ソフトウェアで制御可能な電動フォーカス機能付き、Raspberry Pi用CSIインターフェイスカメラ "Arducam B0176"

$ sudo raspi-config nonint do_camera 0
$ sudo raspi-config nonint do_i2c 0
$ sudo sed -i 's/i2c_arm/i2c_vc/' /boot/config.txt
$ sudo systemctl reboot

$ sudo vcgencmd get_camera
supported=1 detected=1

$ curl -LO https://github.com/ArduCAM/RaspberryPi/raw/master/Motorized_Focus_Camera/python/lib/libarducam_vcm.so
$ sudo install -m 0644 libarducam_vcm.so /opt/vc/lib/ && rm libarducam_vcm.so
$ sudo ldconfig

$ ldconfig -p | grep arducam_vcm
        libarducam_vcm.so (libc6,hard-float) => /opt/vc/lib/libarducam_vcm.so

$ curl -O https://gist.githubusercontent.com/ma2shita/a6ad200bea550f7211636783f17539b9/raw/997f648d3c99fe5c6cb6313275ff3dcc5fe60403/Arducam_B0176_focus_ctl.py
$ chmod u+x Arducam_B0176_focus_ctl.py
$ ./Arducam_B0176_focus_ctl.py -h
usage: Arducam_B0176_focus_ctl.py [-h] --focus {Integer,0 <= N <= 1023}

optional arguments:
  -h, --help            show this help message and exit
  --focus {Integer,0 <= N <= 1023}
                        Camera focus 0(far)..1023(near)

$ Arducam_B0176_focus_ctl.py --focus 0    # 焦点:近い (数センチレベル)
$ Arducam_B0176_focus_ctl.py --focus 1023 # 焦点:遠い

$ file libarducam_vcm.so
libarducam_vcm.so: ELF 32-bit LSB shared object, ARM, EABI5 version 1 (SYSV), dynamically linked, BuildID[sha1]=29831c10685a26166a127333e0413e97f586e1ae, not stripped
$ ldd libarducam_vcm.so
        linux-vdso.so.1 (0xbefac000)
        /usr/lib/arm-linux-gnueabihf/libarmmem-${PLATFORM}.so => /usr/lib/arm-linux-gnueabihf/libarmmem-v7l.so (0xb6f2a000)
        libpthread.so.0 => /lib/arm-linux-gnueabihf/libpthread.so.0 (0xb6eec000)
        libc.so.6 => /lib/arm-linux-gnueabihf/libc.so.6 (0xb6d9e000)
        /lib/ld-linux-armhf.so.3 (0xb6f54000)

## Focus = 0
$ sudo i2cset -y 0 0x0c 0 0
## Focus = 1023
$ sudo i2cset -y 0 0x0c 63 240

$ sudo i2cset -y 0 0x0c 63 240
$ sudo i2cget -y 0 0x0c 0x00 w
0xf03f

#!/bin/env python3

"""
Number to Focus for Arducam B0176
Focus control for Arducam B0176 "Motorized focus camera for Raspberry Pi"

Copyright (c) 2021 Kohei MATSUSHITA

This software is released under the The 3-Clause BSD License.
https://opensource.org/licenses/BSD-3-Clause

Usage:
$ sudo i2cset -y 0 0x0c $(./focusing.py 0)
$ sudo i2cset -y 0 0x0c $(./focusing.py 512)
$ sudo i2cset -y 0 0x0c $(./focusing.py 1023)
"""

import argparse
import sys

def focusing(val):
  value = (val << 4) & 0x3ff0
  data1 = (value >> 8) & 0x3f
  data2 = value & 0xf0
  return (data1, data2)

if __name__ == "__main__":
  parser = argparse.ArgumentParser()
  parser.add_argument('focus', metavar='N', type=int, help="Camera focus 0(far)..1023(near)")
  args = parser.parse_args()
  r = focusing(args.focus)
  print("{} {}".format(r[0], r[1]))
  sys.exit(0)

#!/bin/python3

"""
Number to Focus for Arducam B0176
Focus control for Arducam B0176 "Motorized focus camera for Raspberry Pi"

Copyright (c) 2021 Kohei MATSUSHITA

This software is released under the The 3-Clause BSD License.
https://opensource.org/licenses/BSD-3-Clause

Usage:
$ sudo i2cget -y 0 0x0c 0x00 w | ./focused.py
<Current Focus 0 to 1023>
"""

def focused(str):
  s = str[2:]
  u = int(s[:2], 16)
  d = int(s[2:], 16) << 8
  r = (u + d) >> 4
  return r

import sys
if __name__ == "__main__":
  str = input()
  r = focused(str)
  print(r)
  sys.exit(0)