################################################################################
# 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 ..modules import TMCLModule

# features
from ..features import MotorControlModule, DriveSettingModule, LinearRampModule
from ..features import StallGuard2Module, CoolStepModule


class TMCM6110(TMCLModule):
    """
    The TMCM-6110 is a six axis stepper motor controller/driver module for sensorless load dependent current control.
    """
    def __init__(self, connection, module_id=1):
        super().__init__(connection, module_id)
        self.name = "TMCM-6110"
        self.desc = self.__doc__
        self.motors = [self._MotorTypeA(self, 0), self._MotorTypeA(self, 1), self._MotorTypeA(self, 2),
                       self._MotorTypeA(self, 3), self._MotorTypeA(self, 4), self._MotorTypeA(self, 5)]

    def rotate(self, axis, velocity):
        self.connection.rotate(axis, velocity, self.module_id)

    def stop(self, axis):
        self.connection.stop(axis, self.module_id)

    def move_to(self, axis, position, velocity=None):
        if velocity:
            self.motors[axis].linear_ramp.max_velocity = velocity
        self.connection.move_to(axis, position, self.module_id)

    def move_by(self, axis, difference, velocity=None):
        if velocity:
            self.motors[axis].linear_ramp.max_velocity = velocity
        self.connection.move_by(axis, difference, self.module_id)

    class _MotorTypeA(MotorControlModule):
        def __init__(self, module, axis):
            MotorControlModule.__init__(self, module, axis, self.AP)
            self.drive_settings = DriveSettingModule(module, axis, self.AP)
            self.linear_ramp = LinearRampModule(module, axis, self.AP)
            self.stallguard2 = StallGuard2Module(module, axis, self.AP)
            self.coolstep = CoolStepModule(module, axis, self.AP, self.stallguard2)

        def get_position_reached(self):
            return self.get_axis_parameter(self.AP.PositionReachedFlag)

        class AP:
            TargetPosition              = 0
            ActualPosition              = 1
            TargetVelocity              = 2
            ActualVelocity              = 3
            MaxVelocity                 = 4
            MaxAcceleration             = 5
            MaxCurrent                  = 6
            StandbyCurrent              = 7
            PositionReachedFlag         = 8
            ReferenceSwitchStatus       = 9
            RightEndstop                = 10
            LeftEndstop                 = 11
            RightLimitSwitchDisable     = 12
            LeftLimitSwitchDisable      = 13
            MinimumSpeed                = 130
            ActualAcceleration          = 135
            RampType                    = 138
            MicrostepResolution         = 140
            ReferenceSwitchTolerance    = 141
            SoftStopFlag                = 149
            EndSwitchPowerDown          = 150
            RampDivisor                 = 153
            PulseDivisor                = 154
            Intpol                      = 160
            DoubleEdgeSteps             = 161
            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
            SlopeControlHighSide        = 175
            SlopeControlLowSide         = 176
            ShortToGroundProtection     = 177
            ShortDetectionTime          = 178
            VSense                      = 179
            SmartEnergyActualCurrent    = 180
            SmartEnergyStallVelocity    = 181
            SmartEnergyThresholdSpeed   = 182
            SmartEnergySlowRunCurrent   = 183
            RandomTOffMode              = 184
            ReferenceSearchMode         = 193
            ReferenceSearchSpeed        = 194
            ReferenceSwitchSpeed        = 195
            ReferenceSwitchDistance     = 196
            LastReferenceSwitchPosition = 197
            BoostCurrent                = 200
            FreewheelingDelay           = 204
            LoadValue                   = 206
            ExtendedErrorFlags          = 207
            DrvStatusFlags              = 208
            GroupIndex                  = 213
            PowerDownDelay              = 214
    
        class ENUM:
            microstep_resolution_fullstep       = 0
            microstep_resolution_halfstep       = 1
            microstep_resolution_4_microsteps   = 2
            microstep_resolution_8_microsteps   = 3
            microstep_resolution_16_microsteps  = 4
            microstep_resolution_32_microsteps  = 5
            microstep_resolution_64_microsteps  = 6
            microstep_resolution_128_microsteps = 7
            microstep_resolution_256_microsteps = 8

    class GP0:
        SerialBaudRate      = 65
        SerialAddress       = 66
        SerialHearbeat      = 68
        CANBitRate          = 69
        CANsendID           = 70
        CANreceiveID        = 71
        TelegramPauseTime   = 75
        SerialHostAddress   = 76
        AutoStartMode       = 77
        EndSwitchPolarity   = 79
        TMCLCodeProtection  = 81
        CANHeartbeat        = 82
        CANSecondaryAddress = 83
        eepromCoordinateStore          = 84
        zeroUserVariables              = 85
        serialSecondaryAddress         = 87
        reverseShaftDirection          = 90
        ApplicationStatus   = 128
        ProgramCounter      = 130
        TickTimer           = 132
        RandomNumber        = 133
        SuppressReply       = 255

    class GP3:
        timer_0                        = 0
        timer_1                        = 1
        timer_2                        = 2
        stopLeft_0                     = 27
        stopRight_0                    = 28
        stopLeft_1                     = 29
        stopRight_1                    = 30
        stopLeft_2                     = 31
        stopRight_2                    = 32
        stopLeft_3                     = 33
        stopRight_3                    = 34
        stopLeft_4                     = 35
        stopRight_4                    = 36
        stopLeft_5                     = 37
        stopRight_5                    = 38
        input_0                        = 39
        input_1                        = 40
        input_2                        = 41
        input_3                        = 42
        input_4                        = 43
        input_5                        = 44
        input_6                        = 45
        input_7                        = 46
    
    class IO:
        OUT0   = 0
        OUT1   = 1
        OUT2   = 2
        OUT3   = 3
        OUT4   = 4
        OUT5   = 5
        OUT6   = 6
        OUT7   = 7
        AIN0   = 0
        IN1    = 1
        IN2    = 2
        IN3    = 3
        AIN4   = 4
        IN5    = 5
        IN6    = 6
        IN7    = 7
        VIN    = 8