################################################################################
# Copyright © 2019 TRINAMIC Motion Control GmbH & Co. KG
# (now owned by Analog Devices Inc.),
#
# Copyright © 2023 Analog Devices Inc. All Rights Reserved.
# This software is proprietary to Analog Devices, Inc. and its licensors.
################################################################################

from pytrinamic.evalboards import TMCLEval
from pytrinamic.ic import TMC5160
from pytrinamic.features import MotorControlModule


class TMC5160_eval(TMCLEval):
    """
    This class represents a TMC5160 Evaluation board.

    Communication is done over the TMCL commands writeMC and readMC. An
    implementation without TMCL may still use this class if these two functions
    are provided properly. See __init__ for details on the function
    requirements.
    """
    def __init__(self, connection, module_id=1):
        """
        Parameters:
            connection:
                Type: class
                A class that provides the necessary functions for communicating
                with a TMC5160. The required functions are
                    connection.writeMC(registerAddress, value, moduleID)
                    connection.readMC(registerAddress, moduleID, signed)
                for writing/reading to registers of the TMC5160.
            module_id:
                Type: int, optional, default value: 1
                The TMCL module ID of the TMC5160. This ID is used as a
                parameter for the writeMC and readMC functions.
        """
        TMCLEval.__init__(self, connection, module_id)
        self.motors = [self._MotorTypeA(self, 0)]
        self.ics = [TMC5160()]

    # Use the motion controller functions for register access

    def write_register(self, register_address, value):
        return self._connection.write_mc(register_address, value, self._module_id)

    def read_register(self, register_address, signed=False):
        return self._connection.read_mc(register_address, self._module_id, signed)

    # Motion control functions

    def rotate(self, motor, value):
        self._connection.rotate(motor, value)
    
    def stop(self, motor):
        self._connection.stop(motor)
    
    def move_to(self, motor, position, velocity=None):
        if velocity and velocity != 0:
            # Set maximum positioning velocity
            self.motors[motor].set_axis_parameter(self.motors[motor].AP.MaxVelocity, velocity)
        self._connection.move_to(motor, position, self._module_id)

    class _MotorTypeA(MotorControlModule):
        def __init__(self, eval_board, axis):
            MotorControlModule.__init__(self, eval_board, axis, self.AP)

        class AP:
            TargetPosition                 = 0
            ActualPosition                 = 1
            TargetVelocity                 = 2
            ActualVelocity                 = 3
            MaxVelocity                    = 4
            MaxAcceleration                = 5
            MaxCurrent                     = 6
            StandbyCurrent                 = 7
            PositionReachedFlag            = 8
            RightEndstop                   = 10
            LeftEndstop                    = 11
            AutomaticRightStop             = 12
            AutomaticLeftStop              = 13
            SW_MODE                        = 14
            A1                             = 15
            V1                             = 16
            MaxDeceleration                = 17
            D1                             = 18
            StartVelocity                  = 19
            StopVelocity                   = 20
            RampWaitTime                   = 21
            THIGH                          = 23
            VDCMIN                         = 24
            HighSpeedChopperMode           = 27
            HighSpeedFullstepMode          = 28
            MeasuredSpeed                  = 29
            I_scale_analog                 = 33
            internal_Rsense                = 34
            MicrostepResolution            = 140
            ChopperBlankTime               = 162
            ConstantTOffMode               = 163
            DisableFastDecayComparator     = 164
            ChopperHysteresisEnd           = 165
            ChopperHysteresisStart         = 166
            TOff                           = 167
            SEIMIN                         = 168
            SECDS                          = 169
            smartEnergyHysteresis          = 170
            SECUS                          = 171
            smartEnergyHysteresisStart     = 172
            SG2FilterEnable                = 173
            SG2Threshold                   = 174
            smartEnergyActualCurrent       = 180
            smartEnergyStallVelocity       = 181
            smartEnergyThresholdSpeed      = 182
            RandomTOffMode                 = 184
            ChopperSynchronization         = 185
            PWMThresholdSpeed              = 186
            PWMGrad                        = 187
            PWMAmplitude                   = 188
            PWMFrequency                   = 191
            PWMAutoscale                   = 192
            FreewheelingMode               = 204
            LoadValue                      = 206
            EncoderPosition                = 209
            EncoderResolution              = 210