MCB19 panel

//#Definições do conversor
#define VO_SETPOINT 	13.2
#define IO_MAX      	8
#define VI_MIN      	21

    static const float vi_coeff = 0.06582490575070313f;                                         
    static const float vo_coeff = 0.06717781789490249f;                          
    static const float io_coeff = 0.01599315004f; 

/*          PI CONTROL ALGORITHM - SERIES IMPLEMENTATION
** /desc    Algoritimo para Controlador Proporcional Integrativo Diferencial.
**  ref1: 
https://e2e.ti.com/cfs-file/__key/communityserver-discussions-components-files/902/PI-controller-equations.pdf

** /var r é o valor desejado para a saída, o 'set-point'.
** /var y é o valor da saída.
** /ret     retorna a ação de controle u.
*/
inline float piVo(float r, float y){
    // PI CONFIGURATIONS:
    const float Kp = 0.5;           // analog series proportional gain
    const float Ti = 0.1;          // analog series integration period
    const float Ts = PERIOD;        // digital sampling period

    // INTERNAL CONSTANTS COMPUTATION:
    const float a0 = -Kp;           // IIR coefficient for old sample
    const float a1 = Kp*(1+Ts/Ti);  // IIR coefficient for new sample

    // CONTROLLER STATIC VARIABLES
    static float e0 = 0;            // old error
    static float e1 = 0;            // new error
    static float u = 0;             // control action

inline void machine_run(void)                                                    
{                                                                                   
    if(print_adc){ print_infos(); print_adc = 0;}                                   
                                                                                    
    if(machine_clk){                                                                
        machine_clk = 0;                                                            
                                                                                    
        if(error_flags.all){                                                        
            print_system_flags();                                                   
            print_error_flags();                                                    
            print_infos();                                                          
            set_state_error();                                                      
        }                                                                           
                                                                                    
        switch(state_machine){                                                      
            case STATE_INITIALIZING:                                                
                task_initializing();                                                
                                                                                    
                break;                                                              
            case STATE_IDLE:                                                        
                task_idle();                                                                    
                                                                                    
                break;                                                              
            case STATE_RUNNING: