refactor: move ramp implementation to fas_ramp/ subdirectory

Hide internal ramp generator, calculator and control headers from
public API by moving them to src/fas_ramp/. This reduces the visible
definitions in the public header to the minimum.

Author: gin66

CMakeLists.txt

@@ -1,6 +1,6 @@
 idf_component_register(
-    SRC_DIRS "src" "src/pd_esp32"
-    INCLUDE_DIRS "src" "src/pd_esp32"
+    SRC_DIRS "src" "src/pd_esp32" "src/fas_ramp"
+    INCLUDE_DIRS "src" "src/pd_esp32" "src/fas_ramp"
     REQUIRES 
         esp_driver_gpio
         esp_driver_rmt

extras/tests/pc_based/Makefile

@@ -19,7 +19,7 @@ ramp_helper.o: ramp_helper.cpp $(SRC_LIB_H) stubs.h
 	g++ -c $(CXXFLAGS) -o $@ $<
 
 LIB_H=FastAccelStepper.h Log2Representation.h StepperISR.h \
-	  RampGenerator.h RampControl.h RampCalculator.h \
+	  fas_ramp/RampGenerator.h fas_ramp/RampControl.h fas_ramp/RampCalculator.h \
 	  fas_arch/common.h fas_queue/base.h pd_test/test_queue.h
 LIB_O=FastAccelStepper.o Log2Representation.o StepperISR_test.o \
 	  RampGenerator.o RampControl.o RampCalculator.o StepperISR.o
@@ -36,21 +36,21 @@ log2_test: log2_test.o Log2Representation.o
 log2_test.o: log2_test.cpp $(PRJ_ROOT)/src/Log2Representation.h stubs.h test_03.h
 
 rmc_test: rmc_test.o Log2Representation.o RampCalculator.o
-rmc_test.o: rmc_test.cpp $(PRJ_ROOT)/src/Log2Representation.h $(PRJ_ROOT)/src/RampCalculator.h stubs.h test_03.h
+rmc_test.o: rmc_test.cpp $(PRJ_ROOT)/src/Log2Representation.h $(PRJ_ROOT)/src/fas_ramp/RampCalculator.h stubs.h test_03.h
 
 FastAccelStepper.o: $(PRJ_ROOT)/src/FastAccelStepper.cpp $(SRC_LIB_H)
 	$(COMPILE.cpp) $< -o $@
 
 Log2Representation.o: $(PRJ_ROOT)/src/Log2Representation.cpp $(PRJ_ROOT)/src/Log2Representation.h
 	$(COMPILE.cpp) $< -o $@
 
-RampGenerator.o: $(PRJ_ROOT)/src/RampGenerator.cpp $(SRC_LIB_H)
+RampGenerator.o: $(PRJ_ROOT)/src/fas_ramp/RampGenerator.cpp $(SRC_LIB_H)
 	$(COMPILE.cpp) $< -o $@
 
-RampControl.o: $(PRJ_ROOT)/src/RampControl.cpp $(SRC_LIB_H)
+RampControl.o: $(PRJ_ROOT)/src/fas_ramp/RampControl.cpp $(SRC_LIB_H)
 	$(COMPILE.cpp) $< -o $@
 
-RampCalculator.o: $(PRJ_ROOT)/src/RampCalculator.cpp $(SRC_LIB_H)
+RampCalculator.o: $(PRJ_ROOT)/src/fas_ramp/RampCalculator.cpp $(SRC_LIB_H)
 	$(COMPILE.cpp) $< -o $@
 
 StepperISR.o: $(PRJ_ROOT)/src/StepperISR.cpp $(SRC_LIB_H)

extras/tests/pc_based/rmc_test.cpp

@@ -3,7 +3,7 @@
 #include <stdio.h>
 #include <stdlib.h>
 
-#include "RampCalculator.h"
+#include "fas_ramp/RampCalculator.h"
 
 // Not a real test case
 

src/FastAccelStepper.h

@@ -225,7 +225,7 @@ class FastAccelStepperEngine {
 // and until the stepper task is serviced. The stepper task will then
 // control the direction flags
 
-#include "RampGenerator.h"
+#include "fas_ramp/RampGenerator.h"
 
 //
 // ## Timing values - Architecture dependent

src/RampCalculator.cpp src/fas_ramp/RampCalculator.cppsrc/RampCalculator.cpp renamed to src/fas_ramp/RampCalculator.cpp

@@ -1,4 +1,4 @@
-#include "RampCalculator.h"
+#include "fas_ramp/RampCalculator.h"
 
 #include <math.h>
 

src/RampCalculator.h src/fas_ramp/RampCalculator.hsrc/RampCalculator.h renamed to src/fas_ramp/RampCalculator.h

@@ -3,7 +3,7 @@
 #include "FastAccelStepper.h"
 #include "StepperISR.h"
 
-#include "RampControl.h"
+#include "fas_ramp/RampControl.h"
 #include "fas_arch/common.h"
 
 #ifdef SUPPORT_LOG2_TIMER_FREQ_VARIABLES
@@ -26,7 +26,7 @@ void init_ramp_module() {
 // #define TRACE
 #ifdef TRACE
 #ifdef TEST
-#define TRACE_OUTPUT(x) printf(": %c \n",x)
+#define TRACE_OUTPUT(x) printf(": %c \n", x)
 #endif
 #else
 #define TRACE_OUTPUT(x)
@@ -182,8 +182,8 @@ void _getNextCommand(const struct ramp_ro_s* ramp, const struct ramp_rw_s* rw,
         uint32_t possible_coast_steps =
             (remaining_steps - performed_ramp_up_steps) >> 2;
 #ifdef TEST
-            printf("possible coast steps %d, prus=%d\n", possible_coast_steps,
-                   performed_ramp_up_steps);
+        printf("possible coast steps %d, prus=%d\n", possible_coast_steps,
+               performed_ramp_up_steps);
 #endif
         if ((possible_coast_steps > 0) && (possible_coast_steps <= 510)) {
           // curr_ticks is not necessarily correct due to speed increase
@@ -192,7 +192,8 @@ void _getNextCommand(const struct ramp_ro_s* ramp, const struct ramp_rw_s* rw,
             TRACE_OUTPUT('l');
             this_state = RAMP_STATE_COAST;
 #ifdef TEST
-            printf("high speed coast %d %d coast_time=%d\n", possible_coast_steps,
+            printf("high speed coast %d %d coast_time=%d\n",
+                   possible_coast_steps,
                    remaining_steps - performed_ramp_up_steps, coast_time);
 #endif
           }

src/RampControl.cpp src/fas_ramp/RampControl.cppsrc/RampControl.cpp renamed to src/fas_ramp/RampControl.cpp

@@ -1,6 +1,7 @@
 #ifndef RAMP_CONTROL_H
 #define RAMP_CONTROL_H
 
+#include "fas_ramp/RampCalculator.h"
 #include "fas_arch/common.h"
 
 struct ramp_ro_s {

src/RampControl.h src/fas_ramp/RampControl.hsrc/RampControl.h renamed to src/fas_ramp/RampControl.h

@@ -1,7 +1,7 @@
 #include <stdint.h>
 
 #include "FastAccelStepper.h"
-#include "RampGenerator.h"
+#include "fas_ramp/RampGenerator.h"
 #include "StepperISR.h"
 
 // This define in order to not shoot myself.

src/RampGenerator.cpp src/fas_ramp/RampGenerator.cppsrc/RampGenerator.cpp renamed to src/fas_ramp/RampGenerator.cpp

@@ -1,8 +1,8 @@
 #ifndef RAMP_GENERATOR_H
 #define RAMP_GENERATOR_H
 
-#include "RampCalculator.h"
-#include "RampControl.h"
+#include "fas_ramp/RampCalculator.h"
+#include "fas_ramp/RampControl.h"
 #include "fas_arch/common.h"
 
 class FastAccelStepper;