Updated PWM variant

- fixed the setScopeChannel for PWM, to calibrate properly the limits
- improved the scaling

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 min, int16_t 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);
 void standstillHold(int16_t *speedCmd);
 void electricBrake(uint16_t speedBlend, uint8_t reverseDir);
 

Src/main.c

@@ -405,8 +405,8 @@ int main(void) {
         setScopeChannel(1, ppm_captured_value[1]);              // 2: CH2
         #endif
         #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-        setScopeChannel(0, pwm_captured_ch1_value);             // 1: CH1
-        setScopeChannel(1, pwm_captured_ch2_value);             // 2: CH2
+        setScopeChannel(0, (pwm_captured_ch1_value - 500) * 2); // 1: CH1
+        setScopeChannel(1, (pwm_captured_ch2_value - 500) * 2); // 2: CH2
         #endif
         setScopeChannel(2, (int16_t)speedR);                    // 3: output command: [-1000, 1000]
         setScopeChannel(3, (int16_t)speedL);                    // 4: output command: [-1000, 1000]

Src/util.c

@@ -567,17 +567,17 @@ void saveConfig() {
 
  /*
  * Add Dead-band to a signal
- * This function realizes a dead-band around 0 and scales the input within a min and a max
+ * 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 min, int16_t 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;
   } else if(u > 0) {
-    outVal = (INPUT_MAX * CLAMP(u - deadBand, 0, max - deadBand)) / (max - deadBand);
+    outVal = (out_max * CLAMP(u - deadBand, 0, in_max - deadBand)) / (in_max - deadBand);
   } else {
-    outVal = (INPUT_MIN * CLAMP(u + deadBand, min + deadBand, 0)) / (min + deadBand);
+    outVal = (out_min * CLAMP(u + deadBand, in_min + deadBand, 0)) / (in_min + deadBand);
   }
   return outVal;
 #else
@@ -750,8 +750,8 @@ void readCommand(void) {
     #endif
 
     #if defined(CONTROL_PWM_LEFT) || defined(CONTROL_PWM_RIGHT)
-      cmd1 = CLAMP(addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX), INPUT_MIN, INPUT_MAX);
-      cmd2 = CLAMP(addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX), INPUT_MIN, INPUT_MAX);
+      cmd1 = addDeadBand((pwm_captured_ch1_value - 500) * 2, PWM_DEADBAND, PWM_CH1_MIN, PWM_CH1_MAX, INPUT_MIN, INPUT_MAX);
+      cmd2 = addDeadBand((pwm_captured_ch2_value - 500) * 2, PWM_DEADBAND, PWM_CH2_MIN, PWM_CH2_MAX, INPUT_MIN, INPUT_MAX);
       #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);