static struct vt100 local_vt100;
static volatile uint8_t state_mode, lspickle, rspickle;
static volatile uint8_t state_status;
+static volatile uint8_t state_i2c_ignore = 0;
static uint8_t cob_count;
/* short aliases */
-#define HARVEST(mode) (!!((mode) & I2C_COBBOARD_MODE_HARVEST))
-#define EJECT(mode) (!!((mode) & I2C_COBBOARD_MODE_EJECT))
-#define INIT(mode) (!!((mode) & I2C_COBBOARD_MODE_INIT))
+#define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
+#define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
+#define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
uint8_t state_debug = 0;
void state_set_spickle(uint8_t side, uint8_t flags)
{
if (side == I2C_LEFT_SIDE) {
- /* preempt current action if not busy */
+ /* the PACK command preempts the current action if the
+ * arm is 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 */
+ /* the PACK command preempts the current action if the
+ * arm is not busy */
if (rspickle != 0 && flags == 0 &&
state_status != I2C_COBBOARD_STATUS_RBUSY)
spickle_prepare(I2C_RIGHT_SIDE);
int8_t state_set_mode(uint8_t mode)
{
state_mode = mode;
+ STMCH_DEBUG("%s(): mode=%x", __FUNCTION__, mode);
+ return 0;
+}
-/* STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
-/* "r_deploy=%d r_harvest=%d eject=%d", */
-/* __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
-/* R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
+void state_set_i2c_ignore(uint8_t val)
+{
+ state_i2c_ignore = val;
+}
- return 0;
+uint8_t state_get_i2c_ignore(void)
+{
+ return state_i2c_ignore;
}
/* check that state is the one in parameter and that state did not
/* harvest cobs from area */
static void state_do_harvest(uint8_t side)
{
+ /* if there is no cob, return */
+ if (cob_falling_edge(side) == 0)
+ return;
+
if (side == I2C_LEFT_SIDE)
state_status = I2C_COBBOARD_STATUS_LBUSY;
else
state_status = I2C_COBBOARD_STATUS_RBUSY;
- /* if there is no cob, return */
- if (cob_falling_edge(side) == 0)
- return;
-
STMCH_DEBUG("start");
/* eat the cob */
/* init */
if (INIT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_INIT);
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
state_init();
}
/* harvest */
if (cob_count < 5) {
if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (lspickle & I2C_COBBOARD_SPK_DEPLOY))
+ (lspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
state_do_harvest(I2C_LEFT_SIDE);
if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (rspickle & I2C_COBBOARD_SPK_DEPLOY))
+ (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
state_do_harvest(I2C_RIGHT_SIDE);
}
/* eject */
if (EJECT(state_mode)) {
- state_mode &= (~I2C_COBBOARD_MODE_EJECT);
+ state_mode = I2C_COBBOARD_MODE_HARVEST;
state_do_eject();
}
}