X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;ds=sidebyside;f=bertos%2Falgo%2Framp.h;h=ad3c9197561331f0b35c63786e5b80801faca1d4;hb=f8e4f3c7c1fec67b18126ee082f964cf9ceb14c7;hp=f438dc5ebe1d7574566f85a16af5503731b745f5;hpb=791e167e053bdd9250d34a9a5ccae6ccde4d6679;p=bertos.git

diff --git a/bertos/algo/ramp.h b/bertos/algo/ramp.h
index f438dc5e..ad3c9197 100644
--- a/bertos/algo/ramp.h
+++ b/bertos/algo/ramp.h
@@ -1,4 +1,3 @@
-
 /**
  * \file
  * <!--
@@ -6,13 +5,7 @@
  * All Rights Reserved.
  * -->
  *
- * \brief Compute, save and load ramps for stepper motors (interace)
- *
- * \version $Id$
- *
- * \author Simone Zinanni <s.zinanni@develer.com>
- * \author Giovanni Bajo <rasky@develer.com>
- * \author Daniele Basile <asterix@develer.com>
+ * \brief Compute, save and load ramps for stepper motors.
  *
  * The acceleration ramp is used to properly accelerate a stepper motor. The main
  * entry point is the function ramp_evaluate(), which must be called at every step
@@ -44,54 +37,23 @@
  * for DSP56000 (but a portable C version of it can be easily written, see the
  * comments in the code).
  *
+ *
+ * \author Simone Zinanni <s.zinanni@develer.com>
+ * \author Giovanni Bajo <rasky@develer.com>
+ * \author Daniele Basile <asterix@develer.com>
+ *
+ * $WIZ$ module_name = "ramp"
+ * $WIZ$ module_configuration = "bertos/cfg/cfg_ramp.h"
  */
 
 #ifndef ALGO_RAMP_H
 #define ALGO_RAMP_H
 
-#include <cfg/compiler.h>
-#include "hw_stepper.h"
-
-/**
- * Define whether the ramp will use floating point calculation within ramp_evaluate().
- * Otherwise, a less precise fixed point version will be used, which is faster on
- * platforms which do no support floating point operations.
- *
- * \note Floating point operations will be always done within ramp_compute() to
- * precalculate values, so there has to be at least a floating point emulation support.
- */
-#define RAMP_USE_FLOATING_POINT   0
-
-
-#if !RAMP_USE_FLOATING_POINT
-
-	/**
-	 * Number of least-significant bits which are stripped away during ramp evaluation.
-	 * This setting allows to specify larger ramps at the price of less precision.
-	 *
-	 * The maximum ramp size allowed is 2^(24 + RAMP_CLOCK_SHIFT_PRECISION), in clocks.
-	 * For instance, using RAMP_CLOCK_SHIFT_PRECISION 1, and a 8x prescaler, the maximum
-	 * length of a ramp is about 6.7 secs. Raising RAMP_CLOCK_SHIFT_PRECISION to 2
-	 * brings the maximum length to 13.4 secs, at the price of less precision.
-	 *
-	 * ramp_compute() will check that the length is below the maximum allowed through
-	 * a runtime assertion.
-	 *
-	 * \note This macro is used only for the fixed-point version of the ramp.
-	 */
-	#define RAMP_CLOCK_SHIFT_PRECISION 2
-#endif
+#include "hw/hw_stepper.h"
 
+#include "cfg/cfg_ramp.h"
 
-///< Negative pulse width for ramp
-#define RAMP_PULSE_WIDTH    50
-
-///< Default ramp
-#define RAMP_DEF_TIME       6000000 ///< microsecs
-#define RAMP_DEF_MAXFREQ       5000 ///< Hz
-#define RAMP_DEF_MINFREQ        200 ///< Hz
-#define RAMP_DEF_POWERRUN        10 ///< 10 deciampere (1 ampere)
-#define RAMP_DEF_POWERIDLE        1 ///< 1 deciampere
+#include <cfg/compiler.h>
 
 
 /**
@@ -114,7 +76,10 @@
  */
 #define FREQ2MICROS(hz) (1000000UL / ((uint32_t)(hz)))
 
-
+/**
+ * Multiply \p a and \p b two integer at 32 bit and extract the high 16 bit word.
+ */
+#define FIX_MULT32(a,b)  (((uint64_t)(a)*(uint32_t)(b)) >> 16)
 
 /**
  * Structure holding pre-calculated data for speeding up real-time evaluation
@@ -193,7 +158,9 @@ void ramp_default(struct Ramp *ramp);
 
 
 /** Self test */
-void ramp_test(void);
+int ramp_testSetup(void);
+int ramp_testRun(void);
+int ramp_testTearDown(void);
 
 #endif /* ALGO_RAMP_H */