software/msp430-virtex2-motion/app/motion.c

   1 #include <stdio.h>
   2 #include <utils.h>
   3 #include <cmd_proc.h>
   4 #include <pxmc_cmds.h>
   5 #include <signal.h>
   6 #include "msp430.h"
   7
   8 #include "pxmc_virtex2.h"
   9
  10 #define MOTOR_VECTOR      0
  11
  12 interrupt(MOTOR_VECTOR) motor_isr() {
  13   pxmc_sfi_isr();
  14 }
  15
  16
  17 cmd_des_t const **cmd_list;
  18
  19 cmd_des_t const cmd_des_help={
  20     0, 0,
  21     "HELP","prints help for commands",
  22     cmd_do_help,{(char*)&cmd_list}};
  23
  24 int val;
  25 cmd_des_t const cmd_des_val={
  26     0, CDESM_OPCHR|CDESM_RW,
  27     "VAL","use ':' or '?' to store/read value of an integer variable",
  28     cmd_do_rw_int, {(char*)&val}};
  29
  30 cmd_des_t const cmd_des_halpos={0, CDESM_OPCHR|CDESM_RW,
  31         "HALPOS?","HAL phase",cmd_do_reg_short_val,
  32         {(char*)pxmc_state_offs(pxms_hal),
  33          0}};
  34
  35
  36
  37 int cmd_do_mccpwm(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
  38 {
  39     char *p;
  40     long val,angle;
  41     pxmc_state_t *mcs;
  42     if(*param[2]!=':') return -CMDERR_OPCHAR;
  43
  44     if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
  45
  46     p=param[3];
  47     if(si_long(&p,&val,0)<0) return -CMDERR_BADPAR;
  48     if(si_fndsep(&p,",")<0) return -CMDERR_BADSEP;
  49     if(si_long(&p,&angle,0)<0) return -CMDERR_BADPAR;
  50     si_skspace(&p);
  51     if(*p) return -CMDERR_GARBAG;
  52     printf("ptindx %d HAL %d\n\r",mcs->pxms_ptindx, pxmc_bdc_hal_rd(mcs));
  53     //printf("HAL position: %d\n",(char*)pxmc_state_offs(pxms_hal));
  54     pxmc_virtex2_set_valangle(mcs, val, angle);
  55
  56     return 0;
  57 }
  58
  59 cmd_des_t const cmd_des_mccpwm={0, CDESM_OPCHR|CDESM_RW,
  60         "MCCPWM?","set PWM vector value and angle",cmd_do_mccpwm,
  61         {0}};
  62
  63 /*cmd_des_t const cmd_des_db={0, CDESM_OPCHR,
  64         "DB","DB test",cmd_do_db,
  65         {0,
  66          0}};
  67 */
  68
  69
  70
  71 cmd_des_t const *cmd_pxmc_list[] = {
  72   &cmd_des_help,
  73   &cmd_des_val,
  74   &cmd_des_halpos,
  75   &cmd_des_mccpwm,
  76   CMD_DES_INCLUDE_SUBLIST(cmd_pxmc_base),
  77   CMD_DES_INCLUDE_SUBLIST(cmd_pxmc_deb),
  78   NULL
  79 };
  80
  81 cmd_des_t const **cmd_list = cmd_pxmc_list;
  82
  83 extern cmd_io_t cmd_io_std_line;
  84
  85 int main()
  86 {
  87   WDTCTL = WDTPW | WDTHOLD;
  88   puts("PXMC motion control running...\n");
  89
  90   pxmc_initialize();
  91
  92   eint();
  93
  94   while (1) {
  95     cmd_processor_run(&cmd_io_std_line, cmd_pxmc_list);
  96   }
  97 }