Initial commit

TMC2209/lib/tmc/ramp/Ramp.c

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