X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;ds=sidebyside;f=ROM2%2Fmotors.c;h=efed7cc73a85255be7cdacc015db394cc2b4c104;hb=f5bc521c83d95d35e852747402a44d1411252c2b;hp=a114490c8d9038bacc47bf2cfacd56178dd1f815;hpb=080c85d87da93ba2472b0c90d17527838d668db2;p=uccvend-snackrom.git

diff --git a/ROM2/motors.c b/ROM2/motors.c
index a114490..efed7cc 100644
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -36,7 +36,7 @@ void motor_shift_send(u8 data) {
 	}
 }
 
-void motor_on(u8 slot) {
+void set_motor(u8 slot) {
 	u8 row, col;
 	row = slot%10;
 	col = slot/10;
@@ -55,37 +55,44 @@ void motor_on(u8 slot) {
 			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 */
 
 	bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+}
+
+void motor_start() {
 	bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
-	bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_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;
 }
 
@@ -94,65 +101,62 @@ bool is_motor(u8 slot) {
 	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);
+	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;
 }
 
 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);
-	delay(1000);
-	motors_off();
-	return MOTOR_SUCCESS;
-	
-	if (!left_home(slot)) {
-		motors_off();
-		return MOTOR_HOME_FAIL;
-	}
+	if (!is_motor(slot)) return MOTOR_NOSLOT;
+	if (!start_motor(slot)) return MOTOR_HOME_FAIL;
+	delay(100);
 
 	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;
 		}
 	}