#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 */
else
bclr_misc_output(A3800_MOTOR_DATA);
+ delay(1);
+
/* clock pulse */
bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+ delay(1);
bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+ delay(1);
data = data << 1;
}
break;
default: /* < 8 */
motor_shift_send(1 << col); /* cols from 0..7 */
+ bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_DISABLE);
}
motor_shift_send(1 << (row-1)); /* rows from 1..8 here */
bool motor_here(u8 slot) {
u8 i, c = 0;
- motor_on(slot);
for (i=0; i < 8; i++) {
+ motor_on(slot);
delay(5);
- if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
+ if ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) == 0) {
c++;
- if (c == 0xff) {
+ if (c == 3) {
motors_off();
return 1;
- } else
- continue;
+ }
}
+ motors_off();
}
- motors_off();
return 0;
}
return motor_here(slot);
}
-bool left_home(u8 slot) {
- u8 i, r = slot%10;
+bool start_motor(u8 slot) {
+ u16 i;
+ u8 r = slot%10;
if (r >= 5) r--;
- r = 1 << r;
-
- for (i = 0; i < 5; i++)
- if (home_sensors & r == 0) return 1;
-
+ r = 1 << (r-1);
+ motor_on(slot);
+ delay(100);
+ for (i = 0; i < 1000; i++) {
+ if ((home_sensors & r) != 0) return 1;
+ delay(1);
+ }
/* it never left */
+ motors_off();
return 0;
}
bool back_home(u8 slot) {
u8 i, r = slot%10;
if (r >= 5) r--;
- r = 1 << r;
+ r = 1 << (r-1);
for (i = 0; i < 5; i++) {
- if (home_sensors & r) return 1;
- if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT == 0) return 1;
+ if ((home_sensors & r) == 0) return 1;
+ delay(1);
}
- /* it never left */
+ /* it never arrived */
return 0;
}
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==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;
+ u8 good_passes = 0, t;
+ for (t = 0; t < 8; t++) {
+ delay(1);
+ if (is_overcurrent()) continue;
t = 0;
- i++;
- if (5 == i) return 0;
+ good_passes++;
+ if (good_passes == 5) return 0;
}
+ return 1;
}
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;
- }
+ if (!start_motor(slot)) return MOTOR_HOME_FAIL;
while (1) {
if (motor_overcurrent()) {