/**
 * Marlin 3D Printer Firmware
 * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
 *
 * Based on Sprinter and grbl.
 * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
 *
 * This program 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.
 *
 * This program 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 this program.  If not, see <https://www.gnu.org/licenses/>.
 *
 */

#include "../../../inc/MarlinConfig.h"

#if HAS_TRINAMIC_CONFIG

#include "../../gcode.h"
#include "../../../feature/tmc_util.h"
#include "../../../module/stepper/indirection.h" // for restore_stepper_drivers

#if AXIS_COLLISION('I')
  #warning "M122 parameter 'I' collision with axis name."
#endif
#if AXIS_COLLISION('V')
  #warning "M122 parameter 'V' collision with axis name."
#endif

/**
 * M122: Debug TMC drivers
 *
 *   I             - Flag to re-initialize stepper drivers with current settings.
 *   X, Y, Z ... E - Flags to only report the specified axes.
 *
 * With TMC_DEBUG:
 *   V     - Report raw register data. Refer to the datasheet to decipher the report.
 *   S0    - Disable continuous debug reporting.
 *   S1    - Enable continuous debug reporting with the default interval.
 *   P<ms> - Enable continuous debug reporting with the given interval in ms.
 */
void GcodeSuite::M122() {
  xyze_bool_t print_axis = ARRAY_N_1(LOGICAL_AXES, false);

  bool print_all = true;
  LOOP_LOGICAL_AXES(i) if (parser.seen_test(AXIS_CHAR(i))) { print_axis[i] = true; print_all = false; }
  if (print_all) LOOP_LOGICAL_AXES(i) print_axis[i] = true;

  if (parser.boolval('I')) restore_stepper_drivers();

  #if ENABLED(TMC_DEBUG)
    #if ENABLED(MONITOR_DRIVER_STATUS)
      if (parser.seenval('S') && !parser.value_bool()) { // "S0"
        tmc_set_report_interval(0);
        return;
      }
      else if (parser.seenval('P')) { // "P<ms>"
        tmc_set_report_interval(_MAX(uint16_t(250), parser.value_ushort()));
        return;
      }
      else if (parser.boolval('S')) { // "S" or "S1"
        tmc_set_report_interval(MONITOR_DRIVER_STATUS_INTERVAL_MS);
        return;
      }
    #endif

    if (parser.seen_test('V'))
      tmc_get_registers(LOGICAL_AXIS_ELEM_LC(print_axis));
    else
      tmc_report_all(LOGICAL_AXIS_ELEM_LC(print_axis));
  #endif

  test_tmc_connection(LOGICAL_AXIS_ELEM_LC(print_axis));
}

#endif // HAS_TRINAMIC_CONFIG
