From cd2d15df6a597e7dde2593f323d725c0512dcca3 Mon Sep 17 00:00:00 2001
From: Pavel Semerad <semeradp@gmail.com>
Date: Sun, 13 May 2012 22:48:38 +0200
Subject: [PATCH] repair ABS to use cycle length same as before PPM frame
 length changes

---
 .depend   |  2 +-
 ChangeLog |  1 +
 calc.c    | 17 +++++++++--------
 3 files changed, 11 insertions(+), 9 deletions(-)

diff --git a/.depend b/.depend
index ae481f5..72acebe 100644
--- a/.depend
+++ b/.depend
@@ -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 \
diff --git a/ChangeLog b/ChangeLog
index a7d6309..3563e7a 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -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
diff --git a/calc.c b/calc.c
index 10316ad..a851bf9 100644
--- a/calc.c
+++ b/calc.c
@@ -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;
 	    }
 	}