41 lines
1.6 KiB
C
41 lines
1.6 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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#ifndef TMC_RAMP_RAMP_H_
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#define TMC_RAMP_RAMP_H_
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#include "LinearRamp1.h"
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typedef enum {
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TMC_RAMP_TYPE_LINEAR
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} TMC_RampType;
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// Initializes ramp parameters for given type
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void tmc_ramp_init(void *ramp, TMC_RampType type);
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// Computes new ramp state after delta ticks have passed
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// Note: To call this function periodically with a fixed delta-time, use delta = 1 and
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// define the units of acceleration as v/delta-time. If you want to specify a different unit,
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// change delta to your preference.
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// Returns the position difference of the calculation.
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int32_t tmc_ramp_compute(void *ramp, TMC_RampType type, uint32_t delta);
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// Returns the current ramp velocity computed by the given ramp
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int32_t tmc_ramp_get_rampVelocity(void *ramp, TMC_RampType type);
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// Returns the current ramp position computed by the given ramp
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int32_t tmc_ramp_get_rampPosition(void *ramp, TMC_RampType type);
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// Enable/disable ramps
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bool tmc_ramp_get_enabled(void *ramp, TMC_RampType type);
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void tmc_ramp_set_enabled(void *ramp, TMC_RampType type, bool enabled);
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void tmc_ramp_toggle_enabled(void *ramp, TMC_RampType type);
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#endif /* TMC_RAMP_RAMP_H_ */
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