added channel_speed for all channels; throttle channel can be applied only for forward side

ChangeLog

 
+*0.4.0 ()
+
+    use steering trim when dual-ESC steering
+    added channel_speed for all channels, throttle channel can be applied only
+	for forward side
+
 *0.3.2 (27 Jun 2011)
 
     added option throttle brake cut of to be able to drive forward only

MANUAL.txt

@@ -20,7 +20,7 @@ You can backup your original firmware and config, use tabs "PROGRAM MEMORY" and
 
 Global characteristics:
 =======================
-- 15 models memory (for 6-channel firmware, for 3-channel it is little more
+- 14 models memory (for 6-channel firmware, for 3-channel it is little more
 		    and for 8-channel little less)
     > numbers 10-19 will show with Right-Arrow
     > numbers 20-29 will show with Left-Arrow
@@ -75,14 +75,19 @@ Standard menu:
     > menu TRIM will blink
     > set subtrims for each channel
     > press ENTER/BACK to end this submenu
-- Steering speed
+- channel speed
     > choose menu D/R and press ENTER-long
     > menu D/R wil blink
-    > now only channel 1 can be selected
-    > turn wheel left to show left arrow - this represents Turn speed 1-100%
-    > turn wheel right to show right arrow - this represents Return speed 1-100%
-	100% means no delay
-	1%   means above 4s delay end to end
+    > select channel
+    > for channels 1 and 2 (steering and throttle)
+	- turn wheel left to show left arrow
+	    - this represents Turn speed or throttle speed
+	- turn wheel right to show right arrow
+	    - this represents Return speed or
+	      "throttle speed only for forward" (OFF/ON)
+    > select required speed 1...100%
+	- 100% means no delay
+	-   1% means above 4s delay end to end
 - mixes 4WS, DIG, throttle brake cut-off (for boats with forward-only
   throttle), Multi-Position (to set arbitrary up to 8 positions)
     > choose menu EPOINT and press ENTER-long
@@ -255,6 +260,7 @@ DIG		- DIG throttle mix -100...100%
 MPO		- Multi-POsition, switches position up/down
 SST		- steering speed turn 1...100%
 SSR		- steering speed return 1...100%
+CSn		- channel speed for channel "n" 1...100%
 
 
 

calc.c

@@ -143,7 +143,7 @@ static s16 expo(s16 inval, s8 exp) {
 
 
 // apply steering speed
-static u16 steering_speed(s16 val, u8 channel) {
+static s16 steering_speed(s16 val, u8 channel) {
     s16 last = last_value[channel - 1];
     s16 delta = val - last;
     s16 delta2 = 0;
@@ -220,6 +220,41 @@ static u16 steering_speed(s16 val, u8 channel) {
 }
 
 
+// apply servo speed
+static s16 channel_speed(s16 val, u8 channel) {
+    s16 last = last_value[channel - 1];
+    s16 delta = val - last;
+    s16 max_delta;
+    u8  speed = cm.speed[channel - 1];
+
+    // for DIG channel use throttle speed
+    if (channel == cm.channel_DIG) speed = cm.thspd;
+
+    if (!delta)  return val;		// no change from previous val
+    if (speed == 100)  return val;	// max speed
+
+    // special handling for "throttle only for forward"
+    if (cm.thspd_onlyfwd && (channel == 2 || channel == cm.channel_DIG)) {
+	if (val >= 0 && !cm.brake_off)  return val;	// at brake side
+	if (delta > 0)  return val;			// not forwarding
+	if (last > 0 && !cm.brake_off) {
+	    // apply speed only from centre to forward
+	    last = 0;
+	    delta = val;
+	}
+    }
+
+    max_delta = PPM(1000) / 2 / (100 - speed);
+    if (delta < 0) {
+	if (max_delta < -delta)  val = last - max_delta;
+    }
+    else {
+	if (max_delta < delta)   val = last + max_delta;
+    }
+    return val;
+}
+
+
 
 
 
@@ -261,7 +296,7 @@ static void calc_loop(void) {
 
 		channel_params(1, steering_speed(val, 1));
 		channel_params(cm.channel_4WS,
-			    steering_speed(val2, cm.channel_4WS));
+			       steering_speed(val2, cm.channel_4WS));
 	    }
 	}
 	else {
@@ -276,12 +311,14 @@ static void calc_loop(void) {
 	    }
 	    // return back value from steering wheel to allow to use
 	    //   steering speed
+	    val2 = last_value[0];
 	    last_value[0] = last_ch1;
 	    val = steering_speed(val, 1);
 	    if (val < PPM(-500))      val = PPM(-500);
 	    else if (val > PPM(500))  val = PPM(500);
 	    // save steering value for steering speed
 	    last_ch1 = val;
+	    last_value[0] = val2;
 	    // set DIG mix
 	    DIG_mix = -val;  // minus, because 100 will reduce channel 1
 	    menu_DIG_mix = (s8)(DIG_mix / PPM(5));
@@ -328,7 +365,7 @@ static void calc_loop(void) {
 	val = dualrate(val, (u8)(val < 0 ? cm.dr_forward : cm.dr_back));
 	if (!cm.channel_DIG) {
 	    if (cm.brake_off)  val = val * 2 + PPM(500);
-	    channel_params(2, val);
+	    channel_params(2, channel_speed(val, 2));
 	}
 	else {
 	    // DIG mixing
@@ -345,8 +382,8 @@ static void calc_loop(void) {
 		val  = val  * 2 + PPM(500);
 		val2 = val2 * 2 + PPM(500);
 	    }
-	    channel_params(2, val);
-	    channel_params(cm.channel_DIG, val2);
+	    channel_params(2, channel_speed(val, 2));
+	    channel_params(cm.channel_DIG, channel_speed(val2, cm.channel_DIG));
 	}
 
 
@@ -354,9 +391,9 @@ static void calc_loop(void) {
 
 	// channels 3-8, exclude mixed channels in the future
 	for (i = 3, bit = 0b100; i <= MAX_CHANNELS; i++, bit <<= 1) {
-	    // check if channel was already mixed before
+	    // check if channel was already mixed before (4WS, DIG)
 	    if (menu_channels_mixed & bit)  continue;
-	    channel_params(i, menu_channel3_8[i - 3] * PPM(5));
+	    channel_params(i, channel_speed(menu_channel3_8[i - 3] * PPM(5), i));
 	}
 
 

config.c

@@ -107,14 +107,15 @@ void config_model_set_default(void) {
     cm.expo_forward	= 0;
     cm.expo_back	= 0;
     cm.abs_type		= 0;
-    cm.channel_4WS	= 0;
     cm.brake_off	= 0;
+    cm.thspd_onlyfwd	= 0;
+    cm.channel_4WS	= 0;
     cm.channel_DIG	= 0;
     cm.channel_MP	= 0;
     cm.multi_position[0]= -100;
     memset(&cm.multi_position[1], (u8)MULTI_POSITION_END,
 	   NUM_MULTI_POSITION - 1);
-    cm.stspd_turn	= 100;
+    memset(&cm.speed[0], 100, MAX_CHANNELS);
     cm.stspd_return	= 100;
     memcpy(&cm.key_mapping, &default_key_mapping, sizeof(config_key_mapping_s));
 }

config.h

@@ -111,8 +111,8 @@ typedef struct {
 
 // change MAGIC number when changing model config
 // also add code to setting default values
-// 24 + 22(keys) + channels * 3 bytes
-#define CONFIG_MODEL_MAGIC  (0xfb20 | (MAX_CHANNELS - 1))
+// 23 + 22(keys) + channels * 4 bytes
+#define CONFIG_MODEL_MAGIC  (0xfa20 | (MAX_CHANNELS - 1))
 typedef struct {
     u8 name[3];
     u8 reverse;			// bit for each channel
@@ -130,12 +130,15 @@ typedef struct {
 #define expo_forward	expo[1]
 #define expo_back	expo[2]
     u8 abs_type:2;
-    u8 channel_4WS:4;		// channel for 4WS mix or 0 when off
     u8 brake_off:1;		// don't use brake side of throttle
+    u8 thspd_onlyfwd:1;		// throttle speed only at forward side
+    u8 channel_4WS:4;		// channel for 4WS mix or 0 when off
     u8 channel_DIG:4;		// channel for DIG mix or 0 when off
     u8 channel_MP:4;		// channel for MultiPosition or 0 when off
     s8 multi_position[NUM_MULTI_POSITION];  // values for MultiPosition
-    u8 stspd_turn;		// steering speed turn
+    u8 speed[MAX_CHANNELS];	// reduce speed of servo
+#define stspd_turn	speed[0]
+#define thspd		speed[1]
     u8 stspd_return;		// steering speed return
     config_key_mapping_s key_mapping;
 } config_model_s;

menu.c

@@ -568,14 +568,22 @@ static void menu_dualrate(void) {
 
 // set servo speed
 static void sf_speed(u8 channel, u8 change) {
-    u8 *addr = menu_adc_direction ? &cm.stspd_return : &cm.stspd_turn;
-    if (change)  *addr = (u8)menu_change_val(*addr, 1, 100, SPEED_FAST, 0);
-    lcd_char_num3(*addr);
+    u8 *addr = &cm.speed[channel];
+    u8 thfwdonly = (u8)(channel == 1 && menu_adc_direction ? 1 : 0);
+    if (channel == 0 && menu_adc_direction)  addr = &cm.stspd_return;
+    if (change) {
+	if (thfwdonly)
+	    // throttle forward only setting
+	    cm.thspd_onlyfwd ^= 1;
+	else *addr = (u8)menu_change_val(*addr, 1, 100, SPEED_FAST, 0);
+    }
+    if (thfwdonly)  lcd_chars(cm.thspd_onlyfwd ? "OFF" : "ON ");
+    else	    lcd_char_num3(*addr);
 }
 static void menu_speed(void) {
     lcd_set_blink(LMENU, LB_SPC);
     lcd_segment(LS_SYM_PERCENT, LS_ON);
-    menu_channel(1, 0x1, 0, sf_speed);
+    menu_channel(MAX_CHANNELS, 0x3, 0, sf_speed);
     lcd_segment(LS_SYM_PERCENT, LS_OFF);
     lcd_set_blink(LMENU, LB_OFF);
 }

menu_popup.c

@@ -164,45 +164,59 @@ static const et_functions_s et_functions[] = {
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
     { 21, "ST3", LM_TRIM, EF_BLINK, 3, &cm.subtrim[2], -SUBTRIM_MAX,
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
+    { 27, "SST", LM_DR, EF_BLINK | EF_LEFT | EF_PERCENT, 1, &cm.stspd_turn,
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
+    { 28, "SSR", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.stspd_return,
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
+    { 29, "CS2", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.thspd,
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
+    { 30, "CS3", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.speed[2],
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
 #if MAX_CHANNELS >= 4
     { 14, "CH4", 0, EF_NONE, 4, &menu_channel4, -100, 100, 0, CHANNEL_FAST,
       NULL, NULL, NULL },
     { 22, "ST4", LM_TRIM, EF_BLINK, 4, &cm.subtrim[3], -SUBTRIM_MAX,
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
+    { 31, "CS4", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.speed[3],
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
 #if MAX_CHANNELS >= 5
     { 15, "CH5", 0, EF_NONE, 5, &menu_channel5, -100, 100, 0, CHANNEL_FAST,
       NULL, NULL, NULL },
     { 23, "ST5", LM_TRIM, EF_BLINK, 5, &cm.subtrim[4], -SUBTRIM_MAX,
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
+    { 32, "CS5", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.speed[4],
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
 #if MAX_CHANNELS >= 6
     { 16, "CH6", 0, EF_NONE, 6, &menu_channel6, -100, 100, 0, CHANNEL_FAST,
       NULL, NULL, NULL },
     { 24, "ST6", LM_TRIM, EF_BLINK, 6, &cm.subtrim[5], -SUBTRIM_MAX,
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
+    { 33, "CS6", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.speed[5],
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
 #if MAX_CHANNELS >= 7
     { 17, "CH7", 0, EF_NONE, 7, &menu_channel7, -100, 100, 0, CHANNEL_FAST,
       NULL, NULL, NULL },
     { 25, "ST7", LM_TRIM, EF_BLINK, 7, &cm.subtrim[6], -SUBTRIM_MAX,
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
+    { 34, "CS7", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.speed[6],
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
 #if MAX_CHANNELS >= 8
     { 18, "CH8", 0, EF_NONE, 8, &menu_channel8, -100, 100, 0, CHANNEL_FAST,
       NULL, NULL, NULL },
     { 26, "ST8", LM_TRIM, EF_BLINK, 8, &cm.subtrim[7], -SUBTRIM_MAX,
       SUBTRIM_MAX, 0, SUBTRIM_FAST, NULL, NULL, NULL },
+    { 35, "CS8", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.speed[7],
+      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
 #endif
 #endif
 #endif
 #endif
 #endif
-    { 29, "4WS", LM_EPO, EF_BLINK | EF_PERCENT | EF_NOCHANNEL, 4,
+    { 36, "4WS", LM_EPO, EF_BLINK | EF_PERCENT | EF_NOCHANNEL, 4,
       &menu_4WS_mix, -100, 100, 0, MIX_FAST, NULL, NULL, NULL },
-    { 30, "DIG", LM_EPO, EF_BLINK | EF_PERCENT | EF_NOCHANNEL, L7_D,
+    { 37, "DIG", LM_EPO, EF_BLINK | EF_PERCENT | EF_NOCHANNEL, L7_D,
       &menu_DIG_mix, -100, 100, 0, MIX_FAST, NULL, NULL, NULL },
-    { 27, "SST", LM_DR, EF_BLINK | EF_LEFT | EF_PERCENT, 1, &cm.stspd_turn,
-      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
-    { 28, "SSR", LM_DR, EF_BLINK | EF_RIGHT | EF_PERCENT, 1, &cm.stspd_return,
-      1, 100, 100, SPEED_FAST, NULL, NULL, NULL },
-    { 31, "MPO", 0, EF_LIST, 0, &menu_MP_index,
+    { 38, "MPO", 0, EF_LIST, 0, &menu_MP_index,
       0, NUM_MULTI_POSITION - 1, 0, 1, set_MP, show_MP, NULL },
 };
 #define ET_FUNCTIONS_SIZE  (sizeof(et_functions) / sizeof(et_functions_s))