implemented write syscall for printf, added float-support for printf, serial tx does not need an interrupt anymore, replaced consoleLog and consoleScope with printf, changed debug output: every comment starts with "# " now, added lots of debug messages, added welcome message with gcc version and build date

Inc/comms.h

@@ -1,33 +0,0 @@
-/*
-* This file is part of the hoverboard-firmware-hack project.
-*
-* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
-* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
-* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
-*
-* This program is free software: you can redistribute it and/or modify
-* it under the terms of the GNU General Public License as published by
-* the Free Software Foundation, either version 3 of the License, or
-* (at your option) any later version.
-*
-* This program is distributed in the hope that it will be useful,
-* but WITHOUT ANY WARRANTY; without even the implied warranty of
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-* GNU General Public License for more details.
-*
-* You should have received a copy of the GNU General Public License
-* along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-// Define to prevent recursive inclusion
-#ifndef COMMS_H
-#define COMMS_H
-
-#include "stm32f1xx_hal.h"
-
-void setScopeChannel(uint8_t ch, int16_t val);
-void consoleScope(void);
-void consoleLog(char *message);
-
-#endif
-

Src/comms.c

@@ -1,81 +0,0 @@
-#include <stdio.h>
-#include <string.h>
-#include "stm32f1xx_hal.h"
-#include "defines.h"
-#include "setup.h"
-#include "config.h"
-#include "comms.h"
-
-extern UART_HandleTypeDef huart2;
-extern UART_HandleTypeDef huart3;
-
-static volatile uint8_t uart_buf[100];
-static volatile int16_t ch_buf[8];
-//volatile char char_buf[300];
-
-void setScopeChannel(uint8_t ch, int16_t val) {
-  ch_buf[ch] = val;
-}
-
-void consoleScope(void) {
-  #if defined DEBUG_SERIAL_SERVOTERM && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
-    uart_buf[0] = 0xff;
-    uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
-    uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
-    uart_buf[3] = CLAMP(ch_buf[2]+127, 0, 255);
-    uart_buf[4] = CLAMP(ch_buf[3]+127, 0, 255);
-    uart_buf[5] = CLAMP(ch_buf[4]+127, 0, 255);
-    uart_buf[6] = CLAMP(ch_buf[5]+127, 0, 255);
-    uart_buf[7] = CLAMP(ch_buf[6]+127, 0, 255);
-    uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
-    uart_buf[9] = '\n';
-
-    #ifdef DEBUG_SERIAL_USART2
-    if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
-      HAL_UART_Transmit_DMA(&huart2, (uint8_t *)uart_buf, strLength);	 
-    }
-    #endif
-    #ifdef DEBUG_SERIAL_USART3
-    if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
-      HAL_UART_Transmit_DMA(&huart3, (uint8_t *)uart_buf, strLength);	 
-    }
-    #endif
-  #endif
-
-  #if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
-    // memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
-    int strLength;
-    strLength = sprintf((char *)(uintptr_t)uart_buf,
-                "1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
-                ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
-                
-    #ifdef DEBUG_SERIAL_USART2
-    if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
-      HAL_UART_Transmit_DMA(&huart2, (uint8_t *)uart_buf, strLength);	 
-    }
-    #endif
-    #ifdef DEBUG_SERIAL_USART3
-    if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
-      HAL_UART_Transmit_DMA(&huart3, (uint8_t *)uart_buf, strLength);	 
-    }
-    #endif
-  #endif
-
-
-}
-
-void consoleLog(char *message)
-{
-  #if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
-    #ifdef DEBUG_SERIAL_USART2
-    if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
-      HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, strlen((char *)(uintptr_t)message));	 
-    }
-    #endif
-    #ifdef DEBUG_SERIAL_USART3
-    if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
-      HAL_UART_Transmit_DMA(&huart3, (uint8_t *)message, strlen((char *)(uintptr_t)message));	 
-    }
-    #endif
-  #endif
-}

Src/main.c

@@ -26,7 +26,6 @@
 #include "setup.h"
 #include "config.h"
 #include "util.h"
-#include "comms.h"
 #include "BLDC_controller.h"      /* BLDC's header file */
 #include "rtwtypes.h"
 
@@ -52,6 +51,8 @@ extern volatile adc_buf_t adc_buffer;
 extern UART_HandleTypeDef huart2;
 extern UART_HandleTypeDef huart3;
 
+volatile uint8_t uart_buf[200];
+
 // Matlab defines - from auto-code generation
 //---------------
 extern P    rtP_Left;                   /* Block parameters (auto storage) */
@@ -191,6 +192,10 @@ int main(void) {
   poweronMelody();
   HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_SET);
 
+  printf("\n# hoverboard-firmware-hack-FOC\n");
+  printf("# GCC Version: %s\n",__VERSION__);
+  printf("# Build Date: %s\n\n",__DATE__);
+
   int16_t speedL     = 0, speedR     = 0;
   int16_t lastSpeedL = 0, lastSpeedR = 0;
 
@@ -212,7 +217,7 @@ int main(void) {
         shortBeep(4); HAL_Delay(100);
         steerFixdt = speedFixdt = 0;      // reset filters
         enable = 1;                       // enable motors
-        consoleLog("-- Motors enabled --\r\n");
+        printf("# -- Motors enabled --\n");
       }
 
       // ####### VARIANT_HOVERCAR ####### 
@@ -410,15 +415,16 @@ 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: INPUT1
+        printf("1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
-        setScopeChannel(1, (int16_t)input2);                    // 2: INPUT2
+          input1,                    // 1: INPUT1
-        setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
+          input2,                    // 2: INPUT2
-        setScopeChannel(3, (int16_t)speedL);                    // 4: output command: [-1000, 1000]
+          speedR,                    // 3: output command: [-1000, 1000]
-        setScopeChannel(4, (int16_t)adc_buffer.batt1);          // 5: for battery voltage calibration
+          speedL,                    // 4: output command: [-1000, 1000]
-        setScopeChannel(5, (int16_t)(batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC)); // 6: for verifying battery voltage calibration
+          adc_buffer.batt1,          // 5: for battery voltage calibration
-        setScopeChannel(6, (int16_t)board_temp_adcFilt);        // 7: for board temperature calibration
+          batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
-        setScopeChannel(7, (int16_t)board_temp_deg_c);          // 8: for verifying board temperature calibration
+          board_temp_adcFilt,        // 7: for board temperature calibration
-        consoleScope();
+          board_temp_deg_c);         // 8: for verifying board temperature calibration
+          printf("# Battery empty: %4.2fV: power off\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
       }
     #endif
 
@@ -459,21 +465,31 @@ int main(void) {
 
     // ####### BEEP AND EMERGENCY POWEROFF #######
     if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && speedAvgAbs < 20) || (batVoltage < BAT_DEAD && speedAvgAbs < 20)) {  // poweroff before mainboard burns OR low bat 3
+      if (board_temp_deg_c >= TEMP_POWEROFF) printf("# Error: STM32 overtemp: %4.1f°C: power off\n", board_temp_deg_c / 10.0);
+      if (batVoltage < BAT_DEAD) printf("# Battery empty: %4.2fV: power off\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
       poweroff();
     } else if (rtY_Left.z_errCode || rtY_Right.z_errCode) {     // disable motors and beep in case of Motor error - fast beep
       enable        = 0;
+      if (rtY_Left.z_errCode) printf("# Warning: rtY_Left.z_errCode: %i\n", rtY_Left.z_errCode);
+      if (rtY_Right.z_errCode) printf("# Warning: rtY_Right.z_errCode: %i\n", rtY_Right.z_errCode);
       buzzerFreq    = 8;
       buzzerPattern = 1;
     } else if (timeoutFlagADC || timeoutFlagSerial || timeoutCnt > TIMEOUT) { // beep in case of ADC timeout, Serial timeout or General timeout - fast beep      
+      if (timeoutFlagADC) printf("# Warning: ADC timeout\n");
+      if (timeoutFlagSerial) printf("# Warning: Serial timeout\n");
+      if (timeoutCnt > TIMEOUT) printf("# Warning: General timeout\n");
       buzzerFreq    = 24;
       buzzerPattern = 1;
     } else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) {  // beep if mainboard gets hot
+      printf("# Warning: STM32 is getting hot: %4.1f°C\n", board_temp_deg_c / 10.0);
       buzzerFreq    = 4;
       buzzerPattern = 1;
     } else if (BAT_LVL1_ENABLE && batVoltage < BAT_LVL1) {      // low bat 1: fast beep
+      printf("# Warning: Battery is getting empty 1: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
       buzzerFreq    = 5;
       buzzerPattern = 6;
     } else if (BAT_LVL2_ENABLE && batVoltage < BAT_LVL2) {      // low bat 2: slow beep
+      printf("# Warning: Battery is getting empty 2: %4.2fV\n", batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC / 100.0);
       buzzerFreq    = 5;
       buzzerPattern = 42;
     } else if (BEEPS_BACKWARD && ((speed < -50 && speedAvg < 0) || MultipleTapBrake.b_multipleTap)) {  // backward beep
@@ -494,6 +510,7 @@ int main(void) {
       inactivity_timeout_counter++;
     }
     if (inactivity_timeout_counter > (INACTIVITY_TIMEOUT * 60 * 1000) / (DELAY_IN_MAIN_LOOP + 1)) {  // rest of main loop needs maybe 1ms
+      printf("# inactivity timeout: power off\n");
       poweroff();
     }
 

Src/setup.c

@@ -89,11 +89,11 @@ void UART3_Init(void)
 
   /* DMA interrupt init */
   /* DMA1_Channel2_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
+  // HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
+  // HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
   /* DMA1_Channel3_IRQn interrupt configuration */
-  HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
+  // HAL_NVIC_SetPriority(DMA1_Channel3_IRQn, 0, 0);
-  HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
+  // HAL_NVIC_EnableIRQ(DMA1_Channel3_IRQn);
   
   huart3.Instance = USART3;
   huart3.Init.BaudRate = USART3_BAUD;
@@ -149,16 +149,22 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart2_rx);
 
     /* USART2_TX Init */
-    hdma_usart2_tx.Instance = DMA1_Channel7;
+    // hdma_usart2_tx.Instance = DMA1_Channel7;
-    hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    // hdma_usart2_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    // hdma_usart2_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
+    // hdma_usart2_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    // hdma_usart2_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    // hdma_usart2_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart2_tx.Init.Mode = DMA_NORMAL;
+    // hdma_usart2_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
+    // hdma_usart2_tx.Init.Priority = DMA_PRIORITY_LOW;
-    HAL_DMA_Init(&hdma_usart2_tx);
+    // HAL_DMA_Init(&hdma_usart2_tx);
-    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
+    // __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart2_tx);
+    USART2->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+    DMA1_Channel7->CCR   = 0;
+    DMA1_Channel7->CPAR  = (uint32_t) & (USART3->DR);
+    DMA1_Channel7->CNDTR = 0;
+    DMA1_Channel7->CCR   = DMA_CCR_MINC | DMA_CCR_DIR;
+    DMA1->IFCR           = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
 
     /* USART2 interrupt Init */
     HAL_NVIC_SetPriority(USART2_IRQn, 0, 0);
@@ -204,16 +210,22 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart3_rx);
 
     /* USART3_TX Init */
-    hdma_usart3_tx.Instance = DMA1_Channel2;
+    // hdma_usart3_tx.Instance = DMA1_Channel2;
-    hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    // hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
-    hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    // hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
-    hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
+    // hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
-    hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    // hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
-    hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    // hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
-    hdma_usart3_tx.Init.Mode = DMA_NORMAL;
+    // hdma_usart3_tx.Init.Mode = DMA_NORMAL;
-    hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
+    // hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
-    HAL_DMA_Init(&hdma_usart3_tx);
+    // HAL_DMA_Init(&hdma_usart3_tx);
-    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx);
+    // __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart3_tx);
+    USART3->CR3 |= USART_CR3_DMAT;  // | USART_CR3_DMAR | USART_CR3_OVRDIS;
+    DMA1_Channel2->CCR   = 0;
+    DMA1_Channel2->CPAR  = (uint32_t) & (USART3->DR);
+    DMA1_Channel2->CNDTR = 0;
+    DMA1_Channel2->CCR   = DMA_CCR_MINC | DMA_CCR_DIR;
+    DMA1->IFCR           = DMA_IFCR_CTCIF2 | DMA_IFCR_CHTIF2 | DMA_IFCR_CGIF2;
 
     /* USART3 interrupt Init */
     HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);

Src/syscalls.c

@@ -0,0 +1,36 @@
+#include <reent.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+#include <string.h>
+#include "stm32f1xx_hal.h"
+#include "config.h"
+
+extern volatile uint8_t uart_buf[200];
+
+/*
+* printf sends its output to this function, this function sends it to the uart dma output buffer
+*/
+__attribute__((__used__)) int _write(int fd, const char *ptr, int len){
+  #if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
+    #ifdef DEBUG_SERIAL_USART2
+      while(DMA1_Channel7->CNDTR != 0);  // wait
+      memcpy(uart_buf,ptr,len);  // copy to buffer
+      DMA1_Channel7->CCR    &= ~DMA_CCR_EN;
+      DMA1_Channel7->CNDTR   = len;  // set number of bytes to read
+      DMA1_Channel7->CMAR    = (uint32_t)uart_buf;  // set buffer to read from
+      DMA1_Channel7->CCR    |= DMA_CCR_EN;
+    #endif
+    #ifdef DEBUG_SERIAL_USART3
+      while(DMA1_Channel2->CNDTR != 0);  // wait
+      memcpy(uart_buf,ptr,len);  // copy to buffer
+      DMA1_Channel2->CCR    &= ~DMA_CCR_EN;
+      DMA1_Channel2->CNDTR   = len;  // set number of bytes to read
+      DMA1_Channel2->CMAR    = (uint32_t)uart_buf;  // set buffer to read from
+      DMA1_Channel2->CCR    |= DMA_CCR_EN;
+    #endif
+  #endif
+  return len;
+}

Src/util.c

@@ -24,7 +24,6 @@
 #include "defines.h"
 #include "setup.h"
 #include "config.h"
-#include "comms.h"
 #include "eeprom.h"
 #include "util.h"
 #include "BLDC_controller.h"
@@ -458,26 +457,26 @@ int checkInputType(int16_t min, int16_t mid, int16_t max){
   HAL_Delay(10);
   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
+    printf("# Input is ignored");               // (MIN and MAX) OR (MID and MAX) are close, disable input
   } else {
     if ((min / threshold) == (mid / threshold)){
       type = 1;
-      consoleLog("Input is a normal pot");        // MIN and MID are close, it's a normal pot
+      printf("# 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
+      printf("# Input is a mid-resting pot");   // it's a mid resting pot
     }
     HAL_Delay(10);
     #ifdef CONTROL_ADC
     if ((min + INPUT_MARGIN - ADC_PROTECT_THRESH) > 0 && (max - INPUT_MARGIN + ADC_PROTECT_THRESH) < 4095) {
-      consoleLog(" and protected");
+      printf(" and protected");
       longBeep(2); // Indicate protection by a beep
     }
     #endif
   }
 
   HAL_Delay(10);
-  consoleLog("\n");
+  printf("\n");
   HAL_Delay(10);
   
   return type;
@@ -499,7 +498,10 @@ void adcCalibLim(void) {
   }
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-  consoleLog("Input calibration started...\n");
+  printf("# Input calibration started...\n");
+  printf("# move the potentiometers freely to the min and max limits repeatedly\n");
+  printf("# release potentiometers to the resting postion\n");
+  printf("# press the power button to confirm or wait for the 20 sec timeout\n");
 
   readInput();
   // Inititalization: MIN = a high value, MAX = a low value
@@ -533,10 +535,10 @@ void adcCalibLim(void) {
     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);
+    printf("# Input1 OK\n");    HAL_Delay(10);
   } else {
     INPUT1_TYP_CAL = 0; // Disable input
-    consoleLog("Input1 Fail\n");  HAL_Delay(10);
+    printf("# Input1 Fail\n");  HAL_Delay(10);
   }
 
   INPUT2_TYP_CAL = checkInputType(INPUT2_MIN_temp, INPUT2_MID_temp, INPUT2_MAX_temp);
@@ -544,23 +546,14 @@ void adcCalibLim(void) {
     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);
+    printf("# Input2 OK\n");    HAL_Delay(10);
   } else {
     INPUT2_TYP_CAL = 0; // Disable input
-    consoleLog("Input2 Fail\n");  HAL_Delay(10);
+    printf("# Input2 Fail\n");  HAL_Delay(10);
   }
-
   inp_cal_valid = 1;    // Mark calibration to be saved in Flash at shutdown
-  consoleLog("Limits: "); HAL_Delay(10);
+  printf("# Limits: INPUT1_TYP_CAL:%i INPUT1_MIN_CAL:%i INPUT1_MID_CAL:%i INPUT1_MAX_CAL:%i INPUT2_TYP_CAL:%i INPUT2_MIN_CAL:%i INPUT2_MID_CAL:%i INPUT2_MAX_CAL:%i\n",
-  setScopeChannel(0, (int16_t)INPUT1_TYP_CAL);
+                    INPUT1_TYP_CAL,   INPUT1_MIN_CAL,   INPUT1_MID_CAL,   INPUT1_MAX_CAL,   INPUT2_TYP_CAL,   INPUT2_MIN_CAL,   INPUT2_MID_CAL,   INPUT2_MAX_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();
   #endif
 }
  /*
@@ -576,7 +569,9 @@ void updateCurSpdLim(void) {
   }
 
   #if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
-  consoleLog("Torque and Speed limits update started...\n");
+  printf("# Torque and Speed limits update started...\n");
+  printf("# move and hold the pots to a desired limit position for Current and Speed\n");
+  printf("# press the power button to confirm or wait for the 10 sec timeout\n");
 
   int32_t  input1_fixdt = input1 << 16;
   int32_t  input2_fixdt = input2 << 16;  
@@ -608,17 +603,9 @@ void updateCurSpdLim(void) {
     cur_spd_valid  += 2;  // Mark update to be saved in Flash at shutdown
   }
   
-  consoleLog("Limits: "); HAL_Delay(10);
+  // cur_spd_valid: 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
-  setScopeChannel(0, (int16_t)cur_spd_valid);     // 0 = No limit changed, 1 = Current limit changed, 2 = Speed limit changed, 3 = Both limits changed
+  printf("# Limits: cur_spd_valid:%i input1_fixdt:%li cur_factor:%i rtP_Left.i_max:%i input2_fixdt:%li spd_factor:%i rtP_Left.n_max:%i\n",
-  setScopeChannel(1, (int16_t)input1_fixdt);
+                    cur_spd_valid,   input1_fixdt,    cur_factor,   rtP_Left.i_max,   input2_fixdt,    spd_factor,   rtP_Left.n_max);
-  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();
-
   #endif
 }
 
@@ -752,7 +739,7 @@ void cruiseControl(uint8_t button) {
 void poweroff(void) {
 	buzzerPattern = 0;
 	enable = 0;
-	consoleLog("-- Motors disabled --\r\n");
+	printf("# -- Motors disabled --\n");
   for (int i = 0; i < 8; i++) {
 		buzzerFreq = (uint8_t)i;
 		HAL_Delay(100);
@@ -1107,7 +1094,7 @@ 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");
+      printf("# -- Command received --\n");
       // handle_input(*userCommand);                      // -> Create this function to handle the user commands
     }
   }

platformio.ini

@@ -37,6 +37,7 @@ monitor_speed   = 38400
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -60,6 +61,7 @@ monitor_speed   = 38400
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -79,6 +81,7 @@ upload_protocol = stlink
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -98,6 +101,7 @@ upload_protocol = stlink
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -117,6 +121,7 @@ upload_protocol = stlink
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -136,6 +141,7 @@ upload_protocol = stlink
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -159,6 +165,7 @@ monitor_speed   = 38400
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -182,6 +189,7 @@ monitor_speed   = 38400
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -201,6 +209,7 @@ upload_protocol = stlink
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm
@@ -221,6 +230,7 @@ upload_protocol = stlink
 build_flags =
     -DUSE_HAL_DRIVER
     -DSTM32F103xE
+    -Wl,-u,_printf_float  ; enable float for printf
     -Wl,-T./STM32F103RCTx_FLASH.ld
     -Wl,-lc
     -Wl,-lm