i2c rework

[aversive.git] / projects / microb2010 / cobboard / state.c

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 389411e..7a1f047 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -57,17 +57,12 @@
 #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))
 
@@ -100,30 +95,58 @@ static uint8_t state_no_cob_inside(void)
                !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), */
@@ -233,7 +256,7 @@ static void state_do_harvest(uint8_t side)
        /* 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);
@@ -295,9 +318,11 @@ void state_machine(void)
 
                /* 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);
                }
 
@@ -307,7 +332,7 @@ void state_machine(void)
                        state_do_eject();
                }
        }
-       state_status = I2C_COBBOARD_STATUS_READY;
+       state_status = I2C_COBBOARD_STATUS_OFF;
 }
 
 void state_init(void)
@@ -320,5 +345,5 @@ 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;
 }