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 b0e4ee3..efed7cc 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -24,15 +24,19 @@ void motor_shift_send(u8 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) {
+void set_motor(u8 slot) {
        u8 row, col;
        row = slot%10;
        col = slot/10;
@@ -51,36 +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);
 }
 
-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;
 }
 
@@ -89,62 +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);
-       
-       if (!left_home(slot)) {
-               motors_off();
-               return MOTOR_HOME_FAIL;
-       }
+       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;
                }
        }