/*
  stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
  Part of Grbl

  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/>.
*/

#ifndef STEPPER_H
#define STEPPER_H 

#include "planner.h"
#include "stepper_indirection.h"

/**
 * Axis indices as enumerated constants
 *
 * A_AXIS and B_AXIS are used by COREXY printers
 * X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
 */
enum AxisEnum {X_AXIS=0, A_AXIS=0, Y_AXIS=1, B_AXIS=1, Z_AXIS=2, C_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5, Z_HEAD=5};
enum EndstopEnum {X_MIN=0, Y_MIN=1, Z_MIN=2, Z_PROBE=3, X_MAX=4, Y_MAX=5, Z_MAX=6, Z2_MIN=7, Z2_MAX=8, E_MIN=9};

#if ENABLED(ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
  extern bool abort_on_endstop_hit;
#endif

// Initialize and start the stepper motor subsystem
void st_init();

// Block until all buffered steps are executed
void st_synchronize();

// Set the stepper direction of each axis
void set_stepper_direction(bool onlye = false);

// Set current position in steps
void st_set_position(const long &x, const long &y, const long &z, const long &e);
void st_set_e_position(const long &e);

// Get current position in steps
long st_get_position(uint8_t axis);

// Get current position in mm
float st_get_axis_position_mm(AxisEnum axis);

// The stepper subsystem goes to sleep when it runs out of things to execute. Call this
// to notify the subsystem that it is time to go to work.
void st_wake_up();

void checkHitEndstops(); //call from somewhere to create an serial error message with the locations the endstops where hit, in case they were triggered
void endstops_hit_on_purpose(); //avoid creation of the message, i.e. after homing and before a routine call of checkHitEndstops();

void enable_endstops(bool check); // Enable/disable endstop checking

void checkStepperErrors(); //Print errors detected by the stepper

void enable_all_steppers();
void disable_all_steppers();
void finishAndDisableSteppers();

extern block_t *current_block;  // A pointer to the block currently being traced

void quickStop();

void digitalPotWrite(int address, int value);
void microstep_ms(uint8_t driver, int8_t ms1, int8_t ms2);
void microstep_mode(uint8_t driver, uint8_t stepping);
void digipot_init();
void digipot_current(uint8_t driver, int current);
void microstep_init();
void microstep_readings();

#if ENABLED(Z_DUAL_ENDSTOPS)
  void In_Homing_Process(bool state);
  void Lock_z_motor(bool state);
  void Lock_z2_motor(bool state);
#endif

#if ENABLED(BABYSTEPPING)
  void babystep(const uint8_t axis, const bool direction); // perform a short step with a single stepper motor, outside of any convention
#endif

#if ENABLED(NPR2) // Multiextruder
  void colorstep(long csteps, const bool direction);
#endif

#endif // STEPPER_H
