X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=ROM2%2Fmotors.c;h=e7cb6b50db87f90bf36d531d081b34f9e76e484f;hb=c1fd53d73bce8779c822e3ed74de94f40714f9ca;hp=4bb216b273158616e047e2669a4ed9b1f1f2f223;hpb=c99662693a4d79f65d406473647debbd33ec521e;p=uccvend-snackrom.git

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 4bb216b..e7cb6b5 100644
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -1,50 +1,155 @@
 #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);
+
+		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;
+	}
+}
+
 void motor_on(u8 slot) {
-	/* from jump34 */
+	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 */
+			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);
+	bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
 }
 
 void motors_off() {
-	bset_changer_output(A3000_MOTOR_ROW_ENABLE); /* XXX active low? */
+	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) {
-	int i, c = 0;
-	motor_on(slot);
+	u8 i, c = 0;
 	for (i=0; i < 8; i++) {
-		if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
+		motor_on(slot);
+		delay(5);
+		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;
 }
 
 bool is_motor(u8 slot) {
-	/* FIXME */
-	return 1;
+	/* FIXME - does more need to be done? */
+	return motor_here(slot);
 }
 
-u8 dispense_motor(u8 slot) {
-	if (!is_motor(slot)) {
-		return MOTOR_NOSLOT;
+bool start_motor(u8 slot) {
+	u16 i;
+	u8 r = slot%10;
+	if (r >= 5) r--; 
+	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-1);
+
+	for (i = 0; i < 5; i++) {
+		if ((home_sensors & r) == 0) return 1;
+		delay(1);
 	}
 
-	motor_on(slot);
-	/* FIXME */
-	return MOTOR_SUCCESS;
+	/* it never arrived */
+	return 0;
+}
+
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
+bool motor_overcurrent() {
+	u8 good_passes = 0, t;
+	for (t = 0; t < 8; t++) {
+		delay(1);
+		if (is_overcurrent()) continue;
+		t = 0;
+		good_passes++;
+		if (good_passes == 5) return 0;
+	}
+	return 1;
 }
 
-void scan_motors() {
-	/* FIXME */
+u8 dispense_motor(u8 slot) {
+	if (!is_motor(slot)) return MOTOR_NOSLOT;
+	if (!start_motor(slot)) 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;
+		}
+	}
 }