angoosh/Sony-e-mount
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

added hardware board software and PC control guide

Browse Source
This commit is contained in:
Angoosh Leviocki
2026-03-02 19:21:00 +01:00
parent 6775b5abec
commit c9d16c4a9b
6 changed files with 416 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files

233
Software/TMC2130.py Normal file
View File

@@ -0,0 +1,233 @@
from machine import Pin, PWM, SPI
import time
import utime
from config import *
from led import *
from sTimer import sTimer_Start, sTimer_Stop
import sys
import _thread
sLock = _thread.allocate_lock()
EN = Pin(13, Pin.OUT)
DIR = Pin(14, Pin.OUT)
STEP = Pin(15, Pin.OUT)
ENDSTOP = Pin(8, Pin.IN, Pin.PULL_UP)
DC_EN = Pin(11, Pin.OUT)
DC_IN = Pin(10, Pin.OUT)
DC_OUT = Pin(12, Pin.IN)
SPI_MODE = Pin(20, Pin.OUT)
spi_cs = Pin(17, Pin.OUT)
spi = SPI(0, baudrate=100000, polarity=1, phase=1, bits=8, firstbit=SPI.MSB, sck=Pin(18, Pin.OUT), mosi=Pin(19, Pin.OUT), miso=Pin(16, Pin.IN))
DC_EN(0)
DC_IN(0)
spi_cs(1)
EN(1) #0 = enabled
DIR(0)
STEP(0)
MM_PER_STEP = SCREW_PITCH / (MOTOR_STEPS * MICROSTEPPING)
FREQ_PER_STEP_INCREASE = (((MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH) * ACCELERATION) / 60
REG_GCONF = 0x00
REG_GSTAT = 0x01
REG_IHOLD_IRUN = 0x10
REG_CHOPCONF = 0x6C
REG_COOLCONF = 0x6D
REG_DCCTRL = 0x6E
REG_DRVSTATUS = 0x6F
step_cntr = 0
target_steps = 0
target_frequency = 0
current_frequency = 0
def step():
global STEP, step_cntr, current_frequency, target_frequency, target_steps, FREQ_PER_STEP_INCREASE
STEP.value(not STEP.value())
STEP.value(not STEP.value())
LED_ERR.value(not LED_ERR.value())
step_cntr += 1
if(current_frequency < target_frequency):
current_frequency += FREQ_PER_STEP_INCREASE
if(target_steps >= step_cntr):
pass
def rotate_motor(steps, feedrate):
global current_frequency, step_cntr, target_steps, target_frequency
step_cntr = 0
target_steps = steps
target_frequency = ((feedrate / SCREW_PITCH) * MOTOR_STEPS * MICROSTEPPING) / 60 #steps/s = rpm * steps_per_rotation / 60
print(target_frequency)
print(FREQ_PER_STEP_INCREASE)
current_frequency = FREQ_PER_STEP_INCREASE
def timer_callback(counter):
if (counter % 1) == 0:
step()
def get_stats():
global STEP, step_cntr, current_frequency, target_frequency, target_steps, FREQ_PER_STEP_INCREASE
print(step_cntr, current_frequency, target_frequency, FREQ_PER_STEP_INCREASE)
def rotate_motor_test():
rotate_motor(32*200, 5)
sTimer_Start()
time.sleep(2)
sTimer_Stop()
def prepare_spi_msg(addr, d0, d1, d2, d3, rw):
msg = bytearray()
if rw == 'r':
msg.append(addr)
else:
msg.append(0x80 + addr)
msg.append(d0)
msg.append(d1)
msg.append(d2)
msg.append(d3)
return msg
def send_spi_msg(msg):
spi_cs(0)
rxdata = bytearray(5)
spi.write_readinto(msg, rxdata)
#print(rxdata.hex())
spi_cs(1)
time.sleep(0.01)
def TMC2130_Rotate(dir, steps, speed): #speed in rpm
#1rmp = 200steps/min=3.333steps/s~150ms@50%duty
sLock.acquire()
wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / speed) * 1000 * 1000
freq = 1 / ((wait / 1000000) * 2)
if AXIS_REVERSE:
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(1)
STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
time.sleep((1 / freq) * steps)
STEP.deinit()
LED_DIR(0)
sLock.release()
homing = False
def TMC2130_Home():
global homing
dir = HOME_DIR
STEP = Pin(15, Pin.OUT)
steps_mm = (MOTOR_STEPS * MICROSTEPPING) / SCREW_PITCH
rpm = HOME_SPEED / SCREW_PITCH
wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / rpm) * 1000 * 1000
freq = 1 / ((wait / 1000000) * 2)
if AXIS_REVERSE:
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
sys.stdout.write('homing\r\n')
homing = True
STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
while homing:
pass
STEP.deinit()
if HOME_DEBOUNCE == True:
sys.stdout.write('debouncing\r\n')
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
steps = steps_mm * abs(HOME_DEBOUNCE_DISTANCE)
TMC2130_Rotate(dir, steps, HOME_DEBOUNCE_SPEED)
rpm = HOME_DEBOUNCE_SPEED / SCREW_PITCH
wait = (((1 / ((MOTOR_STEPS * MICROSTEPPING) / 60)) / 2) / rpm) * 1000 * 1000
freq = 1 / ((wait / 1000000) * 2)
if dir == 0:
dir = 1
else:
dir = 0
DIR(dir)
LED_DIR(dir)
homing = True
STEP = PWM(Pin(15), freq=int(freq), duty_u16=32768)
while homing:
pass
STEP.deinit()
def TMC2130_Disable():
EN.value(1)
def TMC2130_Enable():
EN.value(0)
def endstop_callback(endstop):
global homing
homing = False
def TMC2130_Init():
SPI_MODE(1)
# setup coolstep
microstep = 0
if MICROSTEPPING == 128:
microstep = 1
elif MICROSTEPPING == 64:
microstep = 2
elif MICROSTEPPING == 32:
microstep = 3
elif MICROSTEPPING == 16:
microstep = 4
elif MICROSTEPPING == 8:
microstep = 5
elif MICROSTEPPING == 4:
microstep = 6
elif MICROSTEPPING == 2:
microstep = 7
elif MICROSTEPPING == 1:
microstep = 8
else:
microstep = 0
msg = prepare_spi_msg(REG_CHOPCONF, 0x00+microstep, 0x01, 0x00, 0xC3, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(REG_IHOLD_IRUN, 0x00, 0x06, I_RUN, I_HOLD, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(0x11, 0x00, 0x00, 0x00, 0x0A, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(REG_GCONF, 0x00, 0x00, 0x00, 0x04, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(0x13, 0x00, 0x00, 0x01, 0xF4, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(0x70, 0x00, 0x04, 0x01, 0xC8, 'w')
send_spi_msg(msg)
msg = prepare_spi_msg(REG_COOLCONF, 0x00, 0x00, 0x03, 0x01, 'w')
send_spi_msg(msg)
TMC2130_Enable()

27
Software/config.py Normal file
View File

@@ -0,0 +1,27 @@
MOTOR_STEPS = 200
MICROSTEPPING = 16
I_HOLD = 10 #hold current (1-31)
I_RUN = 10 #run current (1-31)
SCREW_PITCH = 5 #in mm/rotation
AXIS_LENGTH = 1000 #mm
AXIS_ID = 'X' #id of axis (X,Y,U,V)
AXIS_REVERSE = False
HOME_DIR = 0
HOME_SPEED = 600 #in mm/s
HOME_DEBOUNCE = True
HOME_DEBOUNCE_DISTANCE = 5 #in mm
HOME_DEBOUNCE_SPEED = 200
ACCELERATION = 1
FOCUS_MIN = 12000
FOCUS_MAX = 23000
AP_MIN = 4884
AP_MAX = 6132
FOCAL_LEN_MIN = 28
FOCAL_LEN_MAX = 200
ZOOM_SPEED = 30

6
Software/led.py Normal file
View File

@@ -0,0 +1,6 @@
from machine import Pin
LED_ERR = Pin(25, Pin.OUT)
LED_DIR = Pin(3, Pin.OUT)
LED_MSG = Pin(6, Pin.OUT)
LED_OK = Pin(7, Pin.OUT)

110
Software/e-mount.py → Software/main.py
View File

@@ -4,11 +4,20 @@ import time
import math
import sys
import select
from led import *
from config import *
import _thread
from TMC2130 import TMC2130_Rotate, TMC2130_Init, rotate_motor_test
lens_cs = machine.Pin(7, machine.Pin.IN)
body_cs = machine.Pin(8, machine.Pin.OUT)
vd_lens = machine.Pin(9, machine.Pin.OUT)
tx_pin = machine.Pin(16, machine.Pin.OUT)
lens_cs = machine.Pin(4, machine.Pin.IN)
body_cs = machine.Pin(5, machine.Pin.OUT)
vd_lens = machine.Pin(2, machine.Pin.OUT)
tx_pin = machine.Pin(0, machine.Pin.OUT)
LED_OK.value(1)
poll_obj = ''
@@ -27,13 +36,9 @@ focus_pos = 0 #focus position to be set manually
af_in_progress = False
focus_mode = "MF" #AF/MF
focus_min = 12000
focus_max = 23000
ap_min = 4884
ap_max = 6132
focus_pos = 0
change_focus = False
relative_focus = False
utime.sleep(1)
vd_lens.value(1)
@@ -56,6 +61,18 @@ time.sleep_ms(20)
rx_ack = False
def Zoom(focal_distance, steps_per_iter):
dir = 0
reverse = False
if focal_distance > focal_length:
dir = 1
while focal_distance > focal_length:
TMC2130_Rotate(dir, steps_per_iter, ZOOM_SPEED)
else:
while focal_distance < focal_length:
TMC2130_Rotate(dir, steps_per_iter, ZOOM_SPEED)
def Comms_Init():
global poll_obj
@@ -63,24 +80,49 @@ def Comms_Init():
poll_obj.register(sys.stdin, select.POLLIN)
def Comms_Read():
global poll_obj, ap, focus_mode, change_focus, focus_pos
global poll_obj, ap, focus_mode, change_focus, focus_pos, relative_focus
poll_results = poll_obj.poll(1)
if poll_results:
rw = sys.stdin.readline().strip()
rw = rw.upper()
if "APERTURE" in rw:
data = rw.split(' ')
ap = int(data[1])
try:
data = rw.split(' ')
if "REL" in rw:
ap = aperture_raw + int(data[1])
else:
ap = int(data[1])
except:
print("APERTURE SET ERROR")
if "FOCUS" in rw:
data = rw.split(' ')
focus_pos = int(data[1])
change_focus = True
try:
data = rw.split(' ')
focus_pos = int(data[1])
change_focus = True
if "REL" in rw:
relative_focus = True
except:
print("FOCUS SET ERROR")
if "AF" in rw:
focus_mode = "AF"
if "MF" in rw:
focus_mode = "MF"
if "ZOOM" in rw:
try:
data = rw.split(' ')
if "STEPS" in rw:
if int(data[1]) < 2:
if int(data[1]) >= 0:
if int(data[2]) > 0:
_thread.start_new_thread(TMC2130_Rotate, (int(data[1]), int(data[2]), ZOOM_SPEED))
else:
if int(data[1]) > FOCAL_LEN_MIN:
if int(data[1]) < FOCAL_LEN_MAX:
if int(data[2]) > 0:
_thread.start_new_thread(Zoom, (int(data[1]), int(data[2])))
except:
print("ZOOM SET ERROR")
def focal_length_conv(raw):
return (math.exp((raw+92063.3)/8082.9)+406.979)/3256.82
@@ -93,10 +135,10 @@ def aperture_count(value, leftMin=2.8, leftMax=16, rightMin=4884, rightMax=6132)
return rightMin + (valueScaled * rightSpan)
def aperture(value):
if value < ap_min:
value = ap_min
if value > ap_max:
value = ap_max
if value < AP_MIN:
value = AP_MIN
if value > AP_MAX:
value = AP_MAX
return value
def rx_end(pin):
@@ -144,7 +186,8 @@ def print_rx():
focus_limit = "UNKNOWN"
if msg[5] == 5:
aperture_raw = msg[6] + (msg[7] << 8)
print("Focus limit:", focus_limit, "Focus:", focus, "Focal length:", focal_length, "Aperture:", aperture_raw)
print("Focus mode:", focus_mode, "Focus limit:", focus_limit, "Focus:", focus, "Focal length:", focal_length, "Aperture:", aperture_raw)
LED_MSG.toggle()
else:
if b == 0xf0:
@@ -215,12 +258,12 @@ def send_af():
time.sleep_ms(6)
def move_focus(position):
global ap, ap_closing, af_in_progress, focus_mode, focus_pos, focus_min, focus_max
global ap, ap_closing, af_in_progress, focus_mode, focus_pos, FOCUS_MIN, FOCUS_MAX
if position < focus_min:
position = focus_min
if position > focus_max:
position = focus_max
if position < FOCUS_MIN:
position = FOCUS_MIN
if position > FOCUS_MAX:
position = FOCUS_MAX
vd_pulse()
time.sleep_ms(10)
@@ -256,10 +299,14 @@ def shutdown():
time.sleep_ms(6)
def normal_loop():
global ap, ap_closing, af_in_progress, focus_mode, focus_pos, change_focus
global ap, ap_closing, af_in_progress, focus_mode, focus_pos, change_focus, relative_focus
if change_focus:
move_focus(focus_pos)
if relative_focus:
move_focus(focus+focus_pos)
relative_focus = False
else:
move_focus(focus_pos)
change_focus = False
else:
vd_pulse()
@@ -274,14 +321,16 @@ def normal_loop():
send_focus(focus_mode, af_in_progress)
time.sleep_ms(6)
print_rx()
TMC2130_Init()
Comms_Init()
lens_cs.irq(handler=rx_end, trigger=machine.Pin.IRQ_FALLING)
vd_pulse()
body_cs.value(1)
time.sleep_ms(4)
uart_bodytx = machine.UART(0, baudrate=750000, tx=machine.Pin(16), rx=machine.Pin(17)) # UART1, GP0 (TX) and GP1 (RX)
uart_bodytx = machine.UART(0, baudrate=750000) # UART1, GP0 (TX) and GP1 (RX) #, tx=machine.Pin(16), rx=machine.Pin(17)
body_cs.value(0)
time.sleep_ms(15)
vd_pulse()
@@ -313,3 +362,6 @@ while True:
normal_loop()
Comms_Read()

18
Software/sTimer.py Normal file
View File

@@ -0,0 +1,18 @@
from machine import Timer
import TMC2130
FREQUENCY = 100 #kHz
counter = 0
sTim = Timer()
def sTim_callback(t):
global counter
counter += 1
TMC2130.timer_callback(counter)
def sTimer_Start():
sTim.init(freq=FREQUENCY*1000, mode=Timer.PERIODIC, callback=sTim_callback)
def sTimer_Stop():
sTim.deinit()