X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=bertos%2Falgo%2Framp.h;h=2ec9018af3d9f27c3b58b1c5f54ca27fcd75a6b2;hb=c9548deb3275b044cd5f4fbc941598a7a442b836;hp=f438dc5ebe1d7574566f85a16af5503731b745f5;hpb=791e167e053bdd9250d34a9a5ccae6ccde4d6679;p=bertos.git

diff --git a/bertos/algo/ramp.h b/bertos/algo/ramp.h
index f438dc5e..2ec9018a 100644
--- a/bertos/algo/ramp.h
+++ b/bertos/algo/ramp.h
@@ -49,8 +49,9 @@
 #ifndef ALGO_RAMP_H
 #define ALGO_RAMP_H
 
+#include "hw/hw_stepper.h"
+
 #include <cfg/compiler.h>
-#include "hw_stepper.h"
 
 /**
  * Define whether the ramp will use floating point calculation within ramp_evaluate().
@@ -114,7 +115,10 @@
  */
 #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 +197,9 @@ 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 */