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TMC2209/lib/tmc/ramp/Ramp.h

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