text: /**
   * Marlin 3D Printer Firmware
   * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
   *
   */
  #pragma once
  
  #include "../inc/MarlinConfig.h"
  #include "../lcd/marlinui.h"
  
  #if HAS_TRINAMIC_CONFIG
  
  #include <TMCStepper.h>
  #include "../module/planner.h"
  
  #define CHOPPER_DEFAULT_12V  { 3, -1, 1 }
  #define CHOPPER_DEFAULT_19V  { 4,  1, 1 }
  #define CHOPPER_DEFAULT_24V  { 4,  2, 1 }
  #define CHOPPER_DEFAULT_36V  { 5,  2, 4 }
  #define CHOPPER_PRUSAMK3_24V { 3, -2, 6 }
  #define CHOPPER_MARLIN_119   { 5,  2, 3 }
  #define CHOPPER_09STEP_24V   { 3, -1, 5 }
  
  #if ENABLED(MONITOR_DRIVER_STATUS) && !defined(MONITOR_DRIVER_STATUS_INTERVAL_MS)
    #define MONITOR_DRIVER_STATUS_INTERVAL_MS 500U
  #endif
  
  constexpr uint16_t _tmc_thrs(const uint16_t msteps, const uint32_t thrs, const uint32_t spmm) {
    return 12650000UL * msteps / (256 * thrs * spmm);
  }
  
  typedef struct {
    uint8_t toff;
    int8_t hend;
    uint8_t hstrt;
  } chopper_timing_t;
  
  template<char AXIS_LETTER, char DRIVER_ID>
  class TMCStorage {
    protected:
      // Only a child class has access to constructor => Don't create on its own! "Poor man's abstract class"
      TMCStorage() {}
  
    public:
      uint16_t val_mA = 0;
  
      #if ENABLED(MONITOR_DRIVER_STATUS)
        uint8_t otpw_count = 0,
                error_count = 0;
        bool flag_otpw = false;
        bool getOTPW() { return flag_otpw; }
        void clear_otpw() { flag_otpw = 0; }
      #endif
  
      uint16_t getMilliamps() { return val_mA; }
  
      void printLabel() {
        SERIAL_CHAR(AXIS_LETTER);
        if (DRIVER_ID > '0') SERIAL_CHAR(DRIVER_ID);
      }
  
      struct {
        OPTCODE(HAS_STEALTHCHOP,  bool stealthChop_enabled = false)
        OPTCODE(HYBRID_THRESHOLD, uint8_t hybrid_thrs = 0)
        OPTCODE(USE_SENSORLESS,   int16_t homing_thrs = 0)
      } stored;
  };
  
  template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
  class TMCMarlin : public TMC, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
    public:
      TMCMarlin(const uint16_t cs_pin, const float RS) :
        TMC(cs_pin, RS)
        {}
      TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t axis_chain_index) :
        TMC(cs_pin, RS, axis_chain_index)
        {}
      TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK) :
        TMC(CS, RS, pinMOSI, pinMISO, pinSCK)
        {}
      TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t axis_chain_index) :
        TMC(CS, RS, pinMOSI, pinMISO, pinSCK,  axis_chain_index)
        {}
      uint16_t rms_current() { return TMC::rms_current(); }
      void rms_current(uint16_t mA) {
        this->val_mA = mA;
        TMC::rms_current(mA);
      }
      void rms_current(const uint16_t mA, const float mult) {
        this->val_mA = mA;
        TMC::rms_current(mA, mult);
      }
      uint16_t get_microstep_counter() { return TMC::MSCNT(); }
  
      #if HAS_STEALTHCHOP
        bool get_stealthChop()                { return this->en_pwm_mode(); }
        bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
        void refresh_stepping_mode()          { this->en_pwm_mode(this->stored.stealthChop_enabled); }
        void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
        bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
      #endif
  
      void set_chopper_times(const chopper_timing_t &ct) {
        TMC::toff(ct.toff);
        TMC::hysteresis_end(ct.hend);
        TMC::hysteresis_start(ct.hstrt);
      }
  
      #if ENABLED(HYBRID_THRESHOLD)
        uint32_t get_pwm_thrs() {
          return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
        }
        void set_pwm_thrs(const uint32_t thrs) {
          TMC::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
          TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
        }
      #endif
  
      #if USE_SENSORLESS
        int16_t homing_threshold() { return TMC::sgt(); }
        void homing_threshold(int16_t sgt_val) {
          sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
          TMC::sgt(sgt_val);
          TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
        }
        #if ENABLED(SPI_ENDSTOPS)
          bool test_stall_status();
        #endif
      #endif
  
      #if HAS_LCD_MENU
        void refresh_stepper_current() { rms_current(this->val_mA); }
  
        #if ENABLED(HYBRID_THRESHOLD)
          void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
        #endif
        #if USE_SENSORLESS
          void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
        #endif
      #endif
  
      static constexpr int8_t sgt_min = -64,
                              sgt_max =  63;
  };
  
  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
  class TMCMarlin<TMC2208Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2208Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
    public:
      TMCMarlin(Stream * SerialPort, const float RS, const uint8_t) :
        TMC2208Stepper(SerialPort, RS)
        {}
      TMCMarlin(Stream * SerialPort, const float RS, uint8_t addr, const uint16_t mul_pin1, const uint16_t mul_pin2) :
        TMC2208Stepper(SerialPort, RS, addr, mul_pin1, mul_pin2)
       {}
      TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t) :
        TMC2208Stepper(RX, TX, RS)
        {}
  
      uint16_t rms_current() { return TMC2208Stepper::rms_current(); }
      void rms_current(const uint16_t mA) {
        this->val_mA = mA;
        TMC2208Stepper::rms_current(mA);
      }
      void rms_current(const uint16_t mA, const float mult) {
        this->val_mA = mA;
        TMC2208Stepper::rms_current(mA, mult);
      }
      uint16_t get_microstep_counter() { return TMC2208Stepper::MSCNT(); }
  
      #if HAS_STEALTHCHOP
        bool get_stealthChop()                { return !this->en_spreadCycle(); }
        bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
        void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
        void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
        bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
      #endif
  
      void set_chopper_times(const chopper_timing_t &ct) {
        TMC2208Stepper::toff(ct.toff);
        TMC2208Stepper::hysteresis_end(ct.hend);
        TMC2208Stepper::hysteresis_start(ct.hstrt);
      }
  
      #if ENABLED(HYBRID_THRESHOLD)
        uint32_t get_pwm_thrs() {
          return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
        }
        void set_pwm_thrs(const uint32_t thrs) {
          TMC2208Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
          TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
        }
      #endif
  
      #if HAS_LCD_MENU
        void refresh_stepper_current() { rms_current(this->val_mA); }
  
        #if ENABLED(HYBRID_THRESHOLD)
          void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
        #endif
      #endif
  };
  
  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
  class TMCMarlin<TMC2209Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2209Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
    public:
      TMCMarlin(Stream * SerialPort, const float RS, const uint8_t addr) :
        TMC2209Stepper(SerialPort, RS, addr)
        {}
      TMCMarlin(const uint16_t RX, const uint16_t TX, const float RS, const uint8_t addr) :
        TMC2209Stepper(RX, TX, RS, addr)
        {}
      uint8_t get_address() { return slave_address; }
      uint16_t rms_current() { return TMC2209Stepper::rms_current(); }
      void rms_current(const uint16_t mA) {
        this->val_mA = mA;
        TMC2209Stepper::rms_current(mA);
      }
      void rms_current(const uint16_t mA, const float mult) {
        this->val_mA = mA;
        TMC2209Stepper::rms_current(mA, mult);
      }
      uint16_t get_microstep_counter() { return TMC2209Stepper::MSCNT(); }
  
      #if HAS_STEALTHCHOP
        bool get_stealthChop()                { return !this->en_spreadCycle(); }
        bool get_stored_stealthChop()         { return this->stored.stealthChop_enabled; }
        void refresh_stepping_mode()          { this->en_spreadCycle(!this->stored.stealthChop_enabled); }
        void set_stealthChop(const bool stch) { this->stored.stealthChop_enabled = stch; refresh_stepping_mode(); }
        bool toggle_stepping_mode()           { set_stealthChop(!this->stored.stealthChop_enabled); return get_stealthChop(); }
      #endif
  
      void set_chopper_times(const chopper_timing_t &ct) {
        TMC2209Stepper::toff(ct.toff);
        TMC2209Stepper::hysteresis_end(ct.hend);
        TMC2209Stepper::hysteresis_start(ct.hstrt);
      }
  
      #if ENABLED(HYBRID_THRESHOLD)
        uint32_t get_pwm_thrs() {
          return _tmc_thrs(this->microsteps(), this->TPWMTHRS(), planner.settings.axis_steps_per_mm[AXIS_ID]);
        }
        void set_pwm_thrs(const uint32_t thrs) {
          TMC2209Stepper::TPWMTHRS(_tmc_thrs(this->microsteps(), thrs, planner.settings.axis_steps_per_mm[AXIS_ID]));
          TERN_(HAS_LCD_MENU, this->stored.hybrid_thrs = thrs);
        }
      #endif
      #if USE_SENSORLESS
        int16_t homing_threshold() { return TMC2209Stepper::SGTHRS(); }
        void homing_threshold(int16_t sgt_val) {
          sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
          TMC2209Stepper::SGTHRS(sgt_val);
          TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
        }
      #endif
  
      #if HAS_LCD_MENU
        void refresh_stepper_current() { rms_current(this->val_mA); }
  
        #if ENABLED(HYBRID_THRESHOLD)
          void refresh_hybrid_thrs() { set_pwm_thrs(this->stored.hybrid_thrs); }
        #endif
        #if USE_SENSORLESS
          void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
        #endif
      #endif
  
      static constexpr uint8_t sgt_min = 0,
                               sgt_max = 255;
  };
  
  template<char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
  class TMCMarlin<TMC2660Stepper, AXIS_LETTER, DRIVER_ID, AXIS_ID> : public TMC2660Stepper, public TMCStorage<AXIS_LETTER, DRIVER_ID> {
    public:
      TMCMarlin(const uint16_t cs_pin, const float RS, const uint8_t) :
        TMC2660Stepper(cs_pin, RS)
        {}
      TMCMarlin(const uint16_t CS, const float RS, const uint16_t pinMOSI, const uint16_t pinMISO, const uint16_t pinSCK, const uint8_t) :
        TMC2660Stepper(CS, RS, pinMOSI, pinMISO, pinSCK)
        {}
      uint16_t rms_current() { return TMC2660Stepper::rms_current(); }
      void rms_current(const uint16_t mA) {
        this->val_mA = mA;
        TMC2660Stepper::rms_current(mA);
      }
      uint16_t get_microstep_counter() { return TMC2660Stepper::mstep(); }
  
      void set_chopper_times(const chopper_timing_t &ct) {
        TMC2660Stepper::toff(ct.toff);
        TMC2660Stepper::hysteresis_end(ct.hend);
        TMC2660Stepper::hysteresis_start(ct.hstrt);
      }
  
      #if USE_SENSORLESS
        int16_t homing_threshold() { return TMC2660Stepper::sgt(); }
        void homing_threshold(int16_t sgt_val) {
          sgt_val = (int16_t)constrain(sgt_val, sgt_min, sgt_max);
          TMC2660Stepper::sgt(sgt_val);
          TERN_(HAS_LCD_MENU, this->stored.homing_thrs = sgt_val);
        }
      #endif
  
      #if HAS_LCD_MENU
        void refresh_stepper_current() { rms_current(this->val_mA); }
  
        #if USE_SENSORLESS
          void refresh_homing_thrs() { homing_threshold(this->stored.homing_thrs); }
        #endif
      #endif
  
      static constexpr int8_t sgt_min = -64,
                              sgt_max =  63;
  };
  
  void monitor_tmc_drivers();
  void test_tmc_connection(LOGICAL_AXIS_DECL(const bool, true));
  
  #if ENABLED(TMC_DEBUG)
    #if ENABLED(MONITOR_DRIVER_STATUS)
      void tmc_set_report_interval(const uint16_t update_interval);
    #endif
    void tmc_report_all(LOGICAL_AXIS_DECL(const bool, true));
    void tmc_get_registers(LOGICAL_AXIS_ARGS(const bool));
  #endif
  
  /**
   * TMC2130-specific sensorless homing using stallGuard2.
   * stallGuard2 only works when in spreadCycle mode.
   * spreadCycle and stealthChop are mutually-exclusive.
   *
   * Defined here because of limitations with templates and headers.
   */
  #if USE_SENSORLESS
  
    // Track enabled status of stealthChop and only re-enable where applicable
    struct sensorless_t { bool LINEAR_AXIS_ARGS(), x2, y2, z2, z3, z4; };
  
    #if ENABLED(IMPROVE_HOMING_RELIABILITY)
      extern millis_t sg_guard_period;
      constexpr uint16_t default_sg_guard_duration = 400;
    #endif
  
    bool tmc_enable_stallguard(TMC2130Stepper &st);
    void tmc_disable_stallguard(TMC2130Stepper &st, const bool restore_stealth);
  
    bool tmc_enable_stallguard(TMC2209Stepper &st);
    void tmc_disable_stallguard(TMC2209Stepper &st, const bool restore_stealth);
  
    bool tmc_enable_stallguard(TMC2660Stepper);
    void tmc_disable_stallguard(TMC2660Stepper, const bool);
  
    #if ENABLED(SPI_ENDSTOPS)
  
      template<class TMC, char AXIS_LETTER, char DRIVER_ID, AxisEnum AXIS_ID>
      bool TMCMarlin<TMC, AXIS_LETTER, DRIVER_ID, AXIS_ID>::test_stall_status() {
        this->switchCSpin(LOW);
  
        // read stallGuard flag from TMC library, will handle HW and SW SPI
        TMC2130_n::DRV_STATUS_t drv_status{0};
        drv_status.sr = this->DRV_STATUS();
  
        this->switchCSpin(HIGH);
  
        return drv_status.stallGuard;
      }
    #endif // SPI_ENDSTOPS
  
  #endif // USE_SENSORLESS
  
  #if HAS_TMC_SPI
    void tmc_init_cs_pins();
  #endif
  
  #endif // HAS_TRINAMIC_CONFIG
  