#ifndef FTW_CONSTANTS_H
#define FTW_CONSTANTS_H

/* -------------------------------------------------------------------------
   Serial
   ------------------------------------------------------------------------- */
#define BAUD_RATE                   115200

/* -------------------------------------------------------------------------
   SPI
   The TMC5160 supports up to ~4 MHz. DIV4 on a 16 MHz Arduino = 4 MHz.
   ------------------------------------------------------------------------- */
#define SPI_CLOCK_DIV               SPI_CLOCK_DIV4

/* -------------------------------------------------------------------------
   Motor driver — shared by both axes
   ------------------------------------------------------------------------- */
#define ACCELERATION                20000   // counts/s² — used for A1, AMAX, DMAX, D1 (flat ramp profile)
#define ENC_DEVIATION_LIMIT         1500    // max allowed |XACTUAL - XENC| before DEVIATION_WARN fires
#define ENC_CONST                   0x000C1F40  // encoder resolution constant (counts per electrical cycle)
#define ENCMODE_DECIMAL             0x400       // encoder counting mode: decimal (as opposed to binary)

/* -------------------------------------------------------------------------
   Yaw axis
   ------------------------------------------------------------------------- */
#define YAW_STEPS_PER_ROUND         177000  // encoder counts per full mechanical revolution
#define YAW_GEAR_RATIO              739.5555f
#define YAW_GLOBAL_SCALER           80      // scales peak coil current (0–255); lower = less current
#define YAW_DEFAULT_XACTUAL         0x0007A120  // initial value written to XACTUAL on reset
#define YAW_ENDSTOP_SPEED           25000   // velocity used when driving toward a limit during homing
#define YAW_DEFAULT_VMAX            50000   // normal operating speed

/* -------------------------------------------------------------------------
   Pitch axis
   ------------------------------------------------------------------------- */
#define PITCH_STEPS_PER_ROUND       500000
#define PITCH_GEAR_RATIO            739.5555f
#define PITCH_GLOBAL_SCALER         50      // pitch motor runs at lower current than yaw
#define PITCH_DEFAULT_XACTUAL       500000
#define PITCH_ENDSTOP_SPEED         150000  // pitch can home faster because it uses physical switches
#define PITCH_DEFAULT_VMAX          250000

/* -------------------------------------------------------------------------
   Homing
   ------------------------------------------------------------------------- */
// After homing, this many encoder counts are kept as a margin inside each limit
// so normal operation never commands the axis right to the mechanical stop.
#define HOMING_XENC_MARGIN              1000

// If the measured travel between endstops is less than
// (steps_per_round - HOMING_MIN_ROUND_DIFF_OFFSET), homing is declared failed.
// The offset accounts for the margin on each side plus mechanical tolerance.
#define HOMING_MIN_ROUND_DIFF_OFFSET    6000

#define HOMING_DELAY_MS                 10      // settle time after an endstop fires before reading XLATCH
#define HOMING_PITCH_INITIAL_DELAY      1000    // time to back off a switch before starting the pitch sequence
#define HOMING_YAW_TIMEOUT_MS           2000    // pause between yaw right-pass and left-pass (deceleration time)

#define HOMING_SGT_THRESHOLD            60      // stallGuard threshold during homing (high = only triggers on hard stop)
#define HOMING_YAW_SPEED                30000   // speed used during the yaw homing passes
#define HOMING_PITCH_SPEED              30000   // speed used during the pitch homing passes
#define HOMING_YAW_CENTER_SPEED         35000   // speed for the post-homing move to centre (yaw)
#define HOMING_PITCH_CENTER_SPEED       150000  // speed for the post-homing move to centre (pitch)

/* -------------------------------------------------------------------------
   Thermal
   ------------------------------------------------------------------------- */
#define THERMAL_FAN_ON_TEMP         25      // °C threshold below which the fan stays off
#define THERMAL_FAN_GAIN            20      // PWM counts per °C above threshold
#define THERMAL_FAN_MAX_PWM         255     // PWM ceiling (full speed)
#define THERMAL_FAN_PULSE_US        100000  // timeout for pulseIn() on the fan tachometer signal
#define THERMAL_FAN_FREQ_DIV        0.004f  // unused — reserved for frequency calculation
#define THERMAL_LOOP_INTERVAL       250     // ms between thermal samples (DHT11 max ~1 Hz)

/* -------------------------------------------------------------------------
   Main loop
   ------------------------------------------------------------------------- */
#define INFO_PRINT_INTERVAL_MS      250     // ms between Serial status prints

#endif