/**
 * 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/>.
 *
 */
#pragma once

#include "inc/MarlinConfig.h"

#ifdef DEBUG_GCODE_PARSER
  #include "gcode/parser.h"
#endif

#include <math.h>
#include <stdio.h>
#include <stdlib.h>

#if HAS_L64XX
  #include "libs/L64XX/L64XX_Marlin.h"
  extern uint8_t axis_known_position;
#endif

void stop();

void idle(
  #if ENABLED(ADVANCED_PAUSE_FEATURE)
    bool no_stepper_sleep = false  // pass true to keep steppers from disabling on timeout
  #endif
);

void manage_inactivity(const bool ignore_stepper_queue=false);

//
// X, Y, Z Stepper enable / disable
//
#if AXIS_IS_L64XX(X)
  #define X_enable()  NOOP
  #define X_disable() stepperX.free()
#elif HAS_X_ENABLE
  #define X_enable()  X_ENABLE_WRITE( X_ENABLE_ON)
  #define X_disable() X_ENABLE_WRITE(!X_ENABLE_ON)
#else
  #define X_enable()  NOOP
  #define X_disable() NOOP
#endif

#if AXIS_IS_L64XX(X2)
  #define X2_enable()  NOOP
  #define X2_disable() stepperX2.free()
#elif HAS_X2_ENABLE
  #define X2_enable()  X2_ENABLE_WRITE( X_ENABLE_ON)
  #define X2_disable() X2_ENABLE_WRITE(!X_ENABLE_ON)
#else
  #define X2_enable()  NOOP
  #define X2_disable() NOOP
#endif

#define  enable_X() do{ X_enable(); X2_enable(); }while(0)
#define disable_X() do{ X_disable(); X2_disable(); CBI(axis_known_position, X_AXIS); }while(0)

#if AXIS_IS_L64XX(Y)
  #define Y_enable()  NOOP
  #define Y_disable() stepperY.free()
#elif HAS_Y_ENABLE
  #define Y_enable()  Y_ENABLE_WRITE( Y_ENABLE_ON)
  #define Y_disable() Y_ENABLE_WRITE(!Y_ENABLE_ON)
#else
  #define Y_enable()  NOOP
  #define Y_disable() NOOP
#endif

#if AXIS_IS_L64XX(Y2)
  #define Y2_enable()  NOOP
  #define Y2_disable() stepperY2.free()
#elif HAS_Y2_ENABLE
  #define Y2_enable()  Y2_ENABLE_WRITE( Y_ENABLE_ON)
  #define Y2_disable() Y2_ENABLE_WRITE(!Y_ENABLE_ON)
#else
  #define Y2_enable()  NOOP
  #define Y2_disable() NOOP
#endif

#define  enable_Y() do{ Y_enable(); Y2_enable(); }while(0)
#define disable_Y() do{ Y_disable(); Y2_disable(); CBI(axis_known_position, Y_AXIS); }while(0)

#if AXIS_IS_L64XX(Z)
  #define Z_enable()  NOOP
  #define Z_disable() stepperZ.free()
#elif HAS_Z_ENABLE
  #define Z_enable()  Z_ENABLE_WRITE( Z_ENABLE_ON)
  #define Z_disable() Z_ENABLE_WRITE(!Z_ENABLE_ON)
#else
  #define Z_enable()  NOOP
  #define Z_disable() NOOP
#endif

#if AXIS_IS_L64XX(Z2)
  #define Z2_enable()  NOOP
  #define Z2_disable() stepperZ2.free()
#elif HAS_Z2_ENABLE
  #define Z2_enable()  Z2_ENABLE_WRITE( Z_ENABLE_ON)
  #define Z2_disable() Z2_ENABLE_WRITE(!Z_ENABLE_ON)
#else
  #define Z2_enable()  NOOP
  #define Z2_disable() NOOP
#endif

#if AXIS_IS_L64XX(Z3)
  #define Z3_enable()  NOOP
  #define Z3_disable() stepperZ3.free()
#elif HAS_Z3_ENABLE
  #define Z3_enable()  Z3_ENABLE_WRITE( Z_ENABLE_ON)
  #define Z3_disable() Z3_ENABLE_WRITE(!Z_ENABLE_ON)
#else
  #define Z3_enable()  NOOP
  #define Z3_disable() NOOP
#endif

#define  enable_Z() do{ Z_enable(); Z2_enable(); Z3_enable(); }while(0)
#define disable_Z() do{ Z_disable(); Z2_disable(); Z3_disable(); CBI(axis_known_position, Z_AXIS); }while(0)

//
// Extruder Stepper enable / disable
//

// define the individual enables/disables
#if AXIS_IS_L64XX(E0)
  #define  E0_enable() NOOP
  #define E0_disable() do{ stepperE0.free(); CBI(axis_known_position, E_AXIS); }while(0)
#elif HAS_E0_ENABLE
  #define  E0_enable() E0_ENABLE_WRITE( E_ENABLE_ON)
  #define E0_disable() E0_ENABLE_WRITE(!E_ENABLE_ON)
#else
  #define  E0_enable() NOOP
  #define E0_disable() NOOP
#endif

#if AXIS_IS_L64XX(E1)
  #define  E1_enable() NOOP
  #define E1_disable() do{ stepperE1.free(); CBI(axis_known_position, E_AXIS); }while(0)
#elif E_STEPPERS > 1 && HAS_E1_ENABLE
  #define  E1_enable() E1_ENABLE_WRITE( E_ENABLE_ON)
  #define E1_disable() E1_ENABLE_WRITE(!E_ENABLE_ON)
#else
  #define  E1_enable() NOOP
  #define E1_disable() NOOP
#endif

#if AXIS_IS_L64XX(E2)
  #define  E2_enable() NOOP
  #define E2_disable() do{ stepperE2.free(); CBI(axis_known_position, E_AXIS); }while(0)
#elif E_STEPPERS > 2 && HAS_E2_ENABLE
  #define  E2_enable() E2_ENABLE_WRITE( E_ENABLE_ON)
  #define E2_disable() E2_ENABLE_WRITE(!E_ENABLE_ON)
#else
  #define  E2_enable() NOOP
  #define E2_disable() NOOP
#endif

#if AXIS_IS_L64XX(E3)
  #define  E3_enable() NOOP
  #define E3_disable() do{ stepperE3.free(); CBI(axis_known_position, E_AXIS); }while(0)
#elif E_STEPPERS > 3 && HAS_E3_ENABLE
  #define  E3_enable() E3_ENABLE_WRITE( E_ENABLE_ON)
  #define E3_disable() E3_ENABLE_WRITE(!E_ENABLE_ON)
#else
  #define  E3_enable() NOOP
  #define E3_disable() NOOP
#endif

#if AXIS_IS_L64XX(E4)
  #define  E4_enable() NOOP
  #define E4_disable() do{ stepperE4.free(); CBI(axis_known_position, E_AXIS); }while(0)
#elif E_STEPPERS > 4 && HAS_E4_ENABLE
  #define  E4_enable() E4_ENABLE_WRITE( E_ENABLE_ON)
  #define E4_disable() E4_ENABLE_WRITE(!E_ENABLE_ON)
#else
  #define  E4_enable() NOOP
  #define E4_disable() NOOP
#endif

#if AXIS_IS_L64XX(E5)
  #define  E5_enable() NOOP
  #define E5_disable() do{ stepperE5.free(); CBI(axis_known_position, E_AXIS); }while(0)
#elif E_STEPPERS > 5 && HAS_E5_ENABLE
  #define  E5_enable() E5_ENABLE_WRITE( E_ENABLE_ON)
  #define E5_disable() E5_ENABLE_WRITE(!E_ENABLE_ON)
#else
  #define  E5_enable() NOOP
  #define E5_disable() NOOP
#endif

#if ENABLED(MIXING_EXTRUDER)

  /**
   * Mixing steppers synchronize their enable (and direction) together
   */
  #if MIXING_STEPPERS > 5
    #define  enable_E0() { E0_enable();  E1_enable();  E2_enable();  E3_enable();  E4_enable();  E5_enable(); }
    #define disable_E0() { E0_disable(); E1_disable(); E2_disable(); E3_disable(); E4_disable(); E5_disable(); }
  #elif MIXING_STEPPERS > 4
    #define  enable_E0() { E0_enable();  E1_enable();  E2_enable();  E3_enable();  E4_enable(); }
    #define disable_E0() { E0_disable(); E1_disable(); E2_disable(); E3_disable(); E4_disable(); }
  #elif MIXING_STEPPERS > 3
    #define  enable_E0() { E0_enable();  E1_enable();  E2_enable();  E3_enable(); }
    #define disable_E0() { E0_disable(); E1_disable(); E2_disable(); E3_disable(); }
  #elif MIXING_STEPPERS > 2
    #define  enable_E0() { E0_enable();  E1_enable();  E2_enable(); }
    #define disable_E0() { E0_disable(); E1_disable(); E2_disable(); }
  #else
    #define  enable_E0() { E0_enable();  E1_enable(); }
    #define disable_E0() { E0_disable(); E1_disable(); }
  #endif
  #define  enable_E1() NOOP
  #define disable_E1() NOOP
  #define  enable_E2() NOOP
  #define disable_E2() NOOP
  #define  enable_E3() NOOP
  #define disable_E3() NOOP
  #define  enable_E4() NOOP
  #define disable_E4() NOOP
  #define  enable_E5() NOOP
  #define disable_E5() NOOP

#else // !MIXING_EXTRUDER

  #if (HAS_E0_ENABLE || AXIS_IS_L64XX(E0))
    #define  enable_E0() E0_enable()
    #define disable_E0() E0_disable()
  #else
    #define  enable_E0() NOOP
    #define disable_E0() NOOP
  #endif

  #if E_STEPPERS > 1 && (HAS_E1_ENABLE || AXIS_IS_L64XX(E1))
    #define  enable_E1() E1_enable()
    #define disable_E1() E1_disable()
  #else
    #define  enable_E1() NOOP
    #define disable_E1() NOOP
  #endif

  #if E_STEPPERS > 2 && (HAS_E2_ENABLE || AXIS_IS_L64XX(E2))
    #define  enable_E2() E2_enable()
    #define disable_E2() E2_disable()
  #else
    #define  enable_E2() NOOP
    #define disable_E2() NOOP
  #endif

  #if E_STEPPERS > 3 && (HAS_E3_ENABLE || AXIS_IS_L64XX(E3))
    #define  enable_E3() E3_enable()
    #define disable_E3() E3_disable()
  #else
    #define  enable_E3() NOOP
    #define disable_E3() NOOP
  #endif

  #if E_STEPPERS > 4 && (HAS_E4_ENABLE || AXIS_IS_L64XX(E4))
    #define  enable_E4() E4_enable()
    #define disable_E4() E4_disable()
  #else
    #define  enable_E4() NOOP
    #define disable_E4() NOOP
  #endif

  #if E_STEPPERS > 5 && (HAS_E5_ENABLE || AXIS_IS_L64XX(E5))
    #define  enable_E5() E5_enable()
    #define disable_E5() E5_disable()
  #else
    #define  enable_E5() NOOP
    #define disable_E5() NOOP
  #endif

#endif // !MIXING_EXTRUDER

#if ENABLED(EXPERIMENTAL_I2CBUS)
  #include "feature/twibus.h"
  extern TWIBus i2c;
#endif

#if ENABLED(G38_PROBE_TARGET)
  extern uint8_t G38_move;          // Flag to tell the ISR that G38 is in progress, and the type
  extern bool G38_did_trigger;      // Flag from the ISR to indicate the endstop changed
#endif

/**
 * The axis order in all axis related arrays is X, Y, Z, E
 */
void enable_e_steppers();
void enable_all_steppers();
void disable_e_stepper(const uint8_t e);
void disable_e_steppers();
void disable_all_steppers();

void kill(PGM_P const lcd_error=nullptr, PGM_P const lcd_component=nullptr, const bool steppers_off=false);
void minkill(const bool steppers_off=false);

void quickstop_stepper();

extern bool Running;
inline bool IsRunning() { return  Running; }
inline bool IsStopped() { return !Running; }

bool printingIsActive();
bool printingIsPaused();
void startOrResumeJob();

extern bool wait_for_heatup;

#if HAS_RESUME_CONTINUE
  extern bool wait_for_user;
#endif

#if HAS_AUTO_REPORTING || ENABLED(HOST_KEEPALIVE_FEATURE)
  extern bool suspend_auto_report;
#endif

// Inactivity shutdown timer
extern millis_t max_inactive_time, stepper_inactive_time;

#if ENABLED(USE_CONTROLLER_FAN)
  extern uint8_t controllerfan_speed;
#endif

#if ENABLED(PSU_CONTROL)
  extern bool powersupply_on;
  #define PSU_PIN_ON()  do{ OUT_WRITE(PS_ON_PIN,  PSU_ACTIVE_HIGH); powersupply_on = true; }while(0)
  #define PSU_PIN_OFF() do{ OUT_WRITE(PS_ON_PIN, !PSU_ACTIVE_HIGH); powersupply_on = false; }while(0)
  #if ENABLED(AUTO_POWER_CONTROL)
    #define PSU_ON()  powerManager.power_on()
    #define PSU_OFF() powerManager.power_off()
  #else
    #define PSU_ON()  PSU_PIN_ON()
    #define PSU_OFF() PSU_PIN_OFF()
  #endif
#endif

bool pin_is_protected(const pin_t pin);
void protected_pin_err();

#if HAS_SUICIDE
  inline void suicide() { OUT_WRITE(SUICIDE_PIN, SUICIDE_PIN_INVERTING); }
#endif

#if ENABLED(G29_RETRY_AND_RECOVER)
  void event_probe_recover();
  void event_probe_failure();
#endif

extern const char NUL_STR[], G28_STR[], M21_STR[], M23_STR[], M24_STR[],
                  SP_X_STR[], SP_Y_STR[], SP_Z_STR[], SP_E_STR[];