/*
  spindle_control.c - spindle control methods
  Part of Grbl

  Copyright (c) 2012-2017 Sungeun K. Jeon for Gnea Research LLC
  Copyright (c) 2009-2011 Simen Svale Skogsrud

  Grbl 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.

  Grbl 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 Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

#include "grbl.h"

#ifdef VARIABLE_SPINDLE
  static float pwm_gradient; // Precalulated value to speed up rpm to PWM conversions.
#endif


void spindle_init()
{
  printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);

//  #ifdef VARIABLE_SPINDLE
//    // Configure variable spindle PWM and enable pin, if requried. On the Uno, PWM and enable are
//    // combined unless configured otherwise.
//    SPINDLE_PWM_DDR |= (1<<SPINDLE_PWM_BIT); // Configure as PWM output pin.
//    SPINDLE_TCCRA_REGISTER = SPINDLE_TCCRA_INIT_MASK; // Configure PWM output compare timer
//    SPINDLE_TCCRB_REGISTER = SPINDLE_TCCRB_INIT_MASK;
//    #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
//      SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
//    #else
//      #ifndef ENABLE_DUAL_AXIS
//        SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
//      #endif
//    #endif
//    pwm_gradient = SPINDLE_PWM_RANGE/(settings.rpm_max-settings.rpm_min);
//  #else
//    SPINDLE_ENABLE_DDR |= (1<<SPINDLE_ENABLE_BIT); // Configure as output pin.
//    #ifndef ENABLE_DUAL_AXIS
//      SPINDLE_DIRECTION_DDR |= (1<<SPINDLE_DIRECTION_BIT); // Configure as output pin.
//    #endif
//  #endif
//
//  spindle_stop();
}


uint8_t spindle_get_state()
{
  printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
  
//
  //#ifdef VARIABLE_SPINDLE
  //  #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
  //    // No spindle direction output pin. 
  //    #ifdef INVERT_SPINDLE_ENABLE_PIN
  //      if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
  //    #else
  //      if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { return(SPINDLE_STATE_CW); }
  //    #endif
  //  #else
  //    if (SPINDLE_TCCRA_REGISTER & (1<<SPINDLE_COMB_BIT)) { // Check if PWM is enabled.
  //      #ifdef ENABLE_DUAL_AXIS
  //        return(SPINDLE_STATE_CW);
  //      #else
  //        if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
  //        else { return(SPINDLE_STATE_CW); }
  //      #endif
  //    }
  //  #endif
  //#else
  //  #ifdef INVERT_SPINDLE_ENABLE_PIN
  //    if (bit_isfalse(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) { 
  //  #else
  //    if (bit_istrue(SPINDLE_ENABLE_PORT,(1<<SPINDLE_ENABLE_BIT))) {
  //  #endif
  //    #ifdef ENABLE_DUAL_AXIS    
  //      return(SPINDLE_STATE_CW);
  //    #else
  //      if (SPINDLE_DIRECTION_PORT & (1<<SPINDLE_DIRECTION_BIT)) { return(SPINDLE_STATE_CCW); }
  //      else { return(SPINDLE_STATE_CW); }
  //    #endif
  //  }
  //#endif
  return(SPINDLE_STATE_DISABLE);
  
}


// Disables the spindle and sets PWM output to zero when PWM variable spindle speed is enabled.
// Called by various main program and ISR routines. Keep routine small, fast, and efficient.
// Called by spindle_init(), spindle_set_speed(), spindle_set_state(), and mc_reset().
void spindle_stop()
{
  printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);

  //#ifdef VARIABLE_SPINDLE
  //  SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
  //  #ifdef USE_SPINDLE_DIR_AS_ENABLE_PIN
  //    #ifdef INVERT_SPINDLE_ENABLE_PIN
  //      SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  // Set pin to high
  //    #else
  //      SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
  //    #endif
  //  #endif
  //#else
  //  #ifdef INVERT_SPINDLE_ENABLE_PIN
  //    SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);  // Set pin to high
  //  #else
  //    SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT); // Set pin to low
  //  #endif
  //#endif
}


#ifdef VARIABLE_SPINDLE
  // Sets spindle speed PWM output and enable pin, if configured. Called by spindle_set_state()
  // and stepper ISR. Keep routine small and efficient.
  void spindle_set_speed(uint8_t pwm_value)
  {
//    printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);

  //  SPINDLE_OCR_REGISTER = pwm_value; // Set PWM output level.
  //  #ifdef SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED
  //    if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
  //      spindle_stop();
  //    } else {
  //      SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
  //      #ifdef INVERT_SPINDLE_ENABLE_PIN
  //        SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
  //      #else
  //        SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
  //      #endif
  //    }
  //  #else
  //    if (pwm_value == SPINDLE_PWM_OFF_VALUE) {
  //      SPINDLE_TCCRA_REGISTER &= ~(1<<SPINDLE_COMB_BIT); // Disable PWM. Output voltage is zero.
  //    } else {
  //      SPINDLE_TCCRA_REGISTER |= (1<<SPINDLE_COMB_BIT); // Ensure PWM output is enabled.
  //    }
  //
  }
  #endif

  //#ifdef ENABLE_PIECEWISE_LINEAR_SPINDLE
  
    // Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
    uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
    {
      printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
      return 0;

//      uint8_t pwm_value;
//      rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
//      // Calculate PWM register value based on rpm max/min settings and programmed rpm.
//      if ((settings.rpm_min >= settings.rpm_max) || (rpm >= RPM_MAX)) {
//        rpm = RPM_MAX;
//        pwm_value = SPINDLE_PWM_MAX_VALUE;
//      } else if (rpm <= RPM_MIN) {
//        if (rpm == 0.0) { // S0 disables spindle
//          pwm_value = SPINDLE_PWM_OFF_VALUE;
//        } else {
//          rpm = RPM_MIN;
//          pwm_value = SPINDLE_PWM_MIN_VALUE;
//        }
//      } else {
//        // Compute intermediate PWM value with linear spindle speed model via piecewise linear fit model.
//        #if (N_PIECES > 3)
//          if (rpm > RPM_POINT34) {
//            pwm_value = floor(RPM_LINE_A4*rpm - RPM_LINE_B4);
//          } else 
//        #endif
//        #if (N_PIECES > 2)
//          if (rpm > RPM_POINT23) {
//            pwm_value = floor(RPM_LINE_A3*rpm - RPM_LINE_B3);
//          } else 
//        #endif
//        #if (N_PIECES > 1)
//          if (rpm > RPM_POINT12) {
//            pwm_value = floor(RPM_LINE_A2*rpm - RPM_LINE_B2);
//          } else 
//        #endif
//        {
//          pwm_value = floor(RPM_LINE_A1*rpm - RPM_LINE_B1);
//        }
//      }
//      sys.spindle_speed = rpm;
//      return(pwm_value);
//    }
//    
//  #else 
//  
//    // Called by spindle_set_state() and step segment generator. Keep routine small and efficient.
//    uint8_t spindle_compute_pwm_value(float rpm) // 328p PWM register is 8-bit.
//    {
//      uint8_t pwm_value;
//      rpm *= (0.010*sys.spindle_speed_ovr); // Scale by spindle speed override value.
//      // Calculate PWM register value based on rpm max/min settings and programmed rpm.
//      if ((settings.rpm_min >= settings.rpm_max) || (rpm >= settings.rpm_max)) {
//        // No PWM range possible. Set simple on/off spindle control pin state.
//        sys.spindle_speed = settings.rpm_max;
//        pwm_value = SPINDLE_PWM_MAX_VALUE;
//      } else if (rpm <= settings.rpm_min) {
//        if (rpm == 0.0) { // S0 disables spindle
//          sys.spindle_speed = 0.0;
//          pwm_value = SPINDLE_PWM_OFF_VALUE;
//        } else { // Set minimum PWM output
//          sys.spindle_speed = settings.rpm_min;
//          pwm_value = SPINDLE_PWM_MIN_VALUE;
//        }
//      } else { 
//        // Compute intermediate PWM value with linear spindle speed model.
//        // NOTE: A nonlinear model could be installed here, if required, but keep it VERY light-weight.
//        sys.spindle_speed = rpm;
//        pwm_value = floor((rpm-settings.rpm_min)*pwm_gradient) + SPINDLE_PWM_MIN_VALUE;
//      }
//      return(pwm_value);
    }
    
  //#endif
//#endif


// Immediately sets spindle running state with direction and spindle rpm via PWM, if enabled.
// Called by g-code parser spindle_sync(), parking retract and restore, g-code program end,
// sleep, and spindle stop override.
#ifdef VARIABLE_SPINDLE
  void spindle_set_state(uint8_t state, float rpm)
#else
  void _spindle_set_state(uint8_t state)
#endif
{
  printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
//
  //if (sys.abort) { return; } // Block during abort.
//
  //if (state == SPINDLE_DISABLE) { // Halt or set spindle direction and rpm.
  //
  //  #ifdef VARIABLE_SPINDLE
  //    sys.spindle_speed = 0.0;
  //  #endif
  //  spindle_stop();
  //
  //} else {
  //  
  //  #if !defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && !defined(ENABLE_DUAL_AXIS)
  //    if (state == SPINDLE_ENABLE_CW) {
  //      SPINDLE_DIRECTION_PORT &= ~(1<<SPINDLE_DIRECTION_BIT);
  //    } else {
  //      SPINDLE_DIRECTION_PORT |= (1<<SPINDLE_DIRECTION_BIT);
  //    }
  //  #endif
  //
  //  #ifdef VARIABLE_SPINDLE
  //    // NOTE: Assumes all calls to this function is when Grbl is not moving or must remain off.
  //    if (settings.flags & BITFLAG_LASER_MODE) { 
  //      if (state == SPINDLE_ENABLE_CCW) { rpm = 0.0; } // TODO: May need to be rpm_min*(100/MAX_SPINDLE_SPEED_OVERRIDE);
  //    }
  //    spindle_set_speed(spindle_compute_pwm_value(rpm));
  //  #endif
  //  #if (defined(USE_SPINDLE_DIR_AS_ENABLE_PIN) && \
  //      !defined(SPINDLE_ENABLE_OFF_WITH_ZERO_SPEED)) || !defined(VARIABLE_SPINDLE)
  //    // NOTE: Without variable spindle, the enable bit should just turn on or off, regardless
  //    // if the spindle speed value is zero, as its ignored anyhow.
  //    #ifdef INVERT_SPINDLE_ENABLE_PIN
  //      SPINDLE_ENABLE_PORT &= ~(1<<SPINDLE_ENABLE_BIT);
  //    #else
  //      SPINDLE_ENABLE_PORT |= (1<<SPINDLE_ENABLE_BIT);
  //    #endif    
  //  #endif
  //
  //}
  //
  //sys.report_ovr_counter = 0; // Set to report change immediately
}


// G-code parser entry-point for setting spindle state. Forces a planner buffer sync and bails 
// if an abort or check-mode is active.
#ifdef VARIABLE_SPINDLE
  void spindle_sync(uint8_t state, float rpm)
  {
    printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
    //if (sys.state == STATE_CHECK_MODE) { return; }
    //protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
    //spindle_set_state(state,rpm);
  }
#else
  void _spindle_sync(uint8_t state)
  {
    printf("%s:%s:%d Not supported yet..\n",__FILE__,__FUNCTION__,__LINE__);
    //if (sys.state == STATE_CHECK_MODE) { return; }
    //protocol_buffer_synchronize(); // Empty planner buffer to ensure spindle is set when programmed.
    //_spindle_set_state(state);
  }
#endif