Revision 4:cddace170681, committed 2018-09-21

Comitter:

Gabriel_2112

Date:

Fri Sep 21 11:29:21 2018 +0000

Parent:

3:4faee567c996

Commit message:

RET15-01;

Changed in this revision

diff -r 4faee567c996 -r cddace170681 BSP_DISCO_F429ZI.lib
--- a/BSP_DISCO_F429ZI.lib	Tue Jul 04 15:54:12 2017 +0000
+++ b/BSP_DISCO_F429ZI.lib	Fri Sep 21 11:29:21 2018 +0000
@@ -1,1 +1,1 @@
-https://developer.mbed.org/teams/ST/code/BSP_DISCO_F429ZI/#2371382139dd
+https://developer.mbed.org/teams/ST/code/BSP_DISCO_F429ZI/#53d9067a4feb

diff -r 4faee567c996 -r cddace170681 eprom.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/eprom.lib	Fri Sep 21 11:29:21 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/Gabriel_2112/code/eprom/#9599d2d2296a

diff -r 4faee567c996 -r cddace170681 main.cpp
--- a/main.cpp	Tue Jul 04 15:54:12 2017 +0000
+++ b/main.cpp	Fri Sep 21 11:29:21 2018 +0000
@@ -1,57 +1,573 @@
 #include "mbed.h"
 #include "TS_DISCO_F429ZI.h"
 #include "LCD_DISCO_F429ZI.h"
+#include "eeprom.h"
+
+#define PPV_BOB         1720 //  (40/15)*800
+#define PPV_AMA         880 //  (
+#define PPMM_AVA        7.8 //   800/103
 
 LCD_DISCO_F429ZI lcd;
 TS_DISCO_F429ZI ts;
 
+void proc_motores(void);
+void proc_ts(void);
+void tela_principal(void);
+
+DigitalOut led(PG_14);
+DigitalOut pulso_cabo(PE_2);
+DigitalOut pulso_ama(PE_3);
+DigitalOut pulso_fit(PE_4);
+DigitalOut dir_ama(PE_5);
+DigitalOut lp_vermelha(PE_6);
+DigitalOut vl_pesca(PB_4);
+DigitalOut vl_corta(PB_7);
+DigitalOut ena_cabo(PF_6);
+
+DigitalIn bt_emerg(PC_3);
+DigitalIn bt_pausa(PC_11);
+DigitalIn bt_reset(PC_12);
+DigitalIn bt_posic(PC_13);
+DigitalIn alarm_cabo(PA_5);
+DigitalIn sn_cabo(PA_9);
+DigitalIn sn_ama(PA_10);
+DigitalIn sn_porta(PG_3);
+
+Ticker int_ts;   
+TS_StateTypeDef TS_State;
+
+volatile uint16_t x, y;
+uint8_t PARADA_SERVO = 0;
+uint8_t POSICIONADO = 0;
+uint8_t CONDICAO = 0;
+uint8_t COND_ANT = 0;
+
+uint16_t VOLTAS_CABO = 10;
+uint16_t VOLTAS_FIT = 2;
+uint16_t COMP_FIT = 100;
+uint16_t VELO_CABO = 8000;
+uint16_t PRODUCAO = 0;
+float DESLOC = 0;
+char text[10];
+uint16_t VirtAddVarTab[NB_OF_VAR] = {0x0011, 0x0022, 0x0033, 0x0044, 0x0055, 0x0066};
+
+void proc_ts(void)
+{
+    ts.GetState(&TS_State);      
+    if (TS_State.TouchDetected)
+    {
+        x = TS_State.X;
+        y = TS_State.Y;
+        
+        //sprintf((char*)text, "  %d  ", y);
+        //lcd.DisplayStringAt(0, 0, (uint8_t *)&text, CENTER_MODE);
+    }
+}
+
+void RODA_SERVO(uint16_t VL_INICIAL, uint16_t VL_FINAL, uint32_t PASSOS, uint8_t MOTOR)
+{
+    PARADA_SERVO = 0;
+    uint16_t VELOCIDADE = VL_INICIAL;
+    uint32_t PULSOS = 0;
+
+    POSICIONADO = 0;
+  
+    while (PARADA_SERVO < 1)
+    {
+        if (VELOCIDADE < VL_FINAL) { if (VELOCIDADE < 8000) { VELOCIDADE+= 2000; } else { VELOCIDADE+= 5; } }
+        switch(MOTOR)
+        {
+            case 0:
+                pulso_cabo=1;
+                wait_us(30+(10000-VELOCIDADE));
+                pulso_cabo=0;
+                break;
+            case 1:
+                pulso_fit=1;
+                wait_us(30+(10000-VELOCIDADE));
+                pulso_fit=0;
+                break;
+            case 2:
+                pulso_ama=1;
+                wait_us(30+(10000-VELOCIDADE));
+                pulso_ama=0;
+                break;
+            case 3:
+                pulso_cabo=1;
+                wait_us(30+(10000-VELOCIDADE));
+                pulso_cabo=0;
+                break;
+            case 4:
+                pulso_ama=1;
+                wait_us(30+(10000-VELOCIDADE));
+                pulso_ama=0;
+                break;
+        }
+        wait_us(40);
+    
+        PULSOS++;
+    
+        if (PULSOS>PASSOS) { PARADA_SERVO = 1; }
+        if (!bt_emerg) { PARADA_SERVO = 2; }
+        if (bt_pausa) { PARADA_SERVO = 3; }
+        if (!sn_porta) { PARADA_SERVO = 4; }
+
+        if (MOTOR == 0) // BOBINA
+        {
+            if ( PULSOS > PASSOS-200) { if (sn_cabo) { PARADA_SERVO = 5; POSICIONADO = 1; } }
+        }
+
+        if (MOTOR == 1) // AVANÇO FITILHO
+        {
+            //
+        }
+
+        if (MOTOR == 2) // AMARRA FITILHO
+        {  
+            if ( PULSOS > PASSOS-200) { if (sn_ama) { PARADA_SERVO = 5; POSICIONADO = 1; } }
+        }
+
+        if (MOTOR == 3) // REPOSICIONAR BOBINA
+        {   
+            if (sn_cabo) { PARADA_SERVO = 5; } 
+        }
+
+        if (MOTOR == 4) // REPOSICIONAR AMARRA
+        {
+            if (sn_ama) { PARADA_SERVO = 5; } 
+        }
+    
+    }
+
+  while (bt_pausa || bt_posic) {} 
+}
+
+void tela_principal(void)
+{
+    //TITULO
+    BSP_LCD_SetFont(&Font24);
+    lcd.Clear(LCD_COLOR_BLUE);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.DrawRect(10, 4, 220, 30);
+    lcd.SetBackColor(LCD_COLOR_BLUE);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.DisplayStringAt(0, 9, (uint8_t *)"RTE15-01", CENTER_MODE);
+    
+    //LABEL PRODUÇÃO
+    BSP_LCD_SetFont(&Font20);
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.DisplayStringAt(0, 60, (uint8_t *)"PRODUCAO", CENTER_MODE);
+    BSP_LCD_SetFont(&Font24);
+    
+    //QUANTIDADE PRODUZIDA
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillRect(10, 80, 220, 50);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(10, 80, 220, 50);
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLUE);
+    lcd.DisplayStringAt(0, 95, (uint8_t *)"  0  ", CENTER_MODE);
+    
+    //BOTÃO ZERAR
+    lcd.SetTextColor(LCD_COLOR_LIGHTGRAY);
+    lcd.FillRect(10, 140, 220, 40);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(10, 140, 220, 40);
+    lcd.SetBackColor(LCD_COLOR_LIGHTGRAY);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DisplayStringAt(0, 150, (uint8_t *)"ZERAR", CENTER_MODE);
+    
+    //STATUS
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillRect(10, 210, 220, 50);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(10, 210, 220, 50);
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLUE);
+    lcd.DisplayStringAt(0, 225, (uint8_t *)"   PRONTO   ", CENTER_MODE);
+    
+    //BOTÃO CONFIG
+    lcd.SetTextColor(LCD_COLOR_LIGHTGRAY);
+    lcd.FillRect(10, 270, 220, 40);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(10, 270, 220, 40);
+    lcd.SetBackColor(LCD_COLOR_LIGHTGRAY);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DisplayStringAt(0, 280, (uint8_t *)"CONFIG.", CENTER_MODE);
+ 
+}
+
+void tela_config(void)
+{
+    uint8_t sair=0;
+    uint16_t _y1 = 38;
+    uint16_t _dy = 56;
+    
+    //TÍTULO
+    lcd.Clear(LCD_COLOR_GREEN);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.DrawRect(10, 4, 220, 30);
+    lcd.SetBackColor(LCD_COLOR_GREEN);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.DisplayStringAt(0, 9, (uint8_t *)"CONFIG.", CENTER_MODE);
+    
+    //LABEL VOLTAS CABO
+    BSP_LCD_SetFont(&Font20);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.DisplayStringAt(0, _y1+(_dy*0), (uint8_t *)"VOLTAS CABO", CENTER_MODE);
+    BSP_LCD_SetFont(&Font24);
+    
+    //VOLTAS CABO
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillRect(40, _y1+(_dy*0)+20, 160, 34);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(40, _y1+(_dy*0)+20, 160, 34);
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    sprintf((char*)text, "  %d  ", VOLTAS_CABO);
+    lcd.DisplayStringAt(0, _y1+(_dy*0)+28, (uint8_t *)&text, CENTER_MODE);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*0)+34, _y1+(_dy*0)+14, _y1+(_dy*0)+34);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*0)+40, _y1+(_dy*0)+60, _y1+(_dy*0)+40);
+    
+    //LABEL VOLTAS FITILHO
+    BSP_LCD_SetFont(&Font20);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.SetBackColor(LCD_COLOR_GREEN);
+    lcd.DisplayStringAt(0, _y1+(_dy*1), (uint8_t *)"VOLTAS FIT.", CENTER_MODE);
+    BSP_LCD_SetFont(&Font24);
+    
+    //VOLTAS FITILHO
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillRect(40, _y1+(_dy*1)+20, 160, 34);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(40, _y1+(_dy*1)+20, 160, 34);
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    sprintf((char*)text, "  %d  ", VOLTAS_FIT);
+    lcd.DisplayStringAt(0, _y1+(_dy*1)+28, (uint8_t *)&text, CENTER_MODE);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*1)+34, _y1+(_dy*1)+14, _y1+(_dy*1)+34);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*1)+40, _y1+(_dy*1)+60, _y1+(_dy*1)+40);
+    
+    //LABEL COMP FITILHO
+    BSP_LCD_SetFont(&Font20);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.SetBackColor(LCD_COLOR_GREEN);
+    lcd.DisplayStringAt(0, _y1+(_dy*2), (uint8_t *)"COMP FIT.", CENTER_MODE);
+    BSP_LCD_SetFont(&Font24);
+    
+    //COMP FITILHO
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillRect(40, _y1+(_dy*2)+20, 160, 34);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(40, _y1+(_dy*2)+20, 160, 34);
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    sprintf((char*)text, "  %d  ", COMP_FIT);
+    lcd.DisplayStringAt(0, _y1+(_dy*2)+28, (uint8_t *)&text, CENTER_MODE);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*2)+34, _y1+(_dy*2)+14, _y1+(_dy*2)+34);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*2)+40, _y1+(_dy*2)+60, _y1+(_dy*2)+40);
+    
+    //LABEL VELOCIDADE CABO
+    BSP_LCD_SetFont(&Font20);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    lcd.SetBackColor(LCD_COLOR_GREEN);
+    lcd.DisplayStringAt(0, _y1+(_dy*3), (uint8_t *)"VELOC. CABO", CENTER_MODE);
+    BSP_LCD_SetFont(&Font24);
+    
+    //COMP FITILHO
+    lcd.SetTextColor(LCD_COLOR_WHITE);
+    lcd.FillRect(40, _y1+(_dy*3)+20, 160, 34);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(40, _y1+(_dy*3)+20, 160, 34);
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLACK);
+    sprintf((char*)text, "  %d  ", VELO_CABO);
+    lcd.DisplayStringAt(0, _y1+(_dy*3)+28, (uint8_t *)&text, CENTER_MODE);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*3)+34, _y1+(_dy*3)+14, _y1+(_dy*3)+34);
+    lcd.FillTriangle(210, 220, 230, _y1+(_dy*3)+40, _y1+(_dy*3)+60, _y1+(_dy*3)+40);
+    
+    
+    //BOTÃO SAIR
+    lcd.SetTextColor(LCD_COLOR_LIGHTGRAY);
+    lcd.FillRect(10, 270, 220, 40);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DrawRect(10, 270, 220, 40);
+    lcd.SetBackColor(LCD_COLOR_LIGHTGRAY);
+    lcd.SetTextColor(LCD_COLOR_DARKGRAY);
+    lcd.DisplayStringAt(0, 280, (uint8_t *)"SAIR", CENTER_MODE);
+    
+    while(sair<1)
+    {
+        
+        if(y>(_y1+(_dy*0)+14) && y<(_y1+(_dy*0)+34) && x>200) // + VOLTAS CABO
+        {
+            y=0; x=0;
+            if (VOLTAS_CABO<60) 
+            { 
+                VOLTAS_CABO+=5;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", VOLTAS_CABO);
+                lcd.DisplayStringAt(0, _y1+(_dy*0)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.3);
+        }
+        
+        if(y>(_y1+(_dy*0)+40) && y<(_y1+(_dy*0)+60) && x>200) // - VOLTAS CABO
+        {
+            y=0; x=0;
+            if (VOLTAS_CABO>10)
+            {
+                VOLTAS_CABO-=5;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", VOLTAS_CABO);
+                lcd.DisplayStringAt(0, _y1+(_dy*0)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.3);
+        }
+        
+        if(y>(_y1+(_dy*1)+14) && y<(_y1+(_dy*1)+34) && x>200) // + VOLTAS FITILHO
+        {
+            y=0; x=0;
+            if (VOLTAS_FIT<8)
+            {
+                VOLTAS_FIT+=1;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", VOLTAS_FIT);
+                lcd.DisplayStringAt(0, _y1+(_dy*1)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.3);
+        }
+        
+        if(y>(_y1+(_dy*1)+40) && y<(_y1+(_dy*1)+60) && x>200) // - VOLTAS FITILHO
+        {
+            y=0; x=0;
+            if (VOLTAS_FIT>2)
+            {
+                VOLTAS_FIT-=1;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", VOLTAS_FIT);
+                lcd.DisplayStringAt(0, _y1+(_dy*1)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.3);
+        }
+        
+        if(y>(_y1+(_dy*2)+14) && y<(_y1+(_dy*2)+34) && x>200) // + COMPRIMENTO FITILHO
+        {
+            y=0; x=0;
+            if (COMP_FIT<250)
+            {
+                COMP_FIT+=1;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", COMP_FIT);
+                lcd.DisplayStringAt(0, _y1+(_dy*2)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.1);
+        }
+        
+        if(y>(_y1+(_dy*2)+40) && y<(_y1+(_dy*2)+60) && x>200) // - COMPRIMENTO FITILHO
+        {
+            y=0; x=0;
+            if (COMP_FIT>100)
+            {
+                COMP_FIT-=1;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", COMP_FIT);
+                lcd.DisplayStringAt(0, _y1+(_dy*2)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.1);
+        }
+        
+        if(y>(_y1+(_dy*3)+14) && y<(_y1+(_dy*3)+34) && x>200) // + VELOCIDADE CABO
+        {
+            y=0; x=0;
+            if (VELO_CABO<9900)
+            {
+                VELO_CABO+=100;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", VELO_CABO);
+                lcd.DisplayStringAt(0, _y1+(_dy*3)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.1);
+        }
+        
+        if(y>(_y1+(_dy*3)+40) && y<(_y1+(_dy*3)+60) && x>200) // - VELOCIDADE CABO
+        {
+            y=0; x=0;
+            if (VELO_CABO>4000)
+            {
+                VELO_CABO-=100;
+                lcd.SetBackColor(LCD_COLOR_WHITE);
+                lcd.SetTextColor(LCD_COLOR_BLACK);
+                sprintf((char*)text, "  %d  ", VELO_CABO);
+                lcd.DisplayStringAt(0, _y1+(_dy*3)+28, (uint8_t *)&text, CENTER_MODE);
+            }
+            wait(0.1);
+        }
+        
+        if(y>270) // sair
+        {
+            y=0; x=0;
+            EE_WriteVariable(VirtAddVarTab[0], VOLTAS_CABO);
+            EE_WriteVariable(VirtAddVarTab[1], VOLTAS_FIT);
+            EE_WriteVariable(VirtAddVarTab[2], COMP_FIT);
+            EE_WriteVariable(VirtAddVarTab[3], VELO_CABO);
+            sair=1;
+        }
+    }
+}
+
+void status(void)
+{
+    COND_ANT = CONDICAO;
+  
+    lcd.SetBackColor(LCD_COLOR_WHITE);
+    lcd.SetTextColor(LCD_COLOR_BLUE);
+  
+    if (!sn_porta) { CONDICAO = 7; }
+    if (!bt_emerg) { CONDICAO = 8; }
+    
+    //CONDICAO = 0;
+    
+    switch (CONDICAO)
+    {
+        case 0:
+            lcd.DisplayStringAt(0, 225, (uint8_t *)" POSICIONAR ", CENTER_MODE);
+            lp_vermelha = 0;
+            break;
+        case 1:
+            lcd.DisplayStringAt(0, 225, (uint8_t *)"   PRONTO   ", CENTER_MODE);
+            lp_vermelha = 0;
+            break;
+        case 6:
+            lcd.DisplayStringAt(0, 225, (uint8_t *)"    FIM     ", CENTER_MODE);
+            lp_vermelha = 0;
+            break;
+        case 7:
+            lcd.DisplayStringAt(0, 225, (uint8_t *)"PORTA ABERTA", CENTER_MODE);
+            break;
+        case 8:
+            lcd.DisplayStringAt(0, 225, (uint8_t *)" EMERGENCIA ", CENTER_MODE);
+          break;          
+        default:
+            lcd.DisplayStringAt(0, 225, (uint8_t *)"EM TRABALHO ", CENTER_MODE);
+            lp_vermelha = 1;
+          break;
+    }
+
+    while (CONDICAO == 8)
+    {
+        lp_vermelha = 1;
+        wait(0.4);
+        lp_vermelha = 0;
+        wait(0.4);
+        if (!bt_emerg) { CONDICAO = 8; } else { CONDICAO = 0; }   
+    }
+
+    CONDICAO = COND_ANT;
+
+    if(y>140 && y<180) // ZERAR PRODUÇÃO
+    { 
+        x=0; y=0;
+        PRODUCAO = 0;
+        EE_WriteVariable(VirtAddVarTab[4], 0);
+    }
+    sprintf((char*)text, "  %d  ", PRODUCAO);
+    lcd.DisplayStringAt(0, 95, (uint8_t *)&text, CENTER_MODE);
+    
+    if (y>270) // CONFIGURAÇÕES
+    {
+        x=0; y=0;
+        tela_config();
+        tela_principal();
+        wait(1);
+    } 
+}
+
+ 
 int main()
 {
-    TS_StateTypeDef TS_State;
-    uint16_t x, y;
-    uint8_t text[30];
-    uint8_t status;
-  
-    BSP_LCD_SetFont(&Font20);
-  
-    lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE);
-    lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"DEMO", CENTER_MODE);
-    wait(1);
-  
-    status = ts.Init(lcd.GetXSize(), lcd.GetYSize());
-  
-    if (status != TS_OK)
-    {
-      lcd.Clear(LCD_COLOR_RED);
-      lcd.SetBackColor(LCD_COLOR_RED);
-      lcd.SetTextColor(LCD_COLOR_WHITE);
-      lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE);
-      lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"INIT FAIL", CENTER_MODE);
-    }
-    else
+    int_ts.attach(&proc_ts, 0.05);
+    ts.Init(lcd.GetXSize(), lcd.GetYSize());
+    
+    HAL_FLASH_Unlock();
+    EE_Init();
+    EE_ReadVariable(VirtAddVarTab[0], &VOLTAS_CABO);
+    EE_ReadVariable(VirtAddVarTab[1], &VOLTAS_FIT);
+    EE_ReadVariable(VirtAddVarTab[2], &COMP_FIT);
+    EE_ReadVariable(VirtAddVarTab[3], &VELO_CABO);
+    EE_ReadVariable(VirtAddVarTab[4], &PRODUCAO);
+    
+    tela_principal();
+    
+    dir_ama=1;
+                  
+    while(true) 
     {
-      lcd.Clear(LCD_COLOR_GREEN);
-      lcd.SetBackColor(LCD_COLOR_GREEN);
-      lcd.SetTextColor(LCD_COLOR_WHITE);
-      lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"TOUCHSCREEN", CENTER_MODE);
-      lcd.DisplayStringAt(0, LINE(6), (uint8_t *)"INIT OK", CENTER_MODE);
-    }
+        status();
+        while (POSICIONADO < 1)
+        {
+            CONDICAO = 0; status();
     
-    wait(1);
-    lcd.Clear(LCD_COLOR_BLUE);
-    lcd.SetBackColor(LCD_COLOR_BLUE);
-    lcd.SetTextColor(LCD_COLOR_WHITE);
+            if ( bt_posic && sn_porta && bt_emerg )
+            {
+                while (bt_posic) {}
+
+                ena_cabo=1;
+                RODA_SERVO(2000, 9000, PPV_BOB, 3); // REPOSICIONA BOBINA
+
+                RODA_SERVO(2000, 9000, PPV_AMA, 4); // REPOSICIONA AMARRA
+
+                if ( sn_cabo && sn_ama ) { POSICIONADO = 1; CONDICAO = 1; status(); }      
+            }   
+        }
+        
+        if (!sn_ama) { POSICIONADO = 0; }
+  
+        if ( bt_pausa && sn_porta && bt_emerg )
+        {
+            while (bt_pausa) {}
     
-    while(1)
-    {
-      
-      ts.GetState(&TS_State);      
-      if (TS_State.TouchDetected)
-      {
-        x = TS_State.X;
-        y = TS_State.Y;
-        sprintf((char*)text, "x=%d y=%d    ", x, y);
-        lcd.DisplayStringAt(0, LINE(0), (uint8_t *)&text, LEFT_MODE);
-      }
+            CONDICAO = 2; status();
+            ena_cabo=1;
+            wait(0.1);
+
+            DESLOC = ((float)PPV_BOB*((float)VOLTAS_CABO/10))+200;
+            RODA_SERVO(2000, VELO_CABO, (int)DESLOC, 0);                // Processa cabo
+            if ( PARADA_SERVO == 5 )                                    // Se parada correta no cabo, continua ciclo
+            {
+                CONDICAO = 3; 
+                vl_pesca=1;                                             // Aciona PESCA
+                RODA_SERVO(4000, 9000, PPMM_AVA*COMP_FIT, 1);           // Processa avanço
+                vl_pesca=0;                                             // Recua PESCA
+                wait(0.2);
+                if ( PARADA_SERVO == 1 )                                // Se parada correta do avanço, continua ciclo
+                {
+                    CONDICAO = 4; 
+                    DESLOC = (float)PPV_AMA/2;
+                    RODA_SERVO(5000, 9900, (int)DESLOC, 1);             // Processa pré amarra
+                    if ( PARADA_SERVO == 1 )                            // Se parada correta da pre amarra, continua ciclo
+                    {
+                        CONDICAO = 5; 
+                        vl_corta=1;                                                 // Aciona FACA
+                        DESLOC = ((PPV_AMA*VOLTAS_FIT)-(float)PPV_AMA/2)+200;
+                        RODA_SERVO(5000, 9900, (int)DESLOC, 2);                     // Processa restante da amarra
+                        vl_corta=0;               
+                        if ( PARADA_SERVO == 5 ) { CONDICAO = 6; PRODUCAO++; EE_WriteVariable(VirtAddVarTab[4], PRODUCAO); status(); }        // Se parada correta da amarra, indica FIM (Condição 6)
+                        while (sn_porta){}                                          // Espera abrir a porta
+                        CONDICAO = 1; status();
+                    }
+                }  
+            }
+            vl_corta=0;                                                 // Recua FACA
+            vl_pesca=0;                                                 // Recua PESCA
+        }
+        
     }
-}
+}
\ No newline at end of file

diff -r 4faee567c996 -r cddace170681 mbed.bld
--- a/mbed.bld	Tue Jul 04 15:54:12 2017 +0000
+++ b/mbed.bld	Fri Sep 21 11:29:21 2018 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/64910690c574
\ No newline at end of file
+https://os.mbed.com/users/mbed_official/code/mbed/builds/e95d10626187
\ No newline at end of file