Revision 13:ef7a06fa11de, committed 2019-09-29

Comitter:

JonFreeman

Date:

Sun Sep 29 16:34:37 2019 +0000

Parent:

12:d1d21a2941ef

Child:

14:acaa1add097b

Commit message:

Stable code as at end of 2019 running season

Changed in this revision

--- a/24LC64_eeprom.cpp	Mon Mar 04 17:51:08 2019 +0000
+++ b/24LC64_eeprom.cpp	Sun Sep 29 16:34:37 2019 +0000
@@ -1,5 +1,5 @@
 #include "mbed.h"
-#include "DualBLS.h"
+#include "STM3_ESC.h"
 #include "BufferedSerial.h"
 extern  BufferedSerial pc;
 extern  error_handling_Jan_2019     ESC_Error    ;         //  Provides array usable to store error codes.
@@ -195,7 +195,7 @@
         pc.printf   ("in wr_24LC64, device thought good, mem addr write worked, failed writing string\r\n");
         return  false;
     }
-    pc.printf   ("In wr_24LC64 No Errors Found!\r\n");
+//    pc.printf   ("In wr_24LC64 No Errors Found!\r\n");
     return  true;
 }
 

--- a/DualBLS.h	Mon Mar 04 17:51:08 2019 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,125 +0,0 @@
-#include "mbed.h"
-
-#ifndef MBED_DUALBLS_H
-#define MBED_DUALBLS_H
-
-//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors
-
-#include "BufferedSerial.h"
-const   int     MOTOR_HANDBRAKE   = 0,
-                MOTOR_FORWARD     = 8,
-                MOTOR_REVERSE     = 16,
-                MOTOR_REGENBRAKE  = 24;
-
-const   int     TIMEOUT_SECONDS = 2;
-
-/*  Please Do Not Alter these */
-const   int     PWM_PRESECALER_DEFAULT      = 2,
-                VOLTAGE_READ_INTERVAL_US    = 50,       //  Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass
-                MAIN_LOOP_REPEAT_TIME_US    = 31250,    //  31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second
-                MAIN_LOOP_ITERATION_Hz      = 1000000 / MAIN_LOOP_REPEAT_TIME_US,
-//                CURRENT_SAMPLES_AVERAGED    = 100,     //  Current is spikey. Reading smoothed by using average of this many latest current readings
-                PWM_HZ              = 15000,    //  chosen to be above cutoff frequency of average human ear
-//                PWM_HZ              = 8000,    //  chosen to be above cutoff frequency of average human ear - clearly audible annoying noise
-                MAX_PWM_TICKS       = (SystemCoreClock / (PWM_HZ * PWM_PRESECALER_DEFAULT)),
-                TICKLE_TIMES    =   100 ,
-                WATCHDOG_RELOAD = (TIMEOUT_SECONDS * 8);    //  WatchDog counter ticked down in 8Hz loop
-
-/*  End of Please Do Not Alter these */
-const   double      PI      = 4.0 * atan(1.0),
-                    TWOPI   = 8.0 * atan(1.0);
-
-enum    {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2,THEEND}  ;
-
-enum    {MOTADIR, MOTBDIR, MOTAPOLES, MOTBPOLES, ISHUNTA, ISHUNTB, SVO1, SVO2, RCIN1, RCIN2, 
-            COMM_SRC, BOARD_ID, TOP_SPEED, WHEELDIA, MOTPIN, WHEELGEAR, 
-            FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  
-
-enum    {
-    FAULT_0,
-    FAULT_EEPROM,
-    FAULT_BOARD_ID,
-    FAULT_COM_LINE_LEN,
-    FAULT_COM_LINE_NOMATCH,
-    FAULT_COM_LINE_LEN_PC,
-    FAULT_COM_LINE_LEN_TS,
-    FAULT_COM_LINE_NOMATCH_PC,
-    FAULT_COM_LINE_NOMATCH_TS,
-    FAULT_UNRECOGNISED_STATE,
-    FAULT_MAX,
-    NUMOF_REPORTABLE_TS_ERRORS
-    }  ;
-
-class   error_handling_Jan_2019
-{
-    int32_t    ESC_fault[NUMOF_REPORTABLE_TS_ERRORS]    ;   //  Some number of reportable error codes, accessible through set and read members
-    public:
-    error_handling_Jan_2019 ()  {   //  default constructor
-        for (int i = 0; i < (sizeof(ESC_fault) / sizeof(int32_t)); i++)
-            ESC_fault[i] = 0;
-    }
-    void        set   (uint32_t, int32_t)   ;
-    void        clr     (uint32_t)  ;
-    uint32_t    read  (uint32_t)   ;
-    bool        all_good    ()  ;
-    void        report_any  (bool)  ;   //  retain ? true or false
-}   ;
-
-enum    {SOURCE_PC, SOURCE_TS}  ;
-const int   BROADCAST   = '\r';
-const   int MAX_PARAMS = 20;
-const   int MAX_CMD_LEN = 220;
-
-struct  parameters  {
-    struct kb_command const * command_list;
-    BufferedSerial * com;   //  pc or com2
-    int32_t position_in_list, numof_dbls, target_unit, source, numof_menu_items;
-    double  dbl[MAX_PARAMS];
-    bool    respond, resp_always;
-}   ;
-
-class   cli_2019    {
-    struct  kb_command const * commandlist ;
-    int     clindex;
-    char    cmdline[MAX_CMD_LEN + 8];
-    char    * cmdline_ptr;
-    parameters  a   ;
-public:
-    cli_2019    (BufferedSerial * comport, kb_command const * list, int list_len, int source)  {
-        a.com           = comport ;
-        a.command_list = commandlist  = list  ;
-        a.numof_menu_items  = list_len  ;
-        a.source        = source    ;
-        cmdline_ptr = cmdline;
-        clindex    = 0;
-        if  (source == SOURCE_PC)
-            a.resp_always = true;
-        else
-            a.resp_always = false;
-    }  ;
-    void    core   ()  ;
-    void    test   ()  ;
-}   ;
-
-class   eeprom_settings {
-    I2C i2c;
-    uint32_t    errors;
-    char        settings    [36];
-    bool        rd_24LC64  (int start_addr, char * dest, int length)    ;
-    bool        wr_24LC64  (int start_addr, char * dest, int length)    ;
-    bool        set_24LC64_internal_address (int    start_addr) ;
-    bool        ack_poll    ()  ;
-  public:
-    eeprom_settings (PinName sda, PinName scl); //  Constructor
-    char        rd  (uint32_t)  ;           //  Read one setup char value from private buffer 'settings'
-    bool        wr  (char, uint32_t)  ;     //  Write one setup char value to private buffer 'settings'
-    bool        save    ()  ;               //  Write 'settings' buffer to EEPROM
-    bool        set_defaults    ();         //  Put default settings into EEPROM and local buffer
-    uint32_t    errs    ()  ;               //  Return errors
-}   ;
-
-
-
-
-#endif
-

--- a/F401RE.h	Mon Mar 04 17:51:08 2019 +0000
+++ b/F401RE.h	Sun Sep 29 16:34:37 2019 +0000
@@ -1,3 +1,4 @@
+#include    "STM3_ESC.h"
 //  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
 
 //  Jan 2019    Trying to add two Radio Control inputs on PC_14 and PC_15, previously connected to unused LF Xtal. 
@@ -71,8 +72,9 @@
 //  Pin 1   VBAT    NET +3V3
 
 //DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
+#ifdef  TEMP_SENSOR_ENABLE
 InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
-
+#endif
 
 //  Pin 3   PC14-OSC32_IN   NET O32I    Xtal chucked off these pins, now needed for RC inputs
 //  Pin 4   PC15-OSC32_OUT  NET O32O

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/F411RE.h	Sun Sep 29 16:34:37 2019 +0000
@@ -0,0 +1,187 @@
+#include    "STM3_ESC.h"
+//  Feb 2018 Now using DGD21032 mosfet drivers via 74HC00 pwm gates (low side) - GOOD, works well with auto-tickle of high side drivers
+
+//  Jan 2019    Trying to add two Radio Control inputs on PC_14 and PC_15, previously connected to unused LF Xtal. 
+//              Problem - Appears to conflict with serial port used for comms with controller
+//              Earlier efforts to use 'Servo' ports as 'you choose' between I/O failed as pins not capable of use as 'InterruptIn'
+
+//  CORRECTION  Comms problem with Touch Screen was insufficient pull-up on STM3_ESC opto. Change R12 from 1k to 470R
+
+//                  Experiment disabling RC inputs to see if clearing serial conflict is possible
+
+
+//  Port A -> MotorA, Port B -> MotorB
+const   uint16_t
+//  This is where port bits get assigned to motor output phase switches.
+//  Phases are U, V and W.
+//  Each phase uses two bits, one for the low side switch, one for the high side switch.
+//MotorN_port_bits[] =  {UL, VL, WL, UH, VH, WH},   //  Order must be as shown - 3 low side switches U,V,W followed by 3 high side switches U,V,W
+MotorA_port_bits[] =    {0,  6,  4,  1,  7,  8},    //  List of port A bits used to drive motor A UL, VL, WL, UH, VH, WH
+MotorB_port_bits[] =    {0,  1,  2, 10, 12, 13},    //  List of port B bits used to drive motor B UL, VL, WL, UH, VH, WH
+//  Using port bit info in the two lines above, the compiler sorts all this into creation of lookup table
+//  to provide correct energisation sequencing as motors rotate.
+//  You need concern yourself no further about any of this.
+
+
+AUL = (1 << MotorA_port_bits[0]),
+AVL = (1 << MotorA_port_bits[1]),   //  These are which port bits connect to which mosfet driver
+AWL = (1 << MotorA_port_bits[2]),
+
+AUH = (1 << MotorA_port_bits[3]),
+AVH = (1 << MotorA_port_bits[4]),
+AWH = (1 << MotorA_port_bits[5]),
+
+AUHVL =   AUH | AVL,  //  Each of 6 possible output energisations made up of one hi and one low
+AVHUL =   AVH | AUL,
+AUHWL =   AUH | AWL,
+AWHUL =   AWH | AUL,
+AVHWL =   AVH | AWL,
+AWHVL =   AWH | AVL,
+
+KEEP_L_MASK_A   = AUL | AVL | AWL,
+KEEP_H_MASK_A   = AUH | AVH | AWH,
+
+BRA = AUL | AVL | AWL,  //  All low side switches on (and all high side off) for braking
+
+BUL = (1 << MotorB_port_bits[0]),   //  Likewise for MotorB but different port bits on different port
+BVL = (1 << MotorB_port_bits[1]),
+BWL = (1 << MotorB_port_bits[2]),
+
+BUH = (1 << MotorB_port_bits[3]),
+BVH = (1 << MotorB_port_bits[4]),
+BWH = (1 << MotorB_port_bits[5]),
+
+BUHVL =   BUH | BVL,
+BVHUL =   BVH | BUL,
+BUHWL =   BUH | BWL,
+BWHUL =   BWH | BUL,
+BVHWL =   BVH | BWL,
+BWHVL =   BWH | BVL,
+
+KEEP_L_MASK_B   = BUL | BVL | BWL,
+KEEP_H_MASK_B   = BUH | BVH | BWH,
+
+BRB = BUL | BVL | BWL,
+
+PORT_A_MASK = AUL | AVL | AWL | AUH | AVH | AWH,            //  NEW METHOD FOR DGD21032 MOSFET DRIVERS
+PORT_B_MASK = BUL | BVL | BWL | BUH | BVH | BWH;
+
+//PortOut MotA    (PortA, PORT_A_MASK);   //  Activate output ports to motor drivers
+//PortOut MotB    (PortB, PORT_B_MASK);
+
+//  Pin 1   VBAT    NET +3V3
+
+//DigitalIn   J3         (PC_13, PullUp);//  Pin 2   Jumper pulls to GND, R floats Hi
+#ifdef  TEMP_SENSOR_ENABLE
+InterruptIn   Temperature_pin   (PC_13);//  Pin 2   June 2018 - taken for temperature sensor - hard wired to T1 due to wrong thought T1 could be InterruptIn
+#endif
+
+//  Pin 3   PC14-OSC32_IN   NET O32I    Xtal chucked off these pins, now needed for RC inputs
+//  Pin 4   PC15-OSC32_OUT  NET O32O
+//  Pin 5   PH0-OSC_IN      NET PH1
+//  Pin 6   PH1-OSC_OUT     NET PH1
+//  Pin 7   NRST            NET NRST
+AnalogIn    Ain_DriverPot   (PC_0); //  Pin 8   Spare Analogue in, net SAIN fitted with external pull-down
+AnalogIn    Ain_SystemVolts (PC_1); //  Pin 9
+#define MOT_A_I_ADC PC_2
+#define MOT_B_I_ADC PC_3
+//AnalogIn    Motor_A_Current (PC_2); //  Pin 10
+//AnalogIn    Motor_B_Current (PC_3); //  Pin 11
+//  Pin 12 VSSA/VREF-   NET GND
+//  Pin 13 VDDA/VREF+   NET +3V3
+//  Pin 14  Port_A AUL
+//  Pin 15  Port_A AUH
+//  Pins 16, 17 BufferedSerial pc
+BufferedSerial  pc          (PA_2, PA_3, 2048, 4, NULL);    //  Pins 16, 17    tx, rx to pc via usb lead
+//  Pin 18  VSS     NET GND
+//  Pin 19  VDD     NET +3V3
+//  Pin 20  Port_A AWL
+//  Pin 21  DigitalOut led1(LED1);
+DigitalOut  LED           (PA_5); //  Pin 21
+//  Pin 22  Port_A AVL
+//  Pin 23  Port_A AVH
+//InterruptIn  MBH2      (PC_4); //  Pin 24
+//InterruptIn  MBH3      (PC_5); //  Pin 25
+#define _MBH2   PC_4
+#define _MBH3   PC_5
+//  Pin 26  Port_B BUL
+//  Pin 27  Port_B BVL
+//  Pin 28  Port_B BWL
+//  Pin 29  Port_B BUH
+//  Pin 30  VCAP1
+//  Pin 31  VSS
+//  Pin 32  VDD
+//  Pin 33  Port_B BVH
+//  Pin 34  Port_B BWH
+DigitalOut  T4        (PB_14);    //  Pin 35
+DigitalOut  T3        (PB_15);    //  Pin 36
+//  BufferedSerial com2 pins 37 Tx, 38 Rx
+BufferedSerial  com2          (PC_6, PC_7);    //  Pins 37, 38  tx, rx to Touch Screen Controller
+#define APWMV   PC_8
+#define APWMI   PC_9
+//FastPWM     A_MAX_V_PWM     (PC_8, PWM_PRESECALER_DEFAULT),  //  Pin 39                  pwm3/3
+//            A_MAX_I_PWM     (PC_9, PWM_PRESECALER_DEFAULT); //  pin 40, prescaler value  pwm3/4
+//InterruptIn MotB_Hall   (PA_8); //  Pin 41
+//  Pin 41  Port_A AWH
+//  BufferedSerial com3 pins 42 Tx, 43 Rx
+//InterruptIn tryseredge  (PA_9);
+BufferedSerial  com3        (PA_9, PA_10);    //    Pins 42, 43  tx, rx to any aux module
+//  PA_9 is Tx. I wonder, can we also use InterruptIn on this pin to generate interrupts on tx bit transitions ? Let's find out !
+//  No.
+
+//  Feb 2018 Pins 44 and 45 now liberated, could use for serial or other uses
+//BufferedSerial  extra_ser   (PA_11, PA_12);    //  Pins 44, 45  tx, rx to XBee module
+DigitalOut  T2  (PA_11);    //  Pin 44
+// was DigitalOut  T1  (PA_12);    //  Pin 45
+
+
+//InterruptIn T1  (PA_12);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+//  InterruptIn DOES NOT WORK ON PA_12. Boards are being made, will have to wire link PA12 to PC13
+DigitalIn   T1    (PA_12);
+////InterruptIn T1  (PC_13);    //  Pin 45 now input counting pulses from LMT01 temperature sensor
+
+
+
+//  Pin 46  SWDIO
+//  Pin 47  VSS
+//  Pin 48  VDD
+//  Pin 49  SWCLK
+
+//Was DigitalOut  T5  (PA_15); //  Pin 50
+DigitalIn   T5  (PA_15); //  Pin 50 now fwd/rev from remote control box if fitted
+#define _MAH1   PC_10   //  Pin 51
+#define _MAH2   PC_11   //  Pin 52
+#define _MAH3   PC_12   //  Pin 53
+//InterruptIn MBH1    (PD_2);     //  Pin 54
+#define _MBH1   PD_2
+DigitalOut  T6      (PB_3);     //  Pin 55
+#define BPWMV   PB_4
+#define BPWMI   PB_5
+//FastPWM     B_MAX_V_PWM     (PB_4, PWM_PRESECALER_DEFAULT),  //  Pin 56                  pwm3/3
+//            B_MAX_I_PWM     (PB_5, PWM_PRESECALER_DEFAULT); //  pin 57, prescaler value  pwm3/4
+
+//I2C i2c                     (PB_7, PB_6);   //  Pins 58, 59 For 24LC64 eeprom
+#define SDA_PIN PB_7
+#define SCL_PIN PB_6
+//  Pin 60  BOOT0
+
+//  Servo pins, 2 off. Configured as Input to read radio control receiver
+//      ** Update December 2018 **
+//  These pins can not be used as InterruptIn.
+//  Can be used as outputs by 'Servo'
+//  If used as servo output, code gives pin to 'Servo' - seems to work
+//InterruptIn Servo1_i    (PB_8); //  Pin 61  to read output from rc rx
+//InterruptIn Servo2_i    (PB_9); //  Pin 62  to read output from rc rx
+//  *** NOTE *** Above InterruptIn Servo using PB pins seems not to work, probably due to other Port B pins used as PortOut (try PortInOut?)
+//  Nov 2018 - Yet to try using PC14, PC15, free now as 32k768 xtal not fitted
+
+
+//  Pin 63  VSS
+//  Pin 64  VDD
+//  SYSTEM CONSTANTS
+//  December 2018   ** NEED TO PROVE SERVO OUT WORKS ** YES, DONE.
+    Servo   Servo1  (PB_8)  ;
+//    Servos[0] = & Servo1;
+    Servo   Servo2  (PB_9)  ;
+//    Servos[1] = & Servo2;
+

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/STM3_ESC.h	Sun Sep 29 16:34:37 2019 +0000
@@ -0,0 +1,127 @@
+#include "mbed.h"
+
+#ifndef MBED_DUALBLS_H
+#define MBED_DUALBLS_H
+
+//#define USING_DC_MOTORS     //  Uncomment this to play with Dinosaur DC motors
+
+//#define TEMP_SENSOR_ENABLE    //  
+
+#include "BufferedSerial.h"
+const   int     MOTOR_HANDBRAKE   = 0,
+                MOTOR_FORWARD     = 8,
+                MOTOR_REVERSE     = 16,
+                MOTOR_REGENBRAKE  = 24;
+
+const   int     TIMEOUT_SECONDS = 2;
+
+/*  Please Do Not Alter these */
+const   int     PWM_PRESECALER_DEFAULT      = 2,
+                VOLTAGE_READ_INTERVAL_US    = 50,       //  Interrupts timed every 50 micro sec, runs around loop performing 1 A-D conversion per pass
+                MAIN_LOOP_REPEAT_TIME_US    = 31250,    //  31250 us, with TACHO_TAB_SIZE = 32 means tacho_ticks_per_time is tacho_ticks_per_second
+                MAIN_LOOP_ITERATION_Hz      = 1000000 / MAIN_LOOP_REPEAT_TIME_US,
+//                CURRENT_SAMPLES_AVERAGED    = 100,     //  Current is spikey. Reading smoothed by using average of this many latest current readings
+                PWM_HZ              = 15000,    //  chosen to be above cutoff frequency of average human ear
+//                PWM_HZ              = 8000,    //  chosen to be above cutoff frequency of average human ear - clearly audible annoying noise
+                MAX_PWM_TICKS       = (SystemCoreClock / (PWM_HZ * PWM_PRESECALER_DEFAULT)),
+                TICKLE_TIMES    =   100 ,
+                WATCHDOG_RELOAD = (TIMEOUT_SECONDS * 8);    //  WatchDog counter ticked down in 8Hz loop
+
+/*  End of Please Do Not Alter these */
+const   double      PI      = 4.0 * atan(1.0),
+                    TWOPI   = 8.0 * atan(1.0);
+
+enum    {COM_SOURCES, COM1, COM2, HAND, RC_IN1, RC_IN2,THEEND}  ;
+
+enum    {MOTADIR, MOTBDIR, MOTAPOLES, MOTBPOLES, ISHUNTA, ISHUNTB, SVO1, SVO2, RCIN1, RCIN2, 
+            COMM_SRC, BOARD_ID, TOP_SPEED, WHEELDIA, MOTPIN, WHEELGEAR, 
+            FUT1, FUT2, FUT3, FUT4, FUT5}  ;  //  
+
+enum    {
+    FAULT_0,
+    FAULT_EEPROM,
+    FAULT_BOARD_ID,
+    FAULT_COM_LINE_LEN,
+    FAULT_COM_LINE_NOMATCH,
+    FAULT_COM_LINE_LEN_PC,
+    FAULT_COM_LINE_LEN_TS,
+    FAULT_COM_LINE_NOMATCH_PC,
+    FAULT_COM_LINE_NOMATCH_TS,
+    FAULT_UNRECOGNISED_STATE,
+    FAULT_MAX,
+    NUMOF_REPORTABLE_TS_ERRORS
+    }  ;
+
+class   error_handling_Jan_2019
+{
+    int32_t    ESC_fault[NUMOF_REPORTABLE_TS_ERRORS]    ;   //  Some number of reportable error codes, accessible through set and read members
+    public:
+    error_handling_Jan_2019 ()  {   //  default constructor
+        for (int i = 0; i < (sizeof(ESC_fault) / sizeof(int32_t)); i++)
+            ESC_fault[i] = 0;
+    }
+    void        set   (uint32_t, int32_t)   ;
+    void        clr     (uint32_t)  ;
+    uint32_t    read  (uint32_t)   ;
+    bool        all_good    ()  ;
+    void        report_any  (bool)  ;   //  retain ? true or false
+}   ;
+
+enum    {SOURCE_PC, SOURCE_TS}  ;
+const int   BROADCAST   = '\r';
+const   int MAX_PARAMS = 20;
+const   int MAX_CMD_LEN = 220;
+
+struct  parameters  {
+    struct kb_command const * command_list;
+    BufferedSerial * com;   //  pc or com2
+    int32_t position_in_list, numof_dbls, target_unit, source, numof_menu_items;
+    double  dbl[MAX_PARAMS];
+    bool    respond, resp_always;
+}   ;
+
+class   cli_2019    {
+    struct  kb_command const * commandlist ;
+    int     clindex;
+    char    cmdline[MAX_CMD_LEN + 8];
+    char    * cmdline_ptr;
+    parameters  a   ;
+public:
+    cli_2019    (BufferedSerial * comport, kb_command const * list, int list_len, int source)  {
+        a.com           = comport ;
+        a.command_list = commandlist  = list  ;
+        a.numof_menu_items  = list_len  ;
+        a.source        = source    ;
+        cmdline_ptr = cmdline;
+        clindex    = 0;
+        if  (source == SOURCE_PC)
+            a.resp_always = true;
+        else
+            a.resp_always = false;
+    }  ;
+    void    core   ()  ;
+    void    test   ()  ;
+}   ;
+
+class   eeprom_settings {
+    I2C i2c;
+    uint32_t    errors;
+    char        settings    [36];
+    bool        rd_24LC64  (int start_addr, char * dest, int length)    ;
+    bool        wr_24LC64  (int start_addr, char * dest, int length)    ;
+    bool        set_24LC64_internal_address (int    start_addr) ;
+    bool        ack_poll    ()  ;
+  public:
+    eeprom_settings (PinName sda, PinName scl); //  Constructor
+    char        rd  (uint32_t)  ;           //  Read one setup char value from private buffer 'settings'
+    bool        wr  (char, uint32_t)  ;     //  Write one setup char value to private buffer 'settings'
+    bool        save    ()  ;               //  Write 'settings' buffer to EEPROM
+    bool        set_defaults    ();         //  Put default settings into EEPROM and local buffer
+    uint32_t    errs    ()  ;               //  Return errors
+}   ;
+
+
+
+
+#endif
+

--- a/brushless_motor.cpp	Mon Mar 04 17:51:08 2019 +0000
+++ b/brushless_motor.cpp	Sun Sep 29 16:34:37 2019 +0000
@@ -1,8 +1,9 @@
 //  Cloned from 'DualBLS2018_06' on 23 November 2018
 #include "mbed.h"
 //#include    "users/mbed_official/code/mbed-dev/file/707f6e361f3e/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/stm32f401xe.h"
-#include    "stm32f401xe.h"
-#include "DualBLS.h"
+//#include    "stm32f401xe.h"
+//#include    "stm32f411xe.h"
+#include "STM3_ESC.h"
 #include "BufferedSerial.h"
 #include "FastPWM.h"
 #include "Servo.h"
@@ -47,10 +48,10 @@
     numof_current_sense_rs = 1.0;
     RPM_filter  = 0.0;
     dv_by_dt = 0.0;
-    s[1] = 0.25;
-    s[2] = 9.0;
-    s[3] = 0.4;
-    s[4] = 0.2;
+    sdbl[1] = 0.25;     //  Remind me. What are these all about ?
+    sdbl[2] = 9.0;
+    sdbl[3] = 0.4;
+    sdbl[4] = 0.2;
     dRPM        = 0.0;
     V_clamp =   1.0 ;       //  Used to limit top speed
     motor_poles   = 8;    //  Default to 8 pole motor
@@ -80,7 +81,7 @@
         max_rpm = (uint32_t) (((double)mode.rd(TOP_SPEED) / rpm2mph) / 10.0)  ;
         target_speed = (double)mode.rd(TOP_SPEED) / 10.0;
         numof_current_sense_rs = (double)mode.rd(current_sense_rs_offset);
-        pc.printf   ("max_rpm=%d, tp speed=%.1f, rpm2mph=%.6f\r\n", max_rpm, target_speed, rpm2mph);
+        pc.printf   ("max_rpm=%d, top speed=%.1f, rpm2mph=%.6f\r\n", max_rpm, target_speed, rpm2mph);
     }
     if  (p == 4 || p == 6 || p == 8)    {
         motor_poles = p;
@@ -152,6 +153,11 @@
 }
 
 
+extern  double  Current_Scaler_Sep_2019;
+extern  int WatchDog;
+#define DRIVING (visible_mode == MOTOR_FORWARD || visible_mode == MOTOR_REVERSE)
+#define ESTOP   (WatchDog == 0 && DRIVING)
+
 /**
 *   void    brushless_motor::set_V_limit (double p)  //  Sets max motor voltage.
 *
@@ -159,13 +165,13 @@
 */
 void    brushless_motor::set_V_limit (double p)  //  Sets max motor voltage.
 {
-    if  (p < 0.0)
+    if  (p < 0.0 || ESTOP)
         p = 0.0;
     if  (p > 1.0)
         p = 1.0;
     last_V = p;     //  Retains last voltage limit demanded by driver
     
-    if  ((V_clamp < last_V) && (inner_mode == MOTOR_FORWARD || inner_mode == MOTOR_REVERSE))    //  Jan 2019 limit top speed when driving
+    if  ((V_clamp < last_V) && DRIVING)    //  Jan 2019 limit top speed when driving
         p = V_clamp;    //  If motor runnable, set voltage limit to lower of last_V and V_clamp
 
     p *= 0.95;      //  need limit, ffi see MCP1630 data
@@ -173,6 +179,7 @@
     maxV.pulsewidth_ticks  ((int)(p * MAX_PWM_TICKS));  //  PWM output to MCP1630 inverted motor pwm as MCP1630 inverts
 }
 
+
 /**void    brushless_motor::set_I_limit (double p)     //  Sets max motor current. pwm integrated to dc ref voltage level
 *
 *   Set motor current limit from zero (p=0.0) to max determined by current sense resistors (p=1.0)
@@ -195,14 +202,22 @@
 *
 *   Board designed to have 1, 2, 3 or 4 0R05 current sense resistors per motor for 10A, 20A, 30A or 40A peak motor currents
 */
+
 void    brushless_motor::set_I_limit (double p)     //  Sets max motor current. pwm integrated to dc ref voltage level
 {
     const   uint32_t MPR = ((MAX_PWM_TICKS * 9) / 11);    //  Scales 3.3v pwm DAC output to 2.7v V_Ref input
-    if  (p < 0.0)
+    if  (p < 0.0 || ESTOP)
         p = 0.0;
     if  (p > 1.0)
         p = 1.0;
     last_I = p;     //  Retains last current limit demanded by driver
+    if  (DRIVING)    {
+        if  (Current_Scaler_Sep_2019 > 1.0)
+            Current_Scaler_Sep_2019 = 1.0;
+        if  (Current_Scaler_Sep_2019 < 0.0)
+            Current_Scaler_Sep_2019 = 0.0;
+        p *= Current_Scaler_Sep_2019;
+    }
     maxI.pulsewidth_ticks  ((uint32_t)(p * MPR));  //  PWM
 }
 
@@ -226,10 +241,10 @@
 #endif
 //  Feb 2019 - coefficients currently values in ram to allow for tweaking via command line. Will be 'const' once settled upon.
 //    const   double  samp_scale  = 0.35;                  //  Tweak this value only to tune filter
-    double  samp_scale  = s[1];                  //  Tweak this value only to tune filter
+    double  samp_scale  = sdbl[1];                  //  Tweak this value only to tune filter
     double  shrink_by   = 1.0 - samp_scale;
 //    const   double  dv_scale    =   0.15;
-    double  dv_scale    =   s[3];
+    double  dv_scale    =   sdbl[3];
     double  dv_shrink   = 1.0 - dv_scale;
     double  speed_error, d, t;
     uint32_t        Hall_tot_copy = Hall_total;     //  Copy value for use throughout function as may get changed at any instant during exec !
@@ -253,7 +268,7 @@
     
     if  (inner_mode == MOTOR_FORWARD || inner_mode == MOTOR_REVERSE) {  //  Speed control only makes sense when motor runnable
         speed_error    = (target_speed - dMPH) / 1000.0;                //  'P' Proportional contribution to PID control
-        d = V_clamp + (speed_error * s[2]) + ((dv_by_dt / 1000.0) * s[4]);  //  Apply P+I+D (with I=0) control
+        d = V_clamp + (speed_error * sdbl[2]) + ((dv_by_dt / 1000.0) * sdbl[4]);  //  Apply P+I+D (with I=0) control
         if  (d > 1.0)   d = 1.0;
         if  (d < 0.0)   d = 0.0;
         V_clamp = d;

--- a/brushless_motor.h	Mon Mar 04 17:51:08 2019 +0000
+++ b/brushless_motor.h	Sun Sep 29 16:34:37 2019 +0000
@@ -6,7 +6,7 @@
 #define MBED_BRUSHLESSMOTOR_H
 
 #include "mbed.h"
-#include "DualBLS.h"
+#include "STM3_ESC.h"
 #include "FastPWM.h"
 
 class   brushless_motor
@@ -15,7 +15,7 @@
     uint32_t    Hall_index[2], encoder_error_cnt, motor_poles, current_sense_rs_offset;
     uint32_t    Hall_total,         //  Incremented on every Hall sensor transition
                 Hall_previous,
-                visible_mode, 
+                visible_mode,       //  One of MOTOR_HANDBRAKE, MOTOR_FORWARD, MOTOR_REVERSE, MOTOR_REGENBRAKE
                 inner_mode; 
     uint32_t    direction;
     int         temp_tick;
@@ -39,7 +39,10 @@
     uint32_t    tickleon;
     double      Idbl;
     double      last_V, last_I;
-    double      dRPM, dMPH, s[8];
+    double      dRPM, dMPH, 
+                sdbl[8];        //  Filter coefficients for filtering RPM and MPH reading stuff, I think!
+                                //  Used in brushless_motor::speed_monitor_and_control   ()
+                                
 //    brushless_motor   ()  {}   ;  //  can not use this with exotic elements PortOut, FastPWM etc
     brushless_motor   (PinName iadc, PinName pwv, PinName pwi, const uint16_t *, PinName h1, PinName h2, PinName h3, PortName, int, uint32_t)   ;   //  Constructor
     bool    poles       (int)   ;   //  Set number of motor poles - 4, 6, or 8

--- a/cli_BLS_nortos.cpp	Mon Mar 04 17:51:08 2019 +0000
+++ b/cli_BLS_nortos.cpp	Sun Sep 29 16:34:37 2019 +0000
@@ -18,7 +18,7 @@
 //  Brushless_STM3_Ctrl_2018_11
 #include "mbed.h"
 #include "BufferedSerial.h"
-#include "DualBLS.h"
+#include "STM3_ESC.h"
 #include "brushless_motor.h"
 
 #include <cctype>
@@ -26,8 +26,8 @@
 
 extern  eeprom_settings     mode     ;
 extern  error_handling_Jan_2019     ESC_Error    ;         //  Provides array usable to store error codes.
-extern  int     WatchDog;
-extern  bool    WatchDogEnable;
+extern  int     WatchDog;           //  from main
+extern  bool    WatchDogEnable;     //  from main
 extern  double  rpm2mph ;
 
 extern  brushless_motor MotorA, MotorB;     //  Controlling two motors together or individually
@@ -202,9 +202,9 @@
                 break;
             case    2:      //  MotorA_ current sense resistors [1 to 4], MotorB_ current sense resistors [1 to 4]
                 if  (temps[1] > 0 && temps[1] < 5) 
-                    mode.wr(temps[1], MOTADIR);
+                    mode.wr(temps[1], ISHUNTA);     //  Corrected since published
                 if  (temps[2] > 0 && temps[2] < 5)  
-                    mode.wr(temps[2], MOTBDIR);
+                    mode.wr(temps[2], ISHUNTB);
                 break;
             case    3:      //  2 Servo1 [0 or 1], Servo2 [0 or 1]
                 if  (temps[1] == 0 || temps[1] == 1)
@@ -265,6 +265,16 @@
 
 }
 
+
+void    ssl_cmd  (struct parameters & a)  {     //  set speed limit NEW and untested July 2019
+    if  (a.dbl[0] > 25.0)   a.dbl[0] = 25.0;
+    if  (a.dbl[0] < 1.0)    a.dbl[0] = 1.0;
+    mode.wr((char)(a.dbl[0] * 10.0), TOP_SPEED);
+    mode.save   ();
+}
+
+#ifdef  TEMP_SENSOR_ENABLE
+
 extern  uint32_t    last_temperature_count;
 /**
 *   void    temperature_cmd  (struct parameters & a)  {
@@ -275,6 +285,7 @@
         a.com->printf ("tem%c %d\r\n", mode.rd(BOARD_ID), (last_temperature_count / 16) - 50);
     }
 }
+#endif
 
 /**
 *void    rpm_cmd (struct parameters & a) //  to report e.g. RPM 1000 1000 ; speed for both motors
@@ -352,6 +363,10 @@
 /**
 *void    kd_cmd (struct parameters & a)  //  kick and enable the watch dog
 *
+*   Brute_TS_Controller or other external controller to issue regular 'kd\r' to come here.
+*   WatchDog disabled by default, enabled on first call to here
+*   This is where WatchDog timer is reset and reloaded.
+*   Timeout may be detected and handled in 8Hz loop in main programme loop
 */
 void    kd_cmd (struct parameters & a)  //  kick the watchdog. Reached from TS or pc.
 {
@@ -359,6 +374,10 @@
     WatchDogEnable = true;                          //  Receipt of this command sufficient to enable watchdog
 }
 
+void    wd_report (struct parameters & a)     //  Reachable always from pc. Only addressed board responds to TS
+{
+    pc.printf   ("WatchDog %d\r\n", WatchDog);
+}
 /**
 *void    who_cmd (struct parameters & a)     //  Reachable always from pc. Only addressed board responds to TS
 *
@@ -386,16 +405,16 @@
 {
     switch  ((int)a.dbl[0]) {
         case    1:
-            MotorA.s[1] = MotorB.s[1] = a.dbl[1];
+            MotorA.sdbl[1] = MotorB.sdbl[1] = a.dbl[1];
             break;
         case    2:
-            MotorA.s[2] = MotorB.s[2] = a.dbl[1];
+            MotorA.sdbl[2] = MotorB.sdbl[2] = a.dbl[1];
             break;
         case    3:
-            MotorA.s[3] = MotorB.s[3] = a.dbl[1];
+            MotorA.sdbl[3] = MotorB.sdbl[3] = a.dbl[1];
             break;
         case    4:
-            MotorA.s[4] = MotorB.s[4] = a.dbl[1];
+            MotorA.sdbl[4] = MotorB.sdbl[4] = a.dbl[1];
             break;
         case    5:
             MotorA.set_speed    (a.dbl[1]);
@@ -404,11 +423,12 @@
         default:
             pc.printf   ("Wrong use of scmd %f\r\n", a.dbl[0]);
     }
+    pc.printf   ("Filter Coefficient Fiddler - used in brushless_motor::speed_monitor_and_control   ()");
     pc.printf   ("Filter Coeffs 1 to 4\r\n");
-    pc.printf   ("1 %.3f\tPscale 0.01-0.5\r\n",     MotorA.s[1]);
-    pc.printf   ("2 %.3f\tP_gain 1.0-1000.0\r\n",   MotorA.s[2]);
-    pc.printf   ("3 %.3f\tDscale 0.01-0.5\r\n",     MotorA.s[3]);
-    pc.printf   ("4 %.3f\tD_gain 1.0-1000.0\r\n",   MotorA.s[4]);
+    pc.printf   ("1 %.3f\tPscale 0.01-0.5\r\n",     MotorA.sdbl[1]);
+    pc.printf   ("2 %.3f\tP_gain 1.0-1000.0\r\n",   MotorA.sdbl[2]);
+    pc.printf   ("3 %.3f\tDscale 0.01-0.5\r\n",     MotorA.sdbl[3]);
+    pc.printf   ("4 %.3f\tD_gain 1.0-1000.0\r\n",   MotorA.sdbl[4]);
     pc.printf   ("5 Set target_speed\r\n");
 }
 
@@ -456,8 +476,11 @@
     {"?v", "Report system bus voltage", sysV_report},
     {"?i", "Report motor both currents", sysI_report},
     {"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd},
+#ifdef  TEMP_SENSOR_ENABLE
     {"tem", "report temperature", temperature_cmd},
+#endif
     {"mph", "read loco speed miles per hour", mph_cmd},
+    {"ssl", "set speed limit e.g. 10.7", ssl_cmd},              //  NEW July 2019
 //    {"rvi", "read most recent values sent to pwms", rvi_cmd},
 //    {"rdi", "read motor currents and power voltage", rdi_cmd},
     //  ***** Endof
@@ -474,7 +497,7 @@
 #ifdef  USING_DC_MOTORS
     {"mtypes", "report types of motors found", mt_cmd},
 #endif
-    {"s","1-4, filter param", scmd},
+    {"s","1-4, RPM and speed filter param", scmd},
     {"pot", "read drivers control pot", pot_cmd},
     {"fw", "forward", fw_cmd},
     {"re", "reverse", re_cmd},
@@ -485,10 +508,14 @@
     {"vi", "set motors V and I percent RANGE 0 to 100", vi_cmd},
     {"?v", "Report system bus voltage", sysV_report},
     {"?i", "Report motor both currents", sysI_report},
+    {"?w", "show WatchDog timer contents", wd_report},
     {"who", "search for connected units, e.g. 3who returs 'who3' if found", who_cmd},
     {"mode", "read or set params in eeprom", mode19_cmd},                                 //  Big change Jan 2019
+    {"ssl", "set speed limit e.g. 10.7", ssl_cmd},              //  NEW July 2019 ONLY HERE FOR TEST, normal use is from Touch Screen only.
 //    {"erase", "set eeprom contents to all 0xff", erase_cmd},
+#ifdef  TEMP_SENSOR_ENABLE
     {"tem", "report temperature", temperature_cmd},                                     //  Reports -50 when sensor not fitted
+#endif
     {"kd", "kick the dog, reloads WatchDog", kd_cmd},
     {"ver", "Version", ver_cmd},
     {"rcin", "Report Radio Control Input stuff", rcin_pccmd},

--- a/error_handler.cpp	Mon Mar 04 17:51:08 2019 +0000
+++ b/error_handler.cpp	Sun Sep 29 16:34:37 2019 +0000
@@ -1,5 +1,5 @@
 #include "mbed.h"
-#include "DualBLS.h"
+#include "STM3_ESC.h"
 #include "BufferedSerial.h"
 extern  BufferedSerial  pc;
 

--- a/main.cpp	Mon Mar 04 17:51:08 2019 +0000
+++ b/main.cpp	Sun Sep 29 16:34:37 2019 +0000
@@ -1,29 +1,34 @@
-//  Cloned from 'DualBLS2018_06' on 23 November 2018
+/*
+    STM3_ESC    Electronic Speed Controller board, drives Two Brushless Motors, full Four Quadrant Control.
+    Jon Freeman  B. Eng Hons
+    2015 - 2019
+*/
 #include "mbed.h"
-//#include    "users/mbed_official/code/mbed-dev/file/707f6e361f3e/targets/TARGET_STM/TARGET_STM32F4/TARGET_STM32F401xE/device/stm32f401xe.h"
-#include "DualBLS.h"
-
-#include    "stm32f401xe.h"
+#include "STM3_ESC.h"
 #include "BufferedSerial.h"
 #include "FastPWM.h"
 #include "Servo.h"
 #include "brushless_motor.h"
 #include "Radio_Control_In.h"
+//#ifdef  TARGET_NUCLEO_F401RE    //
 
+//#endif
 /*
-Brushless_STM3 board
+Brushless_STM3_ESC board
 Jan 2019    *   WatchDog implemented. Default is disabled, 'kd' command from TS controller enables and reloads
             *   Tidied brushless_motor class, parameter passing now done properly
             *   class   RControl_In created. Inputs now routed to new pins, can now use two chans both class   RControl_In and Servo out
-                (buggery board required for new inputs)
+                (buggery board required for new inputs on June 2018 issue boards)
             *   Added version string
             *   Error handler written and included
             *   Realised Nanotec motors are 6 pole, all others are 8 pole. Modified 'mode' to include 'motor poles' in EEPROM data, now speed reading correct for all
             *   Reorganised EEPROM data - mode setting now much easier, less error prone
-            *   Maximum speed now one EEPROM option, range 1.0 to 25.0 MPH
+            *   Maximum speed now one EEPROM option, range 1.0 to 25.0 MPH in 0.1 MPH steps
                 
 New 29th May 2018 **
                 LMT01 temperature sensor routed to T1 - and rerouted to PC_13 as InterruptIn on T1 (ports A and B I think) not workable
+        March 2019 temp sensor only included with TEMP_SENSOR_ENABLE defined. Temp reading not essential, LMT01 was not a good choice due to
+        significant loading of interrupts, threatening integrity of Real Time System
 */
 
 
@@ -34,7 +39,7 @@
 
 ____________________________________________________________________________________
         CONTROL PHILOSOPHY
-This Bogie drive board software should ensure sensible control when commands supplied are not sensible !
+This STM3_ESC Bogie drive board software should ensure sensible control when commands supplied are not sensible !
 
 That is, smooth transition between Drive, Coast and Brake to be implemented here.
 The remote controller must not be relied upon to deliver sensible command sequences.
@@ -49,17 +54,21 @@
 #if defined (TARGET_NUCLEO_F401RE)  //  CPU in 64 pin LQFP
 #include    "F401RE.h"  //  See here for warnings about Servo InterruptIn not working
 #endif
+#if defined (TARGET_NUCLEO_F411RE)  //  CPU in 64 pin LQFP
+#include    "F411RE.h"  //  See here for warnings about Servo InterruptIn not working
+#endif
 #if defined (TARGET_NUCLEO_F446ZE)  //  CPU in 144 pin LQFP
 #include    "F446ZE.h"              //  A thought for future version
 #endif
 /*  Global variable declarations */
-char   const    const_version_string[] = {"1.0.0\0"};  //  Version string, readable from serial ports
+char   const_version_string[] = {"1.0.y2019.m09.d29\0"};  //  Version string, readable from serial ports
 volatile    uint32_t    fast_sys_timer      = 0;    //  gets incremented by our Ticker ISR every VOLTAGE_READ_INTERVAL_US
-int         WatchDog    = WATCHDOG_RELOAD + 80; //  Allow extra few seconds at powerup
+//int         WatchDog    = WATCHDOG_RELOAD + 80; //  Allow extra few seconds at powerup
+int         WatchDog    = 0; //  Set this up in main once pre-flight checks done. Allow extra few seconds at powerup
 bool        WatchDogEnable  = false;    //  Must recieve explicit instruction from pc or controller to enable
 uint32_t    volt_reading        = 0,    //  Global updated by interrupt driven read of Battery Volts
             driverpot_reading   = 0,    //  Global updated by interrupt driven read of Drivers Pot
-            sys_timer           = 0,    //  gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US
+            sys_timer           = 0,    //  gets incremented by our Ticker ISR every MAIN_LOOP_REPEAT_TIME_US, 31250us at Sept 2019
             AtoD_Semaphore      = 0;
 
 bool        loop_flag   = false;        //  made true in ISR_loop_timer, picked up and made false again in main programme loop
@@ -67,15 +76,24 @@
 bool        temp_sensor_exists = false;
 double      rpm2mph;
 
+double      Current_Scaler_Sep_2019 = 1.0;  //  New idea - Sept 2019. Plan is to scale down motor current limit when voltage lower than nom.
+                                            //  See schematic for full details, but cycle-by-cycle current limit has the effect of allowing larger average I
+                                            //  at lower voltages. This is simply because current takes longer to build in motor inductance when voltage
+                                            //  is low. Conversely, at high supply voltages, motor current reaches limit quickly, cutting drive, meaning
+                                            //  similar current flows for shorter times at higher voltages.
+
+#ifdef  TEMP_SENSOR_ENABLE
 uint32_t    temp_sensor_count = 0,  //  incremented by every rising edge from LMT01
             last_temperature_count = 0;  //  global updated approx every 100ms after each LMT01 conversion completes
+#endif
 /*  End of Global variable declarations */
 
 Ticker  tick_vread;     //  Device to cause periodic interrupts, used to time voltage readings etc
 Ticker  loop_timer;     //  Device to cause periodic interrupts, used to sync iterations of main programme loop
+#ifdef  TEMP_SENSOR_ENABLE
 Ticker  temperature_find_ticker;
 Timer   temperature_timer;
-
+#endif
 #ifdef USING_DC_MOTORS
 Timer   dc_motor_kicker_timer;
 Timeout motors_restore;
@@ -127,6 +145,7 @@
 extern  cli_2019    pcc, tsc;   //  command line interpreters from pc and touch screen
 
 //  Interrupt Service Routines
+#ifdef  TEMP_SENSOR_ENABLE
 void    ISR_temperature_find_ticker ()      //  every 960 us, i.e. slightly faster than once per milli sec
 {
     static  bool    readflag = false;
@@ -139,7 +158,7 @@
     if  (t == 6)
         readflag = false;
 }
-
+#endif
 /** void    ISR_loop_timer  ()
 *   This ISR responds to Ticker interrupts at a rate of (probably) 32 times per second (check from constant declarations above)
 *   This ISR sets global flag 'loop_flag' used to synchronise passes around main programme control loop.
@@ -164,6 +183,7 @@
     fast_sys_timer++;        //  Just a handy measure of elapsed time for anything to use
 }
 
+#ifdef  TEMP_SENSOR_ENABLE
 void    temp_sensor_isr ()      //  got rising edge from LMT01. ALMOST CERTAIN this misses some
 {
     int t = temperature_timer.read_us   (); //  Must be being overrun by something, most likely culprit A-D reading ?
@@ -173,7 +193,7 @@
         temp_sensor_count++;
 //    T2 = !T2;   //  scope hanger
 }
-
+#endif
 //  End of Interrupt Service Routines
 
 
@@ -281,6 +301,24 @@
 }
 
 
+void    Update_Current_Scaler   ()  {       //  ***NEW Sept 2019*** Called at 8Hz
+const   double  Vnom = 48.0,
+                Vmin = Vnom / 3.0,
+                Voff = Vnom / 4.0;
+                
+    double  v = Read_BatteryVolts   ();
+    if  (v > Vnom)
+        v = Vnom;
+    if  (v < Voff)
+        v = Voff;
+    if  (v > Vmin)  {   //  In expected normal operating voltage range
+        Current_Scaler_Sep_2019 = v / Vnom;         //  May need to revisit law
+    }
+    else    {   //  In very low voltage region
+        Current_Scaler_Sep_2019 = 0.5 * (v / Vnom);
+    }
+}
+
 void    mode_set_both_motors   (int mode, double val)      //  called from cli to set fw, re, rb, hb
 {
     MotorA.set_mode (mode);
@@ -356,7 +394,7 @@
     const   int buflen = sizeof(dirbuf) / sizeof(int);
     const   double      Pot_Brake_Range = 0.35;  //pow   (0.5, SERVOIN_PWR_BENDER); //0.353553 for SERVOIN_PWR_BENDER = 1.5;
 
-    direction_old = direction_new;
+   direction_old = direction_new;
 
 //      Test for change in direction switch setting.
 //      If whole buffer NEWLY filled with all Fwd or all Rev, state = brake_wait
@@ -460,16 +498,16 @@
 int main()
 {
     int eighth_sec_count = 0;
-    double  servo_angle = 0.0;  //  For testing servo outs
-
-    Temperature_pin.fall (&temp_sensor_isr);
-    Temperature_pin.mode (PullUp);
     //  Setup system timers to cause periodic interrupts to synchronise and automate volt and current readings, loop repeat rate etc
     tick_vread.attach_us    (&ISR_voltage_reader, VOLTAGE_READ_INTERVAL_US);    //  Start periodic interrupt generator
     loop_timer.attach_us    (&ISR_loop_timer, MAIN_LOOP_REPEAT_TIME_US);    //  Start periodic interrupt generator
+#ifdef  TEMP_SENSOR_ENABLE
     temperature_find_ticker.attach_us   (&ISR_temperature_find_ticker, 960);
+    Temperature_pin.fall (&temp_sensor_isr);
+    Temperature_pin.mode (PullUp);
+    temperature_timer.start ();
+#endif
     //  Done setting up system interrupt timers
-    temperature_timer.start ();
 
     pc.baud     (9600);     //  COM port to pc
     com3.baud   (1200);     //  Once had an idea to use this for IR comms, never tried
@@ -495,8 +533,10 @@
 //    T5 = 0; now input from fw/re on remote control box
     T6 = 0;
 
+#ifdef  TEMP_SENSOR_ENABLE
     if  ((last_temperature_count > 160) && (last_temperature_count < 2400))   //  in range -40 to +100 degree C
         temp_sensor_exists  = true;
+#endif
 #ifdef  USING_DC_MOTORS
     dc_motor_kicker_timer.start   ();
 #endif
@@ -514,6 +554,10 @@
 //    pc.printf   ("SystemCoreClock=%d, MAX_PWM_TICKS=%d\r\n", SystemCoreClock, MAX_PWM_TICKS);
 //    pcc.test    ()  ;
 //    tsc.test    ()  ;
+
+    WatchDog    = WATCHDOG_RELOAD + 80; //  Allow extra few seconds at powerup
+
+
     while   (1) {      //  Loop forever, repeats synchroised by waiting for ticker Interrupt Service Routine to set 'loop_flag' true
         while   (!loop_flag)  {         //  Most of the time is spent in this loop, repeatedly re-checking for commands from pc port
             pcc.core    ()  ;   //  Proceed beyond here once loop_timer ticker ISR has set loop_flag true
@@ -522,8 +566,8 @@
         }                       //  32Hz original setting for loop repeat rate
         loop_flag = false;              //  Clear flag set by ticker interrupt handler. WHEN LAST CHECKED this was about every 32ms
 
-        RC_chan_1.validate_rx();
-        RC_chan_2.validate_rx();
+        RC_chan_1.validate_rx();   //  Tests for pulse width and repetition rates being believable signal from radio control
+        RC_chan_2.validate_rx();    //  bool return values not noted here, these 2 lines are pointless.
 
         switch  (mode.rd(COMM_SRC))  {   //  Look to selected source of driving command, act on commands from wherever
             case    0:  //  Invalid
@@ -574,14 +618,14 @@
             LED = !LED;                   // Toggle LED on board, should be seen to fast flash
             if  (WatchDogEnable)    {
                 WatchDog--;
-                if  (WatchDog == 0) {   //  Deal with WatchDog timer timeout here
+                if  (WatchDog < 1) {   //  Deal with WatchDog timer timeout here
+                    WatchDog = 0;
                     setVI  (0.0, 0.0);  //  set motor volts and amps to zero
 //                    com2.printf ("TIMEOUT %c\r\n", mode.rd(BOARD_ID));   //  Potential problem of multiple units reporting at same time overcome by adding board number to WATCHDOG_RELOAD
                     pc.printf ("TIMEOUT %c\r\n", mode.rd(BOARD_ID));   //  Brute touch screen controller can do nothing with this
                 }                       //  End of dealing with WatchDog timer timeout
-                if  (WatchDog < 0)
-                    WatchDog = 0;
             }
+            Update_Current_Scaler   ();
             eighth_sec_count++;
             if  (eighth_sec_count > 6)    {   //  Send some status info out of serial port every second and a bit or thereabouts
                 eighth_sec_count = 0;
@@ -593,8 +637,9 @@
                                     pc.printf   ("Temp %.2f\r\n", tmprt);
                                 }*/
             }
-#define SERVO_OUT_TEST
+//#define SERVO_OUT_TEST
 #ifdef  SERVO_OUT_TEST
+    static double  servo_angle = 0.0;  //  For testing servo outs
             //  servo out test here     December 2018
             servo_angle += 0.01;
             if  (servo_angle > TWOPI)