#define STMCH_ERROR(args...) ERROR(E_USER_ST_MACH, args)
static struct vt100 local_vt100;
-static volatile uint8_t state_mode;
+static volatile uint8_t state_mode, lspickle, rspickle;
static volatile uint8_t state_status;
static uint8_t cob_count;
/* short aliases */
-#define L_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_L_DEPLOY))
-#define R_DEPLOY(mode) (!!((mode) & I2C_COBBOARD_MODE_R_DEPLOY))
-#define DEPLOY(side, mode) ((side) == I2C_LEFT_SIDE ? L_DEPLOY(mode) : R_DEPLOY(mode))
-#define L_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_L_HARVEST))
-#define R_HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
-#define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
+#define HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_HARVEST))
#define EJECT(mode) (!!((mode) & I2C_COBBOARD_MODE_EJECT))
#define INIT(mode) (!!((mode) & I2C_COBBOARD_MODE_INIT))
!sensor_get(S_COB_INSIDE_R);
}
+static uint8_t is_deployed(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_DEPLOY;
+ else
+ return rspickle & I2C_COBBOARD_SPK_DEPLOY;
+}
+
+static uint8_t is_autoharvest(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
+ else
+ return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
+}
+
/* pack/deploy spickles depending on mode */
static void spickle_prepare(uint8_t side)
{
if (cob_count >= 5)
spickle_pack(side);
- else if (DEPLOY(side, state_mode) && !HARVEST(side, state_mode))
+ else if (is_deployed(side) && !is_autoharvest(side))
spickle_mid(side);
- else if (DEPLOY(side, state_mode) && HARVEST(side, state_mode))
+ else if (is_deployed(side) && is_autoharvest(side))
spickle_deploy(side);
else
spickle_pack(side);
}
+void state_set_spickle(uint8_t side, uint8_t flags)
+{
+ if (side == I2C_LEFT_SIDE) {
+ /* preempt current action if not busy */
+ if (lspickle != 0 && flags == 0 &&
+ state_status != I2C_COBBOARD_STATUS_LBUSY)
+ spickle_prepare(I2C_LEFT_SIDE);
+ lspickle = flags;
+ }
+ else {
+ /* preempt current action if not busy */
+ if (rspickle != 0 && flags == 0 &&
+ state_status != I2C_COBBOARD_STATUS_RBUSY)
+ spickle_prepare(I2C_RIGHT_SIDE);
+ rspickle = flags;
+ }
+}
+
/* set a new state, return 0 on success */
int8_t state_set_mode(uint8_t mode)
{
state_mode = mode;
- /* preempt current action if not busy */
- if (state_status != I2C_COBBOARD_STATUS_LBUSY)
- spickle_prepare(I2C_LEFT_SIDE);
- if (state_status != I2C_COBBOARD_STATUS_RBUSY)
- spickle_prepare(I2C_RIGHT_SIDE);
-
/* STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
/* "r_deploy=%d r_harvest=%d eject=%d", */
/* __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
/* store it */
shovel_up();
- while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
+ while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
STMCH_DEBUG("shovel blocked");
shovel_down();
time_wait_ms(250);
/* harvest */
if (cob_count < 5) {
- if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
+ if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
+ (lspickle & I2C_COBBOARD_SPK_DEPLOY))
state_do_harvest(I2C_LEFT_SIDE);
- if (R_DEPLOY(state_mode) && R_HARVEST(state_mode))
+ if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
+ (rspickle & I2C_COBBOARD_SPK_DEPLOY))
state_do_harvest(I2C_RIGHT_SIDE);
}
state_do_eject();
}
}
- state_status = I2C_COBBOARD_STATUS_READY;
+ state_status = I2C_COBBOARD_STATUS_OFF;
}
void state_init(void)
spickle_pack(I2C_RIGHT_SIDE);
state_mode = 0;
cob_count = 0;
- state_status = I2C_COBBOARD_STATUS_READY;
+ state_status = I2C_COBBOARD_STATUS_OFF;
}