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added canon lens

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eddyem 2016-03-24 11:44:11 +03:00
parent 075ae65951
commit 36adeae65a
25 changed files with 1633 additions and 0 deletions
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133
canon_lens/Makefile Normal file
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BINARY = canon_lens
BOOTPORT ?= /dev/ttyUSB0
BOOTSPEED ?= 115200
# change this linking script depending on particular MCU model,
# for example, if you have STM32F103VBT6, you should write:
LDSCRIPT = ld/stm32f103x8.ld
LIBNAME = opencm3_stm32f1
DEFS = -DSTM32F1 -DEBUG
OBJDIR = mk
INDEPENDENT_HEADERS=
FP_FLAGS ?= -msoft-float
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
###############################################################################
# Executables
PREFIX ?= arm-none-eabi
RM := rm -f
RMDIR := rmdir
CC := $(PREFIX)-gcc
LD := $(PREFIX)-gcc
AR := $(PREFIX)-ar
AS := $(PREFIX)-as
OBJCOPY := $(PREFIX)-objcopy
OBJDUMP := $(PREFIX)-objdump
GDB := $(PREFIX)-gdb
STFLASH = $(shell which st-flash)
STBOOT = $(shell which stm32flash)
###############################################################################
# Source files
LDSCRIPT ?= $(BINARY).ld
SRC = $(wildcard *.c)
OBJS = $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
ifeq ($(strip $(OPENCM3_DIR)),)
OPENCM3_DIR := /usr/local/arm-none-eabi
$(info Using $(OPENCM3_DIR) path to library)
endif
INCLUDE_DIR = $(OPENCM3_DIR)/include
LIB_DIR = $(OPENCM3_DIR)/lib
SCRIPT_DIR = $(OPENCM3_DIR)/scripts
###############################################################################
# C flags
CFLAGS += -Os -g
CFLAGS += -Wall -Wextra -Wshadow -Wimplicit-function-declaration
CFLAGS += -Wredundant-decls
# -Wmissing-prototypes -Wstrict-prototypes
CFLAGS += -fno-common -ffunction-sections -fdata-sections
###############################################################################
# C & C++ preprocessor common flags
CPPFLAGS += -MD
CPPFLAGS += -Wall -Werror
CPPFLAGS += -I$(INCLUDE_DIR) $(DEFS)
###############################################################################
# Linker flags
LDFLAGS += --static -nostartfiles
LDFLAGS += -L$(LIB_DIR)
LDFLAGS += -T$(LDSCRIPT)
LDFLAGS += -Wl,-Map=$(*).map
LDFLAGS += -Wl,--gc-sections
###############################################################################
# Used libraries
LDLIBS += -l$(LIBNAME)
LDLIBS += -Wl,--start-group -lc -lgcc -Wl,--end-group
.SUFFIXES: .elf .bin .hex .srec .list .map .images
.SECONDEXPANSION:
.SECONDARY:
ELF := $(OBJDIR)/$(BINARY).elf
LIST := $(OBJDIR)/$(BINARY).list
BIN := $(BINARY).bin
HEX := $(BINARY).hex
all: bin
elf: $(ELF)
bin: $(BIN)
hex: $(HEX)
list: $(LIST)
$(OBJDIR):
mkdir $(OBJDIR)
$(OBJDIR)/%.o: %.c
@printf " CC $<\n"
$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $@ -c $<
$(SRC) : %.c : %.h $(INDEPENDENT_HEADERS)
@touch $@
%.h: ;
$(BIN): $(ELF)
@printf " OBJCOPY $(BIN)\n"
$(OBJCOPY) -Obinary $(ELF) $(BIN)
$(HEX): $(ELF)
@printf " OBJCOPY $(HEX)\n"
$(OBJCOPY) -Oihex $(ELF) $(HEX)
$(LIST): $(ELF)
@printf " OBJDUMP $(LIST)\n"
$(OBJDUMP) -S $(ELF) > $(LIST)
$(ELF): $(OBJDIR) $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
@printf " LD $(ELF)\n"
$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
clean:
@printf " CLEAN\n"
$(RM) $(OBJS) $(OBJDIR)/*.d $(ELF) $(HEX) $(LIST) $(OBJDIR)/*.map
$(RMDIR) $(OBJDIR)
flash: $(BIN)
@printf " FLASH $(BIN)\n"
$(STFLASH) write $(BIN) 0x8000000
boot: $(BIN)
@printf " LOAD $(BIN) through bootloader\n"
$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
.PHONY: clean elf hex list flash boot
#-include $(OBJS:.o=.d)

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Canon lens managing
Functions:
- change focus
- aquire focus motor position
- change diafragm
- allow to send any commands you want ('\n' terminates list, commands can be in octal, hexadecimal or decimal format separated by any non-digital symbol)
written for chinese devboard based on STM32F103R8T6
Press H for help

BIN
canon_lens/canon_lens.bin Executable file
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324
canon_lens/cdcacm.c Normal file
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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#include "cdcacm.h"
#include "user_proto.h"
#include "main.h"
// Buffer for USB Tx
static uint8_t USB_Tx_Buffer[USB_TX_DATA_SIZE];
static uint8_t USB_Tx_ptr = 0;
// connection flag
uint8_t USB_connected = 0;
static const struct usb_device_descriptor dev = {
.bLength = USB_DT_DEVICE_SIZE,
.bDescriptorType = USB_DT_DEVICE,
.bcdUSB = 0x0200,
.bDeviceClass = USB_CLASS_CDC,
.bDeviceSubClass = 0,
.bDeviceProtocol = 0,
.bMaxPacketSize0 = 64,
.idVendor = 0x0483,
.idProduct = 0x5740,
.bcdDevice = 0x0200,
.iManufacturer = 1,
.iProduct = 2,
.iSerialNumber = 3,
.bNumConfigurations = 1,
};
uint8_t usbdatabuf[USB_RX_DATA_SIZE]; // buffer for received data
int usbdatalen = 0; // lenght of received data
uint8_t data_rdy = 0; // got full line or buffer is full
/*
* This notification endpoint isn't implemented. According to CDC spec its
* optional, but its absence causes a NULL pointer dereference in Linux
* cdc_acm driver.
*/
static const struct usb_endpoint_descriptor comm_endp[] = {{
.bLength = USB_DT_ENDPOINT_SIZE,
.bDescriptorType = USB_DT_ENDPOINT,
.bEndpointAddress = 0x83,
.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
.wMaxPacketSize = 16,
.bInterval = 255,
}};
static const struct usb_endpoint_descriptor data_endp[] = {{
.bLength = USB_DT_ENDPOINT_SIZE,
.bDescriptorType = USB_DT_ENDPOINT,
.bEndpointAddress = 0x01,
.bmAttributes = USB_ENDPOINT_ATTR_BULK,
.wMaxPacketSize = 64,
.bInterval = 1,
}, {
.bLength = USB_DT_ENDPOINT_SIZE,
.bDescriptorType = USB_DT_ENDPOINT,
.bEndpointAddress = 0x82,
.bmAttributes = USB_ENDPOINT_ATTR_BULK,
.wMaxPacketSize = 64,
.bInterval = 1,
}};
static const struct {
struct usb_cdc_header_descriptor header;
struct usb_cdc_call_management_descriptor call_mgmt;
struct usb_cdc_acm_descriptor acm;
struct usb_cdc_union_descriptor cdc_union;
} __attribute__((packed)) cdcacm_functional_descriptors = {
.header = {
.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
.bcdCDC = 0x0110,
},
.call_mgmt = {
.bFunctionLength =
sizeof(struct usb_cdc_call_management_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
.bmCapabilities = 0,
.bDataInterface = 1,
},
.acm = {
.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_ACM,
.bmCapabilities = 0,
},
.cdc_union = {
.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_UNION,
.bControlInterface = 0,
.bSubordinateInterface0 = 1,
},
};
static const struct usb_interface_descriptor comm_iface[] = {{
.bLength = USB_DT_INTERFACE_SIZE,
.bDescriptorType = USB_DT_INTERFACE,
.bInterfaceNumber = 0,
.bAlternateSetting = 0,
.bNumEndpoints = 1,
.bInterfaceClass = USB_CLASS_CDC,
.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
.iInterface = 0,
.endpoint = comm_endp,
.extra = &cdcacm_functional_descriptors,
.extralen = sizeof(cdcacm_functional_descriptors),
}};
static const struct usb_interface_descriptor data_iface[] = {{
.bLength = USB_DT_INTERFACE_SIZE,
.bDescriptorType = USB_DT_INTERFACE,
.bInterfaceNumber = 1,
.bAlternateSetting = 0,
.bNumEndpoints = 2,
.bInterfaceClass = USB_CLASS_DATA,
.bInterfaceSubClass = 0,
.bInterfaceProtocol = 0,
.iInterface = 0,
.endpoint = data_endp,
}};
static const struct usb_interface ifaces[] = {{
.num_altsetting = 1,
.altsetting = comm_iface,
}, {
.num_altsetting = 1,
.altsetting = data_iface,
}};
static const struct usb_config_descriptor config = {
.bLength = USB_DT_CONFIGURATION_SIZE,
.bDescriptorType = USB_DT_CONFIGURATION,
.wTotalLength = 0,
.bNumInterfaces = 2,
.bConfigurationValue = 1,
.iConfiguration = 0,
.bmAttributes = 0x80,
.bMaxPower = 0x32,
.interface = ifaces,
};
static const char *usb_strings[] = {
"Organisation, author",
"device",
"version",
};
// default line coding: B115200, 1stop, 8bits, parity none
struct usb_cdc_line_coding linecoding = {
.dwDTERate = 115200,
.bCharFormat = USB_CDC_1_STOP_BITS,
.bParityType = USB_CDC_NO_PARITY,
.bDataBits = 8,
};
/* Buffer to be used for control requests. */
uint8_t usbd_control_buffer[128];
/**
* This function runs every time it gets a request for control parameters get/set
* parameter SET_LINE_CODING used to change USART1 parameters: if you want to
* change them, just connect through USB with required parameters
*/
static int cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf,
uint16_t *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req)){
(void)complete;
(void)buf;
(void)usbd_dev;
char local_buf[10];
struct usb_cdc_line_coding lc;
switch (req->bRequest) {
case SET_CONTROL_LINE_STATE:{
if(req->wValue){ // terminal is opened
USB_connected = 1;
}else{ // terminal is closed
USB_connected = 0;
}
/*
* This Linux cdc_acm driver requires this to be implemented
* even though it's optional in the CDC spec, and we don't
* advertise it in the ACM functional descriptor.
*/
struct usb_cdc_notification *notif = (void *)local_buf;
/* We echo signals back to host as notification. */
notif->bmRequestType = 0xA1;
notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
notif->wValue = 0;
notif->wIndex = 0;
notif->wLength = 2;
local_buf[8] = req->wValue & 3;
local_buf[9] = 0;
usbd_ep_write_packet(usbd_dev, 0x83, local_buf, 10);
}break;
case SET_LINE_CODING:
if (!len || (*len != sizeof(struct usb_cdc_line_coding)))
return 0;
memcpy((void *)&lc, (void *)*buf, *len);
// Mark & Space parity don't support by hardware, check it
if(lc.bParityType == USB_CDC_MARK_PARITY || lc.bParityType == USB_CDC_SPACE_PARITY){
return 0; // error
}else{
// memcpy((void *)&linecoding, (void *)&lc, sizeof(struct usb_cdc_line_coding));
// UART_setspeed(USART1, &linecoding);
}
break;
case GET_LINE_CODING: // return linecoding buffer
if(len && *len == sizeof(struct usb_cdc_line_coding))
memcpy((void *)*buf, (void *)&linecoding, sizeof(struct usb_cdc_line_coding));
//usbd_ep_write_packet(usbd_dev, 0x83, (char*)&linecoding, sizeof(linecoding));
break;
default:
return 0;
}
return 1;
}
static void cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep){
(void)ep;
int len = usbd_ep_read_packet(usbd_dev, 0x01, usbdatabuf + usbdatalen, USB_RX_DATA_SIZE - usbdatalen);
if(len < 1) return;
int i, ol = usbdatalen;
usbdatalen += len;
// echo readed data
for(i = ol; i < usbdatalen; ++i) usb_send(usbdatabuf[i]);
// check for end of input
if(usbdatalen == USB_RX_DATA_SIZE || usbdatabuf[usbdatalen-1] == '\n'){
++data_rdy;
}
}
void empty_buf(){
data_rdy = 0;
usbdatalen = 0;
}
static void cdcacm_data_tx_cb(usbd_device *usbd_dev, uint8_t ep){
(void)ep;
(void)usbd_dev;
usb_send_buffer();
}
static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue)
{
(void)wValue;
(void)usbd_dev;
usbd_ep_setup(usbd_dev, 0x01, USB_ENDPOINT_ATTR_BULK, USB_RX_DATA_SIZE, cdcacm_data_rx_cb);
usbd_ep_setup(usbd_dev, 0x82, USB_ENDPOINT_ATTR_BULK, USB_TX_DATA_SIZE, cdcacm_data_tx_cb);
usbd_ep_setup(usbd_dev, 0x83, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
usbd_register_control_callback(
usbd_dev,
USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
cdcacm_control_request);
}
static usbd_device *current_usb = NULL;
usbd_device *USB_init(){
current_usb = usbd_init(&stm32f103_usb_driver, &dev, &config,
usb_strings, 3, usbd_control_buffer, sizeof(usbd_control_buffer));
if(!current_usb) return NULL;
usbd_register_set_config_callback(current_usb, cdcacm_set_config);
return current_usb;
}
mutex_t send_block_mutex = MUTEX_UNLOCKED;
/**
* Put byte into USB buffer to send
* @param byte - a byte to put into a buffer
*/
void usb_send(uint8_t byte){
mutex_lock(&send_block_mutex);
USB_Tx_Buffer[USB_Tx_ptr++] = byte;
mutex_unlock(&send_block_mutex);
if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it!
usb_send_buffer();
}
}
/**
* Send all data in buffer over USB
* this function runs when buffer is full or on SysTick
*/
void usb_send_buffer(){
if(MUTEX_LOCKED == mutex_trylock(&send_block_mutex)) return;
if(USB_Tx_ptr){
if(current_usb && USB_connected){
// usbd_ep_write_packet return 0 if previous packet isn't transmit yet
while(USB_Tx_ptr != usbd_ep_write_packet(current_usb, 0x82, USB_Tx_Buffer, USB_Tx_ptr));
usbd_poll(current_usb);
}
USB_Tx_ptr = 0;
}
mutex_unlock(&send_block_mutex);
}

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/*
* ccdcacm.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __CCDCACM_H__
#define __CCDCACM_H__
#include <libopencm3/usb/usbd.h>
// commands through EP0
#define SEND_ENCAPSULATED_COMMAND 0x00
#define GET_ENCAPSULATED_RESPONSE 0x01
#define SET_COMM_FEATURE 0x02
#define GET_COMM_FEATURE 0x03
#define CLEAR_COMM_FEATURE 0x04
#define SET_LINE_CODING 0x20
#define GET_LINE_CODING 0x21
#define SET_CONTROL_LINE_STATE 0x22
#define SEND_BREAK 0x23
// Size of input/output buffers
#define USB_TX_DATA_SIZE (64)
#define USB_RX_DATA_SIZE (256)
// USB connection flag
extern uint8_t USB_connected;
extern struct usb_cdc_line_coding linecoding;
extern uint8_t usbdatabuf[];
extern int usbdatalen;
extern uint8_t data_rdy;
usbd_device *USB_init();
void usb_send(uint8_t byte);
void usb_send_buffer();
void empty_buf();
#endif // __CCDCACM_H__

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/*
* hardware_ini.c - functions for HW initialisation
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
/*
* All hardware-dependent initialisation & definition should be placed here
* and in hardware_ini.h
*
*/
#include "main.h"
#include "hardware_ini.h"
/**
* GPIO initialisaion: clocking + pins setup
*/
void GPIO_init(){
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN |
RCC_APB2ENR_IOPEEN);
/*
// Buttons: pull-up input
gpio_set_mode(BTNS_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN,
BTN_S2_PIN | BTN_S3_PIN);
// turn on pull-up
gpio_set(BTNS_PORT, BTN_S2_PIN | BTN_S3_PIN);
// LEDS: opendrain output
gpio_set_mode(LEDS_PORT, GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN,
LED_D1_PIN | LED_D2_PIN);
// turn off LEDs
gpio_set(LEDS_PORT, LED_D1_PIN | LED_D2_PIN);
*/
/*
// USB_DISC: push-pull
gpio_set_mode(USB_DISC_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, USB_DISC_PIN);
// USB_POWER: open drain, externall pull down with R7 (22k)
gpio_set_mode(USB_POWER_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, USB_POWER_PIN);
*/
}
/*
* SysTick used for system timer with period of 1ms
*/
void SysTick_init(){
systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz
systick_set_reload(8999); // 9000 pulses: 1kHz
systick_interrupt_enable();
systick_counter_enable();
}

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/*
* hardware_ini.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __HARDWARE_INI_H__
#define __HARDWARE_INI_H__
/*
* Timers:
* SysTick - system time
*/
void GPIO_init();
void SysTick_init();
/*
* USB interface
* connect boot1 jumper to gnd, boot0 to gnd; and reconnect boot0 to +3.3 to boot flash
*/
/*
// USB_DICS (disconnect) - PC11
#define USB_DISC_PIN GPIO11
#define USB_DISC_PORT GPIOC
// USB_POWER (high level when USB connected to PC)
#define USB_POWER_PIN GPIO10
#define USB_POWER_PORT GPIOC
// change signal level on USB diconnect pin
#define usb_disc_high() gpio_set(USB_DISC_PORT, USB_DISC_PIN)
#define usb_disc_low() gpio_clear(USB_DISC_PORT, USB_DISC_PIN)
// in case of n-channel FET on 1.5k pull-up change on/off disconnect means low level
// in case of pnp bipolar transistor or p-channel FET on 1.5k pull-up disconnect means high level
#define usb_disconnect() usb_disc_high()
#define usb_connect() usb_disc_low()
*/
// my simple devboard have no variants for programmed connection/disconnection of USB
#define usb_disconnect()
#define usb_connect()
#endif // __HARDWARE_INI_H__

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stm32f103?4* stm32f1 ROM=16K RAM=6K
stm32f103?6* stm32f1 ROM=32K RAM=10K
stm32f103?8* stm32f1 ROM=64K RAM=20K
stm32f103?b* stm32f1 ROM=128K RAM=20K
stm32f103?c* stm32f1 ROM=256K RAM=48K
stm32f103?d* stm32f1 ROM=384K RAM=64K
stm32f103?e* stm32f1 ROM=512K RAM=64K
stm32f103?f* stm32f1 ROM=768K RAM=96K
stm32f103?g* stm32f1 ROM=1024K RAM=96K

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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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canon_lens/ld/stm32f103x6.ld Normal file
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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 32K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 64K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 256K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 384K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 512K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 768K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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canon_lens/ld/stm32f103xG.ld Normal file
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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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/*
* main.c
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "main.h"
#include "hardware_ini.h"
#include "cdcacm.h"
#include "spi.h"
volatile uint32_t Timer = 0; // global timer (milliseconds)
usbd_device *usbd_dev;
int main(){
uint32_t Old_timer = 0;
// RCC clocking: 8MHz oscillator -> 72MHz system
rcc_clock_setup_in_hse_8mhz_out_72mhz();
GPIO_init();
usb_disconnect(); // turn off USB while initializing all
// USB
usbd_dev = USB_init();
// SysTick is a system timer with 1ms period
SysTick_init();
SPI_init();
// wait a little and then turn on USB pullup
// for (i = 0; i < 0x800000; i++)
// __asm__("nop");
usb_connect(); // turn on USB
while(1){
usbd_poll(usbd_dev);
if(data_rdy){ // there's something in USB buffer
parse_incoming_buf();
}
if(Timer - Old_timer > 999){ // one-second cycle
Old_timer += 1000;
}else if(Timer < Old_timer){ // Timer overflow
Old_timer = 0;
}
}
}
/**
* SysTick interrupt: increment global time & send data buffer through USB
*/
void sys_tick_handler(){
Timer++;
usbd_poll(usbd_dev);
usb_send_buffer();
}
// pause function, delay in ms
void Delay(uint16_t _U_ time){
uint32_t waitto = Timer + time;
while(Timer < waitto);
}
/**
* print current time in milliseconds: 4 bytes for ovrvlow + 4 bytes for time
* with ' ' as delimeter
*/
void print_time(){
print_int(Timer);
}

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/*
* main.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __MAIN_H__
#define __MAIN_H__
#include <stdlib.h>
#include <string.h> // memcpy
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/usart.h>
#include <libopencm3/cm3/nvic.h>
#include <libopencm3/usb/cdc.h>
#include <libopencm3/usb/usbd.h>
#include <libopencm3/cm3/systick.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/adc.h>
#include <libopencm3/stm32/dma.h>
#include <libopencm3/stm32/spi.h>
#include "sync.h" // mutexes
#include "user_proto.h"
#define _U_ __attribute__((__unused__))
#define U8(x) ((uint8_t) x)
#define U16(x) ((uint16_t) x)
#define U32(x) ((uint32_t) x)
extern volatile uint32_t Timer; // global timer (milliseconds)
void Delay(uint16_t time);
#endif // __MAIN_H__

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/*
* spi.c
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "main.h"
#include "spi.h"
/*
* Configure SPI ports
*/
/*
* SPI1 remapped:
* SCK - PB3
* MISO - PB4
* MOSI - PB5
*
*/
void SPI_init(){
// enable AFIO & other clocking
rcc_peripheral_enable_clock(&RCC_APB2ENR,
RCC_APB2ENR_SPI1EN | RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
// remap SPI1 (change pins from PA5..7 to PB3..5); also turn off JTAG
gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF, AFIO_MAPR_SPI1_REMAP);
// SCK, MOSI - push-pull output
gpio_set_mode(GPIO_BANK_SPI1_RE_SCK, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_SPI1_RE_SCK);
gpio_set_mode(GPIO_BANK_SPI1_RE_MOSI, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_SPI1_RE_MOSI);
// MISO - opendrain in
gpio_set_mode(GPIO_BANK_SPI1_RE_MISO, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO_SPI1_RE_MISO);
rcc_set_ppre2(RCC_CFGR_PPRE2_HCLK_DIV4);
spi_reset(SPI1);
/* Set up SPI in Master mode with:
* for Canon lens SPI settings are: f~78kHz, CPOL=1, CPHA=1
* Clock baud rate: 1/256 of peripheral clock frequency (APB2, 72MHz/4 = 18MHz) - ~70kHz
* Clock polarity: CPOL=1, CPHA=1
* Data frame format: 8-bit
* Frame format: MSB First
*/
spi_init_master(SPI1, SPI_CR1_BAUDRATE_FPCLK_DIV_256, SPI_CR1_CPOL_CLK_TO_1_WHEN_IDLE,
SPI_CR1_CPHA_CLK_TRANSITION_2, SPI_CR1_DFF_8BIT, SPI_CR1_MSBFIRST);
//nvic_enable_irq(NVIC_SPI1_IRQ); // enable SPI interrupt
spi_enable(SPI1);
}
/**
* send 1 byte blocking
* return readed byte on success
*/
uint8_t spi_write_byte(uint8_t data){
while(!(SPI_SR(SPI1) & SPI_SR_TXE));
SPI_DR(SPI1) = data;
while(!(SPI_SR(SPI1) & SPI_SR_TXE));
while(!(SPI_SR(SPI1) & SPI_SR_RXNE));
uint8_t rd = SPI_DR(SPI1);
while(!(SPI_SR(SPI1) & SPI_SR_TXE));
while(SPI_SR(SPI1) & SPI_SR_BSY);
return rd;
}

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/*
* spi.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __SPI_H__
#define __SPI_H__
void SPI_init();
uint8_t spiWrite(uint8_t *data, uint16_t len);
extern uint32_t Current_SPI;
uint8_t spi_write_byte(uint8_t data);
#endif // __SPI_H__

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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* TODO:
* implement mutexes for other type of MCU (which doesn't have strex & ldrex)
*/
#include <libopencm3/cm3/sync.h>
/* DMB is supported on CM0 */
void __dmb()
{
__asm__ volatile ("dmb");
}
/* Those are defined only on CM3 or CM4 */
#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
uint32_t __ldrex(volatile uint32_t *addr)
{
uint32_t res;
__asm__ volatile ("ldrex %0, [%1]" : "=r" (res) : "r" (addr));
return res;
}
uint32_t __strex(uint32_t val, volatile uint32_t *addr)
{
uint32_t res;
__asm__ volatile ("strex %0, %2, [%1]"
: "=&r" (res) : "r" (addr), "r" (val));
return res;
}
void mutex_lock(mutex_t *m)
{
uint32_t status = 0;
do {
/* Wait until the mutex is unlocked. */
while (__ldrex(m) != MUTEX_UNLOCKED);
/* Try to acquire it. */
status = __strex(MUTEX_LOCKED, m);
/* Did we get it? If not then try again. */
} while (status != 0);
/* Execute the mysterious Data Memory Barrier instruction! */
__dmb();
}
void mutex_unlock(mutex_t *m)
{
/* Ensure accesses to protected resource are finished */
__dmb();
/* Free the lock. */
*m = MUTEX_UNLOCKED;
}
/*
* Try to lock mutex
* if it's already locked or there was error in STREX, return MUTEX_LOCKED
* else return MUTEX_UNLOCKED
*/
mutex_t mutex_trylock(mutex_t *m){
uint32_t status = 0;
mutex_t old_lock = __ldrex(m); // get mutex value
// set mutex
status = __strex(MUTEX_LOCKED, m);
if(status == 0) __dmb();
else old_lock = MUTEX_LOCKED;
return old_lock;
}
#endif

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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBOPENCM3_CM3_SYNC_H
#define LIBOPENCM3_CM3_SYNC_H
void __dmb(void);
/* Implements synchronisation primitives as discussed in the ARM document
* DHT0008A (ID081709) "ARM Synchronization Primitives" and the ARM v7-M
* Architecture Reference Manual.
*/
/* --- Exclusive load and store instructions ------------------------------- */
/* Those are defined only on CM3 or CM4 */
#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
uint32_t __ldrex(volatile uint32_t *addr);
uint32_t __strex(uint32_t val, volatile uint32_t *addr);
/* --- Convenience functions ----------------------------------------------- */
/* Here we implement some simple synchronisation primitives. */
typedef uint32_t mutex_t;
#define MUTEX_UNLOCKED 0
#define MUTEX_LOCKED 1
void mutex_lock(mutex_t *m);
void mutex_unlock(mutex_t *m);
mutex_t mutex_trylock(mutex_t *m);
#endif
#endif

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/*
* user_proto.c
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "cdcacm.h"
#include "main.h"
#include "hardware_ini.h"
#include "spi.h"
void help(){
P("c\tmax close diaphragm\n");
P("D\tdiaphragm 10+\n");
P("d\tdiaphragm 10-\n");
P("F\tmove F to 127 steps+\n");
P("f\tmove F to 127 steps-\n");
P("h\tshow this help\n");
P("o\tmax open diaphragm\n");
P("r\t(or empty line) repeat last command sequence\n");
P("v\tshow focus value (in steps)\n");
P("+\tgo to infinity\n");
P("-\tgo to minimal F\n");
}
#define UBUFF_LEN (64)
uint8_t ubuff[UBUFF_LEN];
int ubuff_sz = 0;
// read unsigned char in oct,dec or hex format; if success, return 0; otherwice return 1
// modify `buf` to point at last non-digit symbol
int read_uchar(uint8_t **buf, uint8_t *eol){
uint8_t *start = *buf;
uint32_t readed = 0;
if(*start == '0'){ // hex or oct
if(start[1] == 'x'){ // hex
start += 2;
while(start < eol){
char ch = *start, m = 0;
if(ch >= '0' && ch <= '9') m = '0';
else if(ch >= 'a' && ch <= 'f') m = 'a' - 10;
else if(ch >= 'A' && ch <= 'F') m = 'A' - 10;
else break;
if(m){
readed <<= 4;
readed |= ch - m;
}
++start;
}
}else{ // oct
++start;
while(start < eol){
char ch = *start;
if(ch >= '0' && ch < '8'){
readed <<= 3;
readed |= ch - '0';
}else break;
++start;
}
}
}else{ // dec
while(start < eol){
char ch = *start;
if(ch >= '0' && ch <= '9'){
readed *= 10;
readed += ch - '0';
}else break;
++start;
}
}
if(readed > 255){
P("bad value!");
return 1;
}
ubuff[ubuff_sz++] = (uint8_t) readed;
*buf = start;
return 0;
}
static const uint8_t gotoplus[] = {0, 10, 7, 5, 0};
static const uint8_t gotominus[] = {0, 10, 7, 6, 0};
static const uint8_t diaopen[] = {0, 10, 19, 128, 0};
static const uint8_t diaclose[] = {0, 10, 19, 127, 0};
static const uint8_t diap[] = {0, 10, 19, ~10, 8, 0};
static const uint8_t diam[] = {0, 10, 19, 10, 8, 0};
static const uint8_t fmovp[] = {0, 10, 7, 68, 0, 127, 0};
static const uint8_t fmovm[] = {0, 10, 7, 68, 255, 128, 0};
void write_buff(uint8_t *buf, int len){
int i;
for(i = 0; i < len; ++i){
uint8_t rd = spi_write_byte(buf[i]);
print_int(i); P(": written "); print_int(buf[i]);
P(" readed "); print_int(rd); newline();
Delay(2);
}
}
void showFval(){
int16_t val;
uint8_t rd = 0, *b = (uint8_t*)&val;
int i;
for(i = 0; i < 3 && rd != 0xaa; ++i){
spi_write_byte(10);
Delay(2);
rd = spi_write_byte(0);
Delay(5);
}
if(rd != 0xaa){
P("Something wrong: lens don't answer!\n");
return;
}
spi_write_byte(192);
Delay(2);
b[1] = spi_write_byte(0);
Delay(2);
b[0] = spi_write_byte(0);
P("focus motor position: ");
print_int(val);
newline();
}
/**
* parce command buffer buf with length len
* fill uint8_t data buffer with readed data
*/
void parse_incoming_buf(){
uint8_t *curch = usbdatabuf, *eol = usbdatabuf + usbdatalen;
uint8_t ch = *curch, data = 0;
if(usbdatalen == 2){
switch(ch){
case 'h': // help
help();
break;
case 'r': // repeat last command
write_buff(ubuff, ubuff_sz);
break;
#define WRBUF(x) do{write_buff((uint8_t*)x, sizeof(x));}while(0)
case '+': // goto infty
WRBUF(gotoplus);
break;
case '-': // goto 2.5m
WRBUF(gotominus);
break;
case 'o': // open d
WRBUF(diaopen);
break;
case 'c': // close d
WRBUF(diaclose);
break;
case 'F': // f127+
WRBUF(fmovp);
break;
case 'f': // f127-
WRBUF(fmovm);
break;
case 'd':
WRBUF(diam);
break;
case 'D':
WRBUF(diap);
break;
case 'v':
showFval();
break;
}
empty_buf();
return;
}
while(curch < eol){
ch = *curch;
if(ch >= '0' && ch <= '9'){
if(!data){data = 1; ubuff_sz = 0;}
if(read_uchar(&curch, eol)){
ubuff_sz = 0;
break;
}
continue;
}
++curch;
}
write_buff(ubuff, ubuff_sz);
if(eol[-1] != '\n') P("Warning! Buffer overflow, some data may be corrupt!!!");
empty_buf();
}
/**
* Send char array wrd thru USB
*/
void prnt(uint8_t *wrd){
if(!wrd) return;
while(*wrd) usb_send(*wrd++);
}
/**
* Print buff as hex values
* @param buf - buffer to print
* @param l - buf length
* @param s - function to send a byte
*/
void print_hex(uint8_t *buff, uint8_t l){
void putc(uint8_t c){
if(c < 10)
usb_send(c + '0');
else
usb_send(c + 'a' - 10);
}
usb_send('0'); usb_send('x'); // prefix 0x
while(l--){
putc(buff[l] >> 4);
putc(buff[l] & 0x0f);
}
}
/**
* Print decimal integer value
* @param N - value to print
* @param s - function to send a byte
*/
void print_int(int32_t N){
uint8_t buf[10], L = 0;
if(N < 0){
usb_send('-');
N = -N;
}
if(N){
while(N){
buf[L++] = N % 10 + '0';
N /= 10;
}
while(L--) usb_send(buf[L]);
}else usb_send('0');
}

47
canon_lens/user_proto.h Normal file
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@ -0,0 +1,47 @@
/*
* user_proto.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef __USER_PROTO_H__
#define __USER_PROTO_H__
#include "cdcacm.h"
// shorthand for prnt
#define P(arg) do{prnt((uint8_t*)arg);}while(0)
// debug message - over USB
#ifdef EBUG
#define DBG(a) do{prnt((uint8_t*)a);}while(0)
#else
#define DBG(a)
#endif
typedef uint8_t (*intfun)(int32_t);
void prnt(uint8_t *wrd);
#define newline() usb_send('\n')
void print_int(int32_t N);
void print_hex(uint8_t *buff, uint8_t l);
void parse_incoming_buf();
#endif // __USER_PROTO_H__