#include <avr/io.h>
#include <avr/interrupt.h>
#include "taenzer.h"
#include "avrIOhelper/io-helper.h"
#include "kraftsensor.h"

#include <stdlib.h>

taenzer_state_t taenzer_state;

#define TAENZER KRAFT_SETPOINT 12000
#define TAENZER_KRAFT_HYST 2000

void do_taenzer(){

    /* Homing */
    if(!taenzer_state.homed){
        set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
        TCCR4B |= _BV(CS41); //TURN ON
    }
    if(read_Input(IN_TAENZER_HOME, LEVEL)){
        TCCR4B &= ~_BV(CS41); //TURN OFF
        taenzer_state.homed = 1;
        taenzer_state.pos = 0;
    }

    /* Force regualtion */
    if(kraftsensor_valid && taenzer_state.homed){
        int16_t err = abs(kraftsensor_value - TAENZER KRAFT_SETPOINT);

        if(err > 8000)
            err=8000;

        ICR4 = 400000/err;
        OCR4A = ICR4/2;

        if(kraftsensor_value < TAENZER KRAFT_SETPOINT - (TAENZER_KRAFT_HYST/2)){
            set_Output(MOTOR_TAENZER_DIR, 0); // direction: down
            TCCR4B |= _BV(CS41); //TURN ON
        }
        else if(kraftsensor_value > TAENZER KRAFT_SETPOINT + (TAENZER_KRAFT_HYST/2)){
            set_Output(MOTOR_TAENZER_DIR, 1); // direction: up
            TCCR4B |= _BV(CS41); //TURN ON
        }
        else
            TCCR4B &= ~_BV(CS41); //TURN OFF
    }
}

void timer4_init()
{
    TCCR4A |= (1<<COM4A1);
    TCCR4B |= _BV(WGM43);

    TIMSK4 |= 1<<TOIE4;
//    TIMSK4 |= 1<<OCIE4A;

    ICR4 = 50;
    OCR4A = 25;

    DDRH |= 1 << 3;
}

ISR(TIMER4_OVF_vect) {
    if(ioHelperReadBit(outStates, MOTOR_TAENZER_DIR))
        taenzer_state.pos -= 1;
    else
        taenzer_state.pos += 1;
}

//ISR(TIMER4_OVF_vect) {
//}