From 618184d2838cd823c2a1bac2700c952364e86bd8 Mon Sep 17 00:00:00 2001
From: Simon Frei <simon-frei@hotmail.com>
Date: Fri, 18 Nov 2022 15:23:59 +0100
Subject: [PATCH] add error message when command failed due to validation from
 parser

---
 ADIS_tinyK22_SplitFlap/source/shell.c     |  4 ++++
 ADIS_tinyK22_SplitFlap/source/splitflap.c | 29 ++++++++++++++++-------
 2 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/ADIS_tinyK22_SplitFlap/source/shell.c b/ADIS_tinyK22_SplitFlap/source/shell.c
index f3c70e8..4c453bd 100644
--- a/ADIS_tinyK22_SplitFlap/source/shell.c
+++ b/ADIS_tinyK22_SplitFlap/source/shell.c
@@ -52,9 +52,11 @@ static uint8_t ParseCommand(const uint8_t *cmd, bool *handled, McuShell_ConstStd
 		if(McuUtility_xatoi(&cmd, &setupId) == ERR_OK){
 			// validate param
 			if(setupId > NUM_MAX_AMOUNT_FLAPS){
+				McuLog_error("setupId cannot exists");
 				return ERR_FAILED;
 			}
 		}else{
+			McuLog_error("failed to parse setupId");
 			return ERR_FAILED;
 		}
 		// second param
@@ -63,9 +65,11 @@ static uint8_t ParseCommand(const uint8_t *cmd, bool *handled, McuShell_ConstStd
 			// validate param
 			int32_t offset = 0;
 			if(MotOffset_Get(hwId, &offset) != ERR_OK){
+				McuLog_error("Splitflap with id %i does not exists",hwId);
 				return ERR_FAILED;
 			}
 		}else{
+			McuLog_error("failed to parse hwId");
 			return ERR_FAILED;
 		}
 		Shell_cmd_s shellCmd = {.shellCmd = Shell_Identify_SF, .numberOfParams = 2, .params = {hwId,setupId}};
diff --git a/ADIS_tinyK22_SplitFlap/source/splitflap.c b/ADIS_tinyK22_SplitFlap/source/splitflap.c
index 2dd6110..494480f 100644
--- a/ADIS_tinyK22_SplitFlap/source/splitflap.c
+++ b/ADIS_tinyK22_SplitFlap/source/splitflap.c
@@ -151,16 +151,27 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
 		}
 
 		// turn until sensor is on and not reached one full rotation already (timeout)
-		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
-			McuULN2003_IncStep(((SF_t*)instance)->motor);
-#ifdef McuLib_CONFIG_SDK_USE_FREERTOS
-			vTaskDelay(pdMS_TO_TICKS(20));
-#else
-			McuWait_Waitms(20);
-#endif
-			numStepsMoved++;
+//		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
+//			McuULN2003_IncStep(((SF_t*)instance)->motor);
+//#ifdef McuLib_CONFIG_SDK_USE_FREERTOS
+//			vTaskDelay(pdMS_TO_TICKS(20));
+//#else
+//			McuWait_Waitms(20);
+//#endif
+//			numStepsMoved++;
+//		}
+		McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
+		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
+			if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true)){
+				numStepsMoved++;
+			}
+			#ifdef McuLib_CONFIG_SDK_USE_FREERTOS
+						vTaskDelay(pdMS_TO_TICKS(20));
+			#else
+						McuWait_Waitms(20);
+			#endif
 		}
-
+		McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
 		// offset after init
 		if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
 			for(int i=0; i < offsetSteps; i++){