diff --git a/lib/busvoodoo_i2c.c b/lib/busvoodoo_i2c.c
index 692127e..5c0683c 100644
--- a/lib/busvoodoo_i2c.c
+++ b/lib/busvoodoo_i2c.c
@@ -464,60 +464,57 @@ static void busvoodoo_i2c_command_scan(void* argument)
 		busvoodoo_led_blue_off(); // clear blinking
 	}
 	printf("scanning for I2C slaves\n");
-	int16_t i2c_slaves = 0; // number of slaves found
+	uint16_t i2c_slaves = 0; // number of slaves found
+	bool bus_error = false; // to remember bus error
+	bool periph_error = false; // to remember I2C peripheral error (which need peripheral reset)
 	// check for I2C slaves by going through the address space
 	printf("I2C slaves found: ");
 	for (uint16_t address = 0; address < (1 << busvoodoo_i2c_addressbits); address++) {
 		busvoodoo_led_blue_pulse(BUSVOODOO_LED_PULSE); // pulse blue LED to show transmission
 		switch (i2c_master_select_slave(BUSVOODOO_I2C, address, 10 == busvoodoo_i2c_addressbits, false)) { // try to select slave (includes start condition)
-			case I2C_MASTER_RC_NONE: // slave found
-				busvoodoo_led_blue_pulse(BUSVOODOO_LED_PULSE); // pulse blue LED to show we found a slave
-				printf((busvoodoo_i2c_addressbits > 7) ? "%+03x " : "%+02x ", address); // display address
-				i2c_slaves++; // increase slave count
-				break;
-			case I2C_MASTER_RC_START_STOP_IN_PROGESS: // I2C peripheral error
-				printf("start condition failed\n"); // show error to user
-				i2c_slaves = -2; // remember error
-				break; // stop scanning
-			case I2C_MASTER_RC_NOT_MASTER: // start condition failed
-				i2c_master_reset(BUSVOODOO_I2C); // reset the I2C peripheral since it might be stuck
-				printf("start condition failed\n"); // show error to user
-				i2c_slaves = -1; // remember error
-				break; // stop scanning
-			case I2C_MASTER_RC_NAK: // slave did not respond
-				break; // nothing to do
-			case I2C_MASTER_RC_BUS_ERROR:
-				printf("error detected on bus\n");
-				i2c_slaves = -2; // remember error
-				break;
-			default: // unexpected error
-				printf("error occurred\n");
-				i2c_slaves = -1; // remember error
-				break;
+		case I2C_MASTER_RC_NONE: // slave found
+			busvoodoo_led_blue_pulse(BUSVOODOO_LED_PULSE); // pulse blue LED to show we found a slave
+			printf((busvoodoo_i2c_addressbits > 7) ? "%+03x " : "%+02x ", address); // display address
+			i2c_slaves++; // increase slave count
+			break;
+		case I2C_MASTER_RC_START_STOP_IN_PROGESS: // I2C peripheral error
+			printf("start condition failed\n"); // show error to user
+			periph_error = true; // remember error
+			break; // stop scanning
+		case I2C_MASTER_RC_NOT_MASTER: // start condition failed
+			i2c_master_reset(BUSVOODOO_I2C); // reset the I2C peripheral since it might be stuck
+			printf("start condition failed\n"); // show error to user
+			bus_error = true; // remember error
+			break; // stop scanning
+		case I2C_MASTER_RC_NAK: // slave did not respond
+			break; // nothing to do
+		case I2C_MASTER_RC_BUS_ERROR:
+			printf("error detected on bus\n");
+			periph_error = true; // remember error
+			break;
+		default: // unexpected error
+			printf("error occurred\n");
+			bus_error = true; // remember error
+			break;
 		}
-		// TODO use proper flag
-		if (i2c_slaves < 0) { // error happened
+		if (bus_error) {
 			busvoodoo_leds_blink(0.5, 0.5); // show error on LEDs
-			if (-1 == i2c_slaves) { // just end communication
-				i2c_master_stop(BUSVOODOO_I2C); // send stop condition
-			} else if (-2 == i2c_slaves) { // reset peripheral
-				busvoodoo_i2c_command_reset(NULL);
-			}
+			i2c_master_stop(BUSVOODOO_I2C); // send stop condition
 			break; // stop scan
-		} else {
-			if (I2C_MASTER_RC_NONE != i2c_master_stop(BUSVOODOO_I2C)) { // stop stop condition
-				i2c_master_reset(BUSVOODOO_I2C); // reset the I2C peripheral since it might be stuck
-				printf("stop condition failed\n"); // show error to user
-				busvoodoo_leds_blink(0.5, 0.5); // show error on LEDs
-				i2c_slaves = -1; // remember error
-				break;
-			}
+		}
+		if (periph_error) {
+			busvoodoo_leds_blink(0.5, 0.5); // show error on LEDs
+			busvoodoo_i2c_command_reset(NULL);
+			break; // stop scan
+		}
+		if (I2C_MASTER_RC_NONE != i2c_master_stop(BUSVOODOO_I2C)) { // send stop condition
+			i2c_master_reset(BUSVOODOO_I2C); // reset the I2C peripheral since it might be stuck
+			printf("stop condition failed\n"); // show error to user
+			busvoodoo_leds_blink(0.5, 0.5); // show error on LEDs
+			break;
 		}
 	}
-	printf("\n");
-	if (i2c_slaves >= 0) {
-		printf("%u slave(s) found\n", i2c_slaves); // show summary
-	}
+	printf("\n%u slave(s) found\n", i2c_slaves); // show summary
 }
 
 /** I2C menu commands */