ramp.h

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#ifndef ALGO_RAMP_H
#define ALGO_RAMP_H

#include "hw/hw_stepper.h"

#include <cfg/compiler.h>

#define RAMP_USE_FLOATING_POINT   0


#if !RAMP_USE_FLOATING_POINT

    #define RAMP_CLOCK_SHIFT_PRECISION 2
#endif


#define RAMP_PULSE_WIDTH    50

#define RAMP_DEF_TIME       6000000 
#define RAMP_DEF_MAXFREQ       5000 
#define RAMP_DEF_MINFREQ        200 
#define RAMP_DEF_POWERRUN        10 
#define RAMP_DEF_POWERIDLE        1 


#define TIME2CLOCKS(micros) ((uint32_t)(micros) * (STEPPER_CLOCK / 1000000))

#define CLOCKS2TIME(clocks) ((uint32_t)(clocks) / (STEPPER_CLOCK / 1000000))

#define MICROS2FREQ(micros) (1000000UL / ((uint32_t)(micros)))

#define FREQ2MICROS(hz) (1000000UL / ((uint32_t)(hz)))

#define FIX_MULT32(a,b)  (((uint64_t)(a)*(uint32_t)(b)) >> 16)

struct RampPrecalc
{
#if RAMP_USE_FLOATING_POINT
    float beta;
    float alpha;
    float gamma;
#else
    uint16_t max_div_min;
    uint32_t inv_total_time;
#endif
};


struct Ramp
{
    uint32_t clocksRamp;
    uint16_t clocksMinWL;
    uint16_t clocksMaxWL;

    struct RampPrecalc precalc; 
};


/*
 * Function prototypes
 */
void ramp_compute(
    struct Ramp * ramp,
    uint32_t clocksInRamp,
    uint16_t clocksInMinWavelength,
    uint16_t clocksInMaxWavelength);


void ramp_setup(struct Ramp* ramp, uint32_t length, uint32_t minFreq, uint32_t maxFreq);


void ramp_default(struct Ramp *ramp);


#if RAMP_USE_FLOATING_POINT
    float ramp_evaluate(const struct Ramp* ramp, float curClock);
#else
    uint16_t ramp_evaluate(const struct Ramp* ramp, uint32_t curClock);
#endif


int ramp_testSetup(void);
int ramp_testRun(void);
int ramp_testTearDown(void);

#endif /* ALGO_RAMP_H */