Build the main program which is able to respond 4 different timer cycle interrupts under the DSP integrated development-CCS ( Code Composer Studio) and realizes the straight line interpolation and circular interpolation. 在DSP集成开发环境CCS(Codecomposerstudio)下,建立了能够响应4个不同定时器周期中断的主程序框架,并在此基础上实现了两轴联动直线插补、圆弧插补的程序实现。