cobboard: better actions + i2c

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 7a1f047..df0e4c6 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -59,12 +59,13 @@
 static struct vt100 local_vt100;
 static volatile uint8_t state_mode, lspickle, rspickle;
 static volatile uint8_t state_status;
 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 */
 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;
 
 
 uint8_t state_debug = 0;
 


@@ -127,14 +128,16 @@ static void spickle_prepare(uint8_t side)
 void state_set_spickle(uint8_t side, uint8_t flags)
 {
        if (side == I2C_LEFT_SIDE) {
 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 {
                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);
                if (rspickle != 0 && flags == 0 &&
                    state_status != I2C_COBBOARD_STATUS_RBUSY)
                        spickle_prepare(I2C_RIGHT_SIDE);


@@ -146,13 +149,18 @@ void state_set_spickle(uint8_t side, uint8_t flags)
 int8_t state_set_mode(uint8_t mode)
 {
        state_mode = mode;
 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
 }
 
 /* check that state is the one in parameter and that state did not


@@ -184,15 +192,15 @@ uint8_t state_get_status(void)
 /* harvest cobs from area */
 static void state_do_harvest(uint8_t side)
 {
 /* 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 (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 */
        STMCH_DEBUG("start");
 
        /* eat the cob */


@@ -306,7 +314,7 @@ void state_machine(void)
 
                /* init */
                if (INIT(state_mode)) {
 
                /* init */
                if (INIT(state_mode)) {

-                       state_mode &= (~I2C_COBBOARD_MODE_INIT);
+                       state_mode = I2C_COBBOARD_MODE_HARVEST;

                        state_init();
                }
 
                        state_init();
                }
 


@@ -319,16 +327,16 @@ void state_machine(void)
                /* harvest */
                if (cob_count < 5) {
                        if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
                /* 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) &&
                                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_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();
                }
        }
                        state_do_eject();
                }
        }