File syn_ramp.c¶

FileList > src > syntropic > util > syn_ramp.c

Ramp / motion profile generator implementation.

#include "../util/syn_assert.h"
#include "syn_ramp.h"
#include <string.h>

Public Functions¶

Type	Name
void	syn_ramp_init (SYN_Ramp * ramp, int32_t initial) Initialize ramp generator.
void	syn_ramp_jump (SYN_Ramp * ramp, int32_t value) Jump immediately to a value (no ramp).
void	syn_ramp_set_target (SYN_Ramp * ramp, int32_t target, int32_t rate) Set new target with linear ramp.
void	syn_ramp_set_target_trapezoid (SYN_Ramp * ramp, int32_t target, int32_t max_rate, int32_t accel) Set new target with trapezoidal ramp (acceleration/deceleration).
void	syn_ramp_set_target_trapezoid_fp (SYN_Ramp * ramp, int32_t target, int32_t max_rate, int32_t accel, uint8_t frac_bits) Set new target with fixed-point trapezoidal ramp.
int32_t	syn_ramp_update (SYN_Ramp * ramp) Update the ramp — call once per tick.

Public Static Functions¶

Type	Name
int32_t	update_linear (SYN_Ramp * ramp) Linear ramp step toward target.
int32_t	update_trapezoid (SYN_Ramp * ramp) Trapezoid ramp step toward target.

Public Functions Documentation¶

function syn_ramp_init¶

Initialize ramp generator.

void syn_ramp_init (
    SYN_Ramp * ramp,
    int32_t initial
)

Parameters:

ramp Ramp instance.
initial Starting value.

function syn_ramp_jump¶

Jump immediately to a value (no ramp).

void syn_ramp_jump (
    SYN_Ramp * ramp,
    int32_t value
)

Parameters:

ramp Ramp instance.
value Value to jump to.

function syn_ramp_set_target¶

Set new target with linear ramp.

void syn_ramp_set_target (
    SYN_Ramp * ramp,
    int32_t target,
    int32_t rate
)

Parameters:

ramp Ramp instance.
target Desired final value.
rate Max change per update call (always positive).

function syn_ramp_set_target_trapezoid¶

Set new target with trapezoidal ramp (acceleration/deceleration).

void syn_ramp_set_target_trapezoid (
    SYN_Ramp * ramp,
    int32_t target,
    int32_t max_rate,
    int32_t accel
)

Parameters:

ramp Ramp instance.
target Desired final value.
max_rate Max velocity (units/tick).
accel Acceleration (units/tick²). Controls smoothness.

function syn_ramp_set_target_trapezoid_fp¶

Set new target with fixed-point trapezoidal ramp.

void syn_ramp_set_target_trapezoid_fp (
    SYN_Ramp * ramp,
    int32_t target,
    int32_t max_rate,
    int32_t accel,
    uint8_t frac_bits
)

Like syn_ramp_set_target_trapezoid(), but velocity and acceleration are in Qfrac_bits fixed-point. This allows sub-unit-per-tick resolution for smooth motion at high update rates.

Parameters:

ramp Ramp instance.
target Desired final value (integer, not fixed-point).
max_rate Max velocity in Qfrac_bits (e.g., Q8).
accel Acceleration in Qfrac_bits.
frac_bits Number of fractional bits (e.g., 8 for Q8).

function syn_ramp_update¶

Update the ramp — call once per tick.

int32_t syn_ramp_update (
    SYN_Ramp * ramp
)

Parameters:

ramp Ramp instance.

Returns:

Current output value.

Public Static Functions Documentation¶

function update_linear¶

Linear ramp step toward target.

static int32_t update_linear (
    SYN_Ramp * ramp
)

Parameters:

ramp Ramp instance.

Returns:

Current ramp value.

function update_trapezoid¶

Trapezoid ramp step toward target.

static int32_t update_trapezoid (
    SYN_Ramp * ramp
)

Supports fixed-point velocity/accel when frac_bits > 0. Velocity and accel are in Qfrac_bits format. Position is integer; a fractional accumulator carries sub-unit remainder.

Parameters:

ramp Ramp instance.

Returns:

Current ramp value (integer position).

The documentation for this class was generated from the following file src/syntropic/util/syn_ramp.c