init: changed from offsetSegments to offsetSteps to allow more granularity,

fixed bug in init (numStepsMoved counter),
changed steps parameter data types to unsigned (only positive steps allowed)

ADIS_tinyK22_SplitFlap/source/application.c

@@ -73,7 +73,7 @@ void App_Init(void){
 void App_Run(void){
 
 	PRINTF("Initializing split flap motors.\n");
-	bool successfulInit = SF_MoveMotorToZeroPosition(splitflap0, 2);
+	bool successfulInit = SF_MoveMotorToZeroPosition(splitflap0, 20);
 	PRINTF("Init of motors done. Success = %s\n\n", successfulInit ? "true" : "false");
 
 	// if init failed => stop

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -59,7 +59,7 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
 	return splitflap;
 }
 
-bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments){
+bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps){
 	int numStepsMoved = 0;
 
 	// move out of sensor
@@ -68,30 +68,28 @@ bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments){
 		McuWait_Waitms(20);
 	}
 
-	// turn until sensor is on
+	// 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);
 		McuWait_Waitms(20);
 		numStepsMoved++;
 	}
 
-	// one more segment if not already one round
+	// offset after init
 	if(numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND){
-		// +0.5 so that the rounding is done correctly
-		int8_t offsetSteps = offsetSegments * SPLITFLAP_STEPS_ONE_ROUND/SPLITFLAP_AMOUNT_OF_SEGMENTS; // (int8_t)((float)offsetSegments*SPLITFLAP_STEPS_PER_SEGMENT + 0.5);
 		for(int i=0; i < offsetSteps; i++){
 			McuULN2003_IncStep(((SF_t*)instance)->motor);
 			McuWait_Waitms(20);
-			numStepsMoved++;
 		}
 	}
 	McuULN2003_SetPos(((SF_t*)instance)->motor, 0);
 	McuULN2003_PowerOff(((SF_t*)instance)->motor);
+
 	// success if less than one rotation
 	return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
 }
 
-void SF_MoveSteps(SF_Handle_t instance, int32_t steps){
+void SF_MoveSteps(SF_Handle_t instance, uint32_t steps){
 	// run move with acceleration & deceleration
 	McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
 	while(steps>0){

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -52,11 +52,12 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id);
 /* Moves split flap slowly to zero position.
  * returns true if the move was successful, false if not
  * (depending on if the sensor was hit before one round)
- * with the offsetSegments parameter, the amount of segments to offset can be given */
+ * offsetSteps: amount of steps to offset from magnet sensor positive flank position
-bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, int8_t offsetSegments);
+ * After moving to zero position, the current position of the motor is set to 0 */
+bool SF_MoveMotorToZeroPosition(SF_Handle_t instance, uint16_t offsetSteps);
 
-/* split flap moves number of steps maybe uint16_t? */
+/* split flap moves number of steps (uint, since only forward moves are allowed) */
-void SF_MoveSteps(SF_Handle_t instance, int32_t steps);
+void SF_MoveSteps(SF_Handle_t instance, uint32_t steps);
 
 /* get mag sensor state. returns true if sensor is at zero position, otherwise false */
 bool SF_GetMagSensorAtZeroPosition(SF_Handle_t instance);