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USB tested and worked; TODO: add CANbus support

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This commit is contained in:
Edward Emelianov 2023-03-17 15:41:17 +03:00
parent 681f3253d7
commit b18dee64e8
8 changed files with 207 additions and 100 deletions
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76
F1:F103/Canon_managing_device/Readme.md
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@ -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);
* PA5,6,7 - SPI SCK, MISO, MOSI;
* PA10 - USB DP pullup (zero active);
* PA4 - lens detect (low active);
* PA5,6,7 - SPI SCK, MISO (should have external pullup), MOSI;
* 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,
or have risk to miss all the rest commands in one packet.
## USB commands
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)
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
> **0** move to smallest foc value (e.g. 2.5m)
> **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

27
F1:F103/Canon_managing_device/canon.c
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@ -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;
if(3 != SPI_transmit(buf, 3)) return FALSE;
buf[0] = cmd; buf[1] = u >> 8; buf[2] = u & 0xff; buf[3] = 0;
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;
}

32
F1:F103/Canon_managing_device/canon.h
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@ -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_GETDIAL = 0xc0, // get focus dial position in steps
CANON_GETFOCM = 0xc2, // get focus position in meters (not for all lenses)
CANON_GETMODEL = 0xa0, // get current lens focus (e.g. 200 == LX200)
CANON_GETSTPPOS = 0xc0, // get focus dial position in steps
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();

BIN
F1:F103/Canon_managing_device/canonusb.bin
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F1:F103/Canon_managing_device/kicad/Canon_manage/Canon_manage_sch.pdf
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7
F1:F103/Canon_managing_device/main.c
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@ -67,11 +67,10 @@ int main(void){
IWDG->KR = IWDG_REFRESH;
char *txt = NULL;
usb_proc();
if((txt = get_USB())){
const char *ans = parse_cmd(txt);
txt = get_USB();
const char *ans = parse_cmd(txt); // call it even for NULL (if `flood` is running)
if(ans) USB_send(ans);
}
if(Tms - SPIctr > 10){ // not more than once per 10ms
if(Tms - SPIctr > CANONPROC_INTERVAL){ // not more than once per 10ms
SPIctr = Tms;
canon_proc();
}

155
F1:F103/Canon_managing_device/proto.c
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@ -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;
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=");
add2buf("\nstate=");
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 'S': // use stbuf here to store user data
do{
nxt = getnum(buf, &D);
if(buf == nxt) break;
buf = nxt;
if(D > 0xff){
USB_send("Number should be from 0 to 0xff\n");
case 'L':
if(0 == initspibuf(buf)){
USB_send("Enter data bytes\n");
return NULL;
}
stbuf[N++] = (uint8_t)D;
if(N == STBUFSZ) break;
}while(1);
if(N == 0){
USB_send("OK, activated\n");
sendspibuf();
lastFloodTime = Tms ? Tms : 1;
return NULL;
break;
case 'S': // use stbuf here to store user data
if(0 == initspibuf(buf)){
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("\n... ");
if(N == SPI_transmit((uint8_t*)stbuf, (uint8_t)N)){
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(u2hexstr(spibuf[i]));
}
USB_send("\n");
}else USB_send("Failed\n");
sendspibuf();
return NULL;
break;
default:
return buf;
return --buf;
}
newline();
return stbuf;

4
F1:F103/Canon_managing_device/version.inc
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@ -1,2 +1,2 @@
#define BUILD_NUMBER "93"
#define BUILD_DATE "2023-03-15"
#define BUILD_NUMBER "103"
#define BUILD_DATE "2023-03-17"