################################################################################
# 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 ..ic.tmc_ic import TMCIc
from ..features.motor_control_ic import MotorControlIc


class TMC2209(TMCIc):
    """
    The TMC2209 is an ultra-silent motor driver IC for two phase stepper motors. TMC2209 pinning is compatible to a
    number of legacy drivers as well as to the TMC2208. Supply voltage is 4,75 - 29V.
    """
    def __init__(self, parent_eval):
        super().__init__(self.__class__.__name__, self.__doc__)
        self._parent = parent_eval
        self.motors = [self.MotorTypeA(parent_eval, self, 0)]

    class MotorTypeA(MotorControlIc):
        """
        Motor class for the generic motor.
        """
        def __init__(self, parent_eval, ic, axis):
            MotorControlIc.__init__(self, parent_eval, ic, axis)

    class REG:
        """
        Define all registers of the TMC2209.
        """
        GCONF        = 0x00
        GSTAT        = 0x01
        IFCNT        = 0x02
        SLAVECONF    = 0x03
        OTP_PROG     = 0x04
        OTP_READ     = 0x05
        IOIN         = 0x06
        FACTORY_CONF = 0x07
        IHOLD_IRUN   = 0x10
        TPOWERDOWN   = 0x11
        TSTEP        = 0x12
        TPWMTHRS     = 0x13
        TCOOLTHRS    = 0x14
        VACTUAL      = 0x22
        SGTHRS       = 0x40
        SG_RESULT    = 0x41
        COOLCONF     = 0x42
        MSCNT        = 0x6A
        MSCURACT     = 0x6B
        CHOPCONF     = 0x6C
        DRV_STATUS   = 0x6F
        PWMCONF      = 0x70
        PWM_SCALE    = 0x71
        PWM_AUTO     = 0x72

    class FIELD:
        """
        Define all register bitfields of the TMC2209.

        Each field is defined as a tuple consisting of ( Address, Mask, Shift ).

        The name of the register is written as a comment behind each tuple. This is
        intended for IDE users viewing the definition of a field by hovering over
        it. This allows the user to see the corresponding register name of a field
        without opening this file and searching for the definition.
        """

        # GCONF
        I_SCALE_ANALOG = (0x00, 0x00000001, 0)
        INTERNAL_RSENSE = (0x00, 0x00000002, 1)
        EN_SPREADCYCLE = (0x00, 0x00000004, 2)
        SHAFT = (0x00, 0x00000008, 3)
        INDEX_OTPW = (0x00, 0x00000010, 4)
        INDEX_STEP = (0x00, 0x00000020, 5)
        PDN_DISABLE = (0x00, 0x00000040, 6)
        MSTEP_REG_SELECT = (0x00, 0x00000080, 7)
        MULTISTEP_FILT = (0x00, 0x00000100, 8)
        TEST_MODE = (0x00, 0x00000200, 9)

        # GSTAT
        RESET = (0x01, 0x00000001, 0)
        DRV_ERR = (0x01, 0x00000002, 1)
        UV_CP = (0x01, 0x00000004, 2)

        # IFCNT
        IFCNT = (0x02, 0x000000FF, 0)

        # SLAVECONF
        SLAVECONF = (0x03, 0x00000F00, 8)

        # OTP_PROG
        OTPBIT = (0x04, 0x00000007, 0)
        OTPBYTE = (0x04, 0x00000030, 4)
        OTPMAGIC = (0x04, 0x0000FF00, 8)

        # OTP_READ
        OTP0_BYTE_0_READ_DATA = (0x05, 0x000000FF, 0)
        OTP1_BYTE_1_READ_DATA = (0x05, 0x0000FF00, 8)
        OTP2_BYTE_2_READ_DATA = (0x05, 0x00FF0000, 16)

        # IOIN
        ENN = (0x06, 0x00000001, 0)
        MS1 = (0x06, 0x00000004, 2)
        MS2 = (0x06, 0x00000008, 3)
        DIAG = (0x06, 0x00000010, 4)
        PDN_UART = (0x06, 0x00000040, 6)
        STEP = (0x06, 0x00000080, 7)
        SPREAD_EN = (0x06, 0x00000100, 8)
        DIR = (0x06, 0x00000200, 9)
        VERSION = (0x06, 0xFF000000, 24)

        # FACTORY_CONF
        FCLKTRIM = (0x07, 0x0000001F, 0)
        OTTRIM = (0x07, 0x00000300, 8)

        # IHOLD_IRUN
        IHOLD = (0x10, 0x0000001F, 0)
        IRUN = (0x10, 0x00001F00, 8)
        IHOLDDELAY = (0x10, 0x000F0000, 16)

        # TPOWERDOWN
        TPOWERDOWN = (0x11, 0x000000FF, 0)

        # TSTEP
        TSTEP = (0x12, 0x000FFFFF, 0)

        # TPWMTHRS
        TPWMTHRS = (0x13, 0x000FFFFF, 0)

        # TCOOLTHRS
        TCOOLTHRS = (0x14, 0x000FFFFF, 0)

        # VACTUAL
        VACTUAL = (0x22, 0x00FFFFFF, 0)

        # SGTHRS
        SGTHRS = (0x40, 0x000000FF, 0)

        # SG_RESULT
        SG_RESULT = (0x41, 0x000003FF, 0)

        # COOLCONF
        SEMIN = (0x42, 0x0000000F, 0)
        SEUP = (0x42, 0x00000060, 5)
        SEMAX = (0x42, 0x00000F00, 8)
        SEDN = (0x42, 0x00006000, 13)
        SEIMIN = (0x42, 0x00008000, 15)

        # MSCNT
        MSCNT = (0x6A, 0x000003FF, 0)

        # MSCURACT
        CUR_A = (0x6B, 0x000001FF, 0)
        CUR_B = (0x6B, 0x01FF0000, 16)

        # CHOPCONF
        TOFF = (0x6C, 0x0000000F, 0)
        HSTRT = (0x6C, 0x00000070, 4)
        HEND = (0x6C, 0x00000780, 7)
        TBL = (0x6C, 0x00018000, 15)
        VSENSE = (0x6C, 0x00020000, 17)
        MRES = (0x6C, 0x0F000000, 24)
        INTPOL = (0x6C, 0x10000000, 28)
        DEDGE = (0x6C, 0x20000000, 29)
        DISS2G = (0x6C, 0x40000000, 30)
        DISS2VS = (0x6C, 0x80000000, 31)

        # DRV_STATUS
        OTPW = (0x6F, 0x00000001, 0)
        OT = (0x6F, 0x00000002, 1)
        S2GA = (0x6F, 0x00000004, 2)
        S2GB = (0x6F, 0x00000008, 3)
        S2VSA = (0x6F, 0x00000010, 4)
        S2VSB = (0x6F, 0x00000020, 5)
        OLA = (0x6F, 0x00000040, 6)
        OLB = (0x6F, 0x00000080, 7)
        T120 = (0x6F, 0x00000100, 8)
        T143 = (0x6F, 0x00000200, 9)
        T150 = (0x6F, 0x00000400, 10)
        T157 = (0x6F, 0x00000800, 11)
        CS_ACTUAL = (0x6F, 0x001F0000, 16)
        STEALTH = (0x6F, 0x40000000, 30)
        STST = (0x6F, 0x80000000, 31)

        # PWMCONF
        PWM_OFS = (0x70, 0x000000FF, 0)
        PWM_GRAD = (0x70, 0x0000FF00, 8)
        PWM_FREQ = (0x70, 0x00030000, 16)
        PWM_AUTOSCALE = (0x70, 0x00040000, 18)
        PWM_AUTOGRAD = (0x70, 0x00080000, 19)
        FREEWHEEL = (0x70, 0x00300000, 20)
        PWM_REG = (0x70, 0x0F000000, 24)
        PWM_LIM = (0x70, 0xF0000000, 28)

        # PWM_SCALE
        PWM_SCALE_SUM = (0x71, 0x000000FF, 0)
        PWM_SCALE_AUTO = (0x71, 0x01FF0000, 16)

        # PWM_AUTO
        PWM_OFS_AUTO = (0x72, 0x000000FF, 0)
        PWM_GRAD_AUTO = (0x72, 0x00FF0000, 16)