/**
* @brief Programa principal
*/
int main(void)
{
// Configure system
configSystem();
// Initialize system status
estados_t estados;
estados = ESTADO_INICIAL;
can_t received_msg; //! Armazena a mensagem recebida via CAN
// main loop: reads a message and sends it via USART
for(;;){
// Checks if a new message was received
if (can_check_message()){
// Try to read the message
if(can_get_message(&received_msg)){
// Sends via USART
sendSystemStatusUSART(received_msg.data[0]);
}
}else{
usartTransmit(0);
}
// Updates system status
updateSystemStatus(&estados);
// Sends system status via CAN
sendSystemStatusCAN(estados);
_delay_ms(500);
}
}
void main(void) {
//setupOsc();
//RD2 = 1;
configSystem();
configSoftPWM();
configTimer();
configI2C();
// configADC();
//adcOff();
while (1) {
//**PID Current control**
// Read current on channel
// 1. Read ADC value
// 2. Scale to voltage
// 3. V*100=I
// Calculate Error between current I(current) and setpoint
// 1. Scale setpoint to 0 - Max current
// 1. Get Max Current (This needs to be done on init)
// 2. Err = Setpoint - Current Current
// 3. Err * Pi = Pterm
// dutyCycle += Pterm
//Operate on received command
if(newData){
switch(i2c_rx_buff[0]){
/****** Set Motor 1 Speed ********/
case 0x00:
if (i2c_rx_buff[1] > 32) {
dutyCycle2 = i2c_rx_buff[1] - 32;
dutyCycle1 = 0;
}
else{
dutyCycle1 = 32 - i2c_rx_buff[1];
dutyCycle2 = 0;
}
newData = 0;
break;
/****** Set Motor 2 Speed ********/
case 0x01:
if (i2c_rx_buff[1] > 32) {
dutyCycle4 = i2c_rx_buff[1] - 32;
dutyCycle3 = 0;
}
else{
dutyCycle3 = 32 - i2c_rx_buff[1];
dutyCycle4 = 0;
}
newData = 0;
break;
/****** Read Motor 1 Speed ********/
case 0x10:
i2c_tx_buff[0] = dutyCycle1;
break;
/****** Read Motor 2 Speed ********/
case 0x20:
i2c_tx_buff[0] = dutyCycle2;
break;
/********* Read ADC ***************/
case 100:
i2c_tx_buff[0] = readADC();
break;
/****** Enable ADC ****************/
case 0x99:
potEnabled = i2c_rx_buff[1];
break;
default:
//RB4 = 1;
newData = 0;
break;
}
}
//Unsupported command
//else RB4 = 1;
//dutyCycle1 = i2c_rx_buff[0];
}
}
int configurationPage::finishUp()
{
pageBase::finishUp();
configSystem();
return 0;
}
