reduce ISR time from 4.5us to 1.6us

spule.c

@@ -13,6 +13,8 @@ volatile uint16_t windings_wakeup = 0;
 int32_t spule_trans_pos = 0;
 uint8_t spule_trans_homed = 0;
 
+#define TRANS_ROT_FACTOR 0.07
+
 void timer1_init()
 {
     TCCR1A |= (1<<COM1A1);
@@ -22,7 +24,6 @@ void timer1_init()
     OCR1A = 50;
 
     DDRB |= 1 << 5;
-
     TIMSK1 |= 1<<TOIE1;
 }
 
@@ -47,7 +48,7 @@ void do_spule(){
         TCCR1B &= ~(_BV(CS11));
         set_Output(MOTOR_TRANS_DIR, 0); // direction: back
 
-        ICR1 = ICR5/0.7;
+        ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
     }
 
@@ -90,7 +91,8 @@ void do_spule(){
 }
 
 ISR(TIMER1_OVF_vect) {
-    if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
+    //if(ioHelperReadBit(outStates, MOTOR_TRANS_DIR)){
+    if(PORTB & (1<<6)){
         spule_trans_pos -= 1;
     }
     else{
@@ -112,22 +114,24 @@ ISR(TIMER5_OVF_vect) {
         TIMSK1 |= 1<<TOIE1;
     }
 
-    if(windings % 25 == 0 && steps == 0){
+    uint8_t windings_on_layer = windings % 25;
-        ICR1 = ICR5/0.7;
+
+    if(windings_on_layer == 0 && steps == 0){
+        ICR1 = ICR5/TRANS_ROT_FACTOR;
         OCR1A = ICR1/2;
         set_Output(MOTOR_TRANS_DIR, TOGGLE);
-        printf("toggle\n");
+        printf("toggle at pos: %ld\n", spule_trans_pos);
     }
-    if(windings % 25 == 1 && steps == 0){
+    if(windings_on_layer == 1 && steps == 0){
-        printf("nachlauf aufbauen ---");
+        printf("nachlauf aufbauen\n");
         TCCR1B &= ~(_BV(CS11));
     }
-    if(windings % 25 == 3 && steps == 0){
+    if(windings_on_layer == 3 && steps == 0){
         TCCR1B |= _BV(CS11);
         printf("done\n");
     }
-    if(windings % 25 == 21 && steps == 0){
+    if(windings_on_layer == 21 && steps == 0){
-        ICR1 = 0.5*(ICR5/0.7);
+        ICR1 = 0.5*(ICR5/TRANS_ROT_FACTOR);
         OCR1A = ICR1/2;
         printf("nachlauf abbauen\n");
     }