From c34cbe163ce52f1d8fc553993701054f4942152f Mon Sep 17 00:00:00 2001
From: Bernard Blackham <dagobah@ucc.asn.au>
Date: Mon, 21 Jun 2004 14:07:29 +0000
Subject: [PATCH] To romO
---
ROM2/Makefile | 2 +-
ROM2/coinmech.c | 2 +-
ROM2/main_basic.c | 122 +++++++++++++++++++++++-----------------------
ROM2/motors.c | 47 +++++++++---------
ROM2/sci.c | 68 ++++++++++++++++++++++++--
ROM2/sci.h | 13 +++++
ROM2/vectors.s | 10 ++--
ROM2/vend.h | 5 +-
8 files changed, 175 insertions(+), 94 deletions(-)
diff --git a/ROM2/Makefile b/ROM2/Makefile
index 5ebabe2..17694c0 100644
--- 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
--- 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
--- 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
--- 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
--- 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
--- 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
--- 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
--- 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 */
--
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