}
}
-void motor_on(u8 slot) {
+void set_motor(u8 slot) {
u8 row, col;
row = slot%10;
col = slot/10;
motor_shift_send(1 << (row-1)); /* rows from 1..8 here */
bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+}
+
+void motor_start() {
bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
}
-void motors_off() {
+void motor_pause() {
+ bset_changer_output(A3000_MOTOR_ROW_DISABLE);
+}
+
+void motor_stop() {
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);
+ set_motor(slot);
for (i=0; i < 8; i++) {
+ motor_start();
delay(5);
- if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
+ if ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) == 0) {
c++;
- if (c == 0xff) {
- motors_off();
+ if (c == 3) {
+ motor_stop();
return 1;
- } else
- continue;
+ }
}
+ motor_pause();
}
- motors_off();
+ motor_stop();
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-1);
-
- for (i = 0; i < 5; i++)
- if ((home_sensors & r) == 0) return 1;
-
+ set_motor(slot);
+ motor_start();
+ delay(50);
+ for (i = 0; i < 1000; i++) {
+ if ((home_sensors & r) != 0) return 1;
+ delay(1);
+ }
/* it never left */
+ motor_stop();
return 0;
}
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 (!is_motor(slot)) return MOTOR_NOSLOT;
+ if (!start_motor(slot)) return MOTOR_HOME_FAIL;
delay(100);
-
- if (!left_home(slot)) {
- motors_off();
- return MOTOR_HOME_FAIL;
- }
while (1) {
if (motor_overcurrent()) {
- motors_off();
+ motor_stop();
return MOTOR_CURRENT_FAIL;
}
- /* something should call motor_here? */
if (back_home(slot)) {
- motors_off();
+ motor_stop();
return MOTOR_SUCCESS;
}
}