From 76bca5f03923ee6b63b6ddb4ae0a900cbf7a442e Mon Sep 17 00:00:00 2001
From: Eggert Jung <eggert.s.jung@wischhof13.de>
Date: Sat, 2 Apr 2022 17:19:16 +0200
Subject: [PATCH] add translatoric axis

---
 avrIOhelper/io-helper.h |  3 ++
 main.c                  |  1 +
 spule.c                 | 79 ++++++++++++++++++++++++++++++++++++++++++-------
 spule.h                 |  1 +
 4 files changed, 73 insertions(+), 11 deletions(-)

diff --git a/avrIOhelper/io-helper.h b/avrIOhelper/io-helper.h
index 211aa08..693b102 100644
--- a/avrIOhelper/io-helper.h
+++ b/avrIOhelper/io-helper.h
@@ -93,6 +93,7 @@ void ioHelperEdgeDetector(void);
 // Schrittmotoren richtung
 
 #define MOTOR_TAENZER_DIR       BitPH4
+#define MOTOR_TRANS_DIR         BitPB6
 
 #define LED_INIT                BitPE3
 #define LED_ABZUG               BitPL6
@@ -147,6 +148,8 @@ void ioHelperEdgeDetector(void);
 #define BTN_SPULENWECHSEL       BitPinK0
 
 #define BTN_INIT                BitPinF4
+
 #define IN_TAENZER_HOME         BitPinF0
+#define IN_SPULE_HOME         BitPinF1
 
 #endif
diff --git a/main.c b/main.c
index 93c0ecb..04d400b 100644
--- a/main.c
+++ b/main.c
@@ -109,6 +109,7 @@ int main()
 
     set_Output(LED_FEHLER, ON);
 
+    timer1_init(); //translation
     timer3_init(); //abzug
     timer4_init(); //taenzer
     timer5_init(); //spule
diff --git a/spule.c b/spule.c
index 5de7743..4bbdbcd 100644
--- a/spule.c
+++ b/spule.c
@@ -1,6 +1,25 @@
 #include <avr/io.h>
+#include <avr/interrupt.h>
+#include <stdio.h>
 #include "avrIOhelper/io-helper.h"
 
+
+int32_t spule_trans_pos = 0;
+uint8_t spule_trans_homed = 0;
+
+void timer1_init()
+{
+    TCCR1A |= (1<<COM1A1);
+    TCCR1B |= _BV(WGM13);
+
+    ICR1 = 100;
+    OCR1A = 50;
+
+    DDRB |= 1 << 5;
+
+    TIMSK1 |= 1<<TOIE1;
+}
+
 void timer5_init()
 {
     TCCR5A |= (1<<COM5C1);
@@ -13,18 +32,56 @@ void timer5_init()
 }
 
 void do_spule(){
-    if (read_Input(BTN_WICKELN_EIN, RISING)) {
-        TCCR5B |= _BV(CS51); //TURN ON
-    }
-    if (read_Input(BTN_WICKELN_AUS, RISING)) {
-        TCCR5B &= ~(_BV(CS51));
+
+    if(read_Input(IN_SPULE_HOME, LEVEL) && spule_trans_homed == 0){
+        spule_trans_homed = 1;
+        spule_trans_pos = 0;
+
+        TCCR1B &= ~(_BV(CS11));
+        set_Output(MOTOR_TRANS_DIR, 0); // direction: back
+
+        ICR1 = ICR5/0.7;
+        OCR1A = ICR1/2;
     }
-    if (read_Input(BTN_TAENZER_START, RISING)) {
-        ICR5-=15;
-        OCR5C = ICR5/2;
+
+    if(!spule_trans_homed){
+        set_Output(MOTOR_TRANS_DIR, 1); // direction: front
+        TCCR1B |= _BV(CS11); //TURN ON
     }
-    if (read_Input(BTN_SPULENWECHSEL, RISING)) {
-        ICR5+=15;
-        OCR5C = ICR5/2;
+    else{
+        if (read_Input(BTN_WICKELN_EIN, RISING)) {
+            TCCR5B |= _BV(CS51); //TURN ON
+            TCCR1B |= _BV(CS11); //TURN ON
+        }
+        if (read_Input(BTN_WICKELN_AUS, RISING)) {
+            TCCR5B &= ~(_BV(CS51));
+            TCCR1B &= ~(_BV(CS11));
+        }
+        if (read_Input(BTN_TAENZER_START, RISING)) {
+            ICR5-=15;
+            OCR5C = ICR5/2;
+
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
+        }
+        if (read_Input(BTN_SPULENWECHSEL, RISING)) {
+            ICR5+=15;
+            OCR5C = ICR5/2;
+
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
+        }
+
+        if (read_Input(BTN_INIT, RISING)) {
+            spule_trans_homed = 0;
+            ICR1 = 100;
+            OCR1A = 50;
+        }
     }
 }
+
+ISR(TIMER1_OVF_vect) {
+}
+
+ISR(TIMER5_OVF_vect) {
+}
diff --git a/spule.h b/spule.h
index f76406b..5fbdd45 100644
--- a/spule.h
+++ b/spule.h
@@ -1,6 +1,7 @@
 #ifndef _SPULE_H_
 #define _SPULE_H_
 
+void timer1_init(void);
 void timer5_init(void);
 void do_spule(void);