/****************************************************************************************************

RepRapFirmware - Configuration

This is where all machine-independent configuration and other definitions are set up. Nothing that
depends on any particular RepRap, RepRap component, or RepRap controller should go in here. Define
machine-dependent things in Platform.h

-----------------------------------------------------------------------------------------------------

Version 0.1

18 November 2012

Adrian Bowyer
RepRap Professional Ltd
http://reprappro.com

Licence: GPL

****************************************************************************************************/

#ifndef CONFIGURATION_H
#define CONFIGURATION_H

#include <cstddef>			// for size_t

// Generic constants
constexpr float ABS_ZERO = -273.15;						// Celsius
constexpr float NEARLY_ABS_ZERO = -273.0;				// Celsius
constexpr float ROOM_TEMPERATURE = 21.0;				// Celsius

// Axes
constexpr float DefaultXYMaxFeedrate = 100;				// mm/sec
constexpr float DefaultZMaxFeedrate = 5.0;
constexpr float DefaultEMaxFeedrate = 20.0;

constexpr float DefaultXYAcceleration = 500.0;			// mm/sec^2
constexpr float DefaultZAcceleration = 20.0;
constexpr float DefaultEAcceleration = 250.0;

constexpr float DefaultXYDriveStepsPerUnit = 80.0;		// steps/mm
constexpr float DefaultZDriveStepsPerUnit = 4000.0;
constexpr float DefaultEDriveStepsPerUnit = 420.0;

constexpr float DefaultXYInstantDv = 15.0;				// mm/sec
constexpr float DefaultZInstantDv = 0.2;
constexpr float DefaultEInstantDv = 2.0;

constexpr float DefaultMinFeedrate = 0.5;				// The minimum movement speed (extruding moves will go slower than this if the extrusion rate demands it)

constexpr float DefaultAxisMinimum = 0.0;
constexpr float DefaultAxisMaximum = 200.0;

// Timeouts
constexpr uint32_t FanCheckInterval = 500;				// Milliseconds
constexpr uint32_t OpenLoadTimeout = 500;				// Milliseconds
constexpr uint32_t MinimumWarningInterval = 4000;		// Milliseconds, must be at least as long as FanCheckInterval
constexpr uint32_t LogFlushInterval = 15000;			// Milliseconds
constexpr uint32_t DriverCoolingTimeout = 4000;			// Milliseconds
constexpr float DefaultMessageTimeout = 10.0;			// How long a message is displayed by default, in seconds

constexpr uint32_t MinimumOpenLoadFullStepsPerSec = 20;	// this is 4mm/sec @ 80steps/mm

// FanCheckInterval must be lower than MinimumWarningInterval to avoid giving driver over temperature warnings too soon when thermostatic control of electronics cooling fans is used
static_assert(FanCheckInterval < MinimumWarningInterval, "FanCheckInterval too large");

// Comms defaults
constexpr unsigned int MAIN_BAUD_RATE = 115200;			// Default communication speed of the USB if needed
constexpr unsigned int AUX_BAUD_RATE = 57600;			// Ditto - for auxiliary UART device
constexpr unsigned int AUX2_BAUD_RATE = 115200;			// Ditto - for second auxiliary UART device
constexpr uint32_t SERIAL_MAIN_TIMEOUT = 2000;			// timeout in ms for sending data to the main serial/USB port

// Heater values
constexpr uint32_t HeatSampleIntervalMillis = 250;		// interval between taking temperature samples
constexpr float HeatPwmAverageTime = 5.0;				// Seconds

constexpr uint8_t SensorsTaskTotalDelay = 250;			// Interval between runs of sensors task

constexpr float TEMPERATURE_CLOSE_ENOUGH = 1.0;			// Celsius
constexpr float TEMPERATURE_LOW_SO_DONT_CARE = 40.0;	// Celsius
constexpr float HOT_ENOUGH_TO_EXTRUDE = 160.0;			// Celsius
constexpr float HOT_ENOUGH_TO_RETRACT = 90.0;			// Celsius

constexpr unsigned int MaxBadTemperatureCount = 2000/HeatSampleIntervalMillis;	// Number of bad temperature samples permitted before a heater fault is reported (2 seconds)
constexpr float BadLowTemperature = -10.0;				// Celsius
constexpr float DefaultHotEndTemperatureLimit = 290.0;	// Celsius - E3D say to tighten the hot end at 285C
constexpr float DefaultBedTemperatureLimit = 125.0;		// Celsius
constexpr float DefaultHotEndFanTemperature = 45.0;		// Temperature at which a thermostatic hot end fan comes on
constexpr float ThermostatHysteresis = 1.0;				// How much hysteresis we use to prevent noise turning fans on/off too often
constexpr float BadErrorTemperature = 2000.0;			// Must exceed any reasonable temperature limit including DEFAULT_TEMPERATURE_LIMIT
constexpr uint32_t DefaultHeaterFaultTimeout = 10 * 60 * 1000;	// How long we wait (in milliseconds) for user intervention after a heater fault before shutting down

// Heating model default parameters. For the chamber heater, we use the same values as for the bed heater.
// These parameters are about right for an E3Dv6 hot end with 30W heater.
constexpr float DefaultHotEndHeaterGain = 340.0;
constexpr float DefaultHotEndHeaterTimeConstant = 140.0;
constexpr float DefaultHotEndHeaterDeadTime = 5.5;

constexpr unsigned int FirstExtraHeaterProtection = 100;	// Index of the first extra heater protection item

// Default thermistor parameters
constexpr float DefaultR25 = 100000.0;
constexpr float DefaultBeta = 4388.0;
constexpr float DefaultShc = 0.0;

// These parameters are about right for a typical PCB bed heater that maxes out at 110C
constexpr float DefaultBedHeaterGain = 90.0;
constexpr float DefaultBedHeaterTimeConstant = 700.0;
constexpr float DefaultBedHeaterDeadTime = 10.0;

// Parameters used to detect heating errors
constexpr float DefaultMaxHeatingFaultTime = 5.0;		// How many seconds we allow a heating fault to persist
constexpr float AllowedTemperatureDerivativeNoise = 0.25;	// How much fluctuation in the averaged temperature derivative we allow
constexpr float MaxAmbientTemperature = 45.0;			// We expect heaters to cool to this temperature or lower when switched off
constexpr float NormalAmbientTemperature = 25.0;		// The ambient temperature we assume - allow for the printer heating its surroundings a little
constexpr float DefaultMaxTempExcursion = 15.0;			// How much error we tolerate when maintaining temperature before deciding that a heater fault has occurred
constexpr float MinimumConnectedTemperature = -5.0;		// Temperatures below this we treat as a disconnected thermistor

static_assert(DefaultMaxTempExcursion > TEMPERATURE_CLOSE_ENOUGH, "DefaultMaxTempExcursion is too low");

// PWM frequencies
constexpr PwmFrequency SlowHeaterPwmFreq = 10;			// slow PWM frequency for bed and chamber heaters, compatible with DC/AC SSRs
constexpr PwmFrequency NormalHeaterPwmFreq = 250;		// normal PWM frequency used for hot ends
constexpr PwmFrequency MaxHeaterPwmFrequency = 1000;	// maximum supported heater PWM frequency, to avoid overheating the mosfets
constexpr PwmFrequency DefaultFanPwmFreq = 250;			// increase to 25kHz using M106 command to meet Intel 4-wire PWM fan specification
constexpr PwmFrequency DefaultPinWritePwmFreq = 500;	// default PWM frequency for M42 pin writes and extrusion ancillary PWM
constexpr PwmFrequency ServoRefreshFrequency = 50;

// Fan defaults
constexpr float DefaultMinFanPwm = 0.1;					// minimum fan PWM
constexpr uint32_t DefaultFanBlipTime = 100;			// fan blip time in milliseconds

// M577 and M581
constexpr unsigned int MaxM577Ports = 4;
constexpr unsigned int MaxPortsPerTrigger = 4;

// Conditional GCode support
constexpr unsigned int MaxBlockIndent = 10;				// maximum indentation of GCode. Each level of indentation introduced a new block.

// Default Z probe values

// The maximum number of probe points is constrained by RAM usage:
// - Each probe point uses 12 bytes of static RAM. So 16 points use 192 bytes
// - The delta calibration points use the same static ram, but when auto-calibrating we temporarily need more to hold the matrices etc. as follows:
//     Using single-precision maths and up to 9-factor calibration: (9 + 5) * 4 bytes per point
//     Using double-precision maths and up to 9-factor calibration: (9 + 5) * 8 bytes per point
//   So 32 points using double precision arithmetic need 3584 bytes of stack space.
#if SAM4E || SAM4S || SAME70
constexpr size_t MaxGridProbePoints = 441;				// 441 allows us to probe e.g. 400x400 at 20mm intervals
constexpr size_t MaxXGridPoints = 41;					// Maximum number of grid points in one X row
constexpr size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
constexpr size_t MaxCalibrationPoints = 32;				// Should a power of 2 for speed
#elif SAM3XA
constexpr size_t MaxGridProbePoints = 121;				// 121 allows us to probe 200x200 at 20mm intervals
constexpr size_t MaxXGridPoints = 21;					// Maximum number of grid points in one X row
constexpr size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
constexpr size_t MaxCalibrationPoints = 32;				// Should a power of 2 for speed
#elif __LPC17xx__
# if defined(LPC_NETWORKING)
constexpr size_t MaxGridProbePoints = 121;    			// 121 allows us to probe 200x200 at 20mm intervals
constexpr size_t MaxXGridPoints = 21;         			// Maximum number of grid points in one X row
constexpr size_t MaxProbePoints = 32;       			// Maximum number of G30 probe points
constexpr size_t MaxCalibrationPoints = 16; 			// Should a power of 2 for speed
# else
constexpr size_t MaxGridProbePoints = 441;				// 441 allows us to probe e.g. 400x400 at 20mm intervals
constexpr size_t MaxXGridPoints = 41;					// Maximum number of grid points in one X row
constexpr size_t MaxProbePoints = 32;					// Maximum number of G30 probe points
constexpr size_t MaxCalibrationPoints = 32;				// Should a power of 2 for speed
# endif
#else
# error
#endif

const float DefaultGridSpacing = 20.0;					// Default bed probing grid spacing in mm

static_assert(MaxCalibrationPoints <= MaxProbePoints, "MaxCalibrationPoints must be <= MaxProbePoints");

// SD card
constexpr uint32_t SdCardDetectDebounceMillis = 200;	// How long we give the SD card to settle in the socket
constexpr unsigned int MaxSdCardTries = 5;				// Number of read or write attempts before giving up
constexpr uint32_t SdCardRetryDelay = 20;				// Number of milliseconds delay between SD transfer retries. We now double for each retry.

// Z probing
constexpr float DefaultZProbeTriggerHeight = 0.7;		// Millimetres
constexpr float DefaultZProbeTemperature = 25.0;
constexpr float DefaultZDive = 5.0;						// Millimetres
constexpr float DefaultProbingSpeed = 2.0;				// Default Z probing speed mm/sec
constexpr float DefaultZProbeTravelSpeed = 100.0;		// Default speed for travel to probe points
constexpr float ZProbeMaxAcceleration = 250.0;			// Maximum Z acceleration to use at the start of a probing move
constexpr size_t MaxZProbeProgramBytes = 8;				// Maximum number of bytes in a Z probe program
constexpr uint32_t ProbingSpeedReductionFactor = 3;		// The factor by which we reduce the Z probing speed when we get a 'near' indication
constexpr float DefaultZProbeTolerance = 0.03;			// How close the Z probe trigger height from consecutive taps must be
constexpr uint8_t DefaultZProbeTaps = 1;				// The maximum number of times we probe each point
constexpr int DefaultZProbeADValue = 500;				// Default trigger threshold

constexpr float TRIANGLE_ZERO = -0.001;					// Millimetres
constexpr float SILLY_Z_VALUE = -9999.0;				// Millimetres

// String lengths. Try not to have too many different ones, because each one causes an instantiation of the String template
constexpr size_t MaxMessageLength = 256;
constexpr size_t MaxTitleLength = 61;

#if SAM4E || SAM4S || SAME70
constexpr size_t MaxFilenameLength = 120;				// Maximum length of a filename including the path
constexpr size_t MaxVariableNameLength = 120;
#else
constexpr size_t MaxFilenameLength = 100;
constexpr size_t MaxVariableNameLength = 100;
#endif

constexpr size_t StringLength20 = 20;
constexpr size_t StringLength50 = 50;					// Used for pin names
constexpr size_t StringLength100 = 100;					// Used for error messages
constexpr size_t StringLength500 = 500;					// Used when writing the height map

constexpr size_t MaxHeaterNameLength = StringLength20;	// Maximum number of characters in a heater name
constexpr size_t MaxFanNameLength = StringLength20;		// Maximum number of characters in a fan name
constexpr size_t FormatStringLength = 256;
constexpr size_t GCodeReplyLength = 256;				// Maximum number of characters in a GCode reply that doesn't use an OutputBuffer
constexpr size_t MachineNameLength = StringLength50;
constexpr size_t RepRapPasswordLength = StringLength20;
constexpr size_t MediumStringLength = MaxFilenameLength;

#if SAM4E || SAM4S || SAME70
// Increased GCODE_LENGTH on the SAM4 because M587 and M589 commands on the Duet WiFi can get very long
constexpr size_t GCODE_LENGTH = 161;					// maximum number of non-comment characters in a line of GCode including the null terminator
constexpr size_t SHORT_GCODE_LENGTH = 61;				// maximum length of a GCode that we can queue to synchronise it to a move
#else
constexpr size_t GCODE_LENGTH = 101;					// maximum number of non-comment characters in a line of GCode including the null terminator
constexpr size_t SHORT_GCODE_LENGTH = 61;				// maximum length of a GCode that we can queue to synchronise it to a move
#endif

// Output buffer length and number of buffers
// When using RTOS, it is best if it is possible to fit an HTTP response header in a single buffer. Our headers are currently about 230 bytes long.
// A note on reserved buffers: the worst case is when a GCode with a long response is processed. After string the response, there must be enough buffer space
// for the HTTP responder to return a status response. Otherwise DWC never gets to know that it needs to make a rr_reply call and the system deadlocks.
#if SAME70
constexpr size_t OUTPUT_BUFFER_SIZE = 256;				// How many bytes does each OutputBuffer hold?
constexpr size_t OUTPUT_BUFFER_COUNT = 32;				// How many OutputBuffer instances do we have?
constexpr size_t RESERVED_OUTPUT_BUFFERS = 4;			// Number of reserved output buffers after long responses, enough to hold a status response
#elif SAM4E || SAM4S
constexpr size_t OUTPUT_BUFFER_SIZE = 256;				// How many bytes does each OutputBuffer hold?
constexpr size_t OUTPUT_BUFFER_COUNT = 24;				// How many OutputBuffer instances do we have?
constexpr size_t RESERVED_OUTPUT_BUFFERS = 4;			// Number of reserved output buffers after long responses, enough to hold a status response
#elif SAM3XA
constexpr size_t OUTPUT_BUFFER_SIZE = 256;				// How many bytes does each OutputBuffer hold?
constexpr size_t OUTPUT_BUFFER_COUNT = 16;				// How many OutputBuffer instances do we have?
constexpr size_t RESERVED_OUTPUT_BUFFERS = 2;			// Number of reserved output buffers after long responses
#elif __LPC17xx__
constexpr uint16_t OUTPUT_BUFFER_SIZE = 256;            // How many bytes does each OutputBuffer hold?
constexpr size_t OUTPUT_BUFFER_COUNT = 15;              // How many OutputBuffer instances do we have?
constexpr size_t RESERVED_OUTPUT_BUFFERS = 2;           // Number of reserved output buffers after long responses. Must be enough for an HTTP header
#else
# error
#endif

const size_t maxQueuedCodes = 16;						// How many codes can be queued?

// Move system
constexpr float DefaultFeedRate = 3000.0;				// The initial requested feed rate after resetting the printer, in mm/min
constexpr float DefaultG0FeedRate = 18000;				// The initial feed rate for G0 commands after resetting the printer, in mm/min
constexpr float DefaultRetractSpeed = 1000.0;			// The default firmware retraction and un-retraction speed, in mm
constexpr float DefaultRetractLength = 2.0;

constexpr float MaxArcDeviation = 0.02;					// maximum deviation from ideal arc due to segmentation
constexpr float MinArcSegmentLength = 0.1;				// G2 and G3 arc movement commands get split into segments at least this long
constexpr float MaxArcSegmentLength = 2.0;				// G2 and G3 arc movement commands get split into segments at most this long
constexpr float MinArcSegmentsPerSec = 50;

constexpr uint32_t DefaultIdleTimeout = 30000;			// Milliseconds
constexpr float DefaultIdleCurrentFactor = 0.3;			// Proportion of normal motor current that we use for idle hold

constexpr float DefaultNonlinearExtrusionLimit = 0.2;	// Maximum additional commanded extrusion to compensate for nonlinearity
constexpr size_t NumRestorePoints = 6;					// Number of restore points, must be at least 3

constexpr float AxisRoundingError = 0.02;				// Maximum possible error when we round trip a machine position to motor coordinates and back

// Triggers
constexpr unsigned int MaxTriggers = 16;				// Must be <= 32 because we store a bitmap of pending triggers in a uint32_t

// Default nozzle and filament values
constexpr float NOZZLE_DIAMETER = 0.5;					// Millimetres
constexpr float FILAMENT_WIDTH = 1.75;					// Millimetres

constexpr unsigned int MaxStackDepth = 5;				// Maximum depth of stack

// CNC and laser support
constexpr size_t MaxSpindles = 4;						// Maximum number of configurable spindles
constexpr float DefaultMaxSpindleRpm = 10000;			// Default spindle RPM at full PWM
constexpr float DefaultMaxLaserPower = 255.0;			// Power setting in M3 command for full power
constexpr uint32_t LaserPwmIntervalMillis = 5;			// Interval (ms) between adjusting the laser PWM during acceleration or deceleration

// I2C
// A note on the i2C clock frequency.
// On a Duet WiFi attached to a DueX5 through 160mm of ribbon cable, the cable capacitance in combination with the 4K7 pullup resistors slows down the
// I2C signal rise time to about 500ns. This is above the 300ns maximum specified for both the ATSAM4E and the SX1509B.
// It appears that the slow rise time interferes with the watchdog timer resets, because at 200MHz clock frequency the system gets stuck
// in a boot loop caused by the watchdog timer going off.
// At 100kHz I2C clock frequency, these issues are rare.
constexpr uint32_t I2cClockFreq = 100000;				// clock frequency in Hz. 100kHz is 10us per bit, so about 90us per byte if there is no clock stretching
constexpr size_t MaxI2cBytes = 32;						// max bytes in M260 or M261 command

// File handling
#if defined(__LPC17xx__)
# if defined (ESP_NETWORKING)
constexpr size_t MAX_FILES = 10;						// Must be large enough to handle the max number of concurrent web requests + file being printed + macros being executed + log file
# else
constexpr size_t MAX_FILES = 4;							// Must be large enough to handle the max number of concurrent web requests + file being printed + macros being executed + log file
# endif
#else
constexpr size_t MAX_FILES = 10;						// Must be large enough to handle the max number of concurrent web requests + file being printed + macros being executed + log file
#endif

constexpr size_t FILE_BUFFER_SIZE = 128;

// Webserver stuff
#define DEFAULT_PASSWORD		"reprap"				// Default machine password
#define DEFAULT_MACHINE_NAME	"My Duet"				// Default machine name
#define DEFAULT_HOSTNAME 		"duet"					// Default netbios name

#define INDEX_PAGE_FILE			"index.html"
#define OLD_INDEX_PAGE_FILE		"reprap.htm"
#define FOUR04_PAGE_FILE		"html404.htm"

// Filesystem and upload defaults
#define FS_PREFIX "0:"
#define WEB_DIR "0:/www/"							// Place to find web files on the SD card
#define GCODE_DIR "0:/gcodes/"						// Ditto - G-Codes
#define DEFAULT_SYS_DIR "0:/sys/"					// Ditto - System files (can be changed using M505)
#define MACRO_DIR "0:/macros/"						// Ditto - Macro files
#define SCANS_DIRECTORY "0:/scans/"					// Directory for uploaded 3D scans
#define FILAMENTS_DIRECTORY "0:/filaments/"			// Directory for filament configurations
#define MENU_DIR "0:/menu/"							// Directory for menu files
#define UPLOAD_EXTENSION ".part"					// Extension to a filename for a file being uploaded

#define CONFIG_FILE "config.g"
#define CONFIG_BACKUP_FILE "config.g.bak"
#define DEFAULT_LOG_FILE "eventlog.txt"

#define EOF_STRING "<!-- **EoF** -->"

// List defaults
constexpr char LIST_SEPARATOR = ':';
constexpr char FILE_LIST_SEPARATOR = ',';
constexpr char FILE_LIST_BRACKET = '"';

#endif