Merge branch 'main' of gitlab.enterpriselab.ch:adis_team_gueti_roaster/adis_hs2022_team_4 into main

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}};

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++;
+//		}
+		McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 		while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
-			McuULN2003_IncStep(((SF_t*)instance)->motor);
+			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
-			numStepsMoved++;
 		}
-
+		McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
 		// offset after init
 		if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
 			for(int i=0; i < offsetSteps; i++){