/**
 * Marlin 3D Printer Firmware
 * Copyright (C) 2019 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 ENABLED(SPINDLE_LASER_ENABLE)

#include "../gcode.h"
#include "../../module/stepper.h"

uint8_t spindle_laser_power; // = 0

/**
 * M3: Spindle Clockwise
 * M4: Spindle Counter-clockwise
 *
 *  S0 turns off spindle.
 *
 *  If no speed PWM output is defined then M3/M4 just turns it on.
 *
 *  At least 12.8KHz (50Hz * 256) is needed for spindle PWM.
 *  Hardware PWM is required. ISRs are too slow.
 *
 * NOTE: WGM for timers 3, 4, and 5 must be either Mode 1 or Mode 5.
 *       No other settings give a PWM signal that goes from 0 to 5 volts.
 *
 *       The system automatically sets WGM to Mode 1, so no special
 *       initialization is needed.
 *
 *       WGM bits for timer 2 are automatically set by the system to
 *       Mode 1. This produces an acceptable 0 to 5 volt signal.
 *       No special initialization is needed.
 *
 * NOTE: A minimum PWM frequency of 50 Hz is needed. All prescaler
 *       factors for timers 2, 3, 4, and 5 are acceptable.
 *
 *  SPINDLE_LASER_ENABLE_PIN needs an external pullup or it may power on
 *  the spindle/laser during power-up or when connecting to the host
 *  (usually goes through a reset which sets all I/O pins to tri-state)
 *
 *  PWM duty cycle goes from 0 (off) to 255 (always on).
 */

// Wait for spindle to come up to speed
inline void delay_for_power_up() { safe_delay(SPINDLE_LASER_POWERUP_DELAY); }

// Wait for spindle to stop turning
inline void delay_for_power_down() { safe_delay(SPINDLE_LASER_POWERDOWN_DELAY); }

/**
 * ocr_val_mode() is used for debugging and to get the points needed to compute the RPM vs ocr_val line
 *
 * it accepts inputs of 0-255
 */

inline void set_spindle_laser_ocr(const uint8_t ocr) {
  WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT); // turn spindle on (active low)
  ANALOG_WRITE(SPINDLE_LASER_PWM_PIN, (SPINDLE_LASER_PWM_INVERT) ? 255 - ocr : ocr);
}

#if ENABLED(SPINDLE_LASER_PWM)

  void update_spindle_laser_power() {
    if (spindle_laser_power == 0) {
      WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);                      // turn spindle off (active low)
      ANALOG_WRITE(SPINDLE_LASER_PWM_PIN, SPINDLE_LASER_PWM_INVERT ? 255 : 0);             // only write low byte
      delay_for_power_down();
    }
    else {                                                                                // Convert RPM to PWM duty cycle
      constexpr float inv_slope = 1.0f / (SPEED_POWER_SLOPE),
                      min_ocr = (SPEED_POWER_MIN - (SPEED_POWER_INTERCEPT)) * inv_slope,  // Minimum allowed
                      max_ocr = (SPEED_POWER_MAX - (SPEED_POWER_INTERCEPT)) * inv_slope;  // Maximum allowed
      int16_t ocr_val;
           if (spindle_laser_power <= SPEED_POWER_MIN) ocr_val = min_ocr;                 // Use minimum if set below
      else if (spindle_laser_power >= SPEED_POWER_MAX) ocr_val = max_ocr;                 // Use maximum if set above
      else ocr_val = (spindle_laser_power - (SPEED_POWER_INTERCEPT)) * inv_slope;         // Use calculated OCR value
      set_spindle_laser_ocr(ocr_val & 0xFF);                                              // ...limited to Atmel PWM max
      delay_for_power_up();
    }
  }

#endif // SPINDLE_LASER_PWM

bool spindle_laser_enabled() {
  return !!spindle_laser_power; // READ(SPINDLE_LASER_ENABLE_PIN) == SPINDLE_LASER_ENABLE_INVERT;
}

void set_spindle_laser_enabled(const bool enable) {
  // Enabled by PWM setting elsewhere
  spindle_laser_power = enable ? 255 : 0;
  #if ENABLED(SPINDLE_LASER_PWM)
    update_spindle_laser_power();
  #else
    if (enable) {
      WRITE(SPINDLE_LASER_ENABLE_PIN, SPINDLE_LASER_ENABLE_INVERT);
      delay_for_power_up();
    }
    else {
      WRITE(SPINDLE_LASER_ENABLE_PIN, !SPINDLE_LASER_ENABLE_INVERT);
      delay_for_power_down();
    }
  #endif
}

#if SPINDLE_DIR_CHANGE

  void set_spindle_direction(const bool reverse_dir) {
    const bool dir_state = (reverse_dir == SPINDLE_INVERT_DIR); // Forward (M3) HIGH when not inverted
    if (SPINDLE_STOP_ON_DIR_CHANGE && spindle_laser_enabled() && READ(SPINDLE_DIR_PIN) != dir_state)
      set_spindle_laser_enabled(false);
    WRITE(SPINDLE_DIR_PIN, dir_state);
  }

#endif

void GcodeSuite::M3_M4(const bool is_M4) {

  planner.synchronize();   // wait until previous movement commands (G0/G0/G2/G3) have completed before playing with the spindle

  #if SPINDLE_DIR_CHANGE
    set_spindle_direction(is_M4);
  #endif

  /**
   * Our final value for ocr_val is an unsigned 8 bit value between 0 and 255 which usually means uint8_t.
   * Went to uint16_t because some of the uint8_t calculations would sometimes give 1000 0000 rather than 1111 1111.
   * Then needed to AND the uint16_t result with 0x00FF to make sure we only wrote the byte of interest.
   */
  #if ENABLED(SPINDLE_LASER_PWM)
    if (parser.seen('O')) {
      spindle_laser_power = parser.value_byte();
      set_spindle_laser_ocr(spindle_laser_power);
    }
    else {
      spindle_laser_power = parser.intval('S', 255);
      update_spindle_laser_power();
    }
  #else
    set_spindle_laser_enabled(true);
  #endif
}

/**
 * M5 turn off spindle
 */
void GcodeSuite::M5() {
  planner.synchronize();
  set_spindle_laser_enabled(false);
}

#endif // SPINDLE_LASER_ENABLE