#ifndef _CONFIG_H_
#define _CONFIG_H_

/***************************************
 ********** Firmware Settings **********
 ***************************************/

#define FIRMWARE_VERSION "0.1"

#define LED_BLINK_INTERVAL 1000
#define DEBOUNCE_DELAY 50

#define ENCODER_CLICK_BEEP_FREQ 2000
#define ENCODER_CLICK_BEEP_TIME 50

#define HOMING_BEEP_FREQ 3000
#define HOMING_BEEP_TIME 100

#define KILL_BEEP_FREQ 3000
#define KILL_BEEP_TIME 100
#define KILL_BEEP_REPEAT 5

/***************************************
 ********** Hardware Settings **********
 ***************************************/

// xy steps per mm
#define XY_BELT_PITCH 2.0
#define XY_PULLEY_TEETH 40.0
#define XY_MICRO_STEPS 16.0
#define XY_MOTOR_STEPS_PER_REV (200.0 * XY_MICRO_STEPS)
#define XY_STEPS_PER_MM (XY_MOTOR_STEPS_PER_REV / XY_PULLEY_TEETH / XY_BELT_PITCH)

// z steps per mm
#define Z_ROD_PITCH 2.0
#define Z_MICRO_STEPS 16.0
#define Z_MOTOR_STEPS_PER_REV (200.0 * Z_MICRO_STEPS)
#define Z_STEPS_PER_MM (Z_MOTOR_STEPS_PER_REV / Z_ROD_PITCH)

// e steps per mm
// 1/2 turn of output is movement range
// gear box factor 3:1 output:input
// 3/2 turns of motor equals 100% movement
// (16 * 200) = 3200 steps for motor turn
// 3200 * 3 / 2 = 4800 steps for 3/2 turn
// 4800 / 100 = 48 steps for one percent of movement
#define GEARBOX_MULT 3
#define OUTPUT_TURN_DIV 2
#define E_MICRO_STEPS 16.0
#define E_MOTOR_STEPS_PER_REV (200.0 * E_MICRO_STEPS)
#define E_STEPS_PER_PERCENT (E_MOTOR_STEPS_PER_REV * GEARBOX_MULT / OUTPUT_TURN_DIV / 100.0)

// travel lengths
#define X_AXIS_MIN -5.0 // in mm
#define X_AXIS_MAX 260.0 // in mm
#define Y_AXIS_MIN -5.0 // in mm
#define Y_AXIS_MAX 360.0 // in mm
#define Z_AXIS_MIN 0.0 // TODO in mm
#define Z_AXIS_MAX 100.0 // TODO in mm
#define E_AXIS_MIN 0.0 // in mm
#define E_AXIS_MAX 6.0 // in mm

//   0 degree =   0 percent =  pi = 0mm
// 180 degree = 100 percent = 2pi = 6mm
// (cos(pi + x / 100 * pi) + 1) / 2 * 6mm
#define E_PERCENT_TO_MM(x) ((cos(PI + (x * PI / 100.0)) + 1.0) / 2.0 * E_AXIS_MAX)
#define E_MM_TO_PERCENT(x) ((acos((x * 2.0 / E_AXIS_MAX) - 1.0) - PI) * 100.0 / PI)

// maximum speeds
#define XY_MAX_SPEED 50.0 // in mm/s
#define Z_MAX_SPEED 20.0 // in mm/s
#define E_MAX_SPEED 50.0 // in percent/s

// homing speeds
#define XY_FAST_HOME_SPEED 25.0 // in mm/s
#define XY_SLOW_HOME_SPEED 5.0 // in mm/s
#define Z_FAST_HOME_SPEED 5.0 // in mm/s
#define Z_SLOW_HOME_SPEED 1.0 // in mm/s
#define E_FAST_HOME_SPEED 10.0 // in percent/s
#define E_SLOW_HOME_SPEED 2.0 // in percent/s

// accelerations
#define XY_MAX_ACCEL 100.0 // in mm/s^2
#define Z_MAX_ACCEL 50.0 // in mm/s^2
#define E_MAX_ACCEL 1000.0 // in percent/s^2

// axis movement directions (1.0 normal, -1.0 inverted)
#define X_AXIS_MOVEMENT_DIR 1.0
#define Y_AXIS_MOVEMENT_DIR 1.0
#define Z_AXIS_MOVEMENT_DIR 1.0
#define E_AXIS_MOVEMENT_DIR 1.0

// homing back-off
#define XY_BACK_OFF_DISTANCE 5.0 // in mm
#define Z_BACK_OFF_DISTANCE 2.0 // in mm
#define E_BACK_OFF_DISTANCE 1.0 // in mm

#define XY_HOME_BACK_OFF_TIME (XY_BACK_OFF_DISTANCE / XY_FAST_HOME_SPEED * 1000)
#define Z_HOME_BACK_OFF_TIME (Z_BACK_OFF_DISTANCE / Z_FAST_HOME_SPEED * 1000)
#define E_HOME_BACK_OFF_TIME (E_BACK_OFF_DISTANCE / E_FAST_HOME_SPEED * 1000)

// epsilon around expected endstop position where we dont abort on hits
#define X_AXIS_EPSILON 20.0 // TODO
#define Y_AXIS_EPSILON 20.0 // TODO
#define Z_AXIS_EPSILON 1.0
#define E_AXIS_EPSILON 1.0

#define ENCODER_RPM_VALUE_FACTOR 10.0

#endif // _CONFIG_H_