henrik
will this profile generator acutally "control" the motor or just output pulses/dir to another step /dir controller ?
I'm thinking in the later case you have would heaps of time to do the sums and design a profile and then just output the pulses when prepared.
to accelerate just decrement/increment the pulse interval by a fixed amount , the first and last few pulses and maybe even the transition to constant velocity could all be given special treatment. that treatment would need to be customised for motor/load/inertia as would max velocity and acceleration. bit like mach3 in a pic ?