Input Auto-calibration

- mainly rearangement of function
- updated initialization in the auto-calibration function
- added beep for confirmation of Input protection

Inc/config.h

@@ -168,7 +168,7 @@
 // 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 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
+ * 1:   (int16_t)input1);                                                   raw input1: ADC1, UART, PWM, PPM, iBUS
- * 2:   (int16_t)adc_buffer.l_rx2);                                         ADC2
+ * 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
@@ -282,16 +282,16 @@
   #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 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
@@ -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.
@@ -310,16 +310,16 @@
   #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_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_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)
+  #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
@@ -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
@@ -347,16 +347,16 @@
   #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_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_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 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!
@@ -379,16 +379,16 @@
   #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_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_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 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 ############################
 
@@ -417,24 +412,24 @@
   #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
+
+  // 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
@@ -533,17 +528,17 @@
   #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_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_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_OUT_MIN    -400     // (-1000 - 0) Change this value to adjust the braking amount
+  #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

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);
-void adcCalibLim(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);
 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
+// Read Functions
-void readCommand(void);
 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)

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;

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");
       }

Src/util.c

@@ -130,15 +130,15 @@ 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  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)
@@ -273,29 +273,27 @@ 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 */
     EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
     if (writeCheck == FLASH_WRITE_KEY) {
-      EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[1] , &INPUT1_TYP_CAL);
-      EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[2] , &INPUT1_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[3] , &INPUT1_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[4] , &INPUT2_MIN_CAL);
+      EE_ReadVariable(VirtAddVarTab[4] , &INPUT1_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_MAX_CAL);
+      EE_ReadVariable(VirtAddVarTab[5] , &INPUT2_TYP_CAL);
-      EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MID_CAL);
+      EE_ReadVariable(VirtAddVarTab[6] , &INPUT2_MIN_CAL);
-      EE_ReadVariable(VirtAddVarTab[7] , &i_max);
+      EE_ReadVariable(VirtAddVarTab[7] , &INPUT2_MAX_CAL);
-      EE_ReadVariable(VirtAddVarTab[8] , &n_max);
+      EE_ReadVariable(VirtAddVarTab[8] , &INPUT2_MID_CAL);
-      EE_ReadVariable(VirtAddVarTab[9] , &INPUT1_TYPE_CAL);
+      EE_ReadVariable(VirtAddVarTab[9] , &i_max);
-      EE_ReadVariable(VirtAddVarTab[10], &INPUT2_TYPE_CAL);
+      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
@@ -359,11 +357,8 @@ void Input_Init(void) {
     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 PE (Parity Error) interrupts */  
-  CLEAR_BIT(huart->Instance->CR1, USART_CR1_PEIE);
+  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);     /* Disable EIE (Frame error, noise error, overrun error) interrupts */
-
-  /* Disable EIE (Frame error, noise error, overrun error) interrupts */
-  CLEAR_BIT(huart->Instance->CR3, USART_CR3_EIE);
 }
 #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
@@ -436,22 +495,19 @@ void adcCalibLim(void) {
   }
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)  
-  
   consoleLog("Input calibration started...\n");
 
   readInput();
-  // Inititalization: MIN = a high values, 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;
-  uint16_t input_cal_timeout = 0;
+  int16_t  INPUT1_MIN_temp = MAX_int16_T;
-  int16_t INPUT1_MIN_temp   = INPUT1_MAX;
   int16_t  INPUT1_MID_temp = 0;
-  int16_t INPUT1_MAX_temp   = INPUT1_MIN;
+  int16_t  INPUT1_MAX_temp = MIN_int16_T;
-  int16_t INPUT2_MIN_temp   = INPUT2_MAX;
+  int16_t  INPUT2_MIN_temp = MAX_int16_T;
   int16_t  INPUT2_MID_temp = 0;
-  int16_t INPUT2_MAX_temp   = INPUT2_MIN;
+  int16_t  INPUT2_MAX_temp = MIN_int16_T;
-    
+  uint16_t input_cal_timeout = 0;
-  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
@@ -468,81 +524,39 @@ void adcCalibLim(void) {
     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(0, (int16_t)INPUT1_TYP_CAL);
-  setScopeChannel(1, (uint16_t)INPUT1_MID_CAL);
+  setScopeChannel(1, (int16_t)INPUT1_MIN_CAL);
-  setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
+  setScopeChannel(2, (int16_t)INPUT1_MID_CAL);
-  setScopeChannel(3, (int16_t)0);
+  setScopeChannel(3, (int16_t)INPUT1_MAX_CAL);
-  setScopeChannel(4, (int16_t)INPUT2_MIN_CAL);
+  setScopeChannel(4, (int16_t)INPUT2_TYP_CAL);  
-  setScopeChannel(5, (uint16_t)INPUT2_MID_CAL);
+  setScopeChannel(5, (int16_t)INPUT2_MIN_CAL);
-  setScopeChannel(6, (int16_t)INPUT2_MAX_CAL);
+  setScopeChannel(6, (int16_t)INPUT2_MID_CAL);
-  setScopeChannel(7, (int16_t)0);
+  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;
   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
@@ -576,28 +590,28 @@ 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_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)
+    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;
+    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)
+    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   = 1;
+    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(0, (int16_t)cur_spd_valid);     // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
-  setScopeChannel(1, (uint16_t)cur_factor);
+  setScopeChannel(1, (int16_t)input1_fixdt);
-  setScopeChannel(2, (int16_t)rtP_Right.i_max);
+  setScopeChannel(2, (int16_t)cur_factor);
-  setScopeChannel(3, (int16_t)0);
+  setScopeChannel(3, (int16_t)rtP_Left.i_max);
-  setScopeChannel(4, (int16_t)input2_fixdt);
+  setScopeChannel(4, (int16_t)0);
-  setScopeChannel(5, (uint16_t)spd_factor);
+  setScopeChannel(5, (int16_t)input2_fixdt);
-  setScopeChannel(6, (int16_t)rtP_Right.n_max);
+  setScopeChannel(6, (int16_t)spd_factor);
-  setScopeChannel(7, (int16_t)0);
+  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[1] , INPUT1_TYP_CAL);
-      EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[2] , INPUT1_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[3] , INPUT1_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[4] , INPUT2_MIN_CAL);
+      EE_WriteVariable(VirtAddVarTab[4] , INPUT1_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[5] , INPUT2_MAX_CAL);
+      EE_WriteVariable(VirtAddVarTab[5] , INPUT2_TYP_CAL);
-      EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MID_CAL);
+      EE_WriteVariable(VirtAddVarTab[6] , INPUT2_MIN_CAL);
-      EE_WriteVariable(VirtAddVarTab[7] , rtP_Left.i_max);
+      EE_WriteVariable(VirtAddVarTab[7] , INPUT2_MAX_CAL);
-      EE_WriteVariable(VirtAddVarTab[8] , rtP_Left.n_max);
+      EE_WriteVariable(VirtAddVarTab[8] , INPUT2_MID_CAL);
-      EE_WriteVariable(VirtAddVarTab[9] , INPUT1_TYPE_CAL);
+      EE_WriteVariable(VirtAddVarTab[9] , rtP_Left.i_max);
-      EE_WriteVariable(VirtAddVarTab[10], INPUT2_TYPE_CAL);
+      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 (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            
-        			
         #ifdef SUPPORT_BUTTONS
           button1 = (uint8_t)nunchuk_data[5] & 1;
           button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
@@ -856,6 +852,7 @@ void readInput(void) {
       // ADC values range: 0-4095, see ADC-calibration in config.h
       input1 = adc_buffer.l_tx2;
       input2 = adc_buffer.l_rx2;
+      timeoutCnt = 0;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@@ -867,24 +864,24 @@ 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)) {
         input1 = command.steer;
         input2 = command.speed;
-       }
       #endif
       timeoutCnt = 0;
     #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)) &&
+      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))){
+          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
@@ -897,7 +894,6 @@ void readCommand(void) {
           timeoutCntADC     = ADC_PROTECT_TIMEOUT;      // Limit timout counter value
         }
       }
-      timeoutCnt = 0;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)
@@ -919,24 +915,14 @@ 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
         cmd1 = adc_buffer.l_rx2;
@@ -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    
@@ -1109,7 +1104,7 @@ 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
     }
   }