USB tested and worked; TODO: add CANbus support

F1:F103/Canon_managing_device/Readme.md

@@ -1,36 +1,68 @@
 # Canon lens management.
 
-Management of some Canon Lens.
+Management of some Canon Lens. Checked: EF85, EF200 and EF400.
+
+[Documentation about first "crack" methods](https://github.com/eddyem/canon-lens).
 
 ## Pinout
 
-* PA4 - lens detect (zero active);
+* PA4 - lens detect (low active);
-* PA5,6,7 - SPI SCK, MISO, MOSI;
+* PA5,6,7 - SPI SCK, MISO (should have external pullup), MOSI;
-* PA10 - USB DP pullup (zero active);
+* PA8 - enable lens power (high active);
+* PA9 - !OC - overcurrent detected (low active);
+* PA10 - USB DP pullup (low active);
 * PA11,12 - USB DM, DP;
 * PA13,14 - SWD IO, CLK;
 * PB8,9 - CAN Rx,Tx;
 * PC13 - USB/CAN (solder jumper to turn on CAN instead of USB, zero - CAN).
 
-Protocol have a string form, each string ends with '\n'. You should wait an answer for previous command before sending next,
+## USB commands
-or have risk to miss all the rest commands in one packet.
+Protocol have a string form, each string ends with '\n'. You should wait an answer for previous command before sending next, or have risk to miss all the rest commands in one packet.
 
-## USB commands:
+### Base commands
 
-0 - move to smallest foc value (e.g. 2.5m)
+> **0**  move to smallest foc value (e.g. 2.5m)
-1 - move to largest foc value (e.g. infinity)
-d - open/close diaphragm by 1 step (+/-), open/close fully (o/c) (no way to know it current status)
-f - get focus state or move it to given relative position
-h - turn on hand focus management
-i - get lens information
-l - get lens model
-r - get regulators' state
-                debugging commands:
-F - change SPI flags (F f val), f== l-LSBFIRST, b-BR [18MHz/2^(b+1)], p-CPOL, h-CPHA
-G - get SPI status
-I - reinit SPI
-R - software reset
-S - send data over SPI
-T - show Tms value
 
+> **1**  move to largest foc value (e.g. infinity)
 
+> **a**  move focus to given ABSOLUTE position or get current value (without number)
+
+> **d**  open/close diaphragm by 1 step (+/-), open/close fully (o/c) (no way to know it current status)
+
+> **f**  move focus to given RELATIVE position
+
+> **h**  turn on hand focus management
+
+> **i**  get lens information
+
+> **l**  get lens model
+
+> **r**  get regulators' state
+
+### Debugging or configuration commands
+
+> **A**  set (!0) or reset (0) autoinit
+
+> **C**  set CAN speed (25-3000 kbaud)
+
+> **D**  set CAN ID (11 bit)
+
+> **E**  erase full flash storage
+
+> **F**  change SPI flags (F f val), f== l-LSBFIRST, b-BR [18MHz/2^(b+1)], p-CPOL, h-CPHA
+
+> **G**  get SPI status
+
+> **I**  reinit SPI
+
+> **L**  'flood' message (same as `S` but every 250ms until next command)
+
+> **P**  dump current config
+
+> **R**  software reset
+
+> **S**  send data over SPI
+
+> **T**  show Tms value
+
+> **X**  save current config to flash

F1:F103/Canon_managing_device/canon.c

@@ -82,9 +82,9 @@ static int canon_read(uint8_t cmd, uint8_t zeroz){
     return TRUE;
 }
 
-// get current F value
+// get current F value by stepper pos
 static uint16_t getfocval(){
-    if(!canon_read(CANON_GETDIAL, 2)) return BADFOCVAL;
+    if(!canon_read(CANON_GETSTPPOS, 3)) return BADFOCVAL;
     uint16_t F = (buf[1] << 8) | buf[2];
     return (F - Fdelta);
 }
@@ -116,10 +116,10 @@ static void canon_writeu8(uint8_t cmd, uint8_t u){
     buf[0] = cmd; buf[1] = u;
     SPI_transmit(buf, 2);
 }*/
-static int canon_writeu16(uint8_t cmd, uint16_t u){
+int canon_writeu16(uint8_t cmd, uint16_t u){
     *((uint32_t*)buf) = 0;
-    buf[0] = cmd; buf[1] = u >> 8; buf[2] = u & 0xff;
+    buf[0] = cmd; buf[1] = u >> 8; buf[2] = u & 0xff; buf[3] = 0;
-    if(3 != SPI_transmit(buf, 3)) return FALSE;
+    if(4 != SPI_transmit(buf, 4)) return FALSE;
     return TRUE;
 }
 
@@ -128,7 +128,7 @@ static void canon_poll(){
     ready = 0;
     // wait no more than 1s
     uint32_t Tstart = Tms;
-    while(Tms - Tstart < 1000){
+    while(Tms - Tstart < POLLING_TIMEOUT){
         IWDG->KR = IWDG_REFRESH;
         if(!canon_read(CANON_POLL, 1)){
             continue;
@@ -150,7 +150,7 @@ void canon_init(){
     inistate = INI_ERR;
     state = LENS_ERR;
     if(!canon_read(CANON_ID, 31)){
-        DBG("Can't read ID\n");
+        DBG("Error sending starting sequence\n");
         return;
     }
     DBG("turn on power\n");
@@ -299,6 +299,7 @@ void canon_proc(){
                     inistate = INI_READY;
                     state = LENS_READY;
                     errctr = 0;
+                    canon_sendcmd(CANON_FOCBYHANDS);
                 break;
                 case F_ERR:
                     ++errctr;
@@ -350,8 +351,9 @@ int canon_diaphragm(char command){
     return 0;
 }
 
+// move focuser @ absolute position val (or show current F if val < 0)
 int canon_focus(int16_t val){
-    if(!ready) return 1;
+    if(!ready || inistate != INI_READY) return 1;
     if(val < 0){
         USB_send("Fsteps="); USB_send(u2str(getfocval())); USB_send("\n");
     }else{
@@ -365,14 +367,15 @@ int canon_focus(int16_t val){
             return 1;
         }
         val -= curF;
-        if(!canon_writeu16(CANON_FOCMOVE, val)) return 1;
+        if(!canon_writeu16(CANON_FOCMOVE, val)) return 3;
     }
     canon_poll();
     return 0;
 }
 
+// send simplest command
 int canon_sendcmd(uint8_t cmd){
-    if(!ready || !canon_read(cmd, 0)) return 1;
+    if(!ready || !canon_read(cmd, 1)) return 1;
     canon_poll();
     return 0;
 }
@@ -383,7 +386,7 @@ int canon_asku16(uint8_t cmd){
     USB_send("par=");
     USB_send(u2str((buf[1] << 8) | buf[2]));
     USB_send("\n");
-    canon_poll();
+    //canon_poll();
     return 0;
 }
 
@@ -392,7 +395,7 @@ int canon_getinfo(){
     USB_send("Info="); for(int i = 1; i < 7; ++i){
         USB_send(u2hexstr(buf[i])); USB_send(" ");
     }
-    canon_poll();
+    //canon_poll();
     USB_send("\n");
     return 0;
 }

F1:F103/Canon_managing_device/canon.h

@@ -28,18 +28,37 @@
 // connection timeout (100ms): do nothing until this timeout
 #define CONN_TIMEOUT    (100)
 
+// polling timeout - 2.5s
+#define POLLING_TIMEOUT (2500)
+
 // pause after error before next reinit
 #define REINIT_PAUSE    (5000)
 
 // waiting for starting moving - 0.25s
 #define MOVING_PAUSE    (250)
 
+// interval of canon_proc calls (10ms)
+#define CANONPROC_INTERVAL  (9)
+
+// `flooding` interval (250ms)
+#define FLOODING_INTERVAL   (249)
+
 // answer for cmd "POLL"
 #define CANON_POLLANS   (0xaa)
 
 // bad focus value - 32767
 #define BADFOCVAL   (0x7fff)
 
+// flags of 0x90 (144) command:
+// Manual focus active
+#define CANON_MF_FLAG   (0x0080)
+// focus dial is active
+#define CANON_DA_FLAG   (0x2000)
+// manual focus is on some edge of range
+#define CANON_DE_FLAG   (0x0010)
+// focus dial moving
+#define CANON_DM_FLAG   (0x0004)
+
 // maximal
 
 typedef enum{
@@ -55,11 +74,15 @@ typedef enum{
     CANON_DIAPHRAGM = 0x13, // open/close diaphragm by given (int8_t) value of steps
     CANON_FOCMOVE   = 0x44, // move focus dial by given amount of steps (int16)
     CANON_FOCBYHANDS= 0x5e, // turn on focus move by hands (to turn off send 4,5 or 6)
-    CANON_GETINFO   = 0x80, // get information
+    CANON_DIALPOS0  = 0x6b, // DIALPOSx - something like current transfocator dial (limb) position (not stepper!)
+    CANON_DIALPOS1  = 0x6c,
+    CANON_DIALPOS2  = 0x6d,
+    CANON_DIALPOS3  = 0x6e,
+    CANON_GETINFO   = 0x80, // get information (bytes 0-1 - model, bytes 2-3 - minF, bytes 4-5 - maxF)
     CANON_GETREG    = 0x90, // get regulators' state
-    CANON_GETMODEL  = 0xa0, // get lens (e.g. 200 == LX200)
+    CANON_GETMODEL  = 0xa0, // get current lens focus (e.g. 200 == LX200)
-    CANON_GETDIAL   = 0xc0, // get focus dial position in steps
+    CANON_GETSTPPOS = 0xc0, // get focus dial position in steps
-    CANON_GETFOCM   = 0xc2, // get focus position in meters (not for all lenses)
+    CANON_GETFOCM   = 0xc2, // get focus position in meters (not for all lenses): Fm = 2.5*b[1] + b[2]/100; Fm previous = next 2 bytes
 } canon_commands;
 
 typedef enum{
@@ -90,5 +113,6 @@ int canon_diaphragm(char command);
 int canon_focus(int16_t val);
 int canon_sendcmd(uint8_t cmd);
 int canon_asku16(uint8_t cmd);
+int canon_writeu16(uint8_t cmd, uint16_t u);
 int canon_getinfo();
 uint16_t canon_getstate();

F1:F103/Canon_managing_device/main.c

@@ -67,11 +67,10 @@ int main(void){
         IWDG->KR = IWDG_REFRESH;
         char *txt = NULL;
         usb_proc();
-        if((txt = get_USB())){
+        txt = get_USB();
-            const char *ans = parse_cmd(txt);
+        const char *ans = parse_cmd(txt); // call it even for NULL (if `flood` is running)
-            if(ans) USB_send(ans);
+        if(ans) USB_send(ans);
-        }
+        if(Tms - SPIctr > CANONPROC_INTERVAL){ // not more than once per 10ms
-        if(Tms - SPIctr > 10){ // not more than once per 10ms
             SPIctr = Tms;
             canon_proc();
         }

F1:F103/Canon_managing_device/proto.c

@@ -16,6 +16,8 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <string.h>
+
 #include "canon.h"
 #include "flash.h"
 #include "hardware.h"
@@ -160,22 +162,23 @@ const char* helpmsg =
     "https://github.com/eddyem/stm32samples/tree/master/F1-nolib/Canon_managing_device  build#" BUILD_NUMBER " @ " BUILD_DATE "\n"
     "0 - move to smallest foc value (e.g. 2.5m)\n"
     "1 - move to largest foc value (e.g. infinity)\n"
-    "a - set (!0) or reset (0) autoinit\n"
+    "a - move focus to given ABSOLUTE position or get current value (without number)\n"
     "d - open/close diaphragm by 1 step (+/-), open/close fully (o/c) (no way to know it current status)\n"
-    "f - move focus to given ABSOLUTE position or get current value (without number)\n"
+    "f - move focus to given RELATIVE position\n"
     "h - turn on hand focus management\n"
     "i - get lens information\n"
     "l - get lens model\n"
     "r - get regulators' state\n"
     "\t\tdebugging/conf commands:\n"
+    "A - set (!0) or reset (0) autoinit\n"
     "C - set CAN speed (25-3000 kbaud)\n"
     "D - set CAN ID (11 bit)\n"
     "E - erase full flash storage\n"
     "F - change SPI flags (F f val), f== l-LSBFIRST, b-BR [18MHz/2^(b+1)], p-CPOL, h-CPHA\n"
     "G - get SPI status\n"
     "I - reinit SPI\n"
+    "L - 'flood' message (same as `S` but every 250ms until next command)\n"
     "P - dump current config\n"
-    "s - get state\n"
     "R - software reset\n"
     "S - send data over SPI\n"
     "T - show Tms value\n"
@@ -195,6 +198,41 @@ static void add2buf(const char *s){
     *bptr = 0;
 }
 
+
+#define SPIBUFSZ    (64)
+// buffer for SPI sending
+static uint8_t spibuf[SPIBUFSZ];
+static int spibuflen; // length of spibuf
+// put user data into buffer
+static int initspibuf(const char *buf){
+    uint32_t D;
+    spibuflen = 0;
+    do{
+        const char *nxt = getnum(buf, &D);
+        if(buf == nxt) break;
+        buf = nxt;
+        if(D > 0xff){
+            USB_send("Number should be from 0 to 0xff\n");
+            return 0;
+        }
+        spibuf[spibuflen++] = (uint8_t)D;
+    }while(spibuflen < SPIBUFSZ);
+    return spibuflen;
+}
+static void sendspibuf(){
+    if(spibuflen < 1) return;
+    uint8_t buf[SPIBUFSZ];
+    memcpy(buf, spibuf, spibuflen);
+    if(spibuflen == SPI_transmit((uint8_t*)buf, (uint8_t)spibuflen)){
+        USB_send("Got SPI answer: ");
+        for(int i = 0; i < spibuflen; ++i){
+            if(i) USB_send(", ");
+            USB_send(u2hexstr(buf[i]));
+        }
+        USB_send("\n");
+    }else USB_send("Failed to send SPI buffer\n");
+}
+
 static void errw(int e){
     if(e){
         add2buf("Error with code ");
@@ -225,10 +263,20 @@ const char *inimsgs[INI_S_AMOUNT+1] = {
     [INI_S_AMOUNT] = "wrong state"
 };
 const char *parse_cmd(const char *buf){
-    //uint32_t u3;
+    static uint32_t lastFloodTime = 0;
+    if(lastFloodTime && (Tms - lastFloodTime > FLOODING_INTERVAL)){
+        sendspibuf();
+        lastFloodTime = Tms ? Tms : 1;
+    }
+    if(!buf || *buf == 0) return NULL;
+    lastFloodTime= FALSE;
     initbuf();
     if(buf[1] == '\n' || !buf[1]){ // one symbol commands
         switch(*buf){
+            case 'a':
+            case 'f':
+                errw(canon_focus(-1));
+            break;
             case '-':
                 flashstorage_init();
             break;
@@ -238,9 +286,6 @@ const char *parse_cmd(const char *buf){
             case '1':
                 errw(canon_sendcmd(CANON_FMAX));
             break;
-            case 'f':
-                errw(canon_focus(-1));
-            break;
             case 'i':
                 errw(canon_getinfo());
             break;
@@ -272,25 +317,7 @@ const char *parse_cmd(const char *buf){
                     default:
                         add2buf("unknown");
                 }
-            break;
+                add2buf("\nstate=");
-            case 'h':
-                errw(canon_sendcmd(CANON_FOCBYHANDS));
-            break;
-            case 'I':
-                add2buf("Reinit SPI");
-                spi_setup();
-                canon_init();
-            break;
-            case 'P':
-                dump_userconf();
-                return NULL;
-            break;
-            case 'R':
-                USB_send("Soft reset\n");
-                NVIC_SystemReset();
-            break;
-            case 's':
-                add2buf("state=");
                 uint16_t s = canon_getstate();
                 uint8_t idx = s & 0xff;
                 if(idx > LENS_S_AMOUNT) idx = LENS_S_AMOUNT;
@@ -300,6 +327,23 @@ const char *parse_cmd(const char *buf){
                 if(idx > INI_S_AMOUNT) idx = INI_S_AMOUNT;
                 add2buf(inimsgs[idx]);
             break;
+            case 'h':
+                errw(canon_sendcmd(CANON_FOCBYHANDS));
+            break;
+            case 'I':
+                USB_send("Reinit SPI\n");
+                spi_setup();
+                canon_init();
+                return NULL;
+            break;
+            case 'P':
+                dump_userconf();
+                return NULL;
+            break;
+            case 'R':
+                USB_send("Soft reset\n");
+                NVIC_SystemReset();
+            break;
             case 'T':
                 add2buf("Tms=");
                 add2buf(u2str(Tms));
@@ -314,10 +358,20 @@ const char *parse_cmd(const char *buf){
         newline();
         return stbuf;
     }
-    uint32_t D = 0, N = 0;
+    uint32_t D = 0;
+    int16_t neg;
     char *nxt;
     switch(*buf++){ // long messages
-        case 'a':
+        case 'a': // move focus to absolute position
+            buf = omit_spaces(buf);
+            neg = 1;
+            if(*buf == '-'){ ++buf; neg = -1; }
+            nxt = getnum(buf, &D);
+            if(nxt == buf) add2buf("Need number");
+            else if(D > 0x7fff) add2buf("From -0x7fff to 0x7fff");
+            else errw(canon_focus(neg * (int16_t)D));
+        break;
+        case 'A':
             nxt = getnum(buf, &D);
             if(nxt != buf){
                 if(D) the_conf.autoinit = 1;
@@ -329,14 +383,17 @@ const char *parse_cmd(const char *buf){
             nxt = omit_spaces(buf);
             errw(canon_diaphragm(*nxt));
         break;
-        case 'f': // move focus
+        case 'f': // move focus to relative position
             buf = omit_spaces(buf);
-            int16_t neg = 1;
+            neg = 1;
             if(*buf == '-'){ ++buf; neg = -1; }
             nxt = getnum(buf, &D);
             if(nxt == buf) add2buf("Need number");
             else if(D > 0x7fff) add2buf("From -0x7fff to 0x7fff");
-            else errw(canon_focus(neg * (int16_t)D));
+            else{
+                if(canon_writeu16(CANON_FOCMOVE, neg * (int16_t)D)) add2buf(OK);
+                else add2buf(FAIL);
+            }
         break;
         case 'C':
             nxt = getnum(buf, &D);
@@ -382,40 +439,32 @@ const char *parse_cmd(const char *buf){
             }
             add2buf("SPI_CR1="); add2buf(u2hexstr(SPI_CR1));
         break;
+        case 'L':
+            if(0 == initspibuf(buf)){
+                USB_send("Enter data bytes\n");
+                return NULL;
+            }
+            USB_send("OK, activated\n");
+            sendspibuf();
+            lastFloodTime = Tms ? Tms : 1;
+            return NULL;
+        break;
         case 'S': // use stbuf here to store user data
-            do{
+            if(0 == initspibuf(buf)){
-                nxt = getnum(buf, &D);
-                if(buf == nxt) break;
-                buf = nxt;
-                if(D > 0xff){
-                    USB_send("Number should be from 0 to 0xff\n");
-                    return NULL;
-                }
-                stbuf[N++] = (uint8_t)D;
-                if(N == STBUFSZ) break;
-            }while(1);
-            if(N == 0){
                 USB_send("Enter data bytes\n");
                 return NULL;
             }
             USB_send("Send: ");
-            for(uint32_t i = 0; i < N; ++i){
+            for(int i = 0; i < spibuflen; ++i){
                 if(i) USB_send(", ");
-                USB_send(u2hexstr(stbuf[i]));
+                USB_send(u2hexstr(spibuf[i]));
             }
-            USB_send("\n... ");
+            USB_send("\n");
-            if(N == SPI_transmit((uint8_t*)stbuf, (uint8_t)N)){
+            sendspibuf();
-                USB_send("OK\nGot SPI answer: ");
-                for(int i = 0; i < (int)N; ++i){
-                    if(i) USB_send(", ");
-                    USB_send(u2hexstr(stbuf[i]));
-                }
-                USB_send("\n");
-            }else USB_send("Failed\n");
             return NULL;
         break;
         default:
-            return buf;
+            return --buf;
     }
     newline();
     return stbuf;

F1:F103/Canon_managing_device/version.inc

@@ -1,2 +1,2 @@
-#define BUILD_NUMBER "93"
+#define BUILD_NUMBER "103"
-#define BUILD_DATE "2023-03-15"
+#define BUILD_DATE "2023-03-17"