[参考译文] LAUNCHXL-F28069M：SCI：通过 Motorware 驱动程序传输数据

您好、Charlie、

作为第一个调试步骤、当你运行项目时、你是否看到为 SCI 寄存器填充正确的值？ 您可以在 CCS 的表达式窗口中对此进行检查。 这至少将确认代码正在正确设置 SCI 模块、之后我们可以检查 SCI 引脚。  

此致、

Marlyn

好的、非常感谢。  我将进行检查。  什么是"正确"值？  不是空的？   

您好、Charlie、

SCI 是以特定方式设置的( 如您所述、第218-261行)。 例如、SCI TX FIFO 正在被启用、因此您可以检查  SCIFFTX 寄存器的 SCIFFENA 位是否被置位。 不过、通常是的、首先检查的是并非所有 SCI 寄存器都是空的。  

此致、

Marlyn

好的、所以我发现寄存器为零、并且这些位没有被置位。  我进行了一些挖掘、但我没有初始化存储器中的 sci。   我发现在  hal_2mations.c 中 、它们初始化所有句柄。   因此、我初始化并设置了2126-2140行上的 SCI

/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
//! \file   solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2806xF/src/hal_2motors.c
//! \brief Contains the various functions related to the HAL object (everything outside the CTRL system) 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.


// **************************************************************************
// the includes

// drivers

// modules

// platforms
#include "hal_2motors.h"
#include "hal_obj_2motors.h"

#include "user_2motors.h"


#ifdef FLASH
#pragma CODE_SECTION(HAL_setupFlash,"ramfuncs");
#endif

// **************************************************************************
// the defines

#define US_TO_CNT(A) ((((long double) A * (long double)USER_SYSTEM_FREQ_MHz) - 9.0L) / 5.0L)

// **************************************************************************
// the globals

//HAL_Obj hal;


// **************************************************************************
// the functions

void HAL_cal(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // enable the ADC clock
  CLK_enableAdcClock(obj->clkHandle);


  // Run the Device_cal() function
  // This function copies the ADC and oscillator calibration values from TI reserved
  // OTP into the appropriate trim registers
  // This boot ROM automatically calls this function to calibrate the interal 
  // oscillators and ADC with device specific calibration data.
  // If the boot ROM is bypassed by Code Composer Studio during the development process,
  // then the calibration must be initialized by the application
  ENABLE_PROTECTED_REGISTER_WRITE_MODE;
  (*Device_cal)();
  DISABLE_PROTECTED_REGISTER_WRITE_MODE;

  // run offsets calibration in user's memory
  HAL_AdcOffsetSelfCal(handle);

  // run oscillator compensation
  HAL_OscTempComp(handle);

  // disable the ADC clock
  CLK_disableAdcClock(obj->clkHandle);

  return;
} // end of HAL_cal() function


void HAL_OscTempComp(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t Temperature;

  // disable the ADCs
  ADC_disable(obj->adcHandle);

  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);

  // set the ADC voltage reference source to internal
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);

  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);

  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);

  // power up the ADCs
  ADC_powerUp(obj->adcHandle);

  // enable the ADCs
  ADC_enable(obj->adcHandle);

  // enable non-overlap mode
  ADC_enableNoOverlapMode(obj->adcHandle);

  // connect channel A5 internally to the temperature sensor
  ADC_setTempSensorSrc(obj->adcHandle, ADC_TempSensorSrc_Int);

  // set SOC0 channel select to ADCINA5
  ADC_setSocChanNumber(obj->adcHandle, ADC_SocNumber_0, ADC_SocChanNumber_A5);

  // set SOC0 acquisition period to 26 ADCCLK
  ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_0, ADC_SocSampleDelay_64_cycles);

  // connect ADCINT1 to EOC0
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC0);

  // clear ADCINT1 flag
  ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

  // enable ADCINT1
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);

  // force start of conversion on SOC0
  ADC_setSocFrc(obj->adcHandle, ADC_SocFrc_0);

  // wait for end of conversion
  while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}

  // clear ADCINT1 flag
  ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

  Temperature = ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);

  HAL_osc1Comp(handle, Temperature);

  HAL_osc2Comp(handle, Temperature);

  return;
} // end of HAL_OscTempComp() function


void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample)
{
	int16_t compOscFineTrim;
	HAL_Obj *obj = (HAL_Obj *)handle;

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

    compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc1FineTrimSlope()
                      + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc1FineTrimOffset() - OSC_POSTRIM;

    if(compOscFineTrim > 31)
      {
        compOscFineTrim = 31;
      }
	else if(compOscFineTrim < -31)
      {
        compOscFineTrim = -31;
      }

    OSC_setTrim(obj->oscHandle, OSC_Number_1, HAL_getOscTrimValue(getOsc1CoarseTrim(), compOscFineTrim));

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc1Comp() function


void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample)
{
	int16_t compOscFineTrim;
	HAL_Obj *obj = (HAL_Obj *)handle;

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

    compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc2FineTrimSlope()
                      + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc2FineTrimOffset() - OSC_POSTRIM;

    if(compOscFineTrim > 31)
      {
        compOscFineTrim = 31;
      }
	else if(compOscFineTrim < -31)
      {
        compOscFineTrim = -31;
      }

    OSC_setTrim(obj->oscHandle, OSC_Number_2, HAL_getOscTrimValue(getOsc2CoarseTrim(), compOscFineTrim));

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc2Comp() function


uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine)
{
  uint16_t regValue = 0;

  if(fine < 0)
    {
      regValue = ((-fine) | 0x20) << 9;
    }
  else
    {
      regValue = fine << 9;
    }

  if(coarse < 0)
    {
      regValue |= ((-coarse) | 0x80);
    }
  else
    {
      regValue |= coarse;
    }

  return regValue;
} // end of HAL_getOscTrimValue() function


void HAL_AdcOffsetSelfCal(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t AdcConvMean;

  // disable the ADCs
  ADC_disable(obj->adcHandle);

  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);

  // set the ADC voltage reference source to internal
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);

  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);

  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);

  // power up the ADCs
  ADC_powerUp(obj->adcHandle);

  // enable the ADCs
  ADC_enable(obj->adcHandle);

  //Select VREFLO internal connection on B5
  ADC_enableVoltRefLoConv(obj->adcHandle);

  //Select channel B5 for all SOC
  HAL_AdcCalChanSelect(handle, ADC_SocChanNumber_B5);

  //Apply artificial offset (+80) to account for a negative offset that may reside in the ADC core
  ADC_setOffTrim(obj->adcHandle, 80);

  //Capture ADC conversion on VREFLO
  AdcConvMean = HAL_AdcCalConversion(handle);

  //Set offtrim register with new value (i.e remove artical offset (+80) and create a two's compliment of the offset error)
  ADC_setOffTrim(obj->adcHandle, 80 - AdcConvMean);

  //Select external ADCIN5 input pin on B5
  ADC_disableVoltRefLoConv(obj->adcHandle);

  return;
} // end of HAL_AdcOffsetSelfCal() function


void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,chanNumber);

  return;
} // end of HAL_AdcCalChanSelect() function


uint16_t HAL_AdcCalConversion(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t index, SampleSize, Mean;
  uint32_t Sum;
  ADC_SocSampleDelay_e ACQPS_Value;

  index       = 0;     //initialize index to 0
  SampleSize  = 256;   //set sample size to 256 (**NOTE: Sample size must be multiples of 2^x where is an integer >= 4)
  Sum         = 0;     //set sum to 0
  Mean        = 999;   //initialize mean to known value

  //Set the ADC sample window to the desired value (Sample window = ACQPS + 1)
  ACQPS_Value = ADC_SocSampleDelay_7_cycles;

  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ACQPS_Value);

  // Enabled ADCINT1 and ADCINT2
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_2);

  // Disable continuous sampling for ADCINT1 and ADCINT2
  ADC_setIntMode(obj->adcHandle, ADC_IntNumber_1, ADC_IntMode_EOC);
  ADC_setIntMode(obj->adcHandle, ADC_IntNumber_2, ADC_IntMode_EOC);

  //ADCINTs trigger at end of conversion
  ADC_setIntPulseGenMode(obj->adcHandle, ADC_IntPulseGenMode_Prior);

  // Setup ADCINT1 and ADCINT2 trigger source
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC6);
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_2, ADC_IntSrc_EOC14);

  // Setup each SOC's ADCINT trigger source
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_Int1TriggersSOC);

  // Delay before converting ADC channels
  usDelay(US_TO_CNT(ADC_DELAY_usec));

  ADC_setSocFrcWord(obj->adcHandle, 0x00FF);

  while( index < SampleSize )
    {
      //Wait for ADCINT1 to trigger, then add ADCRESULT0-7 registers to sum
      while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}

      //Must clear ADCINT1 flag since INT1CONT = 0
      ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_1);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_2);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_3);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_4);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_5);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_6);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_7);

      //Wait for ADCINT2 to trigger, then add ADCRESULT8-15 registers to sum
      while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_2) == 0){}

      //Must clear ADCINT2 flag since INT2CONT = 0
      ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_2);

      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_8);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_9);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_10);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_11);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_12);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_13);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_14);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_15);

      index+=16;

  } // end data collection

  //Disable ADCINT1 and ADCINT2 to STOP the ping-pong sampling
  ADC_disableInt(obj->adcHandle, ADC_IntNumber_1);
  ADC_disableInt(obj->adcHandle, ADC_IntNumber_2);

  //Calculate average ADC sample value
  Mean = Sum / SampleSize;

  // Clear start of conversion trigger
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_NoIntTriggersSOC);

  //return the average
  return(Mean);
} // end of HAL_AdcCalConversion() function


void HAL_disableWdog(HAL_Handle halHandle)
{
  HAL_Obj *hal = (HAL_Obj *)halHandle;


  WDOG_disable(hal->wdogHandle);


  return;
} // end of HAL_disableWdog() function


void HAL_disableGlobalInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CPU_disableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_disableGlobalInts() function


void HAL_enableAdcInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  #ifdef _SINGLE_ISR_EN_
  // enable the PIE interrupts associated with the ADC interrupts
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);

  // enable the ADC interrupts
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
  #else
  // enable the PIE interrupts associated with the ADC interrupts
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_2);


  // enable the ADC interrupts
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_2);
  #endif

  // enable the cpu interrupt for ADC interrupts
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_10);

  return;
} // end of HAL_enableAdcInts() function


void HAL_enableDebugInt(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  CPU_enableDebugInt(obj->cpuHandle);

  return;
} // end of HAL_enableDebugInt() function


void HAL_enableDrv(HAL_Handle_mtr handleMtr)
{
  HAL_Obj_mtr *obj = (HAL_Obj_mtr *)handleMtr;

  DRV8301_enable(obj->drv8301Handle);

  return;
}  // end of HAL_enableDrv() function


void HAL_enableGlobalInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CPU_enableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_enableGlobalInts() function


void HAL_enablePwmInt(HAL_Handle_mtr handleMtr,HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_MtrSelect_e mtrNum = objMtr->mtrNum;

  if(mtrNum == HAL_MTR1)
  {
    PIE_enablePwmInt(obj->pieHandle,PWM_Number_4);
  }
  else if(mtrNum == HAL_MTR2)
  {
    PIE_enablePwmInt(obj->pieHandle,PWM_Number_1);
  }


  // enable the interrupt
  PWM_enableInt(objMtr->pwmHandle[0]);


  // enable the cpu interrupt for EPWMx_INT
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_3);

  return;
} // end of HAL_enablePwmInt() function


void HAL_enableTimer0Int(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_enableTimer0Int(obj->pieHandle);


  // enable the interrupt
  TIMER_enableInt(obj->timerHandle[0]);


  // enable the cpu interrupt for TINT0
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_1);

  return;
} // end of HAL_enablePwmInt() function


void HAL_setupFaults(HAL_Handle_mtr handleMtr)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  uint_least8_t cnt;


  // Configure Trip Mechanism for the Motor control software
  // -Cycle by cycle trip on CPU halt
  // -One shot fault trip zone
  // These trips need to be repeated for EPWM1 ,2 & 3

  for(cnt=0;cnt<3;cnt++)
    {
      PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ6_NOT);

      if(objMtr->mtrNum == HAL_MTR1)
      {
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ3_NOT);
//
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ2_NOT);

          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ4_NOT);		// 4

      }
      else if(objMtr->mtrNum == HAL_MTR2)
      {
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ3_NOT);
//
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ2_NOT);

          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ5_NOT);		// 5
      }

      // What do we want the OST/CBC events to do?
      // TZA events can force EPWMxA
      // TZB events can force EPWMxB

      PWM_setTripZoneState_TZA(objMtr->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
      PWM_setTripZoneState_TZB(objMtr->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
    }

  return;
} // end of HAL_setupFaults() function


HAL_Handle HAL_init(void *pMemory,const size_t numBytes)
{
  HAL_Handle handle;
  HAL_Obj *obj;


  if(numBytes < sizeof(HAL_Obj))
    return((HAL_Handle)NULL);


  // assign the handle
  handle = (HAL_Handle)pMemory;


  // assign the object
  obj = (HAL_Obj *)handle;


  // initialize the watchdog driver
  obj->wdogHandle = WDOG_init((void *)WDOG_BASE_ADDR,sizeof(WDOG_Obj));


  // disable watchdog
  HAL_disableWdog(handle);


  // initialize the ADC
  obj->adcHandle = ADC_init((void *)ADC_BASE_ADDR,sizeof(ADC_Obj));


  // initialize the clock handle
  obj->clkHandle = CLK_init((void *)CLK_BASE_ADDR,sizeof(CLK_Obj));


  // initialize the CPU handle
  obj->cpuHandle = CPU_init(&cpu,sizeof(cpu));


  // initialize the FLASH handle
  obj->flashHandle = FLASH_init((void *)FLASH_BASE_ADDR,sizeof(FLASH_Obj));


  // initialize the GPIO handle
  obj->gpioHandle = GPIO_init((void *)GPIO_BASE_ADDR,sizeof(GPIO_Obj));


  // initialize the oscillator handle
  obj->oscHandle = OSC_init((void *)OSC_BASE_ADDR,sizeof(OSC_Obj));


  // initialize the PIE handle
  obj->pieHandle = PIE_init((void *)PIE_BASE_ADDR,sizeof(PIE_Obj));


  // initialize the PLL handle
  obj->pllHandle = PLL_init((void *)PLL_BASE_ADDR,sizeof(PLL_Obj));


  // initialize the SPI handles
  obj->spiAHandle = SPI_init((void *)SPIA_BASE_ADDR,sizeof(SPI_Obj));
  obj->spiBHandle = SPI_init((void *)SPIB_BASE_ADDR,sizeof(SPI_Obj));


  /*
   *   ADDED CODE
   */
  obj->sciHandle = SCI_init((void *)SCIA_BASE_ADDR, sizeof(SCI_Obj));

  /*
   * -------------------
   */

  // initialize PWM DAC handles
  obj->pwmDacHandle[0] = PWMDAC_init((void *)PWM_ePWM7_BASE_ADDR,sizeof(PWM_Obj));
  obj->pwmDacHandle[1] = PWMDAC_init((void *)PWM_ePWM8_BASE_ADDR,sizeof(PWM_Obj));


  // initialize power handle
  obj->pwrHandle = PWR_init((void *)PWR_BASE_ADDR,sizeof(PWR_Obj));


  // initialize timer handles
  obj->timerHandle[0] = TIMER_init((void *)TIMER0_BASE_ADDR,sizeof(TIMER_Obj));
  obj->timerHandle[1] = TIMER_init((void *)TIMER1_BASE_ADDR,sizeof(TIMER_Obj));
  obj->timerHandle[2] = TIMER_init((void *)TIMER2_BASE_ADDR,sizeof(TIMER_Obj));


  return(handle);
} // end of HAL_init() function


HAL_Handle_mtr HAL_init_mtr(void *pMemory,const size_t numBytes,const HAL_MtrSelect_e mtrNum)
{
  HAL_Handle_mtr handle;
  HAL_Obj_mtr *obj;

  uint_least8_t cnt;
  uint_least8_t numCurrentSensors;
  uint_least8_t numVoltageSensors;

  if(numBytes < sizeof(HAL_Obj_mtr))
    return((HAL_Handle_mtr)NULL);

  // assign the handle
  handle = (HAL_Handle_mtr)pMemory;

  // point to the object
  obj = (HAL_Obj_mtr *)handle;

  HAL_setMotorNumber(handle,mtrNum);

  // initialize PWM handles
  if(mtrNum == HAL_MTR1)
  {
    obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM1_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM2_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM3_BASE_ADDR,sizeof(PWM_Obj));

	numCurrentSensors = USER_NUM_CURRENT_SENSORS_M1;
	numVoltageSensors = USER_NUM_VOLTAGE_SENSORS_M1;
  }
  else if(mtrNum == HAL_MTR2)
  {
    obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM4_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM5_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM6_BASE_ADDR,sizeof(PWM_Obj));

	numCurrentSensors = USER_NUM_CURRENT_SENSORS_M2;
	numVoltageSensors = USER_NUM_VOLTAGE_SENSORS_M2;
  }
  else
  {
    obj->pwmHandle[0] = NULL;
    obj->pwmHandle[1] = NULL;
    obj->pwmHandle[2] = NULL;

	numCurrentSensors = 3;
	numVoltageSensors = 3;
  }

  // initialize the current offset estimator handles
  for(cnt=0;cnt<numCurrentSensors;cnt++)
    {
      obj->offsetHandle_I[cnt] = OFFSET_init(&obj->offset_I[cnt],sizeof(obj->offset_I[cnt]));
    }


  // initialize the voltage offset estimator handles
  for(cnt=0;cnt<numVoltageSensors;cnt++)
    {
      obj->offsetHandle_V[cnt] = OFFSET_init(&obj->offset_V[cnt],sizeof(obj->offset_V[cnt]));
    }

  // initialize drv8301 interface
  obj->drv8301Handle = DRV8301_init(&obj->drv8301,sizeof(obj->drv8301));

  // initialize QEP driver
#ifdef QEP
  if(mtrNum == HAL_MTR1)
  {
    obj->qepHandle = QEP_init((void*)QEP1_BASE_ADDR,sizeof(QEP_Obj));
  }
  else if(mtrNum == HAL_MTR2)
  {
    obj->qepHandle = QEP_init((void*)QEP2_BASE_ADDR,sizeof(QEP_Obj));
  }
  else
  {
	  obj->qepHandle = NULL;
  }
#endif

  return(handle);
}

// HAL_setParams
void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // disable global interrupts
  CPU_disableGlobalInts(obj->cpuHandle);


  // disable cpu interrupts
  CPU_disableInts(obj->cpuHandle);


  // clear cpu interrupt flags
  CPU_clearIntFlags(obj->cpuHandle);


  // setup the clocks
  HAL_setupClks(handle);


  // Setup the PLL
  HAL_setupPll(handle,PLL_ClkFreq_90_MHz);


  // setup the PIE
  HAL_setupPie(handle);


  // run the device calibration
  HAL_cal(handle);


  // setup the peripheral clocks
  HAL_setupPeripheralClks(handle);


  // setup the GPIOs
  HAL_setupGpios(handle);


  // setup the flash
  HAL_setupFlash(handle);


  // setup the ADCs
  HAL_setupAdcs(handle);


  // setup the spiA for DRV8301_Motor1
  HAL_setupSpiA(handle);


  // setup the spiB for DRV8301_Motor2
  HAL_setupSpiB(handle);


  /*
   *   ADDED CODE
   */
  HAL_setupSCI(handle);
  /*
   * ----------
   */


  // setup the PWM DACs
  HAL_setupPwmDacs(handle);

  // setup the timers
  HAL_setupTimers(handle,
                  (float_t)pUserParams->systemFreq_MHz);


 return;
} // end of HAL_setParams() function

// HAL_setParamsMtr
void HAL_setParamsMtr(HAL_Handle_mtr handleMtr,HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_Obj *obj = (HAL_Obj *)handle;

  HAL_setNumCurrentSensors(handleMtr,pUserParams->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr,pUserParams->numVoltageSensors);

  {
	uint_least8_t cnt;

  _iq beta_lp_pu = _IQ(pUserParams->offsetPole_rps/(float_t)pUserParams->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }
  }

  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr);cnt++)
     {
       HAL_setBias(handleMtr,HAL_SensorType_Current,cnt,bias);
     }
 }

  // set the default voltage bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ(0.0);

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr);cnt++)
     {
       HAL_setBias(handleMtr,HAL_SensorType_Voltage,cnt,bias);
     }
 }

  // setup the PWMs
  HAL_setupPwms(handleMtr,handle,pUserParams);

  // setup the drv8301 interface
  if(objMtr->mtrNum == HAL_MTR1)
  {
    DRV8301_setGpioHandle(objMtr->drv8301Handle,obj->gpioHandle);
    DRV8301_setSpiHandle(objMtr->drv8301Handle,obj->spiAHandle);
    DRV8301_setGpioNumber(objMtr->drv8301Handle,GPIO_Number_50);
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
    DRV8301_setGpioHandle(objMtr->drv8301Handle,obj->gpioHandle);
    DRV8301_setSpiHandle(objMtr->drv8301Handle,obj->spiBHandle);
    DRV8301_setGpioNumber(objMtr->drv8301Handle,GPIO_Number_52);
  }

  //  set the current scale factor
 {
   _iq current_sf = _IQ(pUserParams->current_sf);

  HAL_setCurrentScaleFactor(handleMtr,current_sf);
 }


  //  set the voltage scale factor
 {
   _iq voltage_sf = _IQ(pUserParams->voltage_sf);

  HAL_setVoltageScaleFactor(handleMtr,voltage_sf);
 }


#ifdef QEP
  // setup the QEP
  if(objMtr->mtrNum == HAL_MTR1)
  {
    HAL_setupQEP(handleMtr, USER_MOTOR_ENCODER_LINES);
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
    HAL_setupQEP(handleMtr, USER_MOTOR_ENCODER_LINES_2);
  }
#endif


  return;
}// end of HAL_setParamsMtr() function

// HAL_setParamsDualMtr()
void HAL_setParamsDualMtr(HAL_Handle_mtr handleMtr1, HAL_Handle_mtr handleMtr2, HAL_Handle handle, const USER_Params *pUserParams1, const USER_Params *pUserParams2)
{
  HAL_Obj_mtr *objMtr1 = (HAL_Obj_mtr *)handleMtr1;
  HAL_Obj_mtr *objMtr2 = (HAL_Obj_mtr *)handleMtr2;
  HAL_Obj *objHal = (HAL_Obj *)handle;

  HAL_setNumCurrentSensors(handleMtr1,pUserParams1->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr1,pUserParams1->numVoltageSensors);

  HAL_setNumCurrentSensors(handleMtr2,pUserParams2->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr2,pUserParams2->numVoltageSensors);

  {
	uint_least8_t cnt;

  _iq beta_lp_pu = _IQ(pUserParams1->offsetPole_rps/(float_t)pUserParams1->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr1);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr1,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr1,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr1,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr1);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr1,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr1,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr1,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }

  beta_lp_pu = _IQ(pUserParams2->offsetPole_rps/(float_t)pUserParams2->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr2);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr2,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr2,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr2,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr2);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr2,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr2,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr2,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }
  }

  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams1->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr1);cnt++)
     {
       HAL_setBias(handleMtr1,HAL_SensorType_Current,cnt,bias);
     }

   bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams2->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr2);cnt++)
     {
       HAL_setBias(handleMtr2,HAL_SensorType_Current,cnt,bias);
     }
 }

  // set the default voltage bias
 {
   uint_least8_t cnt;

   _iq bias = _IQ(0.0);

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr1);cnt++)
     {
       HAL_setBias(handleMtr1,HAL_SensorType_Voltage,cnt,bias);
     }

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr2);cnt++)
     {
       HAL_setBias(handleMtr2,HAL_SensorType_Voltage,cnt,bias);
     }
 }

  // setup the PWMs
  HAL_setupDualPwms(handleMtr1, handleMtr2, handle, pUserParams1, pUserParams2);

  // setup the drv8301 interface
  DRV8301_setGpioHandle(objMtr1->drv8301Handle,objHal->gpioHandle);
  DRV8301_setSpiHandle(objMtr1->drv8301Handle,objHal->spiAHandle);
  DRV8301_setGpioNumber(objMtr1->drv8301Handle,GPIO_Number_50);

  DRV8301_setGpioHandle(objMtr2->drv8301Handle,objHal->gpioHandle);
  DRV8301_setSpiHandle(objMtr2->drv8301Handle,objHal->spiBHandle);
  DRV8301_setGpioNumber(objMtr2->drv8301Handle,GPIO_Number_52);

  //  set the current scale factor
 {
   _iq current_sf = _IQ(pUserParams1->current_sf);

  HAL_setCurrentScaleFactor(handleMtr1,current_sf);

  current_sf = _IQ(pUserParams2->current_sf);

  HAL_setCurrentScaleFactor(handleMtr2,current_sf);
 }


  //  set the voltage scale factor
 {
   _iq voltage_sf = _IQ(pUserParams1->voltage_sf);

   HAL_setVoltageScaleFactor(handleMtr1,voltage_sf);


   voltage_sf = _IQ(pUserParams2->voltage_sf);

   HAL_setVoltageScaleFactor(handleMtr2,voltage_sf);
 }


#ifdef QEP
  // setup the QEP
  HAL_setupQEP(handleMtr1, USER_MOTOR_ENCODER_LINES);

  HAL_setupQEP(handleMtr2, USER_MOTOR_ENCODER_LINES_2);
#endif


  return;
}// end of HAL_setParamsMtr() function


void HAL_setupAdcs(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // disable the ADCs
  ADC_disable(obj->adcHandle);


  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);


  // set the ADC voltage reference source to internal 
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);


  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);


  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);


  // power up the ADCs
  ADC_powerUp(obj->adcHandle);


  // enable the ADCs
  ADC_enable(obj->adcHandle);


  // set the ADC interrupt pulse generation to prior
  ADC_setIntPulseGenMode(obj->adcHandle,ADC_IntPulseGenMode_Prior);


  // set the temperature sensor source to external
  ADC_setTempSensorSrc(obj->adcHandle,ADC_TempSensorSrc_Ext);

  #ifdef _SINGLE_ISR_EN_
  // configure the interrupt sources
  ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);
  #else
  // configure the interrupt sources
  ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);

  ADC_disableInt(obj->adcHandle,ADC_IntNumber_2);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_2,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_2,ADC_IntSrc_EOC15);
  #endif

  //configure the SOCs for boostxldrv8301_revB on J1 Connection
  // Begin Motor 1 sampling
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  // Duplicate conversion due to ADC Initial Conversion bug (SPRZ342)
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_B0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_A1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_B1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_A2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_B2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_9_cycles);
  // End Motor 1 sampling

  // Begin Motor 2 sampling
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_8,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_9,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,ADC_SocChanNumber_B3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_10,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ADC_SocSampleDelay_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,ADC_SocChanNumber_A4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_11,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,ADC_SocChanNumber_B4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_12,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,ADC_SocChanNumber_A5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_13,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,ADC_SocChanNumber_B5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_14,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ADC_SocSampleDelay_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,ADC_SocChanNumber_B7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_15,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ADC_SocSampleDelay_9_cycles);
  // End Motor 2 sampling

  return;
} // end of HAL_setupAdcs() function


void HAL_setupClks(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // enable internal oscillator 1
  CLK_enableOsc1(obj->clkHandle);

  // set the oscillator source
  CLK_setOscSrc(obj->clkHandle,CLK_OscSrc_Internal);

  // disable the external clock in
  CLK_disableClkIn(obj->clkHandle);

  // disable the crystal oscillator
  CLK_disableCrystalOsc(obj->clkHandle);

  // disable oscillator 2
  CLK_disableOsc2(obj->clkHandle);

  // set the low speed clock prescaler
  CLK_setLowSpdPreScaler(obj->clkHandle,CLK_LowSpdPreScaler_SysClkOut_by_1);

  // set the clock out prescaler
  CLK_setClkOutPreScaler(obj->clkHandle,CLK_ClkOutPreScaler_SysClkOut_by_1);

  return;
} // end of HAL_setupClks() function


void HAL_setupFlash(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  FLASH_enablePipelineMode(obj->flashHandle);

  FLASH_setNumPagedReadWaitStates(obj->flashHandle,FLASH_NumPagedWaitStates_3);

  FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_3);

  FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_5);

  FLASH_setStandbyWaitCount(obj->flashHandle,FLASH_STANDBY_WAIT_COUNT_DEFAULT);

  FLASH_setActiveWaitCount(obj->flashHandle,FLASH_ACTIVE_WAIT_COUNT_DEFAULT);

  return;
} // HAL_setupFlash() function

//void HAL_setupGate(HAL_Handle_mtr handleMtr,SPI_Handle handleSpi,GPIO_Handle handleGpio,const GPIO_Number_e gpio)
//{
////  HAL_Obj *obj = (HAL_Obj *)handle;
//  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
//
//
//  DRV8301_setGpioHandle(objMtr->drv8301Handle,handleGpio);
//  DRV8301_setSpiHandle(objMtr->drv8301Handle,handleSpi);
//  DRV8301_setGpioNumber(objMtr->drv8301Handle,gpio);
//
//  return;
//} // HAL_setupGate() function


void HAL_setupGpios(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // PWM1A->Motor1_UH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_EPWM1A);

  // PWM1B->Motor1_UL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_1_Mode_EPWM1B);

  // PWM2A->Motor1_VH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_2,GPIO_2_Mode_EPWM2A);

  // PWM2B->Motor1_VL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_3,GPIO_3_Mode_EPWM2B);

  // PWM3A->Motor1_WH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_4,GPIO_4_Mode_EPWM3A);

  // PWM3B->Motor1_WL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_5,GPIO_5_Mode_EPWM3B);

  // PWM4A->Motor2_UH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_EPWM4A);

  // PWM4B->Motor2_UL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_EPWM4B);

  // PWM5A->Motor2_VH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_8,GPIO_8_Mode_EPWM5A);

  // PWM5B->Motor2_VL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_9,GPIO_9_Mode_EPWM5B);

  // PWM6A->Motor2_WH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_10,GPIO_10_Mode_EPWM6A);

  // PWM6B->Motor2_WL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_11,GPIO_11_Mode_EPWM6B);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Output);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_13,GPIO_13_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_13);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_13,GPIO_Direction_Output);

  // SPIB CLK->Motor12_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_14,GPIO_14_Mode_SPICLKB);

  // UARTB RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_15,GPIO_15_Mode_SCIRXDB);

  // Set Qualification Period for GPIO16-23, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_16,5);

  // SPIA SIMO->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);

  // SPIA SOMI->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);

  // SPIA CLK->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);

  // SPIA CS->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);
  
#ifdef QEP
  // EQEP1A
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_EQEP1A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_20,GPIO_Qual_Sample_3);

  // EQEP1B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_EQEP1B);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_21,GPIO_Qual_Sample_3);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

  // EQEP1I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_EQEP1I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_23,GPIO_Qual_Sample_3);
#else
  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_20);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_20,GPIO_Direction_Output);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_GeneralPurpose);
#endif

  // SPIB SIMO->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_24,GPIO_24_Mode_SPISIMOB);

  // SPIB SOMI->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_25,GPIO_25_Mode_SPISOMIB);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_26,GPIO_26_Mode_GeneralPurpose);

  // SPIB CS->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_27,GPIO_27_Mode_SPISTEB_NOT);


  /*
   * ADDED CODE TO SET UP GPIO28 AND GPIO29 PINS FOR SCI
   */
      GPIO_setPullup(obj->gpioHandle, GPIO_Number_28, GPIO_Pullup_Enable);
      GPIO_setPullup(obj->gpioHandle, GPIO_Number_29, GPIO_Pullup_Enable);

      GPIO_setQualification(obj->gpioHandle, GPIO_Number_28, GPIO_Qual_ASync);
      GPIO_setMode(obj->gpioHandle, GPIO_Number_28, GPIO_28_Mode_SCIRXDA);
      GPIO_setMode(obj->gpioHandle, GPIO_Number_29, GPIO_29_Mode_SCITXDA);
  /*
   * ---------------------------------
   */

//  // OCTWn
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_TZ2_NOT);
//
//  // FAULTn
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_TZ3_NOT);

  // CAN RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_30,GPIO_30_Mode_CANRXA);

  // CAN TX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_31,GPIO_31_Mode_CANTXA);

  // I2C Data
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_SDAA);

  // I2C Clock
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_SCLA);

  // LED D9
  GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_34);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output);

  // JTAG
  GPIO_setMode(obj->gpioHandle,GPIO_Number_35,GPIO_35_Mode_JTAG_TDI);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_36,GPIO_36_Mode_JTAG_TMS);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_37,GPIO_37_Mode_JTAG_TDO);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_38,GPIO_38_Mode_JTAG_TCK);

  // LED D10
  GPIO_setMode(obj->gpioHandle,GPIO_Number_39,GPIO_39_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_39);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_39,GPIO_Direction_Output);

  // DAC1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_40,GPIO_40_Mode_EPWM7A);

  // DAC2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_41,GPIO_41_Mode_EPWM7B);

  // DAC3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_42,GPIO_42_Mode_EPWM8A);

  // DAC4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_43,GPIO_43_Mode_EPWM8B);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_44,GPIO_44_Mode_GeneralPurpose);

  // Set Qualification Period for GPIO50-55, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_50,5);

  // DRV8301 Enable Gate
  GPIO_setMode(obj->gpioHandle,GPIO_Number_50,GPIO_50_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_50);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_50,GPIO_Direction_Output);

  // DRV8301 DC Calibration
  GPIO_setMode(obj->gpioHandle,GPIO_Number_51,GPIO_51_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_51);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_51,GPIO_Direction_Output);

  // DRV8301 Enable Gate
  GPIO_setMode(obj->gpioHandle,GPIO_Number_52,GPIO_52_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_52);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_52,GPIO_Direction_Output);

  // DRV8301 Device Calibration
  GPIO_setMode(obj->gpioHandle,GPIO_Number_53,GPIO_53_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_53);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_53,GPIO_Direction_Output);
  
  // Set Qualification Period for GPIO56-58, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_56,5);
  
#ifdef QEP
  // EQEP2A
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_EQEP2A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_54,GPIO_Qual_Sample_3);

  // EQEP2B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_EQEP2B);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_55,GPIO_Qual_Sample_3);

  // EQEP2I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_EQEP2I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_56,GPIO_Qual_Sample_3);
#else
  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_GeneralPurpose);
#endif

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_57,GPIO_57_Mode_GeneralPurpose);

  // UARTB TX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_58,GPIO_58_Mode_SCITXDB);

  return;
}  // end of HAL_setupGpios() function


void HAL_setupPie(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_disable(obj->pieHandle);

  PIE_disableAllInts(obj->pieHandle);

  PIE_clearAllInts(obj->pieHandle);

  PIE_clearAllFlags(obj->pieHandle);

  PIE_setDefaultIntVectorTable(obj->pieHandle);

  PIE_enable(obj->pieHandle);

  return;
} // end of HAL_setupPie() function


void HAL_setupPeripheralClks(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CLK_enableAdcClock(obj->clkHandle);

  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_1);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_2);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_3);

  CLK_disableEcap1Clock(obj->clkHandle);

  CLK_enableEcanaClock(obj->clkHandle);

#ifdef QEP
  CLK_enableEqep1Clock(obj->clkHandle);
  CLK_enableEqep2Clock(obj->clkHandle);
#endif

  CLK_enablePwmClock(obj->clkHandle,PWM_Number_1);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_2);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_3);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_4);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_5);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_6);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_7);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_8);

  CLK_disableHrPwmClock(obj->clkHandle);

  CLK_enableI2cClock(obj->clkHandle);

  CLK_disableLinAClock(obj->clkHandle);

  CLK_disableClaClock(obj->clkHandle);

  /*
   * ADDED/CHANGED CODE
   */
  CLK_enableSciaClock(obj->clkHandle);
//  CLK_disableSciaClock(obj->clkHandle);
//  CLK_enableScibClock(obj->clkHandle);
    CLK_disableScibClock(obj->clkHandle);

  CLK_enableSpiaClock(obj->clkHandle);
  CLK_enableSpibClock(obj->clkHandle);
  
  CLK_enableTbClockSync(obj->clkHandle);

  return;
} // end of HAL_setupPeripheralClks() function


void HAL_setupPll(HAL_Handle handle,const PLL_ClkFreq_e clkFreq)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // make sure PLL is not running in limp mode
  if(PLL_getClkStatus(obj->pllHandle) != PLL_ClkStatus_Normal)
    {
      // reset the clock detect
      PLL_resetClkDetect(obj->pllHandle);

      // ???????
      asm("        ESTOP0");
    }


  // Divide Select must be ClkIn/4 before the clock rate can be changed
  if(PLL_getDivideSelect(obj->pllHandle) != PLL_DivideSelect_ClkIn_by_4)
    {
      PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_4);
    }


  if(PLL_getClkFreq(obj->pllHandle) != clkFreq)
    {
      // disable the clock detect
      PLL_disableClkDetect(obj->pllHandle);

      // set the clock rate
      PLL_setClkFreq(obj->pllHandle,clkFreq);
    }


  // wait until locked
  while(PLL_getLockStatus(obj->pllHandle) != PLL_LockStatus_Done) {}


  // enable the clock detect
  PLL_enableClkDetect(obj->pllHandle);


  // set divide select to ClkIn/2 to get desired clock rate
  // NOTE: clock must be locked before setting this register
  PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_2);

  return;
} // end of HAL_setupPll() function

// HAL_setupPwms()
// HAL_setupPwms() for motor drive
void HAL_setupPwms(HAL_Handle_mtr handleMtr,HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_Obj *obj = (HAL_Obj *)handle;
  float_t systemFreq_MHz = pUserParams->systemFreq_MHz;
  uint_least16_t numPwmTicksPerIsrTick = pUserParams->numPwmTicksPerIsrTick;
  uint16_t halfPeriod_cycles = (uint16_t)(systemFreq_MHz*(float_t)pUserParams->pwmPeriod_usec) >> 1;
  uint_least8_t cnt;

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr->pwmHandle[cnt]);
    }

  #ifdef _SINGLE_ISR_EN_
  if(objMtr->mtrNum == HAL_MTR1)
  {
	  PWM_disableCounterLoad(objMtr->pwmHandle[0]); 		     // Disable phase syncronization
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
	  PWM_enableCounterLoad(objMtr->pwmHandle[0]); 		     	// enable phase syncronization
      PWM_setPhase(objMtr->pwmHandle[0],(halfPeriod_cycles>>2));
  }
  #else
  if(objMtr->mtrNum == HAL_MTR1)
  {
	  PWM_disableCounterLoad(objMtr->pwmHandle[0]); 		     	// disable phase syncronization
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
	  PWM_enableCounterLoad(objMtr->pwmHandle[0]); 		    	 	// enable phase syncronization
      PWM_setPhase(objMtr->pwmHandle[0],(halfPeriod_cycles>>1));	// half PWM period
  }
  #endif

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick == 3)
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick == 2)
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }


  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr->pwmHandle[PWM_Number_1]);

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_1],halfPeriod_cycles);
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_2],halfPeriod_cycles);
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_3],halfPeriod_cycles);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function


// HAL_setupPwms()
void HAL_setupDualPwms(HAL_Handle_mtr handleMtr1, HAL_Handle_mtr handleMtr2, HAL_Handle handle, const USER_Params *pUserParams1, const USER_Params *pUserParams2)
{
  HAL_Obj_mtr *objMtr1 = (HAL_Obj_mtr *)handleMtr1;
  HAL_Obj_mtr *objMtr2 = (HAL_Obj_mtr *)handleMtr2;
  HAL_Obj *obj = (HAL_Obj *)handle;

  float_t systemFreq_MHz_M1 = pUserParams1->systemFreq_MHz;
  float_t systemFreq_MHz_M2 = pUserParams2->systemFreq_MHz;

  uint_least16_t numPwmTicksPerIsrTick_M1 = pUserParams1->numPwmTicksPerIsrTick;
  uint_least16_t numPwmTicksPerIsrTick_M2 = pUserParams2->numPwmTicksPerIsrTick;

  uint16_t halfPeriod_cycles_M1 = (uint16_t)(systemFreq_MHz_M1*(float_t)pUserParams1->pwmPeriod_usec) >> 1;
  uint16_t halfPeriod_cycles_M2 = (uint16_t)(systemFreq_MHz_M2*(float_t)pUserParams2->pwmPeriod_usec) >> 1;

  uint_least8_t cnt;

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_3]);

  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
	  // M1
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr1->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr1->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr1->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr1->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr1->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr1->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr1->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr1->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr1->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr1->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr1->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr1->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr1->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr1->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr1->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr1->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr1->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr1->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr1->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr1->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr1->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr1->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr1->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr1->pwmHandle[cnt]);

      // M1
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr2->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr2->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr2->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr2->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr2->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr2->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr2->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr2->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr2->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr2->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr2->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr2->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr2->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr2->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr2->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr2->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr2->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr2->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr2->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr2->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr2->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr2->pwmHandle[cnt],HAL_PWM_DBFED_CNT);

      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr2->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr2->pwmHandle[cnt]);
    }

  PWM_disableCounterLoad(objMtr1->pwmHandle[PWM_Number_1]); 		     // Disable phase syncronization
  PWM_setSyncMode(objMtr1->pwmHandle[PWM_Number_1],PWM_SyncMode_CounterEqualZero);

  PWM_enableCounterLoad(objMtr2->pwmHandle[PWM_Number_1]); 		     // enable phase syncronization
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_1],(halfPeriod_cycles_M1>>2));
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_2],(halfPeriod_cycles_M1>>2));
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_3],(halfPeriod_cycles_M1>>2));

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr1->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick_M1 == 3)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick_M1 == 2)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else // if(numPwmTicksPerIsrTick_M1 == 1)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }

  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr1->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr2->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick_M2 == 3)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick_M2 == 2)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else // if(numPwmTicksPerIsrTick_M2 == 1)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }

  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr2->pwmHandle[PWM_Number_1]);

  // since the PWM is configured as an up/down counter, the period register is set to one-half
  // of the desired PWM period
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_1],halfPeriod_cycles_M1);
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_2],halfPeriod_cycles_M1);
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_3],halfPeriod_cycles_M1);

  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_1],halfPeriod_cycles_M2);
  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_2],halfPeriod_cycles_M2);
  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_3],halfPeriod_cycles_M2);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function

#ifdef QEP
void HAL_setupQEP(HAL_Handle_mtr handleMtr, float_t encoderLines)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;

  // hold the counter in reset
  QEP_reset_counter(objMtr->qepHandle);

  // set the QPOSINIT register
  QEP_set_posn_init_count(objMtr->qepHandle, 0);

  // disable all interrupts
  QEP_disable_all_interrupts(objMtr->qepHandle);

  // clear the interrupt flags
  QEP_clear_all_interrupt_flags(objMtr->qepHandle);

  // clear the position counter
  QEP_clear_posn_counter(objMtr->qepHandle);

  // setup the max position
  QEP_set_max_posn_count(objMtr->qepHandle, (uint16_t)((4.0 * encoderLines) - 1));

  // setup the QDECCTL register
  QEP_set_QEP_source(objMtr->qepHandle, QEP_Qsrc_Quad_Count_Mode);
  QEP_disable_sync_out(objMtr->qepHandle);
  QEP_set_swap_quad_inputs(objMtr->qepHandle, QEP_Swap_Not_Swapped);
  QEP_disable_gate_index(objMtr->qepHandle);
  QEP_set_ext_clock_rate(objMtr->qepHandle, QEP_Xcr_2x_Res);
  QEP_set_A_polarity(objMtr->qepHandle, QEP_Qap_No_Effect);
  QEP_set_B_polarity(objMtr->qepHandle, QEP_Qbp_No_Effect);
  QEP_set_index_polarity(objMtr->qepHandle, QEP_Qip_No_Effect);

  // setup the QEPCTL register
  QEP_set_emu_control(objMtr->qepHandle, QEPCTL_Freesoft_Unaffected_Halt);
  QEP_set_posn_count_reset_mode(objMtr->qepHandle, QEPCTL_Pcrm_Max_Reset);
  QEP_set_strobe_event_init(objMtr->qepHandle, QEPCTL_Sei_Nothing);
  QEP_set_index_event_init(objMtr->qepHandle, QEPCTL_Iei_Nothing);
  QEP_set_index_event_latch(objMtr->qepHandle, QEPCTL_Iel_Rising_Edge);
  QEP_set_soft_init(objMtr->qepHandle, QEPCTL_Swi_Nothing);
  QEP_disable_unit_timer(objMtr->qepHandle);
  QEP_disable_watchdog(objMtr->qepHandle);

  // setup the QPOSCTL register
  QEP_disable_posn_compare(objMtr->qepHandle);

  // setup the QCAPCTL register
  QEP_disable_capture(objMtr->qepHandle);

  // renable the position counter
  QEP_enable_counter(objMtr->qepHandle);


  return;
}
#endif

void HAL_setupSpiA(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SPI_reset(obj->spiAHandle);
  SPI_setMode(obj->spiAHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiAHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiAHandle);
  SPI_enableTxFifoEnh(obj->spiAHandle);
  SPI_enableTxFifo(obj->spiAHandle);
  SPI_setTxDelay(obj->spiAHandle,0x0018);
  SPI_setBaudRate(obj->spiAHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiAHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiAHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiAHandle);

  return;
}  // end of HAL_setupSpiA() function


void HAL_setupSpiB(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SPI_reset(obj->spiBHandle);
  SPI_setMode(obj->spiBHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiBHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiBHandle);
  SPI_enableTxFifoEnh(obj->spiBHandle);
  SPI_enableTxFifo(obj->spiBHandle);
  SPI_setTxDelay(obj->spiBHandle,0x0018);
  SPI_setBaudRate(obj->spiBHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiBHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiBHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiBHandle);

  return;
}  // end of HAL_setupSpiB() function

/*
 * ADDED CODE FOR SCI
 */

void HAL_setupSCI(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SCI_reset(obj->sciHandle);
  SCI_setMode(obj->sciHandle, SCI_Mode_IdleLine);
  SCI_enableTx(obj->sciHandle);
  SCI_enableTxFifoEnh(obj->sciHandle);
  SCI_enableTxFifo(obj->sciHandle);
  SCI_setBaudRate(obj->sciHandle, SCI_BaudRate_57_6_kBaud);
  SCI_setCharLength(obj->sciHandle, SCI_CharLength_8_Bits);
  SCI_enable(obj->sciHandle);

  return;
}  // end of HAL_setupSCI() function
/*
 * ----------------------------------
 */


void HAL_setupPwmDacs(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t halfPeriod_cycles = 512;       // 3000->10kHz, 1500->20kHz, 1000-> 30kHz, 500->60kHz
  uint_least8_t    cnt;


  for(cnt=0;cnt<2;cnt++)
  {
	  if(obj->pwmDacHandle[cnt])
	  {
		  // initialize the Time-Base Control Register (TBCTL)
		  PWMDAC_setCounterMode(obj->pwmDacHandle[cnt],PWM_CounterMode_UpDown);
		  PWMDAC_disableCounterLoad(obj->pwmDacHandle[cnt]);
		  PWMDAC_setPeriodLoad(obj->pwmDacHandle[cnt],PWM_PeriodLoad_Immediate);
		  PWMDAC_setSyncMode(obj->pwmDacHandle[cnt],PWM_SyncMode_EPWMxSYNC);
		  PWMDAC_setHighSpeedClkDiv(obj->pwmDacHandle[cnt],PWM_HspClkDiv_by_1);
		  PWMDAC_setClkDiv(obj->pwmDacHandle[cnt],PWM_ClkDiv_by_1);
		  PWMDAC_setPhaseDir(obj->pwmDacHandle[cnt],PWM_PhaseDir_CountUp);
		  PWMDAC_setRunMode(obj->pwmDacHandle[cnt],PWM_RunMode_FreeRun);

		  // initialize the Timer-Based Phase Register (TBPHS)
		  PWMDAC_setPhase(obj->pwmDacHandle[cnt],0);

		  // setup the Time-Base Counter Register (TBCTR)
		  PWMDAC_setCount(obj->pwmDacHandle[cnt],0);

		  // Initialize the Time-Base Period Register (TBPRD)
		  // set to zero initially
		  PWMDAC_setPeriod(obj->pwmDacHandle[cnt],0);

		  // initialize the Counter-Compare Control Register (CMPCTL)
		  PWMDAC_setLoadMode_CmpA(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
		  PWMDAC_setLoadMode_CmpB(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
		  PWMDAC_setShadowMode_CmpA(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);
		  PWMDAC_setShadowMode_CmpB(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);

		  // Initialize the Action-Qualifier Output A Register (AQCTLA)
		  PWMDAC_setActionQual_CntUp_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
		  PWMDAC_setActionQual_CntDown_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);
		  PWMDAC_setActionQual_CntUp_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
		  PWMDAC_setActionQual_CntDown_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);

		  // Initialize the Dead-Band Control Register (DBCTL)
		  PWMDAC_disableDeadBand(obj->pwmDacHandle[cnt]);

		  // Initialize the PWM-Chopper Control Register (PCCTL)
		  PWMDAC_disableChopping(obj->pwmDacHandle[cnt]);

		  // Initialize the Trip-Zone Control Register (TZSEL)
		  PWMDAC_disableTripZones(obj->pwmDacHandle[cnt]);

		  // Initialize the Trip-Zone Control Register (TZCTL)
		  PWMDAC_setTripZoneState_TZA(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_TZB(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCAEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCAEVT2(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCBEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
	  }
  }

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  for(cnt=0;cnt<2;cnt++)
  {
	  if(obj->pwmDacHandle[cnt])
	  {
		  PWMDAC_setPeriod(obj->pwmDacHandle[cnt],halfPeriod_cycles);
	  }
  }

  return;
}  // end of HAL_setupPwmDacs() function


void HAL_setupTimers(HAL_Handle handle,const float_t systemFreq_MHz)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;
  uint32_t  timerPeriod_cnts = (uint32_t)(systemFreq_MHz * (float_t)1000000.0) - 1;

  // use timer 0 for frequency diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[0],0);
  TIMER_setEmulationMode(obj->timerHandle[0],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[0],timerPeriod_cnts);
  TIMER_setPreScaler(obj->timerHandle[0],0);

  // use timer 1 for CPU usage diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[1],0);
  TIMER_setEmulationMode(obj->timerHandle[1],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[1],timerPeriod_cnts);
  TIMER_setPreScaler(obj->timerHandle[1],0);

  // use timer 2 for CPU time diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[2],0);
  TIMER_setEmulationMode(obj->timerHandle[2],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[2],0xFFFFFFFF);
  TIMER_setPreScaler(obj->timerHandle[2],0);

  return;
}  // end of HAL_setupTimers() function


void HAL_writeDrvData(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_writeData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_writeDrvData() function


void HAL_readDrvData(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_readData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_readDrvData() function


void HAL_setupDrvSpi(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_setupSpi(obj->drv8301Handle,Spi_8301_Vars);

  return;
}  // end of HAL_setupDrvSpi() function

// set PWMDAC parameters for each channel to ensure the output waveform
void HAL_setDacParameters(HAL_Handle handle, HAL_DacData_t *pDacData)
{
	HAL_Obj *obj = (HAL_Obj *)handle;

    pDacData->PeriodMax = PWMDAC_getPeriod(obj->pwmDacHandle[PWMDAC_Number_1]);

	pDacData->offset[0] = _IQ(0.0);
	pDacData->offset[1] = _IQ(0.5);
	pDacData->offset[2] = _IQ(0.0);
	pDacData->offset[3] = _IQ(0.5);

	pDacData->gain[0] = _IQ(1.0);
	pDacData->gain[1] = _IQ(20.0);
	pDacData->gain[2] = _IQ(1.0);
	pDacData->gain[3] = _IQ(20.0);

	return;
}	//end of HAL_setDacParameters() function

// end of file

但是、当我尝试在  主程序的第391行的 Forever 循环中发送数据时、当我在查看分析仪时、它似乎会发送一些数据、但它会发送一次、而不是反复发送。  并且 SSCIFENA 位被设置回0。  

/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
//! \file   solutions/instaspin_foc/src/proj_lab10d.c
//! \brief Dual motor project
//!
//! (C) Copyright 2011, Texas Instruments, Inc.

//! \defgroup PROJ_LAB10d PROJ_LAB10d
//@{

//! \defgroup PROJ_LAB10d_OVERVIEW Project Overview
//!
//! Dual Motor Sensorless Velocity Control
//!

// **************************************************************************
// the includes

// system includes
#include <math.h>
#include "main_2motors.h"

#ifdef FLASH
#pragma CODE_SECTION(motor1_ISR,"ramfuncs");
#pragma CODE_SECTION(motor2_ISR,"ramfuncs");
#endif

// Include header files used in the main function


// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz   5

#define EST_Number1         0
#define CTRL_Number1        0

//#define _ENABLE_OVM_
// **************************************************************************
// the globals
CTRL_Handle ctrlHandle[2];

uint_least16_t gCounter_updateGlobals[2] = {0, 0};
uint_least8_t motorNum = 0;
uint_least8_t estNumber[2] = {0, 1};
uint_least8_t ctrlNumber[2] = {0, 1};

bool Flag_Latch_softwareUpdate[2] = {true, true};


#ifdef CSM_ENABLE
#pragma DATA_SECTION(halHandle,"rom_accessed_data");
#endif

HAL_Handle halHandle;

#ifdef CSM_ENABLE
#pragma DATA_SECTION(gUserParams,"rom_accessed_data");
#endif

USER_Params gUserParams[2];

// the pwm voltage values for the three phases.
HAL_PwmData_t gPwmData[2] = {{_IQ(0.0), _IQ(0.0), _IQ(0.0)}, {_IQ(0.0), _IQ(0.0), _IQ(0.0)}};

// the voltage and current adc values for the CTRL controller and the FAST estimator.
HAL_AdcData_t gAdcData[2];

// the PWMDAC variable
HAL_DacData_t gDacData;

_iq gMaxCurrentSlope[2] = {_IQ(0.0), _IQ(0.0)};

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj[2];
#else
#ifdef CSM_ENABLE
#pragma DATA_SECTION(ctrl,"rom_accessed_data");
#endif
CTRL_Obj ctrl[2];               //v1p7 format
#endif

uint16_t gLEDcnt[2] = {0, 0};

// the variables to turn on and adjust InstaSPIN
volatile MOTOR_Vars_t gMotorVars[2] = {MOTOR_Vars_INIT_Mtr1,MOTOR_Vars_INIT_Mtr2};

//
volatile SYSTEM_Vars_t gSystemVars = SYSTEM_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;

#ifdef CSM_ENABLE
extern uint16_t *econst_start, *econst_end, *econst_ram_load;
extern uint16_t *switch_start, *switch_end, *switch_ram_load;
#endif
#endif

SVGENCURRENT_Obj svgencurrent[2];
SVGENCURRENT_Handle svgencurrentHandle[2];

// set the offset, default value of 1 microsecond
int16_t gCmpOffset[2] = {(int16_t)(1.0 * USER_SYSTEM_FREQ_MHz_M1), (int16_t)(1.0 * USER_SYSTEM_FREQ_MHz_M2)};

MATH_vec3 gIavg[2] = {{_IQ(0.0), _IQ(0.0), _IQ(0.0)}, {_IQ(0.0), _IQ(0.0), _IQ(0.0)}};
uint16_t gIavg_shift[2] = {1, 1};
MATH_vec3 gPwmData_prev[2] = {{_IQ(0.0), _IQ(0.0), _IQ(0.0)}, {_IQ(0.0), _IQ(0.0), _IQ(0.0)}};

#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars[2];
#endif

#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars[2];
#endif

_iq gFlux_pu_to_Wb_sf[2];

_iq gFlux_pu_to_VpHz_sf[2];

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf[2];

_iq gTorque_Flux_Iq_pu_to_Nm_sf[2];

HAL_Handle      halHandle;          //!< the handle for the hardware abstraction
                                     //!< layer for common CPU setup
HAL_Obj         hal;                //!< the hardware abstraction layer object

#ifdef F2802xF
#pragma DATA_SECTION(halHandleMtr,"rom_accessed_data");
#endif

HAL_Handle_mtr  halHandleMtr[2];    //!< the handle for the hardware abstraction
                                     //!< layer specific to the motor board.
HAL_Obj_mtr     halMtr[2];          //!< the hardware abstraction layer object
                                     //!< specific to the motor board.

// define Flying Start (FS) variables
FS_Obj fs[2];
FS_Handle fsHandle[2];

// define cpu_time object and handle for CPU usage time calculation
CPU_TIME_Handle  cpu_timeHandle[2];
CPU_TIME_Obj     cpu_time[2];

// **************************************************************************
// the functions
float motorSpeed = 0.2;

void main(void)
{
  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

  #ifdef CSM_ENABLE
  //copy .econst to unsecure RAM
  if(*econst_end - *econst_start)
    {
      memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
    }

  //copy .switch ot unsecure RAM
  if(*switch_end - *switch_start)
    {
      memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
    }
  #endif
  #endif


  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // initialize the individual motor hal files
  halHandleMtr[HAL_MTR1] = HAL_init_mtr(&halMtr[HAL_MTR1], sizeof(halMtr[HAL_MTR1]), (HAL_MtrSelect_e)HAL_MTR1);

  // initialize the individual motor hal files
  halHandleMtr[HAL_MTR2] = HAL_init_mtr(&halMtr[HAL_MTR2], sizeof(halMtr[HAL_MTR2]), (HAL_MtrSelect_e)HAL_MTR2);

  // initialize the controller
    #ifdef FAST_ROM_V1p6
    //  ctrlHandle[HAL_MTR1] = CTRL_initCtrl(CTRL_Number1, EST_Number1);        //v1p6 format (06xF and 06xM devices)
      ctrlHandle[HAL_MTR1] = CTRL_initCtrl(ctrlNumber[HAL_MTR1], estNumber[HAL_MTR1]);                      //v1p6 format (06xF and 06xM devices)
      ctrlHandle[HAL_MTR2] = CTRL_initCtrl(ctrlNumber[HAL_MTR2], estNumber[HAL_MTR2]);                      //v1p6 format (06xF and 06xM devices)
    #else
      ctrlHandle[HAL_MTR1] = CTRL_initCtrl(estNumber[HAL_MTR1], &ctrl[HAL_MTR1], sizeof(ctrl[HAL_MTR1]));   //v1p7 format default
      ctrlHandle[HAL_MTR2] = CTRL_initCtrl(estNumber[HAL_MTR2], &ctrl[HAL_MTR2], sizeof(ctrl[HAL_MTR2]));   //v1p7 format default
    #endif

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle[HAL_MTR1] = SVGENCURRENT_init(&svgencurrent[HAL_MTR1],sizeof(svgencurrent[HAL_MTR1]));

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle[HAL_MTR2] = SVGENCURRENT_init(&svgencurrent[HAL_MTR2],sizeof(svgencurrent[HAL_MTR2]));

  // initialize the user parameters
  // This function initializes all values of structure gUserParams with
  // values defined in user.h. The values in gUserParams will be then used by
  // the hardware abstraction layer (HAL) to configure peripherals such as
  // PWM, ADC, interrupts, etc.
  USER_setParamsMtr1(&gUserParams[HAL_MTR1]);
  USER_setParamsMtr2(&gUserParams[HAL_MTR2]);

  //HAL_setParams
  // set the common hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams[HAL_MTR1]);

  #ifdef _SINGLE_ISR_EN_
  // Setup each motor board to its specific setting
  HAL_setParamsDualMtr(halHandleMtr[HAL_MTR1], halHandleMtr[HAL_MTR2], halHandle, &gUserParams[HAL_MTR1], &gUserParams[HAL_MTR2]);
  #else
  // Setup each motor board to its specific setting
  HAL_setParamsMtr(halHandleMtr[HAL_MTR1],halHandle, &gUserParams[HAL_MTR1]);

  // Setup each motor board to its specific setting
  HAL_setParamsMtr(halHandleMtr[HAL_MTR2],halHandle, &gUserParams[HAL_MTR2]);
  #endif


  //TURN ON GLOBAL SYSTEM AND M
  gSystemVars.Flag_enableSystem = 1;
  gMotorVars[HAL_MTR1].Flag_Run_Identify = 1;
  gMotorVars[HAL_MTR1].Flag_enableUserParams = true;

  gMotorVars[HAL_MTR2].Flag_enableUserParams = true;

  gMotorVars[HAL_MTR1].Flag_enableSpeedCtrl = true;
  gMotorVars[HAL_MTR2].Flag_enableSpeedCtrl = true;

  for(motorNum=HAL_MTR1;motorNum<=HAL_MTR2;motorNum++)
  {
      // set the default controller parameters
      CTRL_setParams(ctrlHandle[motorNum], &gUserParams[motorNum]);

      // set the default controller parameters (Reset the control to re-identify the motor)
      CTRL_setParams(ctrlHandle[motorNum],&gUserParams[motorNum]);

      {
        // initialize the CPU usage module
        cpu_timeHandle[motorNum] = CPU_TIME_init(&cpu_time[motorNum],sizeof(cpu_time[motorNum]));
        CPU_TIME_setParams(cpu_timeHandle[motorNum], PWM_getPeriod(halHandleMtr[motorNum]->pwmHandle[0]));
      }

      // set overmodulation to maximum value
      gMotorVars[motorNum].OverModulation = _IQ(MATH_TWO_OVER_THREE);

      // setup faults
      HAL_setupFaults(halHandleMtr[motorNum]);

      // enable DC bus compensation
      CTRL_setFlag_enableDcBusComp(ctrlHandle[motorNum], true);

      // compute scaling factors for flux and torque calculations
      gFlux_pu_to_Wb_sf[motorNum] = USER_computeFlux_pu_to_Wb_sf(&gUserParams[motorNum]);
      gFlux_pu_to_VpHz_sf[motorNum] = USER_computeFlux_pu_to_VpHz_sf(&gUserParams[motorNum]);
      gTorque_Ls_Id_Iq_pu_to_Nm_sf[motorNum] = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(&gUserParams[motorNum]);
      gTorque_Flux_Iq_pu_to_Nm_sf[motorNum] = USER_computeTorque_Flux_Iq_pu_to_Nm_sf(&gUserParams[motorNum]);

      gMotorVars[motorNum].current_pu_to_A_sf = _IQ(gUserParams[motorNum].iqFullScaleCurrent_A);
      gMotorVars[motorNum].voltage_pu_to_kv_sf = _IQ(gUserParams[motorNum].iqFullScaleVoltage_V/(float_t)1000.0);
      gMotorVars[motorNum].current_A_to_pu_sf = _IQdiv(_IQ(1.0), gMotorVars[motorNum].current_pu_to_A_sf);

    #ifdef DRV8301_SPI
      // turn on the DRV8301 if present
      HAL_enableDrv(halHandleMtr[motorNum]);
      // initialize the DRV8301 interface
      HAL_setupDrvSpi(halHandleMtr[motorNum],&gDrvSpi8301Vars[motorNum]);
    #endif

    #ifdef DRV8305_SPI
      // turn on the DRV8305 if present
      HAL_enableDrv(halHandleMtr[motorNum]);
      // initialize the DRV8305 interface
      HAL_setupDrvSpi(halHandleMtr[motorNum],&gDrvSpi8305Vars[motorNum]);
    #endif

      gCounter_updateGlobals[motorNum] = 0;
  }

  // setup svgen current for Motor #1
  {
    float_t minWidth_microseconds_M1 = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds_M1 * USER_SYSTEM_FREQ_MHz);
    float_t fdutyLimit = 0.5-(2.0*minWidth_microseconds_M1*USER_PWM_FREQ_kHz_M1*0.001);
    _iq dutyLimit = _IQ(fdutyLimit);

    SVGENCURRENT_setMinWidth(svgencurrentHandle[HAL_MTR1], minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle[HAL_MTR1], use_all);
    SVGENCURRENT_setMode(svgencurrentHandle[HAL_MTR1],all_phase_measurable);
    SVGENCURRENT_setVlimit(svgencurrentHandle[HAL_MTR1],dutyLimit);
  }

  // setup svgen current for Motor #2
  {
    float_t minWidth_microseconds_M2 = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds_M2 * USER_SYSTEM_FREQ_MHz);
    float_t fdutyLimit = 0.5-(2.0*minWidth_microseconds_M2*USER_PWM_FREQ_kHz_M2*0.001);
    _iq dutyLimit = _IQ(fdutyLimit);

    SVGENCURRENT_setMinWidth(svgencurrentHandle[HAL_MTR2], minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle[HAL_MTR2], use_all);
    SVGENCURRENT_setMode(svgencurrentHandle[HAL_MTR2],all_phase_measurable);
    SVGENCURRENT_setVlimit(svgencurrentHandle[HAL_MTR2],dutyLimit);
  }

  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle[HAL_MTR1],&version);

    gMotorVars[HAL_MTR1].CtrlVersion = version;
    gMotorVars[HAL_MTR2].CtrlVersion = version;
  }

  // set DAC parameters
  HAL_setDacParameters(halHandle, &gDacData);

  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandleMtr[HAL_MTR1]);
  HAL_disablePwm(halHandleMtr[HAL_MTR2]);


  // Below two lines code for Flash Testing, need to be commented
//  gSystemVars.Flag_enableSynControl = true;
//  gSystemVars.Flag_enableRun = true;

  HAL_Obj* obj = (HAL_Obj*)halHandle;

  for(;;)
    {

      /*
       *   ADDED CODE TO SEND DATA
       */
      SCI_putDataNonBlocking(obj->sciHandle, 72);
      /*
       * -------------------------
       */

      // Waiting for enable system flag to be set
      // Motor 1 Flag_enableSys is the master control.
  //    while(!(gMotorVars[HAL_MTR1].Flag_enableSys));
      while(!(gSystemVars.Flag_enableSystem));

      // Enable the Library internal PI.  Iq is referenced by the speed PI now
  //    CTRL_setFlag_enableSpeedCtrl(ctrlHandle[HAL_MTR1], true);

      // Enable the Library internal PI.  Iq is referenced by the speed PI now
  //    CTRL_setFlag_enableSpeedCtrl(ctrlHandle[HAL_MTR2], true);

      // loop while the enable system flag is true
      // Motor 1 Flag_enableSys is the master control.
  //    while(gMotorVars[HAL_MTR1].Flag_enableSys)
      while(gSystemVars.Flag_enableSystem)
      {
          // toggle status LED
          if(gLEDcnt[HAL_MTR1]++ > (uint_least32_t)(USER_ISR_FREQ_Hz_M1 / LED_BLINK_FREQ_Hz))
          {
//              HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
              gLEDcnt[HAL_MTR1] = 0;
          }

          // toggle status LED
          if(gLEDcnt[HAL_MTR2]++ > (uint_least32_t)(USER_ISR_FREQ_Hz_M2 / LED_BLINK_FREQ_Hz))
          {
              HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED3);
              gLEDcnt[HAL_MTR2] = 0;
          }

//          if(gSystemVars.Flag_enableSynControl == true)
//          {
              gMotorVars[HAL_MTR1].Flag_Run_Identify = 1;
  //          gMotorVars[HAL_MTR1].SpeedRef_krpm = gSystemVars.SpeedSet_krpm;
              gMotorVars[HAL_MTR1].SpeedRef_krpm = _IQ(motorSpeed);
              gMotorVars[HAL_MTR1].MaxAccel_krpmps = _IQ(0.8);

              gMotorVars[HAL_MTR2].Flag_Run_Identify = gSystemVars.Flag_enableRun;
              gMotorVars[HAL_MTR2].SpeedRef_krpm = gSystemVars.SpeedSet_krpm;
              gMotorVars[HAL_MTR2].MaxAccel_krpmps = gSystemVars.MaxAccelSet_krpmps;
//          }

          for(motorNum=HAL_MTR1;motorNum<=HAL_MTR2;motorNum++)
          {
              CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle[motorNum];

              // increment counters
              gCounter_updateGlobals[motorNum]++;

              if(CTRL_isError(ctrlHandle[motorNum]))
              {
                  // set the enable controller flag to false
                  CTRL_setFlag_enableCtrl(ctrlHandle[motorNum],false);

                  // set the enable system flag to false
                  gMotorVars[motorNum].Flag_enableSys = false;

                  // disable the PWM
                  HAL_disablePwm(halHandleMtr[motorNum]);
              }
              else
              {
                  // update the controller state
                  bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle[motorNum]);

                  // enable or disable the control
                  CTRL_setFlag_enableCtrl(ctrlHandle[motorNum], gMotorVars[motorNum].Flag_Run_Identify);

                  if(flag_ctrlStateChanged)
                  {
                      CTRL_State_e ctrlState = CTRL_getState(ctrlHandle[motorNum]);
                      EST_State_e estState = EST_getState(obj->estHandle);

                      if(ctrlState == CTRL_State_OffLine)
                      {
                          // enable the PWM
                          HAL_enablePwm(halHandleMtr[motorNum]);
                      }
                      else if(ctrlState == CTRL_State_OnLine)
                      {
  //                      if(gMotorVars[motorNum].Flag_enableOffsetcalc == true)
  //                      {
  //                          // update the ADC bias values
  //                          HAL_updateAdcBias(halHandleMtr[motorNum]);
  //                      }
  //                      else
  //                      {
  //                          // set the current bias
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Current,0,_IQ(I_A_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Current,1,_IQ(I_B_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Current,2,_IQ(I_C_offset));
  //
  //                          // set the voltage bias
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,0,_IQ(V_A_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,1,_IQ(V_B_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,2,_IQ(V_C_offset));
  //                      }

                          if((estState < EST_State_LockRotor) || (estState > EST_State_MotorIdentified))
                          {
                              // update the ADC bias values
                              HAL_updateAdcBias(halHandleMtr[motorNum]);
                          }

                          // Return the bias value for currents
                          gMotorVars[motorNum].I_bias.value[0] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Current,0);
                          gMotorVars[motorNum].I_bias.value[1] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Current,1);
                          gMotorVars[motorNum].I_bias.value[2] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Current,2);

                          // Return the bias value for voltages
                          gMotorVars[motorNum].V_bias.value[0] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,0);
                          gMotorVars[motorNum].V_bias.value[1] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,1);
                          gMotorVars[motorNum].V_bias.value[2] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,2);

                          // enable the PWM
                          HAL_enablePwm(halHandleMtr[motorNum]);
                      }
                      else if(ctrlState == CTRL_State_Idle)
                      {
                          // disable the PWM
                          HAL_disablePwm(halHandleMtr[motorNum]);
                          gMotorVars[motorNum].Flag_Run_Identify = false;
                      }       // ctrlState=?

                      if((CTRL_getFlag_enableUserMotorParams(ctrlHandle[motorNum]) == true) &&
                                                            (ctrlState > CTRL_State_Idle) &&
                                                    (gMotorVars[motorNum].CtrlVersion.minor == 6))
                      {
                          // call this function to fix 1p6
                          USER_softwareUpdate1p6(ctrlHandle[motorNum], &gUserParams[motorNum]);
                      }

                  }   // flag_ctrlStateChanged=?
              }   // CTRL_isError=?


              if(EST_isMotorIdentified(obj->estHandle))
              {
                  _iq Id_squared_pu = _IQmpy(CTRL_getId_ref_pu(ctrlHandle[motorNum]),CTRL_getId_ref_pu(ctrlHandle[motorNum]));

                  //Set the maximum current controller output for the Iq and Id current controllers to enable
                  //over-modulation.
                  //An input into the SVM above 1/SQRT(3) = 0.5774 is in the over-modulation region.  An input of 0.5774 is where
                  //the crest of the sinewave touches the 100% duty cycle.  At an input of 2/3, the SVM generator
                  //produces a trapezoidal waveform touching every corner of the hexagon
                  CTRL_setMaxVsMag_pu(ctrlHandle[motorNum],gMotorVars[motorNum].OverModulation);

                  // set the current ramp
                  EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope[motorNum]);

                  gMotorVars[motorNum].Flag_MotorIdentified = true;

                  // set the speed reference
                  CTRL_setSpd_ref_krpm(ctrlHandle[motorNum],gMotorVars[motorNum].SpeedRef_krpm);

                  // set the speed acceleration
  //              CTRL_setMaxAccel_pu(ctrlHandle[motorNum],_IQmpy(MAX_ACCEL_KRPMPS_SF_M1,gMotorVars[motorNum].MaxAccel_krpmps));
                  CTRL_setMaxAccel_pu(ctrlHandle[motorNum],_IQmpy(MAX_ACCEL_KRPMPS_SF_M1,gMotorVars[motorNum].MaxAccel_krpmps));

                  // set the Id reference
  //              CTRL_setId_ref_pu(ctrlHandle[motorNum], _IQmpy(gMotorVars.IdRef_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));
                  CTRL_setId_ref_pu(ctrlHandle[motorNum], _IQmpy(gMotorVars[motorNum].IdRef_A, gMotorVars[motorNum].current_A_to_pu_sf));

                  if(Flag_Latch_softwareUpdate[motorNum])
                  {
                    Flag_Latch_softwareUpdate[motorNum] = false;

                    USER_calcPIgains(ctrlHandle[motorNum], &gUserParams[motorNum]);

                    // initialize the watch window kp and ki current values with pre-calculated values
                    gMotorVars[motorNum].Kp_Idq = CTRL_getKp(ctrlHandle[motorNum],CTRL_Type_PID_Id);
                    gMotorVars[motorNum].Ki_Idq = CTRL_getKi(ctrlHandle[motorNum],CTRL_Type_PID_Id);

                    // initialize the watch window kp and ki current values with pre-calculated values
                    gMotorVars[motorNum].Kp_spd = CTRL_getKp(ctrlHandle[motorNum],CTRL_Type_PID_spd);
                    gMotorVars[motorNum].Ki_spd = CTRL_getKi(ctrlHandle[motorNum],CTRL_Type_PID_spd);
                  }
              }
              else
              {
                  Flag_Latch_softwareUpdate[motorNum] = true;

                  // initialize the watch window kp and ki values with pre-calculated values
  //              gMotorVars[motorNum].Kp_spd = CTRL_getKp(ctrlHandle[motorNum],CTRL_Type_PID_spd);
  //              gMotorVars[motorNum].Ki_spd = CTRL_getKi(ctrlHandle[motorNum],CTRL_Type_PID_spd);

                  // the estimator sets the maximum current slope during identification
                  gMaxCurrentSlope[motorNum] = EST_getMaxCurrentSlope_pu(obj->estHandle);
              }


              // when appropriate, update the global variables
              if(gCounter_updateGlobals[motorNum] >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
              {
                  // reset the counter
                  gCounter_updateGlobals[motorNum] = 0;

                  updateGlobalVariables_motor(ctrlHandle[motorNum], motorNum);
              }

              // recalculate Kp and Ki gains to fix the R/L limitation of 2000.0, and Kp limit to 0.11
              recalcKpKi(ctrlHandle[motorNum], motorNum);

              // update Kp and Ki gains
              updateKpKiGains(ctrlHandle[motorNum], motorNum);

              // enable/disable the forced angle
              EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars[motorNum].Flag_enableForceAngle);

              // enable or disable power warp
              CTRL_setFlag_enablePowerWarp(ctrlHandle[motorNum],gMotorVars[motorNum].Flag_enablePowerWarp);

              #ifdef DRV8301_SPI
              HAL_writeDrvData(halHandleMtr[motorNum],&gDrvSpi8301Vars[motorNum]);

              HAL_readDrvData(halHandleMtr[motorNum],&gDrvSpi8301Vars[motorNum]);
              #endif

              #ifdef DRV8305_SPI
              HAL_writeDrvData(halHandleMtr[motorNum],&gDrvSpi8305Vars[motorNum]);

              HAL_readDrvData(halHandleMtr[motorNum],&gDrvSpi8305Vars[motorNum]);
              #endif
          }

        } // end of while(gFlag_enableSys) loop

        // disable the PWM
        HAL_disablePwm(halHandleMtr[HAL_MTR1]);
        HAL_disablePwm(halHandleMtr[HAL_MTR2]);

        gMotorVars[HAL_MTR1].Flag_Run_Identify = false;
        gMotorVars[HAL_MTR2].Flag_Run_Identify = false;

        // set the default controller parameters (Reset the control to re-identify the motor)
        CTRL_setParams(ctrlHandle[HAL_MTR1],&gUserParams[HAL_MTR1]);
        CTRL_setParams(ctrlHandle[HAL_MTR2],&gUserParams[HAL_MTR2]);
     } // end of for(;;) loop

} // end of main() function


#ifdef _SINGLE_ISR_EN_
// motor_ISR
interrupt void motor_ISR(void)
{
  // read the timer 1 value and update the CPU usage module
  uint32_t timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_updateCnts(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  #ifdef _ENABLE_OVM_
  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M1 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR1]);
  #endif

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);

  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1]);

  #ifdef _ENABLE_OVM_
  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR1], (MATH_vec3 *)(gAdcData[HAL_MTR1].I.value));

  gIavg[HAL_MTR1].value[0] += (gAdcData[HAL_MTR1].I.value[0] - gIavg[HAL_MTR1].value[0])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[1] += (gAdcData[HAL_MTR1].I.value[1] - gIavg[HAL_MTR1].value[1])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[2] += (gAdcData[HAL_MTR1].I.value[2] - gIavg[HAL_MTR1].value[2])>>gIavg_shift[HAL_MTR1];

  if(measurableShuntThisCycle_M1 > two_phase_measurable)
  {
      gAdcData[HAL_MTR1].I.value[0] = gIavg[HAL_MTR1].value[0];
      gAdcData[HAL_MTR1].I.value[1] = gIavg[HAL_MTR1].value[1];
      gAdcData[HAL_MTR1].I.value[2] = gIavg[HAL_MTR1].value[2];
  }
  #endif

  // run the flying start
  //FS_run(ctrlHandle[HAL_MTR1], fsHandle[HAL_MTR1]);

  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR1],halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1],&gPwmData[HAL_MTR1]);

  #ifdef _ENABLE_OVM_
  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR1],&(gPwmData[HAL_MTR1].Tabc),&gPwmData_prev[HAL_MTR1]);
  #endif

  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR1],&gPwmData[HAL_MTR1]);

  #ifdef _ENABLE_OVM_
  {
      SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M1 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR1]);
      SVGENCURRENT_VmidShunt_e midVolShunt_M1 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR1]);

      // Set trigger point in the middle of the low side pulse
      HAL_setTrigger(halHandleMtr[HAL_MTR1],ignoreShuntNextCycle_M1,midVolShunt_M1);
  }
  #endif

  //operation for second motor
  #ifdef _ENABLE_OVM_
  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M2 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR2]);
  #endif

  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2]);

  #ifdef _ENABLE_OVM_
  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR2], (MATH_vec3 *)(gAdcData[HAL_MTR2].I.value));

  gIavg[HAL_MTR2].value[0] += (gAdcData[HAL_MTR2].I.value[0] - gIavg[HAL_MTR2].value[0])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[1] += (gAdcData[HAL_MTR2].I.value[1] - gIavg[HAL_MTR2].value[1])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[2] += (gAdcData[HAL_MTR2].I.value[2] - gIavg[HAL_MTR2].value[2])>>gIavg_shift[HAL_MTR2];

  if(measurableShuntThisCycle_M2 > two_phase_measurable)
  {
      gAdcData[HAL_MTR2].I.value[0] = gIavg[HAL_MTR2].value[0];
      gAdcData[HAL_MTR2].I.value[1] = gIavg[HAL_MTR2].value[1];
      gAdcData[HAL_MTR2].I.value[2] = gIavg[HAL_MTR2].value[2];
  }

  #endif

  // run the flying start
  //FS_run(ctrlHandle[HAL_MTR2], fsHandle[HAL_MTR2]);

  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR2],halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2],&gPwmData[HAL_MTR2]);

  #ifdef _ENABLE_OVM_
  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR2],&(gPwmData[HAL_MTR2].Tabc),&gPwmData_prev[HAL_MTR2]);
  #endif

  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR2],&gPwmData[HAL_MTR2]);

  #ifdef _ENABLE_OVM_
  {
    SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M2 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR2]);
    SVGENCURRENT_VmidShunt_e midVolShunt_M2 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR2]);

    // Set trigger point in the middle of the low side pulse
    HAL_setTrigger(halHandleMtr[HAL_MTR2],ignoreShuntNextCycle_M2,midVolShunt_M2);
  }
  #endif

  // setup the controller
  CTRL_setup(ctrlHandle[HAL_MTR1]);
  CTRL_setup(ctrlHandle[HAL_MTR2]);

  // read the timer 1 value and update the CPU usage module
  timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_run(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  return;
} // end of motor1_ISR() function
#else
// motor1_ISR
interrupt void motor1_ISR(void)
{
  // read the timer 1 value and update the CPU usage module
  uint32_t timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_updateCnts(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M1 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR1]);

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);


  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1]);


  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR1], (MATH_vec3 *)(gAdcData[HAL_MTR1].I.value));


  gIavg[HAL_MTR1].value[0] += (gAdcData[HAL_MTR1].I.value[0] - gIavg[HAL_MTR1].value[0])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[1] += (gAdcData[HAL_MTR1].I.value[1] - gIavg[HAL_MTR1].value[1])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[2] += (gAdcData[HAL_MTR1].I.value[2] - gIavg[HAL_MTR1].value[2])>>gIavg_shift[HAL_MTR1];

  if(measurableShuntThisCycle_M1 > two_phase_measurable)
  {
      gAdcData[HAL_MTR1].I.value[0] = gIavg[HAL_MTR1].value[0];
      gAdcData[HAL_MTR1].I.value[1] = gIavg[HAL_MTR1].value[1];
      gAdcData[HAL_MTR1].I.value[2] = gIavg[HAL_MTR1].value[2];
  }

  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR1],halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1],&gPwmData[HAL_MTR1]);


  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR1],&(gPwmData[HAL_MTR1].Tabc),&gPwmData_prev[HAL_MTR1]);


  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR1],&gPwmData[HAL_MTR1]);


  {
    SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M1 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR1]);
    SVGENCURRENT_VmidShunt_e midVolShunt_M1 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR1]);

    // Set trigger point in the middle of the low side pulse
    HAL_setTrigger(halHandleMtr[HAL_MTR1],ignoreShuntNextCycle_M1,midVolShunt_M1);
  }


  // setup the controller
  CTRL_setup(ctrlHandle[HAL_MTR1]);


  // get the estimator angle and frequency values
  gMotorVars[HAL_MTR1].angle_est_pu = EST_getAngle_pu(ctrlHandle[HAL_MTR1]->estHandle);
  gMotorVars[HAL_MTR1].speed_est_pu = EST_getFm_pu(ctrlHandle[HAL_MTR1]->estHandle);

  gDacData.value[0] = gMotorVars[HAL_MTR1].angle_est_pu;
  gDacData.value[1] = gMotorVars[HAL_MTR1].speed_est_pu;
  gDacData.value[2] = gMotorVars[HAL_MTR2].angle_est_pu;
  gDacData.value[3] = gMotorVars[HAL_MTR2].speed_est_pu;

  HAL_writeDacData(halHandle,&gDacData);


  // read the timer 1 value and update the CPU usage module
  timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_run(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  return;
} // end of motor1_ISR() function


//motor2_ISR
interrupt void motor2_ISR(void)
{
  // read the timer 1 value and update the CPU usage module
  uint32_t timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_updateCnts(cpu_timeHandle[HAL_MTR2],timer1Cnt);
  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M2 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR2]);

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_2);

  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2]);

  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR2], (MATH_vec3 *)(gAdcData[HAL_MTR2].I.value));


  gIavg[HAL_MTR2].value[0] += (gAdcData[HAL_MTR2].I.value[0] - gIavg[HAL_MTR2].value[0])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[1] += (gAdcData[HAL_MTR2].I.value[1] - gIavg[HAL_MTR2].value[1])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[2] += (gAdcData[HAL_MTR2].I.value[2] - gIavg[HAL_MTR2].value[2])>>gIavg_shift[HAL_MTR2];

  if(measurableShuntThisCycle_M2 > two_phase_measurable)
  {
      gAdcData[HAL_MTR2].I.value[0] = gIavg[HAL_MTR2].value[0];
      gAdcData[HAL_MTR2].I.value[1] = gIavg[HAL_MTR2].value[1];
      gAdcData[HAL_MTR2].I.value[2] = gIavg[HAL_MTR2].value[2];
  }


  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR2],halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2],&gPwmData[HAL_MTR2]);


  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR2],&(gPwmData[HAL_MTR2].Tabc),&gPwmData_prev[HAL_MTR2]);


  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR2],&gPwmData[HAL_MTR2]);


  {
    SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M2 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR2]);
    SVGENCURRENT_VmidShunt_e midVolShunt_M2 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR2]);

    // Set trigger point in the middle of the low side pulse
    HAL_setTrigger(halHandleMtr[HAL_MTR2],ignoreShuntNextCycle_M2,midVolShunt_M2);
  }


  // setup the controller
  CTRL_setup(ctrlHandle[HAL_MTR2]);


  // get the estimator angle and frequency values
  gMotorVars[HAL_MTR2].angle_est_pu = EST_getAngle_pu(ctrlHandle[HAL_MTR2]->estHandle);
  gMotorVars[HAL_MTR2].speed_est_pu = EST_getFm_pu(ctrlHandle[HAL_MTR2]->estHandle);

  // read the timer 1 value and update the CPU usage module
  timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_run(cpu_timeHandle[HAL_MTR2],timer1Cnt);

  return;
} // end of mainISR() function
#endif

void updateGlobalVariables_motor(CTRL_Handle handle, const uint_least8_t mtrNum)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;

  // get the speed estimate
  gMotorVars[mtrNum].Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

  // get the real time speed reference coming out of the speed trajectory generator
  gMotorVars[mtrNum].SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

  // get the torque estimate
//  gMotorVars[mtrNum].Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf[mtrNum], gTorque_Ls_Id_Iq_pu_to_Nm_sf[mtrNum]);

  // get the magnetizing current
  gMotorVars[mtrNum].MagnCurr_A = EST_getIdRated(obj->estHandle);

  // get the rotor resistance
  gMotorVars[mtrNum].Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

  // get the stator resistance
  gMotorVars[mtrNum].Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

  // get the stator inductance in the direct coordinate direction
  gMotorVars[mtrNum].Lsd_H = EST_getLs_d_H(obj->estHandle);

  // get the stator inductance in the quadrature coordinate direction
  gMotorVars[mtrNum].Lsq_H = EST_getLs_q_H(obj->estHandle);

  // get the flux in V/Hz in floating point
  gMotorVars[mtrNum].Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

  // get the flux in Wb in fixed point
  gMotorVars[mtrNum].Flux_Wb = _IQmpy(EST_getFlux_pu(obj->estHandle),gFlux_pu_to_Wb_sf[mtrNum]);

  // get the controller state
  gMotorVars[mtrNum].CtrlState = CTRL_getState(handle);

  // get the estimator state
  gMotorVars[mtrNum].EstState = EST_getState(obj->estHandle);

  // read Vd and Vq vectors per units
  gMotorVars[mtrNum].Vd = CTRL_getVd_out_pu(handle);
  gMotorVars[mtrNum].Vq = CTRL_getVq_out_pu(handle);

  // calculate vector Vs in per units
  gMotorVars[mtrNum].Vs = _IQsqrt(_IQmpy(gMotorVars[mtrNum].Vd, gMotorVars[mtrNum].Vd) + _IQmpy(gMotorVars[mtrNum].Vq, gMotorVars[mtrNum].Vq));

  // read Id and Iq vectors in amps
//  gMotorVars[mtrNum].Id_A = _IQmpy(CTRL_getId_in_pu(handle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
//  gMotorVars[mtrNum].Iq_A = _IQmpy(CTRL_getIq_in_pu(handle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
  gMotorVars[mtrNum].Id_A = _IQmpy(CTRL_getId_in_pu(handle), gMotorVars[mtrNum].current_pu_to_A_sf);
  gMotorVars[mtrNum].Iq_A = _IQmpy(CTRL_getIq_in_pu(handle), gMotorVars[mtrNum].current_pu_to_A_sf);

  // calculate vector Is in amps
  gMotorVars[mtrNum].Is_A = _IQsqrt(_IQmpy(gMotorVars[mtrNum].Id_A, gMotorVars[mtrNum].Id_A) + _IQmpy(gMotorVars[mtrNum].Iq_A, gMotorVars[mtrNum].Iq_A));

  // Get the DC buss voltage
//  gMotorVars[mtrNum].VdcBus_kV = _IQmpy(gAdcData[mtrNum].dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
  gMotorVars[mtrNum].VdcBus_kV = _IQmpy(gAdcData[mtrNum].dcBus, gMotorVars[mtrNum].voltage_pu_to_kv_sf);

  // enable/disable the use of motor parameters being loaded from user.h
  CTRL_setFlag_enableUserMotorParams(ctrlHandle[mtrNum],gMotorVars[mtrNum].Flag_enableUserParams);

  // Enable the Library internal PI.  Iq is referenced by the speed PI now
  CTRL_setFlag_enableSpeedCtrl(ctrlHandle[mtrNum], gMotorVars[mtrNum].Flag_enableSpeedCtrl);

  // enable/disable automatic calculation of bias values
  CTRL_setFlag_enableOffset(ctrlHandle[mtrNum],gMotorVars[mtrNum].Flag_enableOffsetcalc);

  // enable/disable dc bus voltage compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle[mtrNum], gMotorVars[mtrNum].Flag_enableDcBusComp);

  // enable/disable Rs recalibration during motor startup
  EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars[mtrNum].Flag_enableRsRecalc);

  return;
} // end of updateGlobalVariables_motor() function


void updateKpKiGains(CTRL_Handle handle, const uint_least8_t mtrNum)
{
  if((gMotorVars[mtrNum].CtrlState == CTRL_State_OnLine) && (gMotorVars[mtrNum].Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate[mtrNum] == false))
    {
      // set the kp and ki speed values from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars[mtrNum].Kp_spd);
      CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars[mtrNum].Ki_spd);

      // set the kp and ki current values for Id and Iq from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars[mtrNum].Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars[mtrNum].Ki_Idq);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars[mtrNum].Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars[mtrNum].Ki_Idq);
    }

  return;
} // end of updateKpKiGains() function

void recalcKpKi(CTRL_Handle handle, const uint_least8_t mtrNum)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  EST_State_e EstState = EST_getState(obj->estHandle);

  if((EST_isMotorIdentified(obj->estHandle) == false) && (EstState == EST_State_Rs))
    {
      float_t Lhf = CTRL_getLhf(handle);
      float_t Rhf = CTRL_getRhf(handle);
      float_t RhfoverLhf = Rhf/Lhf;
//      _iq Kp = _IQ(0.25*Lhf*USER_IQ_FULL_SCALE_CURRENT_A/(USER_CTRL_PERIOD_sec*USER_IQ_FULL_SCALE_VOLTAGE_V));
      _iq Kp = _IQ(0.25*Lhf*gUserParams[mtrNum].iqFullScaleCurrent_A/(gUserParams[mtrNum].ctrlPeriod_sec*gUserParams[mtrNum].iqFullScaleVoltage_V));

//      _iq Ki = _IQ(RhfoverLhf*USER_CTRL_PERIOD_sec);
      _iq Ki = _IQ(RhfoverLhf*gUserParams[mtrNum].ctrlPeriod_sec);

      // set Rhf/Lhf
      CTRL_setRoverL(handle,RhfoverLhf);

      // set the controller proportional gains
      CTRL_setKp(handle,CTRL_Type_PID_Id,Kp);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,Kp);

      // set the Id controller gains
      CTRL_setKi(handle,CTRL_Type_PID_Id,Ki);
      PID_setKi(obj->pidHandle_Id,Ki);

      // set the Iq controller gains
      CTRL_setKi(handle,CTRL_Type_PID_Iq,Ki);
      PID_setKi(obj->pidHandle_Iq,Ki);
    }

  return;
} // end of recalcKpKi() function

//@} //defgroup
// end of file

下面是我在逻辑分析仪上看到的内容：


不确定这是垃圾还是我的实际位。  尽管我更改了主程序第391行中的数据、但它始终是 XFF。  当我尝试发送72、然后我尝试发送类似22的数据。   

您好、Charlie、

您在 SCI 寄存器内的 TX 和 RX 缓冲器中看到了什么？

此致、

Marlyn

我看到的是00110111、它可以转换为55、这是我发送的内容。  那么、它可能起作用了吗？  我可能在错误的引脚上安装了逻辑分析仪？

您好、Charlie、 Marlyn 今天不在办公室、您应该期待明天收到回复。  很抱歉给您带来不便 、感谢 您的耐心等待。

此致、Joe

您好、Charlie、

可能在 mainISR()抽取计时调用 LED 关闭。 您可能需要有一个通过计数变量来累积许多中断周期、然后切换 LED、并 在 GPIO 更改状态后复位计数0x0。 因此、在80MHz SYSCLK (1/P)时、x 可变计数(静态或易失性)以实现 GPIO 开启和关闭切换状态的秒数。
//设置波特率
SCI_setBaudRate (obj->sciHandle、SCI_budRate_57_6_kBaud)；

对于 mainISR()中断时序而言，波特率会很慢，即使在115200BPS 的速率下，它也可能会在某个点锁定 SCI TX FIFO。 建议将 CPU 定时器0环路配置为处理 SCI TX/RX 间隔。 即使设置了更快的串行波特率、即使在 user.h 中设置了高 ePWM 节拍数、也可能会导致估算器电机快速运行出现问题  我尝试了一些类似的 x49c MCSDK FOC 为 SCIB 配置了复杂的 TX/RX 中断。 这一点没有什么不同、因为电机会每30ms 停止一次 TX 串行数据异步 GPIO 输出。  

此致

00110111将转换为0x37、而不是0x55。 请仔细检查一下吗？

你是对的。  我想说的是55小数。 它是0x37十六进制。  但我在逻辑分析仪中只看到0xFF、它仅输出一次、就像我在上面说的那样、但它在 for (；；)循环中。

if (gLEDcnt[HAL_MTR1]++>(uint_least32_t)(USER_ISR_FREQ_Hz_M1 / LED_BLINK FREQ_Hz)

看起来 LED 闪烁速率已经被定义 MOTOR_ISR()。 您的文本建议您尝试通过切换来关闭 LED、但可能没有首先注释 ISR 闪烁速率？ 如果您在 while ()的 for；循环中执行此操作、它仍然需要闪烁频率 SysCtlDelay ()、因为 LED 可能会选通、请对引脚进行范围控制。

即使您将 SCIB TX/RX FIFO 中断级别配置为使其与 motor1_isr ()保持同步。 FAST 估算器将在 低速串行中断期间被中断且不会产生旋转角。 除非有一个应用标志位指示 FAST 何时进入300ms 的换向死区时间、否则可能会发生这种情况。 串行 TX 数据必须包含在电机运行时中断通过 ADC EOC 触发器发出之前的短文本传输。  

按照原样、FAST 估算器在启用或不启用中断的情况下无法承受来自 SCIA 或 SCIB 的任何低速串行 TX 传输。 否则、x49c 已降级 ePIE 控制器、TI 不会承认任何人。 很有趣、因为我有 ARM Cortex TM4C1294 MCU 在运行时具有12个中断、10个 ADC 输入通道、恒定电机换向、115200 BPS 中断驱动 TX 串行传输和 EMAC 将 telnet 实时电机数据移植到运行于 Windows 100Mbps 下的以太网 GUI。    

感谢您的回答。 这很有帮助。  但是、我要做的主要工作是从逻辑分析仪的 TX 引脚中输出数据、以确保我实际上是通过 TX 引脚发送数据。  但我只看到传输了一个数据、它是0xFF、与我使用上面第391行的代码使用  SCI_putDataNonBlocking (obj->sciHandle、72)发送的72个简单的 unint_16不相关；   它似乎应该不停地发送数据、因为它处于永久循环中。   

您好、Charlie、

为了正确设置 SCI 引脚、您是否在项目内具有'SP28_SCIA'或'SP28_SCIB'定义？ 如果您使用的是 SCIA、则正确的引脚应为 GPIO28和 GPIO29。 您能否确认这些是您正在研究的引脚？

此致、

Marlyn

如果未配置 FIFO 中断模式、则在外部可能会怀疑 LOOP 是否通过移植非阻塞字符锁定 TXD 寄存器。 也许在未启用 FIFO 的情况下尝试阻塞模式、 您应该会看到输出一个或多个字符。 启用电机驱动器中断处理程序后、TXD 输出可能会变为二进制乱码。

编辑： void HAL_setupSCI (HAL_Handle handle)处理 SCIA 配置(FIFO 非中断模式)、您可以删除 HAL 调用、并在 SCI 初始化程序即使存在时调用回显。 尽管 sci.c 基本上不做我能找到的任何操作、除非回显驱动 程序(main.c)是一个项目示例。 如果 X69 SCIA/B 支持 FIFO 填充级别中断、则除非在设置了中断级别的某个位置启用了 FIFO 中断、否则将需要阻断模式。 通常情况下、我们禁用 TX 阻塞模式 x49c 的 FIFO、因此我看不出在 HAL 中启用 FIFO 的代码、除非在硬件方面需要 FIFO。

看起来 DSP28_SCIA 是在 Example_2806xSci_Echoback 项目中定义的、但我在 instaspin 实验的 proj_lab10中工作。 但是、似乎我正在设置 SCIA 寄存器。   在 hal_2mers.c 中 、我将使用  项目驱动程序中 SCI.c 文件内定义的 SCI_init 函数。 它有一个用于 scia 地址的宏。   此代码位于第697行

HAL_2MOTOR.c  

/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
//! \file   solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2806xF/src/hal_2motors.c
//! \brief Contains the various functions related to the HAL object (everything outside the CTRL system) 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.


// **************************************************************************
// the includes

// drivers

// modules

// platforms
#include "hal_2motors.h"
#include "hal_obj_2motors.h"

#include "user_2motors.h"


#ifdef FLASH
#pragma CODE_SECTION(HAL_setupFlash,"ramfuncs");
#endif

// **************************************************************************
// the defines

#define US_TO_CNT(A) ((((long double) A * (long double)USER_SYSTEM_FREQ_MHz) - 9.0L) / 5.0L)

// **************************************************************************
// the globals

//HAL_Obj hal;


// **************************************************************************
// the functions

void HAL_cal(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // enable the ADC clock
  CLK_enableAdcClock(obj->clkHandle);


  // Run the Device_cal() function
  // This function copies the ADC and oscillator calibration values from TI reserved
  // OTP into the appropriate trim registers
  // This boot ROM automatically calls this function to calibrate the interal 
  // oscillators and ADC with device specific calibration data.
  // If the boot ROM is bypassed by Code Composer Studio during the development process,
  // then the calibration must be initialized by the application
  ENABLE_PROTECTED_REGISTER_WRITE_MODE;
  (*Device_cal)();
  DISABLE_PROTECTED_REGISTER_WRITE_MODE;

  // run offsets calibration in user's memory
  HAL_AdcOffsetSelfCal(handle);

  // run oscillator compensation
  HAL_OscTempComp(handle);

  // disable the ADC clock
  CLK_disableAdcClock(obj->clkHandle);

  return;
} // end of HAL_cal() function


void HAL_OscTempComp(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t Temperature;

  // disable the ADCs
  ADC_disable(obj->adcHandle);

  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);

  // set the ADC voltage reference source to internal
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);

  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);

  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);

  // power up the ADCs
  ADC_powerUp(obj->adcHandle);

  // enable the ADCs
  ADC_enable(obj->adcHandle);

  // enable non-overlap mode
  ADC_enableNoOverlapMode(obj->adcHandle);

  // connect channel A5 internally to the temperature sensor
  ADC_setTempSensorSrc(obj->adcHandle, ADC_TempSensorSrc_Int);

  // set SOC0 channel select to ADCINA5
  ADC_setSocChanNumber(obj->adcHandle, ADC_SocNumber_0, ADC_SocChanNumber_A5);

  // set SOC0 acquisition period to 26 ADCCLK
  ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_0, ADC_SocSampleDelay_64_cycles);

  // connect ADCINT1 to EOC0
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC0);

  // clear ADCINT1 flag
  ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

  // enable ADCINT1
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);

  // force start of conversion on SOC0
  ADC_setSocFrc(obj->adcHandle, ADC_SocFrc_0);

  // wait for end of conversion
  while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}

  // clear ADCINT1 flag
  ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

  Temperature = ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);

  HAL_osc1Comp(handle, Temperature);

  HAL_osc2Comp(handle, Temperature);

  return;
} // end of HAL_OscTempComp() function


void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample)
{
	int16_t compOscFineTrim;
	HAL_Obj *obj = (HAL_Obj *)handle;

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

    compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc1FineTrimSlope()
                      + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc1FineTrimOffset() - OSC_POSTRIM;

    if(compOscFineTrim > 31)
      {
        compOscFineTrim = 31;
      }
	else if(compOscFineTrim < -31)
      {
        compOscFineTrim = -31;
      }

    OSC_setTrim(obj->oscHandle, OSC_Number_1, HAL_getOscTrimValue(getOsc1CoarseTrim(), compOscFineTrim));

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc1Comp() function


void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample)
{
	int16_t compOscFineTrim;
	HAL_Obj *obj = (HAL_Obj *)handle;

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

    compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc2FineTrimSlope()
                      + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc2FineTrimOffset() - OSC_POSTRIM;

    if(compOscFineTrim > 31)
      {
        compOscFineTrim = 31;
      }
	else if(compOscFineTrim < -31)
      {
        compOscFineTrim = -31;
      }

    OSC_setTrim(obj->oscHandle, OSC_Number_2, HAL_getOscTrimValue(getOsc2CoarseTrim(), compOscFineTrim));

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc2Comp() function


uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine)
{
  uint16_t regValue = 0;

  if(fine < 0)
    {
      regValue = ((-fine) | 0x20) << 9;
    }
  else
    {
      regValue = fine << 9;
    }

  if(coarse < 0)
    {
      regValue |= ((-coarse) | 0x80);
    }
  else
    {
      regValue |= coarse;
    }

  return regValue;
} // end of HAL_getOscTrimValue() function


void HAL_AdcOffsetSelfCal(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t AdcConvMean;

  // disable the ADCs
  ADC_disable(obj->adcHandle);

  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);

  // set the ADC voltage reference source to internal
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);

  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);

  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);

  // power up the ADCs
  ADC_powerUp(obj->adcHandle);

  // enable the ADCs
  ADC_enable(obj->adcHandle);

  //Select VREFLO internal connection on B5
  ADC_enableVoltRefLoConv(obj->adcHandle);

  //Select channel B5 for all SOC
  HAL_AdcCalChanSelect(handle, ADC_SocChanNumber_B5);

  //Apply artificial offset (+80) to account for a negative offset that may reside in the ADC core
  ADC_setOffTrim(obj->adcHandle, 80);

  //Capture ADC conversion on VREFLO
  AdcConvMean = HAL_AdcCalConversion(handle);

  //Set offtrim register with new value (i.e remove artical offset (+80) and create a two's compliment of the offset error)
  ADC_setOffTrim(obj->adcHandle, 80 - AdcConvMean);

  //Select external ADCIN5 input pin on B5
  ADC_disableVoltRefLoConv(obj->adcHandle);

  return;
} // end of HAL_AdcOffsetSelfCal() function


void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,chanNumber);

  return;
} // end of HAL_AdcCalChanSelect() function


uint16_t HAL_AdcCalConversion(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t index, SampleSize, Mean;
  uint32_t Sum;
  ADC_SocSampleDelay_e ACQPS_Value;

  index       = 0;     //initialize index to 0
  SampleSize  = 256;   //set sample size to 256 (**NOTE: Sample size must be multiples of 2^x where is an integer >= 4)
  Sum         = 0;     //set sum to 0
  Mean        = 999;   //initialize mean to known value

  //Set the ADC sample window to the desired value (Sample window = ACQPS + 1)
  ACQPS_Value = ADC_SocSampleDelay_7_cycles;

  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ACQPS_Value);

  // Enabled ADCINT1 and ADCINT2
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_2);

  // Disable continuous sampling for ADCINT1 and ADCINT2
  ADC_setIntMode(obj->adcHandle, ADC_IntNumber_1, ADC_IntMode_EOC);
  ADC_setIntMode(obj->adcHandle, ADC_IntNumber_2, ADC_IntMode_EOC);

  //ADCINTs trigger at end of conversion
  ADC_setIntPulseGenMode(obj->adcHandle, ADC_IntPulseGenMode_Prior);

  // Setup ADCINT1 and ADCINT2 trigger source
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC6);
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_2, ADC_IntSrc_EOC14);

  // Setup each SOC's ADCINT trigger source
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_Int1TriggersSOC);

  // Delay before converting ADC channels
  usDelay(US_TO_CNT(ADC_DELAY_usec));

  ADC_setSocFrcWord(obj->adcHandle, 0x00FF);

  while( index < SampleSize )
    {
      //Wait for ADCINT1 to trigger, then add ADCRESULT0-7 registers to sum
      while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}

      //Must clear ADCINT1 flag since INT1CONT = 0
      ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_1);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_2);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_3);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_4);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_5);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_6);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_7);

      //Wait for ADCINT2 to trigger, then add ADCRESULT8-15 registers to sum
      while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_2) == 0){}

      //Must clear ADCINT2 flag since INT2CONT = 0
      ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_2);

      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_8);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_9);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_10);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_11);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_12);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_13);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_14);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_15);

      index+=16;

  } // end data collection

  //Disable ADCINT1 and ADCINT2 to STOP the ping-pong sampling
  ADC_disableInt(obj->adcHandle, ADC_IntNumber_1);
  ADC_disableInt(obj->adcHandle, ADC_IntNumber_2);

  //Calculate average ADC sample value
  Mean = Sum / SampleSize;

  // Clear start of conversion trigger
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_NoIntTriggersSOC);

  //return the average
  return(Mean);
} // end of HAL_AdcCalConversion() function


void HAL_disableWdog(HAL_Handle halHandle)
{
  HAL_Obj *hal = (HAL_Obj *)halHandle;


  WDOG_disable(hal->wdogHandle);


  return;
} // end of HAL_disableWdog() function


void HAL_disableGlobalInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CPU_disableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_disableGlobalInts() function


void HAL_enableAdcInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  #ifdef _SINGLE_ISR_EN_
  // enable the PIE interrupts associated with the ADC interrupts
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);

  // enable the ADC interrupts
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
  #else
  // enable the PIE interrupts associated with the ADC interrupts
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_2);


  // enable the ADC interrupts
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_2);
  #endif

  // enable the cpu interrupt for ADC interrupts
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_10);

  return;
} // end of HAL_enableAdcInts() function


void HAL_enableDebugInt(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  CPU_enableDebugInt(obj->cpuHandle);

  return;
} // end of HAL_enableDebugInt() function


void HAL_enableDrv(HAL_Handle_mtr handleMtr)
{
  HAL_Obj_mtr *obj = (HAL_Obj_mtr *)handleMtr;

  DRV8301_enable(obj->drv8301Handle);

  return;
}  // end of HAL_enableDrv() function


void HAL_enableGlobalInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CPU_enableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_enableGlobalInts() function


void HAL_enablePwmInt(HAL_Handle_mtr handleMtr,HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_MtrSelect_e mtrNum = objMtr->mtrNum;

  if(mtrNum == HAL_MTR1)
  {
    PIE_enablePwmInt(obj->pieHandle,PWM_Number_4);
  }
  else if(mtrNum == HAL_MTR2)
  {
    PIE_enablePwmInt(obj->pieHandle,PWM_Number_1);
  }


  // enable the interrupt
  PWM_enableInt(objMtr->pwmHandle[0]);


  // enable the cpu interrupt for EPWMx_INT
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_3);

  return;
} // end of HAL_enablePwmInt() function


void HAL_enableTimer0Int(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_enableTimer0Int(obj->pieHandle);


  // enable the interrupt
  TIMER_enableInt(obj->timerHandle[0]);


  // enable the cpu interrupt for TINT0
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_1);

  return;
} // end of HAL_enablePwmInt() function


void HAL_setupFaults(HAL_Handle_mtr handleMtr)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  uint_least8_t cnt;


  // Configure Trip Mechanism for the Motor control software
  // -Cycle by cycle trip on CPU halt
  // -One shot fault trip zone
  // These trips need to be repeated for EPWM1 ,2 & 3

  for(cnt=0;cnt<3;cnt++)
    {
      PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ6_NOT);

      if(objMtr->mtrNum == HAL_MTR1)
      {
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ3_NOT);
//
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ2_NOT);

          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ4_NOT);		// 4

      }
      else if(objMtr->mtrNum == HAL_MTR2)
      {
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ3_NOT);
//
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ2_NOT);

          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ5_NOT);		// 5
      }

      // What do we want the OST/CBC events to do?
      // TZA events can force EPWMxA
      // TZB events can force EPWMxB

      PWM_setTripZoneState_TZA(objMtr->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
      PWM_setTripZoneState_TZB(objMtr->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
    }

  return;
} // end of HAL_setupFaults() function


HAL_Handle HAL_init(void *pMemory,const size_t numBytes)
{
  HAL_Handle handle;
  HAL_Obj *obj;


  if(numBytes < sizeof(HAL_Obj))
    return((HAL_Handle)NULL);


  // assign the handle
  handle = (HAL_Handle)pMemory;


  // assign the object
  obj = (HAL_Obj *)handle;


  // initialize the watchdog driver
  obj->wdogHandle = WDOG_init((void *)WDOG_BASE_ADDR,sizeof(WDOG_Obj));


  // disable watchdog
  HAL_disableWdog(handle);


  // initialize the ADC
  obj->adcHandle = ADC_init((void *)ADC_BASE_ADDR,sizeof(ADC_Obj));


  // initialize the clock handle
  obj->clkHandle = CLK_init((void *)CLK_BASE_ADDR,sizeof(CLK_Obj));


  // initialize the CPU handle
  obj->cpuHandle = CPU_init(&cpu,sizeof(cpu));


  // initialize the FLASH handle
  obj->flashHandle = FLASH_init((void *)FLASH_BASE_ADDR,sizeof(FLASH_Obj));


  // initialize the GPIO handle
  obj->gpioHandle = GPIO_init((void *)GPIO_BASE_ADDR,sizeof(GPIO_Obj));


  // initialize the oscillator handle
  obj->oscHandle = OSC_init((void *)OSC_BASE_ADDR,sizeof(OSC_Obj));


  // initialize the PIE handle
  obj->pieHandle = PIE_init((void *)PIE_BASE_ADDR,sizeof(PIE_Obj));


  // initialize the PLL handle
  obj->pllHandle = PLL_init((void *)PLL_BASE_ADDR,sizeof(PLL_Obj));


  // initialize the SPI handles
  obj->spiAHandle = SPI_init((void *)SPIA_BASE_ADDR,sizeof(SPI_Obj));
  obj->spiBHandle = SPI_init((void *)SPIB_BASE_ADDR,sizeof(SPI_Obj));


  /*
   *   ADDED CODE
   */
  obj->sciHandle = SCI_init((void *)SCIA_BASE_ADDR, sizeof(SCI_Obj));

  /*
   * -------------------
   */

  // initialize PWM DAC handles
  obj->pwmDacHandle[0] = PWMDAC_init((void *)PWM_ePWM7_BASE_ADDR,sizeof(PWM_Obj));
  obj->pwmDacHandle[1] = PWMDAC_init((void *)PWM_ePWM8_BASE_ADDR,sizeof(PWM_Obj));


  // initialize power handle
  obj->pwrHandle = PWR_init((void *)PWR_BASE_ADDR,sizeof(PWR_Obj));


  // initialize timer handles
  obj->timerHandle[0] = TIMER_init((void *)TIMER0_BASE_ADDR,sizeof(TIMER_Obj));
  obj->timerHandle[1] = TIMER_init((void *)TIMER1_BASE_ADDR,sizeof(TIMER_Obj));
  obj->timerHandle[2] = TIMER_init((void *)TIMER2_BASE_ADDR,sizeof(TIMER_Obj));


  return(handle);
} // end of HAL_init() function


HAL_Handle_mtr HAL_init_mtr(void *pMemory,const size_t numBytes,const HAL_MtrSelect_e mtrNum)
{
  HAL_Handle_mtr handle;
  HAL_Obj_mtr *obj;

  uint_least8_t cnt;
  uint_least8_t numCurrentSensors;
  uint_least8_t numVoltageSensors;

  if(numBytes < sizeof(HAL_Obj_mtr))
    return((HAL_Handle_mtr)NULL);

  // assign the handle
  handle = (HAL_Handle_mtr)pMemory;

  // point to the object
  obj = (HAL_Obj_mtr *)handle;

  HAL_setMotorNumber(handle,mtrNum);

  // initialize PWM handles
  if(mtrNum == HAL_MTR1)
  {
    obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM1_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM2_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM3_BASE_ADDR,sizeof(PWM_Obj));

	numCurrentSensors = USER_NUM_CURRENT_SENSORS_M1;
	numVoltageSensors = USER_NUM_VOLTAGE_SENSORS_M1;
  }
  else if(mtrNum == HAL_MTR2)
  {
    obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM4_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM5_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM6_BASE_ADDR,sizeof(PWM_Obj));

	numCurrentSensors = USER_NUM_CURRENT_SENSORS_M2;
	numVoltageSensors = USER_NUM_VOLTAGE_SENSORS_M2;
  }
  else
  {
    obj->pwmHandle[0] = NULL;
    obj->pwmHandle[1] = NULL;
    obj->pwmHandle[2] = NULL;

	numCurrentSensors = 3;
	numVoltageSensors = 3;
  }

  // initialize the current offset estimator handles
  for(cnt=0;cnt<numCurrentSensors;cnt++)
    {
      obj->offsetHandle_I[cnt] = OFFSET_init(&obj->offset_I[cnt],sizeof(obj->offset_I[cnt]));
    }


  // initialize the voltage offset estimator handles
  for(cnt=0;cnt<numVoltageSensors;cnt++)
    {
      obj->offsetHandle_V[cnt] = OFFSET_init(&obj->offset_V[cnt],sizeof(obj->offset_V[cnt]));
    }

  // initialize drv8301 interface
  obj->drv8301Handle = DRV8301_init(&obj->drv8301,sizeof(obj->drv8301));

  // initialize QEP driver
#ifdef QEP
  if(mtrNum == HAL_MTR1)
  {
    obj->qepHandle = QEP_init((void*)QEP1_BASE_ADDR,sizeof(QEP_Obj));
  }
  else if(mtrNum == HAL_MTR2)
  {
    obj->qepHandle = QEP_init((void*)QEP2_BASE_ADDR,sizeof(QEP_Obj));
  }
  else
  {
	  obj->qepHandle = NULL;
  }
#endif

  return(handle);
}

// HAL_setParams
void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // disable global interrupts
  CPU_disableGlobalInts(obj->cpuHandle);


  // disable cpu interrupts
  CPU_disableInts(obj->cpuHandle);


  // clear cpu interrupt flags
  CPU_clearIntFlags(obj->cpuHandle);


  // setup the clocks
  HAL_setupClks(handle);


  // Setup the PLL
  HAL_setupPll(handle,PLL_ClkFreq_90_MHz);


  // setup the PIE
  HAL_setupPie(handle);


  // run the device calibration
  HAL_cal(handle);


  // setup the peripheral clocks
  HAL_setupPeripheralClks(handle);


  // setup the GPIOs
  HAL_setupGpios(handle);


  // setup the flash
  HAL_setupFlash(handle);


  // setup the ADCs
  HAL_setupAdcs(handle);


  // setup the spiA for DRV8301_Motor1
  HAL_setupSpiA(handle);


  // setup the spiB for DRV8301_Motor2
  HAL_setupSpiB(handle);


  /*
   *   ADDED CODE
   */
  HAL_setupSCI(handle);
  /*
   * ----------
   */


  // setup the PWM DACs
  HAL_setupPwmDacs(handle);

  // setup the timers
  HAL_setupTimers(handle,
                  (float_t)pUserParams->systemFreq_MHz);


 return;
} // end of HAL_setParams() function

// HAL_setParamsMtr
void HAL_setParamsMtr(HAL_Handle_mtr handleMtr,HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_Obj *obj = (HAL_Obj *)handle;

  HAL_setNumCurrentSensors(handleMtr,pUserParams->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr,pUserParams->numVoltageSensors);

  {
	uint_least8_t cnt;

  _iq beta_lp_pu = _IQ(pUserParams->offsetPole_rps/(float_t)pUserParams->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }
  }

  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr);cnt++)
     {
       HAL_setBias(handleMtr,HAL_SensorType_Current,cnt,bias);
     }
 }

  // set the default voltage bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ(0.0);

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr);cnt++)
     {
       HAL_setBias(handleMtr,HAL_SensorType_Voltage,cnt,bias);
     }
 }

  // setup the PWMs
  HAL_setupPwms(handleMtr,handle,pUserParams);

  // setup the drv8301 interface
  if(objMtr->mtrNum == HAL_MTR1)
  {
    DRV8301_setGpioHandle(objMtr->drv8301Handle,obj->gpioHandle);
    DRV8301_setSpiHandle(objMtr->drv8301Handle,obj->spiAHandle);
    DRV8301_setGpioNumber(objMtr->drv8301Handle,GPIO_Number_50);
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
    DRV8301_setGpioHandle(objMtr->drv8301Handle,obj->gpioHandle);
    DRV8301_setSpiHandle(objMtr->drv8301Handle,obj->spiBHandle);
    DRV8301_setGpioNumber(objMtr->drv8301Handle,GPIO_Number_52);
  }

  //  set the current scale factor
 {
   _iq current_sf = _IQ(pUserParams->current_sf);

  HAL_setCurrentScaleFactor(handleMtr,current_sf);
 }


  //  set the voltage scale factor
 {
   _iq voltage_sf = _IQ(pUserParams->voltage_sf);

  HAL_setVoltageScaleFactor(handleMtr,voltage_sf);
 }


#ifdef QEP
  // setup the QEP
  if(objMtr->mtrNum == HAL_MTR1)
  {
    HAL_setupQEP(handleMtr, USER_MOTOR_ENCODER_LINES);
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
    HAL_setupQEP(handleMtr, USER_MOTOR_ENCODER_LINES_2);
  }
#endif


  return;
}// end of HAL_setParamsMtr() function

// HAL_setParamsDualMtr()
void HAL_setParamsDualMtr(HAL_Handle_mtr handleMtr1, HAL_Handle_mtr handleMtr2, HAL_Handle handle, const USER_Params *pUserParams1, const USER_Params *pUserParams2)
{
  HAL_Obj_mtr *objMtr1 = (HAL_Obj_mtr *)handleMtr1;
  HAL_Obj_mtr *objMtr2 = (HAL_Obj_mtr *)handleMtr2;
  HAL_Obj *objHal = (HAL_Obj *)handle;

  HAL_setNumCurrentSensors(handleMtr1,pUserParams1->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr1,pUserParams1->numVoltageSensors);

  HAL_setNumCurrentSensors(handleMtr2,pUserParams2->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr2,pUserParams2->numVoltageSensors);

  {
	uint_least8_t cnt;

  _iq beta_lp_pu = _IQ(pUserParams1->offsetPole_rps/(float_t)pUserParams1->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr1);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr1,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr1,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr1,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr1);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr1,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr1,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr1,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }

  beta_lp_pu = _IQ(pUserParams2->offsetPole_rps/(float_t)pUserParams2->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr2);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr2,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr2,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr2,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr2);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr2,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr2,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr2,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }
  }

  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams1->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr1);cnt++)
     {
       HAL_setBias(handleMtr1,HAL_SensorType_Current,cnt,bias);
     }

   bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams2->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr2);cnt++)
     {
       HAL_setBias(handleMtr2,HAL_SensorType_Current,cnt,bias);
     }
 }

  // set the default voltage bias
 {
   uint_least8_t cnt;

   _iq bias = _IQ(0.0);

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr1);cnt++)
     {
       HAL_setBias(handleMtr1,HAL_SensorType_Voltage,cnt,bias);
     }

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr2);cnt++)
     {
       HAL_setBias(handleMtr2,HAL_SensorType_Voltage,cnt,bias);
     }
 }

  // setup the PWMs
  HAL_setupDualPwms(handleMtr1, handleMtr2, handle, pUserParams1, pUserParams2);

  // setup the drv8301 interface
  DRV8301_setGpioHandle(objMtr1->drv8301Handle,objHal->gpioHandle);
  DRV8301_setSpiHandle(objMtr1->drv8301Handle,objHal->spiAHandle);
  DRV8301_setGpioNumber(objMtr1->drv8301Handle,GPIO_Number_50);

  DRV8301_setGpioHandle(objMtr2->drv8301Handle,objHal->gpioHandle);
  DRV8301_setSpiHandle(objMtr2->drv8301Handle,objHal->spiBHandle);
  DRV8301_setGpioNumber(objMtr2->drv8301Handle,GPIO_Number_52);

  //  set the current scale factor
 {
   _iq current_sf = _IQ(pUserParams1->current_sf);

  HAL_setCurrentScaleFactor(handleMtr1,current_sf);

  current_sf = _IQ(pUserParams2->current_sf);

  HAL_setCurrentScaleFactor(handleMtr2,current_sf);
 }


  //  set the voltage scale factor
 {
   _iq voltage_sf = _IQ(pUserParams1->voltage_sf);

   HAL_setVoltageScaleFactor(handleMtr1,voltage_sf);


   voltage_sf = _IQ(pUserParams2->voltage_sf);

   HAL_setVoltageScaleFactor(handleMtr2,voltage_sf);
 }


#ifdef QEP
  // setup the QEP
  HAL_setupQEP(handleMtr1, USER_MOTOR_ENCODER_LINES);

  HAL_setupQEP(handleMtr2, USER_MOTOR_ENCODER_LINES_2);
#endif


  return;
}// end of HAL_setParamsMtr() function


void HAL_setupAdcs(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // disable the ADCs
  ADC_disable(obj->adcHandle);


  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);


  // set the ADC voltage reference source to internal 
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);


  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);


  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);


  // power up the ADCs
  ADC_powerUp(obj->adcHandle);


  // enable the ADCs
  ADC_enable(obj->adcHandle);


  // set the ADC interrupt pulse generation to prior
  ADC_setIntPulseGenMode(obj->adcHandle,ADC_IntPulseGenMode_Prior);


  // set the temperature sensor source to external
  ADC_setTempSensorSrc(obj->adcHandle,ADC_TempSensorSrc_Ext);

  #ifdef _SINGLE_ISR_EN_
  // configure the interrupt sources
  ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);
  #else
  // configure the interrupt sources
  ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);

  ADC_disableInt(obj->adcHandle,ADC_IntNumber_2);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_2,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_2,ADC_IntSrc_EOC15);
  #endif

  //configure the SOCs for boostxldrv8301_revB on J1 Connection
  // Begin Motor 1 sampling
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  // Duplicate conversion due to ADC Initial Conversion bug (SPRZ342)
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_B0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_A1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_B1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_A2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_B2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_9_cycles);
  // End Motor 1 sampling

  // Begin Motor 2 sampling
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_8,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_9,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,ADC_SocChanNumber_B3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_10,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ADC_SocSampleDelay_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,ADC_SocChanNumber_A4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_11,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,ADC_SocChanNumber_B4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_12,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,ADC_SocChanNumber_A5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_13,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,ADC_SocChanNumber_B5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_14,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ADC_SocSampleDelay_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,ADC_SocChanNumber_B7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_15,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ADC_SocSampleDelay_9_cycles);
  // End Motor 2 sampling

  return;
} // end of HAL_setupAdcs() function


void HAL_setupClks(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // enable internal oscillator 1
  CLK_enableOsc1(obj->clkHandle);

  // set the oscillator source
  CLK_setOscSrc(obj->clkHandle,CLK_OscSrc_Internal);

  // disable the external clock in
  CLK_disableClkIn(obj->clkHandle);

  // disable the crystal oscillator
  CLK_disableCrystalOsc(obj->clkHandle);

  // disable oscillator 2
  CLK_disableOsc2(obj->clkHandle);

  // set the low speed clock prescaler
  CLK_setLowSpdPreScaler(obj->clkHandle,CLK_LowSpdPreScaler_SysClkOut_by_1);

  // set the clock out prescaler
  CLK_setClkOutPreScaler(obj->clkHandle,CLK_ClkOutPreScaler_SysClkOut_by_1);

  return;
} // end of HAL_setupClks() function


void HAL_setupFlash(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  FLASH_enablePipelineMode(obj->flashHandle);

  FLASH_setNumPagedReadWaitStates(obj->flashHandle,FLASH_NumPagedWaitStates_3);

  FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_3);

  FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_5);

  FLASH_setStandbyWaitCount(obj->flashHandle,FLASH_STANDBY_WAIT_COUNT_DEFAULT);

  FLASH_setActiveWaitCount(obj->flashHandle,FLASH_ACTIVE_WAIT_COUNT_DEFAULT);

  return;
} // HAL_setupFlash() function

//void HAL_setupGate(HAL_Handle_mtr handleMtr,SPI_Handle handleSpi,GPIO_Handle handleGpio,const GPIO_Number_e gpio)
//{
////  HAL_Obj *obj = (HAL_Obj *)handle;
//  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
//
//
//  DRV8301_setGpioHandle(objMtr->drv8301Handle,handleGpio);
//  DRV8301_setSpiHandle(objMtr->drv8301Handle,handleSpi);
//  DRV8301_setGpioNumber(objMtr->drv8301Handle,gpio);
//
//  return;
//} // HAL_setupGate() function


void HAL_setupGpios(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // PWM1A->Motor1_UH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_EPWM1A);

  // PWM1B->Motor1_UL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_1_Mode_EPWM1B);

  // PWM2A->Motor1_VH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_2,GPIO_2_Mode_EPWM2A);

  // PWM2B->Motor1_VL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_3,GPIO_3_Mode_EPWM2B);

  // PWM3A->Motor1_WH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_4,GPIO_4_Mode_EPWM3A);

  // PWM3B->Motor1_WL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_5,GPIO_5_Mode_EPWM3B);

  // PWM4A->Motor2_UH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_EPWM4A);

  // PWM4B->Motor2_UL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_EPWM4B);

  // PWM5A->Motor2_VH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_8,GPIO_8_Mode_EPWM5A);

  // PWM5B->Motor2_VL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_9,GPIO_9_Mode_EPWM5B);

  // PWM6A->Motor2_WH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_10,GPIO_10_Mode_EPWM6A);

  // PWM6B->Motor2_WL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_11,GPIO_11_Mode_EPWM6B);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Output);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_13,GPIO_13_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_13);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_13,GPIO_Direction_Output);

  // SPIB CLK->Motor12_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_14,GPIO_14_Mode_SPICLKB);

  // UARTB RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_15,GPIO_15_Mode_SCIRXDB);

  // Set Qualification Period for GPIO16-23, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_16,5);

  // SPIA SIMO->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);

  // SPIA SOMI->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);

  // SPIA CLK->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);

  // SPIA CS->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);
  
#ifdef QEP
  // EQEP1A
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_EQEP1A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_20,GPIO_Qual_Sample_3);

  // EQEP1B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_EQEP1B);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_21,GPIO_Qual_Sample_3);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

  // EQEP1I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_EQEP1I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_23,GPIO_Qual_Sample_3);
#else
  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_20);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_20,GPIO_Direction_Output);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_GeneralPurpose);
#endif

  // SPIB SIMO->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_24,GPIO_24_Mode_SPISIMOB);

  // SPIB SOMI->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_25,GPIO_25_Mode_SPISOMIB);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_26,GPIO_26_Mode_GeneralPurpose);

  // SPIB CS->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_27,GPIO_27_Mode_SPISTEB_NOT);


  /*
   * ADDED CODE TO SET UP GPIO28 AND GPIO29 PINS FOR SCI
   */
      GPIO_setPullup(obj->gpioHandle, GPIO_Number_28, GPIO_Pullup_Enable);
      GPIO_setPullup(obj->gpioHandle, GPIO_Number_29, GPIO_Pullup_Enable);

      GPIO_setQualification(obj->gpioHandle, GPIO_Number_28, GPIO_Qual_ASync);
      GPIO_setMode(obj->gpioHandle, GPIO_Number_28, GPIO_28_Mode_SCIRXDA);
      GPIO_setMode(obj->gpioHandle, GPIO_Number_29, GPIO_29_Mode_SCITXDA);
  /*
   * ---------------------------------
   */

//  // OCTWn
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_TZ2_NOT);
//
//  // FAULTn
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_TZ3_NOT);

  // CAN RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_30,GPIO_30_Mode_CANRXA);

  // CAN TX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_31,GPIO_31_Mode_CANTXA);

  // I2C Data
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_SDAA);

  // I2C Clock
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_SCLA);

  // LED D9
  GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_34);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output);

  // JTAG
  GPIO_setMode(obj->gpioHandle,GPIO_Number_35,GPIO_35_Mode_JTAG_TDI);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_36,GPIO_36_Mode_JTAG_TMS);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_37,GPIO_37_Mode_JTAG_TDO);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_38,GPIO_38_Mode_JTAG_TCK);

  // LED D10
  GPIO_setMode(obj->gpioHandle,GPIO_Number_39,GPIO_39_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_39);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_39,GPIO_Direction_Output);

  // DAC1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_40,GPIO_40_Mode_EPWM7A);

  // DAC2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_41,GPIO_41_Mode_EPWM7B);

  // DAC3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_42,GPIO_42_Mode_EPWM8A);

  // DAC4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_43,GPIO_43_Mode_EPWM8B);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_44,GPIO_44_Mode_GeneralPurpose);

  // Set Qualification Period for GPIO50-55, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_50,5);

  // DRV8301 Enable Gate
  GPIO_setMode(obj->gpioHandle,GPIO_Number_50,GPIO_50_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_50);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_50,GPIO_Direction_Output);

  // DRV8301 DC Calibration
  GPIO_setMode(obj->gpioHandle,GPIO_Number_51,GPIO_51_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_51);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_51,GPIO_Direction_Output);

  // DRV8301 Enable Gate
  GPIO_setMode(obj->gpioHandle,GPIO_Number_52,GPIO_52_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_52);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_52,GPIO_Direction_Output);

  // DRV8301 Device Calibration
  GPIO_setMode(obj->gpioHandle,GPIO_Number_53,GPIO_53_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_53);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_53,GPIO_Direction_Output);
  
  // Set Qualification Period for GPIO56-58, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_56,5);
  
#ifdef QEP
  // EQEP2A
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_EQEP2A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_54,GPIO_Qual_Sample_3);

  // EQEP2B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_EQEP2B);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_55,GPIO_Qual_Sample_3);

  // EQEP2I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_EQEP2I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_56,GPIO_Qual_Sample_3);
#else
  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_GeneralPurpose);
#endif

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_57,GPIO_57_Mode_GeneralPurpose);

  // UARTB TX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_58,GPIO_58_Mode_SCITXDB);

  return;
}  // end of HAL_setupGpios() function


void HAL_setupPie(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_disable(obj->pieHandle);

  PIE_disableAllInts(obj->pieHandle);

  PIE_clearAllInts(obj->pieHandle);

  PIE_clearAllFlags(obj->pieHandle);

  PIE_setDefaultIntVectorTable(obj->pieHandle);

  PIE_enable(obj->pieHandle);

  return;
} // end of HAL_setupPie() function


void HAL_setupPeripheralClks(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CLK_enableAdcClock(obj->clkHandle);

  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_1);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_2);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_3);

  CLK_disableEcap1Clock(obj->clkHandle);

  CLK_enableEcanaClock(obj->clkHandle);

#ifdef QEP
  CLK_enableEqep1Clock(obj->clkHandle);
  CLK_enableEqep2Clock(obj->clkHandle);
#endif

  CLK_enablePwmClock(obj->clkHandle,PWM_Number_1);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_2);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_3);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_4);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_5);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_6);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_7);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_8);

  CLK_disableHrPwmClock(obj->clkHandle);

  CLK_enableI2cClock(obj->clkHandle);

  CLK_disableLinAClock(obj->clkHandle);

  CLK_disableClaClock(obj->clkHandle);

  /*
   * ADDED/CHANGED CODE
   */
  CLK_enableSciaClock(obj->clkHandle);
//  CLK_disableSciaClock(obj->clkHandle);
//  CLK_enableScibClock(obj->clkHandle);
    CLK_disableScibClock(obj->clkHandle);

  CLK_enableSpiaClock(obj->clkHandle);
  CLK_enableSpibClock(obj->clkHandle);
  
  CLK_enableTbClockSync(obj->clkHandle);

  return;
} // end of HAL_setupPeripheralClks() function


void HAL_setupPll(HAL_Handle handle,const PLL_ClkFreq_e clkFreq)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // make sure PLL is not running in limp mode
  if(PLL_getClkStatus(obj->pllHandle) != PLL_ClkStatus_Normal)
    {
      // reset the clock detect
      PLL_resetClkDetect(obj->pllHandle);

      // ???????
      asm("        ESTOP0");
    }


  // Divide Select must be ClkIn/4 before the clock rate can be changed
  if(PLL_getDivideSelect(obj->pllHandle) != PLL_DivideSelect_ClkIn_by_4)
    {
      PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_4);
    }


  if(PLL_getClkFreq(obj->pllHandle) != clkFreq)
    {
      // disable the clock detect
      PLL_disableClkDetect(obj->pllHandle);

      // set the clock rate
      PLL_setClkFreq(obj->pllHandle,clkFreq);
    }


  // wait until locked
  while(PLL_getLockStatus(obj->pllHandle) != PLL_LockStatus_Done) {}


  // enable the clock detect
  PLL_enableClkDetect(obj->pllHandle);


  // set divide select to ClkIn/2 to get desired clock rate
  // NOTE: clock must be locked before setting this register
  PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_2);

  return;
} // end of HAL_setupPll() function

// HAL_setupPwms()
// HAL_setupPwms() for motor drive
void HAL_setupPwms(HAL_Handle_mtr handleMtr,HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_Obj *obj = (HAL_Obj *)handle;
  float_t systemFreq_MHz = pUserParams->systemFreq_MHz;
  uint_least16_t numPwmTicksPerIsrTick = pUserParams->numPwmTicksPerIsrTick;
  uint16_t halfPeriod_cycles = (uint16_t)(systemFreq_MHz*(float_t)pUserParams->pwmPeriod_usec) >> 1;
  uint_least8_t cnt;

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr->pwmHandle[cnt]);
    }

  #ifdef _SINGLE_ISR_EN_
  if(objMtr->mtrNum == HAL_MTR1)
  {
	  PWM_disableCounterLoad(objMtr->pwmHandle[0]); 		     // Disable phase syncronization
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
	  PWM_enableCounterLoad(objMtr->pwmHandle[0]); 		     	// enable phase syncronization
      PWM_setPhase(objMtr->pwmHandle[0],(halfPeriod_cycles>>2));
  }
  #else
  if(objMtr->mtrNum == HAL_MTR1)
  {
	  PWM_disableCounterLoad(objMtr->pwmHandle[0]); 		     	// disable phase syncronization
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
	  PWM_enableCounterLoad(objMtr->pwmHandle[0]); 		    	 	// enable phase syncronization
      PWM_setPhase(objMtr->pwmHandle[0],(halfPeriod_cycles>>1));	// half PWM period
  }
  #endif

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick == 3)
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick == 2)
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }


  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr->pwmHandle[PWM_Number_1]);

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_1],halfPeriod_cycles);
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_2],halfPeriod_cycles);
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_3],halfPeriod_cycles);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function


// HAL_setupPwms()
void HAL_setupDualPwms(HAL_Handle_mtr handleMtr1, HAL_Handle_mtr handleMtr2, HAL_Handle handle, const USER_Params *pUserParams1, const USER_Params *pUserParams2)
{
  HAL_Obj_mtr *objMtr1 = (HAL_Obj_mtr *)handleMtr1;
  HAL_Obj_mtr *objMtr2 = (HAL_Obj_mtr *)handleMtr2;
  HAL_Obj *obj = (HAL_Obj *)handle;

  float_t systemFreq_MHz_M1 = pUserParams1->systemFreq_MHz;
  float_t systemFreq_MHz_M2 = pUserParams2->systemFreq_MHz;

  uint_least16_t numPwmTicksPerIsrTick_M1 = pUserParams1->numPwmTicksPerIsrTick;
  uint_least16_t numPwmTicksPerIsrTick_M2 = pUserParams2->numPwmTicksPerIsrTick;

  uint16_t halfPeriod_cycles_M1 = (uint16_t)(systemFreq_MHz_M1*(float_t)pUserParams1->pwmPeriod_usec) >> 1;
  uint16_t halfPeriod_cycles_M2 = (uint16_t)(systemFreq_MHz_M2*(float_t)pUserParams2->pwmPeriod_usec) >> 1;

  uint_least8_t cnt;

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_3]);

  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
	  // M1
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr1->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr1->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr1->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr1->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr1->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr1->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr1->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr1->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr1->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr1->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr1->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr1->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr1->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr1->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr1->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr1->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr1->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr1->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr1->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr1->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr1->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr1->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr1->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr1->pwmHandle[cnt]);

      // M1
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr2->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr2->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr2->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr2->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr2->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr2->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr2->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr2->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr2->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr2->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr2->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr2->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr2->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr2->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr2->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr2->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr2->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr2->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr2->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr2->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr2->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr2->pwmHandle[cnt],HAL_PWM_DBFED_CNT);

      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr2->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr2->pwmHandle[cnt]);
    }

  PWM_disableCounterLoad(objMtr1->pwmHandle[PWM_Number_1]); 		     // Disable phase syncronization
  PWM_setSyncMode(objMtr1->pwmHandle[PWM_Number_1],PWM_SyncMode_CounterEqualZero);

  PWM_enableCounterLoad(objMtr2->pwmHandle[PWM_Number_1]); 		     // enable phase syncronization
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_1],(halfPeriod_cycles_M1>>2));
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_2],(halfPeriod_cycles_M1>>2));
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_3],(halfPeriod_cycles_M1>>2));

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr1->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick_M1 == 3)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick_M1 == 2)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else // if(numPwmTicksPerIsrTick_M1 == 1)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }

  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr1->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr2->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick_M2 == 3)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick_M2 == 2)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else // if(numPwmTicksPerIsrTick_M2 == 1)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }

  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr2->pwmHandle[PWM_Number_1]);

  // since the PWM is configured as an up/down counter, the period register is set to one-half
  // of the desired PWM period
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_1],halfPeriod_cycles_M1);
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_2],halfPeriod_cycles_M1);
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_3],halfPeriod_cycles_M1);

  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_1],halfPeriod_cycles_M2);
  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_2],halfPeriod_cycles_M2);
  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_3],halfPeriod_cycles_M2);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function

#ifdef QEP
void HAL_setupQEP(HAL_Handle_mtr handleMtr, float_t encoderLines)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;

  // hold the counter in reset
  QEP_reset_counter(objMtr->qepHandle);

  // set the QPOSINIT register
  QEP_set_posn_init_count(objMtr->qepHandle, 0);

  // disable all interrupts
  QEP_disable_all_interrupts(objMtr->qepHandle);

  // clear the interrupt flags
  QEP_clear_all_interrupt_flags(objMtr->qepHandle);

  // clear the position counter
  QEP_clear_posn_counter(objMtr->qepHandle);

  // setup the max position
  QEP_set_max_posn_count(objMtr->qepHandle, (uint16_t)((4.0 * encoderLines) - 1));

  // setup the QDECCTL register
  QEP_set_QEP_source(objMtr->qepHandle, QEP_Qsrc_Quad_Count_Mode);
  QEP_disable_sync_out(objMtr->qepHandle);
  QEP_set_swap_quad_inputs(objMtr->qepHandle, QEP_Swap_Not_Swapped);
  QEP_disable_gate_index(objMtr->qepHandle);
  QEP_set_ext_clock_rate(objMtr->qepHandle, QEP_Xcr_2x_Res);
  QEP_set_A_polarity(objMtr->qepHandle, QEP_Qap_No_Effect);
  QEP_set_B_polarity(objMtr->qepHandle, QEP_Qbp_No_Effect);
  QEP_set_index_polarity(objMtr->qepHandle, QEP_Qip_No_Effect);

  // setup the QEPCTL register
  QEP_set_emu_control(objMtr->qepHandle, QEPCTL_Freesoft_Unaffected_Halt);
  QEP_set_posn_count_reset_mode(objMtr->qepHandle, QEPCTL_Pcrm_Max_Reset);
  QEP_set_strobe_event_init(objMtr->qepHandle, QEPCTL_Sei_Nothing);
  QEP_set_index_event_init(objMtr->qepHandle, QEPCTL_Iei_Nothing);
  QEP_set_index_event_latch(objMtr->qepHandle, QEPCTL_Iel_Rising_Edge);
  QEP_set_soft_init(objMtr->qepHandle, QEPCTL_Swi_Nothing);
  QEP_disable_unit_timer(objMtr->qepHandle);
  QEP_disable_watchdog(objMtr->qepHandle);

  // setup the QPOSCTL register
  QEP_disable_posn_compare(objMtr->qepHandle);

  // setup the QCAPCTL register
  QEP_disable_capture(objMtr->qepHandle);

  // renable the position counter
  QEP_enable_counter(objMtr->qepHandle);


  return;
}
#endif

void HAL_setupSpiA(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SPI_reset(obj->spiAHandle);
  SPI_setMode(obj->spiAHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiAHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiAHandle);
  SPI_enableTxFifoEnh(obj->spiAHandle);
  SPI_enableTxFifo(obj->spiAHandle);
  SPI_setTxDelay(obj->spiAHandle,0x0018);
  SPI_setBaudRate(obj->spiAHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiAHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiAHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiAHandle);

  return;
}  // end of HAL_setupSpiA() function


void HAL_setupSpiB(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SPI_reset(obj->spiBHandle);
  SPI_setMode(obj->spiBHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiBHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiBHandle);
  SPI_enableTxFifoEnh(obj->spiBHandle);
  SPI_enableTxFifo(obj->spiBHandle);
  SPI_setTxDelay(obj->spiBHandle,0x0018);
  SPI_setBaudRate(obj->spiBHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiBHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiBHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiBHandle);

  return;
}  // end of HAL_setupSpiB() function

/*
 * ADDED CODE FOR SCI
 */

void HAL_setupSCI(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SCI_reset(obj->sciHandle);
  SCI_enableTx(obj->sciHandle);
  SCI_enableTxFifoEnh(obj->sciHandle);
  SCI_enableTxFifo(obj->sciHandle);
  SCI_disableLoopBack(obj->sciHandle);
  SCI_enableTx(obj->sciHandle);
  SCI_setMode(obj->sciHandle, SCI_Mode_IdleLine);
  SCI_setBaudRate(obj->sciHandle, SCI_BaudRate_57_6_kBaud);
  SCI_setCharLength(obj->sciHandle, SCI_CharLength_8_Bits);
  SCI_disableParity(obj->sciHandle);
  SCI_disableSleep(obj->sciHandle);
  SCI_disableTxWake(obj->sciHandle);
  SCI_disableRxErrorInt(obj->sciHandle);
  SCI_enable(obj->sciHandle);


  return;
}  // end of HAL_setupSCI() function
/*
 * ----------------------------------
 */


void HAL_setupPwmDacs(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t halfPeriod_cycles = 512;       // 3000->10kHz, 1500->20kHz, 1000-> 30kHz, 500->60kHz
  uint_least8_t    cnt;


  for(cnt=0;cnt<2;cnt++)
  {
	  if(obj->pwmDacHandle[cnt])
	  {
		  // initialize the Time-Base Control Register (TBCTL)
		  PWMDAC_setCounterMode(obj->pwmDacHandle[cnt],PWM_CounterMode_UpDown);
		  PWMDAC_disableCounterLoad(obj->pwmDacHandle[cnt]);
		  PWMDAC_setPeriodLoad(obj->pwmDacHandle[cnt],PWM_PeriodLoad_Immediate);
		  PWMDAC_setSyncMode(obj->pwmDacHandle[cnt],PWM_SyncMode_EPWMxSYNC);
		  PWMDAC_setHighSpeedClkDiv(obj->pwmDacHandle[cnt],PWM_HspClkDiv_by_1);
		  PWMDAC_setClkDiv(obj->pwmDacHandle[cnt],PWM_ClkDiv_by_1);
		  PWMDAC_setPhaseDir(obj->pwmDacHandle[cnt],PWM_PhaseDir_CountUp);
		  PWMDAC_setRunMode(obj->pwmDacHandle[cnt],PWM_RunMode_FreeRun);

		  // initialize the Timer-Based Phase Register (TBPHS)
		  PWMDAC_setPhase(obj->pwmDacHandle[cnt],0);

		  // setup the Time-Base Counter Register (TBCTR)
		  PWMDAC_setCount(obj->pwmDacHandle[cnt],0);

		  // Initialize the Time-Base Period Register (TBPRD)
		  // set to zero initially
		  PWMDAC_setPeriod(obj->pwmDacHandle[cnt],0);

		  // initialize the Counter-Compare Control Register (CMPCTL)
		  PWMDAC_setLoadMode_CmpA(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
		  PWMDAC_setLoadMode_CmpB(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
		  PWMDAC_setShadowMode_CmpA(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);
		  PWMDAC_setShadowMode_CmpB(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);

		  // Initialize the Action-Qualifier Output A Register (AQCTLA)
		  PWMDAC_setActionQual_CntUp_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
		  PWMDAC_setActionQual_CntDown_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);
		  PWMDAC_setActionQual_CntUp_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
		  PWMDAC_setActionQual_CntDown_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);

		  // Initialize the Dead-Band Control Register (DBCTL)
		  PWMDAC_disableDeadBand(obj->pwmDacHandle[cnt]);

		  // Initialize the PWM-Chopper Control Register (PCCTL)
		  PWMDAC_disableChopping(obj->pwmDacHandle[cnt]);

		  // Initialize the Trip-Zone Control Register (TZSEL)
		  PWMDAC_disableTripZones(obj->pwmDacHandle[cnt]);

		  // Initialize the Trip-Zone Control Register (TZCTL)
		  PWMDAC_setTripZoneState_TZA(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_TZB(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCAEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCAEVT2(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCBEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
	  }
  }

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  for(cnt=0;cnt<2;cnt++)
  {
	  if(obj->pwmDacHandle[cnt])
	  {
		  PWMDAC_setPeriod(obj->pwmDacHandle[cnt],halfPeriod_cycles);
	  }
  }

  return;
}  // end of HAL_setupPwmDacs() function


void HAL_setupTimers(HAL_Handle handle,const float_t systemFreq_MHz)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;
  uint32_t  timerPeriod_cnts = (uint32_t)(systemFreq_MHz * (float_t)1000000.0) - 1;

  // use timer 0 for frequency diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[0],0);
  TIMER_setEmulationMode(obj->timerHandle[0],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[0],timerPeriod_cnts);
  TIMER_setPreScaler(obj->timerHandle[0],0);

  // use timer 1 for CPU usage diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[1],0);
  TIMER_setEmulationMode(obj->timerHandle[1],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[1],timerPeriod_cnts);
  TIMER_setPreScaler(obj->timerHandle[1],0);

  // use timer 2 for CPU time diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[2],0);
  TIMER_setEmulationMode(obj->timerHandle[2],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[2],0xFFFFFFFF);
  TIMER_setPreScaler(obj->timerHandle[2],0);

  return;
}  // end of HAL_setupTimers() function


void HAL_writeDrvData(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_writeData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_writeDrvData() function


void HAL_readDrvData(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_readData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_readDrvData() function


void HAL_setupDrvSpi(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_setupSpi(obj->drv8301Handle,Spi_8301_Vars);

  return;
}  // end of HAL_setupDrvSpi() function

// set PWMDAC parameters for each channel to ensure the output waveform
void HAL_setDacParameters(HAL_Handle handle, HAL_DacData_t *pDacData)
{
	HAL_Obj *obj = (HAL_Obj *)handle;

    pDacData->PeriodMax = PWMDAC_getPeriod(obj->pwmDacHandle[PWMDAC_Number_1]);

	pDacData->offset[0] = _IQ(0.0);
	pDacData->offset[1] = _IQ(0.5);
	pDacData->offset[2] = _IQ(0.0);
	pDacData->offset[3] = _IQ(0.5);

	pDacData->gain[0] = _IQ(1.0);
	pDacData->gain[1] = _IQ(20.0);
	pDacData->gain[2] = _IQ(1.0);
	pDacData->gain[3] = _IQ(20.0);

	return;
}	//end of HAL_setDacParameters() function

// end of file

sci.h  第71行是十六进制地址宏

/* --COPYRIGHT--,BSD
 * Copyright (c) 2015, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
#ifndef _SCI_H_
#define _SCI_H_

//! \file   drivers/sci/src/32b/f28x/f2806x/sci.h
//! \brief  Contains public interface to various functions related
//!         to the serial communications interface (SCI) object
//!
//! (C) Copyright 2015, Texas Instruments, Inc.


// **************************************************************************
// the includes

// drivers
#include "sw/drivers/cpu/src/32b/f28x/f2806x/cpu.h"


// modules
#include "sw/modules/types/src/types.h"


//!
//!
//! \defgroup SCI SCI
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines


//! \brief Defines the base address of the serial communications interface (SCI) A registers
//!
#define SCIA_BASE_ADDR              (0x00007050)

//! \brief Defines the base address of the serial communications interface (SCI) B registers
//!
#define SCIB_BASE_ADDR              (0x00007750)


//! \brief Defines the location of the SCICHAR2-0 bits in the SCICCR register
//!
#define SCI_SCICCR_CHAR_LENGTH_BITS   (7 << 0)

//! \brief Defines the location of the ADDR/IDLE MODE bits in the SCICCR register
//!
#define SCI_SCICCR_MODE_BITS          (1 << 3)

//! \brief Defines the location of the LOOP BACK ENA bits in the SCICCR register
//!
#define SCI_SCICCR_LB_ENA_BITS        (1 << 4)

//! \brief Defines the location of the PARITY ENABLE bits in the SCICCR register
//!
#define SCI_SCICCR_PARITY_ENA_BITS    (1 << 5)

//! \brief Defines the location of the EVEN/ODD PARITY bits in the SCICCR register
//!
#define SCI_SCICCR_PARITY_BITS        (1 << 6)

//! \brief Defines the location of the STOP bits in the SCICCR register
//!
#define SCI_SCICCR_STOP_BITS          (1 << 7)


//! \brief Defines the location of the RXENA bits in the SCICTL1 register
//!
#define SCI_SCICTL1_RXENA_BITS           (1 << 0)

//! \brief Defines the location of the TXENA bits in the SCICTL1 register
//!
#define SCI_SCICTL1_TXENA_BITS           (1 << 1)

//! \brief Defines the location of the SLEEP bits in the SCICTL1 register
//!
#define SCI_SCICTL1_SLEEP_BITS           (1 << 2)

//! \brief Defines the location of the TXWAKE bits in the SCICTL1 register
//!
#define SCI_SCICTL1_TXWAKE_BITS          (1 << 3)

//! \brief Defines the location of the SW RESET bits in the SCICTL1 register
//!
#define SCI_SCICTL1_RESET_BITS           (1 << 5)

//! \brief Defines the location of the RX ERR INT ENA bits in the SCICTL1 register
//!
#define SCI_SCICTL1_RX_ERR_INT_ENA_BITS  (1 << 6)


//! \brief Defines the location of the TX INT ENA bits in the SCICTL2 register
//!
#define SCI_SCICTL2_TX_INT_ENA_BITS      (1 << 0)

//! \brief Defines the location of the RX/BK INT ENA bits in the SCICTL2 register
//!
#define SCI_SCICTL2_RX_INT_ENA_BITS      (1 << 1)  

//! \brief Defines the location of the TX EMPTY bits in the SCICTL2 register
//!
#define SCI_SCICTL2_TXEMPTY_BITS         (1 << 6)

//! \brief Defines the location of the RX EMPTY bits in the SCICTL2 register
//!
#define SCI_SCICTL2_TXRDY_BITS           (1 << 7)


//! \brief Defines the location of the RXWAKE bits in the SCIRXST register
//!
#define SCI_SCIRXST_RXWAKE_BITS          (1 << 1)

//! \brief Defines the location of the PE bits in the SCIRXST register
//!
#define SCI_SCIRXST_PE_BITS              (1 << 2)

//! \brief Defines the location of the OE bits in the SCIRXST register
//!
#define SCI_SCIRXST_OE_BITS              (1 << 3)

//! \brief Defines the location of the FE bits in the SCIRXST register
//!
#define SCI_SCIRXST_FE_BITS              (1 << 4)

//! \brief Defines the location of the BRKDT bits in the SCIRXST register
//!
#define SCI_SCIRXST_BRKDT_BITS           (1 << 5)

//! \brief Defines the location of the RXRDY bits in the SCIRXST register
//!
#define SCI_SCIRXST_RXRDY_BITS           (1 << 6)  

//! \brief Defines the location of the RX ERROR bits in the SCIRXST register
//!
#define SCI_SCIRXST_RXERROR_BITS         (1 << 7)  


//! \brief Defines the location of the RXFFIL4-0 bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_IL_BITS           (31 << 0)

//! \brief Defines the location of the RXFFIENA bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_IENA_BITS         ( 1 << 5)

//! \brief Defines the location of the RXFFINT CLR bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_INTCLR_BITS       ( 1 << 6)

//! \brief Defines the location of the RXFFINT flag bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_INT_BITS          ( 1 << 7)

//! \brief Defines the location of the RXFFST4-0 bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_ST_BITS      (31 << 8)

//! \brief Defines the location of the RXFIFO Reset bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_RESET_BITS   ( 1 << 13)

//! \brief Defines the location of the RXFFOVF CLR bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_OVFCLR_BITS  ( 1 << 14)

//! \brief Defines the location of the RXFFOVF bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_OVF_BITS     ( 1 << 15)


//! \brief Defines the location of the TXFFIL4-0 bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_IL_BITS           (31 << 0)

//! \brief Defines the location of the TXFFIENA bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_IENA_BITS         ( 1 << 5)

//! \brief Defines the location of the TXFFINT CLR bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_INTCLR_BITS       ( 1 << 6)

//! \brief Defines the location of the TXFFINT flag bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_INT_BITS          ( 1 << 7)

//! \brief Defines the location of the TXFFST4-0 bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_FIFO_ST_BITS      (31 << 8)

//! \brief Defines the location of the TXFIFO Reset bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_FIFO_RESET_BITS   ( 1 << 13)

//! \brief Defines the location of the SCIFFENA bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_FIFO_ENA_BITS     ( 1 << 14)

//! \brief Defines the location of the SCIRST bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_CHAN_RESET_BITS   ( 1 << 15)


//! \brief Defines the location of the FFTXDLY7-0 bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_DELAY_BITS        (255 << 0)

//! \brief Defines the location of the CDC bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_CDC_BITS          (  1 << 13)

//! \brief Defines the location of the ABD CLR bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_ABDCLR_BITS       (  1 << 14)

//! \brief Defines the location of the ABD bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_ABD_BITS          (  1 << 15)


// **************************************************************************
// the typedefs

//! \brief Enumeration to define the serial communications interface (SCI) baud rates.  This enumeration assume a device clock of 60Mhz and a LSPCLK of 15MHz
//!
typedef enum
{
  SCI_BaudRate_9_6_kBaud = 194,      //!< Denotes 9.6 kBaud
  SCI_BaudRate_19_2_kBaud = 97,      //!< Denotes 19.2 kBaud
  SCI_BaudRate_57_6_kBaud = 33,      //!< Denotes 57.6 kBaud
  SCI_BaudRate_115_2_kBaud = 15      //!< Denotes 115.2 kBaud
} SCI_BaudRate_e;


//! \brief Enumeration to define the serial communications interface (SCI) character lengths
//!
typedef enum
{
  SCI_CharLength_1_Bit=(0 << 0),     //!< Denotes a character length of 1 bit
  SCI_CharLength_2_Bits=(1 << 0),    //!< Denotes a character length of 2 bits
  SCI_CharLength_3_Bits=(2 << 0),    //!< Denotes a character length of 3 bits
  SCI_CharLength_4_Bits=(3 << 0),    //!< Denotes a character length of 4 bits
  SCI_CharLength_5_Bits=(4 << 0),    //!< Denotes a character length of 5 bits
  SCI_CharLength_6_Bits=(5 << 0),    //!< Denotes a character length of 6 bits
  SCI_CharLength_7_Bits=(6 << 0),    //!< Denotes a character length of 7 bits
  SCI_CharLength_8_Bits=(7 << 0)     //!< Denotes a character length of 8 bits
} SCI_CharLength_e;


//! \brief Enumeration to define the serial communications interface (SCI) multiprocessor protocol mode
//!
typedef enum
{
  SCI_Mode_IdleLine=(0 << 3),    //!< Denotes idle-line mode protocol
  SCI_Mode_AddressBit=(1 << 3)   //!< Denotes address-bit mode protocol
} SCI_Mode_e;


//! \brief Enumeration to define the serial communications interface (SCI) number of stop bits
//!
typedef enum
{
  SCI_NumStopBits_One=(0 << 7),   //!< Denotes 1 stop bit
  SCI_NumStopBits_Two=(1 << 7)    //!< Denotes 2 stop bits
} SCI_NumStopBits_e;


//! \brief Enumeration to define the serial communications interface (SCI) parity
//!
typedef enum
{
  SCI_Parity_Odd=(0 << 6),        //!< Denotes odd parity
  SCI_Parity_Even=(1 << 6)        //!< Denotes even parity
} SCI_Parity_e;


//! \brief Enumeration to define the serial communications interface (SCI) emulation suspend priority
//!
typedef enum
{
  SCI_Priority_Immediate=(0 << 3),    //!< Denotes an immediate stop
  SCI_Priority_FreeRun=(1 << 3),      //!< Denotes free running
  SCI_Priority_AfterRxRxSeq=(2 << 3)  //!< Denotes that a stop after the current receive/transmit sequence
} SCI_Priority_e;


//! \brief Enumeration to define the serial communications interface (SCI) FIFO level
//!
typedef enum
{
  SCI_FifoLevel_Empty=(0 << 0),      //!< Denotes the fifo is empty
  SCI_FifoLevel_1_Word=(1 << 0),     //!< Denotes the fifo contains 1 word
  SCI_FifoLevel_2_Words=(2 << 0),    //!< Denotes the fifo contains 2 words
  SCI_FifoLevel_3_Words=(3 << 0),    //!< Denotes the fifo contains 3 words
  SCI_FifoLevel_4_Words=(4 << 0)     //!< Denotes the fifo contains 4 words
} SCI_FifoLevel_e;


//! \brief Enumeration to define the serial communications interface (SCI) FIFO status
//!
typedef enum
{
  SCI_FifoStatus_Empty=(0 << 8),      //!< Denotes the fifo is empty
  SCI_FifoStatus_1_Word=(1 << 8),     //!< Denotes the fifo contains 1 word
  SCI_FifoStatus_2_Words=(2 << 8),    //!< Denotes the fifo contains 2 words
  SCI_FifoStatus_3_Words=(3 << 8),    //!< Denotes the fifo contains 3 words
  SCI_FifoStatus_4_Words=(4 << 8)     //!< Denotes the fifo contains 4 words
}  SCI_FifoStatus_e;


//! \brief Defines the serial communications interface (SCI) object
//!
typedef struct _SCI_Obj_
{
  volatile uint16_t      SCICCR;        //!< SCI Configuration Control Register
  volatile uint16_t      SCICTL1;       //!< SCI Control Register 1
  volatile uint16_t      SCIHBAUD;      //!< SCI Baud Register, High Bits
  volatile uint16_t      SCILBAUD;      //!< SCI Baud Register, Low Bits
  volatile uint16_t      SCICTL2;       //!< SCI Control Register 2
  volatile uint16_t      SCIRXST;       //!< SCI Receive Status Register
  volatile uint16_t      SCIRXEMU;      //!< SCI Receive Emulation Data Buffer Register
  volatile uint16_t      SCIRXBUF;      //!< SCI Receive Data Buffer Register
  volatile uint16_t      rsvd_1;        //!< Reserved
  volatile uint16_t      SCITXBUF;      //!< SCI Transmit Data Buffer Register
  volatile uint16_t      SCIFFTX;       //!< SCI FIFO Transmit Register
  volatile uint16_t      SCIFFRX;       //!< SCI FIFO Receive Register
  volatile uint16_t      SCIFFCT;       //!< SCI FIFO Control Register
  volatile uint16_t      rsvd_2[2];     //!< Reserved
  volatile uint16_t      SCIPRI;        //!< SCI Priority Register
} SCI_Obj;


//! \brief Defines the serial communications interface (SCI) handle
//!
typedef struct _SCI_Obj_ *SCI_Handle;


// **************************************************************************
// the globals


// **************************************************************************
// the function prototypes

//! \brief     Clears the auto baud detect mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearAutoBaudDetect(SCI_Handle sciHandle);


//! \brief     Clears the Rx FIFO overflow flag
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearRxFifoOvf(SCI_Handle sciHandle);


//! \brief     Clears the Rx FIFO interrupt flag
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearRxFifoInt(SCI_Handle sciHandle);


//! \brief     Clears the Tx FIFO interrupt flag
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearTxFifoInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disable(SCI_Handle sciHandle);


//! \brief     Disable the serial communications interface (SCI) auto baud alignment
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableAutoBaudAlign(SCI_Handle sciHandle);


//! \brief     Disables the serial peripheral interface (SCI) loop back mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableLoopBack(SCI_Handle sciHandle);


//! \brief     Disable the parity
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableParity(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) master/slave receive mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRx(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) receive error interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRxErrorInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) receive FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRxFifoInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) receive interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRxInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) sleep mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableSleep(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) master/slave transmit mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTx(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) transmit FIFO enhancements
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxFifoEnh(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) transmit FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxFifoInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) transmit interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) wakeup method
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxWake(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enable(SCI_Handle sciHandle);


//! \brief     Enable the serial communications interface (SCI) auto baud alignment
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableAutoBaudAlign(SCI_Handle sciHandle);


//! \brief     Enable the serial communications interface (SCI) transmit and receive channels
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableChannels(SCI_Handle sciHandle);


//! \brief     Enables the serial peripheral interface (SCI) loop back mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableLoopBack(SCI_Handle sciHandle);


//! \brief     Enables the serial peripheral interface (SCI) parity
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableParity(SCI_Handle sciHandle);


//! \brief     Enables the serial peripheral interface (SCI) receiver
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRx(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive error interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxErrorInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) sleep mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableSleep(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxFifo(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxFifoInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) masater/slave transmit mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTx(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxFifo(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit FIFO enhancements
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxFifoEnh(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxFifoInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) wakeup method
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxWake(SCI_Handle sciHandle);


//! \brief     Gets data from the serial communications interface (Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    Data from the serial peripheral
extern uint16_t SCI_getDataBlocking(SCI_Handle sciHandle);


//! \brief     Read data from the serial communications interface (Non-Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[out] success  Pointer to a variable which will house whether the read was successful or not (true on success)
//! \return    Data if successful, or NULL if no characters 
extern uint16_t SCI_getDataNonBlocking(SCI_Handle sciHandle, uint16_t * success);


//! \brief     Gets the serial communications interface (SCI) receive FIFO status
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The receive FIFO status
extern SCI_FifoStatus_e SCI_getRxFifoStatus(SCI_Handle sciHandle);


//! \brief     Gets the serial communications interface (SCI) transmit FIFO status
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The transmit FIFO status
extern SCI_FifoStatus_e SCI_getTxFifoStatus(SCI_Handle sciHandle);


//! \brief     Initializes the serial communications interface (SCI) object handle
//! \param[in] pMemory     A pointer to the base address of the SCI registers
//! \param[in] numBytes    The number of bytes allocated for the SCI object, bytes
//! \return    The serial communications interface (SCI) object handle
extern SCI_Handle SCI_init(void *pMemory,const size_t numBytes);


//! \brief     Writes data to the serial communications interface (Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] data       The data value
extern void SCI_putDataBlocking(SCI_Handle sciHandle, uint16_t data);


//! \brief     Writes data to the serial communications interface (Non-Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] data       The data value
//! \return    True on successful write, false if no space is available in the transmit buffer
extern uint16_t SCI_putDataNonBlocking(SCI_Handle sciHandle, uint16_t data);


//! \brief     Reads data from the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The received data value
static inline uint16_t SCI_read(SCI_Handle sciHandle)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;


  // get the data
  uint16_t data = sci->SCIRXBUF;

  return(data);
} // end of SCI_read() function


//! \brief     Resets the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communication interface (SCI) object handle
extern void SCI_reset(SCI_Handle sciHandle);


//! \brief     Resets the serial communications interface (SCI) transmit and receive channels
//! \param[in] sciHandle  The serial communication interface (SCI) object handle
extern void SCI_resetChannels(SCI_Handle sciHandle);


//! \brief     Resets the serial communications interface (SCI) receive FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_resetRxFifo(SCI_Handle sciHandle);


//! \brief     Resets the serial communications interface (SCI) transmit FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_resetTxFifo(SCI_Handle sciHandle);


//! \brief     Determines if the serial communications interface (SCI) has receive data ready
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The receive data status
static inline bool SCI_rxDataReady(SCI_Handle sciHandle)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;
  bool status;

  status = (sci->SCIRXST & SCI_SCIRXST_RXRDY_BITS) >> 6;

  return((bool)status);
} // end of SCI_rxDataReady() function


//! \brief     Sets the serial communications interface (SCI) baud rate
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] baudRate   The baud rate
extern void SCI_setBaudRate(SCI_Handle sciHandle,const SCI_BaudRate_e baudRate);


//! \brief     Sets the serial communications interface (SCI) character length
//! \param[in] sciHandle   The serial communications interface (SCI) object handle
//! \param[in] charLength  The character length
extern void SCI_setCharLength(SCI_Handle sciHandle,const SCI_CharLength_e charLength);


//! \brief     Sets the serial communications interface (SCI) miltprocessor mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] mode       The multiprocessor mode
extern void SCI_setMode(SCI_Handle sciHandle,const SCI_Mode_e mode);


//! \brief     Sets the serial communications interface (SCI) number of stop bits
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] numBits    The number of bits
extern void SCI_setNumStopBits(SCI_Handle sciHandle,const SCI_NumStopBits_e numBits);


//! \brief     Sets the serial communications interface (SCI) priority
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] priority   The priority
extern void SCI_setPriority(SCI_Handle sciHandle,const SCI_Priority_e priority);


//! \brief     Sets the serial communications interface (SCI) parity
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] parity     The parity
extern void SCI_setParity(SCI_Handle sciHandle,const SCI_Parity_e parity);


//! \brief     Sets the serial communications interface (SCI) transmit delay
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] delay     The transmit delay
extern void SCI_setTxDelay(SCI_Handle sciHandle,const uint_least8_t delay);


//! \brief     Sets the serial communications interface (SCI) transmit FIFO level for generating an interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] fifoLevel  The FIFO level
extern void SCI_setTxFifoIntLevel(SCI_Handle sciHandle,const SCI_FifoLevel_e fifoLevel);


//! \brief     Sets the serial communications interface (SCI) receive FIFO level for generating an interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] fifoLevel  The FIFO level
extern void SCI_setRxFifoIntLevel(SCI_Handle sciHandle,const SCI_FifoLevel_e fifoLevel);


//! \brief     Determines if the serial communications interface (SCI) is ready to transmit
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The transmit status
static inline bool SCI_txReady(SCI_Handle sciHandle)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;
  bool status;

  status = (sci->SCICTL2 & SCI_SCICTL2_TXRDY_BITS) >> 7;

  return((bool)status);
} // end of SCI_txReady() function


//! \brief     Writes data to the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] data       The data value
static inline void SCI_write(SCI_Handle sciHandle,const uint16_t data)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;


  // write the data
  sci->SCITXBUF = data;

  return;
} // end of SCI_write() function


#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _SCI_H_ definition

SCI.c Init 函数位于第528行

/* --COPYRIGHT--,BSD
 * Copyright (c) 2015, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
#ifndef _SCI_H_
#define _SCI_H_

//! \file   drivers/sci/src/32b/f28x/f2806x/sci.h
//! \brief  Contains public interface to various functions related
//!         to the serial communications interface (SCI) object
//!
//! (C) Copyright 2015, Texas Instruments, Inc.


// **************************************************************************
// the includes

// drivers
#include "sw/drivers/cpu/src/32b/f28x/f2806x/cpu.h"


// modules
#include "sw/modules/types/src/types.h"


//!
//!
//! \defgroup SCI SCI
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines


//! \brief Defines the base address of the serial communications interface (SCI) A registers
//!
#define SCIA_BASE_ADDR              (0x00007050)

//! \brief Defines the base address of the serial communications interface (SCI) B registers
//!
#define SCIB_BASE_ADDR              (0x00007750)


//! \brief Defines the location of the SCICHAR2-0 bits in the SCICCR register
//!
#define SCI_SCICCR_CHAR_LENGTH_BITS   (7 << 0)

//! \brief Defines the location of the ADDR/IDLE MODE bits in the SCICCR register
//!
#define SCI_SCICCR_MODE_BITS          (1 << 3)

//! \brief Defines the location of the LOOP BACK ENA bits in the SCICCR register
//!
#define SCI_SCICCR_LB_ENA_BITS        (1 << 4)

//! \brief Defines the location of the PARITY ENABLE bits in the SCICCR register
//!
#define SCI_SCICCR_PARITY_ENA_BITS    (1 << 5)

//! \brief Defines the location of the EVEN/ODD PARITY bits in the SCICCR register
//!
#define SCI_SCICCR_PARITY_BITS        (1 << 6)

//! \brief Defines the location of the STOP bits in the SCICCR register
//!
#define SCI_SCICCR_STOP_BITS          (1 << 7)


//! \brief Defines the location of the RXENA bits in the SCICTL1 register
//!
#define SCI_SCICTL1_RXENA_BITS           (1 << 0)

//! \brief Defines the location of the TXENA bits in the SCICTL1 register
//!
#define SCI_SCICTL1_TXENA_BITS           (1 << 1)

//! \brief Defines the location of the SLEEP bits in the SCICTL1 register
//!
#define SCI_SCICTL1_SLEEP_BITS           (1 << 2)

//! \brief Defines the location of the TXWAKE bits in the SCICTL1 register
//!
#define SCI_SCICTL1_TXWAKE_BITS          (1 << 3)

//! \brief Defines the location of the SW RESET bits in the SCICTL1 register
//!
#define SCI_SCICTL1_RESET_BITS           (1 << 5)

//! \brief Defines the location of the RX ERR INT ENA bits in the SCICTL1 register
//!
#define SCI_SCICTL1_RX_ERR_INT_ENA_BITS  (1 << 6)


//! \brief Defines the location of the TX INT ENA bits in the SCICTL2 register
//!
#define SCI_SCICTL2_TX_INT_ENA_BITS      (1 << 0)

//! \brief Defines the location of the RX/BK INT ENA bits in the SCICTL2 register
//!
#define SCI_SCICTL2_RX_INT_ENA_BITS      (1 << 1)  

//! \brief Defines the location of the TX EMPTY bits in the SCICTL2 register
//!
#define SCI_SCICTL2_TXEMPTY_BITS         (1 << 6)

//! \brief Defines the location of the RX EMPTY bits in the SCICTL2 register
//!
#define SCI_SCICTL2_TXRDY_BITS           (1 << 7)


//! \brief Defines the location of the RXWAKE bits in the SCIRXST register
//!
#define SCI_SCIRXST_RXWAKE_BITS          (1 << 1)

//! \brief Defines the location of the PE bits in the SCIRXST register
//!
#define SCI_SCIRXST_PE_BITS              (1 << 2)

//! \brief Defines the location of the OE bits in the SCIRXST register
//!
#define SCI_SCIRXST_OE_BITS              (1 << 3)

//! \brief Defines the location of the FE bits in the SCIRXST register
//!
#define SCI_SCIRXST_FE_BITS              (1 << 4)

//! \brief Defines the location of the BRKDT bits in the SCIRXST register
//!
#define SCI_SCIRXST_BRKDT_BITS           (1 << 5)

//! \brief Defines the location of the RXRDY bits in the SCIRXST register
//!
#define SCI_SCIRXST_RXRDY_BITS           (1 << 6)  

//! \brief Defines the location of the RX ERROR bits in the SCIRXST register
//!
#define SCI_SCIRXST_RXERROR_BITS         (1 << 7)  


//! \brief Defines the location of the RXFFIL4-0 bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_IL_BITS           (31 << 0)

//! \brief Defines the location of the RXFFIENA bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_IENA_BITS         ( 1 << 5)

//! \brief Defines the location of the RXFFINT CLR bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_INTCLR_BITS       ( 1 << 6)

//! \brief Defines the location of the RXFFINT flag bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_INT_BITS          ( 1 << 7)

//! \brief Defines the location of the RXFFST4-0 bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_ST_BITS      (31 << 8)

//! \brief Defines the location of the RXFIFO Reset bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_RESET_BITS   ( 1 << 13)

//! \brief Defines the location of the RXFFOVF CLR bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_OVFCLR_BITS  ( 1 << 14)

//! \brief Defines the location of the RXFFOVF bits in the SCIFFRX register
//!
#define SCI_SCIFFRX_FIFO_OVF_BITS     ( 1 << 15)


//! \brief Defines the location of the TXFFIL4-0 bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_IL_BITS           (31 << 0)

//! \brief Defines the location of the TXFFIENA bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_IENA_BITS         ( 1 << 5)

//! \brief Defines the location of the TXFFINT CLR bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_INTCLR_BITS       ( 1 << 6)

//! \brief Defines the location of the TXFFINT flag bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_INT_BITS          ( 1 << 7)

//! \brief Defines the location of the TXFFST4-0 bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_FIFO_ST_BITS      (31 << 8)

//! \brief Defines the location of the TXFIFO Reset bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_FIFO_RESET_BITS   ( 1 << 13)

//! \brief Defines the location of the SCIFFENA bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_FIFO_ENA_BITS     ( 1 << 14)

//! \brief Defines the location of the SCIRST bits in the SCIFFTX register
//!
#define SCI_SCIFFTX_CHAN_RESET_BITS   ( 1 << 15)


//! \brief Defines the location of the FFTXDLY7-0 bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_DELAY_BITS        (255 << 0)

//! \brief Defines the location of the CDC bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_CDC_BITS          (  1 << 13)

//! \brief Defines the location of the ABD CLR bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_ABDCLR_BITS       (  1 << 14)

//! \brief Defines the location of the ABD bits in the SCIFFCT register
//!
#define SCI_SCIFFCT_ABD_BITS          (  1 << 15)


// **************************************************************************
// the typedefs

//! \brief Enumeration to define the serial communications interface (SCI) baud rates.  This enumeration assume a device clock of 60Mhz and a LSPCLK of 15MHz
//!
typedef enum
{
  SCI_BaudRate_9_6_kBaud = 194,      //!< Denotes 9.6 kBaud
  SCI_BaudRate_19_2_kBaud = 97,      //!< Denotes 19.2 kBaud
  SCI_BaudRate_57_6_kBaud = 33,      //!< Denotes 57.6 kBaud
  SCI_BaudRate_115_2_kBaud = 15      //!< Denotes 115.2 kBaud
} SCI_BaudRate_e;


//! \brief Enumeration to define the serial communications interface (SCI) character lengths
//!
typedef enum
{
  SCI_CharLength_1_Bit=(0 << 0),     //!< Denotes a character length of 1 bit
  SCI_CharLength_2_Bits=(1 << 0),    //!< Denotes a character length of 2 bits
  SCI_CharLength_3_Bits=(2 << 0),    //!< Denotes a character length of 3 bits
  SCI_CharLength_4_Bits=(3 << 0),    //!< Denotes a character length of 4 bits
  SCI_CharLength_5_Bits=(4 << 0),    //!< Denotes a character length of 5 bits
  SCI_CharLength_6_Bits=(5 << 0),    //!< Denotes a character length of 6 bits
  SCI_CharLength_7_Bits=(6 << 0),    //!< Denotes a character length of 7 bits
  SCI_CharLength_8_Bits=(7 << 0)     //!< Denotes a character length of 8 bits
} SCI_CharLength_e;


//! \brief Enumeration to define the serial communications interface (SCI) multiprocessor protocol mode
//!
typedef enum
{
  SCI_Mode_IdleLine=(0 << 3),    //!< Denotes idle-line mode protocol
  SCI_Mode_AddressBit=(1 << 3)   //!< Denotes address-bit mode protocol
} SCI_Mode_e;


//! \brief Enumeration to define the serial communications interface (SCI) number of stop bits
//!
typedef enum
{
  SCI_NumStopBits_One=(0 << 7),   //!< Denotes 1 stop bit
  SCI_NumStopBits_Two=(1 << 7)    //!< Denotes 2 stop bits
} SCI_NumStopBits_e;


//! \brief Enumeration to define the serial communications interface (SCI) parity
//!
typedef enum
{
  SCI_Parity_Odd=(0 << 6),        //!< Denotes odd parity
  SCI_Parity_Even=(1 << 6)        //!< Denotes even parity
} SCI_Parity_e;


//! \brief Enumeration to define the serial communications interface (SCI) emulation suspend priority
//!
typedef enum
{
  SCI_Priority_Immediate=(0 << 3),    //!< Denotes an immediate stop
  SCI_Priority_FreeRun=(1 << 3),      //!< Denotes free running
  SCI_Priority_AfterRxRxSeq=(2 << 3)  //!< Denotes that a stop after the current receive/transmit sequence
} SCI_Priority_e;


//! \brief Enumeration to define the serial communications interface (SCI) FIFO level
//!
typedef enum
{
  SCI_FifoLevel_Empty=(0 << 0),      //!< Denotes the fifo is empty
  SCI_FifoLevel_1_Word=(1 << 0),     //!< Denotes the fifo contains 1 word
  SCI_FifoLevel_2_Words=(2 << 0),    //!< Denotes the fifo contains 2 words
  SCI_FifoLevel_3_Words=(3 << 0),    //!< Denotes the fifo contains 3 words
  SCI_FifoLevel_4_Words=(4 << 0)     //!< Denotes the fifo contains 4 words
} SCI_FifoLevel_e;


//! \brief Enumeration to define the serial communications interface (SCI) FIFO status
//!
typedef enum
{
  SCI_FifoStatus_Empty=(0 << 8),      //!< Denotes the fifo is empty
  SCI_FifoStatus_1_Word=(1 << 8),     //!< Denotes the fifo contains 1 word
  SCI_FifoStatus_2_Words=(2 << 8),    //!< Denotes the fifo contains 2 words
  SCI_FifoStatus_3_Words=(3 << 8),    //!< Denotes the fifo contains 3 words
  SCI_FifoStatus_4_Words=(4 << 8)     //!< Denotes the fifo contains 4 words
}  SCI_FifoStatus_e;


//! \brief Defines the serial communications interface (SCI) object
//!
typedef struct _SCI_Obj_
{
  volatile uint16_t      SCICCR;        //!< SCI Configuration Control Register
  volatile uint16_t      SCICTL1;       //!< SCI Control Register 1
  volatile uint16_t      SCIHBAUD;      //!< SCI Baud Register, High Bits
  volatile uint16_t      SCILBAUD;      //!< SCI Baud Register, Low Bits
  volatile uint16_t      SCICTL2;       //!< SCI Control Register 2
  volatile uint16_t      SCIRXST;       //!< SCI Receive Status Register
  volatile uint16_t      SCIRXEMU;      //!< SCI Receive Emulation Data Buffer Register
  volatile uint16_t      SCIRXBUF;      //!< SCI Receive Data Buffer Register
  volatile uint16_t      rsvd_1;        //!< Reserved
  volatile uint16_t      SCITXBUF;      //!< SCI Transmit Data Buffer Register
  volatile uint16_t      SCIFFTX;       //!< SCI FIFO Transmit Register
  volatile uint16_t      SCIFFRX;       //!< SCI FIFO Receive Register
  volatile uint16_t      SCIFFCT;       //!< SCI FIFO Control Register
  volatile uint16_t      rsvd_2[2];     //!< Reserved
  volatile uint16_t      SCIPRI;        //!< SCI Priority Register
} SCI_Obj;


//! \brief Defines the serial communications interface (SCI) handle
//!
typedef struct _SCI_Obj_ *SCI_Handle;


// **************************************************************************
// the globals


// **************************************************************************
// the function prototypes

//! \brief     Clears the auto baud detect mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearAutoBaudDetect(SCI_Handle sciHandle);


//! \brief     Clears the Rx FIFO overflow flag
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearRxFifoOvf(SCI_Handle sciHandle);


//! \brief     Clears the Rx FIFO interrupt flag
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearRxFifoInt(SCI_Handle sciHandle);


//! \brief     Clears the Tx FIFO interrupt flag
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_clearTxFifoInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disable(SCI_Handle sciHandle);


//! \brief     Disable the serial communications interface (SCI) auto baud alignment
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableAutoBaudAlign(SCI_Handle sciHandle);


//! \brief     Disables the serial peripheral interface (SCI) loop back mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableLoopBack(SCI_Handle sciHandle);


//! \brief     Disable the parity
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableParity(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) master/slave receive mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRx(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) receive error interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRxErrorInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) receive FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRxFifoInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) receive interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableRxInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) sleep mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableSleep(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) master/slave transmit mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTx(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) transmit FIFO enhancements
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxFifoEnh(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) transmit FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxFifoInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) transmit interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxInt(SCI_Handle sciHandle);


//! \brief     Disables the serial communications interface (SCI) wakeup method
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_disableTxWake(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enable(SCI_Handle sciHandle);


//! \brief     Enable the serial communications interface (SCI) auto baud alignment
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableAutoBaudAlign(SCI_Handle sciHandle);


//! \brief     Enable the serial communications interface (SCI) transmit and receive channels
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableChannels(SCI_Handle sciHandle);


//! \brief     Enables the serial peripheral interface (SCI) loop back mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableLoopBack(SCI_Handle sciHandle);


//! \brief     Enables the serial peripheral interface (SCI) parity
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableParity(SCI_Handle sciHandle);


//! \brief     Enables the serial peripheral interface (SCI) receiver
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRx(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive error interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxErrorInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) sleep mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableSleep(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxFifo(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) receive FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableRxFifoInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) masater/slave transmit mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTx(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxFifo(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit FIFO enhancements
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxFifoEnh(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit FIFO interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxFifoInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) transmit interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxInt(SCI_Handle sciHandle);


//! \brief     Enables the serial communications interface (SCI) wakeup method
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_enableTxWake(SCI_Handle sciHandle);


//! \brief     Gets data from the serial communications interface (Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    Data from the serial peripheral
extern uint16_t SCI_getDataBlocking(SCI_Handle sciHandle);


//! \brief     Read data from the serial communications interface (Non-Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[out] success  Pointer to a variable which will house whether the read was successful or not (true on success)
//! \return    Data if successful, or NULL if no characters 
extern uint16_t SCI_getDataNonBlocking(SCI_Handle sciHandle, uint16_t * success);


//! \brief     Gets the serial communications interface (SCI) receive FIFO status
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The receive FIFO status
extern SCI_FifoStatus_e SCI_getRxFifoStatus(SCI_Handle sciHandle);


//! \brief     Gets the serial communications interface (SCI) transmit FIFO status
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The transmit FIFO status
extern SCI_FifoStatus_e SCI_getTxFifoStatus(SCI_Handle sciHandle);


//! \brief     Initializes the serial communications interface (SCI) object handle
//! \param[in] pMemory     A pointer to the base address of the SCI registers
//! \param[in] numBytes    The number of bytes allocated for the SCI object, bytes
//! \return    The serial communications interface (SCI) object handle
extern SCI_Handle SCI_init(void *pMemory,const size_t numBytes);


//! \brief     Writes data to the serial communications interface (Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] data       The data value
extern void SCI_putDataBlocking(SCI_Handle sciHandle, uint16_t data);


//! \brief     Writes data to the serial communications interface (Non-Blocking)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] data       The data value
//! \return    True on successful write, false if no space is available in the transmit buffer
extern uint16_t SCI_putDataNonBlocking(SCI_Handle sciHandle, uint16_t data);


//! \brief     Reads data from the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The received data value
static inline uint16_t SCI_read(SCI_Handle sciHandle)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;


  // get the data
  uint16_t data = sci->SCIRXBUF;

  return(data);
} // end of SCI_read() function


//! \brief     Resets the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communication interface (SCI) object handle
extern void SCI_reset(SCI_Handle sciHandle);


//! \brief     Resets the serial communications interface (SCI) transmit and receive channels
//! \param[in] sciHandle  The serial communication interface (SCI) object handle
extern void SCI_resetChannels(SCI_Handle sciHandle);


//! \brief     Resets the serial communications interface (SCI) receive FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_resetRxFifo(SCI_Handle sciHandle);


//! \brief     Resets the serial communications interface (SCI) transmit FIFO
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
extern void SCI_resetTxFifo(SCI_Handle sciHandle);


//! \brief     Determines if the serial communications interface (SCI) has receive data ready
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The receive data status
static inline bool SCI_rxDataReady(SCI_Handle sciHandle)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;
  bool status;

  status = (sci->SCIRXST & SCI_SCIRXST_RXRDY_BITS) >> 6;

  return((bool)status);
} // end of SCI_rxDataReady() function


//! \brief     Sets the serial communications interface (SCI) baud rate
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] baudRate   The baud rate
extern void SCI_setBaudRate(SCI_Handle sciHandle,const SCI_BaudRate_e baudRate);


//! \brief     Sets the serial communications interface (SCI) character length
//! \param[in] sciHandle   The serial communications interface (SCI) object handle
//! \param[in] charLength  The character length
extern void SCI_setCharLength(SCI_Handle sciHandle,const SCI_CharLength_e charLength);


//! \brief     Sets the serial communications interface (SCI) miltprocessor mode
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] mode       The multiprocessor mode
extern void SCI_setMode(SCI_Handle sciHandle,const SCI_Mode_e mode);


//! \brief     Sets the serial communications interface (SCI) number of stop bits
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] numBits    The number of bits
extern void SCI_setNumStopBits(SCI_Handle sciHandle,const SCI_NumStopBits_e numBits);


//! \brief     Sets the serial communications interface (SCI) priority
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] priority   The priority
extern void SCI_setPriority(SCI_Handle sciHandle,const SCI_Priority_e priority);


//! \brief     Sets the serial communications interface (SCI) parity
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] parity     The parity
extern void SCI_setParity(SCI_Handle sciHandle,const SCI_Parity_e parity);


//! \brief     Sets the serial communications interface (SCI) transmit delay
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] delay     The transmit delay
extern void SCI_setTxDelay(SCI_Handle sciHandle,const uint_least8_t delay);


//! \brief     Sets the serial communications interface (SCI) transmit FIFO level for generating an interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] fifoLevel  The FIFO level
extern void SCI_setTxFifoIntLevel(SCI_Handle sciHandle,const SCI_FifoLevel_e fifoLevel);


//! \brief     Sets the serial communications interface (SCI) receive FIFO level for generating an interrupt
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] fifoLevel  The FIFO level
extern void SCI_setRxFifoIntLevel(SCI_Handle sciHandle,const SCI_FifoLevel_e fifoLevel);


//! \brief     Determines if the serial communications interface (SCI) is ready to transmit
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \return    The transmit status
static inline bool SCI_txReady(SCI_Handle sciHandle)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;
  bool status;

  status = (sci->SCICTL2 & SCI_SCICTL2_TXRDY_BITS) >> 7;

  return((bool)status);
} // end of SCI_txReady() function


//! \brief     Writes data to the serial communications interface (SCI)
//! \param[in] sciHandle  The serial communications interface (SCI) object handle
//! \param[in] data       The data value
static inline void SCI_write(SCI_Handle sciHandle,const uint16_t data)
{
  SCI_Obj *sci = (SCI_Obj *)sciHandle;


  // write the data
  sci->SCITXBUF = data;

  return;
} // end of SCI_write() function


#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _SCI_H_ definition

您可以在 MotorWare 文件夹中查看 HAL 用户指南、如下所示、并参阅"6.7章。 向 Motorware 项目添加 SCI/UART 功能"。

motorware_hal_tutorial.pdf、网址为"\ti\motorware\motorware_1_01_00_18\docs\Tutorials"

然后、如上所述、检查 SCI 寄存器中的发送和接收数据是否正确。

我查看了第6.7章、并添加了与它们相同的代码、但并不幸运。  因此、我注意     到、当我同时打开 Jp7和 JP6跳线以将 sci 路由到 GPIO28和 GPIO29引脚时、SCITXBUF 中没有任何内容。  但是、当我将跳线从 JP6移出以将 sci 路由到 USB 时、 我在 SCI_putDataNonBlocking (halHandle->sciaHandle、2)； call 中发送了 uint16_t 号。   不确定原因是我想将 sci 路由到 GPIO 引脚、而不是 USB。  我已运行  Example_2806SCI_Echoback  程序、并使用逻辑分析仪验证数据是否从 GPIO29引脚发出。  我在运行 instaspin proj_lab10d 时仍然无法看到相同的结果。  正如您提到的第6.7章一样、似乎我将所有代码都放在正确的位置、但有些内容仍然没有解决。   

 proj_lab10d.c 行390 - 396是与6.7章相同的代码。  我修改了它、尝试反复发送一些数据、以便在逻辑分析仪上看到它、并验证 TX 数据是否从 GPIO29引脚发出

/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
//! \file   solutions/instaspin_foc/src/proj_lab10d.c
//! \brief Dual motor project
//!
//! (C) Copyright 2011, Texas Instruments, Inc.

//! \defgroup PROJ_LAB10d PROJ_LAB10d
//@{

//! \defgroup PROJ_LAB10d_OVERVIEW Project Overview
//!
//! Dual Motor Sensorless Velocity Control
//!

// **************************************************************************
// the includes

// system includes
#include <math.h>
#include "main_2motors.h"

#ifdef FLASH
#pragma CODE_SECTION(motor1_ISR,"ramfuncs");
#pragma CODE_SECTION(motor2_ISR,"ramfuncs");
#endif

// Include header files used in the main function


// **************************************************************************
// the defines

#define LED_BLINK_FREQ_Hz   5

#define EST_Number1         0
#define CTRL_Number1        0

//#define _ENABLE_OVM_
// **************************************************************************
// the globals
CTRL_Handle ctrlHandle[2];

uint_least16_t gCounter_updateGlobals[2] = {0, 0};
uint_least8_t motorNum = 0;
uint_least8_t estNumber[2] = {0, 1};
uint_least8_t ctrlNumber[2] = {0, 1};

bool Flag_Latch_softwareUpdate[2] = {true, true};


#ifdef CSM_ENABLE
#pragma DATA_SECTION(halHandle,"rom_accessed_data");
#endif

HAL_Handle halHandle;

#ifdef CSM_ENABLE
#pragma DATA_SECTION(gUserParams,"rom_accessed_data");
#endif

USER_Params gUserParams[2];

// the pwm voltage values for the three phases.
HAL_PwmData_t gPwmData[2] = {{_IQ(0.0), _IQ(0.0), _IQ(0.0)}, {_IQ(0.0), _IQ(0.0), _IQ(0.0)}};

// the voltage and current adc values for the CTRL controller and the FAST estimator.
HAL_AdcData_t gAdcData[2];

// the PWMDAC variable
HAL_DacData_t gDacData;

_iq gMaxCurrentSlope[2] = {_IQ(0.0), _IQ(0.0)};

#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj[2];
#else
#ifdef CSM_ENABLE
#pragma DATA_SECTION(ctrl,"rom_accessed_data");
#endif
CTRL_Obj ctrl[2];               //v1p7 format
#endif

uint16_t gLEDcnt[2] = {0, 0};

// the variables to turn on and adjust InstaSPIN
volatile MOTOR_Vars_t gMotorVars[2] = {MOTOR_Vars_INIT_Mtr1,MOTOR_Vars_INIT_Mtr2};

//
volatile SYSTEM_Vars_t gSystemVars = SYSTEM_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;

#ifdef CSM_ENABLE
extern uint16_t *econst_start, *econst_end, *econst_ram_load;
extern uint16_t *switch_start, *switch_end, *switch_ram_load;
#endif
#endif

SVGENCURRENT_Obj svgencurrent[2];
SVGENCURRENT_Handle svgencurrentHandle[2];

// set the offset, default value of 1 microsecond
int16_t gCmpOffset[2] = {(int16_t)(1.0 * USER_SYSTEM_FREQ_MHz_M1), (int16_t)(1.0 * USER_SYSTEM_FREQ_MHz_M2)};

MATH_vec3 gIavg[2] = {{_IQ(0.0), _IQ(0.0), _IQ(0.0)}, {_IQ(0.0), _IQ(0.0), _IQ(0.0)}};
uint16_t gIavg_shift[2] = {1, 1};
MATH_vec3 gPwmData_prev[2] = {{_IQ(0.0), _IQ(0.0), _IQ(0.0)}, {_IQ(0.0), _IQ(0.0), _IQ(0.0)}};

#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars[2];
#endif

#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars[2];
#endif

_iq gFlux_pu_to_Wb_sf[2];

_iq gFlux_pu_to_VpHz_sf[2];

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf[2];

_iq gTorque_Flux_Iq_pu_to_Nm_sf[2];

HAL_Handle      halHandle;          //!< the handle for the hardware abstraction
                                     //!< layer for common CPU setup
HAL_Obj         hal;                //!< the hardware abstraction layer object

#ifdef F2802xF
#pragma DATA_SECTION(halHandleMtr,"rom_accessed_data");
#endif

HAL_Handle_mtr  halHandleMtr[2];    //!< the handle for the hardware abstraction
                                     //!< layer specific to the motor board.
HAL_Obj_mtr     halMtr[2];          //!< the hardware abstraction layer object
                                     //!< specific to the motor board.

// define Flying Start (FS) variables
FS_Obj fs[2];
FS_Handle fsHandle[2];

// define cpu_time object and handle for CPU usage time calculation
CPU_TIME_Handle  cpu_timeHandle[2];
CPU_TIME_Obj     cpu_time[2];

// **************************************************************************
// the functions
float motorSpeed = 0.2;

void main(void)
{
  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

  #ifdef CSM_ENABLE
  //copy .econst to unsecure RAM
  if(*econst_end - *econst_start)
    {
      memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
    }

  //copy .switch ot unsecure RAM
  if(*switch_end - *switch_start)
    {
      memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
    }
  #endif
  #endif


  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // initialize the individual motor hal files
  halHandleMtr[HAL_MTR1] = HAL_init_mtr(&halMtr[HAL_MTR1], sizeof(halMtr[HAL_MTR1]), (HAL_MtrSelect_e)HAL_MTR1);

  // initialize the individual motor hal files
  halHandleMtr[HAL_MTR2] = HAL_init_mtr(&halMtr[HAL_MTR2], sizeof(halMtr[HAL_MTR2]), (HAL_MtrSelect_e)HAL_MTR2);

  // initialize the controller
    #ifdef FAST_ROM_V1p6
    //  ctrlHandle[HAL_MTR1] = CTRL_initCtrl(CTRL_Number1, EST_Number1);        //v1p6 format (06xF and 06xM devices)
      ctrlHandle[HAL_MTR1] = CTRL_initCtrl(ctrlNumber[HAL_MTR1], estNumber[HAL_MTR1]);                      //v1p6 format (06xF and 06xM devices)
      ctrlHandle[HAL_MTR2] = CTRL_initCtrl(ctrlNumber[HAL_MTR2], estNumber[HAL_MTR2]);                      //v1p6 format (06xF and 06xM devices)
    #else
      ctrlHandle[HAL_MTR1] = CTRL_initCtrl(estNumber[HAL_MTR1], &ctrl[HAL_MTR1], sizeof(ctrl[HAL_MTR1]));   //v1p7 format default
      ctrlHandle[HAL_MTR2] = CTRL_initCtrl(estNumber[HAL_MTR2], &ctrl[HAL_MTR2], sizeof(ctrl[HAL_MTR2]));   //v1p7 format default
    #endif

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle[HAL_MTR1] = SVGENCURRENT_init(&svgencurrent[HAL_MTR1],sizeof(svgencurrent[HAL_MTR1]));

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle[HAL_MTR2] = SVGENCURRENT_init(&svgencurrent[HAL_MTR2],sizeof(svgencurrent[HAL_MTR2]));

  // initialize the user parameters
  // This function initializes all values of structure gUserParams with
  // values defined in user.h. The values in gUserParams will be then used by
  // the hardware abstraction layer (HAL) to configure peripherals such as
  // PWM, ADC, interrupts, etc.
  USER_setParamsMtr1(&gUserParams[HAL_MTR1]);
  USER_setParamsMtr2(&gUserParams[HAL_MTR2]);

  //HAL_setParams
  // set the common hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams[HAL_MTR1]);

  #ifdef _SINGLE_ISR_EN_
  // Setup each motor board to its specific setting
  HAL_setParamsDualMtr(halHandleMtr[HAL_MTR1], halHandleMtr[HAL_MTR2], halHandle, &gUserParams[HAL_MTR1], &gUserParams[HAL_MTR2]);
  #else
  // Setup each motor board to its specific setting
  HAL_setParamsMtr(halHandleMtr[HAL_MTR1],halHandle, &gUserParams[HAL_MTR1]);

  // Setup each motor board to its specific setting
  HAL_setParamsMtr(halHandleMtr[HAL_MTR2],halHandle, &gUserParams[HAL_MTR2]);
  #endif


  //TURN ON GLOBAL SYSTEM AND M
  gSystemVars.Flag_enableSystem = 1;
  gMotorVars[HAL_MTR1].Flag_Run_Identify = 1;
  gMotorVars[HAL_MTR1].Flag_enableUserParams = true;

  gMotorVars[HAL_MTR2].Flag_enableUserParams = true;

  gMotorVars[HAL_MTR1].Flag_enableSpeedCtrl = true;
  gMotorVars[HAL_MTR2].Flag_enableSpeedCtrl = true;

  for(motorNum=HAL_MTR1;motorNum<=HAL_MTR2;motorNum++)
  {
      // set the default controller parameters
      CTRL_setParams(ctrlHandle[motorNum], &gUserParams[motorNum]);

      // set the default controller parameters (Reset the control to re-identify the motor)
      CTRL_setParams(ctrlHandle[motorNum],&gUserParams[motorNum]);

      {
        // initialize the CPU usage module
        cpu_timeHandle[motorNum] = CPU_TIME_init(&cpu_time[motorNum],sizeof(cpu_time[motorNum]));
        CPU_TIME_setParams(cpu_timeHandle[motorNum], PWM_getPeriod(halHandleMtr[motorNum]->pwmHandle[0]));
      }

      // set overmodulation to maximum value
      gMotorVars[motorNum].OverModulation = _IQ(MATH_TWO_OVER_THREE);

      // setup faults
      HAL_setupFaults(halHandleMtr[motorNum]);

      // enable DC bus compensation
      CTRL_setFlag_enableDcBusComp(ctrlHandle[motorNum], true);

      // compute scaling factors for flux and torque calculations
      gFlux_pu_to_Wb_sf[motorNum] = USER_computeFlux_pu_to_Wb_sf(&gUserParams[motorNum]);
      gFlux_pu_to_VpHz_sf[motorNum] = USER_computeFlux_pu_to_VpHz_sf(&gUserParams[motorNum]);
      gTorque_Ls_Id_Iq_pu_to_Nm_sf[motorNum] = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(&gUserParams[motorNum]);
      gTorque_Flux_Iq_pu_to_Nm_sf[motorNum] = USER_computeTorque_Flux_Iq_pu_to_Nm_sf(&gUserParams[motorNum]);

      gMotorVars[motorNum].current_pu_to_A_sf = _IQ(gUserParams[motorNum].iqFullScaleCurrent_A);
      gMotorVars[motorNum].voltage_pu_to_kv_sf = _IQ(gUserParams[motorNum].iqFullScaleVoltage_V/(float_t)1000.0);
      gMotorVars[motorNum].current_A_to_pu_sf = _IQdiv(_IQ(1.0), gMotorVars[motorNum].current_pu_to_A_sf);

    #ifdef DRV8301_SPI
      // turn on the DRV8301 if present
      HAL_enableDrv(halHandleMtr[motorNum]);
      // initialize the DRV8301 interface
      HAL_setupDrvSpi(halHandleMtr[motorNum],&gDrvSpi8301Vars[motorNum]);
    #endif

    #ifdef DRV8305_SPI
      // turn on the DRV8305 if present
      HAL_enableDrv(halHandleMtr[motorNum]);
      // initialize the DRV8305 interface
      HAL_setupDrvSpi(halHandleMtr[motorNum],&gDrvSpi8305Vars[motorNum]);
    #endif

      gCounter_updateGlobals[motorNum] = 0;
  }

  // setup svgen current for Motor #1
  {
    float_t minWidth_microseconds_M1 = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds_M1 * USER_SYSTEM_FREQ_MHz);
    float_t fdutyLimit = 0.5-(2.0*minWidth_microseconds_M1*USER_PWM_FREQ_kHz_M1*0.001);
    _iq dutyLimit = _IQ(fdutyLimit);

    SVGENCURRENT_setMinWidth(svgencurrentHandle[HAL_MTR1], minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle[HAL_MTR1], use_all);
    SVGENCURRENT_setMode(svgencurrentHandle[HAL_MTR1],all_phase_measurable);
    SVGENCURRENT_setVlimit(svgencurrentHandle[HAL_MTR1],dutyLimit);
  }

  // setup svgen current for Motor #2
  {
    float_t minWidth_microseconds_M2 = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds_M2 * USER_SYSTEM_FREQ_MHz);
    float_t fdutyLimit = 0.5-(2.0*minWidth_microseconds_M2*USER_PWM_FREQ_kHz_M2*0.001);
    _iq dutyLimit = _IQ(fdutyLimit);

    SVGENCURRENT_setMinWidth(svgencurrentHandle[HAL_MTR2], minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle[HAL_MTR2], use_all);
    SVGENCURRENT_setMode(svgencurrentHandle[HAL_MTR2],all_phase_measurable);
    SVGENCURRENT_setVlimit(svgencurrentHandle[HAL_MTR2],dutyLimit);
  }

  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle[HAL_MTR1],&version);

    gMotorVars[HAL_MTR1].CtrlVersion = version;
    gMotorVars[HAL_MTR2].CtrlVersion = version;
  }

  // set DAC parameters
  HAL_setDacParameters(halHandle, &gDacData);

  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandleMtr[HAL_MTR1]);
  HAL_disablePwm(halHandleMtr[HAL_MTR2]);


  // Below two lines code for Flash Testing, need to be commented
//  gSystemVars.Flag_enableSynControl = true;
//  gSystemVars.Flag_enableRun = true;


  for(;;)
    {

      /*
       *   ADDED CODE TO SEND DATA
       */
//      if(SCI_rxDataReady(halHandle->sciAHandle))
//       {
//          uint16_t success;
//          while(SCI_rxDataReady(halHandle->sciAHandle) == 0);
//          uint16_t dataRx = SCI_getDataNonBlocking(halHandle->sciAHandle, &success);
            SCI_putDataNonBlocking(halHandle->sciAHandle, 2);
//       }

      //
      /*
       * -------------------------
       */

      // Waiting for enable system flag to be set
      // Motor 1 Flag_enableSys is the master control.
  //    while(!(gMotorVars[HAL_MTR1].Flag_enableSys));
      while(!(gSystemVars.Flag_enableSystem));

      // Enable the Library internal PI.  Iq is referenced by the speed PI now
  //    CTRL_setFlag_enableSpeedCtrl(ctrlHandle[HAL_MTR1], true);

      // Enable the Library internal PI.  Iq is referenced by the speed PI now
  //    CTRL_setFlag_enableSpeedCtrl(ctrlHandle[HAL_MTR2], true);

      // loop while the enable system flag is true
      // Motor 1 Flag_enableSys is the master control.
  //    while(gMotorVars[HAL_MTR1].Flag_enableSys)
      while(gSystemVars.Flag_enableSystem)
      {
          // toggle status LED
          if(gLEDcnt[HAL_MTR1]++ > (uint_least32_t)(USER_ISR_FREQ_Hz_M1 / LED_BLINK_FREQ_Hz))
          {
//              HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
              gLEDcnt[HAL_MTR1] = 0;
          }

          // toggle status LED
          if(gLEDcnt[HAL_MTR2]++ > (uint_least32_t)(USER_ISR_FREQ_Hz_M2 / LED_BLINK_FREQ_Hz))
          {
              HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED3);
              gLEDcnt[HAL_MTR2] = 0;
          }

//          if(gSystemVars.Flag_enableSynControl == true)
//          {
              gMotorVars[HAL_MTR1].Flag_Run_Identify = 1;
  //          gMotorVars[HAL_MTR1].SpeedRef_krpm = gSystemVars.SpeedSet_krpm;
              gMotorVars[HAL_MTR1].SpeedRef_krpm = _IQ(motorSpeed);
              gMotorVars[HAL_MTR1].MaxAccel_krpmps = _IQ(0.8);

              gMotorVars[HAL_MTR2].Flag_Run_Identify = gSystemVars.Flag_enableRun;
              gMotorVars[HAL_MTR2].SpeedRef_krpm = gSystemVars.SpeedSet_krpm;
              gMotorVars[HAL_MTR2].MaxAccel_krpmps = gSystemVars.MaxAccelSet_krpmps;
//          }

          for(motorNum=HAL_MTR1;motorNum<=HAL_MTR2;motorNum++)
          {
              CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle[motorNum];

              // increment counters
              gCounter_updateGlobals[motorNum]++;

              if(CTRL_isError(ctrlHandle[motorNum]))
              {
                  // set the enable controller flag to false
                  CTRL_setFlag_enableCtrl(ctrlHandle[motorNum],false);

                  // set the enable system flag to false
                  gMotorVars[motorNum].Flag_enableSys = false;

                  // disable the PWM
                  HAL_disablePwm(halHandleMtr[motorNum]);
              }
              else
              {
                  // update the controller state
                  bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle[motorNum]);

                  // enable or disable the control
                  CTRL_setFlag_enableCtrl(ctrlHandle[motorNum], gMotorVars[motorNum].Flag_Run_Identify);

                  if(flag_ctrlStateChanged)
                  {
                      CTRL_State_e ctrlState = CTRL_getState(ctrlHandle[motorNum]);
                      EST_State_e estState = EST_getState(obj->estHandle);

                      if(ctrlState == CTRL_State_OffLine)
                      {
                          // enable the PWM
                          HAL_enablePwm(halHandleMtr[motorNum]);
                      }
                      else if(ctrlState == CTRL_State_OnLine)
                      {
  //                      if(gMotorVars[motorNum].Flag_enableOffsetcalc == true)
  //                      {
  //                          // update the ADC bias values
  //                          HAL_updateAdcBias(halHandleMtr[motorNum]);
  //                      }
  //                      else
  //                      {
  //                          // set the current bias
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Current,0,_IQ(I_A_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Current,1,_IQ(I_B_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Current,2,_IQ(I_C_offset));
  //
  //                          // set the voltage bias
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,0,_IQ(V_A_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,1,_IQ(V_B_offset));
  //                          HAL_setBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,2,_IQ(V_C_offset));
  //                      }

                          if((estState < EST_State_LockRotor) || (estState > EST_State_MotorIdentified))
                          {
                              // update the ADC bias values
                              HAL_updateAdcBias(halHandleMtr[motorNum]);
                          }

                          // Return the bias value for currents
                          gMotorVars[motorNum].I_bias.value[0] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Current,0);
                          gMotorVars[motorNum].I_bias.value[1] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Current,1);
                          gMotorVars[motorNum].I_bias.value[2] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Current,2);

                          // Return the bias value for voltages
                          gMotorVars[motorNum].V_bias.value[0] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,0);
                          gMotorVars[motorNum].V_bias.value[1] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,1);
                          gMotorVars[motorNum].V_bias.value[2] = HAL_getBias(halHandleMtr[motorNum],HAL_SensorType_Voltage,2);

                          // enable the PWM
                          HAL_enablePwm(halHandleMtr[motorNum]);
                      }
                      else if(ctrlState == CTRL_State_Idle)
                      {
                          // disable the PWM
                          HAL_disablePwm(halHandleMtr[motorNum]);
                          gMotorVars[motorNum].Flag_Run_Identify = false;
                      }       // ctrlState=?

                      if((CTRL_getFlag_enableUserMotorParams(ctrlHandle[motorNum]) == true) &&
                                                            (ctrlState > CTRL_State_Idle) &&
                                                    (gMotorVars[motorNum].CtrlVersion.minor == 6))
                      {
                          // call this function to fix 1p6
                          USER_softwareUpdate1p6(ctrlHandle[motorNum], &gUserParams[motorNum]);
                      }

                  }   // flag_ctrlStateChanged=?
              }   // CTRL_isError=?


              if(EST_isMotorIdentified(obj->estHandle))
              {
                  _iq Id_squared_pu = _IQmpy(CTRL_getId_ref_pu(ctrlHandle[motorNum]),CTRL_getId_ref_pu(ctrlHandle[motorNum]));

                  //Set the maximum current controller output for the Iq and Id current controllers to enable
                  //over-modulation.
                  //An input into the SVM above 1/SQRT(3) = 0.5774 is in the over-modulation region.  An input of 0.5774 is where
                  //the crest of the sinewave touches the 100% duty cycle.  At an input of 2/3, the SVM generator
                  //produces a trapezoidal waveform touching every corner of the hexagon
                  CTRL_setMaxVsMag_pu(ctrlHandle[motorNum],gMotorVars[motorNum].OverModulation);

                  // set the current ramp
                  EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope[motorNum]);

                  gMotorVars[motorNum].Flag_MotorIdentified = true;

                  // set the speed reference
                  CTRL_setSpd_ref_krpm(ctrlHandle[motorNum],gMotorVars[motorNum].SpeedRef_krpm);

                  // set the speed acceleration
  //              CTRL_setMaxAccel_pu(ctrlHandle[motorNum],_IQmpy(MAX_ACCEL_KRPMPS_SF_M1,gMotorVars[motorNum].MaxAccel_krpmps));
                  CTRL_setMaxAccel_pu(ctrlHandle[motorNum],_IQmpy(MAX_ACCEL_KRPMPS_SF_M1,gMotorVars[motorNum].MaxAccel_krpmps));

                  // set the Id reference
  //              CTRL_setId_ref_pu(ctrlHandle[motorNum], _IQmpy(gMotorVars.IdRef_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));
                  CTRL_setId_ref_pu(ctrlHandle[motorNum], _IQmpy(gMotorVars[motorNum].IdRef_A, gMotorVars[motorNum].current_A_to_pu_sf));

                  if(Flag_Latch_softwareUpdate[motorNum])
                  {
                    Flag_Latch_softwareUpdate[motorNum] = false;

                    USER_calcPIgains(ctrlHandle[motorNum], &gUserParams[motorNum]);

                    // initialize the watch window kp and ki current values with pre-calculated values
                    gMotorVars[motorNum].Kp_Idq = CTRL_getKp(ctrlHandle[motorNum],CTRL_Type_PID_Id);
                    gMotorVars[motorNum].Ki_Idq = CTRL_getKi(ctrlHandle[motorNum],CTRL_Type_PID_Id);

                    // initialize the watch window kp and ki current values with pre-calculated values
                    gMotorVars[motorNum].Kp_spd = CTRL_getKp(ctrlHandle[motorNum],CTRL_Type_PID_spd);
                    gMotorVars[motorNum].Ki_spd = CTRL_getKi(ctrlHandle[motorNum],CTRL_Type_PID_spd);
                  }
              }
              else
              {
                  Flag_Latch_softwareUpdate[motorNum] = true;

                  // initialize the watch window kp and ki values with pre-calculated values
  //              gMotorVars[motorNum].Kp_spd = CTRL_getKp(ctrlHandle[motorNum],CTRL_Type_PID_spd);
  //              gMotorVars[motorNum].Ki_spd = CTRL_getKi(ctrlHandle[motorNum],CTRL_Type_PID_spd);

                  // the estimator sets the maximum current slope during identification
                  gMaxCurrentSlope[motorNum] = EST_getMaxCurrentSlope_pu(obj->estHandle);
              }


              // when appropriate, update the global variables
              if(gCounter_updateGlobals[motorNum] >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
              {
                  // reset the counter
                  gCounter_updateGlobals[motorNum] = 0;

                  updateGlobalVariables_motor(ctrlHandle[motorNum], motorNum);
              }

              // recalculate Kp and Ki gains to fix the R/L limitation of 2000.0, and Kp limit to 0.11
              recalcKpKi(ctrlHandle[motorNum], motorNum);

              // update Kp and Ki gains
              updateKpKiGains(ctrlHandle[motorNum], motorNum);

              // enable/disable the forced angle
              EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars[motorNum].Flag_enableForceAngle);

              // enable or disable power warp
              CTRL_setFlag_enablePowerWarp(ctrlHandle[motorNum],gMotorVars[motorNum].Flag_enablePowerWarp);

              #ifdef DRV8301_SPI
              HAL_writeDrvData(halHandleMtr[motorNum],&gDrvSpi8301Vars[motorNum]);

              HAL_readDrvData(halHandleMtr[motorNum],&gDrvSpi8301Vars[motorNum]);
              #endif

              #ifdef DRV8305_SPI
              HAL_writeDrvData(halHandleMtr[motorNum],&gDrvSpi8305Vars[motorNum]);

              HAL_readDrvData(halHandleMtr[motorNum],&gDrvSpi8305Vars[motorNum]);
              #endif
          }

        } // end of while(gFlag_enableSys) loop

        // disable the PWM
        HAL_disablePwm(halHandleMtr[HAL_MTR1]);
        HAL_disablePwm(halHandleMtr[HAL_MTR2]);

        gMotorVars[HAL_MTR1].Flag_Run_Identify = false;
        gMotorVars[HAL_MTR2].Flag_Run_Identify = false;

        // set the default controller parameters (Reset the control to re-identify the motor)
        CTRL_setParams(ctrlHandle[HAL_MTR1],&gUserParams[HAL_MTR1]);
        CTRL_setParams(ctrlHandle[HAL_MTR2],&gUserParams[HAL_MTR2]);
     } // end of for(;;) loop

} // end of main() function


#ifdef _SINGLE_ISR_EN_
// motor_ISR
interrupt void motor_ISR(void)
{
  // read the timer 1 value and update the CPU usage module
  uint32_t timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_updateCnts(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  #ifdef _ENABLE_OVM_
  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M1 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR1]);
  #endif

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);

  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1]);

  #ifdef _ENABLE_OVM_
  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR1], (MATH_vec3 *)(gAdcData[HAL_MTR1].I.value));

  gIavg[HAL_MTR1].value[0] += (gAdcData[HAL_MTR1].I.value[0] - gIavg[HAL_MTR1].value[0])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[1] += (gAdcData[HAL_MTR1].I.value[1] - gIavg[HAL_MTR1].value[1])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[2] += (gAdcData[HAL_MTR1].I.value[2] - gIavg[HAL_MTR1].value[2])>>gIavg_shift[HAL_MTR1];

  if(measurableShuntThisCycle_M1 > two_phase_measurable)
  {
      gAdcData[HAL_MTR1].I.value[0] = gIavg[HAL_MTR1].value[0];
      gAdcData[HAL_MTR1].I.value[1] = gIavg[HAL_MTR1].value[1];
      gAdcData[HAL_MTR1].I.value[2] = gIavg[HAL_MTR1].value[2];
  }
  #endif

  // run the flying start
  //FS_run(ctrlHandle[HAL_MTR1], fsHandle[HAL_MTR1]);

  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR1],halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1],&gPwmData[HAL_MTR1]);

  #ifdef _ENABLE_OVM_
  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR1],&(gPwmData[HAL_MTR1].Tabc),&gPwmData_prev[HAL_MTR1]);
  #endif

  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR1],&gPwmData[HAL_MTR1]);

  #ifdef _ENABLE_OVM_
  {
      SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M1 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR1]);
      SVGENCURRENT_VmidShunt_e midVolShunt_M1 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR1]);

      // Set trigger point in the middle of the low side pulse
      HAL_setTrigger(halHandleMtr[HAL_MTR1],ignoreShuntNextCycle_M1,midVolShunt_M1);
  }
  #endif

  //operation for second motor
  #ifdef _ENABLE_OVM_
  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M2 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR2]);
  #endif

  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2]);

  #ifdef _ENABLE_OVM_
  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR2], (MATH_vec3 *)(gAdcData[HAL_MTR2].I.value));

  gIavg[HAL_MTR2].value[0] += (gAdcData[HAL_MTR2].I.value[0] - gIavg[HAL_MTR2].value[0])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[1] += (gAdcData[HAL_MTR2].I.value[1] - gIavg[HAL_MTR2].value[1])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[2] += (gAdcData[HAL_MTR2].I.value[2] - gIavg[HAL_MTR2].value[2])>>gIavg_shift[HAL_MTR2];

  if(measurableShuntThisCycle_M2 > two_phase_measurable)
  {
      gAdcData[HAL_MTR2].I.value[0] = gIavg[HAL_MTR2].value[0];
      gAdcData[HAL_MTR2].I.value[1] = gIavg[HAL_MTR2].value[1];
      gAdcData[HAL_MTR2].I.value[2] = gIavg[HAL_MTR2].value[2];
  }

  #endif

  // run the flying start
  //FS_run(ctrlHandle[HAL_MTR2], fsHandle[HAL_MTR2]);

  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR2],halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2],&gPwmData[HAL_MTR2]);

  #ifdef _ENABLE_OVM_
  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR2],&(gPwmData[HAL_MTR2].Tabc),&gPwmData_prev[HAL_MTR2]);
  #endif

  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR2],&gPwmData[HAL_MTR2]);

  #ifdef _ENABLE_OVM_
  {
    SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M2 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR2]);
    SVGENCURRENT_VmidShunt_e midVolShunt_M2 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR2]);

    // Set trigger point in the middle of the low side pulse
    HAL_setTrigger(halHandleMtr[HAL_MTR2],ignoreShuntNextCycle_M2,midVolShunt_M2);
  }
  #endif

  // setup the controller
  CTRL_setup(ctrlHandle[HAL_MTR1]);
  CTRL_setup(ctrlHandle[HAL_MTR2]);

  // read the timer 1 value and update the CPU usage module
  timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_run(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  return;
} // end of motor1_ISR() function
#else
// motor1_ISR
interrupt void motor1_ISR(void)
{
  // read the timer 1 value and update the CPU usage module
  uint32_t timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_updateCnts(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M1 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR1]);

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);


  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1]);


  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR1], (MATH_vec3 *)(gAdcData[HAL_MTR1].I.value));


  gIavg[HAL_MTR1].value[0] += (gAdcData[HAL_MTR1].I.value[0] - gIavg[HAL_MTR1].value[0])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[1] += (gAdcData[HAL_MTR1].I.value[1] - gIavg[HAL_MTR1].value[1])>>gIavg_shift[HAL_MTR1];
  gIavg[HAL_MTR1].value[2] += (gAdcData[HAL_MTR1].I.value[2] - gIavg[HAL_MTR1].value[2])>>gIavg_shift[HAL_MTR1];

  if(measurableShuntThisCycle_M1 > two_phase_measurable)
  {
      gAdcData[HAL_MTR1].I.value[0] = gIavg[HAL_MTR1].value[0];
      gAdcData[HAL_MTR1].I.value[1] = gIavg[HAL_MTR1].value[1];
      gAdcData[HAL_MTR1].I.value[2] = gIavg[HAL_MTR1].value[2];
  }

  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR1],halHandleMtr[HAL_MTR1],&gAdcData[HAL_MTR1],&gPwmData[HAL_MTR1]);


  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR1],&(gPwmData[HAL_MTR1].Tabc),&gPwmData_prev[HAL_MTR1]);


  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR1],&gPwmData[HAL_MTR1]);


  {
    SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M1 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR1]);
    SVGENCURRENT_VmidShunt_e midVolShunt_M1 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR1]);

    // Set trigger point in the middle of the low side pulse
    HAL_setTrigger(halHandleMtr[HAL_MTR1],ignoreShuntNextCycle_M1,midVolShunt_M1);
  }


  // setup the controller
  CTRL_setup(ctrlHandle[HAL_MTR1]);


  // get the estimator angle and frequency values
  gMotorVars[HAL_MTR1].angle_est_pu = EST_getAngle_pu(ctrlHandle[HAL_MTR1]->estHandle);
  gMotorVars[HAL_MTR1].speed_est_pu = EST_getFm_pu(ctrlHandle[HAL_MTR1]->estHandle);

  gDacData.value[0] = gMotorVars[HAL_MTR1].angle_est_pu;
  gDacData.value[1] = gMotorVars[HAL_MTR1].speed_est_pu;
  gDacData.value[2] = gMotorVars[HAL_MTR2].angle_est_pu;
  gDacData.value[3] = gMotorVars[HAL_MTR2].speed_est_pu;

  HAL_writeDacData(halHandle,&gDacData);


  // read the timer 1 value and update the CPU usage module
  timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_run(cpu_timeHandle[HAL_MTR1],timer1Cnt);

  return;
} // end of motor1_ISR() function


//motor2_ISR
interrupt void motor2_ISR(void)
{
  // read the timer 1 value and update the CPU usage module
  uint32_t timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_updateCnts(cpu_timeHandle[HAL_MTR2],timer1Cnt);
  SVGENCURRENT_MeasureShunt_e measurableShuntThisCycle_M2 = SVGENCURRENT_getMode(svgencurrentHandle[HAL_MTR2]);

  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_2);

  // convert the ADC data
  HAL_readAdcData(halHandle,halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2]);

  // run the current reconstruction algorithm
  SVGENCURRENT_RunRegenCurrent(svgencurrentHandle[HAL_MTR2], (MATH_vec3 *)(gAdcData[HAL_MTR2].I.value));


  gIavg[HAL_MTR2].value[0] += (gAdcData[HAL_MTR2].I.value[0] - gIavg[HAL_MTR2].value[0])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[1] += (gAdcData[HAL_MTR2].I.value[1] - gIavg[HAL_MTR2].value[1])>>gIavg_shift[HAL_MTR2];
  gIavg[HAL_MTR2].value[2] += (gAdcData[HAL_MTR2].I.value[2] - gIavg[HAL_MTR2].value[2])>>gIavg_shift[HAL_MTR2];

  if(measurableShuntThisCycle_M2 > two_phase_measurable)
  {
      gAdcData[HAL_MTR2].I.value[0] = gIavg[HAL_MTR2].value[0];
      gAdcData[HAL_MTR2].I.value[1] = gIavg[HAL_MTR2].value[1];
      gAdcData[HAL_MTR2].I.value[2] = gIavg[HAL_MTR2].value[2];
  }


  // run the controller
  CTRL_run(ctrlHandle[HAL_MTR2],halHandleMtr[HAL_MTR2],&gAdcData[HAL_MTR2],&gPwmData[HAL_MTR2]);


  // run the PWM compensation and current ignore algorithm
  SVGENCURRENT_compPwmData(svgencurrentHandle[HAL_MTR2],&(gPwmData[HAL_MTR2].Tabc),&gPwmData_prev[HAL_MTR2]);


  // write the PWM compare values
  HAL_writePwmData(halHandleMtr[HAL_MTR2],&gPwmData[HAL_MTR2]);


  {
    SVGENCURRENT_IgnoreShunt_e ignoreShuntNextCycle_M2 = SVGENCURRENT_getIgnoreShunt(svgencurrentHandle[HAL_MTR2]);
    SVGENCURRENT_VmidShunt_e midVolShunt_M2 = SVGENCURRENT_getVmid(svgencurrentHandle[HAL_MTR2]);

    // Set trigger point in the middle of the low side pulse
    HAL_setTrigger(halHandleMtr[HAL_MTR2],ignoreShuntNextCycle_M2,midVolShunt_M2);
  }


  // setup the controller
  CTRL_setup(ctrlHandle[HAL_MTR2]);


  // get the estimator angle and frequency values
  gMotorVars[HAL_MTR2].angle_est_pu = EST_getAngle_pu(ctrlHandle[HAL_MTR2]->estHandle);
  gMotorVars[HAL_MTR2].speed_est_pu = EST_getFm_pu(ctrlHandle[HAL_MTR2]->estHandle);

  // read the timer 1 value and update the CPU usage module
  timer1Cnt = HAL_readTimerCnt(halHandle,2);
  CPU_TIME_run(cpu_timeHandle[HAL_MTR2],timer1Cnt);

  return;
} // end of mainISR() function
#endif

void updateGlobalVariables_motor(CTRL_Handle handle, const uint_least8_t mtrNum)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;

  // get the speed estimate
  gMotorVars[mtrNum].Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

  // get the real time speed reference coming out of the speed trajectory generator
  gMotorVars[mtrNum].SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

  // get the torque estimate
//  gMotorVars[mtrNum].Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf[mtrNum], gTorque_Ls_Id_Iq_pu_to_Nm_sf[mtrNum]);

  // get the magnetizing current
  gMotorVars[mtrNum].MagnCurr_A = EST_getIdRated(obj->estHandle);

  // get the rotor resistance
  gMotorVars[mtrNum].Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

  // get the stator resistance
  gMotorVars[mtrNum].Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

  // get the stator inductance in the direct coordinate direction
  gMotorVars[mtrNum].Lsd_H = EST_getLs_d_H(obj->estHandle);

  // get the stator inductance in the quadrature coordinate direction
  gMotorVars[mtrNum].Lsq_H = EST_getLs_q_H(obj->estHandle);

  // get the flux in V/Hz in floating point
  gMotorVars[mtrNum].Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

  // get the flux in Wb in fixed point
  gMotorVars[mtrNum].Flux_Wb = _IQmpy(EST_getFlux_pu(obj->estHandle),gFlux_pu_to_Wb_sf[mtrNum]);

  // get the controller state
  gMotorVars[mtrNum].CtrlState = CTRL_getState(handle);

  // get the estimator state
  gMotorVars[mtrNum].EstState = EST_getState(obj->estHandle);

  // read Vd and Vq vectors per units
  gMotorVars[mtrNum].Vd = CTRL_getVd_out_pu(handle);
  gMotorVars[mtrNum].Vq = CTRL_getVq_out_pu(handle);

  // calculate vector Vs in per units
  gMotorVars[mtrNum].Vs = _IQsqrt(_IQmpy(gMotorVars[mtrNum].Vd, gMotorVars[mtrNum].Vd) + _IQmpy(gMotorVars[mtrNum].Vq, gMotorVars[mtrNum].Vq));

  // read Id and Iq vectors in amps
//  gMotorVars[mtrNum].Id_A = _IQmpy(CTRL_getId_in_pu(handle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
//  gMotorVars[mtrNum].Iq_A = _IQmpy(CTRL_getIq_in_pu(handle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
  gMotorVars[mtrNum].Id_A = _IQmpy(CTRL_getId_in_pu(handle), gMotorVars[mtrNum].current_pu_to_A_sf);
  gMotorVars[mtrNum].Iq_A = _IQmpy(CTRL_getIq_in_pu(handle), gMotorVars[mtrNum].current_pu_to_A_sf);

  // calculate vector Is in amps
  gMotorVars[mtrNum].Is_A = _IQsqrt(_IQmpy(gMotorVars[mtrNum].Id_A, gMotorVars[mtrNum].Id_A) + _IQmpy(gMotorVars[mtrNum].Iq_A, gMotorVars[mtrNum].Iq_A));

  // Get the DC buss voltage
//  gMotorVars[mtrNum].VdcBus_kV = _IQmpy(gAdcData[mtrNum].dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
  gMotorVars[mtrNum].VdcBus_kV = _IQmpy(gAdcData[mtrNum].dcBus, gMotorVars[mtrNum].voltage_pu_to_kv_sf);

  // enable/disable the use of motor parameters being loaded from user.h
  CTRL_setFlag_enableUserMotorParams(ctrlHandle[mtrNum],gMotorVars[mtrNum].Flag_enableUserParams);

  // Enable the Library internal PI.  Iq is referenced by the speed PI now
  CTRL_setFlag_enableSpeedCtrl(ctrlHandle[mtrNum], gMotorVars[mtrNum].Flag_enableSpeedCtrl);

  // enable/disable automatic calculation of bias values
  CTRL_setFlag_enableOffset(ctrlHandle[mtrNum],gMotorVars[mtrNum].Flag_enableOffsetcalc);

  // enable/disable dc bus voltage compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle[mtrNum], gMotorVars[mtrNum].Flag_enableDcBusComp);

  // enable/disable Rs recalibration during motor startup
  EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars[mtrNum].Flag_enableRsRecalc);

  return;
} // end of updateGlobalVariables_motor() function


void updateKpKiGains(CTRL_Handle handle, const uint_least8_t mtrNum)
{
  if((gMotorVars[mtrNum].CtrlState == CTRL_State_OnLine) && (gMotorVars[mtrNum].Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate[mtrNum] == false))
    {
      // set the kp and ki speed values from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars[mtrNum].Kp_spd);
      CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars[mtrNum].Ki_spd);

      // set the kp and ki current values for Id and Iq from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars[mtrNum].Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars[mtrNum].Ki_Idq);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars[mtrNum].Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars[mtrNum].Ki_Idq);
    }

  return;
} // end of updateKpKiGains() function

void recalcKpKi(CTRL_Handle handle, const uint_least8_t mtrNum)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  EST_State_e EstState = EST_getState(obj->estHandle);

  if((EST_isMotorIdentified(obj->estHandle) == false) && (EstState == EST_State_Rs))
    {
      float_t Lhf = CTRL_getLhf(handle);
      float_t Rhf = CTRL_getRhf(handle);
      float_t RhfoverLhf = Rhf/Lhf;
//      _iq Kp = _IQ(0.25*Lhf*USER_IQ_FULL_SCALE_CURRENT_A/(USER_CTRL_PERIOD_sec*USER_IQ_FULL_SCALE_VOLTAGE_V));
      _iq Kp = _IQ(0.25*Lhf*gUserParams[mtrNum].iqFullScaleCurrent_A/(gUserParams[mtrNum].ctrlPeriod_sec*gUserParams[mtrNum].iqFullScaleVoltage_V));

//      _iq Ki = _IQ(RhfoverLhf*USER_CTRL_PERIOD_sec);
      _iq Ki = _IQ(RhfoverLhf*gUserParams[mtrNum].ctrlPeriod_sec);

      // set Rhf/Lhf
      CTRL_setRoverL(handle,RhfoverLhf);

      // set the controller proportional gains
      CTRL_setKp(handle,CTRL_Type_PID_Id,Kp);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,Kp);

      // set the Id controller gains
      CTRL_setKi(handle,CTRL_Type_PID_Id,Ki);
      PID_setKi(obj->pidHandle_Id,Ki);

      // set the Iq controller gains
      CTRL_setKi(handle,CTRL_Type_PID_Iq,Ki);
      PID_setKi(obj->pidHandle_Iq,Ki);
    }

  return;
} // end of recalcKpKi() function

//@} //defgroup
// end of file

 HAL_2MOTOR.c 在697、867、1453-1454、2126-2144上添加了代码

/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/
//! \file   solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2806xF/src/hal_2motors.c
//! \brief Contains the various functions related to the HAL object (everything outside the CTRL system) 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.


// **************************************************************************
// the includes

// drivers

// modules

// platforms
#include "hal_2motors.h"
#include "hal_obj_2motors.h"

#include "user_2motors.h"


#ifdef FLASH
#pragma CODE_SECTION(HAL_setupFlash,"ramfuncs");
#endif

// **************************************************************************
// the defines

#define US_TO_CNT(A) ((((long double) A * (long double)USER_SYSTEM_FREQ_MHz) - 9.0L) / 5.0L)

// **************************************************************************
// the globals

//HAL_Obj hal;


// **************************************************************************
// the functions

void HAL_cal(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // enable the ADC clock
  CLK_enableAdcClock(obj->clkHandle);


  // Run the Device_cal() function
  // This function copies the ADC and oscillator calibration values from TI reserved
  // OTP into the appropriate trim registers
  // This boot ROM automatically calls this function to calibrate the interal 
  // oscillators and ADC with device specific calibration data.
  // If the boot ROM is bypassed by Code Composer Studio during the development process,
  // then the calibration must be initialized by the application
  ENABLE_PROTECTED_REGISTER_WRITE_MODE;
  (*Device_cal)();
  DISABLE_PROTECTED_REGISTER_WRITE_MODE;

  // run offsets calibration in user's memory
  HAL_AdcOffsetSelfCal(handle);

  // run oscillator compensation
  HAL_OscTempComp(handle);

  // disable the ADC clock
  CLK_disableAdcClock(obj->clkHandle);

  return;
} // end of HAL_cal() function


void HAL_OscTempComp(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t Temperature;

  // disable the ADCs
  ADC_disable(obj->adcHandle);

  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);

  // set the ADC voltage reference source to internal
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);

  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);

  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);

  // power up the ADCs
  ADC_powerUp(obj->adcHandle);

  // enable the ADCs
  ADC_enable(obj->adcHandle);

  // enable non-overlap mode
  ADC_enableNoOverlapMode(obj->adcHandle);

  // connect channel A5 internally to the temperature sensor
  ADC_setTempSensorSrc(obj->adcHandle, ADC_TempSensorSrc_Int);

  // set SOC0 channel select to ADCINA5
  ADC_setSocChanNumber(obj->adcHandle, ADC_SocNumber_0, ADC_SocChanNumber_A5);

  // set SOC0 acquisition period to 26 ADCCLK
  ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_0, ADC_SocSampleDelay_64_cycles);

  // connect ADCINT1 to EOC0
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC0);

  // clear ADCINT1 flag
  ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

  // enable ADCINT1
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);

  // force start of conversion on SOC0
  ADC_setSocFrc(obj->adcHandle, ADC_SocFrc_0);

  // wait for end of conversion
  while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}

  // clear ADCINT1 flag
  ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

  Temperature = ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);

  HAL_osc1Comp(handle, Temperature);

  HAL_osc2Comp(handle, Temperature);

  return;
} // end of HAL_OscTempComp() function


void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample)
{
	int16_t compOscFineTrim;
	HAL_Obj *obj = (HAL_Obj *)handle;

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

    compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc1FineTrimSlope()
                      + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc1FineTrimOffset() - OSC_POSTRIM;

    if(compOscFineTrim > 31)
      {
        compOscFineTrim = 31;
      }
	else if(compOscFineTrim < -31)
      {
        compOscFineTrim = -31;
      }

    OSC_setTrim(obj->oscHandle, OSC_Number_1, HAL_getOscTrimValue(getOsc1CoarseTrim(), compOscFineTrim));

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc1Comp() function


void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample)
{
	int16_t compOscFineTrim;
	HAL_Obj *obj = (HAL_Obj *)handle;

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

    compOscFineTrim = ((sensorSample - getRefTempOffset())*(int32_t)getOsc2FineTrimSlope()
                      + OSC_POSTRIM_OFF + FP_ROUND )/FP_SCALE + getOsc2FineTrimOffset() - OSC_POSTRIM;

    if(compOscFineTrim > 31)
      {
        compOscFineTrim = 31;
      }
	else if(compOscFineTrim < -31)
      {
        compOscFineTrim = -31;
      }

    OSC_setTrim(obj->oscHandle, OSC_Number_2, HAL_getOscTrimValue(getOsc2CoarseTrim(), compOscFineTrim));

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc2Comp() function


uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine)
{
  uint16_t regValue = 0;

  if(fine < 0)
    {
      regValue = ((-fine) | 0x20) << 9;
    }
  else
    {
      regValue = fine << 9;
    }

  if(coarse < 0)
    {
      regValue |= ((-coarse) | 0x80);
    }
  else
    {
      regValue |= coarse;
    }

  return regValue;
} // end of HAL_getOscTrimValue() function


void HAL_AdcOffsetSelfCal(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t AdcConvMean;

  // disable the ADCs
  ADC_disable(obj->adcHandle);

  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);

  // set the ADC voltage reference source to internal
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);

  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);

  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);

  // power up the ADCs
  ADC_powerUp(obj->adcHandle);

  // enable the ADCs
  ADC_enable(obj->adcHandle);

  //Select VREFLO internal connection on B5
  ADC_enableVoltRefLoConv(obj->adcHandle);

  //Select channel B5 for all SOC
  HAL_AdcCalChanSelect(handle, ADC_SocChanNumber_B5);

  //Apply artificial offset (+80) to account for a negative offset that may reside in the ADC core
  ADC_setOffTrim(obj->adcHandle, 80);

  //Capture ADC conversion on VREFLO
  AdcConvMean = HAL_AdcCalConversion(handle);

  //Set offtrim register with new value (i.e remove artical offset (+80) and create a two's compliment of the offset error)
  ADC_setOffTrim(obj->adcHandle, 80 - AdcConvMean);

  //Select external ADCIN5 input pin on B5
  ADC_disableVoltRefLoConv(obj->adcHandle);

  return;
} // end of HAL_AdcOffsetSelfCal() function


void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,chanNumber);
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,chanNumber);

  return;
} // end of HAL_AdcCalChanSelect() function


uint16_t HAL_AdcCalConversion(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t index, SampleSize, Mean;
  uint32_t Sum;
  ADC_SocSampleDelay_e ACQPS_Value;

  index       = 0;     //initialize index to 0
  SampleSize  = 256;   //set sample size to 256 (**NOTE: Sample size must be multiples of 2^x where is an integer >= 4)
  Sum         = 0;     //set sum to 0
  Mean        = 999;   //initialize mean to known value

  //Set the ADC sample window to the desired value (Sample window = ACQPS + 1)
  ACQPS_Value = ADC_SocSampleDelay_7_cycles;

  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ACQPS_Value);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ACQPS_Value);

  // Enabled ADCINT1 and ADCINT2
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_1);
  ADC_enableInt(obj->adcHandle, ADC_IntNumber_2);

  // Disable continuous sampling for ADCINT1 and ADCINT2
  ADC_setIntMode(obj->adcHandle, ADC_IntNumber_1, ADC_IntMode_EOC);
  ADC_setIntMode(obj->adcHandle, ADC_IntNumber_2, ADC_IntMode_EOC);

  //ADCINTs trigger at end of conversion
  ADC_setIntPulseGenMode(obj->adcHandle, ADC_IntPulseGenMode_Prior);

  // Setup ADCINT1 and ADCINT2 trigger source
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_1, ADC_IntSrc_EOC6);
  ADC_setIntSrc(obj->adcHandle, ADC_IntNumber_2, ADC_IntSrc_EOC14);

  // Setup each SOC's ADCINT trigger source
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_Int2TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_Int1TriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_Int1TriggersSOC);

  // Delay before converting ADC channels
  usDelay(US_TO_CNT(ADC_DELAY_usec));

  ADC_setSocFrcWord(obj->adcHandle, 0x00FF);

  while( index < SampleSize )
    {
      //Wait for ADCINT1 to trigger, then add ADCRESULT0-7 registers to sum
      while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_1) == 0){}

      //Must clear ADCINT1 flag since INT1CONT = 0
      ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_1);

      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_0);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_1);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_2);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_3);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_4);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_5);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_6);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_7);

      //Wait for ADCINT2 to trigger, then add ADCRESULT8-15 registers to sum
      while (ADC_getIntFlag(obj->adcHandle, ADC_IntNumber_2) == 0){}

      //Must clear ADCINT2 flag since INT2CONT = 0
      ADC_clearIntFlag(obj->adcHandle, ADC_IntNumber_2);

      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_8);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_9);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_10);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_11);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_12);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_13);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_14);
      Sum += ADC_readResult(obj->adcHandle, ADC_ResultNumber_15);

      index+=16;

  } // end data collection

  //Disable ADCINT1 and ADCINT2 to STOP the ping-pong sampling
  ADC_disableInt(obj->adcHandle, ADC_IntNumber_1);
  ADC_disableInt(obj->adcHandle, ADC_IntNumber_2);

  //Calculate average ADC sample value
  Mean = Sum / SampleSize;

  // Clear start of conversion trigger
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_0, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_1, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_2, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_3, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_4, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_5, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_6, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_7, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_10, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_11, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_12, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_13, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_14, ADC_NoIntTriggersSOC);
  ADC_setupSocTrigSrc(obj->adcHandle, ADC_SocNumber_15, ADC_NoIntTriggersSOC);

  //return the average
  return(Mean);
} // end of HAL_AdcCalConversion() function


void HAL_disableWdog(HAL_Handle halHandle)
{
  HAL_Obj *hal = (HAL_Obj *)halHandle;


  WDOG_disable(hal->wdogHandle);


  return;
} // end of HAL_disableWdog() function


void HAL_disableGlobalInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CPU_disableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_disableGlobalInts() function


void HAL_enableAdcInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  #ifdef _SINGLE_ISR_EN_
  // enable the PIE interrupts associated with the ADC interrupts
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);

  // enable the ADC interrupts
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
  #else
  // enable the PIE interrupts associated with the ADC interrupts
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_1);
  PIE_enableAdcInt(obj->pieHandle,ADC_IntNumber_2);


  // enable the ADC interrupts
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_enableInt(obj->adcHandle,ADC_IntNumber_2);
  #endif

  // enable the cpu interrupt for ADC interrupts
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_10);

  return;
} // end of HAL_enableAdcInts() function


void HAL_enableDebugInt(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  CPU_enableDebugInt(obj->cpuHandle);

  return;
} // end of HAL_enableDebugInt() function


void HAL_enableDrv(HAL_Handle_mtr handleMtr)
{
  HAL_Obj_mtr *obj = (HAL_Obj_mtr *)handleMtr;

  DRV8301_enable(obj->drv8301Handle);

  return;
}  // end of HAL_enableDrv() function


void HAL_enableGlobalInts(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CPU_enableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_enableGlobalInts() function


void HAL_enablePwmInt(HAL_Handle_mtr handleMtr,HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_MtrSelect_e mtrNum = objMtr->mtrNum;

  if(mtrNum == HAL_MTR1)
  {
    PIE_enablePwmInt(obj->pieHandle,PWM_Number_4);
  }
  else if(mtrNum == HAL_MTR2)
  {
    PIE_enablePwmInt(obj->pieHandle,PWM_Number_1);
  }


  // enable the interrupt
  PWM_enableInt(objMtr->pwmHandle[0]);


  // enable the cpu interrupt for EPWMx_INT
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_3);

  return;
} // end of HAL_enablePwmInt() function


void HAL_enableTimer0Int(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_enableTimer0Int(obj->pieHandle);


  // enable the interrupt
  TIMER_enableInt(obj->timerHandle[0]);


  // enable the cpu interrupt for TINT0
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_1);

  return;
} // end of HAL_enablePwmInt() function


void HAL_setupFaults(HAL_Handle_mtr handleMtr)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  uint_least8_t cnt;


  // Configure Trip Mechanism for the Motor control software
  // -Cycle by cycle trip on CPU halt
  // -One shot fault trip zone
  // These trips need to be repeated for EPWM1 ,2 & 3

  for(cnt=0;cnt<3;cnt++)
    {
      PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ6_NOT);

      if(objMtr->mtrNum == HAL_MTR1)
      {
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ3_NOT);
//
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ2_NOT);

          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ4_NOT);		// 4

      }
      else if(objMtr->mtrNum == HAL_MTR2)
      {
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ3_NOT);
//
//          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ2_NOT);

          PWM_enableTripZoneSrc(objMtr->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ5_NOT);		// 5
      }

      // What do we want the OST/CBC events to do?
      // TZA events can force EPWMxA
      // TZB events can force EPWMxB

      PWM_setTripZoneState_TZA(objMtr->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
      PWM_setTripZoneState_TZB(objMtr->pwmHandle[cnt],PWM_TripZoneState_EPWM_Low);
    }

  return;
} // end of HAL_setupFaults() function


HAL_Handle HAL_init(void *pMemory,const size_t numBytes)
{
  HAL_Handle handle;
  HAL_Obj *obj;


  if(numBytes < sizeof(HAL_Obj))
    return((HAL_Handle)NULL);


  // assign the handle
  handle = (HAL_Handle)pMemory;


  // assign the object
  obj = (HAL_Obj *)handle;


  // initialize the watchdog driver
  obj->wdogHandle = WDOG_init((void *)WDOG_BASE_ADDR,sizeof(WDOG_Obj));


  // disable watchdog
  HAL_disableWdog(handle);


  // initialize the ADC
  obj->adcHandle = ADC_init((void *)ADC_BASE_ADDR,sizeof(ADC_Obj));


  // initialize the clock handle
  obj->clkHandle = CLK_init((void *)CLK_BASE_ADDR,sizeof(CLK_Obj));


  // initialize the CPU handle
  obj->cpuHandle = CPU_init(&cpu,sizeof(cpu));


  // initialize the FLASH handle
  obj->flashHandle = FLASH_init((void *)FLASH_BASE_ADDR,sizeof(FLASH_Obj));


  // initialize the GPIO handle
  obj->gpioHandle = GPIO_init((void *)GPIO_BASE_ADDR,sizeof(GPIO_Obj));


  // initialize the oscillator handle
  obj->oscHandle = OSC_init((void *)OSC_BASE_ADDR,sizeof(OSC_Obj));


  // initialize the PIE handle
  obj->pieHandle = PIE_init((void *)PIE_BASE_ADDR,sizeof(PIE_Obj));


  // initialize the PLL handle
  obj->pllHandle = PLL_init((void *)PLL_BASE_ADDR,sizeof(PLL_Obj));


  // initialize the SPI handles
  obj->spiAHandle = SPI_init((void *)SPIA_BASE_ADDR,sizeof(SPI_Obj));
  obj->spiBHandle = SPI_init((void *)SPIB_BASE_ADDR,sizeof(SPI_Obj));


  /*
   *   ADDED CODE
   */
  obj->sciAHandle = SCI_init((void *)SCIA_BASE_ADDR, sizeof(SCI_Obj));

  /*
   * -------------------
   */

  // initialize PWM DAC handles
  obj->pwmDacHandle[0] = PWMDAC_init((void *)PWM_ePWM7_BASE_ADDR,sizeof(PWM_Obj));
  obj->pwmDacHandle[1] = PWMDAC_init((void *)PWM_ePWM8_BASE_ADDR,sizeof(PWM_Obj));


  // initialize power handle
  obj->pwrHandle = PWR_init((void *)PWR_BASE_ADDR,sizeof(PWR_Obj));


  // initialize timer handles
  obj->timerHandle[0] = TIMER_init((void *)TIMER0_BASE_ADDR,sizeof(TIMER_Obj));
  obj->timerHandle[1] = TIMER_init((void *)TIMER1_BASE_ADDR,sizeof(TIMER_Obj));
  obj->timerHandle[2] = TIMER_init((void *)TIMER2_BASE_ADDR,sizeof(TIMER_Obj));


  return(handle);
} // end of HAL_init() function


HAL_Handle_mtr HAL_init_mtr(void *pMemory,const size_t numBytes,const HAL_MtrSelect_e mtrNum)
{
  HAL_Handle_mtr handle;
  HAL_Obj_mtr *obj;

  uint_least8_t cnt;
  uint_least8_t numCurrentSensors;
  uint_least8_t numVoltageSensors;

  if(numBytes < sizeof(HAL_Obj_mtr))
    return((HAL_Handle_mtr)NULL);

  // assign the handle
  handle = (HAL_Handle_mtr)pMemory;

  // point to the object
  obj = (HAL_Obj_mtr *)handle;

  HAL_setMotorNumber(handle,mtrNum);

  // initialize PWM handles
  if(mtrNum == HAL_MTR1)
  {
    obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM1_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM2_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM3_BASE_ADDR,sizeof(PWM_Obj));

	numCurrentSensors = USER_NUM_CURRENT_SENSORS_M1;
	numVoltageSensors = USER_NUM_VOLTAGE_SENSORS_M1;
  }
  else if(mtrNum == HAL_MTR2)
  {
    obj->pwmHandle[0] = PWM_init((void *)PWM_ePWM4_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[1] = PWM_init((void *)PWM_ePWM5_BASE_ADDR,sizeof(PWM_Obj));
    obj->pwmHandle[2] = PWM_init((void *)PWM_ePWM6_BASE_ADDR,sizeof(PWM_Obj));

	numCurrentSensors = USER_NUM_CURRENT_SENSORS_M2;
	numVoltageSensors = USER_NUM_VOLTAGE_SENSORS_M2;
  }
  else
  {
    obj->pwmHandle[0] = NULL;
    obj->pwmHandle[1] = NULL;
    obj->pwmHandle[2] = NULL;

	numCurrentSensors = 3;
	numVoltageSensors = 3;
  }

  // initialize the current offset estimator handles
  for(cnt=0;cnt<numCurrentSensors;cnt++)
    {
      obj->offsetHandle_I[cnt] = OFFSET_init(&obj->offset_I[cnt],sizeof(obj->offset_I[cnt]));
    }


  // initialize the voltage offset estimator handles
  for(cnt=0;cnt<numVoltageSensors;cnt++)
    {
      obj->offsetHandle_V[cnt] = OFFSET_init(&obj->offset_V[cnt],sizeof(obj->offset_V[cnt]));
    }

  // initialize drv8301 interface
  obj->drv8301Handle = DRV8301_init(&obj->drv8301,sizeof(obj->drv8301));

  // initialize QEP driver
#ifdef QEP
  if(mtrNum == HAL_MTR1)
  {
    obj->qepHandle = QEP_init((void*)QEP1_BASE_ADDR,sizeof(QEP_Obj));
  }
  else if(mtrNum == HAL_MTR2)
  {
    obj->qepHandle = QEP_init((void*)QEP2_BASE_ADDR,sizeof(QEP_Obj));
  }
  else
  {
	  obj->qepHandle = NULL;
  }
#endif

  return(handle);
}

// HAL_setParams
void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // disable global interrupts
  CPU_disableGlobalInts(obj->cpuHandle);


  // disable cpu interrupts
  CPU_disableInts(obj->cpuHandle);


  // clear cpu interrupt flags
  CPU_clearIntFlags(obj->cpuHandle);


  // setup the clocks
  HAL_setupClks(handle);


  // Setup the PLL
  HAL_setupPll(handle,PLL_ClkFreq_90_MHz);


  // setup the PIE
  HAL_setupPie(handle);


  // run the device calibration
  HAL_cal(handle);


  // setup the peripheral clocks
  HAL_setupPeripheralClks(handle);


  // setup the GPIOs
  HAL_setupGpios(handle);


  // setup the flash
  HAL_setupFlash(handle);


  // setup the ADCs
  HAL_setupAdcs(handle);


  // setup the spiA for DRV8301_Motor1
  HAL_setupSpiA(handle);


  // setup the spiB for DRV8301_Motor2
  HAL_setupSpiB(handle);


  /*
   *   ADDED CODE
   */
  HAL_setupSciA(handle);
  /*
   * ----------
   */


  // setup the PWM DACs
  HAL_setupPwmDacs(handle);

  // setup the timers
  HAL_setupTimers(handle,
                  (float_t)pUserParams->systemFreq_MHz);


 return;
} // end of HAL_setParams() function

// HAL_setParamsMtr
void HAL_setParamsMtr(HAL_Handle_mtr handleMtr,HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_Obj *obj = (HAL_Obj *)handle;

  HAL_setNumCurrentSensors(handleMtr,pUserParams->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr,pUserParams->numVoltageSensors);

  {
	uint_least8_t cnt;

  _iq beta_lp_pu = _IQ(pUserParams->offsetPole_rps/(float_t)pUserParams->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }
  }

  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr);cnt++)
     {
       HAL_setBias(handleMtr,HAL_SensorType_Current,cnt,bias);
     }
 }

  // set the default voltage bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ(0.0);

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr);cnt++)
     {
       HAL_setBias(handleMtr,HAL_SensorType_Voltage,cnt,bias);
     }
 }

  // setup the PWMs
  HAL_setupPwms(handleMtr,handle,pUserParams);

  // setup the drv8301 interface
  if(objMtr->mtrNum == HAL_MTR1)
  {
    DRV8301_setGpioHandle(objMtr->drv8301Handle,obj->gpioHandle);
    DRV8301_setSpiHandle(objMtr->drv8301Handle,obj->spiAHandle);
    DRV8301_setGpioNumber(objMtr->drv8301Handle,GPIO_Number_50);
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
    DRV8301_setGpioHandle(objMtr->drv8301Handle,obj->gpioHandle);
    DRV8301_setSpiHandle(objMtr->drv8301Handle,obj->spiBHandle);
    DRV8301_setGpioNumber(objMtr->drv8301Handle,GPIO_Number_52);
  }

  //  set the current scale factor
 {
   _iq current_sf = _IQ(pUserParams->current_sf);

  HAL_setCurrentScaleFactor(handleMtr,current_sf);
 }


  //  set the voltage scale factor
 {
   _iq voltage_sf = _IQ(pUserParams->voltage_sf);

  HAL_setVoltageScaleFactor(handleMtr,voltage_sf);
 }


#ifdef QEP
  // setup the QEP
  if(objMtr->mtrNum == HAL_MTR1)
  {
    HAL_setupQEP(handleMtr, USER_MOTOR_ENCODER_LINES);
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
    HAL_setupQEP(handleMtr, USER_MOTOR_ENCODER_LINES_2);
  }
#endif


  return;
}// end of HAL_setParamsMtr() function

// HAL_setParamsDualMtr()
void HAL_setParamsDualMtr(HAL_Handle_mtr handleMtr1, HAL_Handle_mtr handleMtr2, HAL_Handle handle, const USER_Params *pUserParams1, const USER_Params *pUserParams2)
{
  HAL_Obj_mtr *objMtr1 = (HAL_Obj_mtr *)handleMtr1;
  HAL_Obj_mtr *objMtr2 = (HAL_Obj_mtr *)handleMtr2;
  HAL_Obj *objHal = (HAL_Obj *)handle;

  HAL_setNumCurrentSensors(handleMtr1,pUserParams1->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr1,pUserParams1->numVoltageSensors);

  HAL_setNumCurrentSensors(handleMtr2,pUserParams2->numCurrentSensors);
  HAL_setNumVoltageSensors(handleMtr2,pUserParams2->numVoltageSensors);

  {
	uint_least8_t cnt;

  _iq beta_lp_pu = _IQ(pUserParams1->offsetPole_rps/(float_t)pUserParams1->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr1);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr1,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr1,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr1,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr1);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr1,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr1,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr1,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }

  beta_lp_pu = _IQ(pUserParams2->offsetPole_rps/(float_t)pUserParams2->ctrlFreq_Hz);

  for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr2);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr2,HAL_SensorType_Current,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr2,HAL_SensorType_Current,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr2,HAL_SensorType_Current,cnt,_IQ(0.0));
    }


  for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr2);cnt++)
    {
      HAL_setOffsetBeta_lp_pu(handleMtr2,HAL_SensorType_Voltage,cnt,beta_lp_pu);
      HAL_setOffsetInitCond(handleMtr2,HAL_SensorType_Voltage,cnt,_IQ(0.0));
      HAL_setOffsetValue(handleMtr2,HAL_SensorType_Voltage,cnt,_IQ(0.0));
    }
  }

  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams1->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr1);cnt++)
     {
       HAL_setBias(handleMtr1,HAL_SensorType_Current,cnt,bias);
     }

   bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams2->current_sf));

   for(cnt=0;cnt<HAL_getNumCurrentSensors(handleMtr2);cnt++)
     {
       HAL_setBias(handleMtr2,HAL_SensorType_Current,cnt,bias);
     }
 }

  // set the default voltage bias
 {
   uint_least8_t cnt;

   _iq bias = _IQ(0.0);

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr1);cnt++)
     {
       HAL_setBias(handleMtr1,HAL_SensorType_Voltage,cnt,bias);
     }

   for(cnt=0;cnt<HAL_getNumVoltageSensors(handleMtr2);cnt++)
     {
       HAL_setBias(handleMtr2,HAL_SensorType_Voltage,cnt,bias);
     }
 }

  // setup the PWMs
  HAL_setupDualPwms(handleMtr1, handleMtr2, handle, pUserParams1, pUserParams2);

  // setup the drv8301 interface
  DRV8301_setGpioHandle(objMtr1->drv8301Handle,objHal->gpioHandle);
  DRV8301_setSpiHandle(objMtr1->drv8301Handle,objHal->spiAHandle);
  DRV8301_setGpioNumber(objMtr1->drv8301Handle,GPIO_Number_50);

  DRV8301_setGpioHandle(objMtr2->drv8301Handle,objHal->gpioHandle);
  DRV8301_setSpiHandle(objMtr2->drv8301Handle,objHal->spiBHandle);
  DRV8301_setGpioNumber(objMtr2->drv8301Handle,GPIO_Number_52);

  //  set the current scale factor
 {
   _iq current_sf = _IQ(pUserParams1->current_sf);

  HAL_setCurrentScaleFactor(handleMtr1,current_sf);

  current_sf = _IQ(pUserParams2->current_sf);

  HAL_setCurrentScaleFactor(handleMtr2,current_sf);
 }


  //  set the voltage scale factor
 {
   _iq voltage_sf = _IQ(pUserParams1->voltage_sf);

   HAL_setVoltageScaleFactor(handleMtr1,voltage_sf);


   voltage_sf = _IQ(pUserParams2->voltage_sf);

   HAL_setVoltageScaleFactor(handleMtr2,voltage_sf);
 }


#ifdef QEP
  // setup the QEP
  HAL_setupQEP(handleMtr1, USER_MOTOR_ENCODER_LINES);

  HAL_setupQEP(handleMtr2, USER_MOTOR_ENCODER_LINES_2);
#endif


  return;
}// end of HAL_setParamsMtr() function


void HAL_setupAdcs(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // disable the ADCs
  ADC_disable(obj->adcHandle);


  // power up the bandgap circuit
  ADC_enableBandGap(obj->adcHandle);


  // set the ADC voltage reference source to internal 
  ADC_setVoltRefSrc(obj->adcHandle,ADC_VoltageRefSrc_Int);


  // enable the ADC reference buffers
  ADC_enableRefBuffers(obj->adcHandle);


  // Set main clock scaling factor (max45MHz clock for the ADC module)
  ADC_setDivideSelect(obj->adcHandle,ADC_DivideSelect_ClkIn_by_2);


  // power up the ADCs
  ADC_powerUp(obj->adcHandle);


  // enable the ADCs
  ADC_enable(obj->adcHandle);


  // set the ADC interrupt pulse generation to prior
  ADC_setIntPulseGenMode(obj->adcHandle,ADC_IntPulseGenMode_Prior);


  // set the temperature sensor source to external
  ADC_setTempSensorSrc(obj->adcHandle,ADC_TempSensorSrc_Ext);

  #ifdef _SINGLE_ISR_EN_
  // configure the interrupt sources
  ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);
  #else
  // configure the interrupt sources
  ADC_disableInt(obj->adcHandle,ADC_IntNumber_1);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_1,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_1,ADC_IntSrc_EOC7);

  ADC_disableInt(obj->adcHandle,ADC_IntNumber_2);
  ADC_setIntMode(obj->adcHandle,ADC_IntNumber_2,ADC_IntMode_ClearFlag);
  ADC_setIntSrc(obj->adcHandle,ADC_IntNumber_2,ADC_IntSrc_EOC15);
  #endif

  //configure the SOCs for boostxldrv8301_revB on J1 Connection
  // Begin Motor 1 sampling
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  // Duplicate conversion due to ADC Initial Conversion bug (SPRZ342)
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_B0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_A1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_B1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_A2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_B2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_9_cycles);
  // End Motor 1 sampling

  // Begin Motor 2 sampling
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_8,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_9,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_9,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_9,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_10,ADC_SocChanNumber_B3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_10,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_10,ADC_SocSampleDelay_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_11,ADC_SocChanNumber_A4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_11,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_11,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_12,ADC_SocChanNumber_B4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_12,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_12,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_13,ADC_SocChanNumber_A5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_13,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_13,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_14,ADC_SocChanNumber_B5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_14,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_14,ADC_SocSampleDelay_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_15,ADC_SocChanNumber_B7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_15,ADC_SocTrigSrc_EPWM4_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_15,ADC_SocSampleDelay_9_cycles);
  // End Motor 2 sampling

  return;
} // end of HAL_setupAdcs() function


void HAL_setupClks(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // enable internal oscillator 1
  CLK_enableOsc1(obj->clkHandle);

  // set the oscillator source
  CLK_setOscSrc(obj->clkHandle,CLK_OscSrc_Internal);

  // disable the external clock in
  CLK_disableClkIn(obj->clkHandle);

  // disable the crystal oscillator
  CLK_disableCrystalOsc(obj->clkHandle);

  // disable oscillator 2
  CLK_disableOsc2(obj->clkHandle);

  // set the low speed clock prescaler
  CLK_setLowSpdPreScaler(obj->clkHandle,CLK_LowSpdPreScaler_SysClkOut_by_1);

  // set the clock out prescaler
  CLK_setClkOutPreScaler(obj->clkHandle,CLK_ClkOutPreScaler_SysClkOut_by_1);

  return;
} // end of HAL_setupClks() function


void HAL_setupFlash(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  FLASH_enablePipelineMode(obj->flashHandle);

  FLASH_setNumPagedReadWaitStates(obj->flashHandle,FLASH_NumPagedWaitStates_3);

  FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_3);

  FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_5);

  FLASH_setStandbyWaitCount(obj->flashHandle,FLASH_STANDBY_WAIT_COUNT_DEFAULT);

  FLASH_setActiveWaitCount(obj->flashHandle,FLASH_ACTIVE_WAIT_COUNT_DEFAULT);

  return;
} // HAL_setupFlash() function

//void HAL_setupGate(HAL_Handle_mtr handleMtr,SPI_Handle handleSpi,GPIO_Handle handleGpio,const GPIO_Number_e gpio)
//{
////  HAL_Obj *obj = (HAL_Obj *)handle;
//  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
//
//
//  DRV8301_setGpioHandle(objMtr->drv8301Handle,handleGpio);
//  DRV8301_setSpiHandle(objMtr->drv8301Handle,handleSpi);
//  DRV8301_setGpioNumber(objMtr->drv8301Handle,gpio);
//
//  return;
//} // HAL_setupGate() function


void HAL_setupGpios(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // PWM1A->Motor1_UH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_EPWM1A);

  // PWM1B->Motor1_UL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_1_Mode_EPWM1B);

  // PWM2A->Motor1_VH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_2,GPIO_2_Mode_EPWM2A);

  // PWM2B->Motor1_VL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_3,GPIO_3_Mode_EPWM2B);

  // PWM3A->Motor1_WH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_4,GPIO_4_Mode_EPWM3A);

  // PWM3B->Motor1_WL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_5,GPIO_5_Mode_EPWM3B);

  // PWM4A->Motor2_UH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_EPWM4A);

  // PWM4B->Motor2_UL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_EPWM4B);

  // PWM5A->Motor2_VH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_8,GPIO_8_Mode_EPWM5A);

  // PWM5B->Motor2_VL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_9,GPIO_9_Mode_EPWM5B);

  // PWM6A->Motor2_WH
  GPIO_setMode(obj->gpioHandle,GPIO_Number_10,GPIO_10_Mode_EPWM6A);

  // PWM6B->Motor2_WL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_11,GPIO_11_Mode_EPWM6B);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Output);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_13,GPIO_13_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_13);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_13,GPIO_Direction_Output);

  // SPIB CLK->Motor12_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_14,GPIO_14_Mode_SPICLKB);

  // UARTB RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_15,GPIO_15_Mode_SCIRXDB);

  // Set Qualification Period for GPIO16-23, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_16,5);

  // SPIA SIMO->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);

  // SPIA SOMI->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);

  // SPIA CLK->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);

  // SPIA CS->Motor1_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);
  
#ifdef QEP
  // EQEP1A
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_EQEP1A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_20,GPIO_Qual_Sample_3);

  // EQEP1B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_EQEP1B);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_21,GPIO_Qual_Sample_3);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

  // EQEP1I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_EQEP1I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_23,GPIO_Qual_Sample_3);
#else
  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_20);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_20,GPIO_Direction_Output);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_21,GPIO_21_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_22,GPIO_22_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_GeneralPurpose);
#endif

  // SPIB SIMO->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_24,GPIO_24_Mode_SPISIMOB);

  // SPIB SOMI->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_25,GPIO_25_Mode_SPISOMIB);

  // GPIO->Reserve for further use
  GPIO_setMode(obj->gpioHandle,GPIO_Number_26,GPIO_26_Mode_GeneralPurpose);

  // SPIB CS->Motor2_DRV8301
  GPIO_setMode(obj->gpioHandle,GPIO_Number_27,GPIO_27_Mode_SPISTEB_NOT);


  /*
   * ADDED CODE TO SET UP GPIO28 AND GPIO29 PINS FOR SCI
   */
//      GPIO_setPullup(obj->gpioHandle, GPIO_Number_28, GPIO_Pullup_Enable);
//      GPIO_setPullup(obj->gpioHandle, GPIO_Number_29, GPIO_Pullup_Enable);
//
//      GPIO_setQualification(obj->gpioHandle, GPIO_Number_28, GPIO_Qual_ASync);
      GPIO_setMode(obj->gpioHandle, GPIO_Number_28, GPIO_28_Mode_SCIRXDA);
      GPIO_setMode(obj->gpioHandle, GPIO_Number_29, GPIO_29_Mode_SCITXDA);
  /*
   * ---------------------------------
   */

//  // OCTWn
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_TZ2_NOT);
//
//  // FAULTn
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_TZ3_NOT);

  // CAN RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_30,GPIO_30_Mode_CANRXA);

  // CAN TX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_31,GPIO_31_Mode_CANTXA);

  // I2C Data
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_SDAA);

  // I2C Clock
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_SCLA);

  // LED D9
  GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_34);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output);

  // JTAG
  GPIO_setMode(obj->gpioHandle,GPIO_Number_35,GPIO_35_Mode_JTAG_TDI);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_36,GPIO_36_Mode_JTAG_TMS);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_37,GPIO_37_Mode_JTAG_TDO);
  GPIO_setMode(obj->gpioHandle,GPIO_Number_38,GPIO_38_Mode_JTAG_TCK);

  // LED D10
  GPIO_setMode(obj->gpioHandle,GPIO_Number_39,GPIO_39_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_39);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_39,GPIO_Direction_Output);

  // DAC1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_40,GPIO_40_Mode_EPWM7A);

  // DAC2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_41,GPIO_41_Mode_EPWM7B);

  // DAC3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_42,GPIO_42_Mode_EPWM8A);

  // DAC4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_43,GPIO_43_Mode_EPWM8B);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_44,GPIO_44_Mode_GeneralPurpose);

  // Set Qualification Period for GPIO50-55, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_50,5);

  // DRV8301 Enable Gate
  GPIO_setMode(obj->gpioHandle,GPIO_Number_50,GPIO_50_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_50);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_50,GPIO_Direction_Output);

  // DRV8301 DC Calibration
  GPIO_setMode(obj->gpioHandle,GPIO_Number_51,GPIO_51_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_51);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_51,GPIO_Direction_Output);

  // DRV8301 Enable Gate
  GPIO_setMode(obj->gpioHandle,GPIO_Number_52,GPIO_52_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_52);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_52,GPIO_Direction_Output);

  // DRV8301 Device Calibration
  GPIO_setMode(obj->gpioHandle,GPIO_Number_53,GPIO_53_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_53);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_53,GPIO_Direction_Output);
  
  // Set Qualification Period for GPIO56-58, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_56,5);
  
#ifdef QEP
  // EQEP2A
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_EQEP2A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_54,GPIO_Qual_Sample_3);

  // EQEP2B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_EQEP2B);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_55,GPIO_Qual_Sample_3);

  // EQEP2I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_EQEP2I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_56,GPIO_Qual_Sample_3);
#else
  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_GeneralPurpose);

  // GPIO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_GeneralPurpose);
#endif

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_57,GPIO_57_Mode_GeneralPurpose);

  // UARTB TX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_58,GPIO_58_Mode_SCITXDB);

  return;
}  // end of HAL_setupGpios() function


void HAL_setupPie(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_disable(obj->pieHandle);

  PIE_disableAllInts(obj->pieHandle);

  PIE_clearAllInts(obj->pieHandle);

  PIE_clearAllFlags(obj->pieHandle);

  PIE_setDefaultIntVectorTable(obj->pieHandle);

  PIE_enable(obj->pieHandle);

  return;
} // end of HAL_setupPie() function


void HAL_setupPeripheralClks(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  CLK_enableAdcClock(obj->clkHandle);

  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_1);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_2);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_3);

  CLK_disableEcap1Clock(obj->clkHandle);

  CLK_enableEcanaClock(obj->clkHandle);

#ifdef QEP
  CLK_enableEqep1Clock(obj->clkHandle);
  CLK_enableEqep2Clock(obj->clkHandle);
#endif

  CLK_enablePwmClock(obj->clkHandle,PWM_Number_1);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_2);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_3);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_4);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_5);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_6);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_7);
  CLK_enablePwmClock(obj->clkHandle,PWM_Number_8);

  CLK_disableHrPwmClock(obj->clkHandle);

  CLK_enableI2cClock(obj->clkHandle);

  CLK_disableLinAClock(obj->clkHandle);

  CLK_disableClaClock(obj->clkHandle);

  /*
   * ADDED/CHANGED CODE
   */
  CLK_enableSciaClock(obj->clkHandle);
//  CLK_disableSciaClock(obj->clkHandle);
//  CLK_enableScibClock(obj->clkHandle);
    CLK_disableScibClock(obj->clkHandle);

  CLK_enableSpiaClock(obj->clkHandle);
  CLK_enableSpibClock(obj->clkHandle);
  
  CLK_enableTbClockSync(obj->clkHandle);

  return;
} // end of HAL_setupPeripheralClks() function


void HAL_setupPll(HAL_Handle handle,const PLL_ClkFreq_e clkFreq)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // make sure PLL is not running in limp mode
  if(PLL_getClkStatus(obj->pllHandle) != PLL_ClkStatus_Normal)
    {
      // reset the clock detect
      PLL_resetClkDetect(obj->pllHandle);

      // ???????
      asm("        ESTOP0");
    }


  // Divide Select must be ClkIn/4 before the clock rate can be changed
  if(PLL_getDivideSelect(obj->pllHandle) != PLL_DivideSelect_ClkIn_by_4)
    {
      PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_4);
    }


  if(PLL_getClkFreq(obj->pllHandle) != clkFreq)
    {
      // disable the clock detect
      PLL_disableClkDetect(obj->pllHandle);

      // set the clock rate
      PLL_setClkFreq(obj->pllHandle,clkFreq);
    }


  // wait until locked
  while(PLL_getLockStatus(obj->pllHandle) != PLL_LockStatus_Done) {}


  // enable the clock detect
  PLL_enableClkDetect(obj->pllHandle);


  // set divide select to ClkIn/2 to get desired clock rate
  // NOTE: clock must be locked before setting this register
  PLL_setDivideSelect(obj->pllHandle,PLL_DivideSelect_ClkIn_by_2);

  return;
} // end of HAL_setupPll() function

// HAL_setupPwms()
// HAL_setupPwms() for motor drive
void HAL_setupPwms(HAL_Handle_mtr handleMtr,HAL_Handle handle,const USER_Params *pUserParams)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;
  HAL_Obj *obj = (HAL_Obj *)handle;
  float_t systemFreq_MHz = pUserParams->systemFreq_MHz;
  uint_least16_t numPwmTicksPerIsrTick = pUserParams->numPwmTicksPerIsrTick;
  uint16_t halfPeriod_cycles = (uint16_t)(systemFreq_MHz*(float_t)pUserParams->pwmPeriod_usec) >> 1;
  uint_least8_t cnt;

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr->pwmHandle[cnt]);
    }

  #ifdef _SINGLE_ISR_EN_
  if(objMtr->mtrNum == HAL_MTR1)
  {
	  PWM_disableCounterLoad(objMtr->pwmHandle[0]); 		     // Disable phase syncronization
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
	  PWM_enableCounterLoad(objMtr->pwmHandle[0]); 		     	// enable phase syncronization
      PWM_setPhase(objMtr->pwmHandle[0],(halfPeriod_cycles>>2));
  }
  #else
  if(objMtr->mtrNum == HAL_MTR1)
  {
	  PWM_disableCounterLoad(objMtr->pwmHandle[0]); 		     	// disable phase syncronization
  }
  else if(objMtr->mtrNum == HAL_MTR2)
  {
	  PWM_enableCounterLoad(objMtr->pwmHandle[0]); 		    	 	// enable phase syncronization
      PWM_setPhase(objMtr->pwmHandle[0],(halfPeriod_cycles>>1));	// half PWM period
  }
  #endif

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick == 3)
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick == 2)
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else
    {
      PWM_setIntPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }


  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr->pwmHandle[PWM_Number_1]);

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_1],halfPeriod_cycles);
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_2],halfPeriod_cycles);
  PWM_setPeriod(objMtr->pwmHandle[PWM_Number_3],halfPeriod_cycles);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function


// HAL_setupPwms()
void HAL_setupDualPwms(HAL_Handle_mtr handleMtr1, HAL_Handle_mtr handleMtr2, HAL_Handle handle, const USER_Params *pUserParams1, const USER_Params *pUserParams2)
{
  HAL_Obj_mtr *objMtr1 = (HAL_Obj_mtr *)handleMtr1;
  HAL_Obj_mtr *objMtr2 = (HAL_Obj_mtr *)handleMtr2;
  HAL_Obj *obj = (HAL_Obj *)handle;

  float_t systemFreq_MHz_M1 = pUserParams1->systemFreq_MHz;
  float_t systemFreq_MHz_M2 = pUserParams2->systemFreq_MHz;

  uint_least16_t numPwmTicksPerIsrTick_M1 = pUserParams1->numPwmTicksPerIsrTick;
  uint_least16_t numPwmTicksPerIsrTick_M2 = pUserParams2->numPwmTicksPerIsrTick;

  uint16_t halfPeriod_cycles_M1 = (uint16_t)(systemFreq_MHz_M1*(float_t)pUserParams1->pwmPeriod_usec) >> 1;
  uint16_t halfPeriod_cycles_M2 = (uint16_t)(systemFreq_MHz_M2*(float_t)pUserParams2->pwmPeriod_usec) >> 1;

  uint_least8_t cnt;

  // first step to synchronize the pwms
  CLK_disableTbClockSync(obj->clkHandle);

  // turns off the outputs of the EPWM peripherals which will put the power switches
  // into a high impedance state.
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr1->pwmHandle[PWM_Number_3]);

  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(objMtr2->pwmHandle[PWM_Number_3]);

  for(cnt=0;cnt<3;cnt++)
    {
	  // M1
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr1->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr1->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr1->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr1->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr1->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr1->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr1->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr1->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr1->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr1->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr1->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr1->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr1->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr1->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr1->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr1->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr1->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr1->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr1->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr1->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr1->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr1->pwmHandle[cnt],HAL_PWM_DBFED_CNT);
      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr1->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr1->pwmHandle[cnt]);

      // M1
      // setup the Time-Base Control Register (TBCTL)
      PWM_setCounterMode(objMtr2->pwmHandle[cnt],PWM_CounterMode_UpDown);
//      PWM_disableCounterLoad(objMtr2->pwmHandle[cnt]); 		     // Disable phase syncronization
      PWM_enableCounterLoad(objMtr2->pwmHandle[cnt]);			 // enable phase syncronization
      PWM_setPeriodLoad(objMtr2->pwmHandle[cnt],PWM_PeriodLoad_Immediate);
      PWM_setSyncMode(objMtr2->pwmHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWM_setHighSpeedClkDiv(objMtr2->pwmHandle[cnt],PWM_HspClkDiv_by_1);
      PWM_setClkDiv(objMtr2->pwmHandle[cnt],PWM_ClkDiv_by_1);
      PWM_setRunMode(objMtr2->pwmHandle[cnt],PWM_RunMode_FreeRun);

      // setup the Time-Base Counter Register (TBCTR)
      PWM_setCount(objMtr2->pwmHandle[cnt],0);

      // setup the Time-Base Period Register (TBPRD)
      // set to zero initially
      PWM_setPeriod(objMtr2->pwmHandle[cnt],0);

      // setup the Timer-Based Phase Register (TBPHS)
      PWM_setPhase(objMtr2->pwmHandle[cnt],0);
      PWM_setPhaseDir(objMtr2->pwmHandle[cnt],PWM_PhaseDir_CountUp);

      // setup the Counter-Compare Control Register (CMPCTL)
      PWM_setLoadMode_CmpA(objMtr2->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setLoadMode_CmpB(objMtr2->pwmHandle[cnt],PWM_LoadMode_Zero);
      PWM_setShadowMode_CmpA(objMtr2->pwmHandle[cnt],PWM_ShadowMode_Shadow);
      PWM_setShadowMode_CmpB(objMtr2->pwmHandle[cnt],PWM_ShadowMode_Immediate);

      // setup the Action-Qualifier Output A Register (AQCTLA)
      PWM_setActionQual_CntUp_CmpA_PwmA(objMtr2->pwmHandle[cnt],PWM_ActionQual_Set);
      PWM_setActionQual_CntDown_CmpA_PwmA(objMtr2->pwmHandle[cnt],PWM_ActionQual_Clear);

      // setup the Dead-Band Generator Control Register (DBCTL)
      PWM_setDeadBandOutputMode(objMtr2->pwmHandle[cnt],PWM_DeadBandOutputMode_EPWMxA_Rising_EPWMxB_Falling);
      PWM_setDeadBandPolarity(objMtr2->pwmHandle[cnt],PWM_DeadBandPolarity_EPWMxB_Inverted);

      // setup the Dead-Band Rising Edge Delay Register (DBRED)
      PWM_setDeadBandRisingEdgeDelay(objMtr2->pwmHandle[cnt],HAL_PWM_DBRED_CNT);

      // setup the Dead-Band Falling Edge Delay Register (DBFED)
      PWM_setDeadBandFallingEdgeDelay(objMtr2->pwmHandle[cnt],HAL_PWM_DBFED_CNT);

      // setup the PWM-Chopper Control Register (PCCTL)
      PWM_disableChopping(objMtr2->pwmHandle[cnt]);

      // setup the Trip Zone Select Register (TZSEL)
      PWM_disableTripZones(objMtr2->pwmHandle[cnt]);
    }

  PWM_disableCounterLoad(objMtr1->pwmHandle[PWM_Number_1]); 		     // Disable phase syncronization
  PWM_setSyncMode(objMtr1->pwmHandle[PWM_Number_1],PWM_SyncMode_CounterEqualZero);

  PWM_enableCounterLoad(objMtr2->pwmHandle[PWM_Number_1]); 		     // enable phase syncronization
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_1],(halfPeriod_cycles_M1>>2));
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_2],(halfPeriod_cycles_M1>>2));
  PWM_setPhase(objMtr2->pwmHandle[PWM_Number_3],(halfPeriod_cycles_M1>>2));

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr1->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick_M1 == 3)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick_M1 == 2)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else // if(numPwmTicksPerIsrTick_M1 == 1)
    {
      PWM_setIntPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr1->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }

  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr1->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr1->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Selection Register (ETSEL)
  PWM_disableInt(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_setSocAPulseSrc(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualZero);
  PWM_enableSocAPulse(objMtr2->pwmHandle[PWM_Number_1]);

  // setup the Event Trigger Prescale Register (ETPS)
  if(numPwmTicksPerIsrTick_M2 == 3)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_ThirdEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_ThirdEvent);
    }
  else if(numPwmTicksPerIsrTick_M2 == 2)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_SecondEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_SecondEvent);
    }
  else // if(numPwmTicksPerIsrTick_M2 == 1)
    {
      PWM_setIntPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_IntPeriod_FirstEvent);
      PWM_setSocAPeriod(objMtr2->pwmHandle[PWM_Number_1],PWM_SocPeriod_FirstEvent);
    }

  // setup the Event Trigger Clear Register (ETCLR)
  PWM_clearIntFlag(objMtr2->pwmHandle[PWM_Number_1]);
  PWM_clearSocAFlag(objMtr2->pwmHandle[PWM_Number_1]);

  // since the PWM is configured as an up/down counter, the period register is set to one-half
  // of the desired PWM period
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_1],halfPeriod_cycles_M1);
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_2],halfPeriod_cycles_M1);
  PWM_setPeriod(objMtr1->pwmHandle[PWM_Number_3],halfPeriod_cycles_M1);

  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_1],halfPeriod_cycles_M2);
  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_2],halfPeriod_cycles_M2);
  PWM_setPeriod(objMtr2->pwmHandle[PWM_Number_3],halfPeriod_cycles_M2);

  // last step to synchronize the pwms
  CLK_enableTbClockSync(obj->clkHandle);

  return;
}  // end of HAL_setupPwms() function

#ifdef QEP
void HAL_setupQEP(HAL_Handle_mtr handleMtr, float_t encoderLines)
{
  HAL_Obj_mtr *objMtr = (HAL_Obj_mtr *)handleMtr;

  // hold the counter in reset
  QEP_reset_counter(objMtr->qepHandle);

  // set the QPOSINIT register
  QEP_set_posn_init_count(objMtr->qepHandle, 0);

  // disable all interrupts
  QEP_disable_all_interrupts(objMtr->qepHandle);

  // clear the interrupt flags
  QEP_clear_all_interrupt_flags(objMtr->qepHandle);

  // clear the position counter
  QEP_clear_posn_counter(objMtr->qepHandle);

  // setup the max position
  QEP_set_max_posn_count(objMtr->qepHandle, (uint16_t)((4.0 * encoderLines) - 1));

  // setup the QDECCTL register
  QEP_set_QEP_source(objMtr->qepHandle, QEP_Qsrc_Quad_Count_Mode);
  QEP_disable_sync_out(objMtr->qepHandle);
  QEP_set_swap_quad_inputs(objMtr->qepHandle, QEP_Swap_Not_Swapped);
  QEP_disable_gate_index(objMtr->qepHandle);
  QEP_set_ext_clock_rate(objMtr->qepHandle, QEP_Xcr_2x_Res);
  QEP_set_A_polarity(objMtr->qepHandle, QEP_Qap_No_Effect);
  QEP_set_B_polarity(objMtr->qepHandle, QEP_Qbp_No_Effect);
  QEP_set_index_polarity(objMtr->qepHandle, QEP_Qip_No_Effect);

  // setup the QEPCTL register
  QEP_set_emu_control(objMtr->qepHandle, QEPCTL_Freesoft_Unaffected_Halt);
  QEP_set_posn_count_reset_mode(objMtr->qepHandle, QEPCTL_Pcrm_Max_Reset);
  QEP_set_strobe_event_init(objMtr->qepHandle, QEPCTL_Sei_Nothing);
  QEP_set_index_event_init(objMtr->qepHandle, QEPCTL_Iei_Nothing);
  QEP_set_index_event_latch(objMtr->qepHandle, QEPCTL_Iel_Rising_Edge);
  QEP_set_soft_init(objMtr->qepHandle, QEPCTL_Swi_Nothing);
  QEP_disable_unit_timer(objMtr->qepHandle);
  QEP_disable_watchdog(objMtr->qepHandle);

  // setup the QPOSCTL register
  QEP_disable_posn_compare(objMtr->qepHandle);

  // setup the QCAPCTL register
  QEP_disable_capture(objMtr->qepHandle);

  // renable the position counter
  QEP_enable_counter(objMtr->qepHandle);


  return;
}
#endif

void HAL_setupSpiA(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SPI_reset(obj->spiAHandle);
  SPI_setMode(obj->spiAHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiAHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiAHandle);
  SPI_enableTxFifoEnh(obj->spiAHandle);
  SPI_enableTxFifo(obj->spiAHandle);
  SPI_setTxDelay(obj->spiAHandle,0x0018);
  SPI_setBaudRate(obj->spiAHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiAHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiAHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiAHandle);

  return;
}  // end of HAL_setupSpiA() function


void HAL_setupSpiB(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SPI_reset(obj->spiBHandle);
  SPI_setMode(obj->spiBHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiBHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiBHandle);
  SPI_enableTxFifoEnh(obj->spiBHandle);
  SPI_enableTxFifo(obj->spiBHandle);
  SPI_setTxDelay(obj->spiBHandle,0x0018);
  SPI_setBaudRate(obj->spiBHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiBHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiBHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiBHandle);

  return;
}  // end of HAL_setupSpiB() function

/*
 * ADDED CODE FOR SCI
 */

void HAL_setupSciA(HAL_Handle handle)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;

  SCI_reset(obj->sciAHandle);
  SCI_enableTx(obj->sciAHandle);
  SCI_enableRx(obj->sciAHandle);

  SCI_disableParity(obj->sciAHandle);
  SCI_setNumStopBits(obj->sciAHandle, SCI_NumStopBits_One);
  SCI_setCharLength(obj->sciAHandle, SCI_CharLength_8_Bits);

  SCI_setBaudRate(obj->sciAHandle, (SCI_BaudRate_e)(0x0061));
  SCI_setPriority(obj->sciAHandle, SCI_Priority_FreeRun);

  SCI_enable(obj->sciAHandle);

  return;
}  // end of HAL_setupSCI() function
/*
 * ----------------------------------
 */


void HAL_setupPwmDacs(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint16_t halfPeriod_cycles = 512;       // 3000->10kHz, 1500->20kHz, 1000-> 30kHz, 500->60kHz
  uint_least8_t    cnt;


  for(cnt=0;cnt<2;cnt++)
  {
	  if(obj->pwmDacHandle[cnt])
	  {
		  // initialize the Time-Base Control Register (TBCTL)
		  PWMDAC_setCounterMode(obj->pwmDacHandle[cnt],PWM_CounterMode_UpDown);
		  PWMDAC_disableCounterLoad(obj->pwmDacHandle[cnt]);
		  PWMDAC_setPeriodLoad(obj->pwmDacHandle[cnt],PWM_PeriodLoad_Immediate);
		  PWMDAC_setSyncMode(obj->pwmDacHandle[cnt],PWM_SyncMode_EPWMxSYNC);
		  PWMDAC_setHighSpeedClkDiv(obj->pwmDacHandle[cnt],PWM_HspClkDiv_by_1);
		  PWMDAC_setClkDiv(obj->pwmDacHandle[cnt],PWM_ClkDiv_by_1);
		  PWMDAC_setPhaseDir(obj->pwmDacHandle[cnt],PWM_PhaseDir_CountUp);
		  PWMDAC_setRunMode(obj->pwmDacHandle[cnt],PWM_RunMode_FreeRun);

		  // initialize the Timer-Based Phase Register (TBPHS)
		  PWMDAC_setPhase(obj->pwmDacHandle[cnt],0);

		  // setup the Time-Base Counter Register (TBCTR)
		  PWMDAC_setCount(obj->pwmDacHandle[cnt],0);

		  // Initialize the Time-Base Period Register (TBPRD)
		  // set to zero initially
		  PWMDAC_setPeriod(obj->pwmDacHandle[cnt],0);

		  // initialize the Counter-Compare Control Register (CMPCTL)
		  PWMDAC_setLoadMode_CmpA(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
		  PWMDAC_setLoadMode_CmpB(obj->pwmDacHandle[cnt],PWM_LoadMode_Zero);
		  PWMDAC_setShadowMode_CmpA(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);
		  PWMDAC_setShadowMode_CmpB(obj->pwmDacHandle[cnt],PWM_ShadowMode_Shadow);

		  // Initialize the Action-Qualifier Output A Register (AQCTLA)
		  PWMDAC_setActionQual_CntUp_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
		  PWMDAC_setActionQual_CntDown_CmpA_PwmA(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);
		  PWMDAC_setActionQual_CntUp_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
		  PWMDAC_setActionQual_CntDown_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);

		  // Initialize the Dead-Band Control Register (DBCTL)
		  PWMDAC_disableDeadBand(obj->pwmDacHandle[cnt]);

		  // Initialize the PWM-Chopper Control Register (PCCTL)
		  PWMDAC_disableChopping(obj->pwmDacHandle[cnt]);

		  // Initialize the Trip-Zone Control Register (TZSEL)
		  PWMDAC_disableTripZones(obj->pwmDacHandle[cnt]);

		  // Initialize the Trip-Zone Control Register (TZCTL)
		  PWMDAC_setTripZoneState_TZA(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_TZB(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCAEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCAEVT2(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
		  PWMDAC_setTripZoneState_DCBEVT1(obj->pwmDacHandle[cnt],PWM_TripZoneState_HighImp);
	  }
  }

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  for(cnt=0;cnt<2;cnt++)
  {
	  if(obj->pwmDacHandle[cnt])
	  {
		  PWMDAC_setPeriod(obj->pwmDacHandle[cnt],halfPeriod_cycles);
	  }
  }

  return;
}  // end of HAL_setupPwmDacs() function


void HAL_setupTimers(HAL_Handle handle,const float_t systemFreq_MHz)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;
  uint32_t  timerPeriod_cnts = (uint32_t)(systemFreq_MHz * (float_t)1000000.0) - 1;

  // use timer 0 for frequency diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[0],0);
  TIMER_setEmulationMode(obj->timerHandle[0],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[0],timerPeriod_cnts);
  TIMER_setPreScaler(obj->timerHandle[0],0);

  // use timer 1 for CPU usage diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[1],0);
  TIMER_setEmulationMode(obj->timerHandle[1],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[1],timerPeriod_cnts);
  TIMER_setPreScaler(obj->timerHandle[1],0);

  // use timer 2 for CPU time diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[2],0);
  TIMER_setEmulationMode(obj->timerHandle[2],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[2],0xFFFFFFFF);
  TIMER_setPreScaler(obj->timerHandle[2],0);

  return;
}  // end of HAL_setupTimers() function


void HAL_writeDrvData(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_writeData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_writeDrvData() function


void HAL_readDrvData(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_readData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_readDrvData() function


void HAL_setupDrvSpi(HAL_Handle_mtr handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj_mtr  *obj = (HAL_Obj_mtr *)handle;

  DRV8301_setupSpi(obj->drv8301Handle,Spi_8301_Vars);

  return;
}  // end of HAL_setupDrvSpi() function

// set PWMDAC parameters for each channel to ensure the output waveform
void HAL_setDacParameters(HAL_Handle handle, HAL_DacData_t *pDacData)
{
	HAL_Obj *obj = (HAL_Obj *)handle;

    pDacData->PeriodMax = PWMDAC_getPeriod(obj->pwmDacHandle[PWMDAC_Number_1]);

	pDacData->offset[0] = _IQ(0.0);
	pDacData->offset[1] = _IQ(0.5);
	pDacData->offset[2] = _IQ(0.0);
	pDacData->offset[3] = _IQ(0.5);

	pDacData->gain[0] = _IQ(1.0);
	pDacData->gain[1] = _IQ(20.0);
	pDacData->gain[2] = _IQ(1.0);
	pDacData->gain[3] = _IQ(20.0);

	return;
}	//end of HAL_setDacParameters() function

// end of file

尊敬的 Dennis：

您可能错过 了我的评论上面的编辑。非阻塞 SCI 要求在其他 C2000 MCU 类上为 FIFO 注册 TX 中断处理程序函数。 HAL 将 SCIA 设置为非中断串行外设。 因此、为了防止 for 循环内的 TX 寄存器溢出、需要进行阻断。 对于以 SYSCLK 速度运行的循环、很可能会卡死 TX 寄存器或锁定 SCIA 外设时钟、这是最佳猜测。

此致

哦、好的、谢谢。  我将会查看它。  我不记得上面的代码、但在这最后一次响应之前、我启用了 FIFO。  我查看了 for (；；)循环外部、但不确定您所引用的代码的哪个部分。

但是当 FIFO 被启用时、它应该设置中断阈值电平。 我甚至不在 HAL 中启用 SCIA FIFO、它的工作效果很好。 只有我的 SCIB 启用了带有电平中断设置的 FIFO。 似乎应该记得、SCIA 在配置 FIFO 中断级别时不起作用、因为没有寄存的中断处理程序、因此 FIFO 和其他 REMS 也是如此。

下面是 SCIA 配置 HAL.c 代码、我在实验配置结束时调用 SCIprintf()和其他退出点来确认 motorvars 加载等。

/* Setup SCIA as NonFIFO blocking */
void HAL_setupSCIA(HAL_Handle halHandle)
{
  HAL_Obj *obj = (HAL_Obj *)halHandle;

  // Initialize SCIA for Non-FIFO.
  SCI_performSoftwareReset(obj->sciHandle[0]);

  // Configure SCIA for echoback 25Mhz clock
  SCI_setConfig(obj->sciHandle[0], 		DEVICE_LSPCLK_FREQ, 115200,
                                            (SCI_CONFIG_WLEN_8 |
                                               SCI_CONFIG_STOP_ONE |
                                                   SCI_CONFIG_PAR_NONE));
  SCI_resetChannels(obj->sciHandle[0]);

  //SCI_resetRxFIFO(obj->sciHandle[0]);

  //SCI_resetTxFIFO(obj->sciHandle[0]);

  //SCI_clearInterruptStatus(obj->sciHandle[0], SCI_INT_TXFF | SCI_INT_RXFF);//SCI_INT_RXRDY_BRKDT | SCI_INT_TXRDY

  //SCI_disableInterrupt(obj->sciHandle[0], SCI_INT_TXFF | SCI_INT_RXFF);

  //!< Transmit Recieve FIFO interrupt 8/16 full);
  //SCI_setFIFOInterruptLevel(obj->sciHandle[0], SCI_FIFO_TX8, SCI_FIFO_RX8);

  //SCI_enableFIFO(obj->sciHandle[0]);

 SCI_performSoftwareReset(obj->sciHandle[0]);

 SCI_enableModule(obj->sciHandle[0]);

  SCIprintf(">>SCIA Inits \n");

}  // end of DRV_setupSci() function

哦、太棒了。 谢谢你。  我一直在尝试弄清楚如何调试打印。

您能向我解释一下 FIFO 到底是什么吗？ 在过去、当我使用 STM 微控制器时、您只需启用 TX 和 Rx 即可。  

 您必须将 scistdio.c 导入您的电机项目、并在 utils/scistdio.c 中更改为 SCI-A 或 B、正如我所记得的那样。

#include "scistdio.h"电机实验顶部。

FIFO 是先进先出存储、UART 中的数据宽度通常为16字节。 使用 SCI-A/B FIFO 时、C2000 MCU 中的16个字节。 您需要 X69 TRM (技术资源手册) PDF 将介绍硬件和 X69数据表、CPU 架构布局以及 PCB 级别的其他详细信息。  

您好、Charlie、  

相关信息

有关 LaunchPad 上的 SCI 跳线配置、请参阅下表

组装了两个跳线的原始配置是要使用的正确配置。 看起来不是硬件问题、因此我会将其转接给 SCI 专家 Marlyn。 请注意、她本周已外出、因此预计下周初会收到回复。 感谢您的耐心

此致、

Peter

您好、Charlie、

您是否仍然面临相同的问题或是否能够取得一些进展？  

此致、

Marlyn

您好、Marlyn、

  是的、我仍然卡住、有问题。  

您好、Charlie、

感谢您的回答。 我认为继续调试的最佳方法是使问题变得更简单、看看您是否使 sci 正常工作。 正如您提到的、SCI Echoback 示例适用于您、因此在硬件方面您应该可以。 您的新项目中有许多移动的组件、虽然您可能在 for 循环中进行传输、但 CPU 可能忙于执行 ISR 中的内容、或者其他任务占用了带宽。 我建议您先从小处开始、然后逐渐达到当前状态、这样您就可以看到哪些因素会影响您的 sci 通信、或者最好的传输位置是什么。  

此致、

Marlyn