add extra brake channel for throttle brake side

ChangeLog

 *0.6.1 ()
     repaired ABS to use cycle length same as before PPM frame length changes
+    added extra brake channel for throttle brake side
 
 *0.6.0 (28 Apr 2012)
     increased model memories by using FLASH also

MANUAL.txt

@@ -34,7 +34,7 @@ Flashing firmware
 
 Global characteristics:
 =======================
-- 67 model memories, first 8 in EEPROM, rest in FLASH
+- 65 model memories, first 8 in EEPROM, rest in FLASH
     > numbers 10-19 will show with Right-Arrow
     > numbers 20-29 will show with Left-Arrow
     > numbers 30-39 will show with Left+Right-Arrows
@@ -133,11 +133,12 @@ Standard menu:
     > select channel and press ENTER
     > select value in range -100..100 and press enter
 - mixes 4WS, DIG, throttle brake cut-off (for boats with forward-only
-  throttle), Multi-Position (to set arbitrary up to 8 positions)
+  throttle), Multi-Position (to set arbitrary up to 8 positions),
+  brake channel (to send brake side of throttle to extra channel)
     > choose menu EPOINT and press ENTER-long
     > menu EPOINT will blink
     > select one of mixes 4WS (4), DIG (d), brake cut-off (b),
-	multi-position (P)
+	multi-position (P), brake channel (8)
       for mixes 4WS, DIG:
 	> press ENTER and choose channel for this mix or OFF
 	    - for dual-ESC steering (boat, tank, ...) select DIG channel 1 and
@@ -157,7 +158,9 @@ Standard menu:
 	> press ENTER and set channel value for second position or END
 	> ... up to eight position
       for brake cut-off:
-	> set OFF or CUT
+	> press ENTER and choose OFF or CUT
+      for brake channel:
+	> press ENTER and choose channel fro brake or OFF
 - Key mapping specific for each model:
     > choose menu REV and press ENTER-long
     > menu REV will blink

calc.c

@@ -376,7 +376,6 @@ static void calc_loop(void) {
 				cg.calib_throttle_mid << ADC_OVS_SHIFT,
 				cg.calib_throttle_bck << ADC_OVS_SHIFT,
 				cg.throttle_dead_zone << ADC_OVS_SHIFT);
-	if (cm.brake_off && val > 0)  val = 0;  // throttle brake cut off
 	val = expo(val, (u8)(val < 0 ? cm.expo_forward : cm.expo_back));
 	if (cm.abs_type) {
 	    // apply selected ABS
@@ -403,6 +402,16 @@ static void calc_loop(void) {
 	    }
 	}
 	val = dualrate(val, (u8)(val < 0 ? cm.dr_forward : cm.dr_back));
+	// brake to extra channel
+	if (cm.channel_brake) {
+	    val2 = val;
+	    if (val2 < 0)  val2 = 0;		// eliminate forward
+	    val2 = val2 * 2 - PPM(500);		// to whole servo range
+	    channel_params(cm.channel_brake, channel_speed(val2, cm.channel_brake));
+	}
+	// throttle brake cut off
+	if (cm.brake_off && val > 0)  val = 0;
+	// set to servo
 	if (!cm.channel_DIG) {
 	    if (cm.brake_off)  val = val * 2 + PPM(500);
 	    channel_params(2, channel_speed(val, 2));

config.c

@@ -143,6 +143,7 @@ void config_model_set_default(void) {
 
     cm.channel_4WS	= 0;
     cm.channel_DIG	= 0;
+    cm.channel_brake	= 0;
 
     cm.channel_MP0	= 0;
     memset(cm.multi_position0, (u8)MULTI_POSITION_END, sizeof(cm.multi_position0));
@@ -165,6 +166,7 @@ void config_model_set_default(void) {
 
     cm.unused		= 0;
     cm.unused2		= 0;
+    cm.unused3		= 0;
     memset(cm.reserve, 0, sizeof(cm.reserve));
 }
 

config.h

@@ -180,7 +180,10 @@ typedef struct {
     u8	abs_type:2;
 
     u8	unused:1;
-    u16	unused2;
+    u8	channel_brake:4;		// channel for brake side of throttle
+
+    u8  unused2:4;
+    u8	unused3;
 
     config_key_mapping_s key_mapping;
 

menu_common.c

@@ -63,6 +63,8 @@ void apply_model_config(void) {
 	menu_channels_mixed |= (u8)(1 << (u8)(cm.channel_4WS - 1));
     if (cm.channel_DIG)
 	menu_channels_mixed |= (u8)(1 << (u8)(cm.channel_DIG - 1));
+    if (cm.channel_brake)
+	menu_channels_mixed |= (u8)(1 << (u8)(cm.channel_brake - 1));
 
     // set autorepeat
     for (i = 0; i < 4; i++) {

menu_mix.c

@@ -240,6 +240,25 @@ static void mix_brake_off(u8 action) {
 }
 
 
+static void mix_brake_channel(u8 action) {
+    u8 val = cm.channel_brake;
+
+    if (action == MLA_CHG) {
+        // channel number/off
+        if (!val)  val = 2;
+        val = (u8)menu_change_val(val, 2, channels, 1, 1);
+        if (val == 2)  val = 0;
+        cm.channel_brake = val;
+    }
+
+    // show value
+    lcd_7seg(8);
+    lcd_segment(LS_SYM_CHANNEL, LS_ON);
+    // channel number/OFF
+    if (!val)  lcd_chars("OFF");
+    else       lcd_char_num3(val);
+}
+
 
 
 
@@ -252,6 +271,7 @@ static const menu_list_t mix_funcs[] = {
     mix_MultiPosition,
     mix_MultiPosition,
     mix_brake_off,
+    mix_brake_channel,
 };