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 "msp430.h"
   6 #include "pxmc_virtex2.h"
   7
   8 #define MOTOR_VECTOR      0
   9
  10 interrupt(MOTOR_VECTOR) motor_isr() {
  11   pxmc_sfi_isr();
  12 }
  13
  14
  15 cmd_des_t const **cmd_list;
  16
  17 cmd_des_t const cmd_des_help={
  18     0, 0,
  19     "HELP","prints help for commands",
  20     cmd_do_help,{(char*)&cmd_list}};
  21
  22 int val;
  23 cmd_des_t const cmd_des_val={
  24     0, CDESM_OPCHR|CDESM_RW,
  25     "VAL","use ':' or '?' to store/read value of an integer variable",
  26     cmd_do_rw_int, {(char*)&val}};
  27
  28
  29
  30 cmd_des_t const *cmd_pxmc_list[] = {
  31   &cmd_des_help,
  32   &cmd_des_val,
  33   CMD_DES_INCLUDE_SUBLIST(cmd_pxmc_base),
  34   CMD_DES_INCLUDE_SUBLIST(cmd_pxmc_deb),
  35   NULL
  36 };
  37
  38 cmd_des_t const **cmd_list = cmd_pxmc_list;
  39
  40 extern cmd_io_t cmd_io_std_line;
  41
  42 int main()
  43 {
  44   WDTCTL = WDTPW | WDTHOLD;
  45   puts("PXMC motion control running...\n");
  46
  47   pxmc_initialize();
  48
  49   eint();
  50
  51   while (1) {
  52     cmd_processor_run(&cmd_io_std_line, cmd_pxmc_list);
  53   }
  54 }