fix clangd and comments

.clangd

@@ -2,4 +2,4 @@
 CompileFlags:
   Add:
     - "-I/home/dennisgunia/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/avr/include/"
-    - "-I"
+    - "-I/home/dennisgunia/.config/VSCodium/User/globalStorage/llvm-vs-code-extensions.vscode-clangd/install/19.1.2/clangd_19.1.2/lib/clang/19/include/stddef.h"

software/firmware_module/module_rev0/src/global.h

@@ -6,12 +6,12 @@
  * https://github.com/dennis9819/splitflap_v1
  */
 
+#include <stdlib.h>
+#include <string.h>
 #include <avr/io.h>
 #include <avr/wdt.h>
 #include <avr/interrupt.h>
 #include <util/delay.h>
-#include <stdlib.h>
-#include <string.h>
 #include <avr/iom8.h>
 
 

software/firmware_module/module_rev0/src/mctrl.c

@@ -20,7 +20,6 @@ uint8_t motor_steps[4] = {
 uint8_t step_index = 0;             // cuurent index in motor_steps
 uint8_t target_flap = 0;            // target flap
 uint16_t absolute_pos = 0;          // absolute position in steps
-uint16_t rel_offset = STEPS_OFFSET; // offset of '0' flap relative to home
 uint16_t steps_since_home = 0;      // steps since last home signal
 
 // homing util variables
@@ -31,7 +30,7 @@ uint8_t lastSens = 0; // home sonsor signal from last tick
 uint8_t ticksSinceMove = 0;
 
 // value to goto after the current target_flap is reached. 255 = NONE.
-uint8_t afterRotation = 255;
+uint8_t afterRotation = STEPS_AFTERROT;
 
 int16_t *delta_err;
 
@@ -133,16 +132,16 @@ ISR(TIMER1_COMPA_vect)
         {
             homing = 3;
             steps_since_home = 0;
-            absolute_pos = rel_offset;
+            absolute_pos = STEPS_OFFSET;
             incrementCounter();
         }
     }
     else if (homing == 3)
-    { // Homing procedure 3. step: find magnet
+    { // Homing procedure 3. step: apply offset
         if (absolute_pos <= 0)
         {
             homing = 0;
-            absolute_pos = rel_offset;
+            absolute_pos = STEPS_OFFSET;    // set correct position again
         }
         mctrl_step();
         absolute_pos--;
@@ -150,7 +149,7 @@ ISR(TIMER1_COMPA_vect)
     else
     { // when no failsafe is triggered and homing is done
         // calculate target position
-        uint16_t target_pos = (target_flap * STEPS_PER_FLAP) + rel_offset;
+        uint16_t target_pos = (target_flap * STEPS_PER_FLAP) + STEPS_OFFSET;
         if (target_pos >= STEPS_PER_REV)
         {
             target_pos -= STEPS_PER_REV;
@@ -192,7 +191,7 @@ ISR(TIMER1_COMPA_vect)
             if (afterRotation < (STEPS_PER_FLAP + 5))
             { // if after rotation is set, apply it as new target
                 target_flap = afterRotation;
-                afterRotation = 255;
+                afterRotation = STEPS_AFTERROT;
             }
             else if (ticksSinceMove < 2)
             { // if motor has not been moved
@@ -255,10 +254,6 @@ void mctrl_set(uint8_t flap, uint8_t fullRotation)
     if (fullRotation == 0)
     {
         target_flap = flap;
-        // if (absolute_pos < STEPS_ADJ) {
-        //   absolute_pos += STEPS_PER_REV;
-        // }
-        // absolute_pos -= STEPS_ADJ;
     }
     else
     {
@@ -273,7 +268,7 @@ void mctrl_home()
     homing = 1;
 }
 
-// trigger home procedure
+// change motor power state
 void mctrl_power(uint8_t state)
 {
     if (state == 0)

software/firmware_module/module_rev0/src/mctrl.h

@@ -17,7 +17,7 @@
 #define STEPS_ADJ 0         // added per flap to compensate for motor power down
 #define STEPS_OFFSET 1400   // ansolute offset between home and first flap
 #define AMOUNTFLAPS 45      // amount of flaps installed in system
-
+#define STEPS_AFTERROT 255  // value to goto after current target flap is reached
 #define ERROR_DATASETS 8    // length of error array
 
 #define MDELAY_STARTUP 1000 // delay to wait after motor startup

software/firmware_module/module_rev0/src/rs458.c

@@ -8,7 +8,8 @@
 
 #include "rs485.h"
 
-void rs485_init() {
+void rs485_init()
+{
     // init I/O
     DDRD &= ~(1 << PD0);             // BUS_DIR & TX is OUTPUT
     DDRD |= (1 << PD2) | (1 << PD1); // BUS_DIR & TX is OUTPUT
@@ -20,71 +21,84 @@ void rs485_init() {
     UCSRC |= (1 << URSEL) | (1 << UCSZ0) | (1 << UCSZ1); // 8bit data format
 }
 
-void dbg(char data) {
+void dbg(char data)
+{
     while (!(UCSRA & (1 << UDRE)))
         ;
     UDR = data;
 }
 
 
-
-void rs485_send_c(char data) {
+void rs485_send_c(char data)
+{
     PORTD |= (1 << PD2); // set transciever to transmitt
     while (!(UCSRA & (1 << UDRE)))
         ;               // wait until buffer is empty
     UCSRA = (1 << TXC); // clear transmit Complete bit
     UDR = data;
     while (!(UCSRA & (1 << TXC)))
-    ;                    // wait until transmitt complete
+    {
+    }; // wait until transmitt complete
     PORTD &= ~(1 << PD2); // set transciever to transmitt
 }
 
-void rs485_send_str(char* data) {
-  for (unsigned int i = 0; i < sizeof(data); i++) {
+void rs485_send_str(char *data)
+{
+    for (unsigned int i = 0; i < sizeof(data); i++)
+    {
         rs485_send_c(data[i]);
     }
 }
 
-char rs485_recv_c() {
+char rs485_recv_c()
+{
     while (!(UCSRA & (1 << RXC)))
-    ;
         ; // wait while data is being received
     return UDR;
 }
 
 // SFBUS Functions
-uint8_t sfbus_recv_frame(uint16_t address, char* payload) {
-  while (rs485_recv_c() != '+') {}  // Wwait for start byte
+uint8_t sfbus_recv_frame(uint16_t address, char *payload)
+{
+    while (rs485_recv_c() != SFBUS_SOF_BYTE)
+    {
+    } // Wwait for start byte
 
     uint8_t frm_version = rs485_recv_c();
-  if (frm_version != 0) return 0;
+    if (frm_version != 0)
+        return 0;
     uint8_t frm_length = rs485_recv_c();
     uint8_t frm_addrL = rs485_recv_c();
     uint8_t frm_addrH = rs485_recv_c();
 
-  uint16_t frm_addr = frm_addrL | (frm_addrH << 8);
-  if (frm_addr != address) return 0;
+    uint16_t frm_addr = frm_addrL | (frm_addrH << SHIFT_1B);
+    if (frm_addr != address)
+        return 0;
     char *_payload = payload;
-  for (uint8_t i = 0; i < (frm_length - 3); i++) {
+    for (uint8_t i = 0; i < (frm_length - 3); i++)
+    {
         *_payload = rs485_recv_c();
         _payload++;
     }
 
-  if (rs485_recv_c() != '$') return -1;
+    if (rs485_recv_c() != SFBUS_EOF_BYTE)
+        return -1;
     return frm_length;
 }
 
-void sfbus_send_frame(uint16_t address, char* payload, uint8_t length) {
-  char framelen = length;
+void sfbus_send_frame(uint16_t address, char *payload, uint8_t length)
+{
+    uint8_t framelen = length;
 
     rs485_send_c(SFBUS_SOF_BYTE); // send startbyte 3 times
     rs485_send_c(0);              // send protocol version
-  rs485_send_c(framelen + 3);    // send lentgh of remaining frame
+    rs485_send_c((char)(framelen + 3));   // send lentgh of remaining frame
 
-  rs485_send_c(address & 0xFF);  // target address
-  rs485_send_c((address >> 8) & 0xFF);
+    rs485_send_c((char)(address & 0xFF)); // target address
+    rs485_send_c((char)((address >> SHIFT_1B) & 0xFF));
 
-  while (framelen > 0) {  // send payload
+    while (framelen > 0)
+    { // send payload
         rs485_send_c(*payload);
         payload++;
         framelen--;