/*
 * DriveMovement.h
 *
 *  Created on: 17 Jan 2015
 *      Author: David
 */

#ifndef DRIVEMOVEMENT_H_
#define DRIVEMOVEMENT_H_

#include <RepRapFirmware.h>
#include <Platform/Tasks.h>

class LinearDeltaKinematics;

#define DM_USE_FPU			(__FPU_USED)
#define EVEN_STEPS			(1)			// 1 to generate steps at even intervals when doing double/quad/octal stepping
#define ROUND_TO_NEAREST	(0)			// 1 for round to nearest (as used in 1.20beta10), 0 for round down (as used prior to 1.20beta10)

// Rounding functions, to improve code clarity. Also allows a quick switch between round-to-nearest and round down in the movement code.
inline uint32_t roundU32(float f) noexcept
{
#if ROUND_TO_NEAREST
	return (uint32_t)lrintf(f);
#else
	return (uint32_t)f;
#endif
}

inline uint32_t roundU32(double d) noexcept
{
#if ROUND_TO_NEAREST
	return lrint(d);
#else
	return (uint32_t)d;
#endif
}

inline int32_t roundS32(float f) noexcept
{
#if ROUND_TO_NEAREST
	return lrintf(f);
#else
	return (int32_t)f;
#endif
}

inline int32_t roundS32(double d) noexcept
{
#if ROUND_TO_NEAREST
	return lrint(d);
#else
	return (int32_t)d;
#endif
}

inline uint64_t roundU64(float f) noexcept
{
#if ROUND_TO_NEAREST
	return (uint64_t)llrintf(f);
#else
	return (uint64_t)f;
#endif
}

inline uint64_t roundU64(double d) noexcept
{
#if ROUND_TO_NEAREST
	return (uint64_t)llrint(d);
#else
	return (uint64_t)d;
#endif
}

inline int64_t roundS64(float f) noexcept
{
#if ROUND_TO_NEAREST
	return llrintf(f);
#else
	return (int64_t)f;
#endif
}

inline int64_t roundS64(double d) noexcept
{
#if ROUND_TO_NEAREST
	return llrint(d);
#else
	return (int64_t)d;
#endif
}

// Struct for passing parameters to the DriveMovement Prepare methods
struct PrepParams
{
	// Parameters used for all types of motion
	float totalDistance;
	float accelDistance;
	float decelDistance;
	float acceleration;
	float deceleration;
	float decelStartDistance;
#if DM_USE_FPU
	float fTopSpeedTimesCdivD;
#else
	uint32_t topSpeedTimesCdivD;
#endif

	// Parameters used only for extruders
	float accelCompFactor;

#if SUPPORT_CAN_EXPANSION
	// Parameters used by CAN expansion
	float accelTime, steadyTime, decelTime;
	float initialSpeedFraction, finalSpeedFraction;
#endif

	// Parameters used only for delta moves
	float initialX, initialY;
#if SUPPORT_CAN_EXPANSION
	float finalX, finalY;
	float zMovement;
#endif
	const LinearDeltaKinematics *dparams;
	float a2plusb2;								// sum of the squares of the X and Y movement fractions
};

enum class DMState : uint8_t
{
	idle = 0,
	stepError = 1,
	// All higher values are various states of motion
	accel0 = 2,
	accel1,
	accel2,
	accel3,
	accel4,
	accel5,
	accel6,
	accel7,
	steady,
	decel0,
	decel1,
	decel2,
	decel3,
	decel4,
	decel5,
	decel6,
	decel7,
	reversing,
	reverse
};

// This class describes a single movement of one drive
class DriveMovement
{
public:
	friend class DDA;

	DriveMovement(DriveMovement *next) noexcept;

	void* operator new(size_t count) { return Tasks::AllocPermanent(count); }
	void* operator new(size_t count, std::align_val_t align) { return Tasks::AllocPermanent(count, align); }
	void operator delete(void* ptr) noexcept {}
	void operator delete(void* ptr, std::align_val_t align) noexcept {}

	bool CalcNextStepTime(const DDA &dda) noexcept SPEED_CRITICAL;
	bool PrepareCartesianAxis(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL;
	bool PrepareDeltaAxis(const DDA& dda, const PrepParams& params) noexcept SPEED_CRITICAL;
	bool PrepareExtruder(const DDA& dda, const PrepParams& params, float& extrusionPending, float speedChange, bool doCompensation) noexcept SPEED_CRITICAL;

#if SUPPORT_REMOTE_COMMANDS
	bool PrepareRemoteExtruder(const DDA& dda, const PrepParams& params) noexcept;
#endif

	void DebugPrint() const noexcept;
	int32_t GetNetStepsLeft() const noexcept;
	int32_t GetNetStepsTaken() const noexcept;

#if HAS_SMART_DRIVERS
	uint32_t GetStepInterval(uint32_t microstepShift) const noexcept;	// Get the current full step interval for this axis or extruder
#endif

#if SUPPORT_CAN_EXPANSION
	int32_t GetSteps() const noexcept { return (direction) ? totalSteps : -totalSteps; }
#endif

	static void InitialAllocate(unsigned int num) noexcept;
	static unsigned int NumCreated() noexcept { return numCreated; }
	static DriveMovement *Allocate(size_t p_drive, DMState st) noexcept;
	static void Release(DriveMovement *item) noexcept;

private:
	bool CalcNextStepTimeCartesianFull(const DDA &dda) noexcept SPEED_CRITICAL;
	bool CalcNextStepTimeDeltaFull(const DDA &dda) noexcept SPEED_CRITICAL;

	static DriveMovement *freeList;
	static unsigned int numCreated;

	// Parameters common to Cartesian, delta and extruder moves

	DriveMovement *nextDM;								// link to next DM that needs a step

	DMState state;										// whether this is active or not
	uint8_t drive;										// the drive that this DM controls
	uint8_t direction : 1,								// true=forwards, false=backwards
			directionChanged : 1,						// set by CalcNextStepTime if the direction is changed
			fullCurrent : 1,							// true if the drivers are set to the full current, false if they are set to the standstill current
			isDelta : 1;								// true if this DM uses segment-free delta kinematics
	uint8_t stepsTillRecalc;							// how soon we need to recalculate

	uint32_t totalSteps;								// total number of steps for this move

	// These values change as the step is executed, except for reverseStartStep
	uint32_t nextStep;									// number of steps already done
	uint32_t reverseStartStep;							// the step number for which we need to reverse direction due to pressure advance or delta movement
	uint32_t nextStepTime;								// how many clocks after the start of this move the next step is due
	uint32_t stepInterval;								// how many clocks between steps

#if DM_USE_FPU
	float fMmPerStepTimesCdivtopSpeed;
#else
	uint32_t mmPerStepTimesCKdivtopSpeed;
#endif

	// At this point we are 64-bit aligned
	// The following only needs to be stored per-drive if we are supporting pressure advance
#if DM_USE_FPU
	float fTwoDistanceToStopTimesCsquaredDivD;
#else
	uint64_t twoDistanceToStopTimesCsquaredDivD;
#endif

#if DM_USE_FPU
	float fTwoCsquaredTimesMmPerStepDivA;				// 2 * clock^2 * mmPerStepInHyperCuboidSpace / acceleration
	float fTwoCsquaredTimesMmPerStepDivD;				// 2 * clock^2 * mmPerStepInHyperCuboidSpace / deceleration
#else
	uint64_t twoCsquaredTimesMmPerStepDivA;				// 2 * clock^2 * mmPerStepInHyperCuboidSpace / acceleration
	uint64_t twoCsquaredTimesMmPerStepDivD;				// 2 * clock^2 * mmPerStepInHyperCuboidSpace / deceleration
#endif

	// Parameters unique to a style of move (Cartesian, delta or extruder). Currently, extruders and Cartesian moves use the same parameters.
	union MoveParams
	{
		struct CartesianParameters						// Parameters for Cartesian and extruder movement, including extruder pressure advance
		{
			// The following depend on how the move is executed, so they must be set up in Prepare()
#if DM_USE_FPU
			float fFourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD;
#else
			int64_t fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivD;		// this one can be negative
#endif
			uint32_t accelStopStep;						// the first step number at which we are no longer accelerating
			uint32_t decelStartStep;					// the first step number at which we are decelerating
			uint32_t compensationClocks;				// the pressure advance time in clocks
			uint32_t accelCompensationClocks;			// compensationClocks * (1 - startSpeed/topSpeed)
		} cart;

		struct DeltaParameters							// Parameters for delta movement
		{
#if DM_USE_FPU
			// The following don't depend on how the move is executed, so they could be set up in Init() if we use fixed acceleration/deceleration
			float fDSquaredMinusAsquaredMinusBsquaredTimesSsquared;
			float fHmz0s;								// the starting step position less the starting Z height, multiplied by the Z movement fraction and K (can go negative)
			float fMinusAaPlusBbTimesS;

			// The following depend on how the move is executed, so they must be set up in Prepare()
			float fAccelStopDs;
			float fDecelStartDs;
#else
			// The following don't depend on how the move is executed, so they could be set up in Init() if we use fixed acceleration/deceleration
			int64_t dSquaredMinusAsquaredMinusBsquaredTimesKsquaredSsquared;
			int32_t hmz0sK;								// the starting step position less the starting Z height, multiplied by the Z movement fraction and K (can go negative)
			int32_t minusAaPlusBbTimesKs;

			// The following depend on how the move is executed, so they must be set up in Prepare()
			uint32_t accelStopDsK;
			uint32_t decelStartDsK;
#endif
		} delta;
	} mp;

	static constexpr uint32_t NoStepTime = 0xFFFFFFFF;	// value to indicate that no further steps are needed when calculating the next step time

#if !DM_USE_FPU
	static constexpr uint32_t K1 = 1024;				// a power of 2 used to multiply the value mmPerStepTimesCdivtopSpeed to reduce rounding errors
	static constexpr uint32_t K2 = 512;					// a power of 2 used in delta calculations to reduce rounding errors (but too large makes things worse)
	static constexpr int32_t Kc = 1024 * 1024;			// a power of 2 for scaling the Z movement fraction
#endif
};

// Calculate and store the time since the start of the move when the next step for the specified DriveMovement is due.
// Return true if there are more steps to do. When finished, leave nextStep == totalSteps + 1.
// This is also used for extruders on delta machines.
// We inline this part to speed things up when we are doing double/quad/octal stepping.
inline bool DriveMovement::CalcNextStepTime(const DDA &dda) noexcept
{
	++nextStep;
	if (nextStep <= totalSteps)
	{
		if (stepsTillRecalc != 0)
		{
			--stepsTillRecalc;			// we are doing double/quad/octal stepping
#if EVEN_STEPS
			nextStepTime += stepInterval;
#endif
#if SAME70
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
#endif
			return true;
		}
		return (isDelta) ? CalcNextStepTimeDeltaFull(dda) : CalcNextStepTimeCartesianFull(dda);
	}

	state = DMState::idle;
#if SAME70
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
			asm volatile("nop");
#endif
	return false;
}

// Return the number of net steps left for the move in the forwards direction.
// We have already taken nextSteps - 1 steps, unless nextStep is zero.
inline int32_t DriveMovement::GetNetStepsLeft() const noexcept
{
	int32_t netStepsLeft;
	if (reverseStartStep > totalSteps)		// if no reverse phase
	{
		netStepsLeft = (nextStep == 0) ? (int32_t)totalSteps : (int32_t)totalSteps - (int32_t)nextStep + 1;
	}
	else if (nextStep >= reverseStartStep)
	{
		netStepsLeft = (int32_t)totalSteps - (int32_t)nextStep + 1;
	}
	else
	{
		const int32_t totalNetSteps = (int32_t)(2 * reverseStartStep) - (int32_t)totalSteps - 2;
		netStepsLeft = (nextStep == 0) ? totalNetSteps : totalNetSteps - (int32_t)nextStep + 1;
	}
	return (direction) ? netStepsLeft : -netStepsLeft;
}

// Return the number of net steps already taken for the move in the forwards direction.
// We have already taken nextSteps - 1 steps, unless nextStep is zero.
inline int32_t DriveMovement::GetNetStepsTaken() const noexcept
{
	int32_t netStepsTaken;
	if (nextStep < reverseStartStep || reverseStartStep > totalSteps)				// if no reverse phase, or not started it yet
	{
		netStepsTaken = (nextStep == 0) ? 0 : (int32_t)nextStep - 1;
	}
	else
	{
		netStepsTaken = (int32_t)nextStep - (int32_t)(2 * reverseStartStep) + 1;	// allowing for direction having changed
	}
	return (direction) ? netStepsTaken : -netStepsTaken;
}

// This is inlined because it is only called from one place
inline void DriveMovement::Release(DriveMovement *item) noexcept
{
	item->nextDM = freeList;
	freeList = item;
}

#if HAS_SMART_DRIVERS

// Get the current full step interval for this axis or extruder
inline uint32_t DriveMovement::GetStepInterval(uint32_t microstepShift) const noexcept
{
	return (nextStep < totalSteps && nextStep > (1u << microstepShift))		// if at least 1 full step done
		? stepInterval << microstepShift									// return the interval between steps converted to full steps
			: 0;
}

#endif

#endif /* DRIVEMOVEMENT_H_ */