/**
 * 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 "utility.h"

#include "../Marlin.h"
#include "../module/temperature.h"

void safe_delay(millis_t ms) {
  while (ms > 50) {
    ms -= 50;
    delay(50);
    thermalManager.manage_heater();
  }
  delay(ms);
  thermalManager.manage_heater(); // This keeps us safe if too many small safe_delay() calls are made
}

#if ENABLED(EEPROM_SETTINGS)

  void crc16(uint16_t *crc, const void * const data, uint16_t cnt) {
    uint8_t *ptr = (uint8_t *)data;
    while (cnt--) {
      *crc = (uint16_t)(*crc ^ (uint16_t)(((uint16_t)*ptr++) << 8));
      for (uint8_t i = 0; i < 8; i++)
        *crc = (uint16_t)((*crc & 0x8000) ? ((uint16_t)(*crc << 1) ^ 0x1021) : (*crc << 1));
    }
  }

#endif // EEPROM_SETTINGS

#if ENABLED(ULTRA_LCD) || ENABLED(DEBUG_LEVELING_FEATURE)

  char conv[8] = { 0 };

  #define DIGIT(n) ('0' + (n))
  #define DIGIMOD(n, f) DIGIT((n)/(f) % 10)
  #define RJDIGIT(n, f) ((n) >= (f) ? DIGIMOD(n, f) : ' ')
  #define MINUSOR(n, alt) (n >= 0 ? (alt) : (n = -n, '-'))

  // Convert unsigned int to string 123 format
  char* i8tostr3(const uint8_t i) {
    conv[4] = RJDIGIT(i, 100);
    conv[5] = RJDIGIT(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return &conv[4];
  }

  // Convert signed int to rj string with 123 or -12 format
  char* itostr3(int i) {
    conv[4] = MINUSOR(i, RJDIGIT(i, 100));
    conv[5] = RJDIGIT(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return &conv[4];
  }

  // Convert unsigned int to lj string with 123 format
  char* itostr3left(const int i) {
    char *str = &conv[6];
    *str = DIGIMOD(i, 1);
    if (i >= 10) {
      *(--str) = DIGIMOD(i, 10);
      if (i >= 100)
        *(--str) = DIGIMOD(i, 100);
    }
    return str;
  }

  // Convert signed int to rj string with 1234, _123, -123, _-12, or __-1 format
  char* itostr4sign(const int i) {
    const bool neg = i < 0;
    const int ii = neg ? -i : i;
    if (i >= 1000) {
      conv[3] = DIGIMOD(ii, 1000);
      conv[4] = DIGIMOD(ii, 100);
      conv[5] = DIGIMOD(ii, 10);
    }
    else if (ii >= 100) {
      conv[3] = neg ? '-' : ' ';
      conv[4] = DIGIMOD(ii, 100);
      conv[5] = DIGIMOD(ii, 10);
    }
    else {
      conv[3] = ' ';
      conv[4] = ' ';
      if (ii >= 10) {
        conv[4] = neg ? '-' : ' ';
        conv[5] = DIGIMOD(ii, 10);
      }
      else {
        conv[5] = neg ? '-' : ' ';
      }
    }
    conv[6] = DIGIMOD(ii, 1);
    return &conv[3];
  }

  // Convert unsigned float to string with 1.23 format
  char* ftostr12ns(const float &f) {
    const long i = ((f < 0 ? -f : f) * 1000 + 5) / 10;
    conv[3] = DIGIMOD(i, 100);
    conv[4] = '.';
    conv[5] = DIGIMOD(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return &conv[3];
  }

  // Convert signed float to fixed-length string with 023.45 / -23.45 format
  char* ftostr52(const float &f) {
    long i = (f * 1000 + (f < 0 ? -5: 5)) / 10;
    conv[1] = MINUSOR(i, DIGIMOD(i, 10000));
    conv[2] = DIGIMOD(i, 1000);
    conv[3] = DIGIMOD(i, 100);
    conv[4] = '.';
    conv[5] = DIGIMOD(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return &conv[1];
  }

  #if ENABLED(LCD_DECIMAL_SMALL_XY)

    // Convert float to rj string with 1234, _123, -123, _-12, 12.3, _1.2, or -1.2 format
    char* ftostr4sign(const float &f) {
      const int i = (f * 100 + (f < 0 ? -5: 5)) / 10;
      if (!WITHIN(i, -99, 999)) return itostr4sign((int)f);
      const bool neg = i < 0;
      const int ii = neg ? -i : i;
      conv[3] = neg ? '-' : (ii >= 100 ? DIGIMOD(ii, 100) : ' ');
      conv[4] = DIGIMOD(ii, 10);
      conv[5] = '.';
      conv[6] = DIGIMOD(ii, 1);
      return &conv[3];
    }

  #endif // LCD_DECIMAL_SMALL_XY

  // Convert float to fixed-length string with +123.4 / -123.4 format
  char* ftostr41sign(const float &f) {
    int i = (f * 100 + (f < 0 ? -5: 5)) / 10;
    conv[1] = MINUSOR(i, '+');
    conv[2] = DIGIMOD(i, 1000);
    conv[3] = DIGIMOD(i, 100);
    conv[4] = DIGIMOD(i, 10);
    conv[5] = '.';
    conv[6] = DIGIMOD(i, 1);
    return &conv[1];
  }

  // Convert signed float to string (6 digit) with -1.234 / _0.000 / +1.234 format
  char* ftostr43sign(const float &f, char plus/*=' '*/) {
    long i = (f * 10000 + (f < 0 ? -5: 5)) / 10;
    conv[1] = i ? MINUSOR(i, plus) : ' ';
    conv[2] = DIGIMOD(i, 1000);
    conv[3] = '.';
    conv[4] = DIGIMOD(i, 100);
    conv[5] = DIGIMOD(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return &conv[1];
  }

  // Convert unsigned float to rj string with 12345 format
  char* ftostr5rj(const float &f) {
    const long i = ((f < 0 ? -f : f) * 10 + 5) / 10;
    conv[2] = RJDIGIT(i, 10000);
    conv[3] = RJDIGIT(i, 1000);
    conv[4] = RJDIGIT(i, 100);
    conv[5] = RJDIGIT(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return &conv[2];
  }

  // Convert signed float to string with +1234.5 format
  char* ftostr51sign(const float &f) {
    long i = (f * 100 + (f < 0 ? -5: 5)) / 10;
    conv[0] = MINUSOR(i, '+');
    conv[1] = DIGIMOD(i, 10000);
    conv[2] = DIGIMOD(i, 1000);
    conv[3] = DIGIMOD(i, 100);
    conv[4] = DIGIMOD(i, 10);
    conv[5] = '.';
    conv[6] = DIGIMOD(i, 1);
    return conv;
  }

  // Convert signed float to string with +123.45 format
  char* ftostr52sign(const float &f) {
    long i = (f * 1000 + (f < 0 ? -5: 5)) / 10;
    conv[0] = MINUSOR(i, '+');
    conv[1] = DIGIMOD(i, 10000);
    conv[2] = DIGIMOD(i, 1000);
    conv[3] = DIGIMOD(i, 100);
    conv[4] = '.';
    conv[5] = DIGIMOD(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return conv;
  }

  // Convert unsigned float to string with 1234.56 format omitting trailing zeros
  char* ftostr62rj(const float &f) {
    const long i = ((f < 0 ? -f : f) * 1000 + 5) / 10;
    conv[0] = RJDIGIT(i, 100000);
    conv[1] = RJDIGIT(i, 10000);
    conv[2] = RJDIGIT(i, 1000);
    conv[3] = DIGIMOD(i, 100);
    conv[4] = '.';
    conv[5] = DIGIMOD(i, 10);
    conv[6] = DIGIMOD(i, 1);
    return conv;
  }

  // Convert signed float to space-padded string with -_23.4_ format
  char* ftostr52sp(const float &f) {
    long i = (f * 1000 + (f < 0 ? -5: 5)) / 10;
    uint8_t dig;
    conv[1] = MINUSOR(i, RJDIGIT(i, 10000));
    conv[2] = RJDIGIT(i, 1000);
    conv[3] = DIGIMOD(i, 100);

    if ((dig = i % 10)) {          // second digit after decimal point?
      conv[4] = '.';
      conv[5] = DIGIMOD(i, 10);
      conv[6] = DIGIT(dig);
    }
    else {
      if ((dig = (i / 10) % 10)) { // first digit after decimal point?
        conv[4] = '.';
        conv[5] = DIGIT(dig);
      }
      else                          // nothing after decimal point
        conv[4] = conv[5] = ' ';
      conv[6] = ' ';
    }
    return &conv[1];
  }

#endif // ULTRA_LCD

#if ENABLED(DEBUG_LEVELING_FEATURE)

  #include "../module/probe.h"
  #include "../module/motion.h"
  #include "../module/stepper.h"
  #include "../feature/bedlevel/bedlevel.h"

  void log_machine_info() {
    SERIAL_ECHOPGM("Machine Type: ");
    #if ENABLED(DELTA)
      SERIAL_ECHOLNPGM("Delta");
    #elif IS_SCARA
      SERIAL_ECHOLNPGM("SCARA");
    #elif IS_CORE
      SERIAL_ECHOLNPGM("Core");
    #else
      SERIAL_ECHOLNPGM("Cartesian");
    #endif

    SERIAL_ECHOPGM("Probe: ");
    #if ENABLED(PROBE_MANUALLY)
      SERIAL_ECHOLNPGM("PROBE_MANUALLY");
    #elif ENABLED(FIX_MOUNTED_PROBE)
      SERIAL_ECHOLNPGM("FIX_MOUNTED_PROBE");
    #elif ENABLED(BLTOUCH)
      SERIAL_ECHOLNPGM("BLTOUCH");
    #elif HAS_Z_SERVO_PROBE
      SERIAL_ECHOLNPGM("SERVO PROBE");
    #elif ENABLED(Z_PROBE_SLED)
      SERIAL_ECHOLNPGM("Z_PROBE_SLED");
    #elif ENABLED(Z_PROBE_ALLEN_KEY)
      SERIAL_ECHOLNPGM("Z_PROBE_ALLEN_KEY");
    #else
      SERIAL_ECHOLNPGM("NONE");
    #endif

    #if HAS_BED_PROBE
      SERIAL_ECHOPAIR("Probe Offset X:", X_PROBE_OFFSET_FROM_EXTRUDER);
      SERIAL_ECHOPAIR(" Y:", Y_PROBE_OFFSET_FROM_EXTRUDER);
      SERIAL_ECHOPAIR(" Z:", zprobe_zoffset);
      #if X_PROBE_OFFSET_FROM_EXTRUDER > 0
        SERIAL_ECHOPGM(" (Right");
      #elif X_PROBE_OFFSET_FROM_EXTRUDER < 0
        SERIAL_ECHOPGM(" (Left");
      #elif Y_PROBE_OFFSET_FROM_EXTRUDER != 0
        SERIAL_ECHOPGM(" (Middle");
      #else
        SERIAL_ECHOPGM(" (Aligned With");
      #endif
      #if Y_PROBE_OFFSET_FROM_EXTRUDER > 0
        #if IS_SCARA
          SERIAL_ECHOPGM("-Distal");
        #else
          SERIAL_ECHOPGM("-Back");
        #endif
      #elif Y_PROBE_OFFSET_FROM_EXTRUDER < 0
        #if IS_SCARA
          SERIAL_ECHOPGM("-Proximal");
        #else
          SERIAL_ECHOPGM("-Front");
        #endif
      #elif X_PROBE_OFFSET_FROM_EXTRUDER != 0
        SERIAL_ECHOPGM("-Center");
      #endif
      if (zprobe_zoffset < 0)
        SERIAL_ECHOPGM(" & Below");
      else if (zprobe_zoffset > 0)
        SERIAL_ECHOPGM(" & Above");
      else
        SERIAL_ECHOPGM(" & Same Z as");
      SERIAL_ECHOLNPGM(" Nozzle)");
    #endif

    #if HAS_ABL
      SERIAL_ECHOPGM("Auto Bed Leveling: ");
      #if ENABLED(AUTO_BED_LEVELING_LINEAR)
        SERIAL_ECHOPGM("LINEAR");
      #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
        SERIAL_ECHOPGM("BILINEAR");
      #elif ENABLED(AUTO_BED_LEVELING_3POINT)
        SERIAL_ECHOPGM("3POINT");
      #elif ENABLED(AUTO_BED_LEVELING_UBL)
        SERIAL_ECHOPGM("UBL");
      #endif
      if (planner.leveling_active) {
        SERIAL_ECHOLNPGM(" (enabled)");
        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
          if (planner.z_fade_height)
            SERIAL_ECHOLNPAIR("Z Fade: ", planner.z_fade_height);
        #endif
        #if ABL_PLANAR
          const float diff[XYZ] = {
            planner.get_axis_position_mm(X_AXIS) - current_position[X_AXIS],
            planner.get_axis_position_mm(Y_AXIS) - current_position[Y_AXIS],
            planner.get_axis_position_mm(Z_AXIS) - current_position[Z_AXIS]
          };
          SERIAL_ECHOPGM("ABL Adjustment X");
          if (diff[X_AXIS] > 0) SERIAL_CHAR('+');
          SERIAL_ECHO(diff[X_AXIS]);
          SERIAL_ECHOPGM(" Y");
          if (diff[Y_AXIS] > 0) SERIAL_CHAR('+');
          SERIAL_ECHO(diff[Y_AXIS]);
          SERIAL_ECHOPGM(" Z");
          if (diff[Z_AXIS] > 0) SERIAL_CHAR('+');
          SERIAL_ECHO(diff[Z_AXIS]);
        #else
          #if ENABLED(AUTO_BED_LEVELING_UBL)
            SERIAL_ECHOPGM("UBL Adjustment Z");
            const float rz = ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS]);
          #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
            SERIAL_ECHOPGM("ABL Adjustment Z");
            const float rz = bilinear_z_offset(current_position);
          #endif
          SERIAL_ECHO(ftostr43sign(rz, '+'));
          #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
            if (planner.z_fade_height) {
              SERIAL_ECHOPAIR(" (", ftostr43sign(rz * planner.fade_scaling_factor_for_z(current_position[Z_AXIS]), '+'));
              SERIAL_CHAR(')');
            }
          #endif
        #endif
      }
      else
        SERIAL_ECHOLNPGM(" (disabled)");

      SERIAL_EOL();

    #elif ENABLED(MESH_BED_LEVELING)

      SERIAL_ECHOPGM("Mesh Bed Leveling");
      if (planner.leveling_active) {
        SERIAL_ECHOLNPGM(" (enabled)");
        SERIAL_ECHOPAIR("MBL Adjustment Z", ftostr43sign(mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]
          #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
            , 1.0
          #endif
        ), '+'));
        #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
          if (planner.z_fade_height) {
            SERIAL_ECHOPAIR(" (", ftostr43sign(
              mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS], planner.fade_scaling_factor_for_z(current_position[Z_AXIS])), '+'
            ));
            SERIAL_CHAR(')');
          }
        #endif
      }
      else
        SERIAL_ECHOPGM(" (disabled)");

      SERIAL_EOL();

    #endif // MESH_BED_LEVELING
  }

#endif // DEBUG_LEVELING_FEATURE