// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#include <WProgram.h>
#include "fastio.h"
extern "C" void __cxa_pure_virtual();
void __cxa_pure_virtual(){};
void get_command();
void process_commands();

void manage_inactivity(byte debug);

void manage_heater();
int temp2analogu(int celsius, const short table[][2], int numtemps);
float analog2tempu(int raw, const short table[][2], int numtemps);
#ifdef HEATER_USES_THERMISTOR
    #define HEATERSOURCE 1
#endif
#ifdef BED_USES_THERMISTOR
    #define BEDSOURCE 1
#endif

#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS)
#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS)

#if X_ENABLE_PIN > -1
#define  enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
#else
#define enable_x() ;
#define disable_x() ;
#endif
#if Y_ENABLE_PIN > -1
#define  enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
#else
#define enable_y() ;
#define disable_y() ;
#endif
#if Z_ENABLE_PIN > -1
#define  enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
#else
#define enable_z() ;
#define disable_z() ;
#endif
#if E_ENABLE_PIN > -1
#define  enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
#else
#define enable_e() ;
#define disable_e() ;
#endif

#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
#define E_AXIS 3

void FlushSerialRequestResend();
void ClearToSend();

void get_coordinates();
void prepare_move();
void linear_move(unsigned long steps_remaining[]);
void do_step(int axis);
void kill(byte debug);

// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in 
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
  // Fields used by the bresenham algorithm for tracing the line
  long steps_x, steps_y, steps_z, steps_e;  // Step count along each axis
  long step_event_count;                    // The number of step events required to complete this block
  volatile long accelerate_until;                    // The index of the step event on which to stop acceleration
  volatile long decelerate_after;                    // The index of the step event on which to start decelerating
  volatile long acceleration_rate;                   // The acceleration rate used for acceleration calculation
  unsigned char direction_bits;             // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)

  long advance_rate;
  volatile long initial_advance;
  volatile long final_advance;
  float advance;

  // Fields used by the motion planner to manage acceleration
  float speed_x, speed_y, speed_z, speed_e;          // Nominal mm/minute for each axis
  float nominal_speed;                               // The nominal speed for this block in mm/min  
  float millimeters;                                 // The total travel of this block in mm
  float entry_speed;
  float acceleration;                                // acceleration mm/sec^2

  // Settings for the trapezoid generator
  long nominal_rate;                                 // The nominal step rate for this block in step_events/sec 
  volatile long initial_rate;                        // The jerk-adjusted step rate at start of block  
  volatile long final_rate;                          // The minimal rate at exit
  long acceleration_st;                              // acceleration steps/sec^2
  volatile char busy;
} block_t;

void check_axes_activity();
void plan_init();
void st_init();
void tp_init();
void plan_buffer_line(float x, float y, float z, float e, float feed_rate);
void plan_set_position(float x, float y, float z, float e);
void st_wake_up();
void st_synchronize();