More motor work

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 4bb216b..6744839 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -1,21 +1,62 @@
 #include "motors.h"
 #include "vend.h"
 
+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);
+
+               /* clock pulse */
+               bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+               bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+               
+               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 */
+       }
+
+       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;
+       u8 i, c = 0;
        motor_on(slot);
        for (i=0; i < 8; i++) {
+               delay(5);
                if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) {
                        c++;
                        if (c == 0xff) {
@@ -30,21 +71,68 @@ bool motor_here(u8 slot) {
 }
 
 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 left_home(u8 slot) {
+       u8 i, r = slot%10;
+       if (r >= 5) r--; 
+       r = 1 << r;
+
+       for (i = 0; i < 5; i++)
+               if (home_sensors & r == 0) return 1;
+
+       /* it never left */
+       return 0;
+}
+
+bool back_home(u8 slot) {
+       u8 i, r = slot%10;
+       if (r >= 5) r--; 
+       r = 1 << r;
+
+       for (i = 0; i < 5; i++) {
+               if (home_sensors & r) return 1;
+               if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT == 0) return 1;
        }
 
-       motor_on(slot);
-       /* FIXME */
-       return MOTOR_SUCCESS;
+       /* it never left */
+       return 0;
 }
 
-void scan_motors() {
-       /* FIXME */
+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;
+               t = 0;
+               i++;
+               if (5 == i) return 0;
+       }
+}
+
+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;
+       }
+
+       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;
+               }
+       }
 }
 

diff --git a/ROM2/motors.h b/ROM2/motors.h
index 5598bec..a18e4b2 100644 (file)
--- a/ROM2/motors.h
+++ b/ROM2/motors.h
@@ -4,8 +4,11 @@
 #include "vend.h"
 
 /* error codes for dispense_motor */
-#define MOTOR_SUCCESS  0
-#define MOTOR_NOSLOT   1
+#define MOTOR_SUCCESS   0
+#define MOTOR_NOSLOT    1
+#define MOTOR_HOME_FAIL 2
+#define MOTOR_CURRENT_FAIL 3
+#define MOTOR_VOLTAGE_FAIL 4
 
 const u8 motor_lookup[80] =
 { 1,12,23,34,46,57,68,79,
@@ -23,6 +26,5 @@ const u8 motor_lookup[80] =
 
 bool is_motor(u8 slot);
 u8 dispense_motor(u8 slot);
-void scan_motors();
 
 #endif /* _MOTORS_H_ */

diff --git a/ROM2/vend.h b/ROM2/vend.h
index d3e6bf3..c9cc6d6 100644 (file)
--- a/ROM2/vend.h
+++ b/ROM2/vend.h
@@ -19,12 +19,12 @@
 buffered_addr(changer_output);
 buffered_addr(misc_output);
 
-extern volatile u8 _switch_input;
-#define switch_input _switch_input
-extern volatile u8 _misc_input;
-#define misc_input _misc_input
-extern volatile u8 _home_sensors;
-#define home_sensors _home_sensors
+extern volatile u8* _switch_input;
+#define switch_input (*_switch_input)
+extern volatile u8* _misc_input;
+#define misc_input (*_misc_input)
+extern volatile u8* _home_sensors;
+#define home_sensors (*_home_sensors)
 
 /******* from helpers.c *******/
 void delay(u16 ms);
@@ -32,21 +32,24 @@ void print_amount(u16 amt);
 
 /******** Some meaningful bits ******/
 #define PORTA_CHIME         0x10 /* chime is on when set */
+#define PORTA_MOTOR_CLOCK   0x20
 #define PORTA_MOTOR_COL_DISABLE 0x40
 #define PORTA_DISP_RESET    0x80 /* active low */
 
 #define PORTD_KEYPAD_ROW    0x20 /* clear for row 0, set for row 1 */
 
+#define PORTE_MOTOR_OVERCURRENT 0x01
 #define PORTE_MOTOR_OVERVOLTAGE 0x02
 
 /* Address 3000 bits */
-#define A3000_MOTOR_ROW_ENABLE 0x80
+#define A3000_MOTOR_ROW_DISABLE 0x80
 
 /* Address 1800 bits */
 #define A1800_DOOR_OPEN     0x20
 
 /* Address 3800 bits */
 #define A3800_DISPLAY_WRITE  0x04
+#define A3800_MOTOR_DATA        0x10
 #define A3800_MOTOR_COL8_ENABLE 0x20
 #define A3800_MOTOR_COL9_ENABLE 0x40