Motors

Various code to manage motor hardware

Common motor service prototype

motorsd is a host-tested prototype for shared motor control. It contains the service, the public socket protocol, libmotors, command-line access, separate driver programs, and architecture tests.

Read the motorsd documentation for the current scope and usage examples.

Anjoy motor control

anjoy-motor drives the zoom/focus/iris lens motors and the pan/tilt head of Anjoy AF camera modules over their motor-MCU UART (Pelco-D-style frames), and decodes the MCU's live position reports. Protocol recovered from a live MTF45-4G_AF.

Zenointel SD-2N-4G pan/tilt

zenointel-sd2n4g drives the pan/tilt stepper head of the Zenointel SD-2N-4G (Goke GK7205V510) directly over memory-mapped PL061 GPIO — no vendor kernel module and no vendor app, so it also runs under OpenIPC. The GPIO map, half-step phase table and per-axis config were reverse-engineered from the stock firmware (motor.ko/gpioStep.ko). The lens is fixed — no motorized zoom/focus on this model.

Bit-banged Pelco-D sender (HI3516D_N81820)

pelco-bb sends Pelco-D frames on the Xiongmai HI3516D_N81820's PTZ port by driving the UART1 pads as GPIOs, either as a complementary pair (a real differential signal on the RS-485 pair) or as a single inverted pad. It is a debugging instrument for when frames on /dev/ttyAMA1 do not reach the head, with a procedure for checking the bus from a USB-RS485 adapter.

Pelco-D configuration TUI

pelcodtui is an ncurses interface for Pelco-D PTZ controller settings and manual movement. Camera profiles describe controller-specific commands without hard-coding them in the application.

UART bridge / validation harness

uart-bridge is a host-side Python tool (run with uv) that sits between a camera board and its PTZ motor board on two USB-UART adapters. It forwards and timestamps every byte, decodes frames, can stand in for the camera, and diffs captures so a reimplemented motor driver can be checked against the stock firmware's traffic.

Some theory behind

Basic autofocus algorithms

Learning approach for autofocus

Improving the accuracy and low-light performance of contrast-based autofocus using supervised machine learning

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Various links

• XM AF Module description Function Command List on p.6-10

• Driver Manuals on stepper motor drivers - http://www.relmon.com/en/index.php/list/13/33.html

• Some code for ms41929 motor driver - https://download.csdn.net/download/u011212383/10668636

• Driver for ms32006 - https://github.com/song7788/driver_for_ms32006

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Similar projects on Github

• https://github.com/Lynch234ok/git_ipc_hi3516C_V3/tree/master/git_ipc
• https://github.com/stonetan/AF-algorithm
• https://github.com/wztforest/test/tree/236bd04cad7aff12e56b7d26cf785b61a23904c9/ipc/hisi-vsrd/ipcam.hi3518A/src/ptz