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repair ABS to use cycle length same as before PPM frame length changes

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Pavel Semerad
2012-05-13 22:48:38 +02:00
parent 0797745c78
commit cd2d15df6a
3 changed files with 11 additions and 9 deletions
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2
.depend
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@@ -14,7 +14,7 @@ eeprom.o: eeprom.c eeprom.h config.h gt3b.h stm8.h \
config.o: config.c config.h gt3b.h stm8.h task.h \
eeprom.h input.h
calc.o: calc.c calc.h gt3b.h stm8.h task.h menu.h ppm.h \
config.h eeprom.h input.h
config.h eeprom.h input.h timer.h
menu_common.o: menu_common.c menu.h gt3b.h stm8.h \
task.h config.h eeprom.h ppm.h input.h lcd.h buzzer.h
menu.o: menu.c menu.h gt3b.h stm8.h task.h config.h \

1
ChangeLog
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@@ -1,4 +1,5 @@
*0.6.1 ()
repaired ABS to use cycle length same as before PPM frame length changes
*0.6.0 (28 Apr 2012)
increased model memories by using FLASH also

17
calc.c
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@@ -23,6 +23,7 @@
#include "ppm.h"
#include "config.h"
#include "input.h"
#include "timer.h"
@@ -379,16 +380,16 @@ static void calc_loop(void) {
val = expo(val, (u8)(val < 0 ? cm.expo_forward : cm.expo_back));
if (cm.abs_type) {
// apply selected ABS
static u8 abs_cnt;
static u8 abs_time;
static _Bool abs_state; // when 1, lower brake value
// cycle time in 1ms steps: 120/80/60ms
u8 cycle_time = (u8)(cm.abs_type == 1 ? 120 :
cm.abs_type == 2 ? 80 : 60);
if (val > ABS_THRESHOLD) {
// count ABS
abs_cnt++;
if (cm.abs_type == 1 && abs_cnt >= 6
|| cm.abs_type == 2 && abs_cnt >= 4
|| cm.abs_type == 3 && abs_cnt >=3) {
abs_cnt = 0;
// check time with 40ms reserve and change abs_state
if ((u8)(ppm_timer - abs_time) <= 40) {
abs_time = (u8)(ppm_timer + cycle_time);
abs_state ^= 1;
}
// apply ABS
@@ -397,7 +398,7 @@ static void calc_loop(void) {
}
else {
// no ABS
abs_cnt = 0;
abs_time = (u8)(ppm_timer + cycle_time);
abs_state = 0;
}
}