Hardware manual

74
Function
bool pxmc_set_default_functions (pxmc_state_t * mcs, pxmc_motor_kind_e motor)
Arguments
mcs
Motion controller state information
motor
Kind of motor which we are going to use -> see header for full list of supported motors
Description
This function sets up defaults pointers to control functions for a given motor. The default
configuration depends on the motor kind.
Function
void pxmc_sfi_isr ( void)
Arguments
void
no arguments
Description
This interrupt service routine is used to call routines for different services, like pxms_do_inp,
pxms_do_out and so one. It also updates the pxmc_msec_counter. It works according to
interrupts and is called with freq. equal to pxmc_sfikhz. Function is set in interrupt vector table
by: init_sampling function.
Function
void interupt_input ()
Arguments
Description
The function is used to call pxms_do_inp functions for all motors present on the board. It's called
by pxmc_sfi_isr during every sampling period.