From f2fd5c52fac95375808072108b6ff7466ee7407d Mon Sep 17 00:00:00 2001
From: Eggert Jung <eggert.s.jung@wischhof13.de>
Date: Wed, 6 Apr 2022 00:20:59 +0200
Subject: [PATCH] add nachlaufwinkel

---
 spule.c | 37 +++++++++++++++++++++++++++++++++----
 1 file changed, 33 insertions(+), 4 deletions(-)

diff --git a/spule.c b/spule.c
index 50d3a27..92f119f 100644
--- a/spule.c
+++ b/spule.c
@@ -87,23 +87,52 @@ void do_spule(){
 ISR(TIMER1_OVF_vect) {
     if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
         spule_trans_pos -= 1;
+        if(spule_trans_homed && spule_trans_pos == 84999){
+            TCCR1B &= ~(_BV(CS11));
+            TIMSK5 |= 1<<TOIE5;
+            printf("nachlauf aufbauen");
+        }
+        if(spule_trans_homed && spule_trans_pos == 4*3540){
+            ICR1 = 0.5*(ICR5/0.7);
+            OCR1A = ICR1/2;
+            printf("nachlauf abbauen");
+        }
         if(spule_trans_homed && spule_trans_pos <= 0){
-            //TCCR1B &= ~(_BV(CS11));
-            //TIMSK5 |= 1<<TOIE5;
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
             printf("front stop\n");
             set_Output(MOTOR_TRANS_DIR, 0); // direction: back
         }
     }
     else{
         spule_trans_pos += 1;
+        if(spule_trans_homed && spule_trans_pos == 3540){
+            TCCR1B &= ~(_BV(CS11));
+            TIMSK5 |= 1<<TOIE5;
+            printf("nachlauf aufbauen");
+        }
+        if(spule_trans_homed && spule_trans_pos == (85000 - (4*3540)) ){
+            ICR1 = 0.5*(ICR5/0.7);
+            OCR1A = ICR1/2;
+            printf("nachlauf abbauen");
+        }
         if(spule_trans_pos >= 85000){
-            //TCCR1B &= ~(_BV(CS11));
-            //TIMSK5 |= 1<<TOIE5;
+            ICR1 = ICR5/0.7;
+            OCR1A = ICR1/2;
             printf("end stop\n");
             set_Output(MOTOR_TRANS_DIR, 1); // direction: front
         }
     }
+
 }
 
 ISR(TIMER5_OVF_vect) {
+    static int16_t cnt = 0;
+    cnt++;
+
+    if(cnt >= 2*4000){
+        cnt = 0;
+        TCCR1B |= _BV(CS11); //TURN ON
+        TIMSK5 &= ~(1<<TOIE5);
+    }
 }