From 76a27b086c2c728105699c3b6a07603ecfc7c53c Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 19:22:23 +0100
Subject: [PATCH 01/26] Add function for MAP

---
 Inc/defines.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Inc/defines.h b/Inc/defines.h
index 1aebdf1..5c53214 100644
--- a/Inc/defines.h
+++ b/Inc/defines.h
@@ -181,6 +181,8 @@
 #define MIN3(a, b, c) MIN(a, MIN(b, c))
 #define MAX3(a, b, c) MAX(a, MAX(b, c))
 #define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
+#define MAP(x, in_min, in_max, out_min, out_max) ((((x - in_min) * (out_max - out_min)) / (in_max - in_min)) + out_min )
+
 
 typedef struct {
   uint16_t dcr; 

From 0ab8e8e5acc3a4ecb064a0b83185ac5dfcc2bdde Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 19:39:12 +0100
Subject: [PATCH 02/26] Improve adddeadband function

- Use MAP function
- add additional parameter for middle value
- use adddeadband function with ADC input when mid resting pot is used
---
 Src/util.c | 34 +++++++++++++---------------------
 1 file changed, 13 insertions(+), 21 deletions(-)

diff --git a/Src/util.c b/Src/util.c
index 6de9c31..0349aa2 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -565,20 +565,14 @@ void saveConfig() {
  * Add Dead-band to a signal
  * This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
  */
-int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) {
-#if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT) || defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-  int outVal = 0;
-  if(u > -deadBand && u < deadBand) {
-    outVal = 0;
+int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
+  if(u > in_mid - deadBand && u < in_mid + deadBand) {
+    return 0;
   } else if(u > 0) {
-    outVal = (out_max * CLAMP(u - deadBand, 0, in_max - deadBand)) / (in_max - deadBand);
+    return MAP(u, in_mid + deadband, in_max, 0, out_max);
   } else {
-    outVal = (out_min * CLAMP(u + deadBand, in_min + deadBand, 0)) / (in_min + deadBand);
-  }
-  return outVal;
-#else
-  return 0;
-#endif
+    return MAP(u, in_mid - deadband, in_min, out_min, 0);
+  }	
 }
 
  /*
@@ -757,8 +751,8 @@ void readCommand(void) {
     #endif
 
     #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
-      cmd1 = addDeadBand((ppm_captured_value[0] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, PPM_CH1_MAX, INPUT_MIN, INPUT_MAX);
-      cmd2 = addDeadBand((ppm_captured_value[1] - 500) * 2, PPM_DEADBAND, PPM_CH2_MIN, PPM_CH2_MAX, INPUT_MIN, INPUT_MAX);
+      cmd1 = addDeadBand((ppm_captured_value[0] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, 0, PPM_CH1_MAX, INPUT_MIN, INPUT_MAX);
+      cmd2 = addDeadBand((ppm_captured_value[1] - 500) * 2, PPM_DEADBAND, PPM_CH2_MIN, 0, PPM_CH2_MAX, INPUT_MIN, INPUT_MAX);
 			#ifdef SUPPORT_BUTTONS
 				button1 = ppm_captured_value[5] > 500;
 				button2 = 0;
@@ -770,11 +764,11 @@ void readCommand(void) {
     #endif
 
     #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-      cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
+      cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, 0, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
       #if !defined(VARIANT_SKATEBOARD)
-      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
+      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, 0, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
       #else      
-      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, PWM_CH2_OUT_MIN, INPUT_MAX);
+      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, 0, PWM_CH2_MAX, PWM_CH2_OUT_MIN, INPUT_MAX);
       #endif
       #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
         button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
@@ -785,15 +779,13 @@ void readCommand(void) {
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
       #ifdef ADC1_MID_POT
-        cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MID_CAL) * INPUT_MAX / (ADC1_MAX_CAL - ADC1_MID_CAL), 0, INPUT_MAX) 
-              +CLAMP((ADC1_MID_CAL - adc_buffer.l_tx2) * INPUT_MIN / (ADC1_MID_CAL - ADC1_MIN_CAL), INPUT_MIN, 0);    // ADC1        
+	cmd1 = addDeadBand(adc_buffer.l_tx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);     
       #else
         cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MIN_CAL) * INPUT_MAX / (ADC1_MAX_CAL - ADC1_MIN_CAL), 0, INPUT_MAX);    // ADC1
       #endif
 
       #ifdef ADC2_MID_POT
-        cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MID_CAL) * INPUT_MAX / (ADC2_MAX_CAL - ADC2_MID_CAL), 0, INPUT_MAX)  
-              +CLAMP((ADC2_MID_CAL - adc_buffer.l_rx2) * INPUT_MIN / (ADC2_MID_CAL - ADC2_MIN_CAL), INPUT_MIN, 0);    // ADC2        
+	cmd1 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);      
       #else
         cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN_CAL) * INPUT_MAX / (ADC2_MAX_CAL - ADC2_MIN_CAL), 0, INPUT_MAX);    // ADC2
       #endif

From df37f6dcc327bac2c2919c57342f92b6e6a3424c Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 19:41:47 +0100
Subject: [PATCH 03/26] Add parameter for ADC deadband

---
 Inc/config.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Inc/config.h b/Inc/config.h
index cbd43e5..a374132 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -254,6 +254,7 @@
   // #define ADC_PROTECT_ENA               // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH  300       // ADC Protection threshold below/above the MIN/MAX ADC values
+  #define ADC_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // #define ADC1_MID_POT                  // ADC1 middle resting poti: comment-out if NOT a middle resting poti
   #define ADC1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
   #define ADC1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)

From 4ba8a8d82aabbf181ee91fee495adf05bc0723cc Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 20:23:35 +0100
Subject: [PATCH 04/26] Add new parameter to adddeadband function

---
 Inc/util.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Inc/util.h b/Inc/util.h
index 5cba7d2..d238870 100644
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -69,7 +69,7 @@ void calcAvgSpeed(void);
 void adcCalibLim(void);
 void updateCurSpdLim(void);
 void saveConfig(void);
-int  addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max);
+int  addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
 void standstillHold(int16_t *speedCmd);
 void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
 void cruiseControl(uint8_t button);

From 5d954a05aaf7ed7557768108dd91f8e91b936a10 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 20:24:56 +0100
Subject: [PATCH 05/26] Fix typo

---
 Src/util.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Src/util.c b/Src/util.c
index 0349aa2..53789ee 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -569,9 +569,9 @@ int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int
   if(u > in_mid - deadBand && u < in_mid + deadBand) {
     return 0;
   } else if(u > 0) {
-    return MAP(u, in_mid + deadband, in_max, 0, out_max);
+    return MAP(u, in_mid + deadBand, in_max, 0, out_max);
   } else {
-    return MAP(u, in_mid - deadband, in_min, out_min, 0);
+    return MAP(u, in_mid - deadBand, in_min, out_min, 0);
   }	
 }
 

From 09b2728168b08336a2ab1ae068a0e5c6b6489291 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 20:38:19 +0100
Subject: [PATCH 06/26] Update util.c

---
 Src/util.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Src/util.c b/Src/util.c
index 53789ee..5d00d02 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -785,7 +785,7 @@ void readCommand(void) {
       #endif
 
       #ifdef ADC2_MID_POT
-	cmd1 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);      
+	cmd2 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);      
       #else
         cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN_CAL) * INPUT_MAX / (ADC2_MAX_CAL - ADC2_MIN_CAL), 0, INPUT_MAX);    // ADC2
       #endif

From d7880dafeb9a55857fe00c5d87c5db98c018f710 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Tue, 27 Oct 2020 20:44:52 +0100
Subject: [PATCH 07/26] Update util.c

---
 Src/util.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/Src/util.c b/Src/util.c
index 5d00d02..d1e8926 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -785,7 +785,7 @@ void readCommand(void) {
       #endif
 
       #ifdef ADC2_MID_POT
-	cmd2 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);      
+	cmd2 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC2_MIN_CAL, ADC2_MID_CAL, ADC2_MAX_CAL, INPUT_MIN, INPUT_MAX);      
       #else
         cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN_CAL) * INPUT_MAX / (ADC2_MAX_CAL - ADC2_MIN_CAL), 0, INPUT_MAX);    // ADC2
       #endif

From 1b32555fb08d65367c38fc591b327969d86ac1dc Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 28 Oct 2020 09:26:26 +0100
Subject: [PATCH 08/26] Update util.c

---
 Src/util.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Src/util.c b/Src/util.c
index d1e8926..09c1001 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -781,12 +781,14 @@ void readCommand(void) {
       #ifdef ADC1_MID_POT
 	cmd1 = addDeadBand(adc_buffer.l_tx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);     
       #else
+	// cmd1 = MAP( adc_buffer.l_tx2 , ADC1_MIN_CAL, ADC1_MAX_CAL, 0, INPUT_MAX ); // ADC1
         cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MIN_CAL) * INPUT_MAX / (ADC1_MAX_CAL - ADC1_MIN_CAL), 0, INPUT_MAX);    // ADC1
       #endif
 
       #ifdef ADC2_MID_POT
 	cmd2 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC2_MIN_CAL, ADC2_MID_CAL, ADC2_MAX_CAL, INPUT_MIN, INPUT_MAX);      
       #else
+	// cmd2 = MAP( adc_buffer.l_rx2 , ADC2_MIN_CAL, ADC2_MAX_CAL, 0, INPUT_MAX ); // ADC2
         cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN_CAL) * INPUT_MAX / (ADC2_MAX_CAL - ADC2_MIN_CAL), 0, INPUT_MAX);    // ADC2
       #endif
 

From 78246f4e53dff87348e5449ce11b4edfc20ac347 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 28 Oct 2020 19:02:21 +0100
Subject: [PATCH 09/26] Update util.c

---
 Src/util.c | 73 +++++++++++++++++++++++++++++-------------------------
 1 file changed, 39 insertions(+), 34 deletions(-)

diff --git a/Src/util.c b/Src/util.c
index 09c1001..3288fc8 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -740,36 +740,33 @@ void readCommand(void) {
     #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
       if (nunchuk_connected != 0) {
         Nunchuk_Read();
-        cmd1 = CLAMP((nunchuk_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuk joystick readings range 30 - 230
-        cmd2 = CLAMP((nunchuk_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
-				
-				#ifdef SUPPORT_BUTTONS
-					button1 = (uint8_t)nunchuk_data[5] & 1;
-					button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
-				#endif
+	cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
+	cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
+        			
+	#ifdef SUPPORT_BUTTONS
+		button1 = (uint8_t)nunchuk_data[5] & 1;
+		button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
+	#endif
       }
     #endif
 
     #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
-      cmd1 = addDeadBand((ppm_captured_value[0] - 500) * 2, PPM_DEADBAND, PPM_CH1_MIN, 0, PPM_CH1_MAX, INPUT_MIN, INPUT_MAX);
-      cmd2 = addDeadBand((ppm_captured_value[1] - 500) * 2, PPM_DEADBAND, PPM_CH2_MIN, 0, PPM_CH2_MAX, INPUT_MIN, INPUT_MAX);
-			#ifdef SUPPORT_BUTTONS
-				button1 = ppm_captured_value[5] > 500;
-				button2 = 0;
+      cmd1_in = (ppm_captured_value[0] - 500) * 2;
+      cmd2_in = (ppm_captured_value[1] - 500) * 2;
+      #ifdef SUPPORT_BUTTONS
+	button1 = ppm_captured_value[5] > 500;
+	button2 = 0;
       #elif defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
         button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
         button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
-			#endif
+      #endif
       // float scale = ppm_captured_value[2] / 1000.0f;     // not used for now, uncomment if needed
     #endif
 
     #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-      cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, 0, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
-      #if !defined(VARIANT_SKATEBOARD)
-      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, 0, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
-      #else      
-      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, 0, PWM_CH2_MAX, PWM_CH2_OUT_MIN, INPUT_MAX);
-      #endif
+      cmd1_in = (pwm_captured_ch1_value - 500) * 2;
+      cmd2_in = (pwm_captured_ch2_value - 500) * 2;
+     
       #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
         button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
         button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
@@ -778,19 +775,8 @@ void readCommand(void) {
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
-      #ifdef ADC1_MID_POT
-	cmd1 = addDeadBand(adc_buffer.l_tx2, ADC_DEADBAND, ADC1_MIN_CAL, ADC1_MID_CAL, ADC1_MAX_CAL, INPUT_MIN, INPUT_MAX);     
-      #else
-	// cmd1 = MAP( adc_buffer.l_tx2 , ADC1_MIN_CAL, ADC1_MAX_CAL, 0, INPUT_MAX ); // ADC1
-        cmd1 = CLAMP((adc_buffer.l_tx2 - ADC1_MIN_CAL) * INPUT_MAX / (ADC1_MAX_CAL - ADC1_MIN_CAL), 0, INPUT_MAX);    // ADC1
-      #endif
-
-      #ifdef ADC2_MID_POT
-	cmd2 = addDeadBand(adc_buffer.l_rx2, ADC_DEADBAND, ADC2_MIN_CAL, ADC2_MID_CAL, ADC2_MAX_CAL, INPUT_MIN, INPUT_MAX);      
-      #else
-	// cmd2 = MAP( adc_buffer.l_rx2 , ADC2_MIN_CAL, ADC2_MAX_CAL, 0, INPUT_MAX ); // ADC2
-        cmd2 = CLAMP((adc_buffer.l_rx2 - ADC2_MIN_CAL) * INPUT_MAX / (ADC2_MAX_CAL - ADC2_MIN_CAL), 0, INPUT_MAX);    // ADC2
-      #endif
+	cmd1_in = adc_buffer.l_tx2;
+	cmd2_in = adc_buffer.l_rx2;
 
       #ifdef ADC_PROTECT_ENA
         if (adc_buffer.l_tx2 >= (ADC1_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_tx2 <= (ADC1_MAX_CAL + ADC_PROTECT_THRESH) && 
@@ -822,8 +808,8 @@ void readCommand(void) {
         for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
           ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
         }
-        cmd1 = CLAMP((ibus_captured_value[0] - 500) * 2, INPUT_MIN, INPUT_MAX);
-        cmd2 = CLAMP((ibus_captured_value[1] - 500) * 2, INPUT_MIN, INPUT_MAX); 
+        cmd1_in = (ibus_captured_value[0] - 500) * 2;
+        cmd2_in = (ibus_captured_value[1] - 500) * 2; 
       #else
        if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
         cmd1 = command.steer;
@@ -855,6 +841,25 @@ void readCommand(void) {
     #if defined(SIDEBOARD_SERIAL_USART2) && defined(SIDEBOARD_SERIAL_USART3)
       timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
     #endif
+	
+    cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
+    #if !defined(VARIANT_SKATEBOARD)
+       cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
+    #else      
+       cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_OUT_MIN, INPUT_MAX);
+    #endif
+	
+    #ifdef ADC1_MID_POT
+	    
+      #else
+	cmd1 = MAP( adc_buffer.l_tx2 , ADC1_MIN_CAL, ADC1_MAX_CAL, 0, INPUT_MAX ); // ADC1
+      #endif
+
+      #ifdef ADC2_MID_POT
+	      
+      #else
+	cmd2 = MAP( adc_buffer.l_rx2 , ADC2_MIN_CAL, ADC2_MAX_CAL, 0, INPUT_MAX ); // ADC2
+      #endif
 
     #ifdef VARIANT_HOVERCAR      
       brakePressed = (uint8_t)(cmd1 > 50);

From dd09115e956db8d80b327fc3cd00293ce672eb37 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 28 Oct 2020 23:34:29 +0100
Subject: [PATCH 10/26] Update util.c

---
 Src/util.c | 264 +++++++++++++++++++++++++----------------------------
 1 file changed, 126 insertions(+), 138 deletions(-)

diff --git a/Src/util.c b/Src/util.c
index 3288fc8..eb8a447 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -88,6 +88,8 @@ ExtY     rtY_Right;                     /* External outputs */
 
 int16_t  cmd1;                          // normalized input value. -1000 to 1000
 int16_t  cmd2;                          // normalized input value. -1000 to 1000
+int16_t  cmd1_in;                       // normalized input value. -1000 to 1000
+int16_t  cmd2_in;                       // normalized input value. -1000 to 1000
 
 int16_t  speedAvg;                      // average measured speed
 int16_t  speedAvgAbs;                   // average measured speed in absolute
@@ -125,24 +127,24 @@ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300};     // Dummy virtual address to av
 static int16_t INPUT_MAX;             // [-] Input target maximum limitation
 static int16_t INPUT_MIN;             // [-] Input target minimum limitation
 
-#ifdef CONTROL_ADC
-  static uint8_t  cur_spd_valid = 0;
-  static uint8_t  adc_cal_valid = 0;
-  static uint16_t ADC1_MIN_CAL = ADC1_MIN;
-  static uint16_t ADC1_MAX_CAL = ADC1_MAX;
-  static uint16_t ADC2_MIN_CAL = ADC2_MIN;
-  static uint16_t ADC2_MAX_CAL = ADC2_MAX;
-  #ifdef ADC1_MID_POT
-  static uint16_t ADC1_MID_CAL = ADC1_MID;
-  #else
-  static uint16_t ADC1_MID_CAL = 0;
-  #endif
-  #ifdef ADC1_MID_POT
-  static uint16_t ADC2_MID_CAL = ADC2_MID;
-  #else
-  static uint16_t ADC2_MID_CAL = 0;
-  #endif
+
+static uint8_t  cur_spd_valid = 0;
+static uint8_t  adc_cal_valid = 0;
+static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
+static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
+static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
+static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
+#ifdef INPUT1_MID_POT
+static uint16_t INPUT1_MID_CAL = INPUT1_MID;
+#else
+static uint16_t INPUT1_MID_CAL = 0;
 #endif
+#ifdef INPUT1_MID_POT
+static uint16_t INPUT2_MID_CAL = INPUT2_MID;
+#else
+static uint16_t INPUT2_MID_CAL = 0;
+#endif
+
 
 #if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
 static int16_t timeoutCntADC   = 0;  // Timeout counter for ADC Protection
@@ -278,12 +280,12 @@ void Input_Init(void) {
     EE_Init();            /* EEPROM Init */    
     EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
     if (writeCheck == FLASH_WRITE_KEY) {
-      EE_ReadVariable(VirtAddVarTab[1], &ADC1_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[2], &ADC1_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[3], &ADC1_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[4], &ADC2_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[5], &ADC2_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[6], &ADC2_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[1], &INPUT1_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[2], &INPUT1_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[3], &INPUT1_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[4], &INPUT2_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[5], &INPUT2_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[6], &INPUT2_MID_CAL);
       EE_ReadVariable(VirtAddVarTab[7], &i_max);
       EE_ReadVariable(VirtAddVarTab[8], &n_max);
       rtP_Left.i_max  = i_max;
@@ -427,65 +429,63 @@ void calcAvgSpeed(void) {
  * - release potentiometers to the resting postion
  * - press the power button to confirm or wait for the 20 sec timeout
  */
-void adcCalibLim(void) {
+void inputCalibLim(void) {
   if (speedAvgAbs > 5) {    // do not enter this mode if motors are spinning
     return;
   }
-  #ifdef CONTROL_ADC
-    consoleLog("ADC calibration started... ");
+  
+  consoleLog("Input calibration started... ");
     
-    // Inititalization: MIN = a high values, MAX = a low value,
-    int32_t adc1_fixdt = adc_buffer.l_tx2 << 16;
-    int32_t adc2_fixdt = adc_buffer.l_rx2 << 16;
-    uint16_t adc_cal_timeout = 0;
-    uint16_t ADC1_MIN_temp   = 4095;
-    uint16_t ADC1_MID_temp   = 0;
-    uint16_t ADC1_MAX_temp   = 0;
-    uint16_t ADC2_MIN_temp   = 4095;
-    uint16_t ADC2_MID_temp   = 0;
-    uint16_t ADC2_MAX_temp   = 0;
+  // Inititalization: MIN = a high values, MAX = a low value,
+  int32_t input1_fixdt = adc_buffer.l_tx2 << 16;
+  int32_t input2_fixdt = adc_buffer.l_rx2 << 16;
+  uint16_t input_cal_timeout = 0;
+  uint16_t INPUT1_MIN_temp   = 4095;
+  uint16_t INPUT1_MID_temp   = 0;
+  uint16_t INPUT1_MAX_temp   = 0;
+  uint16_t INPUT2_MIN_temp   = 4095;
+  uint16_t INPUT2_MID_temp   = 0;
+  uint16_t INPUT2_MAX_temp   = 0;
     
-    adc_cal_valid = 1;
+  input_cal_valid = 1;
 
-    // Extract MIN, MAX and MID from ADC while the power button is not pressed
-    while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && adc_cal_timeout++ < 4000) {   // 20 sec timeout
-      filtLowPass32(adc_buffer.l_tx2, FILTER, &adc1_fixdt);
-      filtLowPass32(adc_buffer.l_rx2, FILTER, &adc2_fixdt);
-      ADC1_MID_temp = (uint16_t)CLAMP(adc1_fixdt >> 16, 0, 4095);                   // convert fixed-point to integer
-      ADC2_MID_temp = (uint16_t)CLAMP(adc2_fixdt >> 16, 0, 4095);
-      ADC1_MIN_temp = MIN(ADC1_MIN_temp, ADC1_MID_temp);
-      ADC1_MAX_temp = MAX(ADC1_MAX_temp, ADC1_MID_temp);      
-      ADC2_MIN_temp = MIN(ADC2_MIN_temp, ADC2_MID_temp);
-      ADC2_MAX_temp = MAX(ADC2_MAX_temp, ADC2_MID_temp);
-      HAL_Delay(5);
-    }
-
-    // ADC calibration checks 
-    #ifdef ADC_PROTECT_ENA
-    if ((ADC1_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (ADC1_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095 && 
-        (ADC2_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (ADC2_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095) {
-      adc_cal_valid = 1;
-    } else {
-      adc_cal_valid = 0;
-      consoleLog("FAIL (ADC out-of-range protection not possible)\n");
-    }
-    #endif
-
-    // Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
-    if (adc_cal_valid && (ADC1_MAX_temp - ADC1_MIN_temp) > 500 && (ADC2_MAX_temp - ADC2_MIN_temp) > 500) {
-      ADC1_MIN_CAL = ADC1_MIN_temp + 100;
-      ADC1_MID_CAL = ADC1_MID_temp;
-      ADC1_MAX_CAL = ADC1_MAX_temp - 100;    
-      ADC2_MIN_CAL = ADC2_MIN_temp + 100;
-      ADC2_MID_CAL = ADC2_MID_temp;
-      ADC2_MAX_CAL = ADC2_MAX_temp - 100;      
-      consoleLog("OK\n");
-    } else {
-      adc_cal_valid = 0;
-      consoleLog("FAIL (Pots travel too short)\n");
-    }
+  // Extract MIN, MAX and MID from ADC while the power button is not pressed
+  while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) {   // 20 sec timeout
+    filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
+    filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
+    INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095);                   // convert fixed-point to integer
+    INPUT2_MID_temp = (uint16_t)CLAMP(input2_fixdt >> 16, 0, 4095);
+    INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
+    INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);      
+    INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
+    INPUT2_MAX_temp = MAX(INPUT2_MAX_temp, INPUT2_MID_temp);
+    HAL_Delay(5);
+  }
 
+  // ADC calibration checks 
+  #ifdef ADC_PROTECT_ENA
+  if ((INPUT1_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095 && 
+      (INPUT2_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095) {
+      input_cal_valid = 1;
+  } else {
+    input_cal_valid = 0;
+    consoleLog("FAIL (ADC out-of-range protection not possible)\n");
+  }
   #endif
+
+  // Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
+  if (input_cal_valid && (INPUT1_MAX_temp - INPUT1_MIN_temp) > 500 && (INPUT2_MAX_temp - INPUT2_MIN_temp) > 500) {
+    INPUT1_MIN_CAL = INPUT1_MIN_temp + 100;
+    INPUT1_MID_CAL = INPUT1_MID_temp;
+    INPUT1_MAX_CAL = INPUT1_MAX_temp - 100;    
+    INPUT2_MIN_CAL = INPUT2_MIN_temp + 100;
+    INPUT2_MID_CAL = INPUT2_MID_temp;
+    INPUT2_MAX_CAL = INPUT2_MAX_temp - 100;      
+    consoleLog("OK\n");
+  } else {
+    input_cal_valid = 0;
+    consoleLog("FAIL (Pots travel too short)\n");
+  }
 }
 
 
@@ -548,12 +548,12 @@ void saveConfig() {
     if (adc_cal_valid || cur_spd_valid) {
       HAL_FLASH_Unlock();
       EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
-      EE_WriteVariable(VirtAddVarTab[1], ADC1_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[2], ADC1_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[3], ADC1_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[4], ADC2_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[5], ADC2_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[6], ADC2_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[2], INPUT1_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[3], INPUT1_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[4], INPUT2_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[5], INPUT2_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[6], INPUT2_MID_CAL);
       EE_WriteVariable(VirtAddVarTab[7], rtP_Left.i_max);
       EE_WriteVariable(VirtAddVarTab[8], rtP_Left.n_max);
       HAL_FLASH_Lock();
@@ -731,21 +731,16 @@ void poweroffPressCheck(void) {
   #endif
 }
 
-
-
-/* =========================== Read Command Function =========================== */
-
-void readCommand(void) {
-
-    #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
+void readInput(void) {
+   #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
       if (nunchuk_connected != 0) {
         Nunchuk_Read();
 	cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
 	cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
         			
 	#ifdef SUPPORT_BUTTONS
-		button1 = (uint8_t)nunchuk_data[5] & 1;
-		button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
+	  button1 = (uint8_t)nunchuk_data[5] & 1;
+	  button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
 	#endif
       }
     #endif
@@ -756,28 +751,44 @@ void readCommand(void) {
       #ifdef SUPPORT_BUTTONS
 	button1 = ppm_captured_value[5] > 500;
 	button2 = 0;
-      #elif defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
-        button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
-        button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
       #endif
-      // float scale = ppm_captured_value[2] / 1000.0f;     // not used for now, uncomment if needed
     #endif
 
     #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
       cmd1_in = (pwm_captured_ch1_value - 500) * 2;
       cmd2_in = (pwm_captured_ch2_value - 500) * 2;
-     
-      #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
-        button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
-        button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
-      #endif
     #endif
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
 	cmd1_in = adc_buffer.l_tx2;
 	cmd2_in = adc_buffer.l_rx2;
+    #endif
 
+    #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
+        // Handle received data validity, timeout and fix out-of-sync if necessary
+      #ifdef CONTROL_IBUS    
+        for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
+          ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
+        }
+        cmd1_in = (ibus_captured_value[0] - 500) * 2;
+        cmd2_in = (ibus_captured_value[1] - 500) * 2; 
+      #else
+       if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
+        cmd1_in = command.steer;
+        cmd2_in = command.speed;
+       }
+      #endif
+      timeoutCnt = 0;
+    #endif	
+	
+}
+
+/* =========================== Read Command Function =========================== */
+
+void readCommand(void) {
+    readInput();
+    #ifdef CONTROL_ADC
       #ifdef ADC_PROTECT_ENA
         if (adc_buffer.l_tx2 >= (ADC1_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_tx2 <= (ADC1_MAX_CAL + ADC_PROTECT_THRESH) && 
             adc_buffer.l_rx2 >= (ADC2_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_rx2 <= (ADC2_MAX_CAL + ADC_PROTECT_THRESH)) {
@@ -795,32 +806,6 @@ void readCommand(void) {
         }   
       #endif
 
-      #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
-        button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
-        button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
-      #endif
-      timeoutCnt = 0;
-    #endif
-
-    #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
-        // Handle received data validity, timeout and fix out-of-sync if necessary
-      #ifdef CONTROL_IBUS    
-        for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
-          ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
-        }
-        cmd1_in = (ibus_captured_value[0] - 500) * 2;
-        cmd2_in = (ibus_captured_value[1] - 500) * 2; 
-      #else
-       if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
-        cmd1 = command.steer;
-        cmd2 = command.speed;
-       }
-      #endif
-
-      #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
-        button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
-        button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
-      #endif
       timeoutCnt = 0;
     #endif
 
@@ -841,29 +826,32 @@ void readCommand(void) {
     #if defined(SIDEBOARD_SERIAL_USART2) && defined(SIDEBOARD_SERIAL_USART3)
       timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
     #endif
+
+    #ifdef INPUT1_MID_POT
+      cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
+    #else
+      cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
+    #endif
 	
-    cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
     #if !defined(VARIANT_SKATEBOARD)
-       cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
+      #ifdef INPUT2_MID_POT
+        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
+      #else
+	cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
+      #endif
     #else      
        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_OUT_MIN, INPUT_MAX);
     #endif
-	
-    #ifdef ADC1_MID_POT
-	    
-      #else
-	cmd1 = MAP( adc_buffer.l_tx2 , ADC1_MIN_CAL, ADC1_MAX_CAL, 0, INPUT_MAX ); // ADC1
-      #endif
-
-      #ifdef ADC2_MID_POT
-	      
-      #else
-	cmd2 = MAP( adc_buffer.l_rx2 , ADC2_MIN_CAL, ADC2_MAX_CAL, 0, INPUT_MAX ); // ADC2
-      #endif
+      
 
     #ifdef VARIANT_HOVERCAR      
       brakePressed = (uint8_t)(cmd1 > 50);
     #endif
+	
+    #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
+      button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
+      button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
+    #endif
 
     #ifdef VARIANT_TRANSPOTTER
       #ifdef GAMETRAK_CONNECTION_NORMAL

From aaeb44d0b63005aa3ac307aa52577f24149bd13d Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 28 Oct 2020 23:36:24 +0100
Subject: [PATCH 11/26] Update main.c

---
 Src/main.c | 14 ++------------
 1 file changed, 2 insertions(+), 12 deletions(-)

diff --git a/Src/main.c b/Src/main.c
index da3f99a..68e746c 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -407,18 +407,8 @@ int main(void) {
     // ####### DEBUG SERIAL OUT #######
     #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
       if (main_loop_counter % 25 == 0) {    // Send data periodically every 125 ms
-        #ifdef CONTROL_ADC
-        setScopeChannel(0, (int16_t)adc_buffer.l_tx2);          // 1: ADC1
-        setScopeChannel(1, (int16_t)adc_buffer.l_rx2);          // 2: ADC2
-        #endif
-        #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
-        setScopeChannel(0, ppm_captured_value[0]);              // 1: CH1
-        setScopeChannel(1, ppm_captured_value[1]);              // 2: CH2
-        #endif
-        #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-        setScopeChannel(0, (pwm_captured_ch1_value - 500) * 2); // 1: CH1
-        setScopeChannel(1, (pwm_captured_ch2_value - 500) * 2); // 2: CH2
-        #endif
+        setScopeChannel(0, (int16_t)cmd1_in);                   // 1: ADC1
+        setScopeChannel(1, (int16_t)cmd2_in);                   // 2: ADC2
         setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
         setScopeChannel(3, (int16_t)speedL);                    // 4: output command: [-1000, 1000]
         setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration

From e508a2131ad4ae2ac8bd415079caaecf977eb219 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 28 Oct 2020 23:42:22 +0100
Subject: [PATCH 12/26] Update util.c

---
 Src/util.c | 52 ++++++++++++++++++++++++++--------------------------
 1 file changed, 26 insertions(+), 26 deletions(-)

diff --git a/Src/util.c b/Src/util.c
index eb8a447..58267d3 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -429,7 +429,7 @@ void calcAvgSpeed(void) {
  * - release potentiometers to the resting postion
  * - press the power button to confirm or wait for the 20 sec timeout
  */
-void inputCalibLim(void) {
+void adcCalibLim(void) {
   if (speedAvgAbs > 5) {    // do not enter this mode if motors are spinning
     return;
   }
@@ -451,6 +451,7 @@ void inputCalibLim(void) {
 
   // Extract MIN, MAX and MID from ADC while the power button is not pressed
   while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) {   // 20 sec timeout
+    readInput();
     filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
     filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
     INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095);                   // convert fixed-point to integer
@@ -500,36 +501,35 @@ void updateCurSpdLim(void) {
   if (speedAvgAbs > 5) {    // do not enter this mode if motors are spinning
     return;
   }
-  #ifdef CONTROL_ADC
-    consoleLog("Torque and Speed limits update started... ");
+  
+  consoleLog("Torque and Speed limits update started... ");
 
-    int32_t adc1_fixdt = adc_buffer.l_tx2 << 16;
-    int32_t adc2_fixdt = adc_buffer.l_rx2 << 16;
-    uint16_t cur_spd_timeout = 0;
-    uint16_t cur_factor;    // fixdt(0,16,16)
-    uint16_t spd_factor;    // fixdt(0,16,16)
+  int32_t input1_fixdt = cmd1_in << 16;
+  int32_t input2_fixdt = cmd2_in << 16;
+  uint16_t cur_spd_timeout = 0;
+  uint16_t cur_factor;    // fixdt(0,16,16)
+  uint16_t spd_factor;    // fixdt(0,16,16)
 
-    // Wait for the power button press
-    while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) {  // 10 sec timeout
-      filtLowPass32(adc_buffer.l_tx2, FILTER, &adc1_fixdt);
-      filtLowPass32(adc_buffer.l_rx2, FILTER, &adc2_fixdt);
-      HAL_Delay(5);      
-    }
+  // Wait for the power button press
+  while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) {  // 10 sec timeout
+    readInput();
+    filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
+    filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
+    HAL_Delay(5);      
+  }
 
-    // Calculate scaling factors
-    cur_factor      = CLAMP((adc1_fixdt - (ADC1_MIN_CAL << 16)) / (ADC1_MAX_CAL - ADC1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
-    spd_factor      = CLAMP((adc2_fixdt - (ADC2_MIN_CAL << 16)) / (ADC2_MAX_CAL - ADC2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
+  // Calculate scaling factors
+  cur_factor      = CLAMP((input1_fixdt - (INPUT1_MIN_CAL << 16)) / (INPUT1_MAX_CAL - INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
+  spd_factor      = CLAMP((input2_fixdt - (INPUT2_MIN_CAL << 16)) / (INPUT2_MAX_CAL - INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
+  // Update maximum limits
+  rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
+  rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
+  rtP_Right.i_max = rtP_Left.i_max;
+  rtP_Right.n_max = rtP_Left.n_max;
 
-    // Update maximum limits
-    rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
-    rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
-    rtP_Right.i_max = rtP_Left.i_max;
-    rtP_Right.n_max = rtP_Left.n_max;
+  cur_spd_valid   = 1;
+  consoleLog("OK\n");
 
-    cur_spd_valid   = 1;
-    consoleLog("OK\n");
-
-  #endif
 }
 
  /*

From 5dc88b7e02f10d0a7dda6f04a7fc0603767ae052 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 28 Oct 2020 23:43:19 +0100
Subject: [PATCH 13/26] Update util.h

---
 Inc/util.h | 1 +
 1 file changed, 1 insertion(+)

diff --git a/Inc/util.h b/Inc/util.h
index d238870..cca2489 100644
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -80,6 +80,7 @@ void poweroffPressCheck(void);
 
 // Read Command Function
 void readCommand(void);
+void readInput(void);
 void usart2_rx_check(void);
 void usart3_rx_check(void);
 #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)

From 95c912d7577ec4e5d9a97a9fbb38122bf4d54724 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Thu, 29 Oct 2020 00:10:52 +0100
Subject: [PATCH 14/26] Update config.h

---
 Inc/config.h | 118 ++++++++++++++++++++++++++++++++++++---------------
 1 file changed, 84 insertions(+), 34 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index a374132..2bb459c 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -254,15 +254,16 @@
   // #define ADC_PROTECT_ENA               // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH  300       // ADC Protection threshold below/above the MIN/MAX ADC values
-  #define ADC_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  // #define ADC1_MID_POT                  // ADC1 middle resting poti: comment-out if NOT a middle resting poti
-  #define ADC1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
-  #define ADC1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
-  #define ADC1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
-  // #define ADC2_MID_POT                  // ADC2 middle resting poti: comment-out if NOT a middle resting poti
-  #define ADC2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
-  #define ADC2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
-  #define ADC2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
+  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // #define INPUT1_MID_POT                  // ADC1 middle resting poti: comment-out if NOT a middle resting poti
+  #define INPUT1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
+  #define INPUT1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
+  #define INPUT1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
+  // #define INPUT2_MID_POT                  // ADC2 middle resting poti: comment-out if NOT a middle resting poti
+  #define INPUT2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
+  #define INPUT2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
+  #define INPUT2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
   // #define SUPPORT_BUTTONS_LEFT          // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT         // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
@@ -273,12 +274,23 @@
 // ############################ VARIANT_USART SETTINGS ############################
 #ifdef VARIANT_USART
   // #define SIDEBOARD_SERIAL_USART2
-  // #define CONTROL_SERIAL_USART2         // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
-  // #define FEEDBACK_SERIAL_USART2        // left sensor board cable, disable if ADC or PPM is used!
+  // #define CONTROL_SERIAL_USART2   // left sensor board cable, disable if ADC or PPM is used! For Arduino control check the hoverSerial.ino
+  // #define FEEDBACK_SERIAL_USART2  // left sensor board cable, disable if ADC or PPM is used!
 
   // #define SIDEBOARD_SERIAL_USART3
-  #define CONTROL_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
-  #define FEEDBACK_SERIAL_USART3        // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
+  #define CONTROL_SERIAL_USART3      // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
+  #define FEEDBACK_SERIAL_USART3     // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
+  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // Min / Max values of each channel (use DEBUG to determine these values)
+  #define INPUT1_MID_POT
+  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT2_MID_POT
+  #define INPUT2_MIN        -1000    // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         1000    // (0 - 1000)
   // #define SUPPORT_BUTTONS_LEFT          // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT         // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
@@ -295,6 +307,17 @@
    * Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
   */
   #define CONTROL_NUNCHUK           // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
+  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // Min / Max values of each channel (use DEBUG to determine these values)
+  #define INPUT1_MID_POT
+  #define INPUT1_MIN        -1024    // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1024    // (0 - 1000)
+  #define INPUT2_MID_POT
+  #define INPUT2_MIN        -1024    // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         1024    // (0 - 1000)
   // # maybe good for ARMCHAIR #
   #define FILTER             3276    //  0.05f
   #define SPEED_COEFFICIENT  8192    //  0.5f
@@ -318,13 +341,18 @@
   #else
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif
-  #define PPM_NUM_CHANNELS    6       // total number of PPM channels to receive, even if they are not used.
-  #define PPM_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define PPM_NUM_CHANNELS   6       // total number of PPM channels to receive, even if they are not used.
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define PPM_CH1_MAX         1000    // (0 - 1000)
-  #define PPM_CH1_MIN        -1000    // (-1000 - 0)
-  #define PPM_CH2_MAX         1000    // (0 - 1000)
-  #define PPM_CH2_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_MID_POT
+  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT2_MID_POT
+  #define INPUT2_MIN        -1000    // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         1000    // (0 - 1000)
   // #define SUPPORT_BUTTONS             // Define for PPM buttons support
   // #define SUPPORT_BUTTONS_LEFT        // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT       // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
@@ -340,12 +368,17 @@
 */
   #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   // #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
-  #define PWM_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define PWM_CH1_MAX         1000    // (0 - 1000)
-  #define PWM_CH1_MIN        -1000    // (-1000 - 0)
-  #define PWM_CH2_MAX         1000    // (0 - 1000)
-  #define PWM_CH2_MIN        -1000    // (-1000 - 0)  
+  #define INPUT1_MID_POT
+  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT2_MID_POT
+  #define INPUT2_MIN        -1000    // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         1000    // (0 - 1000)
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
   #define STEER_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
@@ -373,6 +406,18 @@
   #define IBUS_LENGTH         0x20
   #define IBUS_COMMAND        0x40
 
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // Min / Max values of each channel (use DEBUG to determine these values)
+  #define INPUT1_MID_POT
+  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1000    // (0 - 1000)  
+  #define INPUT2_MID_POT
+  #define INPUT2_MIN        -1000    // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         1000    // (0 - 1000)
+
   #undef  USART2_BAUD
   #define USART2_BAUD         115200
   #define CONTROL_SERIAL_USART2                         // left sensor board cable, disable if ADC or PPM is used!
@@ -390,10 +435,10 @@
   #define ADC_PROTECT_ENA               // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH  300       // ADC Protection threshold below/above the MIN/MAX ADC values
-  #define ADC1_MIN            1000      // min ADC1-value while poti at minimum-position (0 - 4095)
-  #define ADC1_MAX            2500      // max ADC1-value while poti at maximum-position (0 - 4095)
-  #define ADC2_MIN            500       // min ADC2-value while poti at minimum-position (0 - 4095)
-  #define ADC2_MAX            2200      // max ADC2-value while poti at maximum-position (0 - 4095)
+  #define INPUT1_MIN          1000      // min ADC1-value while poti at minimum-position (0 - 4095)
+  #define INPUT1_MAX          2500      // max ADC1-value while poti at maximum-position (0 - 4095)
+  #define INPUT2_MIN          500       // min ADC2-value while poti at minimum-position (0 - 4095)
+  #define INPUT2_MAX          2200      // max ADC2-value while poti at maximum-position (0 - 4095)
   #define SPEED_COEFFICIENT   16384     // 1.0f
   #define STEER_COEFFICIENT   0         // 0.0f
   // #define INVERT_R_DIRECTION            // Invert rotation of right motor
@@ -460,13 +505,18 @@
   #define CTRL_MOD_REQ        TRQ_MODE  // SKATEBOARD works best in TORQUE Mode
   // #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
-  #define PWM_DEADBAND        100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define PWM_CH1_MAX         1000    // (0 - 1000)
-  #define PWM_CH1_MIN        -1000    // (-1000 - 0)
-  #define PWM_CH2_MAX         700     // (0 - 1000)
-  #define PWM_CH2_MIN        -800     // (-1000 - 0)
-  #define PWM_CH2_OUT_MIN    -400     // (-1000 - 0) Change this value to adjust the braking amount
+  #define INPUT1_MID_POT
+  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT2_MID_POT
+  #define INPUT2_MIN        -800    // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         700    // (0 - 1000)
+  #define INPUT2_OUT_MIN    -400     // (-1000 - 0) Change this value to adjust the braking amount
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
   #define STEER_COEFFICIENT   0       // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.

From b50efdcab22b461e2fe5f194fdf59e82e31ef9af Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Thu, 29 Oct 2020 00:41:41 +0100
Subject: [PATCH 15/26] Fix typo

---
 Src/main.c |  2 ++
 Src/util.c | 76 ++++++++++++++++++++++++++++++------------------------
 2 files changed, 44 insertions(+), 34 deletions(-)

diff --git a/Src/main.c b/Src/main.c
index 68e746c..17866ed 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -62,6 +62,8 @@ extern ExtY rtY_Right;                  /* External outputs */
 
 extern int16_t cmd1;                    // normalized input value. -1000 to 1000
 extern int16_t cmd2;                    // normalized input value. -1000 to 1000
+extern int16_t cmd1_in;                    // normalized input value. -1000 to 1000
+extern int16_t cmd2_in;                    // normalized input value. -1000 to 1000
 
 extern int16_t speedAvg;                // Average measured speed
 extern int16_t speedAvgAbs;             // Average measured speed in absolute
diff --git a/Src/util.c b/Src/util.c
index 58267d3..d204dc5 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -128,23 +128,24 @@ static int16_t INPUT_MAX;             // [-] Input target maximum limitation
 static int16_t INPUT_MIN;             // [-] Input target minimum limitation
 
 
-static uint8_t  cur_spd_valid = 0;
-static uint8_t  adc_cal_valid = 0;
-static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
-static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
-static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
-static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
-#ifdef INPUT1_MID_POT
-static uint16_t INPUT1_MID_CAL = INPUT1_MID;
-#else
-static uint16_t INPUT1_MID_CAL = 0;
+#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
+  static uint8_t  cur_spd_valid = 0;
+  static uint8_t  input_cal_valid = 0;
+  static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
+  static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
+  static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
+  static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
+  #ifdef INPUT1_MID_POT
+  static uint16_t INPUT1_MID_CAL = INPUT1_MID;
+  #else
+  static uint16_t INPUT1_MID_CAL = 0;
+  #endif
+  #ifdef INPUT1_MID_POT
+  static uint16_t INPUT2_MID_CAL = INPUT2_MID;
+  #else
+  static uint16_t INPUT2_MID_CAL = 0;
+  #endif
 #endif
-#ifdef INPUT1_MID_POT
-static uint16_t INPUT2_MID_CAL = INPUT2_MID;
-#else
-static uint16_t INPUT2_MID_CAL = 0;
-#endif
-
 
 #if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
 static int16_t timeoutCntADC   = 0;  // Timeout counter for ADC Protection
@@ -433,6 +434,8 @@ void adcCalibLim(void) {
   if (speedAvgAbs > 5) {    // do not enter this mode if motors are spinning
     return;
   }
+
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   
   consoleLog("Input calibration started... ");
     
@@ -487,6 +490,7 @@ void adcCalibLim(void) {
     input_cal_valid = 0;
     consoleLog("FAIL (Pots travel too short)\n");
   }
+  #endif
 }
 
 
@@ -501,6 +505,8 @@ void updateCurSpdLim(void) {
   if (speedAvgAbs > 5) {    // do not enter this mode if motors are spinning
     return;
   }
+
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   
   consoleLog("Torque and Speed limits update started... ");
 
@@ -529,7 +535,7 @@ void updateCurSpdLim(void) {
 
   cur_spd_valid   = 1;
   consoleLog("OK\n");
-
+  #endif
 }
 
  /*
@@ -545,7 +551,7 @@ void saveConfig() {
     }
   #endif
   #ifdef CONTROL_ADC
-    if (adc_cal_valid || cur_spd_valid) {
+    if (input_cal_valid || cur_spd_valid) {
       HAL_FLASH_Unlock();
       EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
       EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL);
@@ -749,8 +755,8 @@ void readInput(void) {
       cmd1_in = (ppm_captured_value[0] - 500) * 2;
       cmd2_in = (ppm_captured_value[1] - 500) * 2;
       #ifdef SUPPORT_BUTTONS
-	button1 = ppm_captured_value[5] > 500;
-	button2 = 0;
+	      button1 = ppm_captured_value[5] > 500;
+	      button2 = 0;
       #endif
     #endif
 
@@ -761,8 +767,8 @@ void readInput(void) {
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
-	cmd1_in = adc_buffer.l_tx2;
-	cmd2_in = adc_buffer.l_rx2;
+	    cmd1_in = adc_buffer.l_tx2;
+	    cmd2_in = adc_buffer.l_rx2;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@@ -827,20 +833,22 @@ void readCommand(void) {
       timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
     #endif
 
-    #ifdef INPUT1_MID_POT
-      cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
-    #else
-      cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
-    #endif
-	
-    #if !defined(VARIANT_SKATEBOARD)
-      #ifdef INPUT2_MID_POT
-        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
+    #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
+      #ifdef INPUT1_MID_POT
+        cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
       #else
-	cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
+        cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
+      #endif
+    
+      #if !defined(VARIANT_SKATEBOARD)
+        #ifdef INPUT2_MID_POT
+          cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
+        #else
+          cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
+        #endif
+      #else      
+        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT2_OUT_MIN, INPUT_MAX);
       #endif
-    #else      
-       cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_OUT_MIN, INPUT_MAX);
     #endif
       
 

From b1169c02b7bfd87ab7b939e727e977cfc0ec61f5 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Sat, 31 Oct 2020 21:14:15 +0100
Subject: [PATCH 16/26] Fixes

---
 Inc/config.h  | 30 +++++++++----------
 Inc/defines.h |  2 +-
 Src/main.c    |  4 +--
 Src/util.c    | 82 +++++++++++++++++++++++++++++----------------------
 4 files changed, 65 insertions(+), 53 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index 2bb459c..f08ea06 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -250,22 +250,22 @@
  * For middle resting potis: Let the potis in the middle resting position, write value 1 to ADC1_MID and value 2 to ADC2_MID
  * Make, flash and test it.
 */
-  #define CONTROL_ADC                   // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
-  // #define ADC_PROTECT_ENA               // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
-  #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
-  #define ADC_PROTECT_THRESH  300       // ADC Protection threshold below/above the MIN/MAX ADC values
-  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  // #define INPUT1_MID_POT                  // ADC1 middle resting poti: comment-out if NOT a middle resting poti
+  #define CONTROL_ADC                     // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
+  // #define ADC_PROTECT_ENA                 // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
+  #define ADC_PROTECT_TIMEOUT   100       // ADC Protection: number of wrong / missing input commands before safety state is taken
+  #define ADC_PROTECT_THRESH    300       // ADC Protection threshold below/above the MIN/MAX ADC values
+  #define INPUT1_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT1_MID_POT                  // ADC1 middle resting poti: comment-out if NOT a middle resting poti
   #define INPUT1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
   #define INPUT1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
   #define INPUT1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
-  // #define INPUT2_MID_POT                  // ADC2 middle resting poti: comment-out if NOT a middle resting poti
+  #define INPUT2_MID_POT                  // ADC2 middle resting poti: comment-out if NOT a middle resting poti
   #define INPUT2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
   #define INPUT2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
   #define INPUT2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
-  // #define SUPPORT_BUTTONS_LEFT          // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
-  // #define SUPPORT_BUTTONS_RIGHT         // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
+  // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
+  // #define SUPPORT_BUTTONS_RIGHT           // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
 // ############################# END OF VARIANT_ADC SETTINGS #########################
 
@@ -311,13 +311,13 @@
   #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
   #define INPUT1_MID_POT
-  #define INPUT1_MIN        -1024    // (-1000 - 0)
+  #define INPUT1_MIN        -1024    // (-1024 - 0)
   #define INPUT1_MID         0
-  #define INPUT1_MAX         1024    // (0 - 1000)
+  #define INPUT1_MAX         1024    // (0 - 1024)
   #define INPUT2_MID_POT
-  #define INPUT2_MIN        -1024    // (-1000 - 0)
+  #define INPUT2_MIN        -1024    // (-1024 - 0)
   #define INPUT2_MID         0
-  #define INPUT2_MAX         1024    // (0 - 1000)
+  #define INPUT2_MAX         1024    // (0 - 1024)
   // # maybe good for ARMCHAIR #
   #define FILTER             3276    //  0.05f
   #define SPEED_COEFFICIENT  8192    //  0.5f
@@ -503,7 +503,7 @@
 */
   #undef  CTRL_MOD_REQ
   #define CTRL_MOD_REQ        TRQ_MODE  // SKATEBOARD works best in TORQUE Mode
-  // #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
+  //#define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
   #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
diff --git a/Inc/defines.h b/Inc/defines.h
index 5c53214..5a887da 100644
--- a/Inc/defines.h
+++ b/Inc/defines.h
@@ -181,7 +181,7 @@
 #define MIN3(a, b, c) MIN(a, MIN(b, c))
 #define MAX3(a, b, c) MAX(a, MAX(b, c))
 #define ARRAY_LEN(x) (uint32_t)(sizeof(x) / sizeof(*(x)))
-#define MAP(x, in_min, in_max, out_min, out_max) ((((x - in_min) * (out_max - out_min)) / (in_max - in_min)) + out_min )
+#define MAP(x, in_min, in_max, out_min, out_max) (((((x) - (in_min)) * ((out_max) - (out_min))) / ((in_max) - (in_min))) + (out_min))
 
 
 typedef struct {
diff --git a/Src/main.c b/Src/main.c
index 17866ed..fb3c668 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -411,8 +411,8 @@ int main(void) {
       if (main_loop_counter % 25 == 0) {    // Send data periodically every 125 ms
         setScopeChannel(0, (int16_t)cmd1_in);                   // 1: ADC1
         setScopeChannel(1, (int16_t)cmd2_in);                   // 2: ADC2
-        setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
-        setScopeChannel(3, (int16_t)speedL);                    // 4: output command: [-1000, 1000]
+        setScopeChannel(2, (int16_t)cmd1); //speedR);                    // 3: output command: [-1000, 1000]
+        setScopeChannel(3, (int16_t)cmd2); //speedL);                    // 4: output command: [-1000, 1000]
         setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
         setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
         setScopeChannel(6, (int16_t)board_temp_adcFilt);        // 7: for board temperature calibration
diff --git a/Src/util.c b/Src/util.c
index d204dc5..c2ced91 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -114,7 +114,7 @@ float    setDistance;
 uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337};     // Virtual address defined by the user: 0xFFFF value is prohibited
 static   uint16_t saveValue       = 0;
 static   uint8_t  saveValue_valid = 0;
-#elif defined(CONTROL_ADC)
+#elif !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
 uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308};
 #else
 uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300};     // Dummy virtual address to avoid warnings
@@ -274,7 +274,7 @@ void Input_Init(void) {
     UART_DisableRxErrors(&huart3);
   #endif
 
-  #ifdef CONTROL_ADC  
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
 
     uint16_t writeCheck, i_max, n_max;
     HAL_FLASH_Unlock();    
@@ -438,17 +438,18 @@ void adcCalibLim(void) {
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   
   consoleLog("Input calibration started... ");
-    
+
+  readInput();  
   // Inititalization: MIN = a high values, MAX = a low value,
-  int32_t input1_fixdt = adc_buffer.l_tx2 << 16;
-  int32_t input2_fixdt = adc_buffer.l_rx2 << 16;
+  int32_t input1_fixdt = cmd1_in << 16;
+  int32_t input2_fixdt = cmd2_in << 16;
   uint16_t input_cal_timeout = 0;
-  uint16_t INPUT1_MIN_temp   = 4095;
-  uint16_t INPUT1_MID_temp   = 0;
-  uint16_t INPUT1_MAX_temp   = 0;
-  uint16_t INPUT2_MIN_temp   = 4095;
-  uint16_t INPUT2_MID_temp   = 0;
-  uint16_t INPUT2_MAX_temp   = 0;
+  int16_t INPUT1_MIN_temp   = INPUT1_MAX;
+  int16_t INPUT1_MID_temp   = 0;
+  int16_t INPUT1_MAX_temp   = INPUT1_MIN;
+  int16_t INPUT2_MIN_temp   = INPUT2_MAX;
+  int16_t INPUT2_MID_temp   = 0;
+  int16_t INPUT2_MAX_temp   = INPUT2_MIN;
     
   input_cal_valid = 1;
 
@@ -457,8 +458,9 @@ void adcCalibLim(void) {
     readInput();
     filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
     filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
-    INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095);                   // convert fixed-point to integer
-    INPUT2_MID_temp = (uint16_t)CLAMP(input2_fixdt >> 16, 0, 4095);
+    
+    INPUT1_MID_temp = (int16_t)CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX);                   // convert fixed-point to integer
+    INPUT2_MID_temp = (int16_t)CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
     INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
     INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);      
     INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
@@ -477,20 +479,26 @@ void adcCalibLim(void) {
   }
   #endif
 
+  uint16_t input_margin = 0;
+  #ifdef CONTROL_ADC
+     input_margin = 100;
+  #endif
+
   // Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
   if (input_cal_valid && (INPUT1_MAX_temp - INPUT1_MIN_temp) > 500 && (INPUT2_MAX_temp - INPUT2_MIN_temp) > 500) {
-    INPUT1_MIN_CAL = INPUT1_MIN_temp + 100;
+    INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
     INPUT1_MID_CAL = INPUT1_MID_temp;
-    INPUT1_MAX_CAL = INPUT1_MAX_temp - 100;    
-    INPUT2_MIN_CAL = INPUT2_MIN_temp + 100;
+    INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;    
+    INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
     INPUT2_MID_CAL = INPUT2_MID_temp;
-    INPUT2_MAX_CAL = INPUT2_MAX_temp - 100;      
+    INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;      
     consoleLog("OK\n");
   } else {
     input_cal_valid = 0;
     consoleLog("FAIL (Pots travel too short)\n");
   }
   #endif
+
 }
 
 
@@ -550,7 +558,7 @@ void saveConfig() {
       HAL_FLASH_Lock();
     }
   #endif
-  #ifdef CONTROL_ADC
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
     if (input_cal_valid || cur_spd_valid) {
       HAL_FLASH_Unlock();
       EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
@@ -572,12 +580,12 @@ void saveConfig() {
  * This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
  */
 int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
-  if(u > in_mid - deadBand && u < in_mid + deadBand) {
+  if( u > in_mid - deadBand && u < in_mid + deadBand ) {
     return 0;
-  } else if(u > 0) {
-    return MAP(u, in_mid + deadBand, in_max, 0, out_max);
+  } else if(u > in_mid) {
+    return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
   } else {
-    return MAP(u, in_mid - deadBand, in_min, out_min, 0);
+    return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
   }	
 }
 
@@ -683,7 +691,7 @@ void poweroff(void) {
 
 
 void poweroffPressCheck(void) {
-	#if defined(CONTROL_ADC)
+	#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
     if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
       enable = 0;
       uint16_t cnt_press = 0;
@@ -741,13 +749,13 @@ void readInput(void) {
    #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
       if (nunchuk_connected != 0) {
         Nunchuk_Read();
-	cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
-	cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
+	      cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
+	      cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
         			
-	#ifdef SUPPORT_BUTTONS
-	  button1 = (uint8_t)nunchuk_data[5] & 1;
-	  button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
-	#endif
+        #ifdef SUPPORT_BUTTONS
+          button1 = (uint8_t)nunchuk_data[5] & 1;
+          button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
+        #endif
       }
     #endif
 
@@ -833,21 +841,25 @@ void readCommand(void) {
       timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
     #endif
 
+    //setScopeChannel(4, (int16_t)INPUT1_MIN_CAL);
+    //setScopeChannel(5, (int16_t)INPUT1_MID_CAL);
+    //setScopeChannel(6, (int16_t)INPUT1_MAX_CAL);
+    
     #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
       #ifdef INPUT1_MID_POT
-        cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN, INPUT1_MID, INPUT1_MAX, INPUT_MIN, INPUT_MAX);
+        cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
       #else
-        cmd1 = MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ); // ADC1
+        cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
       #endif
     
       #if !defined(VARIANT_SKATEBOARD)
         #ifdef INPUT2_MID_POT
-          cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT_MIN, INPUT_MAX);
+          cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
         #else
-          cmd2 = MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ); // ADC2
+          cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
         #endif
       #else      
-        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN, INPUT2_MID, INPUT2_MAX, INPUT2_OUT_MIN, INPUT_MAX);
+        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
       #endif
     #endif
       
@@ -1033,7 +1045,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
 {
 	for (; len > 0; len--, userCommand++) {
 		if (*userCommand != '\n' && *userCommand != '\r') { 	// Do not accept 'new line' and 'carriage return' commands
-      consoleLog("-- Command received --\r\n");						
+      //consoleLog("-- Command received --\r\n");						
 			// handle_input(*userCommand);                      // -> Create this function to handle the user commands
 		}
   }

From 4cc02fddc190f3a5dbe585fef2822a5220d0d5cc Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Wed, 11 Nov 2020 21:36:40 +0100
Subject: [PATCH 17/26] Improved auto-calibration

---
 Inc/config.h |  83 ++++++++++--------
 Inc/eeprom.h |   2 +-
 Src/util.c   | 235 ++++++++++++++++++++++++++++++++-------------------
 3 files changed, 200 insertions(+), 120 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index f08ea06..15da433 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -135,8 +135,8 @@
 #define TRQ_MODE        3               // [-] TORQUE mode
 
 // Enable/Disable Motor
-#define MOTOR_LEFT_ENA                  // [-] Enable LEFT motor.  Comment-out if this motor is not needed to be operational
-#define MOTOR_RIGHT_ENA                 // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
+//#define MOTOR_LEFT_ENA                  // [-] Enable LEFT motor.  Comment-out if this motor is not needed to be operational
+//#define MOTOR_RIGHT_ENA                 // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
 
 // Control selections
 #define CTRL_TYP_SEL    FOC_CTRL        // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
@@ -251,16 +251,16 @@
  * Make, flash and test it.
 */
   #define CONTROL_ADC                     // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
-  // #define ADC_PROTECT_ENA                 // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
   #define ADC_PROTECT_TIMEOUT   100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH    300       // ADC Protection threshold below/above the MIN/MAX ADC values
+  #define INPUT1_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
   #define INPUT1_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT1_MID_POT                  // ADC1 middle resting poti: comment-out if NOT a middle resting poti
   #define INPUT1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
   #define INPUT1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
   #define INPUT1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
-  #define INPUT2_MID_POT                  // ADC2 middle resting poti: comment-out if NOT a middle resting poti
+  
+  #define INPUT2_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
   #define INPUT2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
   #define INPUT2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
@@ -280,14 +280,15 @@
   // #define SIDEBOARD_SERIAL_USART3
   #define CONTROL_SERIAL_USART3      // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
   #define FEEDBACK_SERIAL_USART3     // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
-  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_MID_POT
+  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
-  #define INPUT2_MID_POT
+  
+  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)
@@ -307,14 +308,15 @@
    * Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
   */
   #define CONTROL_NUNCHUK           // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
-  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_MID_POT
+  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1024    // (-1024 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1024    // (0 - 1024)
-  #define INPUT2_MID_POT
+  
+  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN        -1024    // (-1024 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1024    // (0 - 1024)
@@ -342,14 +344,15 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif
   #define PPM_NUM_CHANNELS   6       // total number of PPM channels to receive, even if they are not used.
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_MID_POT
+  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
-  #define INPUT2_MID_POT
+  
+  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)
@@ -368,17 +371,19 @@
 */
   #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   // #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_MID_POT
+  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
-  #define INPUT2_MID_POT
+  
+  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)
+  
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
   #define STEER_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
@@ -406,14 +411,15 @@
   #define IBUS_LENGTH         0x20
   #define IBUS_COMMAND        0x40
 
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_MID_POT
+  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)  
-  #define INPUT2_MID_POT
+  
+  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)
@@ -432,13 +438,21 @@
   #undef  CTRL_MOD_REQ
   #define CTRL_MOD_REQ        TRQ_MODE  // HOVERCAR works best in TORQUE Mode
   #define CONTROL_ADC                   // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
-  #define ADC_PROTECT_ENA               // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH  300       // ADC Protection threshold below/above the MIN/MAX ADC values
+  
+  #define INPUT1_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN          1000      // min ADC1-value while poti at minimum-position (0 - 4095)
+  #define INPUT1_MID          0
   #define INPUT1_MAX          2500      // max ADC1-value while poti at maximum-position (0 - 4095)
+  
+  #define INPUT2_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN          500       // min ADC2-value while poti at minimum-position (0 - 4095)
+  #define INPUT2_MID          0
   #define INPUT2_MAX          2200      // max ADC2-value while poti at maximum-position (0 - 4095)
+  
   #define SPEED_COEFFICIENT   16384     // 1.0f
   #define STEER_COEFFICIENT   0         // 0.0f
   // #define INVERT_R_DIRECTION            // Invert rotation of right motor
@@ -505,18 +519,21 @@
   #define CTRL_MOD_REQ        TRQ_MODE  // SKATEBOARD works best in TORQUE Mode
   //#define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_MID_POT
+  #define INPUT1_TYPE        0       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
-  #define INPUT2_MID_POT
-  #define INPUT2_MIN        -800    // (-1000 - 0)
+  
+  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_MIN        -800     // (-1000 - 0)
   #define INPUT2_MID         0
-  #define INPUT2_MAX         700    // (0 - 1000)
+  #define INPUT2_MAX         700     // (0 - 1000)
   #define INPUT2_OUT_MIN    -400     // (-1000 - 0) Change this value to adjust the braking amount
+  
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
   #define STEER_COEFFICIENT   0       // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
diff --git a/Inc/eeprom.h b/Inc/eeprom.h
index d992b27..cc7b1b9 100644
--- a/Inc/eeprom.h
+++ b/Inc/eeprom.h
@@ -209,7 +209,7 @@
 #define PAGE_FULL             ((uint8_t)0x80)
 
 /* Variables' number */
-#define NB_OF_VAR             ((uint8_t)0x09)
+#define NB_OF_VAR             ((uint8_t)0x0B)
 
 /* Exported types ------------------------------------------------------------*/
 /* Exported macro ------------------------------------------------------------*/
diff --git a/Src/util.c b/Src/util.c
index c2ced91..6c4352e 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -115,7 +115,7 @@ uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1337};     // Virtual address defined by
 static   uint16_t saveValue       = 0;
 static   uint8_t  saveValue_valid = 0;
 #elif !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308};
+uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308, 1309, 1310};
 #else
 uint16_t VirtAddVarTab[NB_OF_VAR] = {0x1300};     // Dummy virtual address to avoid warnings
 #endif
@@ -132,22 +132,16 @@ static int16_t INPUT_MIN;             // [-] Input target minimum limitation
   static uint8_t  cur_spd_valid = 0;
   static uint8_t  input_cal_valid = 0;
   static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
-  static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
-  static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
-  static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
-  #ifdef INPUT1_MID_POT
   static uint16_t INPUT1_MID_CAL = INPUT1_MID;
-  #else
-  static uint16_t INPUT1_MID_CAL = 0;
-  #endif
-  #ifdef INPUT1_MID_POT
+  static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
+  static uint16_t INPUT1_TYPE_CAL = INPUT1_TYPE; 
+  static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
   static uint16_t INPUT2_MID_CAL = INPUT2_MID;
-  #else
-  static uint16_t INPUT2_MID_CAL = 0;
-  #endif
+  static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
+  static uint16_t INPUT2_TYPE_CAL = INPUT2_TYPE;
 #endif
 
-#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
+#if defined(CONTROL_ADC)
 static int16_t timeoutCntADC   = 0;  // Timeout counter for ADC Protection
 #endif
 
@@ -281,14 +275,16 @@ void Input_Init(void) {
     EE_Init();            /* EEPROM Init */    
     EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
     if (writeCheck == FLASH_WRITE_KEY) {
-      EE_ReadVariable(VirtAddVarTab[1], &INPUT1_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[2], &INPUT1_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[3], &INPUT1_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[4], &INPUT2_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[5], &INPUT2_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[6], &INPUT2_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[7], &i_max);
-      EE_ReadVariable(VirtAddVarTab[8], &n_max);
+      EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[4] , &INPUT2_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[7] , &i_max);
+      EE_ReadVariable(VirtAddVarTab[8] , &n_max);
+      EE_ReadVariable(VirtAddVarTab[9] , &INPUT1_TYPE_CAL);
+      EE_ReadVariable(VirtAddVarTab[10], &INPUT2_TYPE_CAL);
       rtP_Left.i_max  = i_max;
       rtP_Left.n_max  = n_max;
       rtP_Right.i_max = i_max;
@@ -437,7 +433,7 @@ void adcCalibLim(void) {
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   
-  consoleLog("Input calibration started... ");
+  consoleLog("Input calibration started...\n");
 
   readInput();  
   // Inititalization: MIN = a high values, MAX = a low value,
@@ -468,37 +464,90 @@ void adcCalibLim(void) {
     HAL_Delay(5);
   }
 
-  // ADC calibration checks 
-  #ifdef ADC_PROTECT_ENA
-  if ((INPUT1_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095 && 
-      (INPUT2_MIN_temp + 100 - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_temp - 100 + ADC_PROTECT_THRESH) < 4095) {
-      input_cal_valid = 1;
-  } else {
-    input_cal_valid = 0;
-    consoleLog("FAIL (ADC out-of-range protection not possible)\n");
-  }
-  #endif
+  HAL_Delay(50);
 
   uint16_t input_margin = 0;
   #ifdef CONTROL_ADC
      input_margin = 100;
   #endif
-
-  // Add final ADC margin to have exact 0 and MAX at the minimum and maximum ADC value
-  if (input_cal_valid && (INPUT1_MAX_temp - INPUT1_MIN_temp) > 500 && (INPUT2_MAX_temp - INPUT2_MIN_temp) > 500) {
-    INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
-    INPUT1_MID_CAL = INPUT1_MID_temp;
-    INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;    
-    INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
-    INPUT2_MID_CAL = INPUT2_MID_temp;
-    INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;      
-    consoleLog("OK\n");
+  
+  int16_t threshold = (INPUT1_MAX - INPUT1_MIN) / 10;
+  INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
+  INPUT1_MID_CAL = INPUT1_MID_temp;
+  INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
+  if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MAX_temp/threshold) ){
+      // MIN MID and MAX are close, there is no input
+      INPUT1_TYPE_CAL = 0;
+      consoleLog("Input1 is ignored");
   } else {
-    input_cal_valid = 0;
-    consoleLog("FAIL (Pots travel too short)\n");
-  }
-  #endif
+    if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MID_temp/threshold) ){
+      // MIN and MID are close, it's a normal pot
+      INPUT1_TYPE_CAL = 1;
+      consoleLog("Input1 is a normal pot");
+    }else {
+      INPUT1_TYPE_CAL = 2;
+      consoleLog("Input1 is a mid-resting pot"); 
+    }
 
+    HAL_Delay(50);
+    #ifdef CONTROL_ADC
+    if ( (INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
+      consoleLog(" and protected");
+    }
+    #endif
+    input_cal_valid = 1;
+  }
+
+  HAL_Delay(50);
+  consoleLog("\n");
+  HAL_Delay(50);
+
+  threshold = (INPUT2_MAX - INPUT2_MIN) / 10;
+  INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
+  INPUT2_MID_CAL = INPUT2_MID_temp;
+  INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;    
+  if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MAX_temp/threshold) ){
+      // MIN MID and MAX are close, there is no input
+      INPUT2_TYPE_CAL = 0;
+      consoleLog("Input2 is ignored");
+  } else {
+    if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MID_temp/threshold) ){
+      // MIN and MID are close, it's a normal pot
+      INPUT2_TYPE_CAL = 1;
+      consoleLog("Input2 is a normal pot");
+    }else {
+      INPUT2_TYPE_CAL = 2;
+      consoleLog("Input2 is a mid-resting pot"); 
+    }
+
+    HAL_Delay(50);
+
+    #ifdef CONTROL_ADC
+    if ( (INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
+      consoleLog(" and protected");
+    }
+    #endif
+    input_cal_valid = 1;
+  }
+
+  HAL_Delay(50);
+  consoleLog("\n");
+  HAL_Delay(50);
+  consoleLog("Saved limits\n");
+  HAL_Delay(50);
+  setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
+  setScopeChannel(1, (int16_t)INPUT1_MID_CAL);
+  setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
+  setScopeChannel(3, (int16_t)0);
+  setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
+  setScopeChannel(5, (int16_t)INPUT2_MID_CAL);
+  setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
+  setScopeChannel(7, (int16_t)0);
+  consoleScope();
+
+  HAL_Delay(50);
+  
+  #endif
 }
 
 
@@ -561,15 +610,17 @@ void saveConfig() {
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
     if (input_cal_valid || cur_spd_valid) {
       HAL_FLASH_Unlock();
-      EE_WriteVariable(VirtAddVarTab[0], FLASH_WRITE_KEY);
-      EE_WriteVariable(VirtAddVarTab[1], INPUT1_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[2], INPUT1_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[3], INPUT1_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[4], INPUT2_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[5], INPUT2_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[6], INPUT2_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[7], rtP_Left.i_max);
-      EE_WriteVariable(VirtAddVarTab[8], rtP_Left.n_max);
+      EE_WriteVariable(VirtAddVarTab[0] , FLASH_WRITE_KEY);
+      EE_WriteVariable(VirtAddVarTab[1] , INPUT1_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[4] , INPUT2_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[5] , INPUT2_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[7] , rtP_Left.i_max);
+      EE_WriteVariable(VirtAddVarTab[8] , rtP_Left.n_max);
+      EE_WriteVariable(VirtAddVarTab[9] , INPUT1_TYPE_CAL);
+      EE_WriteVariable(VirtAddVarTab[10], INPUT2_TYPE_CAL);
       HAL_FLASH_Lock();
     }
   #endif 
@@ -803,23 +854,21 @@ void readInput(void) {
 void readCommand(void) {
     readInput();
     #ifdef CONTROL_ADC
-      #ifdef ADC_PROTECT_ENA
-        if (adc_buffer.l_tx2 >= (ADC1_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_tx2 <= (ADC1_MAX_CAL + ADC_PROTECT_THRESH) && 
-            adc_buffer.l_rx2 >= (ADC2_MIN_CAL - ADC_PROTECT_THRESH) && adc_buffer.l_rx2 <= (ADC2_MAX_CAL + ADC_PROTECT_THRESH)) {
-          if (timeoutFlagADC) {                         // Check for previous timeout flag  
-            if (timeoutCntADC-- <= 0)                   // Timeout de-qualification
-              timeoutFlagADC  = 0;                      // Timeout flag cleared           
-          } else {
-            timeoutCntADC     = 0;                      // Reset the timeout counter         
-          }
+      // If input1 or Input2 is either below MIN - Threshold or above MAX + Threshold, ADC protection timeout
+      if ((IN_RANGE(cmd1_in,INPUT1_MIN_CAL - ADC_PROTECT_THRESH,INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) &&
+          (IN_RANGE(cmd1_in,INPUT2_MIN_CAL - ADC_PROTECT_THRESH,INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){
+        if (timeoutFlagADC) {                         // Check for previous timeout flag  
+          if (timeoutCntADC-- <= 0)                   // Timeout de-qualification
+            timeoutFlagADC  = 0;                      // Timeout flag cleared           
         } else {
-          if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) { // Timeout qualification
-            timeoutFlagADC    = 1;                      // Timeout detected
-            timeoutCntADC     = ADC_PROTECT_TIMEOUT;    // Limit timout counter value
-          }
-        }   
-      #endif
-
+          timeoutCntADC     = 0;                      // Reset the timeout counter         
+        }
+      } else {
+        if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) { // Timeout qualification
+          timeoutFlagADC    = 1;                      // Timeout detected
+          timeoutCntADC     = ADC_PROTECT_TIMEOUT;    // Limit timout counter value
+        }
+      }   
       timeoutCnt = 0;
     #endif
 
@@ -841,23 +890,37 @@ void readCommand(void) {
       timeoutFlagSerial = timeoutFlagSerial_L || timeoutFlagSerial_R;
     #endif
 
-    //setScopeChannel(4, (int16_t)INPUT1_MIN_CAL);
-    //setScopeChannel(5, (int16_t)INPUT1_MID_CAL);
-    //setScopeChannel(6, (int16_t)INPUT1_MAX_CAL);
-    
     #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-      #ifdef INPUT1_MID_POT
-        cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
-      #else
-        cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
-      #endif
-    
+      switch (INPUT1_TYPE_CAL){
+        case 0: // Input1 is ignored 
+          cmd1 = 0;
+          break;
+        case 1: // Input1 is a normal pot 
+          cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
+          break;
+        case 2: // Input1 is a mid resting pot 
+          cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
+          break;
+        default:
+          cmd1 = 0;
+          break; 
+      }
+      
       #if !defined(VARIANT_SKATEBOARD)
-        #ifdef INPUT2_MID_POT
-          cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
-        #else
-          cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
-        #endif
+        switch (INPUT2_TYPE_CAL){
+          case 0: // Input2 is ignored 
+            cmd2 = 0;
+            break;
+          case 1: // Input2 is a normal pot 
+            cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
+            break;
+          case 2: // Input2 is a mid resting pot 
+            cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
+            break;
+          default:
+            cmd2 = 0;
+            break; 
+        }
       #else      
         cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
       #endif

From 11ab8481030616d4b108b58d4fab4313817a9394 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Fri, 13 Nov 2020 22:31:49 +0100
Subject: [PATCH 18/26] Current and speed setting for all variants

---
 Inc/config.h | 21 +++++++++++++--------
 Src/util.c   | 42 +++++++++++++++++++++++++++++-------------
 2 files changed, 42 insertions(+), 21 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index 15da433..449c9fb 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -135,8 +135,8 @@
 #define TRQ_MODE        3               // [-] TORQUE mode
 
 // Enable/Disable Motor
-//#define MOTOR_LEFT_ENA                  // [-] Enable LEFT motor.  Comment-out if this motor is not needed to be operational
-//#define MOTOR_RIGHT_ENA                 // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
+#define MOTOR_LEFT_ENA                  // [-] Enable LEFT motor.  Comment-out if this motor is not needed to be operational
+#define MOTOR_RIGHT_ENA                 // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
 
 // Control selections
 #define CTRL_TYP_SEL    FOC_CTRL        // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
@@ -324,6 +324,7 @@
   #define FILTER             3276    //  0.05f
   #define SPEED_COEFFICIENT  8192    //  0.5f
   #define STEER_COEFFICIENT  62259   // -0.2f
+  #define DEBUG_SERIAL_USART2       // left sensor cable debug
   // #define SUPPORT_BUTTONS            // Define for Nunchuck buttons support
 #endif
 // ############################# END OF VARIANT_NUNCHUK SETTINGS #########################
@@ -371,6 +372,11 @@
 */
   #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   // #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
+  #ifdef CONTROL_PWM_RIGHT
+    #define DEBUG_SERIAL_USART2       // left sensor cable debug
+  #else
+    #define DEBUG_SERIAL_USART3       // right sensor cable debug
+  #endif
   // Min / Max values of each channel (use DEBUG to determine these values)
   #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
   #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
@@ -519,7 +525,11 @@
   #define CTRL_MOD_REQ        TRQ_MODE  // SKATEBOARD works best in TORQUE Mode
   //#define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
-  
+  #ifdef CONTROL_PWM_RIGHT
+    #define DEBUG_SERIAL_USART2       // left sensor cable debug
+  #else
+    #define DEBUG_SERIAL_USART3       // right sensor cable debug
+  #endif  
   // Min / Max values of each channel (use DEBUG to determine these values)
   #define INPUT1_TYPE        0       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
   #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
@@ -542,11 +552,6 @@
   // #define SUPPORT_BUTTONS_LEFT        // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT       // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
   // #define STANDSTILL_HOLD_ENABLE      // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
-  #ifdef CONTROL_PWM_RIGHT
-    #define DEBUG_SERIAL_USART2       // left sensor cable debug
-  #else
-    #define DEBUG_SERIAL_USART3       // right sensor cable debug
-  #endif
 #endif
 // ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
 
diff --git a/Src/util.c b/Src/util.c
index 6c4352e..87cb14e 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -464,7 +464,7 @@ void adcCalibLim(void) {
     HAL_Delay(5);
   }
 
-  HAL_Delay(50);
+  HAL_Delay(10);
 
   uint16_t input_margin = 0;
   #ifdef CONTROL_ADC
@@ -489,7 +489,7 @@ void adcCalibLim(void) {
       consoleLog("Input1 is a mid-resting pot"); 
     }
 
-    HAL_Delay(50);
+    HAL_Delay(10);
     #ifdef CONTROL_ADC
     if ( (INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
       consoleLog(" and protected");
@@ -498,9 +498,9 @@ void adcCalibLim(void) {
     input_cal_valid = 1;
   }
 
-  HAL_Delay(50);
+  HAL_Delay(10);
   consoleLog("\n");
-  HAL_Delay(50);
+  HAL_Delay(10);
 
   threshold = (INPUT2_MAX - INPUT2_MIN) / 10;
   INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
@@ -520,7 +520,7 @@ void adcCalibLim(void) {
       consoleLog("Input2 is a mid-resting pot"); 
     }
 
-    HAL_Delay(50);
+    HAL_Delay(10);
 
     #ifdef CONTROL_ADC
     if ( (INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
@@ -530,11 +530,11 @@ void adcCalibLim(void) {
     input_cal_valid = 1;
   }
 
-  HAL_Delay(50);
+  HAL_Delay(10);
   consoleLog("\n");
-  HAL_Delay(50);
+  HAL_Delay(10);
   consoleLog("Saved limits\n");
-  HAL_Delay(50);
+  HAL_Delay(10);
   setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
   setScopeChannel(1, (int16_t)INPUT1_MID_CAL);
   setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
@@ -545,8 +545,9 @@ void adcCalibLim(void) {
   setScopeChannel(7, (int16_t)0);
   consoleScope();
 
-  HAL_Delay(50);
-  
+  HAL_Delay(20);
+  consoleLog("OK\n");
+
   #endif
 }
 
@@ -565,7 +566,7 @@ void updateCurSpdLim(void) {
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   
-  consoleLog("Torque and Speed limits update started... ");
+  consoleLog("Torque and Speed limits update started...\n");
 
   int32_t input1_fixdt = cmd1_in << 16;
   int32_t input2_fixdt = cmd2_in << 16;
@@ -582,14 +583,29 @@ void updateCurSpdLim(void) {
   }
 
   // Calculate scaling factors
-  cur_factor      = CLAMP((input1_fixdt - (INPUT1_MIN_CAL << 16)) / (INPUT1_MAX_CAL - INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
-  spd_factor      = CLAMP((input2_fixdt - (INPUT2_MIN_CAL << 16)) / (INPUT2_MAX_CAL - INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
+  cur_factor      = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
+  spd_factor      = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
   // Update maximum limits
   rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
   rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
   rtP_Right.i_max = rtP_Left.i_max;
   rtP_Right.n_max = rtP_Left.n_max;
 
+  HAL_Delay(10);
+  consoleLog("Saved limits\n");
+  HAL_Delay(10);
+  setScopeChannel(0, (int16_t)input1_fixdt);
+  setScopeChannel(1, (uint16_t)cur_factor);
+  setScopeChannel(2, (int16_t)rtP_Right.i_max);
+  setScopeChannel(3, (int16_t)0);
+  setScopeChannel(4, (int16_t)input2_fixdt);
+  setScopeChannel(5, (uint16_t)spd_factor);
+  setScopeChannel(6, (int16_t)rtP_Right.n_max);
+  setScopeChannel(7, (int16_t)0);
+  consoleScope();
+
+  HAL_Delay(20);
+
   cur_spd_valid   = 1;
   consoleLog("OK\n");
   #endif

From f962d16cd647954826fa914d73082f2d2c321318 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Sat, 14 Nov 2020 19:30:38 +0100
Subject: [PATCH 19/26] Test print log

---
 Inc/comms.h    |   1 +
 Src/comms.c    |  26 ++++++++++++
 Src/main.c     |   8 ++--
 Src/util.c     | 111 ++++++++++++++++++++++---------------------------
 platformio.ini |   2 +-
 5 files changed, 82 insertions(+), 66 deletions(-)

diff --git a/Inc/comms.h b/Inc/comms.h
index 6bdb730..b723283 100644
--- a/Inc/comms.h
+++ b/Inc/comms.h
@@ -28,6 +28,7 @@
 void setScopeChannel(uint8_t ch, int16_t val);
 void consoleScope(void);
 void consoleLog(char *message);
+void print( const char * format, ... );
 
 #endif
 
diff --git a/Src/comms.c b/Src/comms.c
index 61ee47d..881b2cc 100644
--- a/Src/comms.c
+++ b/Src/comms.c
@@ -1,4 +1,5 @@
 #include <stdio.h>
+#include <stdarg.h>
 #include <string.h>
 #include "stm32f1xx_hal.h"
 #include "defines.h"
@@ -79,3 +80,28 @@ void consoleLog(char *message)
     #endif
   #endif
 }
+
+void print( const char * format, ... )
+{
+  va_list args;
+  va_start (args, format);
+
+  static volatile uint8_t buffer[100];
+  int strLength;
+  strLength = vsprintf((char *)(uintptr_t)buffer,format, args);
+  
+  #ifdef DEBUG_SERIAL_USART2
+  while(__HAL_DMA_GET_COUNTER(huart2.hdmatx) > 0) {
+    HAL_Delay(1);	 
+  }
+  HAL_UART_Transmit_DMA(&huart2, (uint8_t *)buffer, strLength);
+  #endif
+  #ifdef DEBUG_SERIAL_USART3
+  while(__HAL_DMA_GET_COUNTER(huart3.hdmatx) > 0) {
+    HAL_Delay(1);	 
+  }
+  HAL_UART_Transmit_DMA(&huart3, (uint8_t *)buffer, strLength);
+  #endif
+
+  va_end (args);
+}
\ No newline at end of file
diff --git a/Src/main.c b/Src/main.c
index fb3c668..7f3384d 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -62,8 +62,8 @@ extern ExtY rtY_Right;                  /* External outputs */
 
 extern int16_t cmd1;                    // normalized input value. -1000 to 1000
 extern int16_t cmd2;                    // normalized input value. -1000 to 1000
-extern int16_t cmd1_in;                    // normalized input value. -1000 to 1000
-extern int16_t cmd2_in;                    // normalized input value. -1000 to 1000
+extern int16_t input1;                  // Non normalized input value
+extern int16_t input2;                  // Non normalized input value
 
 extern int16_t speedAvg;                // Average measured speed
 extern int16_t speedAvgAbs;             // Average measured speed in absolute
@@ -409,8 +409,8 @@ int main(void) {
     // ####### DEBUG SERIAL OUT #######
     #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
       if (main_loop_counter % 25 == 0) {    // Send data periodically every 125 ms
-        setScopeChannel(0, (int16_t)cmd1_in);                   // 1: ADC1
-        setScopeChannel(1, (int16_t)cmd2_in);                   // 2: ADC2
+        setScopeChannel(0, (int16_t)input1);                   // 1: ADC1
+        setScopeChannel(1, (int16_t)input2);                   // 2: ADC2
         setScopeChannel(2, (int16_t)cmd1); //speedR);                    // 3: output command: [-1000, 1000]
         setScopeChannel(3, (int16_t)cmd2); //speedL);                    // 4: output command: [-1000, 1000]
         setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
diff --git a/Src/util.c b/Src/util.c
index 87cb14e..9630769 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -88,8 +88,8 @@ ExtY     rtY_Right;                     /* External outputs */
 
 int16_t  cmd1;                          // normalized input value. -1000 to 1000
 int16_t  cmd2;                          // normalized input value. -1000 to 1000
-int16_t  cmd1_in;                       // normalized input value. -1000 to 1000
-int16_t  cmd2_in;                       // normalized input value. -1000 to 1000
+int16_t  input1;                        // Non normalized input value
+int16_t  input2;                        // Non normalized input value
 
 int16_t  speedAvg;                      // average measured speed
 int16_t  speedAvgAbs;                   // average measured speed in absolute
@@ -437,8 +437,8 @@ void adcCalibLim(void) {
 
   readInput();  
   // Inititalization: MIN = a high values, MAX = a low value,
-  int32_t input1_fixdt = cmd1_in << 16;
-  int32_t input2_fixdt = cmd2_in << 16;
+  int32_t input1_fixdt = input1 << 16;
+  int32_t input2_fixdt = input2 << 16;
   uint16_t input_cal_timeout = 0;
   int16_t INPUT1_MIN_temp   = INPUT1_MAX;
   int16_t INPUT1_MID_temp   = 0;
@@ -452,8 +452,8 @@ void adcCalibLim(void) {
   // Extract MIN, MAX and MID from ADC while the power button is not pressed
   while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) {   // 20 sec timeout
     readInput();
-    filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
-    filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
+    filtLowPass32(input1, FILTER, &input1_fixdt);
+    filtLowPass32(input2, FILTER, &input2_fixdt);
     
     INPUT1_MID_temp = (int16_t)CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX);                   // convert fixed-point to integer
     INPUT2_MID_temp = (int16_t)CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
@@ -464,8 +464,6 @@ void adcCalibLim(void) {
     HAL_Delay(5);
   }
 
-  HAL_Delay(10);
-
   uint16_t input_margin = 0;
   #ifdef CONTROL_ADC
      input_margin = 100;
@@ -491,7 +489,7 @@ void adcCalibLim(void) {
 
     HAL_Delay(10);
     #ifdef CONTROL_ADC
-    if ( (INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
+    if ( ((int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
       consoleLog(" and protected");
     }
     #endif
@@ -523,31 +521,19 @@ void adcCalibLim(void) {
     HAL_Delay(10);
 
     #ifdef CONTROL_ADC
-    if ( (INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
+    if ( ((int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
       consoleLog(" and protected");
     }
     #endif
     input_cal_valid = 1;
   }
 
-  HAL_Delay(10);
-  consoleLog("\n");
-  HAL_Delay(10);
-  consoleLog("Saved limits\n");
-  HAL_Delay(10);
-  setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
-  setScopeChannel(1, (int16_t)INPUT1_MID_CAL);
-  setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
-  setScopeChannel(3, (int16_t)0);
-  setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
-  setScopeChannel(5, (int16_t)INPUT2_MID_CAL);
-  setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
-  setScopeChannel(7, (int16_t)0);
-  consoleScope();
-
-  HAL_Delay(20);
-  consoleLog("OK\n");
-
+  print("\n");
+  print("Saved limits\n");
+  print("INPUT1_MIN:%i INPUT1_MID:%i INPUT1_MAX:%i\n", (int16_t)INPUT1_MIN_CAL,(int16_t)INPUT1_MID_CAL,(int16_t)INPUT1_MAX_CAL);
+  print("INPUT2_MIN:%i INPUT2_MID:%i INPUT2_MAX:%i\n", (int16_t)INPUT2_MIN_CAL,(int16_t)INPUT2_MID_CAL,(int16_t)INPUT2_MAX_CAL);
+  print("OK\n");
+  
   #endif
 }
 
@@ -568,8 +554,8 @@ void updateCurSpdLim(void) {
   
   consoleLog("Torque and Speed limits update started...\n");
 
-  int32_t input1_fixdt = cmd1_in << 16;
-  int32_t input2_fixdt = cmd2_in << 16;
+  int32_t input1_fixdt = input1 << 16;
+  int32_t input2_fixdt = input2 << 16;
   uint16_t cur_spd_timeout = 0;
   uint16_t cur_factor;    // fixdt(0,16,16)
   uint16_t spd_factor;    // fixdt(0,16,16)
@@ -577,21 +563,26 @@ void updateCurSpdLim(void) {
   // Wait for the power button press
   while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) {  // 10 sec timeout
     readInput();
-    filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
-    filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
+    filtLowPass32(input1, FILTER, &input1_fixdt);
+    filtLowPass32(input2, FILTER, &input2_fixdt);
     HAL_Delay(5);      
   }
-
   // Calculate scaling factors
   cur_factor      = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
   spd_factor      = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
-  // Update maximum limits
-  rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
-  rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
-  rtP_Right.i_max = rtP_Left.i_max;
-  rtP_Right.n_max = rtP_Left.n_max;
+      
+  if (INPUT1_TYPE != 0){
+    // Update current limit
+    rtP_Right.i_max = rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
+    cur_spd_valid   = 1;
+  }
 
-  HAL_Delay(10);
+  if (INPUT2_TYPE != 0){
+    // Update speed limit
+    rtP_Right.n_max = rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
+    cur_spd_valid   = 1;
+  }
+  
   consoleLog("Saved limits\n");
   HAL_Delay(10);
   setScopeChannel(0, (int16_t)input1_fixdt);
@@ -603,11 +594,9 @@ void updateCurSpdLim(void) {
   setScopeChannel(6, (int16_t)rtP_Right.n_max);
   setScopeChannel(7, (int16_t)0);
   consoleScope();
-
   HAL_Delay(20);
-
-  cur_spd_valid   = 1;
   consoleLog("OK\n");
+
   #endif
 }
 
@@ -816,8 +805,8 @@ void readInput(void) {
    #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
       if (nunchuk_connected != 0) {
         Nunchuk_Read();
-	      cmd1_in = (nunchuk_data[0] - 127) * 8; // X axis 0-255
-	      cmd2_in = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
+	      input1 = (nunchuk_data[0] - 127) * 8; // X axis 0-255
+	      input2 = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
         			
         #ifdef SUPPORT_BUTTONS
           button1 = (uint8_t)nunchuk_data[5] & 1;
@@ -827,8 +816,8 @@ void readInput(void) {
     #endif
 
     #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
-      cmd1_in = (ppm_captured_value[0] - 500) * 2;
-      cmd2_in = (ppm_captured_value[1] - 500) * 2;
+      input1 = (ppm_captured_value[0] - 500) * 2;
+      input2 = (ppm_captured_value[1] - 500) * 2;
       #ifdef SUPPORT_BUTTONS
 	      button1 = ppm_captured_value[5] > 500;
 	      button2 = 0;
@@ -836,14 +825,14 @@ void readInput(void) {
     #endif
 
     #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-      cmd1_in = (pwm_captured_ch1_value - 500) * 2;
-      cmd2_in = (pwm_captured_ch2_value - 500) * 2;
+      input1 = (pwm_captured_ch1_value - 500) * 2;
+      input2 = (pwm_captured_ch2_value - 500) * 2;
     #endif
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
-	    cmd1_in = adc_buffer.l_tx2;
-	    cmd2_in = adc_buffer.l_rx2;
+	    input1 = adc_buffer.l_tx2;
+	    input2 = adc_buffer.l_rx2;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@@ -852,12 +841,12 @@ void readInput(void) {
         for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
           ibus_captured_value[(i/2)] = CLAMP(command.channels[i] + (command.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
         }
-        cmd1_in = (ibus_captured_value[0] - 500) * 2;
-        cmd2_in = (ibus_captured_value[1] - 500) * 2; 
+        input1 = (ibus_captured_value[0] - 500) * 2;
+        input2 = (ibus_captured_value[1] - 500) * 2; 
       #else
        if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
-        cmd1_in = command.steer;
-        cmd2_in = command.speed;
+        input1 = command.steer;
+        input2 = command.speed;
        }
       #endif
       timeoutCnt = 0;
@@ -871,8 +860,8 @@ void readCommand(void) {
     readInput();
     #ifdef CONTROL_ADC
       // If input1 or Input2 is either below MIN - Threshold or above MAX + Threshold, ADC protection timeout
-      if ((IN_RANGE(cmd1_in,INPUT1_MIN_CAL - ADC_PROTECT_THRESH,INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) &&
-          (IN_RANGE(cmd1_in,INPUT2_MIN_CAL - ADC_PROTECT_THRESH,INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){
+      if ((IN_RANGE(input1,(int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH,(int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) &&
+          (IN_RANGE(input2,(int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH,(int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){
         if (timeoutFlagADC) {                         // Check for previous timeout flag  
           if (timeoutCntADC-- <= 0)                   // Timeout de-qualification
             timeoutFlagADC  = 0;                      // Timeout flag cleared           
@@ -912,10 +901,10 @@ void readCommand(void) {
           cmd1 = 0;
           break;
         case 1: // Input1 is a normal pot 
-          cmd1 = CLAMP(MAP( cmd1_in , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC1
+          cmd1 = CLAMP(MAP( input1 , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
           break;
         case 2: // Input1 is a mid resting pot 
-          cmd1 = addDeadBand(cmd1_in, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
+          cmd1 = addDeadBand(input1, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
           break;
         default:
           cmd1 = 0;
@@ -928,17 +917,17 @@ void readCommand(void) {
             cmd2 = 0;
             break;
           case 1: // Input2 is a normal pot 
-            cmd2 = CLAMP(MAP( cmd2_in , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX); // ADC2
+            cmd2 = CLAMP(MAP( input2 , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
             break;
           case 2: // Input2 is a mid resting pot 
-            cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
+            cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
             break;
           default:
             cmd2 = 0;
             break; 
         }
       #else      
-        cmd2 = addDeadBand(cmd2_in, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
+        cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
       #endif
     #endif
       
diff --git a/platformio.ini b/platformio.ini
index 9926883..2a45d1b 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -11,7 +11,7 @@ src_dir     = Src
 ;
 ;default_envs = VARIANT_ADC         ; Variant for control via ADC input
 ;default_envs = VARIANT_USART       ; Variant for Serial control via USART3 input
-;default_envs = VARIANT_NUNCHUK     ; Variant for Nunchuk controlled vehicle build
+default_envs = VARIANT_NUNCHUK     ; Variant for Nunchuk controlled vehicle build
 ;default_envs = VARIANT_PPM         ; Variant for RC-Remotes with PPM-Sum signal
 ;default_envs = VARIANT_PWM         ; Variant for RC-Remotes with PWM signal
 ;default_envs = VARIANT_IBUS        ; Variant for RC-Remotes with FLYSKY IBUS

From 1ab75e5ff9aab76ca16ddc74a55992bcef1aa5d0 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Sun, 15 Nov 2020 18:09:30 +0100
Subject: [PATCH 20/26] Fix auto calibration

---
 Inc/comms.h    |   1 -
 Inc/config.h   |   1 +
 Inc/util.h     |   3 +-
 Src/comms.c    |  25 -------
 Src/main.c     |   8 +--
 Src/util.c     | 179 ++++++++++++++++++++++---------------------------
 platformio.ini |   2 +-
 7 files changed, 89 insertions(+), 130 deletions(-)

diff --git a/Inc/comms.h b/Inc/comms.h
index b723283..6bdb730 100644
--- a/Inc/comms.h
+++ b/Inc/comms.h
@@ -28,7 +28,6 @@
 void setScopeChannel(uint8_t ch, int16_t val);
 void consoleScope(void);
 void consoleLog(char *message);
-void print( const char * format, ... );
 
 #endif
 
diff --git a/Inc/config.h b/Inc/config.h
index 449c9fb..a287a96 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -434,6 +434,7 @@
   #define USART2_BAUD         115200
   #define CONTROL_SERIAL_USART2                         // left sensor board cable, disable if ADC or PPM is used!
   #define FEEDBACK_SERIAL_USART2                        // left sensor board cable, disable if ADC or PPM is used!
+  // #define DEBUG_SERIAL_USART3                           // right sensor cable debug
 #endif
 // ############################# END OF VARIANT_IBUS SETTINGS ############################
 
diff --git a/Inc/util.h b/Inc/util.h
index cca2489..ee2cba6 100644
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -67,9 +67,10 @@ void shortBeepMany(uint8_t cnt, int8_t dir);
 void longBeep(uint8_t freq);
 void calcAvgSpeed(void);
 void adcCalibLim(void);
+int checkInputType(int16_t min, int16_t mid, int16_t max);
 void updateCurSpdLim(void);
 void saveConfig(void);
-int  addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
+int  addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
 void standstillHold(int16_t *speedCmd);
 void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
 void cruiseControl(uint8_t button);
diff --git a/Src/comms.c b/Src/comms.c
index 881b2cc..d1626e5 100644
--- a/Src/comms.c
+++ b/Src/comms.c
@@ -80,28 +80,3 @@ void consoleLog(char *message)
     #endif
   #endif
 }
-
-void print( const char * format, ... )
-{
-  va_list args;
-  va_start (args, format);
-
-  static volatile uint8_t buffer[100];
-  int strLength;
-  strLength = vsprintf((char *)(uintptr_t)buffer,format, args);
-  
-  #ifdef DEBUG_SERIAL_USART2
-  while(__HAL_DMA_GET_COUNTER(huart2.hdmatx) > 0) {
-    HAL_Delay(1);	 
-  }
-  HAL_UART_Transmit_DMA(&huart2, (uint8_t *)buffer, strLength);
-  #endif
-  #ifdef DEBUG_SERIAL_USART3
-  while(__HAL_DMA_GET_COUNTER(huart3.hdmatx) > 0) {
-    HAL_Delay(1);	 
-  }
-  HAL_UART_Transmit_DMA(&huart3, (uint8_t *)buffer, strLength);
-  #endif
-
-  va_end (args);
-}
\ No newline at end of file
diff --git a/Src/main.c b/Src/main.c
index 7f3384d..09e156f 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -409,10 +409,10 @@ int main(void) {
     // ####### DEBUG SERIAL OUT #######
     #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
       if (main_loop_counter % 25 == 0) {    // Send data periodically every 125 ms
-        setScopeChannel(0, (int16_t)input1);                   // 1: ADC1
-        setScopeChannel(1, (int16_t)input2);                   // 2: ADC2
-        setScopeChannel(2, (int16_t)cmd1); //speedR);                    // 3: output command: [-1000, 1000]
-        setScopeChannel(3, (int16_t)cmd2); //speedL);                    // 4: output command: [-1000, 1000]
+        setScopeChannel(0, (int16_t)input1);                    // 1: INPUT1
+        setScopeChannel(1, (int16_t)input2);                    // 2: INPUT2
+        setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
+        setScopeChannel(3, (int16_t)speedL);                    // 4: output command: [-1000, 1000]
         setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
         setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
         setScopeChannel(6, (int16_t)board_temp_adcFilt);        // 7: for board temperature calibration
diff --git a/Src/util.c b/Src/util.c
index 9630769..e7de42c 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -455,86 +455,87 @@ void adcCalibLim(void) {
     filtLowPass32(input1, FILTER, &input1_fixdt);
     filtLowPass32(input2, FILTER, &input2_fixdt);
     
-    INPUT1_MID_temp = (int16_t)CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX);                   // convert fixed-point to integer
-    INPUT2_MID_temp = (int16_t)CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
+    INPUT1_MID_temp = (int16_t)(input1_fixdt >> 16);// CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX);                   // convert fixed-point to integer
+    INPUT2_MID_temp = (int16_t)(input2_fixdt >> 16);// CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
     INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
     INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);      
     INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
     INPUT2_MAX_temp = MAX(INPUT2_MAX_temp, INPUT2_MID_temp);
     HAL_Delay(5);
   }
-
+  
   uint16_t input_margin = 0;
   #ifdef CONTROL_ADC
      input_margin = 100;
   #endif
   
-  int16_t threshold = (INPUT1_MAX - INPUT1_MIN) / 10;
   INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
   INPUT1_MID_CAL = INPUT1_MID_temp;
   INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
-  if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MAX_temp/threshold) ){
-      // MIN MID and MAX are close, there is no input
-      INPUT1_TYPE_CAL = 0;
-      consoleLog("Input1 is ignored");
-  } else {
-    if ( (INPUT1_MIN_temp/threshold) == (INPUT1_MID_temp/threshold) ){
-      // MIN and MID are close, it's a normal pot
-      INPUT1_TYPE_CAL = 1;
-      consoleLog("Input1 is a normal pot");
-    }else {
-      INPUT1_TYPE_CAL = 2;
-      consoleLog("Input1 is a mid-resting pot"); 
-    }
+  INPUT1_TYPE_CAL = checkInputType(INPUT1_MIN_CAL,INPUT1_MID_CAL,INPUT1_MAX_CAL);
 
-    HAL_Delay(10);
-    #ifdef CONTROL_ADC
-    if ( ((int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
-      consoleLog(" and protected");
-    }
-    #endif
-    input_cal_valid = 1;
+  INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
+  INPUT2_MID_CAL = INPUT2_MID_temp;
+  INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
+  INPUT2_TYPE_CAL = checkInputType(INPUT2_MIN_CAL,INPUT2_MID_CAL,INPUT2_MAX_CAL);
+  
+  consoleLog("Saved limits\n");
+  HAL_Delay(10);
+  setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
+  setScopeChannel(1, (uint16_t)INPUT1_MID_CAL);
+  setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
+  setScopeChannel(3, (int16_t)0);
+  setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
+  setScopeChannel(5, (uint16_t)INPUT2_MID_CAL);
+  setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
+  setScopeChannel(7, (int16_t)0);
+  consoleScope();
+  HAL_Delay(20);
+  consoleLog("OK\n");
+  
+  #endif
+}
+
+int checkInputType(int16_t min, int16_t mid, int16_t max){
+  
+  HAL_Delay(10);
+
+  int type = 0;
+
+  // Threshold to define if values are too close
+  int16_t threshold = 200;
+  #ifdef CONTROL_ADC
+    threshold = 400;
+  #endif
+
+  if ( (min/threshold) == (max/threshold) ){
+        // MIN MID and MAX are close, disable input
+        consoleLog("Input is ignored");
+        type = 0;
+    } else {
+      if ( (min/threshold) == (mid/threshold) ){
+        // MIN and MID are close, it's a normal pot
+        consoleLog("Input is a normal pot");
+        type = 1;
+      }else {
+        // it's a mid resting pot
+        consoleLog("Input is a mid-resting pot");
+        type = 2; 
+      }
+
+      HAL_Delay(10);
+      #ifdef CONTROL_ADC
+      if ( (min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095){
+        consoleLog(" and protected");
+      }
+      #endif
   }
 
   HAL_Delay(10);
   consoleLog("\n");
   HAL_Delay(10);
-
-  threshold = (INPUT2_MAX - INPUT2_MIN) / 10;
-  INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
-  INPUT2_MID_CAL = INPUT2_MID_temp;
-  INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;    
-  if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MAX_temp/threshold) ){
-      // MIN MID and MAX are close, there is no input
-      INPUT2_TYPE_CAL = 0;
-      consoleLog("Input2 is ignored");
-  } else {
-    if ( (INPUT2_MIN_temp/threshold) == (INPUT2_MID_temp/threshold) ){
-      // MIN and MID are close, it's a normal pot
-      INPUT2_TYPE_CAL = 1;
-      consoleLog("Input2 is a normal pot");
-    }else {
-      INPUT2_TYPE_CAL = 2;
-      consoleLog("Input2 is a mid-resting pot"); 
-    }
-
-    HAL_Delay(10);
-
-    #ifdef CONTROL_ADC
-    if ( ((int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && ((int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
-      consoleLog(" and protected");
-    }
-    #endif
-    input_cal_valid = 1;
-  }
-
-  print("\n");
-  print("Saved limits\n");
-  print("INPUT1_MIN:%i INPUT1_MID:%i INPUT1_MAX:%i\n", (int16_t)INPUT1_MIN_CAL,(int16_t)INPUT1_MID_CAL,(int16_t)INPUT1_MAX_CAL);
-  print("INPUT2_MIN:%i INPUT2_MID:%i INPUT2_MAX:%i\n", (int16_t)INPUT2_MIN_CAL,(int16_t)INPUT2_MID_CAL,(int16_t)INPUT2_MAX_CAL);
-  print("OK\n");
   
-  #endif
+  return type;
 }
 
 
@@ -571,13 +572,13 @@ void updateCurSpdLim(void) {
   cur_factor      = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
   spd_factor      = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
       
-  if (INPUT1_TYPE != 0){
+  if (INPUT1_TYPE_CAL != 0){
     // Update current limit
     rtP_Right.i_max = rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
     cur_spd_valid   = 1;
   }
 
-  if (INPUT2_TYPE != 0){
+  if (INPUT2_TYPE_CAL != 0){
     // Update speed limit
     rtP_Right.n_max = rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
     cur_spd_valid   = 1;
@@ -635,13 +636,22 @@ void saveConfig() {
  * Add Dead-band to a signal
  * This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
  */
-int addDeadBand(int16_t u, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
-  if( u > in_mid - deadBand && u < in_mid + deadBand ) {
-    return 0;
-  } else if(u > in_mid) {
-    return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
-  } else {
-    return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
+int addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
+  switch (type){
+    case 0: // Input is ignored 
+      return 0;
+    case 1: // Input is a normal pot 
+      return CLAMP(MAP( u , in_min, in_max, 0, out_max ), 0, out_max);
+    case 2: // Input is a mid resting pot 
+      if( u > in_mid - deadBand && u < in_mid + deadBand ) {
+        return 0;
+      } else if(u > in_mid) {
+        return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
+      } else {
+        return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
+      }
+    default:
+      return 0; 
   }	
 }
 
@@ -896,38 +906,11 @@ void readCommand(void) {
     #endif
 
     #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-      switch (INPUT1_TYPE_CAL){
-        case 0: // Input1 is ignored 
-          cmd1 = 0;
-          break;
-        case 1: // Input1 is a normal pot 
-          cmd1 = CLAMP(MAP( input1 , INPUT1_MIN_CAL, INPUT1_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
-          break;
-        case 2: // Input1 is a mid resting pot 
-          cmd1 = addDeadBand(input1, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
-          break;
-        default:
-          cmd1 = 0;
-          break; 
-      }
-      
+      cmd1 = addDeadBand(input1, INPUT1_TYPE_CAL, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
       #if !defined(VARIANT_SKATEBOARD)
-        switch (INPUT2_TYPE_CAL){
-          case 0: // Input2 is ignored 
-            cmd2 = 0;
-            break;
-          case 1: // Input2 is a normal pot 
-            cmd2 = CLAMP(MAP( input2 , INPUT2_MIN_CAL, INPUT2_MAX_CAL, 0, INPUT_MAX ), 0, INPUT_MAX);
-            break;
-          case 2: // Input2 is a mid resting pot 
-            cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
-            break;
-          default:
-            cmd2 = 0;
-            break; 
-        }
+        cmd2 = addDeadBand(input2, INPUT2_TYPE_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
       #else      
-        cmd2 = addDeadBand(input2, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
+        cmd2 = addDeadBand(input2, INPUT2_TYPE_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
       #endif
     #endif
       
diff --git a/platformio.ini b/platformio.ini
index 2a45d1b..9926883 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -11,7 +11,7 @@ src_dir     = Src
 ;
 ;default_envs = VARIANT_ADC         ; Variant for control via ADC input
 ;default_envs = VARIANT_USART       ; Variant for Serial control via USART3 input
-default_envs = VARIANT_NUNCHUK     ; Variant for Nunchuk controlled vehicle build
+;default_envs = VARIANT_NUNCHUK     ; Variant for Nunchuk controlled vehicle build
 ;default_envs = VARIANT_PPM         ; Variant for RC-Remotes with PPM-Sum signal
 ;default_envs = VARIANT_PWM         ; Variant for RC-Remotes with PWM signal
 ;default_envs = VARIANT_IBUS        ; Variant for RC-Remotes with FLYSKY IBUS

From ec64b8b005e510d56029a44587d2564b6ffcec2c Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Sun, 15 Nov 2020 18:11:45 +0100
Subject: [PATCH 21/26] Revert changes in comms.c

---
 Src/comms.c | 1 -
 1 file changed, 1 deletion(-)

diff --git a/Src/comms.c b/Src/comms.c
index d1626e5..61ee47d 100644
--- a/Src/comms.c
+++ b/Src/comms.c
@@ -1,5 +1,4 @@
 #include <stdio.h>
-#include <stdarg.h>
 #include <string.h>
 #include "stm32f1xx_hal.h"
 #include "defines.h"

From 962f57a85ffadb7b165dff1139d12a1f310577b3 Mon Sep 17 00:00:00 2001
From: Candas1 <candascraig@hotmail.com>
Date: Sun, 15 Nov 2020 20:04:40 +0100
Subject: [PATCH 22/26] Improve PPM

---
 Inc/config.h  |  2 +-
 Src/control.c | 12 +++++++++++-
 2 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index a287a96..6327998 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -338,7 +338,7 @@
  * https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05
 */
   #define CONTROL_PPM_LEFT            // use PPM-Sum as input on the LEFT cable . disable CONTROL_SERIAL_USART2!
-  // #define CONTROL_PPM_RIGHT           // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
+  //#define CONTROL_PPM_RIGHT           // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
   #ifdef CONTROL_PPM_RIGHT
     #define DEBUG_SERIAL_USART2       // left sensor cable debug
   #else
diff --git a/Src/control.c b/Src/control.c
index 8f0c541..a6c53be 100644
--- a/Src/control.c
+++ b/Src/control.c
@@ -34,13 +34,14 @@ void PPM_ISR_Callback(void) {
   if (rc_delay > 3000) {
     if (ppm_valid && ppm_count == PPM_NUM_CHANNELS) {
       ppm_timeout = 0;
+      timeoutCnt = 0; // added this
       memcpy(ppm_captured_value, ppm_captured_value_buffer, sizeof(ppm_captured_value));
     }
     ppm_valid = true;
     ppm_count = 0;
   }
   else if (ppm_count < PPM_NUM_CHANNELS && IN_RANGE(rc_delay, 900, 2100)){
-    timeoutCnt = 0;
+    //timeoutCnt = 0;
     ppm_captured_value_buffer[ppm_count++] = CLAMP(rc_delay, 1000, 2000) - 1000;
   } else {
     ppm_valid = false;
@@ -77,9 +78,18 @@ void PPM_Init(void) {
   TimHandle.Init.CounterMode = TIM_COUNTERMODE_UP;
   HAL_TIM_Base_Init(&TimHandle);
 
+  #if defined(CONTROL_PPM_LEFT)  
   /* EXTI interrupt init*/
   HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(EXTI3_IRQn);
+  #endif
+
+  #if defined(CONTROL_PPM_RIGHT)  
+  /* EXTI interrupt init*/
+  HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
+  #endif
+
   HAL_TIM_Base_Start(&TimHandle);
 }
 #endif

From 44befc480a650bca5099642d24bba29abb791721 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Wed, 18 Nov 2020 19:16:56 +0100
Subject: [PATCH 23/26] Input Auto-calibration

- mainly rearangement of function
- updated initialization in the auto-calibration function
- added beep for confirmation of Input protection
---
 Inc/config.h  | 167 +++++++++---------
 Inc/util.h    |   8 +-
 Src/control.c |   3 +-
 Src/main.c    |   1 +
 Src/util.c    | 455 +++++++++++++++++++++++++-------------------------
 5 files changed, 307 insertions(+), 327 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index 6327998..c752b0f 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -166,9 +166,9 @@
 
 // ############################## DEFAULT SETTINGS ############################
 // Default settings will be applied at the end of this config file if not set before
-#define INACTIVITY_TIMEOUT      	8       // Minutes of not driving until poweroff. it is not very precise.
-#define BEEPS_BACKWARD          	1       // 0 or 1
-#define FLASH_WRITE_KEY           0x1234  // Flash writing key, used when writing data to flash memory
+#define INACTIVITY_TIMEOUT        8       // Minutes of not driving until poweroff. it is not very precise.
+#define BEEPS_BACKWARD            1       // 0 or 1
+#define FLASH_WRITE_KEY           0x1233  // Flash memory writing key. Change this key to ignore the input calibrations from the flash memory and use the ones in config.h
 
 /* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
  * Value of COEFFICIENT is in fixdt(1,16,14)
@@ -201,7 +201,7 @@
 
 // ############################### DEBUG SERIAL ###############################
 /* Connect GND and RX of a 3.3v uart-usb adapter to the left (USART2) or right sensor board cable (USART3)
- * Be careful not to use the red wire of the cable. 15v will destroye evrything.
+ * Be careful not to use the red wire of the cable. 15v will destroy everything.
  * If you are using VARIANT_NUNCHUK, disable it temporarily.
  * enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
  * and DEBUG_SERIAL_ASCII use asearial terminal.
@@ -210,8 +210,8 @@
  * DEBUG_SERIAL_ASCII output is:
  * // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
  *
- * 1:   (int16_t)adc_buffer.l_tx2);                                         ADC1
- * 2:   (int16_t)adc_buffer.l_rx2);                                         ADC2
+ * 1:   (int16_t)input1);                                                   raw input1: ADC1, UART, PWM, PPM, iBUS
+ * 2:   (int16_t)input2);                                                   raw input2: ADC2, UART, PWM, PPM, iBUS
  * 3:   (int16_t)speedR);                                                   output command: [-1000, 1000]
  * 4:   (int16_t)speedL);                                                   output command: [-1000, 1000]
  * 5:   (int16_t)adc_buffer.batt1);                                         Battery adc-value measured by mainboard
@@ -252,18 +252,18 @@
 */
   #define CONTROL_ADC                     // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
   #define ADC_PROTECT_TIMEOUT   100       // ADC Protection: number of wrong / missing input commands before safety state is taken
-  #define ADC_PROTECT_THRESH    300       // ADC Protection threshold below/above the MIN/MAX ADC values
+  #define ADC_PROTECT_THRESH    200       // ADC Protection threshold below/above the MIN/MAX ADC values
   #define INPUT1_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
   #define INPUT1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
   #define INPUT1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
+  #define INPUT1_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
   #define INPUT2_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
   #define INPUT2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
   #define INPUT2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
+  #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT           // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
@@ -282,18 +282,18 @@
   #define FEEDBACK_SERIAL_USART3     // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
   // Min / Max values of each channel (use DEBUG to determine these values)
   #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
   #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)
-  // #define SUPPORT_BUTTONS_LEFT          // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
-  // #define SUPPORT_BUTTONS_RIGHT         // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
+  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  // #define SUPPORT_BUTTONS_LEFT       // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
+  // #define SUPPORT_BUTTONS_RIGHT      // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
 #endif
 // ######################## END OF VARIANT_USART SETTINGS #########################
 
@@ -301,7 +301,7 @@
 
 // ################################# VARIANT_NUNCHUK SETTINGS ############################
 #ifdef VARIANT_NUNCHUK
-  /* left sensor board cable. USART3
+  /* on Right sensor cable
    * keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuk,
    * use the right one of the 2 types of nunchuks, add i2c pullups.
    * use original nunchuk. most clones does not work very well.
@@ -309,23 +309,23 @@
   */
   #define CONTROL_NUNCHUK           // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT1_MIN        -1024    // (-1024 - 0)
+  #define INPUT1_TYPE        2      // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_MIN        -1024   // (-1024 - 0)
   #define INPUT1_MID         0
-  #define INPUT1_MAX         1024    // (0 - 1024)
+  #define INPUT1_MAX         1024   // (0 - 1024)
+  #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_MIN        -1024    // (-1024 - 0)
+  #define INPUT2_TYPE        2      // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_MIN        -1024   // (-1024 - 0)
   #define INPUT2_MID         0
-  #define INPUT2_MAX         1024    // (0 - 1024)
+  #define INPUT2_MAX         1024   // (0 - 1024)
+  #define INPUT2_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // # maybe good for ARMCHAIR #
-  #define FILTER             3276    //  0.05f
-  #define SPEED_COEFFICIENT  8192    //  0.5f
-  #define STEER_COEFFICIENT  62259   // -0.2f
+  #define FILTER             3276   //  0.05f
+  #define SPEED_COEFFICIENT  8192   //  0.5f
+  #define STEER_COEFFICIENT  62259  // -0.2f
   #define DEBUG_SERIAL_USART2       // left sensor cable debug
-  // #define SUPPORT_BUTTONS            // Define for Nunchuck buttons support
+  // #define SUPPORT_BUTTONS           // Define for Nunchuck buttons support
 #endif
 // ############################# END OF VARIANT_NUNCHUK SETTINGS #########################
 
@@ -338,25 +338,25 @@
  * https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05
 */
   #define CONTROL_PPM_LEFT            // use PPM-Sum as input on the LEFT cable . disable CONTROL_SERIAL_USART2!
-  //#define CONTROL_PPM_RIGHT           // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
+  // #define CONTROL_PPM_RIGHT           // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
   #ifdef CONTROL_PPM_RIGHT
     #define DEBUG_SERIAL_USART2       // left sensor cable debug
   #else
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif
-  #define PPM_NUM_CHANNELS   6       // total number of PPM channels to receive, even if they are not used.
+  #define PPM_NUM_CHANNELS   6        // total number of PPM channels to receive, even if they are not used.
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_MIN        -1000     // (-1000 - 0)
   #define INPUT1_MID         0
-  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT1_MAX         1000     // (0 - 1000)
+  #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_MIN        -1000    // (-1000 - 0)
+  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_MIN        -1000     // (-1000 - 0)
   #define INPUT2_MID         0
-  #define INPUT2_MAX         1000    // (0 - 1000)
+  #define INPUT2_MAX         1000     // (0 - 1000)
+  #define INPUT2_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // #define SUPPORT_BUTTONS             // Define for PPM buttons support
   // #define SUPPORT_BUTTONS_LEFT        // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT       // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
@@ -378,17 +378,17 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_MIN        -1000     // (-1000 - 0)
   #define INPUT1_MID         0
-  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT1_MAX         1000     // (0 - 1000)
+  #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_MIN        -1000    // (-1000 - 0)
+  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_MIN        -1000     // (-1000 - 0)
   #define INPUT2_MID         0
-  #define INPUT2_MAX         1000    // (0 - 1000)
+  #define INPUT2_MAX         1000     // (0 - 1000)
+  #define INPUT2_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
@@ -397,11 +397,6 @@
   // #define INVERT_L_DIRECTION
   // #define SUPPORT_BUTTONS_LEFT        // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
   // #define SUPPORT_BUTTONS_RIGHT       // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
-  #ifdef CONTROL_PWM_RIGHT
-    #define DEBUG_SERIAL_USART2       // left sensor cable debug
-  #else
-    #define DEBUG_SERIAL_USART3       // right sensor cable debug
-  #endif
 #endif
 // ############################# END OF VARIANT_PWM SETTINGS ############################
 
@@ -412,29 +407,29 @@
 /* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL 
 * Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed.
 */
-  #define CONTROL_IBUS                                  // use IBUS as input
-  #define IBUS_NUM_CHANNELS   14                        // total number of IBUS channels to receive, even if they are not used.
+  #define CONTROL_IBUS               // use IBUS as input
+  #define IBUS_NUM_CHANNELS   14     // total number of IBUS channels to receive, even if they are not used.
   #define IBUS_LENGTH         0x20
   #define IBUS_COMMAND        0x40
 
-  // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT1_MIN        -1000    // (-1000 - 0)
-  #define INPUT1_MID         0
-  #define INPUT1_MAX         1000    // (0 - 1000)  
-  
-  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_MIN        -1000    // (-1000 - 0)
-  #define INPUT2_MID         0
-  #define INPUT2_MAX         1000    // (0 - 1000)
-
   #undef  USART2_BAUD
-  #define USART2_BAUD         115200
-  #define CONTROL_SERIAL_USART2                         // left sensor board cable, disable if ADC or PPM is used!
-  #define FEEDBACK_SERIAL_USART2                        // left sensor board cable, disable if ADC or PPM is used!
-  // #define DEBUG_SERIAL_USART3                           // right sensor cable debug
+  #define USART2_BAUD        115200
+  #define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
+  #define FEEDBACK_SERIAL_USART2      // left sensor board cable, disable if ADC or PPM is used!
+  // #define DEBUG_SERIAL_USART3         // right sensor cable debug
+
+  // Min / Max values of each channel (use DEBUG to determine these values)
+  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_MIN        -1000     // (-1000 - 0)
+  #define INPUT1_MID         0
+  #define INPUT1_MAX         1000     // (0 - 1000)
+  #define INPUT1_DEADBAND    0        // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  
+  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_MIN        -1000     // (-1000 - 0)
+  #define INPUT2_MID         0
+  #define INPUT2_MAX         1000     // (0 - 1000)
+  #define INPUT2_DEADBAND    0        // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
 #endif
 // ############################# END OF VARIANT_IBUS SETTINGS ############################
 
@@ -446,19 +441,19 @@
   #define CTRL_MOD_REQ        TRQ_MODE  // HOVERCAR works best in TORQUE Mode
   #define CONTROL_ADC                   // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
-  #define ADC_PROTECT_THRESH  300       // ADC Protection threshold below/above the MIN/MAX ADC values
+  #define ADC_PROTECT_THRESH  200       // ADC Protection threshold below/above the MIN/MAX ADC values
   
   #define INPUT1_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT1_MIN          1000      // min ADC1-value while poti at minimum-position (0 - 4095)
   #define INPUT1_MID          0
   #define INPUT1_MAX          2500      // max ADC1-value while poti at maximum-position (0 - 4095)
+  #define INPUT1_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
   #define INPUT2_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   #define INPUT2_MIN          500       // min ADC2-value while poti at minimum-position (0 - 4095)
   #define INPUT2_MID          0
   #define INPUT2_MAX          2200      // max ADC2-value while poti at maximum-position (0 - 4095)
+  #define INPUT2_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
   #define SPEED_COEFFICIENT   16384     // 1.0f
   #define STEER_COEFFICIENT   0         // 0.0f
@@ -523,7 +518,7 @@
  * Channel 1: steering, Channel 2: speed.
 */
   #undef  CTRL_MOD_REQ
-  #define CTRL_MOD_REQ        TRQ_MODE  // SKATEBOARD works best in TORQUE Mode
+  #define CTRL_MOD_REQ       TRQ_MODE // SKATEBOARD works best in TORQUE Mode
   //#define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
   #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
   #ifdef CONTROL_PWM_RIGHT
@@ -532,18 +527,18 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif  
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        0       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT1_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT1_MIN        -1000    // (-1000 - 0)
+  #define INPUT1_TYPE        0        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_MIN        -1000     // (-1000 - 0)
   #define INPUT1_MID         0
-  #define INPUT1_MAX         1000    // (0 - 1000)
+  #define INPUT1_MAX         1000     // (0 - 1000)
+  #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
-  #define INPUT2_DEADBAND    100     // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
-  #define INPUT2_MIN        -800     // (-1000 - 0)
+  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_MIN        -800      // (-1000 - 0)
   #define INPUT2_MID         0
-  #define INPUT2_MAX         700     // (0 - 1000)
-  #define INPUT2_OUT_MIN    -400     // (-1000 - 0) Change this value to adjust the braking amount
+  #define INPUT2_MAX         700      // (0 - 1000)
+  #define INPUT2_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
+  #define INPUT2_BRAKE      -400      // (-1000 - 0) Change this value to adjust the braking amount
   
   #define FILTER              6553    // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
   #define SPEED_COEFFICIENT   16384   // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
@@ -711,16 +706,6 @@
 
 
 // Functional checks
-#if defined(ADC_PROTECT_ENA) && ((ADC1_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC1_MAX + ADC_PROTECT_THRESH) >= 4095)
-  #warning ADC1 Protection NOT possible! Adjust the ADC thresholds.
-  #undef ADC_PROTECT_ENA
-#endif
-
-#if defined(ADC_PROTECT_ENA) && ((ADC2_MIN - ADC_PROTECT_THRESH) <= 0 || (ADC2_MAX + ADC_PROTECT_THRESH) >= 4095)
-  #warning ADC2 Protection NOT possible! Adjust the ADC thresholds.
-  #undef ADC_PROTECT_ENA
-#endif
-
 #if (defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)) && !defined(PPM_NUM_CHANNELS)
   #error Total number of PPM channels needs to be set
 #endif
diff --git a/Inc/util.h b/Inc/util.h
index 8f34635..54e0fe6 100644
--- a/Inc/util.h
+++ b/Inc/util.h
@@ -66,11 +66,11 @@ void shortBeep(uint8_t freq);
 void shortBeepMany(uint8_t cnt, int8_t dir);
 void longBeep(uint8_t freq);
 void calcAvgSpeed(void);
+int  addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
+int  checkInputType(int16_t min, int16_t mid, int16_t max);
 void adcCalibLim(void);
-int checkInputType(int16_t min, int16_t mid, int16_t max);
 void updateCurSpdLim(void);
 void saveConfig(void);
-int  addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max);
 void standstillHold(void);
 void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
 void cruiseControl(uint8_t button);
@@ -79,9 +79,9 @@ void cruiseControl(uint8_t button);
 void poweroff(void);
 void poweroffPressCheck(void);
 
-// Read Command Function
-void readCommand(void);
+// Read Functions
 void readInput(void);
+void readCommand(void);
 void usart2_rx_check(void);
 void usart3_rx_check(void);
 #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
diff --git a/Src/control.c b/Src/control.c
index a6c53be..3a82eb1 100644
--- a/Src/control.c
+++ b/Src/control.c
@@ -34,14 +34,13 @@ void PPM_ISR_Callback(void) {
   if (rc_delay > 3000) {
     if (ppm_valid && ppm_count == PPM_NUM_CHANNELS) {
       ppm_timeout = 0;
-      timeoutCnt = 0; // added this
+      timeoutCnt = 0;
       memcpy(ppm_captured_value, ppm_captured_value_buffer, sizeof(ppm_captured_value));
     }
     ppm_valid = true;
     ppm_count = 0;
   }
   else if (ppm_count < PPM_NUM_CHANNELS && IN_RANGE(rc_delay, 900, 2100)){
-    //timeoutCnt = 0;
     ppm_captured_value_buffer[ppm_count++] = CLAMP(rc_delay, 1000, 2000) - 1000;
   } else {
     ppm_valid = false;
diff --git a/Src/main.c b/Src/main.c
index abd59d9..90afd7e 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -210,6 +210,7 @@ int main(void) {
       if (enable == 0 && (!rtY_Left.z_errCode && !rtY_Right.z_errCode) && (cmd1 > -50 && cmd1 < 50) && (cmd2 > -50 && cmd2 < 50)){
         shortBeep(6);                     // make 2 beeps indicating the motor enable
         shortBeep(4); HAL_Delay(100);
+        steerFixdt = speedFixdt = 0;      // reset filters
         enable = 1;                       // enable motors
         consoleLog("-- Motors enabled --\r\n");
       }
diff --git a/Src/util.c b/Src/util.c
index 0deb562..926f83e 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -129,29 +129,29 @@ static int16_t INPUT_MIN;             // [-] Input target minimum limitation
 
 
 #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-  static uint8_t  cur_spd_valid = 0;
-  static uint8_t  input_cal_valid = 0;
+  static uint8_t  cur_spd_valid  = 0;
+  static uint8_t  inp_cal_valid  = 0;
+  static uint16_t INPUT1_TYP_CAL = INPUT1_TYPE; 
   static uint16_t INPUT1_MIN_CAL = INPUT1_MIN;
   static uint16_t INPUT1_MID_CAL = INPUT1_MID;
   static uint16_t INPUT1_MAX_CAL = INPUT1_MAX;
-  static uint16_t INPUT1_TYPE_CAL = INPUT1_TYPE; 
+  static uint16_t INPUT2_TYP_CAL = INPUT2_TYPE;
   static uint16_t INPUT2_MIN_CAL = INPUT2_MIN;
   static uint16_t INPUT2_MID_CAL = INPUT2_MID;
   static uint16_t INPUT2_MAX_CAL = INPUT2_MAX;
-  static uint16_t INPUT2_TYPE_CAL = INPUT2_TYPE;
 #endif
 
 #if defined(CONTROL_ADC)
-static int16_t timeoutCntADC   = 0;  // Timeout counter for ADC Protection
+static int16_t timeoutCntADC   = 0;              // Timeout counter for ADC Protection
 #endif
 
 #if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
-static uint8_t rx_buffer_L[SERIAL_BUFFER_SIZE];	// USART Rx DMA circular buffer
+static uint8_t  rx_buffer_L[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
 static uint32_t rx_buffer_L_len = ARRAY_LEN(rx_buffer_L);
 #endif
 #if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
-static uint16_t timeoutCntSerial_L  = 0;  		// Timeout counter for Rx Serial command
-static uint8_t  timeoutFlagSerial_L = 0;  		// Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
+static uint16_t timeoutCntSerial_L  = 0;        // Timeout counter for Rx Serial command
+static uint8_t  timeoutFlagSerial_L = 0;        // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
 #endif
 #if defined(SIDEBOARD_SERIAL_USART2)
 SerialSideboard Sideboard_L;
@@ -160,12 +160,12 @@ static uint32_t Sideboard_L_len = sizeof(Sideboard_L);
 #endif
 
 #if defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
-static uint8_t rx_buffer_R[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
+static uint8_t  rx_buffer_R[SERIAL_BUFFER_SIZE]; // USART Rx DMA circular buffer
 static uint32_t rx_buffer_R_len = ARRAY_LEN(rx_buffer_R);
 #endif
 #if defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
-static uint16_t timeoutCntSerial_R  = 0;  		// Timeout counter for Rx Serial command
-static uint8_t  timeoutFlagSerial_R = 0;  		// Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
+static uint16_t timeoutCntSerial_R  = 0;        // Timeout counter for Rx Serial command
+static uint8_t  timeoutFlagSerial_R = 0;        // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
 #endif
 #if defined(SIDEBOARD_SERIAL_USART3)
 SerialSideboard Sideboard_R;
@@ -273,32 +273,30 @@ void Input_Init(void) {
   #endif
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-
     uint16_t writeCheck, i_max, n_max;
-    HAL_FLASH_Unlock();    
-    EE_Init();            /* EEPROM Init */    
+    HAL_FLASH_Unlock();
+    EE_Init();            /* EEPROM Init */
     EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
     if (writeCheck == FLASH_WRITE_KEY) {
-      EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[4] , &INPUT2_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[7] , &i_max);
-      EE_ReadVariable(VirtAddVarTab[8] , &n_max);
-      EE_ReadVariable(VirtAddVarTab[9] , &INPUT1_TYPE_CAL);
-      EE_ReadVariable(VirtAddVarTab[10], &INPUT2_TYPE_CAL);
+      EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
+      EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
+      EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[9] , &i_max);
+      EE_ReadVariable(VirtAddVarTab[10], &n_max);
       rtP_Left.i_max  = i_max;
       rtP_Left.n_max  = n_max;
       rtP_Right.i_max = i_max;
       rtP_Right.n_max = n_max;
     }
     HAL_FLASH_Lock();
-
   #endif
 
-  #ifdef VARIANT_TRANSPOTTER    
+  #ifdef VARIANT_TRANSPOTTER
     enable = 1;
     
     HAL_FLASH_Unlock();    
@@ -358,12 +356,9 @@ void Input_Init(void) {
 #if defined(DEBUG_SERIAL_USART2) || defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2) || \
     defined(DEBUG_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
 void UART_DisableRxErrors(UART_HandleTypeDef *huart)
-{
-  /* Disable PE (Parity Error) interrupts */
-  CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE);
-
-  /* Disable EIE (Frame error, noise error, overrun error) interrupts */
-  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
+{  
+  CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE);    /* Disable PE (Parity Error) interrupts */  
+  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);     /* Disable EIE (Frame error, noise error, overrun error) interrupts */
 }
 #endif
 
@@ -421,6 +416,70 @@ void calcAvgSpeed(void) {
     speedAvgAbs   = abs(speedAvg);
 }
 
+ /*
+ * Add Dead-band to a signal
+ * This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
+ */
+int addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
+  switch (type){
+    case 0: // Input is ignored
+      return 0;
+    case 1: // Input is a normal pot
+      return CLAMP(MAP(u, in_min, in_max, 0, out_max), 0, out_max);
+    case 2: // Input is a mid resting pot
+      if( u > in_mid - deadBand && u < in_mid + deadBand ) {
+        return 0;
+      } else if(u > in_mid) {
+        return CLAMP(MAP(u, in_mid + deadBand, in_max, 0, out_max), 0, out_max);
+      } else {
+        return CLAMP(MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
+      }
+    default:
+      return 0; 
+  }	
+}
+
+ /*
+ * Check Input Type
+ * This function identifies the input type: 0: Disabled, 1: Normal Pot, 2: Middle Resting Pot
+ */
+int checkInputType(int16_t min, int16_t mid, int16_t max){  
+
+  int type = 0;  
+  #ifdef CONTROL_ADC
+  int16_t threshold = 400;      // Threshold to define if values are too close
+  #else
+  int16_t threshold = 200;
+  #endif
+
+  HAL_Delay(10);
+  if ((min / threshold) == (max / threshold)) {
+    consoleLog("Input is ignored");               // MIN and MAX are close, disable input
+    type = 0;
+  } else {
+    if ((min / threshold) == (mid / threshold)){
+      consoleLog("Input is a normal pot");        // MIN and MID are close, it's a normal pot
+      type = 1;
+    } else {      
+      consoleLog("Input is a mid-resting pot");   // it's a mid resting pot
+      type = 2; 
+    }
+    HAL_Delay(10);
+    #ifdef CONTROL_ADC
+    if ((min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095) {
+      consoleLog(" and protected");
+      shortBeep(2); // Indicate protection by a beep
+    }
+    #endif
+  }
+
+  HAL_Delay(10);
+  consoleLog("\n");
+  HAL_Delay(10);
+  
+  return type;
+}
+
  /*
  * Auto-calibration of the ADC Limits
  * This function finds the Minimum, Maximum, and Middle for the ADC input
@@ -435,23 +494,20 @@ void adcCalibLim(void) {
     return;
   }
 
-  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-  
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)  
   consoleLog("Input calibration started...\n");
 
-  readInput();  
-  // Inititalization: MIN = a high values, MAX = a low value,
-  int32_t input1_fixdt = input1 << 16;
-  int32_t input2_fixdt = input2 << 16;
+  readInput();
+  // Inititalization: MIN = a high value, MAX = a low value  
+  int32_t  input1_fixdt = input1 << 16;
+  int32_t  input2_fixdt = input2 << 16;
+  int16_t  INPUT1_MIN_temp = MAX_int16_T;
+  int16_t  INPUT1_MID_temp = 0;
+  int16_t  INPUT1_MAX_temp = MIN_int16_T;
+  int16_t  INPUT2_MIN_temp = MAX_int16_T;
+  int16_t  INPUT2_MID_temp = 0;
+  int16_t  INPUT2_MAX_temp = MIN_int16_T;
   uint16_t input_cal_timeout = 0;
-  int16_t INPUT1_MIN_temp   = INPUT1_MAX;
-  int16_t INPUT1_MID_temp   = 0;
-  int16_t INPUT1_MAX_temp   = INPUT1_MIN;
-  int16_t INPUT2_MIN_temp   = INPUT2_MAX;
-  int16_t INPUT2_MID_temp   = 0;
-  int16_t INPUT2_MAX_temp   = INPUT2_MIN;
-    
-  input_cal_valid = 1;
 
   // Extract MIN, MAX and MID from ADC while the power button is not pressed
   while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) {   // 20 sec timeout
@@ -459,90 +515,48 @@ void adcCalibLim(void) {
     filtLowPass32(input1, FILTER, &input1_fixdt);
     filtLowPass32(input2, FILTER, &input2_fixdt);
     
-    INPUT1_MID_temp = (int16_t)(input1_fixdt >> 16);// CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX);                   // convert fixed-point to integer
+    INPUT1_MID_temp = (int16_t)(input1_fixdt >> 16);// CLAMP(input1_fixdt >> 16, INPUT1_MIN, INPUT1_MAX);   // convert fixed-point to integer
     INPUT2_MID_temp = (int16_t)(input2_fixdt >> 16);// CLAMP(input2_fixdt >> 16, INPUT2_MIN, INPUT2_MAX);
     INPUT1_MIN_temp = MIN(INPUT1_MIN_temp, INPUT1_MID_temp);
-    INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);      
+    INPUT1_MAX_temp = MAX(INPUT1_MAX_temp, INPUT1_MID_temp);
     INPUT2_MIN_temp = MIN(INPUT2_MIN_temp, INPUT2_MID_temp);
     INPUT2_MAX_temp = MAX(INPUT2_MAX_temp, INPUT2_MID_temp);
     HAL_Delay(5);
   }
-  
-  uint16_t input_margin = 0;
+
   #ifdef CONTROL_ADC
-     input_margin = 100;
+  int16_t input_margin = 100;
+  #else
+  int16_t input_margin = 0;
   #endif
   
   INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
   INPUT1_MID_CAL = INPUT1_MID_temp;
   INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
-  INPUT1_TYPE_CAL = checkInputType(INPUT1_MIN_CAL,INPUT1_MID_CAL,INPUT1_MAX_CAL);
+  INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL);
 
   INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
   INPUT2_MID_CAL = INPUT2_MID_temp;
   INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
-  INPUT2_TYPE_CAL = checkInputType(INPUT2_MIN_CAL,INPUT2_MID_CAL,INPUT2_MAX_CAL);
+  INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
   
+  inp_cal_valid = 1;  // Mark calibration to be saved in Flash at shutdown
   consoleLog("Saved limits\n");
   HAL_Delay(10);
-  setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
-  setScopeChannel(1, (uint16_t)INPUT1_MID_CAL);
-  setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
-  setScopeChannel(3, (int16_t)0);
-  setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
-  setScopeChannel(5, (uint16_t)INPUT2_MID_CAL);
-  setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
-  setScopeChannel(7, (int16_t)0);
+  setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
+  setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
+  setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
+  setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
+  setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);  
+  setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
+  setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
+  setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);  
   consoleScope();
   HAL_Delay(20);
   consoleLog("OK\n");
   
   #endif
 }
-
-int checkInputType(int16_t min, int16_t mid, int16_t max){
-  
-  HAL_Delay(10);
-
-  int type = 0;
-
-  // Threshold to define if values are too close
-  int16_t threshold = 200;
-  #ifdef CONTROL_ADC
-    threshold = 400;
-  #endif
-
-  if ( (min/threshold) == (max/threshold) ){
-        // MIN MID and MAX are close, disable input
-        consoleLog("Input is ignored");
-        type = 0;
-    } else {
-      if ( (min/threshold) == (mid/threshold) ){
-        // MIN and MID are close, it's a normal pot
-        consoleLog("Input is a normal pot");
-        type = 1;
-      }else {
-        // it's a mid resting pot
-        consoleLog("Input is a mid-resting pot");
-        type = 2; 
-      }
-
-      HAL_Delay(10);
-      #ifdef CONTROL_ADC
-      if ( (min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095){
-        consoleLog(" and protected");
-      }
-      #endif
-  }
-
-  HAL_Delay(10);
-  consoleLog("\n");
-  HAL_Delay(10);
-  
-  return type;
-}
-
-
  /*
  * Update Maximum Motor Current Limit (via ADC1) and Maximum Speed Limit (via ADC2)
  * Procedure:
@@ -556,14 +570,14 @@ void updateCurSpdLim(void) {
   }
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-  
   consoleLog("Torque and Speed limits update started...\n");
 
-  int32_t input1_fixdt = input1 << 16;
-  int32_t input2_fixdt = input2 << 16;
-  uint16_t cur_spd_timeout = 0;
+  int32_t  input1_fixdt = input1 << 16;
+  int32_t  input2_fixdt = input2 << 16;  
   uint16_t cur_factor;    // fixdt(0,16,16)
   uint16_t spd_factor;    // fixdt(0,16,16)
+  uint16_t cur_spd_timeout = 0;
+  cur_spd_valid = 0;
 
   // Wait for the power button press
   while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) {  // 10 sec timeout
@@ -573,31 +587,31 @@ void updateCurSpdLim(void) {
     HAL_Delay(5);      
   }
   // Calculate scaling factors
-  cur_factor      = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
-  spd_factor      = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
+  cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
+  spd_factor = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535);    // ADC2, MIN_spd(5%)  = 50 rpm
       
-  if (INPUT1_TYPE_CAL != 0){
+  if (INPUT1_TYP_CAL != 0){
     // Update current limit
-    rtP_Right.i_max = rtP_Left.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
-    cur_spd_valid   = 1;
+    rtP_Left.i_max = rtP_Right.i_max  = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12);    // fixdt(0,16,16) to fixdt(1,16,4)
+    cur_spd_valid   = 1;  // Mark update to be saved in Flash at shutdown
   }
 
-  if (INPUT2_TYPE_CAL != 0){
+  if (INPUT2_TYP_CAL != 0){
     // Update speed limit
-    rtP_Right.n_max = rtP_Left.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
-    cur_spd_valid   = 1;
+    rtP_Left.n_max = rtP_Right.n_max  = (int16_t)((N_MOT_MAX * spd_factor) >> 12);                 // fixdt(0,16,16) to fixdt(1,16,4)
+    cur_spd_valid  += 2;  // Mark update to be saved in Flash at shutdown
   }
   
   consoleLog("Saved limits\n");
   HAL_Delay(10);
-  setScopeChannel(0, (int16_t)input1_fixdt);
-  setScopeChannel(1, (uint16_t)cur_factor);
-  setScopeChannel(2, (int16_t)rtP_Right.i_max);
-  setScopeChannel(3, (int16_t)0);
-  setScopeChannel(4, (int16_t)input2_fixdt);
-  setScopeChannel(5, (uint16_t)spd_factor);
-  setScopeChannel(6, (int16_t)rtP_Right.n_max);
-  setScopeChannel(7, (int16_t)0);
+  setScopeChannel(0, (int16_t)cur_spd_valid);     // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
+  setScopeChannel(1, (int16_t)input1_fixdt);
+  setScopeChannel(2, (int16_t)cur_factor);
+  setScopeChannel(3, (int16_t)rtP_Left.i_max);
+  setScopeChannel(4, (int16_t)0);
+  setScopeChannel(5, (int16_t)input2_fixdt);
+  setScopeChannel(6, (int16_t)spd_factor);
+  setScopeChannel(7, (int16_t)rtP_Left.n_max);    
   consoleScope();
   HAL_Delay(20);
   consoleLog("OK\n");
@@ -618,47 +632,24 @@ void saveConfig() {
     }
   #endif
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-    if (input_cal_valid || cur_spd_valid) {
+    if (inp_cal_valid || cur_spd_valid) {
       HAL_FLASH_Unlock();
       EE_WriteVariable(VirtAddVarTab[0] , FLASH_WRITE_KEY);
-      EE_WriteVariable(VirtAddVarTab[1] , INPUT1_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[4] , INPUT2_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[5] , INPUT2_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[7] , rtP_Left.i_max);
-      EE_WriteVariable(VirtAddVarTab[8] , rtP_Left.n_max);
-      EE_WriteVariable(VirtAddVarTab[9] , INPUT1_TYPE_CAL);
-      EE_WriteVariable(VirtAddVarTab[10], INPUT2_TYPE_CAL);
+      EE_WriteVariable(VirtAddVarTab[1] , INPUT1_TYP_CAL);
+      EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[4] , INPUT1_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[5] , INPUT2_TYP_CAL);
+      EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[7] , INPUT2_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[8] , INPUT2_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[9] , rtP_Left.i_max);
+      EE_WriteVariable(VirtAddVarTab[10], rtP_Left.n_max);      
       HAL_FLASH_Lock();
     }
   #endif 
 }
 
- /*
- * Add Dead-band to a signal
- * This function realizes a dead-band around 0 and scales the input between [out_min, out_max]
- */
-int addDeadBand(int16_t u, int16_t type, int16_t deadBand, int16_t in_min, int16_t in_mid, int16_t in_max, int16_t out_min, int16_t out_max) {
-  switch (type){
-    case 0: // Input is ignored 
-      return 0;
-    case 1: // Input is a normal pot 
-      return CLAMP(MAP( u , in_min, in_max, 0, out_max ), 0, out_max);
-    case 2: // Input is a mid resting pot 
-      if( u > in_mid - deadBand && u < in_mid + deadBand ) {
-        return 0;
-      } else if(u > in_mid) {
-        return CLAMP( MAP(u, in_mid + deadBand, in_max, 0, out_max), 0 , out_max);
-      } else {
-        return CLAMP( MAP(u, in_mid - deadBand, in_min, 0, out_min), out_min, 0);
-      }
-    default:
-      return 0; 
-  }	
-}
-
  /*
  * Standstill Hold Function
  * This function uses Cruise Control to provide an anti-roll functionality at standstill.
@@ -824,13 +815,18 @@ void poweroffPressCheck(void) {
   #endif
 }
 
+
+/* =========================== Read Functions =========================== */
+
+ /*
+ * Function to read the raw Input values from various input devices
+ */
 void readInput(void) {
-   #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
+    #if defined(CONTROL_NUNCHUK) || defined(SUPPORT_NUNCHUK)
       if (nunchuk_connected != 0) {
         Nunchuk_Read();
-	      input1 = (nunchuk_data[0] - 127) * 8; // X axis 0-255
-	      input2 = (nunchuk_data[1] - 128) * 8; // Y axis 0-255
-        			
+        input1 = (nunchuk_data[0] - 127) * 8; // X axis 0-255
+        input2 = (nunchuk_data[1] - 128) * 8; // Y axis 0-255            
         #ifdef SUPPORT_BUTTONS
           button1 = (uint8_t)nunchuk_data[5] & 1;
           button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
@@ -842,8 +838,8 @@ void readInput(void) {
       input1 = (ppm_captured_value[0] - 500) * 2;
       input2 = (ppm_captured_value[1] - 500) * 2;
       #ifdef SUPPORT_BUTTONS
-	      button1 = ppm_captured_value[5] > 500;
-	      button2 = 0;
+        button1 = ppm_captured_value[5] > 500;
+        button2 = 0;
       #endif
     #endif
 
@@ -854,8 +850,9 @@ void readInput(void) {
 
     #ifdef CONTROL_ADC
       // ADC values range: 0-4095, see ADC-calibration in config.h
-	    input1 = adc_buffer.l_tx2;
-	    input2 = adc_buffer.l_rx2;
+      input1 = adc_buffer.l_tx2;
+      input2 = adc_buffer.l_rx2;
+      timeoutCnt = 0;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@@ -866,38 +863,37 @@ void readInput(void) {
         }
         input1 = (ibus_captured_value[0] - 500) * 2;
         input2 = (ibus_captured_value[1] - 500) * 2; 
-      #else
-       if (IN_RANGE(command.steer, INPUT_MIN, INPUT_MAX) && IN_RANGE(command.speed, INPUT_MIN, INPUT_MAX)) {
+      #else        
         input1 = command.steer;
         input2 = command.speed;
-       }
       #endif
       timeoutCnt = 0;
-    #endif	
-	
+    #endif
 }
 
-/* =========================== Read Command Function =========================== */
-
+ /*
+ * Function to calculate the command to the motors. This function also manages:
+ * - timeout detection
+ * - MIN/MAX limitations and deadband
+ */
 void readCommand(void) {
     readInput();
     #ifdef CONTROL_ADC
       // If input1 or Input2 is either below MIN - Threshold or above MAX + Threshold, ADC protection timeout
-      if ((IN_RANGE(input1,(int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH,(int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH)) &&
-          (IN_RANGE(input2,(int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH,(int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH))){
-        if (timeoutFlagADC) {                         // Check for previous timeout flag  
-          if (timeoutCntADC-- <= 0)                   // Timeout de-qualification
-            timeoutFlagADC  = 0;                      // Timeout flag cleared           
+      if (IN_RANGE(input1, (int16_t)INPUT1_MIN_CAL - ADC_PROTECT_THRESH, (int16_t)INPUT1_MAX_CAL + ADC_PROTECT_THRESH) &&
+          IN_RANGE(input2, (int16_t)INPUT2_MIN_CAL - ADC_PROTECT_THRESH, (int16_t)INPUT2_MAX_CAL + ADC_PROTECT_THRESH)){
+        if (timeoutFlagADC) {                           // Check for previous timeout flag
+          if (timeoutCntADC-- <= 0)                     // Timeout de-qualification
+            timeoutFlagADC  = 0;                        // Timeout flag cleared
         } else {
-          timeoutCntADC     = 0;                      // Reset the timeout counter         
+          timeoutCntADC     = 0;                        // Reset the timeout counter
         }
       } else {
-        if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) { // Timeout qualification
-          timeoutFlagADC    = 1;                      // Timeout detected
-          timeoutCntADC     = ADC_PROTECT_TIMEOUT;    // Limit timout counter value
+        if (timeoutCntADC++ >= ADC_PROTECT_TIMEOUT) {   // Timeout qualification
+          timeoutFlagADC    = 1;                        // Timeout detected
+          timeoutCntADC     = ADC_PROTECT_TIMEOUT;      // Limit timout counter value
         }
-      }   
-      timeoutCnt = 0;
+      }
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
@@ -919,23 +915,13 @@ void readCommand(void) {
     #endif
 
     #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-      cmd1 = addDeadBand(input1, INPUT1_TYPE_CAL, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
+      cmd1 = addDeadBand(input1, INPUT1_TYP_CAL, INPUT1_DEADBAND, INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL, INPUT_MIN, INPUT_MAX);
       #if !defined(VARIANT_SKATEBOARD)
-        cmd2 = addDeadBand(input2, INPUT2_TYPE_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
+        cmd2 = addDeadBand(input2, INPUT2_TYP_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT_MIN, INPUT_MAX);
       #else      
-        cmd2 = addDeadBand(input2, INPUT2_TYPE_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_OUT_MIN, INPUT_MAX);
+        cmd2 = addDeadBand(input2, INPUT2_TYP_CAL, INPUT2_DEADBAND, INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL, INPUT2_BRAKE, INPUT_MAX);
       #endif
     #endif
-      
-
-    #ifdef VARIANT_HOVERCAR      
-      brakePressed = (uint8_t)(cmd1 > 50);
-    #endif
-	
-    #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
-      button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
-      button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
-    #endif
 
     #ifdef VARIANT_TRANSPOTTER
       #ifdef GAMETRAK_CONNECTION_NORMAL
@@ -948,6 +934,10 @@ void readCommand(void) {
       #endif
     #endif
 
+    #ifdef VARIANT_HOVERCAR
+      brakePressed = (uint8_t)(cmd1 > 50);
+    #endif
+
     if (timeoutFlagADC || timeoutFlagSerial || timeoutCnt > TIMEOUT) {  // In case of timeout bring the system to a Safe State
       ctrlModReq  = OPEN_MODE;                                          // Request OPEN_MODE. This will bring the motor power to 0 in a controlled way
       cmd1        = 0;
@@ -956,6 +946,11 @@ void readCommand(void) {
       ctrlModReq  = ctrlModReqRaw;                                      // Follow the Mode request
     }
 
+    #if defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT)
+      button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
+      button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
+    #endif
+
     #if defined(CRUISE_CONTROL_SUPPORT) && (defined(SUPPORT_BUTTONS) || defined(SUPPORT_BUTTONS_LEFT) || defined(SUPPORT_BUTTONS_RIGHT))
       cruiseControl(button1);                                           // Cruise control activation/deactivation
     #endif    
@@ -975,17 +970,17 @@ void usart2_rx_check(void)
   #endif
 
   #if defined(DEBUG_SERIAL_USART2)
-  if (pos != old_pos) {                                                 // Check change in received data		
+  if (pos != old_pos) {                                                 // Check change in received data
     if (pos > old_pos) {                                                // "Linear" buffer mode: check if current position is over previous one
       usart_process_debug(&rx_buffer_L[old_pos], pos - old_pos);        // Process data
     } else {                                                            // "Overflow" buffer mode
-      usart_process_debug(&rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First Process data from the end of buffer            
-      if (pos > 0) {                                                    // Check and continue with beginning of buffer				
-        usart_process_debug(&rx_buffer_L[0], pos);                      // Process remaining data 			
+      usart_process_debug(&rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First Process data from the end of buffer
+      if (pos > 0) {                                                    // Check and continue with beginning of buffer
+        usart_process_debug(&rx_buffer_L[0], pos);                      // Process remaining data
       }
     }
   }
-	#endif // DEBUG_SERIAL_USART2
+  #endif // DEBUG_SERIAL_USART2
 
   #ifdef CONTROL_SERIAL_USART2
   uint8_t *ptr;	
@@ -997,7 +992,7 @@ void usart2_rx_check(void)
     } else if ((rx_buffer_L_len - old_pos + pos) == command_len) {      // "Overflow" buffer mode: check if data length equals expected length
       memcpy(ptr, &rx_buffer_L[old_pos], rx_buffer_L_len - old_pos);    // First copy data from the end of buffer
       if (pos > 0) {                                                    // Check and continue with beginning of buffer
-        ptr += rx_buffer_L_len - old_pos;                               // Move to correct position in command_raw		
+        ptr += rx_buffer_L_len - old_pos;                               // Move to correct position in command_raw
         memcpy(ptr, &rx_buffer_L[0], pos);                              // Copy remaining data
       }
       usart_process_command(&command_raw, &command, 2);                 // Process data
@@ -1005,7 +1000,7 @@ void usart2_rx_check(void)
   }
   #endif // CONTROL_SERIAL_USART2
 
-	#ifdef SIDEBOARD_SERIAL_USART2
+  #ifdef SIDEBOARD_SERIAL_USART2
   uint8_t *ptr;	
   if (pos != old_pos) {                                                 // Check change in received data
     ptr = (uint8_t *)&Sideboard_L_raw;                                  // Initialize the pointer with Sideboard_raw address
@@ -1015,7 +1010,7 @@ void usart2_rx_check(void)
     } else if ((rx_buffer_L_len - old_pos + pos) == Sideboard_L_len) {  // "Overflow" buffer mode: check if data length equals expected length
       memcpy(ptr, &rx_buffer_L[old_pos], rx_buffer_L_len - old_pos);    // First copy data from the end of buffer
       if (pos > 0) {                                                    // Check and continue with beginning of buffer
-        ptr += rx_buffer_L_len - old_pos;                               // Move to correct position in Sideboard_raw		
+        ptr += rx_buffer_L_len - old_pos;                               // Move to correct position in Sideboard_raw
         memcpy(ptr, &rx_buffer_L[0], pos);                              // Copy remaining data
       }
       usart_process_sideboard(&Sideboard_L_raw, &Sideboard_L, 2);       // Process data
@@ -1045,17 +1040,17 @@ void usart3_rx_check(void)
   #endif
 
   #if defined(DEBUG_SERIAL_USART3)
-  if (pos != old_pos) {                                                 // Check change in received data		
+  if (pos != old_pos) {                                                 // Check change in received data
     if (pos > old_pos) {                                                // "Linear" buffer mode: check if current position is over previous one
       usart_process_debug(&rx_buffer_R[old_pos], pos - old_pos);        // Process data
     } else {                                                            // "Overflow" buffer mode
-      usart_process_debug(&rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First Process data from the end of buffer            
-      if (pos > 0) {                                                    // Check and continue with beginning of buffer				
-        usart_process_debug(&rx_buffer_R[0], pos);                      // Process remaining data 			
+      usart_process_debug(&rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First Process data from the end of buffer
+      if (pos > 0) {                                                    // Check and continue with beginning of buffer
+        usart_process_debug(&rx_buffer_R[0], pos);                      // Process remaining data
       }
     }
   }
-	#endif // DEBUG_SERIAL_USART3
+  #endif // DEBUG_SERIAL_USART3
 
   #ifdef CONTROL_SERIAL_USART3
   uint8_t *ptr;	
@@ -1067,7 +1062,7 @@ void usart3_rx_check(void)
     } else if ((rx_buffer_R_len - old_pos + pos) == command_len) {      // "Overflow" buffer mode: check if data length equals expected length
       memcpy(ptr, &rx_buffer_R[old_pos], rx_buffer_R_len - old_pos);    // First copy data from the end of buffer
       if (pos > 0) {                                                    // Check and continue with beginning of buffer
-        ptr += rx_buffer_R_len - old_pos;                               // Move to correct position in command_raw		
+        ptr += rx_buffer_R_len - old_pos;                               // Move to correct position in command_raw
         memcpy(ptr, &rx_buffer_R[0], pos);                              // Copy remaining data
       }
       usart_process_command(&command_raw, &command, 3);                 // Process data
@@ -1075,7 +1070,7 @@ void usart3_rx_check(void)
   }
   #endif // CONTROL_SERIAL_USART3
 
-	#ifdef SIDEBOARD_SERIAL_USART3
+  #ifdef SIDEBOARD_SERIAL_USART3
   uint8_t *ptr;
   if (pos != old_pos) {                                                 // Check change in received data
     ptr = (uint8_t *)&Sideboard_R_raw;                                  // Initialize the pointer with Sideboard_raw address
@@ -1085,7 +1080,7 @@ void usart3_rx_check(void)
     } else if ((rx_buffer_R_len - old_pos + pos) == Sideboard_R_len) {  // "Overflow" buffer mode: check if data length equals expected length
       memcpy(ptr, &rx_buffer_R[old_pos], rx_buffer_R_len - old_pos);    // First copy data from the end of buffer
       if (pos > 0) {                                                    // Check and continue with beginning of buffer
-        ptr += rx_buffer_R_len - old_pos;                               // Move to correct position in Sideboard_raw		
+        ptr += rx_buffer_R_len - old_pos;                               // Move to correct position in Sideboard_raw
         memcpy(ptr, &rx_buffer_R[0], pos);                              // Copy remaining data
       }
       usart_process_sideboard(&Sideboard_R_raw, &Sideboard_R, 3);       // Process data
@@ -1098,7 +1093,7 @@ void usart3_rx_check(void)
   if (old_pos == rx_buffer_R_len) {                                     // Check and manually update if we reached end of buffer
     old_pos = 0;
   }
-	#endif
+  #endif
 }
 
 /*
@@ -1107,11 +1102,11 @@ void usart3_rx_check(void)
 #if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
 void usart_process_debug(uint8_t *userCommand, uint32_t len)
 {
-	for (; len > 0; len--, userCommand++) {
-		if (*userCommand != '\n' && *userCommand != '\r') { 	// Do not accept 'new line' and 'carriage return' commands
-      //consoleLog("-- Command received --\r\n");						
-			// handle_input(*userCommand);                      // -> Create this function to handle the user commands
-		}
+  for (; len > 0; len--, userCommand++) {
+    if (*userCommand != '\n' && *userCommand != '\r') {   // Do not accept 'new line' and 'carriage return' commands
+      consoleLog("-- Command received --\r\n");
+      // handle_input(*userCommand);                      // -> Create this function to handle the user commands
+    }
   }
 }
 #endif // SERIAL_DEBUG
@@ -1146,10 +1141,10 @@ void usart_process_command(SerialCommand *command_in, SerialCommand *command_out
     }
   #else
   uint16_t checksum;
-	if (command_in->start == SERIAL_START_FRAME) {
-		checksum = (uint16_t)(command_in->start ^ command_in->steer ^ command_in->speed);
-		if (command_in->checksum == checksum) {					
-			*command_out = *command_in;
+  if (command_in->start == SERIAL_START_FRAME) {
+    checksum = (uint16_t)(command_in->start ^ command_in->steer ^ command_in->speed);
+    if (command_in->checksum == checksum) {
+      *command_out = *command_in;
       if (usart_idx == 2) {             // Sideboard USART2
         #ifdef CONTROL_SERIAL_USART2
         timeoutCntSerial_L  = 0;        // Reset timeout counter
@@ -1173,12 +1168,12 @@ void usart_process_command(SerialCommand *command_in, SerialCommand *command_out
  */
 #if defined(SIDEBOARD_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART3)
 void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sideboard_out, uint8_t usart_idx)
-{	
+{
   uint16_t checksum;
-	if (Sideboard_in->start == SERIAL_START_FRAME) {
-		checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->roll ^ Sideboard_in->pitch ^ Sideboard_in->yaw ^ Sideboard_in->sensors);
-		if (Sideboard_in->checksum == checksum) {					
-			*Sideboard_out = *Sideboard_in;
+  if (Sideboard_in->start == SERIAL_START_FRAME) {
+    checksum = (uint16_t)(Sideboard_in->start ^ Sideboard_in->roll ^ Sideboard_in->pitch ^ Sideboard_in->yaw ^ Sideboard_in->sensors);
+    if (Sideboard_in->checksum == checksum) {
+      *Sideboard_out = *Sideboard_in;
       if (usart_idx == 2) {             // Sideboard USART2
         #ifdef SIDEBOARD_SERIAL_USART2
         timeoutCntSerial_L  = 0;        // Reset timeout counter
@@ -1191,7 +1186,7 @@ void usart_process_sideboard(SerialSideboard *Sideboard_in, SerialSideboard *Sid
         #endif
       }
     }
-	}
+  }
 }
 #endif
 

From 8dc6eb68eb34f188c4fd07f6bf882bfc5b8e5d01 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Wed, 18 Nov 2020 19:44:23 +0100
Subject: [PATCH 24/26] Updated Flash write order

---
 Src/util.c | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/Src/util.c b/Src/util.c
index 926f83e..8c9177f 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -280,12 +280,12 @@ void Input_Init(void) {
     if (writeCheck == FLASH_WRITE_KEY) {
       EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
       EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MAX_CAL);
       EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
       EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MAX_CAL);
       EE_ReadVariable(VirtAddVarTab[9] , &i_max);
       EE_ReadVariable(VirtAddVarTab[10], &n_max);
       rtP_Left.i_max  = i_max;
@@ -637,14 +637,14 @@ void saveConfig() {
       EE_WriteVariable(VirtAddVarTab[0] , FLASH_WRITE_KEY);
       EE_WriteVariable(VirtAddVarTab[1] , INPUT1_TYP_CAL);
       EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[4] , INPUT1_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[4] , INPUT1_MAX_CAL);
       EE_WriteVariable(VirtAddVarTab[5] , INPUT2_TYP_CAL);
       EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[7] , INPUT2_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[8] , INPUT2_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[7] , INPUT2_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[8] , INPUT2_MAX_CAL);
       EE_WriteVariable(VirtAddVarTab[9] , rtP_Left.i_max);
-      EE_WriteVariable(VirtAddVarTab[10], rtP_Left.n_max);      
+      EE_WriteVariable(VirtAddVarTab[10], rtP_Left.n_max);
       HAL_FLASH_Lock();
     }
   #endif 

From 44cf0c8f1ff86b72ed6adddd79403fa6b2878b75 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Thu, 19 Nov 2020 17:49:14 +0100
Subject: [PATCH 25/26] update Auto-calibration

- implemented forced potentiometer type
- extended the INPUTx_TYPE to 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
---
 Inc/config.h | 43 ++++++++++++++++-------------
 Src/util.c   | 78 +++++++++++++++++++++++++++-------------------------
 2 files changed, 64 insertions(+), 57 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index c752b0f..1f9dc87 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -253,15 +253,15 @@
   #define CONTROL_ADC                     // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
   #define ADC_PROTECT_TIMEOUT   100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH    200       // ADC Protection threshold below/above the MIN/MAX ADC values
-  #define INPUT1_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE           3         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN            0         // min ADC1-value while poti at minimum-position (0 - 4095)
-  #define INPUT1_MID            2048      // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
+  #define INPUT1_MID            0         // mid ADC1-value while poti at minimum-position (ADC1_MIN - ADC1_MAX)
   #define INPUT1_MAX            4095      // max ADC1-value while poti at maximum-position (0 - 4095)
   #define INPUT1_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE           2         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE           3         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN            0         // min ADC2-value while poti at minimum-position (0 - 4095)
-  #define INPUT2_MID            2048      // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
+  #define INPUT2_MID            0         // mid ADC2-value while poti at minimum-position (ADC2_MIN - ADC2_MAX)
   #define INPUT2_MAX            4095      // max ADC2-value while poti at maximum-position (0 - 4095)
   #define INPUT2_DEADBAND       0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   // #define SUPPORT_BUTTONS_LEFT            // use left sensor board cable for button inputs.  Disable DEBUG_SERIAL_USART2!
@@ -281,13 +281,13 @@
   #define CONTROL_SERIAL_USART3      // right sensor board cable, disable if I2C (nunchuk or lcd) is used! For Arduino control check the hoverSerial.ino
   #define FEEDBACK_SERIAL_USART3     // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3       // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000    // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000    // (0 - 1000)
   #define INPUT1_DEADBAND    0       // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2       // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        3       // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1000    // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000    // (0 - 1000)
@@ -309,13 +309,13 @@
   */
   #define CONTROL_NUNCHUK           // use nunchuk as input. disable FEEDBACK_SERIAL_USART3, DEBUG_SERIAL_USART3!
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2      // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        2      // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1024   // (-1024 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1024   // (0 - 1024)
   #define INPUT1_DEADBAND    0      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2      // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        2      // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1024   // (-1024 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1024   // (0 - 1024)
@@ -346,13 +346,13 @@
   #endif
   #define PPM_NUM_CHANNELS   6        // total number of PPM channels to receive, even if they are not used.
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000     // (-1000 - 0)
-  #define INPUT1_MID         0
+  #define INPUT1_MID         3
   #define INPUT1_MAX         1000     // (0 - 1000)
   #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        2        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1000     // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000     // (0 - 1000)
@@ -378,13 +378,13 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000     // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000     // (0 - 1000)
   #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1000     // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000     // (0 - 1000)
@@ -419,13 +419,13 @@
   // #define DEBUG_SERIAL_USART3         // right sensor cable debug
 
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000     // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000     // (0 - 1000)
   #define INPUT1_DEADBAND    0        // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -1000     // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         1000     // (0 - 1000)
@@ -443,13 +443,13 @@
   #define ADC_PROTECT_TIMEOUT 100       // ADC Protection: number of wrong / missing input commands before safety state is taken
   #define ADC_PROTECT_THRESH  200       // ADC Protection threshold below/above the MIN/MAX ADC values
   
-  #define INPUT1_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE         1         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN          1000      // min ADC1-value while poti at minimum-position (0 - 4095)
   #define INPUT1_MID          0
   #define INPUT1_MAX          2500      // max ADC1-value while poti at maximum-position (0 - 4095)
   #define INPUT1_DEADBAND     0         // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE         1         // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE         1         // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN          500       // min ADC2-value while poti at minimum-position (0 - 4095)
   #define INPUT2_MID          0
   #define INPUT2_MAX          2200      // max ADC2-value while poti at maximum-position (0 - 4095)
@@ -527,13 +527,13 @@
     #define DEBUG_SERIAL_USART3       // right sensor cable debug
   #endif  
   // Min / Max values of each channel (use DEBUG to determine these values)
-  #define INPUT1_TYPE        0        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT1_TYPE        0        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000     // (-1000 - 0)
   #define INPUT1_MID         0
   #define INPUT1_MAX         1000     // (0 - 1000)
   #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
-  #define INPUT2_TYPE        2        // 0:Disabled 1:Normal POT 2:Middle Resting Pot
+  #define INPUT2_TYPE        2        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT2_MIN        -800      // (-1000 - 0)
   #define INPUT2_MID         0
   #define INPUT2_MAX         700      // (0 - 1000)
@@ -587,6 +587,11 @@
 #ifndef STEER_COEFFICIENT
   #define STEER_COEFFICIENT DEFAULT_STEER_COEFFICIENT
 #endif
+#ifdef CONTROL_ADC
+  #define INPUT_MARGIN            100                     // Input margin applied on the raw ADC min and max to make sure the motor MIN and MAX values are reached even in the presence of noise
+#else
+  #define INPUT_MARGIN            0
+#endif
 // ########################### END OF APPLY DEFAULT SETTING ############################
 
 
diff --git a/Src/util.c b/Src/util.c
index 8c9177f..bd795f1 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -292,6 +292,9 @@ void Input_Init(void) {
       rtP_Left.n_max  = n_max;
       rtP_Right.i_max = i_max;
       rtP_Right.n_max = n_max;
+    } else { // Else If Input type is 3 (auto), identify the input type based on the values from config.h
+      if (INPUT1_TYPE == 3) { INPUT1_TYP_CAL = checkInputType(INPUT1_MIN, INPUT1_MID, INPUT1_MAX); }
+      if (INPUT2_TYPE == 3) { INPUT2_TYP_CAL = checkInputType(INPUT2_MIN, INPUT2_MID, INPUT2_MAX); }
     }
     HAL_FLASH_Lock();
   #endif
@@ -453,22 +456,22 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
   #endif
 
   HAL_Delay(10);
-  if ((min / threshold) == (max / threshold)) {
-    consoleLog("Input is ignored");               // MIN and MAX are close, disable input
+  if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold)) {
     type = 0;
+    consoleLog("Input is ignored");               // (MIN and MAX) OR (MID and MAX) are close, disable input
   } else {
     if ((min / threshold) == (mid / threshold)){
-      consoleLog("Input is a normal pot");        // MIN and MID are close, it's a normal pot
       type = 1;
-    } else {      
+      consoleLog("Input is a normal pot");        // MIN and MID are close, it's a normal pot
+    } else {
+      type = 2;
       consoleLog("Input is a mid-resting pot");   // it's a mid resting pot
-      type = 2; 
     }
     HAL_Delay(10);
     #ifdef CONTROL_ADC
-    if ((min - ADC_PROTECT_THRESH) > 0 && (max + ADC_PROTECT_THRESH) < 4095) {
+    if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
       consoleLog(" and protected");
-      shortBeep(2); // Indicate protection by a beep
+      longBeep(2); // Indicate protection by a beep
     }
     #endif
   }
@@ -494,11 +497,11 @@ void adcCalibLim(void) {
     return;
   }
 
-  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)  
+  #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
   consoleLog("Input calibration started...\n");
 
   readInput();
-  // Inititalization: MIN = a high value, MAX = a low value  
+  // Inititalization: MIN = a high value, MAX = a low value
   int32_t  input1_fixdt = input1 << 16;
   int32_t  input2_fixdt = input2 << 16;
   int16_t  INPUT1_MIN_temp = MAX_int16_T;
@@ -524,37 +527,39 @@ void adcCalibLim(void) {
     HAL_Delay(5);
   }
 
-  #ifdef CONTROL_ADC
-  int16_t input_margin = 100;
-  #else
-  int16_t input_margin = 0;
-  #endif
-  
-  INPUT1_MIN_CAL = INPUT1_MIN_temp + input_margin;
-  INPUT1_MID_CAL = INPUT1_MID_temp;
-  INPUT1_MAX_CAL = INPUT1_MAX_temp - input_margin;
-  INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_CAL, INPUT1_MID_CAL, INPUT1_MAX_CAL);
+  INPUT1_TYP_CAL = checkInputType(INPUT1_MIN_temp, INPUT1_MID_temp, INPUT1_MAX_temp);
+  if (INPUT1_TYP_CAL == INPUT1_TYPE || INPUT1_TYPE == 3) {  // Accept calibration only if the type is correct OR type was set to 3 (auto)
+    INPUT1_MIN_CAL = INPUT1_MIN_temp + INPUT_MARGIN;
+    INPUT1_MID_CAL = INPUT1_MID_temp;
+    INPUT1_MAX_CAL = INPUT1_MAX_temp - INPUT_MARGIN;
+    consoleLog("Input1 OK\n");    HAL_Delay(10);
+  } else {
+    INPUT1_TYP_CAL = 0; // Disable input
+    consoleLog("Input1 Fail\n");  HAL_Delay(10);
+  }
 
-  INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
-  INPUT2_MID_CAL = INPUT2_MID_temp;
-  INPUT2_MAX_CAL = INPUT2_MAX_temp - input_margin;
-  INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_CAL, INPUT2_MID_CAL, INPUT2_MAX_CAL);
-  
-  inp_cal_valid = 1;  // Mark calibration to be saved in Flash at shutdown
-  consoleLog("Saved limits\n");
-  HAL_Delay(10);
+  INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
+  if (INPUT2_TYP_CAL == INPUT2_TYPE || INPUT2_TYPE == 3) {  // Accept calibration only if the type is correct OR type was set to 3 (auto)
+    INPUT2_MIN_CAL = INPUT2_MIN_temp + INPUT_MARGIN;
+    INPUT2_MID_CAL = INPUT2_MID_temp;
+    INPUT2_MAX_CAL = INPUT2_MAX_temp - INPUT_MARGIN;
+    consoleLog("Input2 OK\n");    HAL_Delay(10);
+  } else {
+    INPUT2_TYP_CAL = 0; // Disable input
+    consoleLog("Input2 Fail\n");  HAL_Delay(10);
+  }
+
+  inp_cal_valid = 1;    // Mark calibration to be saved in Flash at shutdown
+  consoleLog("Limits: "); HAL_Delay(10);
   setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
   setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
   setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
   setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
-  setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);  
+  setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);
   setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
   setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
-  setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);  
+  setScopeChannel(7, (int16_t)INPUT2_MAX_CAL);
   consoleScope();
-  HAL_Delay(20);
-  consoleLog("OK\n");
-  
   #endif
 }
  /*
@@ -584,7 +589,7 @@ void updateCurSpdLim(void) {
     readInput();
     filtLowPass32(input1, FILTER, &input1_fixdt);
     filtLowPass32(input2, FILTER, &input2_fixdt);
-    HAL_Delay(5);      
+    HAL_Delay(5);
   }
   // Calculate scaling factors
   cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535);    // ADC1, MIN_cur(10%) = 1.5 A 
@@ -602,8 +607,7 @@ void updateCurSpdLim(void) {
     cur_spd_valid  += 2;  // Mark update to be saved in Flash at shutdown
   }
   
-  consoleLog("Saved limits\n");
-  HAL_Delay(10);
+  consoleLog("Limits: "); HAL_Delay(10);
   setScopeChannel(0, (int16_t)cur_spd_valid);     // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
   setScopeChannel(1, (int16_t)input1_fixdt);
   setScopeChannel(2, (int16_t)cur_factor);
@@ -611,10 +615,8 @@ void updateCurSpdLim(void) {
   setScopeChannel(4, (int16_t)0);
   setScopeChannel(5, (int16_t)input2_fixdt);
   setScopeChannel(6, (int16_t)spd_factor);
-  setScopeChannel(7, (int16_t)rtP_Left.n_max);    
+  setScopeChannel(7, (int16_t)rtP_Left.n_max);
   consoleScope();
-  HAL_Delay(20);
-  consoleLog("OK\n");
 
   #endif
 }

From 925008467bb55d97291ef23cac069cc8e520fe59 Mon Sep 17 00:00:00 2001
From: EmanuelFeru <aerdronix@gmail.com>
Date: Thu, 19 Nov 2020 21:51:15 +0100
Subject: [PATCH 26/26] Minor updates RC

- moved all the RC inputs (PPM, PWM, iBUS) to Right cable
- updated timing to enter torque and speed update from 300ms to 1000ms
---
 Inc/config.h | 34 ++++++++++++++++++++--------------
 Src/util.c   |  8 ++++----
 2 files changed, 24 insertions(+), 18 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index 1f9dc87..8cb1715 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -334,11 +334,11 @@
 // ################################# VARIANT_PPM SETTINGS ##############################
 #ifdef VARIANT_PPM
 /* ###### CONTROL VIA RC REMOTE ######
- * left sensor board cable. Channel 1: steering, Channel 2: speed.
+ * Right sensor board cable. Channel 1: steering, Channel 2: speed.
  * https://gist.github.com/peterpoetzi/1b63a4a844162196613871767189bd05
 */
-  #define CONTROL_PPM_LEFT            // use PPM-Sum as input on the LEFT cable . disable CONTROL_SERIAL_USART2!
-  // #define CONTROL_PPM_RIGHT           // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
+  // #define CONTROL_PPM_LEFT            // use PPM-Sum as input on the LEFT cable . disable CONTROL_SERIAL_USART2!
+  #define CONTROL_PPM_RIGHT           // use PPM-Sum as input on the RIGHT cable. disable CONTROL_SERIAL_USART3!
   #ifdef CONTROL_PPM_RIGHT
     #define DEBUG_SERIAL_USART2       // left sensor cable debug
   #else
@@ -348,7 +348,7 @@
   // Min / Max values of each channel (use DEBUG to determine these values)
   #define INPUT1_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
   #define INPUT1_MIN        -1000     // (-1000 - 0)
-  #define INPUT1_MID         3
+  #define INPUT1_MID         0
   #define INPUT1_MAX         1000     // (0 - 1000)
   #define INPUT1_DEADBAND    100      // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
   
@@ -367,11 +367,11 @@
 // ################################# VARIANT_PWM SETTINGS ##############################
 #ifdef VARIANT_PWM
 /* ###### CONTROL VIA RC REMOTE ######
- * left sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
+ * Right sensor board cable. Connect PA2 to channel 1 and PA3 to channel 2 on receiver.
  * Channel 1: steering, Channel 2: speed.
 */
-  #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
-  // #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
+  // #define CONTROL_PWM_LEFT            // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
+  #define CONTROL_PWM_RIGHT           // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
   #ifdef CONTROL_PWM_RIGHT
     #define DEBUG_SERIAL_USART2       // left sensor cable debug
   #else
@@ -405,18 +405,22 @@
 // ################################# VARIANT_IBUS SETTINGS ##############################
 #ifdef VARIANT_IBUS
 /* CONTROL VIA RC REMOTE WITH FLYSKY IBUS PROTOCOL 
-* Connected to Left sensor board cable. Channel 1: steering, Channel 2: speed.
+* Connected to Right sensor board cable. Channel 1: steering, Channel 2: speed.
 */
   #define CONTROL_IBUS               // use IBUS as input
   #define IBUS_NUM_CHANNELS   14     // total number of IBUS channels to receive, even if they are not used.
   #define IBUS_LENGTH         0x20
   #define IBUS_COMMAND        0x40
 
-  #undef  USART2_BAUD
-  #define USART2_BAUD        115200
-  #define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
-  #define FEEDBACK_SERIAL_USART2      // left sensor board cable, disable if ADC or PPM is used!
-  // #define DEBUG_SERIAL_USART3         // right sensor cable debug
+  #undef  USART3_BAUD
+  #define USART3_BAUD        115200
+  #define CONTROL_SERIAL_USART3       // left sensor board cable, disable if ADC or PPM is used!
+  #define FEEDBACK_SERIAL_USART3      // left sensor board cable, disable if ADC or PPM is used!
+  #ifdef CONTROL_SERIAL_USART3
+    #define DEBUG_SERIAL_USART2       // left sensor cable debug
+  #else
+    #define DEBUG_SERIAL_USART3       // right sensor cable debug
+  #endif
 
   // Min / Max values of each channel (use DEBUG to determine these values)
   #define INPUT1_TYPE        3        // 0:Disabled, 1:Normal Pot, 2:Middle Resting Pot, 3:Auto-detect
@@ -567,7 +571,9 @@
   #define USART2_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
 #endif
 #if defined(FEEDBACK_SERIAL_USART3) || defined(CONTROL_SERIAL_USART3) || defined(DEBUG_SERIAL_USART3) || defined(SIDEBOARD_SERIAL_USART3)
-  #define USART3_BAUD             38400                   // UART3 baud rate (short wired cable)
+  #ifndef USART3_BAUD
+    #define USART3_BAUD             38400                 // UART3 baud rate (short wired cable)
+  #endif
   #define USART3_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
 #endif
 // ########################### UART SETIINGS ############################
diff --git a/Src/util.c b/Src/util.c
index bd795f1..26d8e35 100644
--- a/Src/util.c
+++ b/Src/util.c
@@ -456,7 +456,7 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
   #endif
 
   HAL_Delay(10);
-  if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold)) {
+  if ((min / threshold) == (max / threshold) || (mid / threshold) == (max / threshold) || min > max || mid > max) {
     type = 0;
     consoleLog("Input is ignored");               // (MIN and MAX) OR (MID and MAX) are close, disable input
   } else {
@@ -769,12 +769,12 @@ void poweroffPressCheck(void) {
       uint16_t cnt_press = 0;
       while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
         HAL_Delay(10);
-        if (cnt_press++ == 5 * 100) { shortBeep(5); }          
+        if (cnt_press++ == 5 * 100) { shortBeep(5); }
       }
       if (cnt_press >= 5 * 100) {                         // Check if press is more than 5 sec
-        HAL_Delay(300);        
+        HAL_Delay(1000);
         if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {  // Double press: Adjust Max Current, Max Speed
-          while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }  
+          while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
           longBeep(8);
           updateCurSpdLim();
           shortBeep(5);