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

   1 #include <stdio.h>
   2 #include <cmd_proc.h>
   3 #include <pxmc_cmds.h>
   4 #include <signal.h>
   5 #include "pxmc_virtex2.h"
   6
   7 #define MOTOR_VECTOR      0
   8
   9 interrupt(MOTOR_VECTOR) motor_isr() {
  10   pxmc_sfi_isr();
  11 }
  12
  13
  14 cmd_des_t const **cmd_list;
  15
  16 cmd_des_t const cmd_des_help={
  17     0, 0,
  18     "HELP","prints help for commands",
  19     cmd_do_help,{(char*)&cmd_list}};
  20
  21 int val;
  22 cmd_des_t const cmd_des_val={
  23     0, CDESM_OPCHR|CDESM_RW,
  24     "VAL","use ':' or '?' to store/read value of an integer variable",
  25     cmd_do_rw_int, {(char*)&val}};
  26
  27
  28
  29 cmd_des_t const *cmd_pxmc_list[] = {
  30   &cmd_des_help,
  31   &cmd_des_val,
  32   CMD_DES_INCLUDE_SUBLIST(cmd_pxmc_base),
  33   CMD_DES_INCLUDE_SUBLIST(cmd_pxmc_deb),
  34   NULL
  35 };
  36
  37 cmd_des_t const **cmd_list = cmd_pxmc_list;
  38
  39
  40 extern pxmc_state_t *pxmc_main_arr[];
  41
  42 pxmc_state_list_t  pxmc_main_list={
  43   pxml_arr:pxmc_main_arr,
  44   pxml_cnt:0
  45 };
  46
  47
  48 extern cmd_io_t cmd_io_std_line;
  49
  50 int main()
  51 {
  52   pxmc_initialize();
  53
  54   eint();
  55
  56   while (1) {
  57     cmd_processor_run(&cmd_io_std_line, cmd_pxmc_list);
  58   }
  59 }