+#include "motors.h"
#include "vend.h"
+const u8 motor_lookup[80] =
+{ 1,12,23,34,46,57,68,79,
+ 11,22,33,44,56,67,78,89,
+ 21,32,43,54,66,77,88,99,
+ 31,42,53,64,76,87,98,
+ 9,41,52,63,74,86,97,
+ 8,19,51,62,73,84,96,
+ 7,18,29,61,72,83,94,
+ 6,17,28,39,71,82,93,
+ 4,16,27,38,49,81,92,
+ 3,14,26,37,48,59,91,
+ 2,13,24,36,47,58,69,
+};
+
+void motor_shift_send(u8 data) {
+ u8 i;
+ /* load it in, MSB first */
+ for (i = 0; i < 8; i++) {
+ if (data & 0x80)
+ bset_misc_output(A3800_MOTOR_DATA);
+ else
+ bclr_misc_output(A3800_MOTOR_DATA);
+
+ /* clock pulse */
+ bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+ bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+
+ data = data << 1;
+ }
+}
+
+void motor_on(u8 slot) {
+ u8 row, col;
+ row = slot%10;
+ col = slot/10;
+ if (row >= 5) row--;
+
+ /* loads up the shift register with the right bits */
+ bclr_misc_output(A3800_MOTOR_COL8_ENABLE|A3800_MOTOR_COL9_ENABLE);
+ switch (col) {
+ case 8:
+ bset_misc_output(A3800_MOTOR_COL8_ENABLE);
+ motor_shift_send(0);
+ break;
+ case 9:
+ bset_misc_output(A3800_MOTOR_COL9_ENABLE);
+ motor_shift_send(0);
+ break;
+ default: /* < 8 */
+ motor_shift_send(1 << col); /* cols from 0..7 */
+ }
+
+ motor_shift_send(1 << (row-1)); /* rows from 1..8 here */
+
+ bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+ bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
+}
+
+void motors_off() {
+ bset_changer_output(A3000_MOTOR_ROW_DISABLE);
+ delay(10); /* XXX cf motors_off */
+ bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_DISABLE);
+ bclr_misc_output(A3800_MOTOR_COL8_ENABLE | A3800_MOTOR_COL9_ENABLE);
+}
+
+bool motor_here(u8 slot) {
+ u8 i, c = 0;
+ motor_on(slot);
+ for (i=0; i < 8; i++) {
+ delay(5);
+ if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
+ c++;
+ if (c == 0xff) {
+ motors_off();
+ return 1;
+ } else
+ continue;
+ }
+ }
+ motors_off();
+ return 0;
+}
+
+bool is_motor(u8 slot) {
+ /* FIXME - does more need to be done? */
+ return motor_here(slot);
+}
+
+bool left_home(u8 slot) {
+ u8 i, r = slot%10;
+ if (r >= 5) r--;
+ r = 1 << r;
+
+ for (i = 0; i < 5; i++)
+ if ((home_sensors & r) == 0) return 1;
+
+ /* it never left */
+ return 0;
+}
+
+bool back_home(u8 slot) {
+ u8 i, r = slot%10;
+ if (r >= 5) r--;
+ r = 1 << r;
+
+ for (i = 0; i < 5; i++) {
+ if (home_sensors & r) return 1;
+ if ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) == 0) return 1;
+ }
+
+ /* it never left */
+ return 0;
+}
+
+bool motor_overcurrent() {
+ u8 t = 0, i = 0;
+ while(1) {
+ t++;
+ if (7 == t) return 1;
+ if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) continue;
+ t = 0;
+ i++;
+ if (5 == i) return 0;
+ }
+}
+
+u8 dispense_motor(u8 slot) {
+ if (!is_motor(slot)) return MOTOR_NOSLOT;
+
+ motor_on(slot);
+
+ if (!left_home(slot)) {
+ motors_off();
+ return MOTOR_HOME_FAIL;
+ }
+
+ while (1) {
+ if (motor_overcurrent()) {
+ motors_off();
+ return MOTOR_CURRENT_FAIL;
+ }
+ /* something should call motor_here? */
+ if (back_home(slot)) {
+ motors_off();
+ return MOTOR_SUCCESS;
+ }
+ }
+}
+