4 const u8 motor_lookup[80] =
5 { 1,12,23,34,46,57,68,79,
6 11,22,33,44,56,67,78,89,
7 21,32,43,54,66,77,88,99,
18 void motor_shift_send(u8 data) {
20 /* load it in, MSB first */
21 for (i = 0; i < 8; i++) {
23 bset_misc_output(A3800_MOTOR_DATA);
25 bclr_misc_output(A3800_MOTOR_DATA);
30 bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
32 bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
39 void motor_on(u8 slot) {
45 /* loads up the shift register with the right bits */
46 bclr_misc_output(A3800_MOTOR_COL8_ENABLE|A3800_MOTOR_COL9_ENABLE);
49 bset_misc_output(A3800_MOTOR_COL8_ENABLE);
53 bset_misc_output(A3800_MOTOR_COL9_ENABLE);
57 motor_shift_send(1 << col); /* cols from 0..7 */
60 motor_shift_send(1 << (row-1)); /* rows from 1..8 here */
62 bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
63 bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
64 bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_DISABLE);
68 bset_changer_output(A3000_MOTOR_ROW_DISABLE);
69 delay(10); /* XXX cf motors_off */
70 bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_DISABLE);
71 bclr_misc_output(A3800_MOTOR_COL8_ENABLE | A3800_MOTOR_COL9_ENABLE);
74 bool motor_here(u8 slot) {
77 for (i=0; i < 8; i++) {
79 if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
92 bool is_motor(u8 slot) {
93 /* FIXME - does more need to be done? */
94 return motor_here(slot);
97 bool left_home(u8 slot) {
102 for (i = 0; i < 5; i++)
103 if ((home_sensors & r) == 0) return 1;
109 bool back_home(u8 slot) {
114 for (i = 0; i < 5; i++) {
115 if (home_sensors & r) return 1;
116 if ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) == 0) return 1;
123 bool motor_overcurrent() {
127 if (7 == t) return 1;
128 if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) continue;
131 if (5 == i) return 0;
135 u8 dispense_motor(u8 slot) {
136 //if (!is_motor(slot)) return MOTOR_NOSLOT;
141 return MOTOR_SUCCESS;
143 if (!left_home(slot)) {
145 return MOTOR_HOME_FAIL;
149 if (motor_overcurrent()) {
151 return MOTOR_CURRENT_FAIL;
153 /* something should call motor_here? */
154 if (back_home(slot)) {
156 return MOTOR_SUCCESS;