From a4055061108975b41e34602c29ed2185d8a654d1 Mon Sep 17 00:00:00 2001
From: Joshua Drake <Joshua.Ellis.Drake@gmail.com>
Date: Thu, 25 Apr 2024 16:59:11 -0500
Subject: Commit Prior to testing.

---
 main.c | 59 ++++++++++++++++++++++++++++++++++++++++++++++++++++++-----
 1 file changed, 54 insertions(+), 5 deletions(-)

(limited to 'main.c')

diff --git a/main.c b/main.c
index 8625c42..c4efe2a 100644
--- a/main.c
+++ b/main.c
@@ -53,6 +53,11 @@
                          Main application
  */
 uint8_t nullarray = {0x00, 0x00, 0x00};
+uint8_t desired150, desired68, current150, current68 = 0;
+uint8_t relay_delay_counter = 0;
+
+void TMR1_Process(void);
+
 int main(void)
 {
     // initialize the device
@@ -70,21 +75,59 @@ int main(void)
     _LATB7 = 1;
     _LATB8 = 1;
     
+    TMR1_SetInterruptHandler(&TMR1_Process);
+    
     //MSSP2_I2C_ReadPointerSet(0b00000011);
    // MSSP2_I2C_WritePointerSet(0x00);
     
     while (1)
     {
-
-        if (_LATB8) {
+        desired150 = getI2CArray(0x01) & 0b00001111;
+        desired68 = (getI2CArray(0x01) & 0b01110000) >> 4;
+                
+        if((relay_delay_counter % 2 == 0)&&(getTimeoutCounter() < 2))
+        {
+        SPI_slaveSelect();
+        current150 = active150();
+        SPI_slaveDeselect();
+        
+        SPI_slaveSelect();
+        current68 = active68();
+        SPI_slaveDeselect();
+        
+            if(desired150 < current150)
+            {
+            SPI_slaveSelect();
+            Message_OUT(current150-1, current68, 1);
+            SPI_slaveDeselect();
+            }
+            else if(desired150 > current150)
+            {
+            SPI_slaveSelect();
+            Message_OUT(current150+1, current68, 1);
+            SPI_slaveDeselect();
+            }
+            else if(desired68 < current68)
+            {
             SPI_slaveSelect();
-            Message_OUT(15, 5, 1);
+            Message_OUT(current150, current68-1, 1);
             SPI_slaveDeselect();
+            }
+            else if(desired68 > current68)
+            {
+            SPI_slaveSelect();
+            Message_OUT(current150, current68+1, 1);
+            SPI_slaveDeselect();
+            }
         }
-        else {
+
+        else { //Open contactors if I2C communication is broken.
             SPI_slaveSelect();
-            Message_OUT(15, 5, 0);
+            Message_OUT(0, 0, 0);
             SPI_slaveDeselect();
+
+            _LATB8 = 0;
+            _LATB7 = 1;
         }
     /*
     SPI_slaveSelect();
@@ -110,6 +153,12 @@ int main(void)
 
     return 1;
 }
+
+void __attribute__ ((weak)) TMR1_Process(void)
+{
+    relay_delay_counter++;
+    incrementTimeoutCounter();
+}
 /**
  End of File
 */
-- 
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