fix spooling bug

spule.c

@@ -10,6 +10,8 @@
 volatile uint16_t windings = 0;
 volatile uint16_t windings_wakeup = 0;
 
+volatile uint8_t trans_state = 0;
+
 int32_t spule_trans_pos = 0;
 uint8_t spule_trans_homed = 0;
 
@@ -118,8 +120,10 @@ void do_spule(){
         ICR5 = ctrl_speed;
         OCR5C = ICR5/2;
 
-
-        ICR1 = ICR5/TRANS_ROT_FACTOR;
+        if(trans_state != 4)
+            ICR1 = ICR5/TRANS_ROT_FACTOR;
+        else
+            ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
 
         if (read_Input(BTN_WICKELN_EIN, RISING) && !read_Input(IN_BREMSE_STATE, LEVEL)) {
@@ -181,20 +185,24 @@ ISR(TIMER5_OVF_vect) {
     uint8_t windings_on_layer = windings % 25;
 
     if(windings_on_layer == 0 && steps == 0){
+        trans_state = 1;
         ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
         set_Output(MOTOR_TRANS_DIR, TOGGLE);
         printf("toggle at pos: %ld\n", spule_trans_pos);
     }
     if(windings_on_layer == 1 && steps == 0){
+        trans_state = 2;
         printf("nachlauf aufbauen\n");
         TCCR1B &= ~(_BV(CS11));
     }
     if(windings_on_layer == 3 && steps == 0){
+        trans_state = 3;
         TCCR1B |= _BV(CS11);
         printf("done\n");
     }
     if(windings_on_layer == 21 && steps == 0){
+        trans_state = 4;
         ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");

spule.h

@@ -1,8 +1,13 @@
 #ifndef _SPULE_H_
 #define _SPULE_H_
 
+#include <stdint.h>
+
 void timer1_init(void);
 void timer5_init(void);
 void do_spule(void);
 
+extern volatile uint16_t windings;
+extern int32_t spule_trans_pos;
+
 #endif