Lots of changes! Takes us to rom S

[uccvend-snackrom.git] / ROM2 / motors.c

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 4bb216b..efed7cc 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -1,50 +1,164 @@
 #include "motors.h"
 #include "vend.h"
 
-void motor_on(u8 slot) {
-       /* from jump34 */
+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 set_motor(u8 slot) {
+       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);
+}
+
+void motor_start() {
+       bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
 }
 
-void motors_off() {
-       bset_changer_output(A3000_MOTOR_ROW_ENABLE); /* XXX active low? */
-       delay(10); /* XXX cf motors_off */
+void motor_pause() {
+       bset_changer_output(A3000_MOTOR_ROW_DISABLE);
+}
+
+void motor_stop() {
+       bset_changer_output(A3000_MOTOR_ROW_DISABLE);
        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;
+       set_motor(slot);
        for (i=0; i < 8; i++) {
-               if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
+               motor_start();
+               delay(5);
+               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;
 }
 
 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);
+       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-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;
 }
 
-void scan_motors() {
-       /* FIXME */
+#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;
+}
+
+u8 dispense_motor(u8 slot) {
+       if (!is_motor(slot)) return MOTOR_NOSLOT;
+       if (!start_motor(slot)) return MOTOR_HOME_FAIL;
+       delay(100);
+
+       while (1) {
+               if (motor_overcurrent()) {
+                       motor_stop();
+                       return MOTOR_CURRENT_FAIL;
+               }
+               if (back_home(slot)) {
+                       motor_stop();
+                       return MOTOR_SUCCESS;
+               }
+       }
 }