clean up main, disable some broken code

main.c

@@ -1,15 +1,15 @@
 #include <avr/io.h>
 #include <util/delay.h>
-#include <modbus.h>
 #include <avr/interrupt.h>
 
-#include "buffer.h"
+#include "modbus.h"
 #include "pid.h"
 #include "adc.h"
 #include "i2cmaster.h"
 
 void modbusGet(void);
 
+volatile uint16_t holdingRegisters[40];
 
 volatile float output;
 volatile struct pid controller;
@@ -46,9 +46,9 @@ int main(){
     sei();
 
     _delay_ms(1000);
+    PORTD &= ~(1 << 4);
     init_pid(&controller, 5, 0.2, 0);
 
-
     // timer for regler
     TCCR1B|=(1<<CS12) | (1<<CS10);
 	TIMSK1|=(1<<TOIE1)|(1<<OCIE1A);
@@ -58,25 +58,35 @@ int main(){
     }
 }
 
-void set_ADC_Channel(uint8_t adr)
-{
-    if (adr < 11)
-    {
-        ADMUX &= (0b11110000); //Clear MUX-Address
-        ADMUX |= adr;          //Set new MUX-Address
-    }
-}
-
 void modbusGet(void) {
 	if (modbusGetBusState() & (1<<ReceiveCompleted))
 	{
 		switch(rxbuffer[1]) {
             case fcReadHoldingRegisters:
+				modbusExchangeRegisters(holdingRegisters,0,40);
+                break;
             case fcPresetSingleRegister:
 			case fcPresetMultipleRegisters: 
-				modbusExchangeRegisters((uint16_t *)&OCR2B,0,1);
+				if(modbusRequestedAmount()==1) {
+                    modbusExchangeRegisters(holdingRegisters,0,40);
+                    if(modbusIsInRange(0))
+                        /* analog out for Motor VFD */
+                        OCR2B = holdingRegisters[0] & 0xFF;
+                    if(modbusIsInRange(1)){
+                        /* i2c scanner */
+                        for(int i = 0x0; i < 0xFF; i++){
+                            if(!i2c_start(i)){
+                                holdingRegisters[1] = i;
+                                i2c_stop();
+                                break;
+                            }
+                            i2c_stop();
+                        }
+                    }
+                } else {
+					modbusSendException(ecIllegalDataValue);
+				}
                 break;
-
             case fcReadCoilStatus:
             case fcForceSingleCoil:
             case fcForceMultipleCoils:
@@ -101,10 +111,12 @@ ISR(TIMER0_OVF_vect) { //this ISR is called 9765.625 times per second
 	modbusTickTimer();
 }
 
+/* Heater PID control */
 ISR(TIMER1_OVF_vect) {
-    output = pid_step(&controller, 1, setpoint_1 - adc_avrg[1]);
+    //output = pid_step(&controller, 1, setpoint_1 - adc_avrg[1]);
+    output = 1;
 
-    PORTD &= ~(1 << 4);
+    //PORTD &= ~(1 << 4);
 
     if(output > 128)
         output = 128;
@@ -115,7 +127,7 @@ ISR(TIMER1_OVF_vect) {
             tmp = 0xFFFE;
 
         OCR1A = tmp;
-        PORTB |= 0x0E;
+        PORTB |= 0x0F;
     }
     else
         OCR1A = 1000;
@@ -123,6 +135,6 @@ ISR(TIMER1_OVF_vect) {
 
 ISR(TIMER1_COMPA_vect) {
     /* turn off outputs */
-    PORTB &= ~(0x0E);
+    PORTB &= ~(0x0F);
 }
 

pid.c

@@ -2,7 +2,9 @@
 #include "pid.h"
 
 float pid_step(volatile struct pid* controller, float dt, float error) {
-    // Calculate p term
+	//TODO convert to integer; floats cause trouble ...
+
+	// Calculate p term
     float p = error * controller->kP;
 
     // Calculate i term