implemented SF_MoveMotorToZeroPosition

ADIS_tinyK22_SplitFlap/source/splitflap.c

@@ -28,9 +28,23 @@ SF_Handle_t SF_Init(SF_Config_t* instance, int id){
 	return splitflap;
 }
 
+bool SF_MoveMotorToZeroPosition(SF_Handle_t instance){
+	int numStepsMoved = 0;
+
+	while(SF_GetMagSensorAtZeroPosition((SF_t*)instance) == false && numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND ){
+		McuULN2003_IncStep(((SF_t*)instance)->motor);
+		McuWait_Waitms(20);
+		numStepsMoved++;
+	}
+
+	// success if less than one rotation
+	return numStepsMoved < SPLITFLAP_STEPS_ONE_ROUND;
+}
+
 void SF_MoveSteps(SF_Handle_t instance, uint8_t steps){
+
+	// run move with acceleration & deceleration
 	McuULN2003_AccelerationStart(((SF_t*)instance)->motor);
-	// maybe move callback?
 	while(steps>0){
 		if(McuULN2003_StepCallback(((SF_t*)instance)->motor, true) == true){
 			steps--;
@@ -38,7 +52,10 @@ void SF_MoveSteps(SF_Handle_t instance, uint8_t steps){
 		McuWait_Waitms(1);
 	}
 	McuULN2003_AccelerationEnd(((SF_t*)instance)->motor);
-	// Power off necessary? -> what to do after power off? init again?
+
+	// Power off disables all outputs of the ULN,
+	// required since it is possible that one is still active, which would result in the motor getting hot
+	// no re-init is required
 	McuULN2003_PowerOff(((SF_t*)instance)->motor);
 }
 

ADIS_tinyK22_SplitFlap/source/splitflap.h

@@ -14,7 +14,8 @@
 
 
 /****** SETTINGS ******/
-#define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 0
+#define SPLITFLAP_CONFIG_USE_FREERTOS_HEAP 	0
+#define SPLITFLAP_STEPS_ONE_ROUND 			200
 
 
 /****** TYPES ******/
@@ -39,6 +40,11 @@ typedef struct {
  * Initialization will be made inside the SF_Init method */
 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) */
+bool SF_MoveMotorToZeroPosition(SF_Handle_t instance);
+
 /* split flap moves number of steps maybe uint16_t? */
 void SF_MoveSteps(SF_Handle_t instance, uint8_t steps);