection.connect(
                     &config.port,
-                    12,
+                    rows,
-                    7,
+                    cols,
                     config.mode.baud_rate(),
                     config.mode.protocol(),
                     recorder.clone(),
@@ -758,6 +770,9 @@ fn draw_mode_body(
             // });
             draw_status_bytes_row(ui, conn_state, stats);
         }
+        SerialMode::Finger3D => {
+            draw_status_bytes_row(ui, conn_state, stats);
+        }
         SerialMode::Hand => {
             // Legacy manual-TX controls for older hand-module debugging:
             // ui.horizontal(|ui| {
@@ -969,14 +984,17 @@ const HAND_FORCE_PANEL_MAX_HEIGHT: f32 = 190.0;
 const HAND_FORCE_PANEL_GAP: f32 = 12.0;
 const HAND_FORCE_PANEL_SIDE_MARGIN: f32 = 24.0;
 const HAND_FORCE_PANEL_VERTICAL_MARGIN: f32 = 28.0;
-const HAND_FORCE_PANEL_TITLES: [(&str, &str); 7] = [
+const HAND_FORCE_PANEL_TITLES: [(&str, &str); 10] = [
-    ("T1", "拇指"),
+    ("T", "顶部 2×4"),
-    ("T2", "食指"),
+    ("L3", "左侧 3×1"),
-    ("T3", "中指"),
+    ("L5", "左侧 5×1"),
-    ("T4", "无名指"),
+    ("L8", "左侧 8×1"),
-    ("T5", "小指"),
+    ("L10", "左侧 10×1"),
-    ("P1", "掌心横区"),
+    ("C", "中央 11×4"),
-    ("P2", "掌心纵区"),
+    ("R3", "右侧 3×1"),
+    ("R5", "右侧 5×1"),
+    ("R8", "右侧 8×1"),
+    ("R10", "右侧 10×1"),
 ];
 
 fn has_recent_resultant_force(values: &[f32]) -> bool {
@@ -1002,7 +1020,7 @@ pub fn draw_hand_force_panels(ctx: &egui::Context, visible: bool, histories: &[V
         .max(HAND_FORCE_PANEL_MIN_WIDTH.min(side_width));
     let left_x = screen.left() + side_margin;
     let right_x = screen.right() - side_margin - panel_width;
-    let left_count = 4usize;
+    let left_count = 5usize;
     let right_count = HAND_FORCE_PANEL_TITLES.len() - left_count;
     let available_height =
         (screen.height() - layout::TITLE_BAR_HEIGHT - vertical_margin * 2.0).max(0.0);

static/wgsl/shader.wgsl

@@ -349,10 +349,8 @@ fn circle_alpha(local: vec2f, radius: f32, softness: f32) -> f32 {
     return 1.0 - smoothstep(radius, radius + softness, dist);
 }
 
-// Convert a point authored in hand.png UV space into clip space.
+// Convert a point authored in sensor-canvas UV space into aspect-fitted clip space.
-// This mirrors fs_hand_image's aspect-fit math, so fingertip dots stay attached
+fn sensor_canvas_uv_to_clip(image_uv: vec2f) -> vec2f {
-// to the same image pixels when the app window changes shape.
-fn hand_image_uv_to_clip(image_uv: vec2f) -> vec2f {
     let viewport_aspect = u.viewport.x / max(u.viewport.y, 1.0);
     let image_aspect = u.image.x / max(u.image.y, 1.0);
 
@@ -420,7 +418,7 @@ fn vs_hand_membrane(vertex: DotVertexInput, instance: DotInstanceInput) -> HandM
     let image_uv = (center_px + rotate_2d(local_px, angle)) / max(u.image.xy, vec2f(1.0, 1.0));
 
     var out: HandMembraneVertexOutput;
-    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
+    out.clip_position = vec4f(sensor_canvas_uv_to_clip(image_uv), 0.0, 1.0);
     out.local = vertex.local;
     return out;
 }
@@ -470,7 +468,7 @@ fn vs_hand_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexO
     let shaped = smoothstep(0.0, 1.0, intensity);
 
     // Hand instances store hand.png UV in world_position.xy instead of 3D world space.
-    let center = hand_image_uv_to_clip(instance.world_position.xy);
+    let center = sensor_canvas_uv_to_clip(instance.world_position.xy);
     // Hand fingertip matrices are much smaller than the full Finger view.
     // Keep each bead below the local cell spacing so the 12x7 matrix remains visibly separated.
     let pixel_size = u.glyph.x * mix(0.22, 0.34, shaped);
@@ -500,75 +498,14 @@ fn fs_hand_dot(in: DotVertexOutput) -> @location(0) vec4f {
     return output_color(color, max(core, halo));
 }
 
-fn chip_pixel_alpha(local: vec2f, half_size: f32, softness: f32) -> f32 {
-    let q = abs(local) - vec2f(half_size, half_size);
-    let dist = length(max(q, vec2f(0.0, 0.0))) + min(max(q.x, q.y), 0.0);
-    return 1.0 - smoothstep(0.0, softness, dist);
-}
-
-struct HandPalmChipVertexOutput {
-    @builtin(position) clip_position: vec4f,
-    @location(0) local: vec2f,
-    @location(1) grid: vec2f,
-}
-
-@vertex
-fn vs_hand_palm_chip(vertex: DotVertexInput, instance: DotInstanceInput) -> HandPalmChipVertexOutput {
-    let center_px = instance.world_position.xy * u.image.xy;
-    let size_px = instance.style.yz;
-    let angle = instance.style.x;
-    let packed_shape = instance.style.w;
-    let shape_rows = floor(packed_shape / 100.0);
-    let shape_cols = max(packed_shape - shape_rows * 100.0, 1.0);
-    let local_px = vertex.local * size_px * 0.5;
-    let image_uv = (center_px + rotate_2d(local_px, angle)) / max(u.image.xy, vec2f(1.0, 1.0));
-
-    var out: HandPalmChipVertexOutput;
-    out.clip_position = vec4f(hand_image_uv_to_clip(image_uv), 0.0, 1.0);
-    out.local = vertex.local;
-    out.grid = vec2f(shape_cols, max(shape_rows, 1.0));
-    return out;
-}
-
-@fragment
-fn fs_hand_palm_chip(in: HandPalmChipVertexOutput) -> @location(0) vec4f {
-    // Dark rounded tile: this is the inset chip body sitting inside the palm surface.
-    let panel = rounded_rect_alpha(in.local, 0.10, 0.040);
-    let inset = rounded_rect_alpha(in.local * vec2f(1.10, 1.08), 0.08, 0.052);
-    let rim = clamp(panel - inset * 0.72, 0.0, 1.0);
-
-    // Inactive chip pixels use the chip's real hand layout:
-    // horizontal 14 columns x 5 rows, or vertical 4 columns x 11 rows.
-    let uv = clamp(in.local * 0.5 + vec2f(0.5, 0.5), vec2f(0.0, 0.0), vec2f(1.0, 1.0));
-    let cell = abs(fract(uv * in.grid) - vec2f(0.5, 0.5));
-    let micro_pixel = 1.0 - smoothstep(0.105, 0.178, length(cell * vec2f(1.04, 0.94)));
-
-    let top_bevel = smoothstep(-0.96, -0.18, -in.local.y) * 0.16;
-    let lower_shadow = smoothstep(0.20, 0.92, in.local.y) * 0.22;
-    let side_bevel = smoothstep(0.58, 0.96, abs(in.local.x)) * 0.12;
-    let scan = (0.5 + 0.5 * sin((uv.y * 36.0 + uv.x * 7.0) * 6.28318)) * 0.026;
-
-    let base = vec3f(0.004, 0.012, 0.018);
-    let glass = vec3f(0.012, 0.048, 0.064);
-    let pixel_color = vec3f(0.075, 0.300, 0.360);
-    let rim_color = vec3f(0.060, 0.560, 0.670);
-    let color = base * (0.92 - lower_shadow)
-        + glass * (0.52 + top_bevel + side_bevel + scan)
-        + pixel_color * micro_pixel * 0.70
-        + rim_color * rim * 0.60;
-
-    let alpha = panel * (0.64 + micro_pixel * 0.18 + rim * 0.20);
-    return output_color(color, alpha);
-}
-
 @vertex
 fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVertexOutput {
     let intensity = saturate(instance.style.x);
     let shaped = smoothstep(0.0, 1.0, intensity);
 
-    // Palm chip pixels are deliberately smaller than fingertip beads so they read as a chip matrix.
+    // Use the same on-screen point size as Finger mode.
-    let center = hand_image_uv_to_clip(instance.world_position.xy);
+    let center = sensor_canvas_uv_to_clip(instance.world_position.xy);
-    let pixel_size = u.glyph.x * mix(0.13, 0.25, shaped);
+    let pixel_size = u.glyph.x * mix(1.07, 2.23, shaped);
     let ndc_offset = vertex.local * vec2f(pixel_size / u.viewport.x, pixel_size / u.viewport.y) * 2.0;
 
     var out: DotVertexOutput;
@@ -581,16 +518,11 @@ fn vs_hand_palm_dot(vertex: DotVertexInput, instance: DotInstanceInput) -> DotVe
 @fragment
 fn fs_hand_palm_dot(in: DotVertexOutput) -> @location(0) vec4f {
     let intensity = saturate(in.intensity);
-    let pixel = chip_pixel_alpha(in.local, 0.52, 0.070);
+    let base_color = sample_range_color(intensity);
-    let glow = circle_alpha(in.local, 0.95, 0.22) * intensity * 0.36;
 
-    let cold = vec3f(0.070, 0.340, 0.360);
+    let alpha = circle_alpha(in.local, 0.46, 0.045);
-    let gradient = sample_range_color(intensity);
+    let color = base_color * mix(0.86, 1.06, intensity);
-    let color = mix(cold, gradient, smoothstep(0.0, 0.20, intensity))
-        * (0.58 + intensity * 1.04)
-        + gradient * glow * 0.72;
 
-    let alpha = max(pixel * (0.20 + intensity * 0.76), glow);
     return output_color(color, alpha);
 }