fixed schematics @ canon managing, add initialization for absolute positioning, TODO: add CAN bus management

F1:F103/Canon_managing_device/canon.h

@@ -22,12 +22,26 @@
 
 // all data sent in big-endian format
 
-// max length of commands
+// max length of commands buffer
 #define MAXCMDLEN   (32)
 
+// connection timeout (100ms): do nothing until this timeout
+#define CONN_TIMEOUT    (100)
+
+// pause after error before next reinit
+#define REINIT_PAUSE    (5000)
+
+// waiting for starting moving - 0.25s
+#define MOVING_PAUSE    (250)
+
 // answer for cmd "POLL"
 #define CANON_POLLANS   (0xaa)
 
+// bad focus value - 32767
+#define BADFOCVAL   (0x7fff)
+
+// maximal
+
 typedef enum{
     CANON_LONGID    = 0x00, // long ID ???
     CANON_ID        = 0x01, // lens ID and other info ???
@@ -37,7 +51,7 @@ typedef enum{
     CANON_FMIN      = 0x06, // =//= min
     CANON_POWERON   = 0x07, // turn on motors' power
     CANON_POWEROFF  = 0x08, // turn off power
-    CANON_POLL      = 0x0a, // bysu poll (ans 0xaa when ready or last command code)
+    CANON_POLL      = 0x0a, // busy poll (ans 0xaa when ready or last command code)
     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)
@@ -48,11 +62,33 @@ typedef enum{
     CANON_GETFOCM   = 0xc2, // get focus position in meters (not for all lenses)
 } canon_commands;
 
+typedef enum{
+    LENS_DISCONNECTED,  // no lens found
+    LENS_SLEEPING,      // do nothing until init
+    LENS_OVERCURRENT,   // short circuit
+    LENS_INITIALIZED,   // initializing process
+    LENS_READY,         // ready to operate
+    LENS_ERR,           // some error occured - reconnect after REINIT_PAUSE
+    LENS_S_AMOUNT
+} lens_state;
+
+typedef enum{
+    INI_START,          // base init done, start F initialization
+    INI_FGOTOZ,         // wait until focus gone to minimal value
+    INI_FPREPMAX,       // prepare to go to max
+    INI_FGOTOMAX,       // go to max F value
+    INI_FPREPOLD,       // prepare to go to old
+    INI_FGOTOOLD,       // go to starting F value
+    INI_READY,          // all OK
+    INI_ERR,            // error on any init step
+    INI_S_AMOUNT
+} lensinit_state;
+
 void canon_init();
 void canon_proc();
 int canon_diaphragm(char command);
 int canon_focus(int16_t val);
 int canon_sendcmd(uint8_t cmd);
 int canon_asku16(uint8_t cmd);
-void canon_setlastcmd(uint8_t x);
 int canon_getinfo();
+uint16_t canon_getstate();