92 lines
2.0 KiB
C
92 lines
2.0 KiB
C
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/*******************************************************************************
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* Copyright © 2018 TRINAMIC Motion Control GmbH & Co. KG
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* (now owned by Analog Devices Inc.),
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*
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* Copyright © 2023 Analog Devices Inc. All Rights Reserved. This software is
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* proprietary & confidential to Analog Devices, Inc. and its licensors.
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*******************************************************************************/
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#include "Ramp.h"
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void tmc_ramp_init(void *ramp, TMC_RampType type)
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{
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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default:
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tmc_ramp_linear_init((TMC_LinearRamp *)ramp);
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break;
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}
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}
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int32_t tmc_ramp_compute(void *ramp, TMC_RampType type, uint32_t delta)
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{
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uint32_t i;
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int32_t dxSum = 0;
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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default:
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for (i = 0; i < delta; i++)
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{
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dxSum += tmc_ramp_linear_compute((TMC_LinearRamp *)ramp);
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}
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break;
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}
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return dxSum;
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}
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int32_t tmc_ramp_get_rampVelocity(void *ramp, TMC_RampType type)
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{
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int32_t v = 0;
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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v = tmc_ramp_linear_get_rampVelocity((TMC_LinearRamp *)ramp);
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break;
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}
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return v;
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}
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int32_t tmc_ramp_get_rampPosition(void *ramp, TMC_RampType type)
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{
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int32_t x = 0;
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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x = tmc_ramp_linear_get_rampPosition((TMC_LinearRamp *)ramp);
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break;
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}
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return x;
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}
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bool tmc_ramp_get_enabled(void *ramp, TMC_RampType type)
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{
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bool enabled = false;
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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enabled = tmc_ramp_linear_get_enabled((TMC_LinearRamp *)ramp);
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break;
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}
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return enabled;
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}
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void tmc_ramp_set_enabled(void *ramp, TMC_RampType type, bool enabled)
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{
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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default:
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tmc_ramp_linear_set_enabled((TMC_LinearRamp *)ramp, enabled);
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break;
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}
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}
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void tmc_ramp_toggle_enabled(void *ramp, TMC_RampType type)
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{
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switch(type) {
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case TMC_RAMP_TYPE_LINEAR:
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default:
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tmc_ramp_linear_set_enabled((TMC_LinearRamp *)ramp, !tmc_ramp_get_enabled(ramp, type));
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break;
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}
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}
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