The left-back recently spent three months on the sidelines with damaged ankle ligaments but he has now made a full recovery.
The Irishman was a first-half replacement for Matthew Bates in the Robins' 2-0 home defeat to Derby on Saturday and is now looking to help his team-mates turn around their recent fortunes as they face the prospect of four games in 11 days.
Cunningham told the club's official website: "I want to get back to the level of performance I was showing before my injury. I trained the week before the Derby game but I did feel a bit rusty out there.
"The result was obviously disappointing because we wanted to push on from the win at Sheffield Wednesday.
"We created a few chances but it just didn't go for us. We have to forget about the defeat and move on to what is a big game against Ipswich.
"The Christmas period is always hectic as a footballer with games coming thick and fast, but it will obviously be good for me to get some more game time and hopefully the team will get back to winning ways.
"We need to try and get as many points on the board as possible so we can move away from the relegation zone because we don't want to be there."