Use DSP TMS320F2812 achieve control four stepper motors and a photoelectric encoder work. FDM machine

Data1.4
.......\Data.CS_
.......\........\FILE.CDX
.......\........\FILE.DBF
.......\........\FILE.FPT
.......\........\SYMBOL.CDX
.......\........\SYMBOL.DBF
.......\........\SYMBOL.FPT
.......\Data.paf2
.......\Data.pjt
.......\Data.sbl
.......\Debug
.......\.....\39VF800.obj
.......\.....\DSP28_Adc.obj
.......\.....\DSP28_CpuTimers.obj
.......\.....\DSP28_DefaultIsr.obj
.......\.....\DSP28_ECan.obj
.......\.....\DSP28_Ev.obj
.......\.....\DSP28_GlobalVariableDefs.obj
.......\.....\DSP28_Gpio.obj
.......\.....\DSP28_InitPeripherals.obj
.......\.....\DSP28_PieCtrl.obj
.......\.....\DSP28_PieVect.obj
.......\.....\DSP28_Sci.obj
.......\.....\DSP28_SysCtrl.obj
.......\.....\DSP28_XIntrupt.obj
.......\.....\DSP28_Xintf.obj
.......\.....\Data Control.map
.......\.....\Data Control.out
.......\.....\RAM.obj
.......\.....\main.obj
.......\Debug.lkf
.......\cc_build_Debug.log
.......\cmd
.......\...\FLASH.CMD
.......\...\SRAM.cmd
.......\include
.......\.......\DSP28_Adc.h
.......\.......\DSP28_CpuTimers.h
.......\.......\DSP28_DefaultIsr.h
.......\.......\DSP28_DevEmu.h
.......\.......\DSP28_Device.h
.......\.......\DSP28_ECan.h
.......\.......\DSP28_Ev.h
.......\.......\DSP28_GlobalPrototypes.h
.......\.......\DSP28_Gpio.h
.......\.......\DSP28_Mcbsp.h
.......\.......\DSP28_PieCtrl.h
.......\.......\DSP28_PieVect.h
.......\.......\DSP28_Sci.h
.......\.......\DSP28_Spi.h
.......\.......\DSP28_SysCtrl.h
.......\.......\DSP28_XIntrupt.h
.......\.......\DSP28_Xintf.h
.......\.......\math.h
.......\.......\usb.h
.......\lib
.......\...\rts2800n.lib
.......\source
.......\......\DSP28_CpuTimers.c
.......\......\DSP28_DefaultIsr.c
.......\......\DSP28_GlobalVariableDefs.c
.......\......\DSP28_Gpio.c
.......\......\DSP28_InitPeripherals.c
.......\......\DSP28_PieCtrl.c
.......\......\DSP28_PieVect.c
.......\......\DSP28_SysCtrl.c
.......\......\DSP28_XIntrupt.c
.......\......\DSP28_Xintf.c
.......\......\main.c

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