/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "../../../inc/MarlinConfig.h"

#if HAS_TRINAMIC

#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
#include "../../../module/stepper_indirection.h"
#include "../../../module/planner.h"
#include "../../queue.h"

/**
 * M911: Report TMC stepper driver overtemperature pre-warn flag
 * The flag is held by the library and persist until manually cleared by M912
 */
void GcodeSuite::M911() {
  #if ENABLED(X_IS_TMC2130) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperX, extended_axis_codes[TMC_X]);
  #endif
  #if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperY, extended_axis_codes[TMC_Y]);
  #endif
  #if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperZ, extended_axis_codes[TMC_Z]);
  #endif
  #if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX)) || ENABLED(IS_TRAMS)
    tmc_report_otpw(stepperE0, extended_axis_codes[TMC_E0]);
  #endif
}

/**
 * M912: Clear TMC stepper driver overtemperature pre-warn flag held by the library
 */
void GcodeSuite::M912() {
  const bool clearX = parser.seen(axis_codes[X_AXIS]), clearY = parser.seen(axis_codes[Y_AXIS]), clearZ = parser.seen(axis_codes[Z_AXIS]), clearE = parser.seen(axis_codes[E_AXIS]),
           clearAll = (!clearX && !clearY && !clearZ && !clearE) || (clearX && clearY && clearZ && clearE);
  #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS) || (ENABLED(X_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
    if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
  #endif
  #if ENABLED(X2_IS_TMC2130) || (ENABLED(X2_IS_TMC2208) && PIN_EXISTS(X_SERIAL_RX))
    if (clearX || clearAll) tmc_clear_otpw(stepperX, extended_axis_codes[TMC_X]);
  #endif

  #if ENABLED(Y_IS_TMC2130) || (ENABLED(Y_IS_TMC2208) && PIN_EXISTS(Y_SERIAL_RX))
    if (clearY || clearAll) tmc_clear_otpw(stepperY, extended_axis_codes[TMC_Y]);
  #endif

  #if ENABLED(Z_IS_TMC2130) || (ENABLED(Z_IS_TMC2208) && PIN_EXISTS(Z_SERIAL_RX))
    if (clearZ || clearAll) tmc_clear_otpw(stepperZ, extended_axis_codes[TMC_Z]);
  #endif

  #if ENABLED(E0_IS_TMC2130) || (ENABLED(E0_IS_TMC2208) && PIN_EXISTS(E0_SERIAL_RX))
    if (clearE || clearAll) tmc_clear_otpw(stepperE0, extended_axis_codes[TMC_E0]);
  #endif
}

/**
 * M913: Set HYBRID_THRESHOLD speed.
 */
#if ENABLED(HYBRID_THRESHOLD)
  void GcodeSuite::M913() {
    uint16_t values[XYZE];
    LOOP_XYZE(i)
      values[i] = parser.intval(axis_codes[i]);

    #if X_IS_TRINAMIC
      if (values[X_AXIS]) tmc_set_pwmthrs(stepperX, extended_axis_codes[TMC_X], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
      else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X], planner.axis_steps_per_mm[X_AXIS]);
    #endif
    #if X2_IS_TRINAMIC
      if (values[X_AXIS]) tmc_set_pwmthrs(stepperX2, extended_axis_codes[TMC_X2], values[X_AXIS], planner.axis_steps_per_mm[X_AXIS]);
      else tmc_get_pwmthrs(stepperX, extended_axis_codes[TMC_X2], planner.axis_steps_per_mm[X_AXIS]);
    #endif

    #if Y_IS_TRINAMIC
      if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY, extended_axis_codes[TMC_Y], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
      else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y], planner.axis_steps_per_mm[Y_AXIS]);
    #endif
    #if Y2_IS_TRINAMIC
      if (values[Y_AXIS]) tmc_set_pwmthrs(stepperY2, extended_axis_codes[TMC_Y2], values[Y_AXIS], planner.axis_steps_per_mm[Y_AXIS]);
      else tmc_get_pwmthrs(stepperY, extended_axis_codes[TMC_Y2], planner.axis_steps_per_mm[Y_AXIS]);
    #endif

    #if Z_IS_TRINAMIC
      if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
      else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z], planner.axis_steps_per_mm[Z_AXIS]);
    #endif
    #if Z2_IS_TRINAMIC
      if (values[Z_AXIS]) tmc_set_pwmthrs(stepperZ2, extended_axis_codes[TMC_Z2], values[Z_AXIS], planner.axis_steps_per_mm[Z_AXIS]);
      else tmc_get_pwmthrs(stepperZ, extended_axis_codes[TMC_Z2], planner.axis_steps_per_mm[Z_AXIS]);
    #endif

    #if E0_IS_TRINAMIC
      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
      else tmc_get_pwmthrs(stepperE0, extended_axis_codes[TMC_E0], planner.axis_steps_per_mm[E_AXIS]);
    #endif
    #if E1_IS_TRINAMIC
      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
      else tmc_get_pwmthrs(stepperE1, extended_axis_codes[TMC_E1], planner.axis_steps_per_mm[E_AXIS]);
    #endif
    #if E2_IS_TRINAMIC
      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
      else tmc_get_pwmthrs(stepperE2, extended_axis_codes[TMC_E2], planner.axis_steps_per_mm[E_AXIS]);
    #endif
    #if E3_IS_TRINAMIC
      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
      else tmc_get_pwmthrs(stepperE3, extended_axis_codes[TMC_E3], planner.axis_steps_per_mm[E_AXIS]);
    #endif
    #if E4_IS_TRINAMIC
      if (values[E_AXIS]) tmc_set_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], values[E_AXIS], planner.axis_steps_per_mm[E_AXIS]);
      else tmc_get_pwmthrs(stepperE4, extended_axis_codes[TMC_E4], planner.axis_steps_per_mm[E_AXIS]);
    #endif
  }
#endif // HYBRID_THRESHOLD

/**
 * M914: Set SENSORLESS_HOMING sensitivity.
 */
#if ENABLED(SENSORLESS_HOMING)
  void GcodeSuite::M914() {
    #if ENABLED(X_IS_TMC2130) || ENABLED(IS_TRAMS)
      if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX, extended_axis_codes[TMC_X], parser.value_int());
      else tmc_get_sgt(stepperX, extended_axis_codes[TMC_X]);
    #endif
    #if ENABLED(X2_IS_TMC2130)
      if (parser.seen(axis_codes[X_AXIS])) tmc_set_sgt(stepperX2, extended_axis_codes[TMC_X2], parser.value_int());
      else tmc_get_sgt(stepperX2, extended_axis_codes[TMC_X2]);
    #endif
    #if ENABLED(Y_IS_TMC2130) || ENABLED(IS_TRAMS)
      if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY, extended_axis_codes[TMC_Y], parser.value_int());
      else tmc_get_sgt(stepperY, extended_axis_codes[TMC_Y]);
    #endif
    #if ENABLED(Y2_IS_TMC2130)
      if (parser.seen(axis_codes[Y_AXIS])) tmc_set_sgt(stepperY2, extended_axis_codes[TMC_Y2], parser.value_int());
      else tmc_get_sgt(stepperY2, extended_axis_codes[TMC_Y2]);
    #endif
  }
#endif // SENSORLESS_HOMING

/**
 * TMC Z axis calibration routine
 */
#if ENABLED(TMC_Z_CALIBRATION)
  void GcodeSuite::M915() {
    uint16_t _rms = parser.seenval('S') ? parser.value_int() : CALIBRATION_CURRENT;
    uint16_t _z = parser.seenval('Z') ? parser.value_int() : CALIBRATION_EXTRA_HEIGHT;

    if (!axis_known_position[Z_AXIS]) {
      SERIAL_ECHOLNPGM("\nPlease home Z axis first");
      return;
    }

    #if Z_IS_TRINAMIC
      uint16_t Z_current_1 = stepperZ.getCurrent();
      stepperZ.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if Z2_IS_TRINAMIC
      uint16_t Z2_current_1 = stepperZ2.getCurrent();
      stepperZ2.setCurrent(_rms, R_SENSE, HOLD_MULTIPLIER);
    #endif

    SERIAL_ECHOPAIR("\nCalibration current: Z", _rms);

    soft_endstops_enabled = false;

    do_blocking_move_to_z(Z_MAX_POS+_z);

    #if Z_IS_TRINAMIC
      stepperZ.setCurrent(Z_current_1, R_SENSE, HOLD_MULTIPLIER);
    #endif
    #if Z2_IS_TRINAMIC
      stepperZ2.setCurrent(Z2_current_1, R_SENSE, HOLD_MULTIPLIER);
    #endif

    do_blocking_move_to_z(Z_MAX_POS);
    soft_endstops_enabled = true;

    SERIAL_ECHOLNPGM("\nHoming Z because we lost steps");
    enqueue_and_echo_commands_P(PSTR("G28 Z"));
  }
#endif

#endif // HAS_TRINAMIC