From 4b8a37f2e43c017f4738f658efcc82b120c0b2e5 Mon Sep 17 00:00:00 2001
From: Diego Freitas <diego-xbm@hotmail.com>
Date: Mon, 14 Apr 2025 09:52:19 -0300
Subject: [PATCH] finalizado ajustes no novo protocolo can com posicao de dados

---
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 ...7710c435-e1c6-4e72-ae53-dd308c11c8c4.vsidx |  Bin 24325 -> 0 bytes
 ...83daec6e-96d2-4592-bfe0-b85e6371bb02.vsidx |  Bin 42913 -> 0 bytes
 ...84e6cd0d-294a-410c-85bb-a7b906b7f08c.vsidx |  Bin 3324370 -> 0 bytes
 ...9139c3a3-d671-487f-b4f5-b1ae27b32551.vsidx |  Bin 28890 -> 0 bytes
 ...94e5c06f-78ed-4b5d-b8eb-4b1feaebe9da.vsidx |  Bin 34995 -> 0 bytes
 AgroBase/.vs/AgroBase/v17/.suo                |  Bin 802816 -> 847872 bytes
 AgroBase/.vs/AgroBase/v17/DocumentLayout.json |   58 +-
 .../AgroBase/Models/Modules/AtuadorModel.cs   |   90 +-
 .../AgroBase/Models/Modules/PinoutModel.cs    |   12 +
 .../Models/Modules/SensoriamentoModel.cs      |   33 +-
 AgroBase/AgroBase/bin/Debug/AgroBase.pdb      |  Bin 3665408 -> 3667456 bytes
 .../Debug/Parametros/parametersAtu-1_0.par    |    2 +-
 .../bin/Debug/Parametros/pinoutAtu-1_0.pin    |    2 +-
 .../bin/Debug/Python/Output/mapa_gps.html     |   18 +-
 .../AgroBase.csproj.AssemblyReference.cache   |  Bin 40774 -> 40774 bytes
 .../AgroBase.csproj.FileListAbsolute.txt      |    2 +-
 .../AgroBase.csproj.GenerateResource.cache    |  Bin 4146 -> 4146 bytes
 AgroBase/AgroBase/obj/Debug/AgroBase.pdb      |  Bin 3665408 -> 3667456 bytes
 .../DesignTimeResolveAssemblyReferences.cache |  Bin 162 -> 137 bytes
 ...gnTimeResolveAssemblyReferencesInput.cache |  Bin 35856 -> 35856 bytes
 .../Debug/Logs/Gps/27_03_2025_09_49_44.json   | 9900 +++++++++++++++++
 .../Debug/Logs/Gps/27_03_2025_14_07_29.json   |  900 ++
 .../Debug/Logs/Gps/27_03_2025_14_13_18.json   | 1200 ++
 .../Debug/Logs/Gps/27_03_2025_14_33_14.json   | 6000 ++++++++++
 .../obj/Debug/AgroMoni.D419EBC3.Up2Date       |    0
 ...AgroMonitor.csproj.AssemblyReference.cache |  Bin 21384 -> 10792 bytes
 ...gnTimeResolveAssemblyReferencesInput.cache |  Bin 2593 -> 2593 bytes
 Firmware/.vscode/settings.json                |    8 +-
 Firmware/Atuador/Atuador_v9/Atuador_v9.ino    |   39 +-
 Firmware/Modulos/BombaPressurizadoraModel.h   |   36 +-
 Firmware/Modulos/ReleModel.h                  |   11 +-
 Firmware/Modulos/SensorCorrenteModel.h        |   11 +-
 Firmware/Modulos/SensorFluxoModel.h           |   16 +-
 Firmware/Modulos/SensorMassaModel.h           |   13 +-
 Firmware/Modulos/SensorPressaoModel.h         |   16 +-
 Firmware/Modulos/SensorTemperaturaModel.h     |   11 +-
 Firmware/Modulos/SerialService.h              |    1 +
 Firmware/Modulos/ServoFreioModel.h            |   11 +-
 Firmware/Modulos/SinaleiroModel.h             |   11 +-
 .../Sensoriamento_v16/Sensoriamento_v16.ino   |   19 +-
 41 files changed, 18263 insertions(+), 157 deletions(-)
 create mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/5d2b4002-1d71-42ec-8f30-d432b88a2fb2.vsidx
 delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/7710c435-e1c6-4e72-ae53-dd308c11c8c4.vsidx
 delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/83daec6e-96d2-4592-bfe0-b85e6371bb02.vsidx
 delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/84e6cd0d-294a-410c-85bb-a7b906b7f08c.vsidx
 delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/9139c3a3-d671-487f-b4f5-b1ae27b32551.vsidx
 delete mode 100644 AgroBase/.vs/AgroBase/FileContentIndex/94e5c06f-78ed-4b5d-b8eb-4b1feaebe9da.vsidx
 create mode 100644 AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_09_49_44.json
 create mode 100644 AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_07_29.json
 create mode 100644 AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_13_18.json
 create mode 100644 AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_33_14.json
 create mode 100644 AgroBase/AgroMonitor/obj/Debug/AgroMoni.D419EBC3.Up2Date

diff --git a/AgroBase/.vs/AgroBase/FileContentIndex/5d2b4002-1d71-42ec-8f30-d432b88a2fb2.vsidx b/AgroBase/.vs/AgroBase/FileContentIndex/5d2b4002-1d71-42ec-8f30-d432b88a2fb2.vsidx
new file mode 100644
index 0000000000000000000000000000000000000000..2765d1bff5a19fb0338a11d4a53e738fbab0203b
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diff --git a/AgroBase/.vs/AgroBase/v17/DocumentLayout.json b/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
index eacd29c37..9873b6120 100644
--- a/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
+++ b/AgroBase/.vs/AgroBase/v17/DocumentLayout.json
@@ -3,12 +3,16 @@
   "WorkspaceRootPath": "C:\\ZendionINC\\agrobot_base\\AgroBase\\",
   "Documents": [
     {
-      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\models\\mapasmodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
-      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\models\\mapasmodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|C:\\ZendionINC\\agrobot_base\\AgroBase\\agrobase\\models\\modules\\atuadormodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
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+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\models\\modules\\sensoriamentomodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\models\\modules\\sensoriamentomodel.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
+    },
+    {
+      "AbsoluteMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|c:\\zendioninc\\agrobot_base\\agrobase\\agrobase\\services\\canservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}",
+      "RelativeMoniker": "D:0:0:{C54B41C0-1D21-4E3E-949E-0F86BBC86A33}|AgroBase\\AgroBase.csproj|solutionrelative:agrobase\\services\\canservice.cs||{A6C744A8-0E4A-4FC6-886A-064283054674}"
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   ],
   "DocumentGroupContainers": [
@@ -18,32 +22,46 @@
       "DocumentGroups": [
         {
           "DockedWidth": 200,
-          "SelectedChildIndex": 0,
+          "SelectedChildIndex": 1,
           "Children": [
             {
               "$type": "Document",
-              "DocumentIndex": 0,
-              "Title": "MapasModel.cs",
-              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\MapasModel.cs",
-              "RelativeDocumentMoniker": "AgroBase\\Models\\MapasModel.cs",
-              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\MapasModel.cs",
-              "RelativeToolTip": "AgroBase\\Models\\MapasModel.cs",
-              "ViewState": "AQIAAAAAAAAAAAAAAAAAABQAAABLAAAA",
+              "DocumentIndex": 2,
+              "Title": "CANService.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\CANService.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Services\\CANService.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Services\\CANService.cs",
+              "RelativeToolTip": "AgroBase\\Services\\CANService.cs",
+              "ViewState": "AQIAAAMAAAAAAAAAAAAAABwAAAAAAAAA",
               "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2025-03-26T16:57:44.581Z",
+              "WhenOpened": "2025-04-14T11:55:37.44Z",
+              "EditorCaption": ""
+            },
+            {
+              "$type": "Document",
+              "DocumentIndex": 0,
+              "Title": "AtuadorModel.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Modules\\AtuadorModel.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Models\\Modules\\AtuadorModel.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Modules\\AtuadorModel.cs",
+              "RelativeToolTip": "AgroBase\\Models\\Modules\\AtuadorModel.cs",
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+              "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
+              "WhenOpened": "2025-04-12T19:46:19.183Z",
               "EditorCaption": ""
             },
             {
               "$type": "Document",
               "DocumentIndex": 1,
-              "Title": "frmSimulacaoMapaGPS.cs [Design]",
-              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\frmSimulacaoMapaGPS.cs",
-              "RelativeDocumentMoniker": "AgroBase\\Forms\\frmSimulacaoMapaGPS.cs",
-              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Forms\\frmSimulacaoMapaGPS.cs [Design]",
-              "RelativeToolTip": "AgroBase\\Forms\\frmSimulacaoMapaGPS.cs [Design]",
+              "Title": "SensoriamentoModel.cs",
+              "DocumentMoniker": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Modules\\SensoriamentoModel.cs",
+              "RelativeDocumentMoniker": "AgroBase\\Models\\Modules\\SensoriamentoModel.cs",
+              "ToolTip": "C:\\ZendionINC\\agrobot_base\\AgroBase\\AgroBase\\Models\\Modules\\SensoriamentoModel.cs",
+              "RelativeToolTip": "AgroBase\\Models\\Modules\\SensoriamentoModel.cs",
+              "ViewState": "AQIAAIkEAAAAAAAAAAAkwM4FAAAeAAAA",
               "Icon": "ae27a6b0-e345-4288-96df-5eaf394ee369.000738|",
-              "WhenOpened": "2025-03-26T16:57:39.849Z",
-              "EditorCaption": " [Design]"
+              "WhenOpened": "2025-04-12T19:46:16.524Z",
+              "EditorCaption": ""
             }
           ]
         }
diff --git a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
index 4c964bbf2..0d7b6a558 100644
--- a/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/AtuadorModel.cs
@@ -231,9 +231,9 @@ namespace AgroBase.Models.Modules
                         Funcoes = new List<FuncoesPinout>()
                         {
                             FuncoesPinout.ENA,
-                            //FuncoesPinout.CS,
-                            //FuncoesPinout.INA,
-                            //FuncoesPinout.INB,
+                            FuncoesPinout.CS,
+                            FuncoesPinout.INA,
+                            FuncoesPinout.INB,
                             FuncoesPinout.PWM,
                         }
                     }
@@ -439,7 +439,7 @@ namespace AgroBase.Models.Modules
             {
                 // Adicionar configuração do ProtocoloMOD
                 var protocoloMOD = ModConfig(Conectar);
-                config.Add(protocoloMOD);
+                config.AddRange(protocoloMOD);
             }
 
             // Adicionar configurações dos Sensores que devem ser aferidos
@@ -457,22 +457,31 @@ namespace AgroBase.Models.Modules
             return config;
         }
 
-        private byte[] ModConfig(bool Conectar)
+        private List<byte[]> ModConfig(bool Conectar)
         {
-            //var pinos = PinoutModel.PinoProtocolo(Pinout, Funcoes, false);
-
-            var config = new List<byte>
+            var config1 = new List<byte>
             {
                 Variaveis.ID_Num_sMOD,
                 (byte)CanMessagePosicaoDados.Config1,
-                (byte)S_Code.sMOD, 
+                (byte)S_Code.sMOD,
                 (byte)(Conectar ? 1 : 0),
                 (byte)(_TaxaAmostragem / 10),
                 (byte)(RequisitarDados ? 1 : 0),
             };
-            //config.AddRange(pinos);
 
-            return config.ToArray();
+            var config2 = new List<byte>
+            {
+                Variaveis.ID_Num_sMOD,
+                (byte)CanMessagePosicaoDados.Config1,
+                (byte)S_Code.sMOD,
+            };
+            config2.AddRange(PinoutModel.PinoProtocolo(Pinout, Funcoes, false));
+
+            return new List<byte[]> 
+            { 
+                config1.ToArray(), 
+                config2.ToArray() 
+            };
         }
 
         private List<byte[]> SensoresConfig(bool Conectar)
@@ -481,7 +490,7 @@ namespace AgroBase.Models.Modules
 
             foreach (var sensor in Sensores.Where(x => x.Aferir && x.Inicializado != Conectar))
             {
-                byte[] payload = sensor.ProtocoloConfiguracao(Pinout, Conectar);
+                byte[] payload = sensor.ProtocoloConfiguracao(Pinout, Conectar, Dispositivo);
                 if (payload != null)
                 {
                     config.Add(payload);
@@ -516,7 +525,7 @@ namespace AgroBase.Models.Modules
                 var payload = bomba.ProtocoloConfiguracao(Pinout, Conectar);
                 if (payload != null)
                 {
-                    config.Add(payload);
+                    config.AddRange(payload);
                 }
             }
 
@@ -890,34 +899,34 @@ namespace AgroBase.Models.Modules
 
 
 
-        public byte[] ProtocoloConfiguracao(PinoutDataModel pinout, bool conectar)
+        public List<byte[]> ProtocoloConfiguracao(PinoutDataModel pinout, bool conectar)
         {
-            byte pressaoMax = (byte)Variaveis.OperacaoEmAndamento.Controle.PressaoLinha;
-
-            var _pinout = new PinoutDataModel()
-            {
-                ExpansorGPIO = pinout.ExpansorGPIO,
-                EnderecoGPIO = pinout.EnderecoGPIO,
-                ExpansorADS = pinout.ExpansorADS,
-                EnderecoADS = pinout.EnderecoADS,
-                Pinos = pinout.Pinos.ToList(),
-            };
-            _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList();
-            
-            List<byte> config = new List<byte>()
+            List<byte> config1 = new List<byte>()
             {
                 (byte)ID_Num,
                 (byte)CanMessagePosicaoDados.Config1,
                 (byte)Componente,
                 (byte)(conectar ? 1 : 0),
-                pressaoMax,
+                (byte)Variaveis.OperacaoEmAndamento.Controle.PressaoLinha,
+                (byte)(pinout.Pinos.FirstOrDefault(x => x.ComponenteID == ID && x.Funcao == FuncoesPinout.ENA)?.Pino ?? PinoutUtils.PINO_INVALIDO),
+                (byte)(pinout.Pinos.FirstOrDefault(x => x.Funcao == FuncoesPinout.CS)?.Pino ?? PinoutUtils.PINO_INVALIDO),
             };
 
-            byte[] pinos = PinoutModel.PinoProtocolo(_pinout, Funcoes, false);
+            List<byte> config2 = new List<byte>()
+            {
+                (byte)ID_Num,
+                (byte)CanMessagePosicaoDados.Config2,
+                (byte)Componente,
+                (byte)(pinout.Pinos.FirstOrDefault(x => x.Funcao == FuncoesPinout.INA)?.Pino ?? PinoutUtils.PINO_INVALIDO),
+                (byte)(pinout.Pinos.FirstOrDefault(x => x.Funcao == FuncoesPinout.INB)?.Pino ?? PinoutUtils.PINO_INVALIDO),
+                (byte)(pinout.Pinos.FirstOrDefault(x => x.Funcao == FuncoesPinout.PWM)?.Pino ?? PinoutUtils.PINO_INVALIDO),
+            };
 
-            config.AddRange(pinos);
-
-            return config.ToArray();
+            return new List<byte[]>() 
+            { 
+                config1.ToArray(), 
+                config2.ToArray() 
+            };
         }
 
         public (F_Code, byte[]) ProtocoloComando()
@@ -1136,22 +1145,7 @@ namespace AgroBase.Models.Modules
     public class FirmwareBombaPressurizadora
     {
         public string ID { get; set; }
-        private bool _iniciado = false;
-        public bool Iniciado
-        {
-            get
-            {
-                if (Variaveis.OperacaoEmAndamento.DispAtu.Dados.DadosLeitura.Momento.AddMilliseconds(SensoriamentoModel.TempoLimiteConexao) < DateTime.Now)
-                {
-                    _iniciado = false;
-                }
-                return _iniciado;
-            }
-            set
-            {
-                _iniciado = value;
-            }
-        }
+        public bool Iniciado { get; set; }
         public Estado Estado { get; set; }
         public double Potencia { get; set; }
         public double PressaoSP { get; set; }
diff --git a/AgroBase/AgroBase/Models/Modules/PinoutModel.cs b/AgroBase/AgroBase/Models/Modules/PinoutModel.cs
index 927f57963..6e2489d5d 100644
--- a/AgroBase/AgroBase/Models/Modules/PinoutModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/PinoutModel.cs
@@ -14,6 +14,18 @@ namespace AgroBase.Models.Modules
         public bool ExpansorADS { get; set; }
         public string EnderecoADS { get; set; }
         public List<PinoutModel> Pinos { get; set; }
+
+        public PinoutDataModel Clone()
+        {
+            return new PinoutDataModel()
+            {
+                ExpansorADS = ExpansorADS,
+                EnderecoADS = EnderecoADS,
+                EnderecoGPIO = EnderecoGPIO,
+                ExpansorGPIO = ExpansorGPIO,
+                Pinos = new List<PinoutModel>(Pinos)
+            };
+        }
     }
 
     public class PinoutModel
diff --git a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
index 0c8527a3a..a3a245037 100644
--- a/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
+++ b/AgroBase/AgroBase/Models/Modules/SensoriamentoModel.cs
@@ -652,8 +652,6 @@ namespace AgroBase.Models.Modules
 
         private List<byte[]> ModConfig(bool Conectar)
         {
-            var pinos = PinoutModel.PinoProtocolo(Pinout, Funcoes, false);
-
             var config1 = new List<byte>
             {
                 Variaveis.ID_Num_sMOD,
@@ -663,15 +661,20 @@ namespace AgroBase.Models.Modules
                 (byte)(_TaxaAmostragem / 10),
                 (byte)(RequisitarDados ? 1 : 0),
             };
+
             var config2 = new List<byte>
             {
                 Variaveis.ID_Num_sMOD,
-                (byte)CanMessagePosicaoDados.Config2,
+                (byte)CanMessagePosicaoDados.Config1,
                 (byte)S_Code.sMOD,
             };
-            config2.AddRange(pinos);
+            config2.AddRange(PinoutModel.PinoProtocolo(Pinout, Funcoes, false));
 
-            return new List<byte[]> { config1.ToArray(), config2.ToArray() };
+            return new List<byte[]>
+            {
+                config1.ToArray(),
+                config2.ToArray()
+            };
         }
 
         public List<byte[]> SensoresConfig(bool Conectar)
@@ -680,7 +683,7 @@ namespace AgroBase.Models.Modules
 
             foreach (var sensor in Sensores.Where(x => x.Aferir && x.Inicializado != Conectar))
             {
-                byte[] payload = sensor.ProtocoloConfiguracao(Pinout, Conectar);
+                byte[] payload = sensor.ProtocoloConfiguracao(Pinout, Conectar, Dispositivo);
                 if (payload != null)
                 {
                     config.Add(payload);
@@ -983,7 +986,7 @@ namespace AgroBase.Models.Modules
 
         public List<SenSensorimanetoGrafico> LogGrafico = new List<SenSensorimanetoGrafico>();
 
-        public byte[] ProtocoloConfiguracao(PinoutDataModel Pinout, bool conectar)
+        public byte[] ProtocoloConfiguracao(PinoutDataModel Pinout, bool conectar, T_Code Dispositivo)
         {
             List<byte> config = new List<byte>
             {
@@ -993,23 +996,11 @@ namespace AgroBase.Models.Modules
                 (byte)(conectar ? 1 : 0),
             };
 
-            var _pinout = new PinoutDataModel()
-            {
-                ExpansorGPIO = Pinout.ExpansorGPIO,
-                EnderecoGPIO = Pinout.EnderecoGPIO,
-                ExpansorADS = Pinout.ExpansorADS,
-                EnderecoADS = Pinout.EnderecoADS,
-                Pinos = Pinout.Pinos.ToList(),
-            };
+            var _pinout = Pinout.Clone();
             _pinout.Pinos = _pinout.Pinos.Where(x => x.ComponenteID == ID).ToList();
             if (_pinout.Pinos.Count > 0)
             {
-                List<S_Code> sensoresApenasBarramentoControlador = new List<S_Code>()
-                {
-                    S_Code.sBMB, 
-                    S_Code.sMAS
-                };
-                bool enviaBarramento = !sensoresApenasBarramentoControlador.Contains(Componente);
+                bool enviaBarramento = Dispositivo == T_Code.Sen;
 
                 byte[] pinos = PinoutModel.PinoProtocolo(_pinout, Funcoes, enviaBarramento);
                 config.AddRange(pinos);
diff --git a/AgroBase/AgroBase/bin/Debug/AgroBase.pdb b/AgroBase/AgroBase/bin/Debug/AgroBase.pdb
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diff --git a/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par b/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par
index 57fae9005..70d07bb81 100644
--- a/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par
+++ b/AgroBase/AgroBase/bin/Debug/Parametros/parametersAtu-1_0.par
@@ -1 +1 @@
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         }
         trajeto_json_add({"features": []});
 
-        trajeto_json.addTo(map_fc3c5e9d08f8e0552860db1a030344cd);
+        trajeto_json.addTo(map_beecccdcf5c786b58b81527b87a76393);
 
         function adicionarGeometria(novaGeometria) {
             trajeto_json.addData(novaGeometria);
@@ -145,7 +145,7 @@
         
         var marcadorDinamico = L.marker([0, 0], {
             icon: customIcon
-        }).addTo(map_fc3c5e9d08f8e0552860db1a030344cd);
+        }).addTo(map_beecccdcf5c786b58b81527b87a76393);
     
         // Conectar ao broker MQTT
         const client = mqtt.connect('ws://localhost:9001'); // Use wss para conexão segura
@@ -183,7 +183,7 @@
             marcadorDinamico.setRotationAngle(angulo);
             
             adicionarCoordenada("Tj", [novaLongitude, novaLatitude]);
-            map_fc3c5e9d08f8e0552860db1a030344cd.setView(novaPosicao, map_fc3c5e9d08f8e0552860db1a030344cd.getZoom());
+            map_beecccdcf5c786b58b81527b87a76393.setView(novaPosicao, map_beecccdcf5c786b58b81527b87a76393.getZoom());
         });
         
         function calcularOrientacao(P1latitude, P1longitude, P2latitude, P2longitude) {
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.AssemblyReference.cache b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.AssemblyReference.cache
index 903646f4c57cdc68b70129a32323b65774980a5e..4b3a44fb73fefd385bf68a624c2c5c4f149620fb 100644
GIT binary patch
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delta 1397
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diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
index a9fc2c019..9e849f5fa 100644
--- a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
+++ b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.FileListAbsolute.txt
@@ -482,4 +482,4 @@ C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.GenerateR
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.CoreCompileInputs.cache
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.exe
 C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.pdb
-C:\ZendionInc\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.CopyComplete
+C:\ZendionINC\agrobot_base\AgroBase\AgroBase\obj\Debug\AgroBase.csproj.Up2Date
diff --git a/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache b/AgroBase/AgroBase/obj/Debug/AgroBase.csproj.GenerateResource.cache
index 0ea295914ddd5ee329b6ba34e697c3eb34e36e6d..1463f41843dd71c75e740be0665e0c4f0d9b904e 100644
GIT binary patch
delta 534
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diff --git a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferences.cache
index c2fa08af6986b5c5d5cb82b6f82886cdd48bbfa3..5fcda049883d09b2df3b966b6a9e82a6f0ac8c39 100644
GIT binary patch
delta 33
ocmZ3)*vZJj#>mLPz`&R?kt3MbF*!N4xHvN@Gbgj8a$=(*0C;~17XSbN

delta 58
zcmeBVT*S!1#>mLPz`$5Lkt0|wxU#q;HCHb@GcP5-yjagIzbLm@&n2-WF)XvVG%+W$
NDzPLpKW}1&A^_R-64d|z

diff --git a/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache b/AgroBase/AgroBase/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache
index 07bd2fe0c016f84530f665dacef72ed6dd03746c..237b4eb9d3040550a553f09e5a7304ce4aa66a40 100644
GIT binary patch
delta 2881
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delta 2881
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diff --git a/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_09_49_44.json b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_09_49_44.json
new file mode 100644
index 000000000..ec8a13dec
--- /dev/null
+++ b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_09_49_44.json
@@ -0,0 +1,9900 @@
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diff --git a/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_07_29.json b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_07_29.json
new file mode 100644
index 000000000..d60eb9450
--- /dev/null
+++ b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_07_29.json
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diff --git a/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_13_18.json b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_13_18.json
new file mode 100644
index 000000000..2632494fd
--- /dev/null
+++ b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_13_18.json
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diff --git a/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_33_14.json b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_33_14.json
new file mode 100644
index 000000000..2287f012c
--- /dev/null
+++ b/AgroBase/AgroMonitor/bin/Debug/Logs/Gps/27_03_2025_14_33_14.json
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diff --git a/AgroBase/AgroMonitor/obj/Debug/AgroMoni.D419EBC3.Up2Date b/AgroBase/AgroMonitor/obj/Debug/AgroMoni.D419EBC3.Up2Date
new file mode 100644
index 000000000..e69de29bb
diff --git a/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.AssemblyReference.cache b/AgroBase/AgroMonitor/obj/Debug/AgroMonitor.csproj.AssemblyReference.cache
index 5aa3307ae695cd80a295283b1f492b1e6d903f04..231b068d2bbca6da6e0a37fdac4ee814e799dd7a 100644
GIT binary patch
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diff --git a/AgroBase/AgroMonitor/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache b/AgroBase/AgroMonitor/obj/Debug/DesignTimeResolveAssemblyReferencesInput.cache
index 292c5e2c77e9bcda49639dbba395fec11767b286..72c4c68648190e575382c4efa5a8973931121a5a 100644
GIT binary patch
delta 130
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h2^^x6UogIesG8`&vH25I2rFDJ6VBq^{Eowz5dePPDQo}$

delta 130
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diff --git a/Firmware/.vscode/settings.json b/Firmware/.vscode/settings.json
index 558c0337e..bd3fd458b 100644
--- a/Firmware/.vscode/settings.json
+++ b/Firmware/.vscode/settings.json
@@ -20,6 +20,12 @@
         "xmemory": "cpp",
         "xstddef": "cpp",
         "xtr1common": "cpp",
-        "xutility": "cpp"
+        "xutility": "cpp",
+        "cmath": "cpp",
+        "iosfwd": "cpp",
+        "stdexcept": "cpp",
+        "xmemory0": "cpp",
+        "xstring": "cpp",
+        "optional": "cpp"
     }
 }
\ No newline at end of file
diff --git a/Firmware/Atuador/Atuador_v9/Atuador_v9.ino b/Firmware/Atuador/Atuador_v9/Atuador_v9.ino
index e8e3040bf..0ee5dce16 100644
--- a/Firmware/Atuador/Atuador_v9/Atuador_v9.ino
+++ b/Firmware/Atuador/Atuador_v9/Atuador_v9.ino
@@ -32,6 +32,9 @@ int _TaxaAmostragem = 1000;
 volatile bool RequisitarDados = false;
 int latenciaLoop = 0;
 
+PinoModel _pinoSDA = PinoModel(1, CONTROLADOR, _INPUT);
+PinoModel _pinoSCL = PinoModel(2, CONTROLADOR, _INPUT);
+
 
 std::vector<Rele*> listaBicos;
 std::vector<BombaPressurizadora*> listaBombas;
@@ -139,7 +142,9 @@ void enviarDadosSensores() {
 
 
 void EnviarDadosCAN(std::vector<uint8_t> data) {
-  canService.enviarMensagem(data);
+  if (data.size() > 0) {
+    canService.enviarMensagem(data);
+  }
 }
 
 
@@ -169,6 +174,7 @@ void ProcessarReq() {
 
 void ProcessarCfg(std::vector<uint8_t> data) {
   if (data.size() < 4) return;
+  std::vector<uint8_t> _chkRx;
   uint8_t id = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   S_Code componente = (S_Code)data[3];
@@ -180,12 +186,25 @@ void ProcessarCfg(std::vector<uint8_t> data) {
           bool conectar = data[4] == 1;
           int taxa = data[5] * 10;
           bool requisitar = data[6] == 1;
-          vTaskDelay(pdMS_TO_TICKS(100));
           _TaxaAmostragem = taxa;
           RequisitarDados = requisitar;
-          Verificando = false;
           Conectado = conectar;
-          ProcessarChk();
+          break;
+        }
+        case CanMessagePosicaoDados::Config2: {
+          if (data.size() < 6) return;
+          int pinoSDA = data[4];
+          int pinoSCL = data[5];
+          if (pinoSDA != PINO_INVALIDO && pinoSCL != PINO_INVALIDO) {
+            _pinoSDA = PinoModel(pinoSDA, CONTROLADOR, _INPUT);
+            _pinoSCL = PinoModel(pinoSCL, CONTROLADOR, _INPUT);
+            Wire.end();
+            Wire.begin(_pinoSDA.num, _pinoSCL.num);
+            PrintTela("I2C inicializado nos pinos SDA=" + String(pinoSDA) + " e SCL=" + String(pinoSCL));
+          }
+          vTaskDelay(pdMS_TO_TICKS(100));
+          Verificando = false;
+          _chkRx = canService.MontarFrameChk(D_Code, Conectado, VERSION);
           LimparListasComponentes();
           PrintTela("Configuracao do modulo concluida");
           break;
@@ -194,26 +213,28 @@ void ProcessarCfg(std::vector<uint8_t> data) {
       break;
     }
     case sBIC: {
-      Rele::ConfigurarRele(listaBicos, data, Mod_ID);
+      _chkRx = Rele::ConfigurarRele(listaBicos, data, Mod_ID);
       break;
     }
     case sFLX: {
-      SensorFluxo::ConfigurarSensor(listaSensoresFluxo, data, Mod_ID);
+      _chkRx = SensorFluxo::ConfigurarSensor(listaSensoresFluxo, data, Mod_ID);
       break;
     }
     case sPRS: {
-      SensorPressao::ConfigurarSensor(listaSensoresPressao, data, Mod_ID);
+      _chkRx = SensorPressao::ConfigurarSensor(listaSensoresPressao, data, Mod_ID);
       break;
     }
     case sMAS: {
-      SensorMassa::ConfigurarSensor(listaSensoresMassa, data, Mod_ID);
+      _chkRx = SensorMassa::ConfigurarSensor(listaSensoresMassa, data, Mod_ID);
       break;
     }
     case sBMB: {
-      BombaPressurizadora::ConfigurarBomba(listaBombas, data, Mod_ID, listaSensoresPressao);
+      _chkRx = BombaPressurizadora::ConfigurarBomba(listaBombas, data, Mod_ID, listaSensoresPressao);
       break;
     }
   }
+
+  EnviarDadosCAN(_chkRx);
 }
 
 void ProcessarCmd(std::vector<uint8_t> data) {
diff --git a/Firmware/Modulos/BombaPressurizadoraModel.h b/Firmware/Modulos/BombaPressurizadoraModel.h
index e39a8b74f..91398bf22 100644
--- a/Firmware/Modulos/BombaPressurizadoraModel.h
+++ b/Firmware/Modulos/BombaPressurizadoraModel.h
@@ -10,7 +10,7 @@
 class BombaPressurizadora {
   public:
 
-    static void ConfigurarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, const String& Mod_ID, std::vector<SensorPressao*>& sensoresPressao);
+    static std::vector<uint8_t> ConfigurarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, const String& Mod_ID, std::vector<SensorPressao*>& sensoresPressao);
     static void ComandarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, uint8_t& id);
 
     BombaPressurizadora(String _modID, String _id) {
@@ -189,17 +189,19 @@ class BombaPressurizadora {
 };
 
 
-void BombaPressurizadora::ConfigurarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, const String& Mod_ID, std::vector<SensorPressao*>& sensoresPressao) {
-  if (data.size() < 8) return;
+std::vector<uint8_t> BombaPressurizadora::ConfigurarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, const String& Mod_ID, std::vector<SensorPressao*>& sensoresPressao) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
+  auto it = std::find_if(lista.begin(), lista.end(), [idNum](BombaPressurizadora* s) { return s->ID_Num == idNum; });
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 8) return status;
       bool conectar = data[4] == 1;
       int pressaoSp = (int)data[5];
       int pinoEn = data[6];
-      int pinoPwm = data[7];
-      auto it = std::find_if(lista.begin(), lista.end(), [idNum](BombaPressurizadora* s) { return s->ID_Num == idNum; });
+      int pinoCs = data[7];
       if (conectar) {
         if (it == lista.end()) {
           BombaPressurizadora* bomba = new BombaPressurizadora(Mod_ID, "sBMB_" + String(idNum));
@@ -211,13 +213,12 @@ void BombaPressurizadora::ConfigurarBomba(std::vector<BombaPressurizadora*>& lis
           if (bomba->sensorPressao == nullptr) {
             PrintTela("Nenhum sensor de pressão disponível para associar à bomba.");
             delete bomba;
-            return;
+            return status;
           }
           bomba->ID_Num = idNum;
           bomba->_pinoEN = PinoModel(pinoEn, CONTROLADOR, _OUTPUT);
-          bomba->_pinoPWM = PinoModel(pinoPwm, CONTROLADOR, _PWM);
+          bomba->_pinoCS = PinoModel(pinoCs, CONTROLADOR, _INPUT);
           bomba->_PressaoSP = (double)pressaoSp;
-          bomba->Inicializar();
           lista.push_back(bomba);
           PrintTela("Bomba Pressurizadora adicionado via CAN: sBMB_" + String(idNum));
         }
@@ -225,6 +226,7 @@ void BombaPressurizadora::ConfigurarBomba(std::vector<BombaPressurizadora*>& lis
         if (it != lista.end()) {
           BombaPressurizadora* bomba = *it;
           bomba->Desligar();
+          status = bomba->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete bomba;
           lista.erase(it);
           PrintTela("Bomba Pressurizadora removido via CAN: sBMB_" + String(idNum));
@@ -232,7 +234,25 @@ void BombaPressurizadora::ConfigurarBomba(std::vector<BombaPressurizadora*>& lis
       }
       break;
     }
+    case CanMessagePosicaoDados::Config2: {
+      if (data.size() < 7) return status;
+      if (it == lista.end()) return status;
+
+      int pinoIna = data[4];
+      int pinoInb = data[5];
+      int pinoPwm = data[6];
+
+      BombaPressurizadora* bomba = *it;
+      bomba->_pinoINA = PinoModel(pinoIna, CONTROLADOR, _OUTPUT);
+      bomba->_pinoINB = PinoModel(pinoInb, CONTROLADOR, _OUTPUT);
+      bomba->_pinoPWM = PinoModel(pinoPwm, CONTROLADOR, _PWM);
+      bomba->Inicializar();
+      PrintTela("Bomba Pressurizadora adicionado via CAN: sBMB_" + String(bomba->ID_Num));
+      status = bomba->MontarMensagemCAN(CanMessagePosicaoDados::Status);
+      break;
+    }
   }
+  return status;
 }
 
 void BombaPressurizadora::ComandarBomba(std::vector<BombaPressurizadora*>& lista, std::vector<uint8_t>& data, uint8_t& id) {
diff --git a/Firmware/Modulos/ReleModel.h b/Firmware/Modulos/ReleModel.h
index d9e4c01ef..ebbe69340 100644
--- a/Firmware/Modulos/ReleModel.h
+++ b/Firmware/Modulos/ReleModel.h
@@ -8,7 +8,7 @@
 class Rele {
   public:
 
-    static void ConfigurarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
     static void ComandarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data, uint8_t& id);
 
     Rele(String _modID, String _id) {
@@ -106,12 +106,14 @@ class Rele {
 };
 
 
-void Rele::ConfigurarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 8) return;
+std::vector<uint8_t> Rele::ConfigurarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 8) return status;
       bool conectar = data[4] == 1;
       bool atuacaoNivelAlto = data[5] == 1;
       TiposBarramentos tipoBarramento = (TiposBarramentos)data[6];
@@ -126,11 +128,13 @@ void Rele::ConfigurarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data,
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Rele adicionado via CAN: sRLE_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           Rele* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Rele removido via CAN: sRLE_" + String(idNum));
@@ -139,6 +143,7 @@ void Rele::ConfigurarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data,
       break;
     }
   }
+  return status;
 }
 
 void Rele::ComandarRele(std::vector<Rele*>& lista, std::vector<uint8_t>& data, uint8_t& id) {
diff --git a/Firmware/Modulos/SensorCorrenteModel.h b/Firmware/Modulos/SensorCorrenteModel.h
index 9b523c1ae..62ac0a706 100644
--- a/Firmware/Modulos/SensorCorrenteModel.h
+++ b/Firmware/Modulos/SensorCorrenteModel.h
@@ -9,7 +9,7 @@
 class SensorCorrente {
   public:
 
-    static void ConfigurarSensor(std::vector<SensorCorrente*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarSensor(std::vector<SensorCorrente*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
 
     SensorCorrente(String _modID, String _id) {
       Mod_ID = _modID;
@@ -126,12 +126,14 @@ class SensorCorrente {
 
 };
 
-void SensorCorrente::ConfigurarSensor(std::vector<SensorCorrente*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 8) return;
+std::vector<uint8_t> SensorCorrente::ConfigurarSensor(std::vector<SensorCorrente*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 8) return status;
       bool conectar = data[4] == 1;
       uint8_t endereco = data[5];
       // _a_max vem como float*100 => uint16_t
@@ -147,11 +149,13 @@ void SensorCorrente::ConfigurarSensor(std::vector<SensorCorrente*>& lista, std::
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Sensor de corrente adicionado via CAN: sCOR_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           SensorCorrente* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Sensor de corrente removido via CAN: sCOR_" + String(idNum));
@@ -160,6 +164,7 @@ void SensorCorrente::ConfigurarSensor(std::vector<SensorCorrente*>& lista, std::
       break;
     }
   }
+  return status;
 }
 
 #endif
\ No newline at end of file
diff --git a/Firmware/Modulos/SensorFluxoModel.h b/Firmware/Modulos/SensorFluxoModel.h
index f39017099..cc3f90b8d 100644
--- a/Firmware/Modulos/SensorFluxoModel.h
+++ b/Firmware/Modulos/SensorFluxoModel.h
@@ -7,7 +7,7 @@
 class SensorFluxo {
   public:
 
-    static void ConfigurarSensor(std::vector<SensorFluxo*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarSensor(std::vector<SensorFluxo*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
 
     SensorFluxo(String _modID, String _id) {
       Mod_ID = _modID;
@@ -154,29 +154,32 @@ class SensorFluxo {
 
 };
 
-void SensorFluxo::ConfigurarSensor(std::vector<SensorFluxo*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 7) return;
+std::vector<uint8_t> SensorFluxo::ConfigurarSensor(std::vector<SensorFluxo*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 6) return status;
       bool conectar = data[4] == 1;
-      TiposBarramentos tipoBarramento = (TiposBarramentos)data[5];
-      int pino = data[6];
+      int pino = data[5];
       auto it = std::find_if(lista.begin(), lista.end(), [idNum](SensorFluxo* s) { return s->ID_Num == idNum; });
       if (conectar) {
         if (it == lista.end()) {
           SensorFluxo* sensor = new SensorFluxo(Mod_ID, "sFLX_" + String(idNum));
           sensor->ID_Num = idNum;
-          sensor->_pino = PinoModel(pino, tipoBarramento, _INPUT, DIGITAL);
+          sensor->_pino = PinoModel(pino, CONTROLADOR, _INPUT, DIGITAL);
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Sensor de Fluxo adicionado via CAN: sFLX_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           SensorFluxo* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Sensor de Fluxo removido via CAN: sFLX_" + String(idNum));
@@ -185,6 +188,7 @@ void SensorFluxo::ConfigurarSensor(std::vector<SensorFluxo*>& lista, std::vector
       break;
     }
   }
+  return status;
 }
 
 
diff --git a/Firmware/Modulos/SensorMassaModel.h b/Firmware/Modulos/SensorMassaModel.h
index b2cbff411..a9595373d 100644
--- a/Firmware/Modulos/SensorMassaModel.h
+++ b/Firmware/Modulos/SensorMassaModel.h
@@ -10,7 +10,7 @@
 class SensorMassa {
   public:
 
-    static void ConfigurarSensor(std::vector<SensorMassa*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarSensor(std::vector<SensorMassa*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
 
     SensorMassa(String _modID, String _id) {
       Mod_ID = _modID;
@@ -117,15 +117,17 @@ class SensorMassa {
 };
 
 
-void SensorMassa::ConfigurarSensor(std::vector<SensorMassa*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 7) return;
+std::vector<uint8_t> SensorMassa::ConfigurarSensor(std::vector<SensorMassa*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 7) return status;
       bool conectar = data[4] == 1;
       int pinoDt = data[5];
-      int pinoSck = data[5];
+      int pinoSck = data[6];
       //uint16_t offsetInt = ((uint16_t)data[6] << 8) | data[7];
       //float offset = offsetInt / 100.0;
       auto it = std::find_if(lista.begin(), lista.end(), [idNum](SensorMassa* s) { return s->ID_Num == idNum; });
@@ -139,11 +141,13 @@ void SensorMassa::ConfigurarSensor(std::vector<SensorMassa*>& lista, std::vector
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Sensor de Massa adicionado via CAN: sMAS_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           SensorMassa* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Sensor de Massa removido via CAN: sMAS_" + String(idNum));
@@ -152,6 +156,7 @@ void SensorMassa::ConfigurarSensor(std::vector<SensorMassa*>& lista, std::vector
       break;
     }
   }
+  return status;
 }
 
 #endif
\ No newline at end of file
diff --git a/Firmware/Modulos/SensorPressaoModel.h b/Firmware/Modulos/SensorPressaoModel.h
index ddd4d91e2..a7d45a383 100644
--- a/Firmware/Modulos/SensorPressaoModel.h
+++ b/Firmware/Modulos/SensorPressaoModel.h
@@ -9,7 +9,7 @@
 class SensorPressao {
   public:
 
-  static void ConfigurarSensor(std::vector<SensorPressao*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+  static std::vector<uint8_t> ConfigurarSensor(std::vector<SensorPressao*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
 
     SensorPressao(String _modID, String _id) {
       Mod_ID = _modID;
@@ -105,29 +105,32 @@ class SensorPressao {
 };
 
 
-void SensorPressao::ConfigurarSensor(std::vector<SensorPressao*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 7) return;
+std::vector<uint8_t> SensorPressao::ConfigurarSensor(std::vector<SensorPressao*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 6) return status;
       bool conectar = data[4] == 1;
-      TiposBarramentos tipoBarramento = (TiposBarramentos)data[5];
-      int pino = data[6];
+      int pino = data[5];
       auto it = std::find_if(lista.begin(), lista.end(), [idNum](SensorPressao* s) { return s->ID_Num == idNum; });
       if (conectar) {
         if (it == lista.end()) {
           SensorPressao* sensor = new SensorPressao(Mod_ID, "sPRS_" + String(idNum));
           sensor->ID_Num = idNum;
-          sensor->_pino = PinoModel(pino, tipoBarramento, _INPUT, ANALOGICO);
+          sensor->_pino = PinoModel(pino, CONTROLADOR, _INPUT, ANALOGICO);
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Sensor de Pressao adicionado via CAN: sPRS_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           SensorPressao* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Sensor de Pressao removido via CAN: sPRS_" + String(idNum));
@@ -136,6 +139,7 @@ void SensorPressao::ConfigurarSensor(std::vector<SensorPressao*>& lista, std::ve
       break;
     }
   }
+  return status;
 }
 
 #endif
\ No newline at end of file
diff --git a/Firmware/Modulos/SensorTemperaturaModel.h b/Firmware/Modulos/SensorTemperaturaModel.h
index bc3f0c166..717fce699 100644
--- a/Firmware/Modulos/SensorTemperaturaModel.h
+++ b/Firmware/Modulos/SensorTemperaturaModel.h
@@ -9,7 +9,7 @@
 class SensorTemperatura {
   public:
 
-    static void ConfigurarSensor(std::vector<SensorTemperatura*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarSensor(std::vector<SensorTemperatura*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
 
     SensorTemperatura(String _modID, String _id) {
       Mod_ID = _modID;
@@ -120,12 +120,14 @@ class SensorTemperatura {
     }
 };
 
-void SensorTemperatura::ConfigurarSensor(std::vector<SensorTemperatura*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 7) return;
+std::vector<uint8_t> SensorTemperatura::ConfigurarSensor(std::vector<SensorTemperatura*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 7) return status;
       bool conectar = data[4] == 1;
       TiposBarramentos tipoBarramento = (TiposBarramentos)data[5];
       int pino = data[6];
@@ -139,12 +141,14 @@ void SensorTemperatura::ConfigurarSensor(std::vector<SensorTemperatura*>& lista,
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Sensor de temperatura adicionado via CAN: sTMP_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         // Desconectar sensor
         if (it != lista.end()) {
           SensorTemperatura* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Sensor de temperatura removido via CAN: sTMP_" + String(idNum));
@@ -153,6 +157,7 @@ void SensorTemperatura::ConfigurarSensor(std::vector<SensorTemperatura*>& lista,
       break;
     }
   }
+  return status;
 }
 
 #endif
\ No newline at end of file
diff --git a/Firmware/Modulos/SerialService.h b/Firmware/Modulos/SerialService.h
index cb8c182e5..cf917f49d 100644
--- a/Firmware/Modulos/SerialService.h
+++ b/Firmware/Modulos/SerialService.h
@@ -1,5 +1,6 @@
 #include "Enuns.h"
 #include <vector>
+#include <optional>
 
 #ifndef SerialService
 #define SerialService
diff --git a/Firmware/Modulos/ServoFreioModel.h b/Firmware/Modulos/ServoFreioModel.h
index 5f5f34c18..0950406cc 100644
--- a/Firmware/Modulos/ServoFreioModel.h
+++ b/Firmware/Modulos/ServoFreioModel.h
@@ -9,7 +9,7 @@
 class ServoFreio {
   public:
 
-    static void ConfigurarServo(std::vector<ServoFreio*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarServo(std::vector<ServoFreio*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
     static void ComandarServo(std::vector<ServoFreio*>& lista, std::vector<uint8_t>& data, uint8_t& id);
 
     ServoFreio(String _modID, String _id) {
@@ -97,12 +97,14 @@ class ServoFreio {
 };
 
 
-void ServoFreio::ConfigurarServo(std::vector<ServoFreio*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 8) return;
+std::vector<uint8_t> ServoFreio::ConfigurarServo(std::vector<ServoFreio*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 8) return status;
       bool conectar = data[4] == 1;
       bool incremental = data[5] == 1;
       TiposBarramentos tipoBarramento = (TiposBarramentos)data[6];
@@ -117,11 +119,13 @@ void ServoFreio::ConfigurarServo(std::vector<ServoFreio*>& lista, std::vector<ui
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Servo Freio adicionado via CAN: sFRO_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           ServoFreio* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Servo Freio removido via CAN: sFRO_" + String(idNum));
@@ -130,6 +134,7 @@ void ServoFreio::ConfigurarServo(std::vector<ServoFreio*>& lista, std::vector<ui
       break;
     }
   }
+  return status;
 }
 
 void ServoFreio::ComandarServo(std::vector<ServoFreio*>& lista, std::vector<uint8_t>& data, uint8_t& id) {
diff --git a/Firmware/Modulos/SinaleiroModel.h b/Firmware/Modulos/SinaleiroModel.h
index fcd9dbfa9..890781673 100644
--- a/Firmware/Modulos/SinaleiroModel.h
+++ b/Firmware/Modulos/SinaleiroModel.h
@@ -8,7 +8,7 @@
 class Sinaleiro {
   public:
 
-    static void ConfigurarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
+    static std::vector<uint8_t> ConfigurarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<uint8_t>& data, const String& Mod_ID);
     static void ComandarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<uint8_t>& data, uint8_t& id);
 
     Sinaleiro(String _modID, String _id, int _taxaAmostragem = 2000) {
@@ -143,12 +143,14 @@ class Sinaleiro {
 };
 
 
-void Sinaleiro::ConfigurarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
-  if (data.size() < 7) return;
+std::vector<uint8_t> Sinaleiro::ConfigurarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<uint8_t>& data, const String& Mod_ID) {
+  std::vector<uint8_t> status;
+  if (data.size() < 3) return status;
   uint8_t idNum = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   switch (posicao) {
     case CanMessagePosicaoDados::Config1: {
+      if (data.size() < 7) return status;
       bool conectar = data[4] == 1;
       TiposBarramentos tipoBarramento = (TiposBarramentos)data[5];
       int pino = data[6];
@@ -161,11 +163,13 @@ void Sinaleiro::ConfigurarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<
           sensor->Inicializar();
           lista.push_back(sensor);
           PrintTela("Sinaleiro adicionado via CAN: sLED_" + String(idNum));
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
         }
       } else {
         if (it != lista.end()) {
           Sinaleiro* sensor = *it;
           sensor->Desligar();
+          status = sensor->MontarMensagemCAN(CanMessagePosicaoDados::Status);
           delete sensor;
           lista.erase(it);
           PrintTela("Sinaleiro removido via CAN: sLED_" + String(idNum));
@@ -174,6 +178,7 @@ void Sinaleiro::ConfigurarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<
       break;
     }
   }
+  return status;
 }
 
 void Sinaleiro::ComandarSinaleiro(std::vector<Sinaleiro*>& lista, std::vector<uint8_t>& data, uint8_t& id) {
diff --git a/Firmware/Sensoriamento/Sensoriamento_v16/Sensoriamento_v16.ino b/Firmware/Sensoriamento/Sensoriamento_v16/Sensoriamento_v16.ino
index 53a511471..9ab428d50 100644
--- a/Firmware/Sensoriamento/Sensoriamento_v16/Sensoriamento_v16.ino
+++ b/Firmware/Sensoriamento/Sensoriamento_v16/Sensoriamento_v16.ino
@@ -135,7 +135,9 @@ void enviarDadosSensores() {
 
 
 void EnviarDadosCAN(std::vector<uint8_t> data) {
-  canService.enviarMensagem(data);
+  if (data.size() > 0) {
+    canService.enviarMensagem(data);
+  }
 }
 
 
@@ -165,6 +167,7 @@ void ProcessarReq() {
 
 void ProcessarCfg(std::vector<uint8_t> data) {
   if (data.size() < 4) return;
+  std::vector<uint8_t> _chkRx;
   uint8_t id = data[1];
   CanMessagePosicaoDados posicao = (CanMessagePosicaoDados)data[2];
   S_Code componente = (S_Code)data[3];
@@ -194,7 +197,7 @@ void ProcessarCfg(std::vector<uint8_t> data) {
           }
           vTaskDelay(pdMS_TO_TICKS(100));
           Verificando = false;
-          ProcessarChk();
+          _chkRx = canService.MontarFrameChk(D_Code, Conectado, VERSION);
           LimparListasComponentes();
           PrintTela("Configuracao do modulo concluida");
           break;
@@ -203,26 +206,28 @@ void ProcessarCfg(std::vector<uint8_t> data) {
       break;
     }
     case sTMP: {
-      SensorTemperatura::ConfigurarSensor(listaSensoresTemperatura, data, Mod_ID);
+      _chkRx = SensorTemperatura::ConfigurarSensor(listaSensoresTemperatura, data, Mod_ID);
       break;
     }
     case sCOR: {
-      SensorCorrente::ConfigurarSensor(listaSensoresCorrente, data, Mod_ID);
+      _chkRx = SensorCorrente::ConfigurarSensor(listaSensoresCorrente, data, Mod_ID);
       break;
     }
     case sLED: {
-      Sinaleiro::ConfigurarSinaleiro(listaSinaleiros, data, Mod_ID);
+      _chkRx = Sinaleiro::ConfigurarSinaleiro(listaSinaleiros, data, Mod_ID);
       break;
     }
     case sRLE: {
-      Rele::ConfigurarRele(listaReles, data, Mod_ID);
+      _chkRx = Rele::ConfigurarRele(listaReles, data, Mod_ID);
       break;
     }
     case sFRO: {
-      ServoFreio::ConfigurarServo(listaServoFreios, data, Mod_ID);
+      _chkRx = ServoFreio::ConfigurarServo(listaServoFreios, data, Mod_ID);
       break;
     }
   }
+
+  EnviarDadosCAN(_chkRx);
 }
 
 void ProcessarCmd(std::vector<uint8_t> data) {