PM_Sensorless-DevInit_F2803x.c

//============================================================================
//============================================================================
//
// FILE:  PM_Sensorless-DevInit_F2803x.c
//
// TITLE: Device initialization for F2803x series
//
// Version: 1.0
//
// Date:  09 Feb 2011
//
//============================================================================
//============================================================================


/***************************
Note that the CLA is not used nor initialized in this project. Please download
the Peripheral Files and Example Projects collection (SPRC832) and look at the
cla_adc project for information on how to use and configure the CLA.
***************************/

#include "PeripheralHeaderIncludes.h"

// Functions that will be run from RAM need to be assigned to
// a different section.  This section will then be mapped to a load and
// run address using the linker cmd file.
#pragma CODE_SECTION(InitFlash, "ramfuncs");
#define Device_cal (void   (*)(void))0x3D7C80

void DeviceInit(void);
void PieCntlInit(void);
void PieVectTableInit(void);
void WDogDisable(void);
void PLLset(Uint16);
void ISR_ILLEGAL(void);

//--------------------------------------------------------------------
//  Configure Device for target Application Here
//--------------------------------------------------------------------
void DeviceInit(void)
{
  WDogDisable();  // Disable the watchdog initially
  DINT;     // Global Disable all Interrupts
  IER = 0x0000; // Disable CPU interrupts
  IFR = 0x0000; // Clear all CPU interrupt flags


// Switch to Internal Oscillator 1 and turn off all other clock
// sources to minimize power consumption
  EALLOW;
  SysCtrlRegs.CLKCTL.bit.INTOSC1OFF = 0;
    SysCtrlRegs.CLKCTL.bit.OSCCLKSRCSEL=0;  // Clk Src = INTOSC1
  SysCtrlRegs.CLKCTL.bit.XCLKINOFF=1;     // Turn off XCLKIN
  SysCtrlRegs.CLKCTL.bit.XTALOSCOFF=1;    // Turn off XTALOSC
  SysCtrlRegs.CLKCTL.bit.INTOSC2OFF=1;    // Turn off INTOSC2
    EDIS;


// SYSTEM CLOCK speed based on internal oscillator = 10 MHz
// 0xC =  60  MHz   (12)
// 0xB =  55  MHz   (11)
// 0xA =  50  MHz   (10)
// 0x9 =  45  MHz   (9)
// 0x8 =  40  MHz   (8)
// 0x7 =  35  MHz   (7)
// 0x6 =  30  MHz   (6)
// 0x5 =  25  MHz   (5)
// 0x4 =  20  MHz   (4)
// 0x3 =  15  MHz   (3)
// 0x2 =  10  MHz   (2)

  PLLset(0xC);  // choose from options above

// Initialise interrupt controller and Vector Table
// to defaults for now. Application ISR mapping done later.
  PieCntlInit();
  PieVectTableInit();

   EALLOW; // below registers are "protected", allow access.

// LOW SPEED CLOCKS prescale register settings
   SysCtrlRegs.LOSPCP.all = 0x0002;   // Sysclk / 4 (15 MHz)
   SysCtrlRegs.XCLK.bit.XCLKOUTDIV=2;


// ADC CALIBRATION
//---------------------------------------------------
// The Device_cal function, which copies the ADC & oscillator calibration values
// from TI reserved OTP into the appropriate trim registers, occurs automatically
// in the Boot ROM. If the boot ROM code is bypassed during the debug process, the
// following function MUST be called for the ADC and oscillators to function according
// to specification.

  SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 1; // Enable ADC peripheral clock
  (*Device_cal)();            // Auto-calibrate from TI OTP
  SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 0; // Return ADC clock to original state


// PERIPHERAL CLOCK ENABLES
//---------------------------------------------------
// If you are not using a peripheral you may want to switch
// the clock off to save power, i.e. set to =0
//
// Note: not all peripherals are available on all 280x derivates.
// Refer to the datasheet for your particular device.

   SysCtrlRegs.PCLKCR0.bit.ADCENCLK = 1;    // ADC
   //------------------------------------------------
   SysCtrlRegs.PCLKCR3.bit.COMP1ENCLK = 1;  // COMP1
   SysCtrlRegs.PCLKCR3.bit.COMP2ENCLK = 1;  // COMP2
   SysCtrlRegs.PCLKCR3.bit.COMP3ENCLK = 1;  // COMP3
   //------------------------------------------------
   SysCtrlRegs.PCLKCR1.bit.ECAP1ENCLK = 1;  //eCAP1
   //------------------------------------------------
   SysCtrlRegs.PCLKCR0.bit.ECANAENCLK=0;   // eCAN-A
   //------------------------------------------------
   SysCtrlRegs.PCLKCR1.bit.EQEP1ENCLK = 1;  // eQEP1
   //------------------------------------------------
   SysCtrlRegs.PCLKCR1.bit.EPWM1ENCLK = 1;  // ePWM1
   SysCtrlRegs.PCLKCR1.bit.EPWM2ENCLK = 1;  // ePWM2
   SysCtrlRegs.PCLKCR1.bit.EPWM3ENCLK = 1;  // ePWM3
   SysCtrlRegs.PCLKCR1.bit.EPWM4ENCLK = 1;  // ePWM4
   SysCtrlRegs.PCLKCR1.bit.EPWM5ENCLK = 1;  // ePWM5
   SysCtrlRegs.PCLKCR1.bit.EPWM6ENCLK = 1;  // ePWM6
   SysCtrlRegs.PCLKCR1.bit.EPWM7ENCLK = 1;  // ePWM7
   SysCtrlRegs.PCLKCR0.bit.HRPWMENCLK = 0;    // HRPWM
   //------------------------------------------------
   SysCtrlRegs.PCLKCR0.bit.I2CAENCLK = 0;   // I2C
   //------------------------------------------------
   SysCtrlRegs.PCLKCR0.bit.LINAENCLK = 0;   // LIN-A
   //------------------------------------------------
   SysCtrlRegs.PCLKCR3.bit.CLA1ENCLK = 0;   // CLA1
   //------------------------------------------------
   SysCtrlRegs.PCLKCR0.bit.SCIAENCLK = 1;   // SCI-A
   //------------------------------------------------
   SysCtrlRegs.PCLKCR0.bit.SPIAENCLK = 0; // SPI-A
   SysCtrlRegs.PCLKCR0.bit.SPIBENCLK = 1;     // SPI-B
   //------------------------------------------------
   SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;   // Enable TBCLK
   //------------------------------------------------


//--------------------------------------------------------------------------------------
// GPIO (GENERAL PURPOSE I/O) CONFIG
//--------------------------------------------------------------------------------------
//-----------------------
// QUICK NOTES on USAGE:
//-----------------------
// If GpioCtrlRegs.GP?MUX?bit.GPIO?= 1, 2 or 3 (i.e. Non GPIO func), then leave
//  rest of lines commented
// If GpioCtrlRegs.GP?MUX?bit.GPIO?= 0 (i.e. GPIO func), then:
//  1) uncomment GpioCtrlRegs.GP?DIR.bit.GPIO? = ? and choose pin to be IN or OUT
//  2) If IN, can leave next to lines commented
//  3) If OUT, uncomment line with ..GPACLEAR.. to force pin LOW or
//         uncomment line with ..GPASET.. to force pin HIGH or
//--------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------
//  GPIO-00 - PIN FUNCTION = PWM_AH
  GpioCtrlRegs.GPAMUX1.bit.GPIO0 = 1;   // 0=GPIO,  1=EPWM1A,  2=Resv,  3=Resv
//  GpioCtrlRegs.GPADIR.bit.GPIO0 = 1;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO0 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO0 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-01 - PIN FUNCTION = PWM_AL
  GpioCtrlRegs.GPAMUX1.bit.GPIO1 = 1;   // 0=GPIO,  1=EPWM1B,  2=Resv,  3=COMP1OUT
//  GpioCtrlRegs.GPADIR.bit.GPIO1 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO1 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO1 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-02 - PIN FUNCTION = PWM_BH
  GpioCtrlRegs.GPAMUX1.bit.GPIO2 = 1;   // 0=GPIO,  1=EPWM2A,  2=Resv,  3=Resv
//  GpioCtrlRegs.GPADIR.bit.GPIO2 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO2 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO2 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-03 - PIN FUNCTION = PWM_BL
  GpioCtrlRegs.GPAMUX1.bit.GPIO3 = 1;   // 0=GPIO,  1=EPWM2B,  2=SPISOMI-A,  3=COMP2OUT
//  GpioCtrlRegs.GPADIR.bit.GPIO3 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO3 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO3 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-04 - PIN FUNCTION = PWM_CH
  GpioCtrlRegs.GPAMUX1.bit.GPIO4 = 1;   // 0=GPIO,  1=EPWM3A,  2=Resv,  3=Resv
//  GpioCtrlRegs.GPADIR.bit.GPIO4 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO4 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO4 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-05 - PIN FUNCTION = PWM_CL
  GpioCtrlRegs.GPAMUX1.bit.GPIO5 = 1;   // 0=GPIO,  1=EPWM3B,  2=SPISIMO-A,  3=ECAP1
//  GpioCtrlRegs.GPADIR.bit.GPIO5 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO5 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO5 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-06 - PIN FUNCTION = DAC_PWM4
  GpioCtrlRegs.GPAMUX1.bit.GPIO6 = 1;   // 0=GPIO,  1=EPWM4A,  2=SYNCI,  3=SYNCO
//  GpioCtrlRegs.GPADIR.bit.GPIO6 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO6 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO6 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-07 - PIN FUNCTION = STOP
  GpioCtrlRegs.GPAMUX1.bit.GPIO7 = 0;   // 0=GPIO,  1=EPWM4B,  2=SCIRX-A,  3=Resv
  GpioCtrlRegs.GPADIR.bit.GPIO7 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO7 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO7 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-08 - PIN FUNCTION = DAC_PWM3
  GpioCtrlRegs.GPAMUX1.bit.GPIO8 = 1;   // 0=GPIO,  1=EPWM5A,  2=Resv,  3=ADCSOC-A
//  GpioCtrlRegs.GPADIR.bit.GPIO8 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO8 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO8 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-09 - PIN FUNCTION =  START
  GpioCtrlRegs.GPAMUX1.bit.GPIO9 = 0;   // 0=GPIO,  1=EPWM5B,  2=LINTX-A,  3=Resv
  GpioCtrlRegs.GPADIR.bit.GPIO9 = 0;    // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO9 = 1;  // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO9 = 1;    // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-10 - PIN FUNCTION = DAC_PWM1
  GpioCtrlRegs.GPAMUX1.bit.GPIO10 = 1;  // 0=GPIO,  1=EPWM6A,  2=Resv,  3=ADCSOC-B
//  GpioCtrlRegs.GPADIR.bit.GPIO10 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO10 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO10 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-11 - PIN FUNCTION = DAC_PWM2
  GpioCtrlRegs.GPAMUX1.bit.GPIO11 = 1;  // 0=GPIO,  1=EPWM6B,  2=LINRX-A,  3=Resv
//  GpioCtrlRegs.GPADIR.bit.GPIO11 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO11 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO11 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-12 - PIN FUNCTION = LED-1
  GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 0;  // 0=GPIO,  1=TZ1,  2=SCITX-A,  3=SPISIMO-B
  GpioCtrlRegs.GPADIR.bit.GPIO12 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPACLEAR.bit.GPIO12 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO12 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-13 - PIN FUNCTION = OCTWn
  GpioCtrlRegs.GPAMUX1.bit.GPIO13 = 1;  // 0=GPIO,  1=TZ2,  2=Resv,  3=SPISOMI-B
  GpioCtrlRegs.GPADIR.bit.GPIO13 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO13 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO13 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-14 - PIN FUNCTION = TZ-FAULTn
  GpioCtrlRegs.GPAMUX1.bit.GPIO14 = 1;  // 0=GPIO,  1=TZ3,  2=LINTX-A,  3=SPICLK-B
//  GpioCtrlRegs.GPADIR.bit.GPIO14 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO14 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO14 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-15 - PIN FUNCTION = LED-2
  GpioCtrlRegs.GPAMUX1.bit.GPIO15 = 0;  // 0=GPIO,  1=TZ1,  2=LINRX-A,  3=SPISTE-B
  GpioCtrlRegs.GPADIR.bit.GPIO15 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPACLEAR.bit.GPIO15 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO15 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------
//  GPIO-16 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO16 = 0;  // 0=GPIO,  1=SPISIMO-A,  2=Resv,  3=TZ2
  GpioCtrlRegs.GPADIR.bit.GPIO16 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO16 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO16 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-17 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO17 = 0;  // 0=GPIO,  1=SPISOMI-A,  2=Resv,  3=TZ3
  GpioCtrlRegs.GPADIR.bit.GPIO17 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO17 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO17 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-18 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO18 = 0;  // 0=GPIO,  1=SPICLK-A,  2=LINTX-A,  3=XCLKOUT
  GpioCtrlRegs.GPADIR.bit.GPIO18 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO18 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO18 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-19 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO19 = 0;  // 0=GPIO,  1=SPISTE-A,  2=LINRX-A,  3=ECAP1
  GpioCtrlRegs.GPADIR.bit.GPIO19 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO19 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO19 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-20 - PIN FUNCTION = QEPA
  GpioCtrlRegs.GPAMUX2.bit.GPIO20 = 1;  // 0=GPIO,  1=EQEPA-1,  2=Resv,  3=COMP1OUT
//  GpioCtrlRegs.GPADIR.bit.GPIO20 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO20 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO20 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-21 - PIN FUNCTION = QEPB
  GpioCtrlRegs.GPAMUX2.bit.GPIO21 = 1;  // 0=GPIO,  1=EQEPB-1,  2=Resv,  3=COMP2OUT
//  GpioCtrlRegs.GPADIR.bit.GPIO21 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO21 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO21 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-22 - PIN FUNCTION = STATUS (LED)
  GpioCtrlRegs.GPAMUX2.bit.GPIO22 = 0;  // 0=GPIO,  1=EQEPS-1,  2=Resv,  3=LINTX-A
  GpioCtrlRegs.GPADIR.bit.GPIO22 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPACLEAR.bit.GPIO22 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO22 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-23 - PIN FUNCTION = QEPI
  GpioCtrlRegs.GPAMUX2.bit.GPIO23 = 1;  // 0=GPIO,  1=EQEPI-1,  2=Resv,  3=LINRX-A
//  GpioCtrlRegs.GPADIR.bit.GPIO23 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO23 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO23 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
#if defined(DRV8301)
//  GPIO-24 - PIN FUNCTION = SDI
  GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 3;  // 0=GPIO,  1=ECAP1,  2=Resv,  3=SPISIMO-B
//  GpioCtrlRegs.GPADIR.bit.GPIO24 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO24 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO24 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-25 - PIN FUNCTION = SDO
  GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 3;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPISOMI-B
//  GpioCtrlRegs.GPADIR.bit.GPIO25 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO25 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO25 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-26 - PIN FUNCTION = SCLK
  GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 3;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPICLK-B
//  GpioCtrlRegs.GPADIR.bit.GPIO26 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO26 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO26 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-27 - PIN FUNCTION = /SCS
  GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 3;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPISTE-B
//  GpioCtrlRegs.GPADIR.bit.GPIO27 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO27 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO27 = 1;   // uncomment if --> Set High initially
#elif defined(DRV8302)
//  GPIO-24 - PIN FUNCTION = M_OC
  GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 0;  // 0=GPIO,  1=ECAP1,  2=Resv,  3=SPISIMO-B
  GpioCtrlRegs.GPADIR.bit.GPIO24 = 1;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO24 = 1; // uncomment if --> Set Low initially
  GpioDataRegs.GPASET.bit.GPIO24 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-25 - PIN FUNCTION = GAIN
  GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPISOMI-B
  GpioCtrlRegs.GPADIR.bit.GPIO25 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPACLEAR.bit.GPIO25 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO25 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-26 - PIN FUNCTION = --Spare
  GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPICLK-B
//  GpioCtrlRegs.GPADIR.bit.GPIO26 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO26 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO26 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-27 - PIN FUNCTION = M_PWM
  GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPISTE-B
  GpioCtrlRegs.GPADIR.bit.GPIO27 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPACLEAR.bit.GPIO27 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO27 = 1;   // uncomment if --> Set High initially
#else
//  GPIO-24 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 0;  // 0=GPIO,  1=ECAP1,  2=Resv,  3=SPISIMO-B
  GpioCtrlRegs.GPADIR.bit.GPIO24 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO24 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO24 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-25 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPISOMI-B
  GpioCtrlRegs.GPADIR.bit.GPIO25 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO25 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO25 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-26 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPICLK-B
  GpioCtrlRegs.GPADIR.bit.GPIO26 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO26 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO26 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-27 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPAMUX2.bit.GPIO27 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=SPISTE-B
  GpioCtrlRegs.GPADIR.bit.GPIO27 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO27 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO27 = 1;   // uncomment if --> Set High initially
#endif
//--------------------------------------------------------------------------------------
//  GPIO-28 - PIN FUNCTION = SCI-RX on ISO controlCARD
  GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 1;  // 0=GPIO,  1=SCIRX-A,  2=I2CSDA-A,  3=TZ2
//  GpioCtrlRegs.GPADIR.bit.GPIO28 = 1;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO28 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO28 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-29 - PIN FUNCTION = SCI-TX on ISO controlCARD
  GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 1;  // 0=GPIO,  1=SCITXD-A,  2=I2CSCL-A,  3=TZ3
//  GpioCtrlRegs.GPADIR.bit.GPIO29 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO29 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO29 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-30 - PIN FUNCTION = CANRX
  GpioCtrlRegs.GPAMUX2.bit.GPIO30 = 0;  // 0=GPIO,  1=CANRX-A,  2=Resv,  3=Resv
  GpioCtrlRegs.GPADIR.bit.GPIO30 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO30 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPASET.bit.GPIO30 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-31 - PIN FUNCTION = LED2 on controlCARD (CANTX)
  GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 0;  // 0=GPIO,  1=CANTX-A,  2=Resv,  3=Resv
  GpioCtrlRegs.GPADIR.bit.GPIO31 = 1;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPACLEAR.bit.GPIO31 = 1; // uncomment if --> Set Low initially
  GpioDataRegs.GPASET.bit.GPIO31 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------
//  GPIO-32 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 0;  // 0=GPIO,  1=I2CSDA-A,  2=SYNCI,  3=ADCSOCA
  GpioCtrlRegs.GPBDIR.bit.GPIO32 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO32 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO32 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-33 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 0;  // 0=GPIO,  1=I2CSCL-A,  2=SYNCO,  3=ADCSOCB
  GpioCtrlRegs.GPBDIR.bit.GPIO33 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO33 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO33 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-34 - PIN FUNCTION = LED3 on controlCARD
  GpioCtrlRegs.GPBMUX1.bit.GPIO34 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=Resv
  GpioCtrlRegs.GPBDIR.bit.GPIO34 = 1;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO34 = 1; // uncomment if --> Set Low initially
  GpioDataRegs.GPBSET.bit.GPIO34 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------
// GPIO 35-38 are defaulted to JTAG usage, and are not shown here to enforce JTAG debug
// usage.
//--------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------
//  GPIO-39 - PIN FUNCTION = EN_GATE
  GpioCtrlRegs.GPBMUX1.bit.GPIO39 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=Resv
  GpioCtrlRegs.GPBDIR.bit.GPIO39 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPBCLEAR.bit.GPIO39 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO39 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-40 - PIN FUNCTION = CAP1
  GpioCtrlRegs.GPBMUX1.bit.GPIO40 = 0;  // 0=GPIO,  1=EPWM7A,  2=Resv,  3=Resv
  GpioCtrlRegs.GPBDIR.bit.GPIO40 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO40 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO40 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-41 - PIN FUNCTION = CAP2
  GpioCtrlRegs.GPBMUX1.bit.GPIO41 = 0;  // 0=GPIO,  1=EPWM7B,  2=Resv,  3=Resv
  GpioCtrlRegs.GPBDIR.bit.GPIO41 = 1;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO41 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO41 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-42 - PIN FUNCTION = CAP3
  GpioCtrlRegs.GPBMUX1.bit.GPIO42 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=COMP1OUT
  GpioCtrlRegs.GPBDIR.bit.GPIO42 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO42 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO42 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-43 - PIN FUNCTION = DC_CAL
  GpioCtrlRegs.GPBMUX1.bit.GPIO43 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=COMP2OUT
  GpioCtrlRegs.GPBDIR.bit.GPIO43 = 1;   // 1=OUTput,  0=INput
  GpioDataRegs.GPBCLEAR.bit.GPIO43 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO43 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//  GPIO-44 - PIN FUNCTION = --Spare--
  GpioCtrlRegs.GPBMUX1.bit.GPIO44 = 0;  // 0=GPIO,  1=Resv,  2=Resv,  3=Resv
  GpioCtrlRegs.GPBDIR.bit.GPIO44 = 0;   // 1=OUTput,  0=INput
//  GpioDataRegs.GPBCLEAR.bit.GPIO44 = 1; // uncomment if --> Set Low initially
//  GpioDataRegs.GPBSET.bit.GPIO44 = 1;   // uncomment if --> Set High initially
//--------------------------------------------------------------------------------------
//--------------------------------------------------------------------------------------
  EDIS; // Disable register access
}



//============================================================================
// NOTE:
// IN MOST APPLICATIONS THE FUNCTIONS AFTER THIS POINT CAN BE LEFT UNCHANGED
// THE USER NEED NOT REALLY UNDERSTAND THE BELOW CODE TO SUCCESSFULLY RUN THIS
// APPLICATION.
//============================================================================

void WDogDisable(void)
{
    EALLOW;
    SysCtrlRegs.WDCR= 0x0068;
    EDIS;
}

// This function initializes the PLLCR register.
//void InitPll(Uint16 val, Uint16 clkindiv)
void PLLset(Uint16 val)
{
   volatile Uint16 iVol;

   // Make sure the PLL is not running in limp mode
   if (SysCtrlRegs.PLLSTS.bit.MCLKSTS != 0)
   {
    EALLOW;
      // OSCCLKSRC1 failure detected. PLL running in limp mode.
      // Re-enable missing clock logic.
      SysCtrlRegs.PLLSTS.bit.MCLKCLR = 1;
      EDIS;
      // Replace this line with a call to an appropriate
      // SystemShutdown(); function.
      asm("        ESTOP0");     // Uncomment for debugging purposes
   }

   // DIVSEL MUST be 0 before PLLCR can be changed from
   // 0x0000. It is set to 0 by an external reset XRSn
   // This puts us in 1/4
   if (SysCtrlRegs.PLLSTS.bit.DIVSEL != 0)
   {
       EALLOW;
       SysCtrlRegs.PLLSTS.bit.DIVSEL = 0;
       EDIS;
   }

   // Change the PLLCR
   if (SysCtrlRegs.PLLCR.bit.DIV != val)
   {

      EALLOW;
      // Before setting PLLCR turn off missing clock detect logic
      SysCtrlRegs.PLLSTS.bit.MCLKOFF = 1;
      SysCtrlRegs.PLLCR.bit.DIV = val;
      EDIS;

      // Optional: Wait for PLL to lock.
      // During this time the CPU will switch to OSCCLK/2 until
      // the PLL is stable.  Once the PLL is stable the CPU will
      // switch to the new PLL value.
      //
      // This time-to-lock is monitored by a PLL lock counter.
      //
      // Code is not required to sit and wait for the PLL to lock.
      // However, if the code does anything that is timing critical,
      // and requires the correct clock be locked, then it is best to
      // wait until this switching has completed.

      // Wait for the PLL lock bit to be set.
      // The watchdog should be disabled before this loop, or fed within
      // the loop via ServiceDog().

    // Uncomment to disable the watchdog
      WDogDisable();

    while(SysCtrlRegs.PLLSTS.bit.PLLLOCKS != 1) {}

      EALLOW;
      SysCtrlRegs.PLLSTS.bit.MCLKOFF = 0;
    EDIS;
  }

    //divide down SysClk by 2 to increase stability
  EALLOW;
  SysCtrlRegs.PLLSTS.bit.DIVSEL = 2;
  EDIS;
}


// This function initializes the PIE control registers to a known state.
//
void PieCntlInit(void)
{
    // Disable Interrupts at the CPU level:
    DINT;

    // Disable the PIE
    PieCtrlRegs.PIECTRL.bit.ENPIE = 0;

  // Clear all PIEIER registers:
  PieCtrlRegs.PIEIER1.all = 0;
  PieCtrlRegs.PIEIER2.all = 0;
  PieCtrlRegs.PIEIER3.all = 0;
  PieCtrlRegs.PIEIER4.all = 0;
  PieCtrlRegs.PIEIER5.all = 0;
  PieCtrlRegs.PIEIER6.all = 0;
  PieCtrlRegs.PIEIER7.all = 0;
  PieCtrlRegs.PIEIER8.all = 0;
  PieCtrlRegs.PIEIER9.all = 0;
  PieCtrlRegs.PIEIER10.all = 0;
  PieCtrlRegs.PIEIER11.all = 0;
  PieCtrlRegs.PIEIER12.all = 0;

  // Clear all PIEIFR registers:
  PieCtrlRegs.PIEIFR1.all = 0;
  PieCtrlRegs.PIEIFR2.all = 0;
  PieCtrlRegs.PIEIFR3.all = 0;
  PieCtrlRegs.PIEIFR4.all = 0;
  PieCtrlRegs.PIEIFR5.all = 0;
  PieCtrlRegs.PIEIFR6.all = 0;
  PieCtrlRegs.PIEIFR7.all = 0;
  PieCtrlRegs.PIEIFR8.all = 0;
  PieCtrlRegs.PIEIFR9.all = 0;
  PieCtrlRegs.PIEIFR10.all = 0;
  PieCtrlRegs.PIEIFR11.all = 0;
  PieCtrlRegs.PIEIFR12.all = 0;
}


void PieVectTableInit(void)
{
  int16 i;
    PINT *Dest = &PieVectTable.TINT1;

    EALLOW;
    for(i=0; i < 115; i++)
    *Dest++ = &ISR_ILLEGAL;
    EDIS;

    // Enable the PIE Vector Table
    PieCtrlRegs.PIECTRL.bit.ENPIE = 1;
}

interrupt void ISR_ILLEGAL(void)   // Illegal operation TRAP
{
  // Insert ISR Code here

  // Next two lines for debug only to halt the processor here
  // Remove after inserting ISR Code
//  asm("          ESTOP0");
//  for(;;);
return;

}

// This function initializes the Flash Control registers

//                   CAUTION
// This function MUST be executed out of RAM. Executing it
// out of OTP/Flash will yield unpredictable results

void InitFlash(void)
{
   EALLOW;
   //Enable Flash Pipeline mode to improve performance
   //of code executed from Flash.
   FlashRegs.FOPT.bit.ENPIPE = 1;

   //                CAUTION
   //Minimum waitstates required for the flash operating
   //at a given CPU rate must be characterized by TI.
   //Refer to the datasheet for the latest information.

   //Set the Paged Waitstate for the Flash
   FlashRegs.FBANKWAIT.bit.PAGEWAIT = 3;

   //Set the Random Waitstate for the Flash
   FlashRegs.FBANKWAIT.bit.RANDWAIT = 3;

   //Set the Waitstate for the OTP
   FlashRegs.FOTPWAIT.bit.OTPWAIT = 5;

   //                CAUTION
   //ONLY THE DEFAULT VALUE FOR THESE 2 REGISTERS SHOULD BE USED
   FlashRegs.FSTDBYWAIT.bit.STDBYWAIT = 0x01FF;
   FlashRegs.FACTIVEWAIT.bit.ACTIVEWAIT = 0x01FF;
   EDIS;

   //Force a pipeline flush to ensure that the write to
   //the last register configured occurs before returning.

   asm(" RPT #7 || NOP");
}


// This function will copy the specified memory contents from
// one location to another.
//
//  Uint16 *SourceAddr        Pointer to the first word to be moved
//                          SourceAddr < SourceEndAddr
//  Uint16* SourceEndAddr     Pointer to the last word to be moved
//  Uint16* DestAddr          Pointer to the first destination word
//
// No checks are made for invalid memory locations or that the
// end address is > then the first start address.

void MemCopy(Uint16 *SourceAddr, Uint16* SourceEndAddr, Uint16* DestAddr)
{
    while(SourceAddr < SourceEndAddr)
    {
       *DestAddr++ = *SourceAddr++;
    }
    return;
}

//===========================================================================
// End of file.
//===========================================================================