From f454d8fbc15ff6516ba574e23692e8a65b9f16fd Mon Sep 17 00:00:00 2001 From: Bernard Blackham Date: Mon, 11 Aug 2003 16:54:05 +0000 Subject: [PATCH] More motor work --- ROM2/motors.c | 114 ++++++++++++++++++++++++++++++++++++++++++++------ ROM2/motors.h | 8 ++-- ROM2/vend.h | 17 ++++---- 3 files changed, 116 insertions(+), 23 deletions(-) diff --git a/ROM2/motors.c b/ROM2/motors.c index 4bb216b..6744839 100644 --- 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 --- 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 --- 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 -- 2.20.1