To romO

diff --git a/ROM2/Makefile b/ROM2/Makefile
index 5ebabe2..17694c0 100644 (file)
--- a/ROM2/Makefile
+++ b/ROM2/Makefile
@@ -2,7 +2,7 @@
 
 OBJS = \
        motors.o keypad.o display_basic.o coinmech.o chime.o \
-       helpers.o main_basic.o comm.o \
+       helpers.o main_basic.o sci.o \
        vectors.o start.o
 INCLUDES = vend.h keypad.h chime.h asm.h display_basic.h ports.h types.h
 

diff --git a/ROM2/coinmech.c b/ROM2/coinmech.c
index d3b0992..124c835 100644 (file)
--- a/ROM2/coinmech.c
+++ b/ROM2/coinmech.c
@@ -51,7 +51,7 @@ void send_byte(u8 c) {
 }
 
 #define IS_CTRL(x) (x & 0x10) /* true if this packet is a control packet */
-void sci_interrupt() {
+void sci_interrupt_coinmech() {
        u8 in;
        in = _io_ports[M6811_SCDR];
        

diff --git a/ROM2/main_basic.c b/ROM2/main_basic.c
index ae25a79..b2923bc 100644 (file)
--- a/ROM2/main_basic.c
+++ b/ROM2/main_basic.c
@@ -9,36 +9,36 @@
 #include "chime.h"
 #include "coinmech.h"
 #include "motors.h"
-#include "comm.h"
+#include "sci.h"
 #include "vend.h"
 
 void motor_reply(char* slotptr, u8 code) {
        /* returns a message of the form MXYY - X is return code, YY is motor */
        wait_for_tx_free();
-       tx_buffer[0] = 'M';
-       tx_buffer[1] = code + '0';
-       tx_buffer[2] = *slotptr;
-       tx_buffer[3] = *(slotptr+1);
-       tx_buffer[4] = '\n';
-       tx_buffer[5] = 0;
+       sci_tx_buf[0] = 'M';
+       sci_tx_buf[1] = code + '0';
+       sci_tx_buf[2] = *slotptr;
+       sci_tx_buf[3] = *(slotptr+1);
+       sci_tx_buf[4] = '\n';
+       sci_tx_buf[5] = 0;
        send_packet();
 }
 
 void dispense_something() {
-       /* process a message VXX in msg_buf where XX is motor number */
+       /* process a message VXX in sci_rx_buf where XX is motor number */
        u8 slot;
 
-       if ((msg_buf[1] < '0') || (msg_buf[1] > '9') ||
-               (msg_buf[2] < '0') || (msg_buf[2] > '9')) {
-               msg_buf[1] = msg_buf[2] = '0';
-               motor_reply((char*)&msg_buf[1], MOTOR_NOSLOT);
+       if ((sci_rx_buf[1] < '0') || (sci_rx_buf[1] > '9') ||
+               (sci_rx_buf[2] < '0') || (sci_rx_buf[2] > '9')) {
+               sci_rx_buf[1] = sci_rx_buf[2] = '0';
+               motor_reply((char*)&sci_rx_buf[1], MOTOR_NOSLOT);
                return;
        }
 
-       slot = (msg_buf[1] - '0') * 10;
-       slot += msg_buf[2] - '0';
+       slot = (sci_rx_buf[1] - '0') * 10;
+       slot += sci_rx_buf[2] - '0';
 
-       motor_reply((char*)&msg_buf[1], dispense_motor(slot));
+       motor_reply((char*)&sci_rx_buf[1], dispense_motor(slot));
 }
 
 void write_to_display() {
@@ -46,8 +46,8 @@ void write_to_display() {
        u8 i;
        char buf[10];
        for (i = 0; i < 10; i++)
-               if (msg_buf[i+1])
-                       buf[i] = msg_buf[i+1];
+               if (sci_rx_buf[i+1])
+                       buf[i] = sci_rx_buf[i+1];
                else
                        break;
 
@@ -60,33 +60,33 @@ void write_to_display() {
 
 void send_balance() {
        wait_for_tx_free();
-       tx_buffer[0] = 'C';
-       tx_buffer[1] = have_change?'0':'1';
-       tx_buffer[2] = (coin_value/10000)%10;
-       tx_buffer[3] = (coin_value/1000)%10;
-       tx_buffer[4] = (coin_value/100)%10;
-       tx_buffer[5] = (coin_value/10)%10;
-       tx_buffer[6] = coin_value%10;
-       tx_buffer[7] = '\n';
-       tx_buffer[8] = 0;
+       sci_tx_buf[0] = 'C';
+       sci_tx_buf[1] = have_change?'0':'1';
+       sci_tx_buf[2] = (coin_value/10000)%10;
+       sci_tx_buf[3] = (coin_value/1000)%10;
+       sci_tx_buf[4] = (coin_value/100)%10;
+       sci_tx_buf[5] = (coin_value/10)%10;
+       sci_tx_buf[6] = coin_value%10;
+       sci_tx_buf[7] = '\n';
+       sci_tx_buf[8] = 0;
        send_packet();
 }
 
 void give_change() {
        u16 cost;
 
-       if ((msg_buf[1] < '0') || (msg_buf[1] > '9') ||
-               (msg_buf[2] < '0') || (msg_buf[2] > '9') ||
-               (msg_buf[3] < '0') || (msg_buf[3] > '9') ||
-               (msg_buf[4] < '0') || (msg_buf[4] > '9') ||
-               (msg_buf[5] < '0') || (msg_buf[5] > '9')) {
+       if ((sci_rx_buf[1] < '0') || (sci_rx_buf[1] > '9') ||
+               (sci_rx_buf[2] < '0') || (sci_rx_buf[2] > '9') ||
+               (sci_rx_buf[3] < '0') || (sci_rx_buf[3] > '9') ||
+               (sci_rx_buf[4] < '0') || (sci_rx_buf[4] > '9') ||
+               (sci_rx_buf[5] < '0') || (sci_rx_buf[5] > '9')) {
                send_nack();
        }
-       cost = msg_buf[1] - '0';
-       cost *= 10; cost = msg_buf[2] - '0';
-       cost *= 10; cost = msg_buf[3] - '0';
-       cost *= 10; cost = msg_buf[4] - '0';
-       cost *= 10; cost = msg_buf[5] - '0';
+       cost = sci_rx_buf[1] - '0';
+       cost *= 10; cost = sci_rx_buf[2] - '0';
+       cost *= 10; cost = sci_rx_buf[3] - '0';
+       cost *= 10; cost = sci_rx_buf[4] - '0';
+       cost *= 10; cost = sci_rx_buf[5] - '0';
 
        coin_cost(cost);
        send_ack();
@@ -95,22 +95,22 @@ void give_change() {
 void send_keypress(u8 key) {
        /* send a packet of the form KX with X being the key, or R for reset */
        wait_for_tx_free();
-       tx_buffer[0] = 'K';
+       sci_tx_buf[0] = 'K';
        if (key == KEY_RESET)
-               tx_buffer[1] = 'R';
+               sci_tx_buf[1] = 'R';
        else
-               tx_buffer[1] = (key%10)+'0';
-       tx_buffer[2] = '\n';
-       tx_buffer[3] = 0;
+               sci_tx_buf[1] = (key%10)+'0';
+       sci_tx_buf[2] = '\n';
+       sci_tx_buf[3] = 0;
        send_packet();
 }
 
 void send_door_msg(bool open) {
        wait_for_tx_free();
-       tx_buffer[0] = 'D';
-       tx_buffer[1] = open?'1':'0';
-       tx_buffer[2] = '\n';
-       tx_buffer[3] = 0;
+       sci_tx_buf[0] = 'D';
+       sci_tx_buf[1] = open?'1':'0';
+       sci_tx_buf[2] = '\n';
+       sci_tx_buf[3] = 0;
        send_packet();
 }
 
@@ -121,20 +121,20 @@ void do_chime() {
 
 void ping_pong() {
        /* make sure it's really a ping */
-       if (msg_buf[1] != 'I' ||
-               msg_buf[2] != 'N' ||
-               msg_buf[3] != 'G') {
+       if (sci_rx_buf[1] != 'I' ||
+               sci_rx_buf[2] != 'N' ||
+               sci_rx_buf[3] != 'G') {
                send_nack();
                return;
        }
        /* respond with ack & pong */
        wait_for_tx_free();
-       tx_buffer[0] = 'P';
-       tx_buffer[1] = 'O';
-       tx_buffer[2] = 'N';
-       tx_buffer[3] = 'G';
-       tx_buffer[4] = '\n';
-       tx_buffer[5] = 0;
+       sci_tx_buf[0] = 'P';
+       sci_tx_buf[1] = 'O';
+       sci_tx_buf[2] = 'N';
+       sci_tx_buf[3] = 'G';
+       sci_tx_buf[4] = '\n';
+       sci_tx_buf[5] = 0;
        send_packet();
 }
 
@@ -163,8 +163,9 @@ int main() {
 
        unlock(); /* enable interrupts */
 
-       comm_init();
-       coinmech_init();
+       //comm_init();
+       //coinmech_init();
+       sci_init();
        keypad_init();
        last_coin_value = 0;
        last_door_open = 0;
@@ -198,9 +199,8 @@ int main() {
                        }
                }
 
-               /*
-               if (rx_queue_state) {
-                       switch (msg_buf[0]) {
+               if (sci_have_packet) {
+                       switch (sci_rx_buf[0]) {
                                case 'V':
                                        dispense_something();
                                        break;
@@ -226,7 +226,6 @@ int main() {
                        }
                        msg_clr();
                }
-               */
 
                keypad_read();
                if (keypad_pressed()) {
@@ -252,6 +251,9 @@ int main() {
                                                case MOTOR_SUCCESS:
                                                        set_msg("THANK  YOU");
                                                        break;
+                                               case MOTOR_NOSLOT:
+                                                       set_msg(" NO MOTOR ");
+                                                       break;
                                                default:
                                                        set_msg("ERRRRRRRR?");
                                                        break;

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 64158ae..13316ff 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -73,19 +73,18 @@ void motors_off() {
 
 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;
 }
 
@@ -95,49 +94,51 @@ bool is_motor(u8 slot) {
 }
 
 bool left_home(u8 slot) {
-       u8 i, r = slot%10;
+       u16 i;
+       u8 r = slot%10;
        if (r >= 5) r--; 
        r = 1 << (r-1);
-
-       for (i = 0; i < 5; i++)
+       for (i = 0; i < 1000; i++) {
                if ((home_sensors & r) == 0) return 1;
-
+               delay(1);
+       }
        /* it never left */
        return 0;
 }
 
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==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) return 1;
-               if ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) == 0) return 1;
+               if ((home_sensors & r) != 0) return 1;
+               if (is_overcurrent()) return MOTOR_CURRENT_FAIL;
        }
 
-       /* it never left */
+       /* it never arrived */
        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;
+       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;
+       if (!is_motor(slot)) return MOTOR_NOSLOT;
 
        motor_on(slot);
-       delay(100);
-       
+
        if (!left_home(slot)) {
                motors_off();
                return MOTOR_HOME_FAIL;

diff --git a/ROM2/sci.c b/ROM2/sci.c
index 39006bc..3241f23 100644 (file)
--- a/ROM2/sci.c
+++ b/ROM2/sci.c
@@ -1,11 +1,73 @@
 #include "vend.h"
 #include "sci.h"
 
+char sci_tx_buf[BUFFER_LEN];
+volatile char sci_rx_buf[BUFFER_LEN];
+volatile bool sci_have_packet;
+volatile u8 sci_rx_buf_ptr;
+
 void sci_init() {
-       _io_ports[M6811_BAUD] = M6811_DEF_BAUD;
+       /* assumes clock of 4.91Mhz */
+       _io_ports[M6811_BAUD] = 0x03; /* 9600 baud */
+
        /* Setup character format 1 start, 8-bits, 1 stop.  */
        _io_ports[M6811_SCCR1] = 0;
 
-       /* Enable reciever and transmitter.  */
-       _io_ports[M6811_SCCR2] = 0xc;
+       /* Enable reciever and transmitter & rx interrupt.  */
+       _io_ports[M6811_SCCR2] = 0x2c;
+
+       sci_have_packet = 0;
+       sci_rx_buf_ptr = 0;
+}
+
+void send_packet() {
+       char* c;
+       for (c = sci_tx_buf; *c; c++) {
+               /* wait for TX ready */
+               while (!(_io_ports[M6811_SCSR] & M6811_TDRE));
+
+               /* send byte */
+               _io_ports[M6811_SCDR] = *c;
+       }
+}
+
+void rx_int() {
+       if (sci_have_packet) return;
+       if (sci_rx_buf_ptr >= BUFFER_LEN) {
+               /* overrun :( */
+               sci_rx_buf[BUFFER_LEN] = '\0';
+               sci_have_packet = 1;
+               sci_rx_buf_ptr = 0;
+               return;
+       }
+       sci_rx_buf[sci_rx_buf_ptr] = _io_ports[M6811_SCDR];
+       if (sci_rx_buf[sci_rx_buf_ptr] == '\n') {
+               sci_rx_buf[sci_rx_buf_ptr] = '\0';
+               sci_have_packet = 1;
+               sci_rx_buf_ptr = 0;
+       }
+       sci_rx_buf_ptr++;
+}
+
+void msg_clr() {
+       sci_have_packet = 0;
+       sci_rx_buf_ptr = 0;
+}
+
+void sci_interrupt_serial() {
+       if (_io_ports[M6811_SCSR] & M6811_RDRF) rx_int();
+}
+
+void send_ack() {
+       sci_tx_buf[0] = '!';
+       sci_tx_buf[1] = '\n';
+       sci_tx_buf[2] = '\0';
+       send_packet();
+}
+
+void send_nack() {
+       sci_tx_buf[0] = '?';
+       sci_tx_buf[1] = '\n';
+       sci_tx_buf[2] = '\0';
+       send_packet();
 }

diff --git a/ROM2/sci.h b/ROM2/sci.h
index 80ac024..4b3a6d1 100644 (file)
--- a/ROM2/sci.h
+++ b/ROM2/sci.h
@@ -3,4 +3,17 @@
 
 #include "vend.h"
 
+#define BUFFER_LEN 12
+
+void sci_init();
+void msg_clr();
+void send_packet();
+void send_ack();
+void send_nack();
+#define wait_for_tx_free() do { } while(0)
+
+extern char sci_tx_buf[BUFFER_LEN];
+extern volatile char sci_rx_buf[BUFFER_LEN];
+extern volatile u8 sci_have_packet;
+
 #endif /* _SCI_H_ */

diff --git a/ROM2/vectors.s b/ROM2/vectors.s
index 14612df..3ffb6a6 100644 (file)
--- a/ROM2/vectors.s
+++ b/ROM2/vectors.s
@@ -27,8 +27,9 @@ Boston, MA 02111-1307, USA.  */
 
        .sect .text
        .globl _start
-       .globl sci_interrupt
-       .globl uart_interrupt
+       .globl sci_interrupt_serial
+       .globl sci_interrupt_coinmech
+       ;.globl uart_interrupt
 
 ;; Default interrupt handler.
        .sect .text
@@ -67,7 +68,7 @@ vectors:
        .word def               ; ffd4
 
        ;; SCI
-       .word sci_interrupt     ; ffd6
+       .word sci_interrupt_serial      ; ffd6
 
        ;; SPI
        .word def               ; ffd8
@@ -90,7 +91,8 @@ vectors:
        ;;  Misc
        ;.word def              ; fff0 (RTII) ; uncomment to disable the RTI & comment below
        .word rti               ; fff0 (RTII)
-       .word uart_interrupt    ; fff2 (IRQ)
+       ;.word uart_interrupt   ; fff2 (IRQ)
+       .word def       ; fff2 (IRQ)
        .word def               ; fff4 (XIRQ)
        .word def               ; fff6 (SWI)
        .word def               ; fff8 (ILL)

diff --git a/ROM2/vend.h b/ROM2/vend.h
index 03d8c9e..17ba674 100644 (file)
--- a/ROM2/vend.h
+++ b/ROM2/vend.h
@@ -41,7 +41,7 @@ void my_memcpy(char* dst, char* src, u8 size);
 
 #define PORTD_KEYPAD_ROW    0x20 /* clear for row 0, set for row 1 */
 
-#define PORTE_MOTOR_OVERCURRENT 0x01
+#define PORTE_MOTOR_NOT_OVERCURRENT 0x01
 #define PORTE_MOTOR_OVERVOLTAGE 0x02
 
 /* Address 1800 bits */
@@ -60,7 +60,8 @@ void my_memcpy(char* dst, char* src, u8 size);
 /******* from main.c *******/
 int __attribute__((noreturn)) main (void);
 void __attribute__((interrupt)) rti (void);
-void __attribute__((interrupt)) sci_interrupt (void);
+void __attribute__((interrupt)) sci_interrupt_serial (void);
+void __attribute__((interrupt)) sci_interrupt_coinmech (void);
 void __attribute__((interrupt)) uart_interrupt (void);
 
 /* other one liners */