//******************************************************************************
// Copyright (c) 2017 Invivo Corporation all rights reserved
// Project: Power Control Board for the UroNav Connect project
// Author: David Harding
// Date: July 2017 - Initial code
//******************************************************************************
//  MSP430FR2111 PwrCtrlBrd - Initialize microcontroller, execute main loop
//
//  Description: The microcontroller monitors the front panel switch (FPS) for
//  two events.  If the FPS is press for more than 200 ms and less than 6 s,
//  then the microcontroller determines if it should power up or power down the
//  main power supply (MPS); i.e. the UroNav system. If it needs to power down,
//  it issues a serial command that request a shutdown event to the single board
//  computer (SBC).  The SCB displays a dialog box to the user.  If the user
//  cancels the shutdown, the state is unchanged (i.e. powered up).  If the
//  user confirms the shutdown, the SCB is shutdown by the UroNav program.  The
//  PwrCtrlBrd detects the 5 V supply on the SCB is down and completes the
//  shutdown by turning the MPS off.
//
//  The SBC may also initiate a shutdown.  If the SBC completes its shutdown, the
//  PwrCtrlBrd detects the 5 V supply on the SCB is down and then shutdowns down
//  the MPS.
//
//  If the FPS is pressed for 6 s or more, then the microcontroller will disable
//  the main power supply (MPS) without requesting a shutdown event from the SBC.
//  **********************  Microcontroller configuration  *********************
//  P1.0 - Set up as an input to the comparator Channel C0 (FPS sense)
//  P1.1 - Set up as DIO input to sense +5V from SBC (generates interrupt on low-to-high)
//  P1.2 - Set up as UART Rx
//  P1.3 - Set up as UART Tx
//  P1.4 - Set up as DIO output to drive UART DTR
//  P1.5 - Set up as DIO input to sense UART DSR
//  P1.6 - Set up as DIO output to drive low current on-board LED
//  P1.7 - Set up as DIO output to drive the MPS inhibit signal
//  P2.0 - Set up as DIO output to test point (comparator output - Cout)
//  P2.1 - Set up as DIO output to drive LED on FPS
//  P2.6 - Set up as DIO output (unconnected)
//  P2.7 - Set up as DIO output (unconnected)
//
//  **********************  Development configuration  *********************
//   Built with desktop Code Composer Studio version 7.2.0.00013
//******************************************************************************
#include <msp430.h>
#include <string.h>

// Forward function declarations
void Init_CS(void);
void Init_IO(void);
void Init_UART(void);
void Init_eCOMP(void);
void Software_Trim(void);
void powerdown(void);
void powerup(void);
void put_schar(unsigned char* schar, unsigned int len);
unsigned int utoa(unsigned int value, unsigned char *sp);

// Project defines
#define MCLK_FREQ_MHZ 1         // Set MCLK here (1 MHz)
#define MIN_PULSE_WIDTH 1638    // INT(0.2 * 8192) count for 200 ms
#define DELAY_6S 49152          // INT(6 * 8192) count for 6 s
#define DELAY_250ms 2048        // INT(0.25 * 8192) count for 250 ms
#define NUMofSAMPLES 6          // Number of samples taken to determine the SBC 5V supply is down
#define STX 2                   // Start of text ASCII character
#define ETX 3                   // End of text ASCII character

// State flags
#define POWERED_UP (0x01)       //1 = unit powered up, 0 = unit powered down;
#define FAILSAFE (0x02)         //1 = FAILSAFE mode, 0 = normal mode;
#define TxFlag (0x04)           //1 = Serial Tx message pending, 0 = message complete (idle)
#define RxFlag (0x08)           //1 = Serial Rx message pending, 0 = message complete (idle)
#define BadMessage (0x10)       //1 = Bad serial message received, 0 = good serial message
#define Reset_FS_cnt (0x20)     //1 = Request to reset FAILSAFE counter, 0 = disallow reset
#define SBC_5V_down (0x40)      //1 = SBC 5V supply is down, 0 = SBC 5V supply is up
#define PULSE_END (0x80)        // 1 = fall edge of FPS detected, 0 = no release of FPS

//*****************************************************************************
//************************  FRAM persistent variables  ************************
//*****************************************************************************
// FRAM persistent variables do not get initialized by the C startup routine,
// but rather the debug tool chain initializes them for the first time as the
// application code is loaded onto the target.  These variables are persistent
// across power cycles.
#pragma PERSISTENT(FAILSAFE_count)
unsigned int FAILSAFE_count = 0;
//*****************************************************************************
//****************************   Global variables  ****************************
//*****************************************************************************
unsigned int state = 0;        // See state flags defined above
unsigned int SBC_5V_down_counter = 0;   // Counts the number of samples taken on P1.1
//***************** Front panel switch pulse width variable  ******************
unsigned int start_pulse;
unsigned int stop_pulse;
unsigned int pulse_width;
//*********************  Serial communication variables  **********************
int TxMessageLength = 0;
unsigned char* TxBuff_pointer;
unsigned char RxBuff;
//****************** Serial communication characters and message  *************
unsigned const char version[] = {STX, 'P', 'w', 'r', 'C', 't', 'r', 'l', 'B', 'r', 'd', '-', 'V', '1', '.', '0', '.', '1', '7', '4', '4', ETX};
unsigned const char prompt[] = {STX, 'A', 'r', 'e', ' ', 'y', 'o', 'u', ' ', 's', 'u', 'r', 'e', ' ', 'y', 'o', 'u', ' ', 'w', 'a', 'n', 't', ' ', 't', 'o', ' ', 'r', 'e', 's', 'e', 't', ' ', 't', 'h', 'e', ' ', 'c', 'o', 'u', 'n', 't', 'e', 'r', '?',' ', '(', 'y', '/', 'n', ')', ETX};
unsigned const char FSC[] = {STX, 'F', 'A', 'I', 'L', 'S', 'A', 'F', 'E', ' ', 'C', 'o', 'u', 'n', 't', '=', 0};
unsigned const char ENQ = 5;
unsigned const char ACK = 6;
unsigned const char SO = 14;
unsigned const char DC2 = 18;
unsigned const char NAK = 21;
unsigned const char CAN = 24;
//******************* Previous message variables  *****************************
unsigned char* Previous_message_pointer = (unsigned char*) &NAK;
int Previous_message_length = 1;

//******************************************************************************
//  main - Initialize configuration and run main loop
//******************************************************************************
void main(void)
{
    size_t FSC_length;
    unsigned int index;
    unsigned int cnt_length;
    unsigned int Rx_NAK_count = 0;
    unsigned int Tx_NAK_count = 0;
    unsigned char FSC_message[22];
    unsigned char cnt[6] = {0};

    WDTCTL = WDTPW | WDTHOLD;       // Disable watchdog timer

    Init_CS();                      // Set up clock systems
    Init_IO();                      // Set up IO ports
    Init_UART();                    // Set up serial communication port
    Init_eCOMP();                   // Set eComp module with timer B0

    __bis_SR_register(GIE);         // Interrupts enabled

//********************************** main loop ********************************
    while(1)
    {
        // Check for switch activation
        if(state & PULSE_END)
        {
            state &= ~PULSE_END;
            pulse_width = stop_pulse - start_pulse;

            if(pulse_width > MIN_PULSE_WIDTH)   // Pulse must be longer than 200 ms
            {
                switch (state & POWERED_UP)    // Check the current powered state
                {
                case 0:
                    powerup();
                    break;
                case 1:
                    put_schar((unsigned char*) &DC2, 1);  // Request shutdown
                    break;
                }
            }
        }

        // If FAILSAFE detected, shutdown
        if((state & FAILSAFE) && (state & POWERED_UP))
            powerdown();

        // If 5V on the SBC goes down while state is powered up, shutdown main power supply
        if((state & SBC_5V_down) && (state & POWERED_UP))
          powerdown();

        // Check for received serial characters
        if(state & RxFlag)
        {
            state &= ~RxFlag;            // Clear Rx flag
            state |= BadMessage;         // Set the Bad message flag

            if(RxBuff == 'F')           // Return the FAILSAFE count
            {
                state &= ~ BadMessage;   // Message is good
                Tx_NAK_count = 0;        // Allow previous message to be Tx
                Rx_NAK_count = 0;        // Allow NAKs to be Transmitted
                cnt_length = utoa(FAILSAFE_count, cnt);
                FSC_length = strlen((const char*) &FSC);
                for(index = 0; index < FSC_length; index++)
                {
                    FSC_message[index] = FSC[index];
                }
                for(;index < FSC_length + cnt_length; index++)
                {
                    FSC_message[index] = cnt[index - FSC_length];
                }
                FSC_message[index++] = ETX;
                put_schar((unsigned char*) &FSC_message, index);
            }

            if(RxBuff == '0')           // Return prompt
            {
                state &= ~ BadMessage;   // Message is good
                Tx_NAK_count = 0;        // Allow previous message to be Tx
                Rx_NAK_count = 0;        // Allow NAKs to be Transmitted
                state |= Reset_FS_cnt;   // Set request to reset FS counter flag
                put_schar((unsigned char*) &prompt, 51);
            }

            if(RxBuff == 'y' || RxBuff == 'Y') // Okay to clear FAILSAFE count
            {
                state &= ~ BadMessage;   // Message is good
                Tx_NAK_count = 0;        // Allow previous message to be Tx
                Rx_NAK_count = 0;        // Allow NAKs to be Transmitted
                if(state & Reset_FS_cnt)
                {
                    SYSCFG0 = FRWPPW;        // Program FRAM write enable
                    FAILSAFE_count = 0;      // Reset FAILSAFE counter to zero
                    SYSCFG0 = FRWPPW | PFWP; // Program FRAM write protected (not writable)
                    cnt_length = utoa(FAILSAFE_count, cnt);
                    FSC_length = strlen((const char*) &FSC);
                    for(index = 0; index < FSC_length; index++)
                    {
                        FSC_message[index] = FSC[index];
                    }
                    for(;index < FSC_length + cnt_length; index++)
                    {
                        FSC_message[index] = cnt[index - FSC_length];
                    }
                    FSC_message[index++] = ETX;
                    put_schar((unsigned char*) &FSC_message, index);
                }
                state &= ~ Reset_FS_cnt;  // Request to reset FS counter complete, clear flag
            }

            if(RxBuff == 'n' || RxBuff == 'N')  // Abort clearing FAILSAFE count
            {
                state &= ~ BadMessage;   // Message is good
                Tx_NAK_count = 0;        // Allow previous message to be Tx
                Rx_NAK_count = 0;        // Allow NAKs to be Transmitted
                state &= ~ Reset_FS_cnt; // Abort request to reset FS counter
            }

            if(RxBuff == ENQ)           // Request for version of PwrCtrlBrd software
            {
                state &= ~ BadMessage;   // Message is good
                Tx_NAK_count = 0;        // Allow previous message to be Tx
                Rx_NAK_count = 0;        // Allow NAKs to be Transmitted
                put_schar((unsigned char*) &version, 17);
            }

            if(RxBuff == NAK)           // Request to repeat previous command
            {
                state &= ~ BadMessage;   // Message is good
                Rx_NAK_count = 0;        // Allow NAKs to be Transmitted
                if(Tx_NAK_count < 5)     // Stop previous message TX after 5 NAKs
                {
                    put_schar(0, 0);     // Repeat previous command
                    Tx_NAK_count++;
                }
            }

            if(state & BadMessage)      // Received unknown command
            {
                Tx_NAK_count = 0;       // Allow previous message to be Tx
                if(Rx_NAK_count < 5)
                {
                    put_schar((unsigned char*) &NAK, 1);
                    Rx_NAK_count++;
                }
            }
        }
    }
}

//******************************************************************************
//  Init_CS - Initialize configuration of clock systems
//******************************************************************************
//  Configure MCLK for 1MHz.
//  FLL reference clock is REFO.
//  ACLK = default REFO ~32768Hz.
//  SMCLK = MCLK = 1MHz.
//  Use DCO software trim to lock FLL. If FLL is locked and
//  DCO tap is closest to 256, the DCOFTRIM value is the best one.
//******************************************************************************
void Init_CS(void)
{
    __bis_SR_register(SCG0);            // Disable FLL
    CSCTL3 = SELREF__REFOCLK;           // Set REFO as FLL reference source
    CSCTL1 = DCOFTRIMEN_1 | DCOFTRIM0 | DCOFTRIM1 | DCORSEL_0;  // DCOFTRIM=3,
                                                                //DCO Range=1MHz
    CSCTL2 = FLLD_0 + 30;               // DCODIV = 1MHz
    __delay_cycles(3);
    __bic_SR_register(SCG0);            // Enable FLL
    Software_Trim();                    // Software Trim to get the best DCOFTRIM value
    CSCTL4 = SELMS__DCOCLKDIV | SELA__REFOCLK;  // set default REFO(~32768Hz)
                                                // as ACLK source, ACLK = 32768Hz
                                                // default DCODIV as MCLK and SMCLK source
}

//******************************************************************************
//  Init_IO - Initialize configuration of DIO
//******************************************************************************
//  P1.0 - Set up as an input to the comparator Channel C0 (FPS sense)
//  P1.1 - Set up as DIO input to sense +5V from SBC (generates interrupt on low-to-high)
//  P1.2 - Set up as UART Rx
//  P1.3 - Set up as UART Tx
//  P1.4 - Set up as DIO output to drive UART DTR
//  P1.5 - Set up as DIO input to sense UART DSR
//  P1.6 - Set up as DIO output to drive low current on-board LED
//  P1.7 - Set up as DIO output to drive the MPS inhibit signal
//  P2.0 - Set up as DIO output to test point (comparator output - Cout)
//  P2.1 - Set up as DIO output to drive LED on FPS
//  P2.6 - Set up as DIO output (unconnected)
//  P2.7 - Set up as DIO output (unconnected)
//******************************************************************************
void Init_IO(void)
{
    P1DIR = 0xD8;               // Set direction of pins
    P2DIR = 0xFF;

    P1OUT = 0xD0;               // On-board LED on, DTR on, high = MPS off
    P2OUT = 0x02;               // FPS LED high = off

    P1IES &= ~BIT1;             // P1.1 interrupt on low-to-high edge
    P1IE |= BIT1;               // P1.1 interrupt enabled

    // Configure UART pins
    SYSCFG3 |= USCIARMP;        // Enable remapping
    P1SEL0 |= BIT2 | BIT3;      // Set pins as second function (UART)

    // Configure Comparator input & output
    P1SEL0 |= BIT0;       // Select eCOMP input function on P1.0/C0
    P1SEL1 |= BIT0;
    P2DIR |= BIT0;
    P2SEL1 |= BIT0;       // Select CPOUT function on P2.0/COUT

    PM5CTL0 &= ~LOCKLPM5;       // Disable the IO power-on default
                                // high-impedance mode to activate
                                // previously configured port settings
}

//******************************************************************************
//  Init_UART - Initialize configuration of UART
//******************************************************************************
//  Baud rate clock = SMCLK (1 MHz)
//  Divider N = baud rate clock / baud rate => 10^6 / 9600 = 104.1667
//  Since N is greater than 16, enable the 16 times over sample (UCOS16 = 1)
//  Now, N = 10^6 / (9600 *16) = 6.51042 => UCA0BRW = INT(6.51042) = 6
//  First modulation reg (UCBRF0) = INT(16 * REMAIN(6.51042)) = INT(8.167) = 8
//  Second modulation reg (UCBRS0) = 0x11 - see lookup table 21-4 in User Guide
//
//  To change the parameters for the character (Parity, character length, etc.)
//  Un-comment the appropriate line(s) below
//******************************************************************************
void Init_UART(void)
{

    // Configure UART
    UCA0CTLW0 |= UCSWRST;       // Put eUSCI in reset to do configuration
    UCA0CTLW0 |= UCSSEL__SMCLK; // BRCLK source SMCLK
//*********************** Reset defaults *************************************
//      Parity - none,
//      Parity even/odd - NA,
//      LSB transmitted first,
//      8-bit character length
//      One stop bit
// ************** Un-comment below to set different character format  *********
//        UCA0CTLW0 |= UCPEN          // Enable Parity
//        UCA0CTLW0 |= UCPAR__EVEN    // Even Parity
//        UCA0CTLW0 |= UCPAR__ODD     // Odd Parity
//        UCA0CTLW0 |= UMSB           // MSB transmitted first
//        UCA0CTLW0 |= UC7BIT__7BIT   // Enable 7-bit character length
//        UCA0CTLW0 |= UCSPB          // Enable two stop bits
//*****************************************************************************
        // Baud Rate calculation
        // Baud Rate = 9600, SMCLK = 1 MHz, over sample is 16
        UCA0BRW = 6;                // Baud rate divider
        UCA0MCTLW = 0x1181;         // UCOS16 = 1 (over sampling enabled)
                                    // UCBRF0 = 8; UCBRS0 = 0x11

        UCA0CTLW0 &= ~UCSWRST;      // Initialize eUSCI
        UCA0IE |= UCRXIE;           // Enable USCI_A0 Rx interrupt
}

//******************************************************************************
//  Init_eCOMP - Initialize configuration of comparator
//******************************************************************************
//  The eCom module is set up so that the Front panel switch on port pin P1.0 is
//  connected to the positive input of the comparator.  The negative input of the
//  comparator is connected to the DAC output.  The DAC output is controlled by
//  two buffers.  Buffer 1 is set for 3/4 of VCC so that the output of the
//  comparator goes positive only after the positive input is above 3/4 of VCC.
//  When the comparator output goes high, the DAC output switches to buffer 2.
//  Buffer 2 is setup for 1/4 of VCC.  Now the positive input must go below 1/4
//  of VCC for the comparator output to switch back to a low level.  This provides
//  hysteresis for the switch input.
//
//  The output of the comparator is then filtered to further prevent
//  oscillations in the output due slow slew rate.
//
//  The output of the comparator is then connected to both the port pin P2.0 and
//  the capture/compare block 1.  The capture 1 register is set up to capture both
//  the rising and falling edges of the comparator output.  The difference
//  between the rising and falling edges determines how long the switch is pressed.
//
//  When the rising edge is detected, it starts the compare block 0.  The
//  compare block 0 is set to trigger an interrupt 6 seconds after the rising
//  edge.  If the falling edge occurs before the 6 second compare interrupt
//  occurs, then the button press is processed normally.  If the 6 second compare
//  interrupt occurs before the falling edge, then the state changes to the
//  FAILSAFE mode.
//******************************************************************************
void Init_eCOMP(void)
{
    // Configure reference
      PMMCTL0_H = PMMPW_H;                      // Unlock the PMM registers
      PMMCTL2 |= INTREFEN;                      // Enable internal reference
      __delay_cycles(400);                      // Delay for reference settling

      // Setup comparator
      CPCTL0 |= CPPSEL_0;         // Select C0 as input for V+ terminal
      CPCTL0 |= CPNSEL_6;         // Select DAC as input for V- terminal
      CPCTL0 |= CPPEN | CPNEN;    // Enable both eCOMP inputs
      CPDACCTL = CPDACEN;         // Select VCC as reference and enable DAC
      CPDACDATA = 0x1030;         // CPDACBUF1=VCC *3/4   CPDACBUF2=VCC *1/4
      CPCTL1 |= CPFLT | CPFLTDLY_3 | CPMSEL | CPEN;
//                |         |          |        |--- Turn on eCOMP
//                |         |          |------------ Low power low speed mode
//                |         |----------------------- Analog filter delay 3600 ns
//                |--------------------------------- Enable analog filter

    // Setup capture/compare block 0 for compare mode
      TB0CCTL0 |=  CCIS_2;       // Defaults to compare mode and load on write
    //               |------------- Input set to GND

    // Setup capture/compare block 1 for capture mode
    TB0CCTL1 |= CM_3 | CCIS_1 | CCIE | CAP | SCS;
    //           |      |        |      |     |---- Synchronous capture
    //           |      |        |      |---------- Capture mode, not compare mode
    //           |      |        |---------------- Enable capture interrupt
    //           |      |------------------------- Capture input CCI0B = eCOMP output
    //           |-------------------------------- Capture both edges

    // Timer0_B3 Setup
     TB0CTL |= TBSSEL_1 | ID_2 |  MC_2 | TBCLR;
    //           |         |      |        |---- Clear TB0R and divider logic
    //           |         |      |------------- Timer in continuous mode
    //           |         |-------------------- Input clock divided by 4 (8192 Hz)
    //           |------------------------------ Clock source = ACLK (32768 Hz)

}

//******************************************************************************
//  Software_Trim - To get the best DCOFTRIM value
//******************************************************************************
//  Code provided from TI examples
//******************************************************************************
void Software_Trim()
{
    unsigned int oldDcoTap = 0xffff;
    unsigned int newDcoTap = 0xffff;
    unsigned int newDcoDelta = 0xffff;
    unsigned int bestDcoDelta = 0xffff;
    unsigned int csCtl0Copy = 0;
    unsigned int csCtl1Copy = 0;
    unsigned int csCtl0Read = 0;
    unsigned int csCtl1Read = 0;
    unsigned int dcoFreqTrim = 3;
    unsigned char endLoop = 0;

    do
    {
        CSCTL0 = 0x100;                         // DCO Tap = 256
        do
        {
            CSCTL7 &= ~DCOFFG;                  // Clear DCO fault flag
        }while (CSCTL7 & DCOFFG);               // Test DCO fault flag

        __delay_cycles((unsigned int)3000 * MCLK_FREQ_MHZ);// Wait FLL lock status (FLLUNLOCK) to be stable
                                                           // Suggest to wait 24 cycles of divided FLL reference clock
        while((CSCTL7 & (FLLUNLOCK0 | FLLUNLOCK1)) && ((CSCTL7 & DCOFFG) == 0));

        csCtl0Read = CSCTL0;                   // Read CSCTL0
        csCtl1Read = CSCTL1;                   // Read CSCTL1

        oldDcoTap = newDcoTap;                 // Record DCOTAP value of last time
        newDcoTap = csCtl0Read & 0x01ff;       // Get DCOTAP value of this time
        dcoFreqTrim = (csCtl1Read & 0x0070)>>4;// Get DCOFTRIM value

        if(newDcoTap < 256)                    // DCOTAP < 256
        {
            newDcoDelta = 256 - newDcoTap;     // Delta value between DCPTAP and 256
            if((oldDcoTap != 0xffff) && (oldDcoTap >= 256)) // DCOTAP cross 256
                endLoop = 1;                   // Stop while loop
            else
            {
                dcoFreqTrim--;
                CSCTL1 = (csCtl1Read & (~DCOFTRIM)) | (dcoFreqTrim<<4);
            }
        }
        else                                   // DCOTAP >= 256
        {
            newDcoDelta = newDcoTap - 256;     // Delta value between DCPTAP and 256
            if(oldDcoTap < 256)                // DCOTAP cross 256
                endLoop = 1;                   // Stop while loop
            else
            {
                dcoFreqTrim++;
                CSCTL1 = (csCtl1Read & (~DCOFTRIM)) | (dcoFreqTrim<<4);
            }
        }

        if(newDcoDelta < bestDcoDelta)         // Record DCOTAP closest to 256
        {
            csCtl0Copy = csCtl0Read;
            csCtl1Copy = csCtl1Read;
            bestDcoDelta = newDcoDelta;
        }

    }while(endLoop == 0);                      // Poll until endLoop == 1

    CSCTL0 = csCtl0Copy;                       // Reload locked DCOTAP
    CSCTL1 = csCtl1Copy;                       // Reload locked DCOFTRIM
    while(CSCTL7 & (FLLUNLOCK0 | FLLUNLOCK1)); // Poll until FLL is locked
}

//******************************************************************************
//  powerdown - Controls hardware pins and changes program state to powered down
//******************************************************************************
//  Ensure that the operating system on the SBC is not running by monitoring
//  the 5 volt supply on the SBC.  When the 5 volt supply is confirmed to be
//  down, then do the following:
//  Turn off the main power supply.
//  Turn off the front panel switch LED
//  Change program state to powered down
//
//  The FAILSAFE mode is also monitored.  If the FAILSAFE is detected, also
//  shutdown the system.
//******************************************************************************
void powerdown(void)
{
    // Wait for 5V supply on SBC to go down or the FAILSAFE mode
    while(!((state & SBC_5V_down) || (state & FAILSAFE)));

    state &= ~(POWERED_UP |SBC_5V_down);  // Clear Flags

    P1OUT |= BIT7;          // Turn off the power supply
    P2OUT |= BIT1;          // FPS LED off
}

//******************************************************************************
//  powerup - Controls hardware pins and changes program state to powered up
//******************************************************************************
//  Turn on the main power supply.
//  Turn on the front panel switch LED.
//  Change program state to powered up.
//  An infinite loop is entered.  The loop exits if the FAILSAFE mode is detected.
//
//  Normally the loop will exit by receiving an <ENQ> character from the SBC,
//  after it is completely booted.  When the ENQ is received, the reply string is
//  sent by over the serial link and the loop is exited.
//
//  If a character other than ENQ is received, a NAK is sent back to have the
//  command from the SBC repeated.  After five consecutive NAK are sent, the loop
//  is exited on the next unknown character received.
//******************************************************************************
void powerup(void)
{
    int Tx_NAK_count = 0;
    int delay = 760;

    P1OUT &= ~BIT7;          // Turn on the power supply
    P2OUT &= ~BIT1;          // FPS LED on
    state |= POWERED_UP;    // Now in the on state
    state &= ~ SBC_5V_down;  // Clear Flag from previous down state
    TB0CCTL1 &= ~CCIE;  // Disable FPS interrupts while waiting

    // Delay approximately 760 ms to allow the 5V on the SBC to come up.
    // Measured delay between enabling the MPS and the active signal for
    // the 5 V supply on the SBC is 380 ms.  Providing 100% margin gives
    // 760 ms.
    while (delay--)
    {
        __delay_cycles(1000);
    }

    // There is a special case where the FPS can be pressed repeatedly in
    // rapid succession which causes the SBC to fail to boot correctly.
    // Even though the MPS is up and running.  So this section of code
    // sets up the ISR to check if the SBC 5V is still down.  If so,
    // the SBC_5V_down flag will be set and the MPS is turn off to
    // synchronize the state of the power control board with the SBC.
    if(P1IN & BIT1)
    {
        TB0CCR2 = TB0R + DELAY_250ms;   // Read timer and add delay to compare 2
        TB0CCTL2 &=  ~CCIFG;            // Ensure no compare 2 interrupt is pending
        TB0CCTL2 |=  CCIE;              // Enable compare 2 interrupt
    }

    TB0CCTL0 &=  ~CCIFG;    // Ensure no interrupt is pending
    TB0CCTL1 |= CCIE;       // Enable FPS interrupts while waiting

    while(1)
    {
        if((state & SBC_5V_down) || (state & FAILSAFE))  // Exit loop if FAILSAFE or SBC is off
        {
            state &= ~(POWERED_UP | SBC_5V_down);  // Clear Flags
            P1OUT |= BIT7;          // Turn off the power supply
            P2OUT |= BIT1;          // FPS LED off
            break;
        }


        if(state & RxFlag)          // Wait for ENQ from SBC
        {
            state &= ~RxFlag;
            if(RxBuff == ENQ)
            {
                put_schar((unsigned char*) &version, 17);
                break;
            }
            else                 // Unknown command, request repeat command
            {
                if(Tx_NAK_count < 5)    //Transmit a NAK up to five times
                {
                    put_schar((unsigned char*) &NAK, 1);
                    Tx_NAK_count++;
                }
                else
                {
                    break;
                }
            }
        }
    }
    state &= ~PULSE_END;    //Clear any FPS activation
}

//******************************************************************************
//  put_schar - Transmit a character to the serial communication port
//******************************************************************************
//  If arguments are zero, retransmit previous message.
//  Set the length of message to be sent.
//  Put character into Tx buffer used by the ISR.
//  Set the Tx flag to indicate that a transmission is in progress.
//  Enable interrupt. Since the UART Tx register is empty, an interrupt occurs
//  immediately.  Loop until message is completely sent.
//******************************************************************************
void put_schar(unsigned char* schar, unsigned int len)
{
    if(schar == 0 && len == 0)
    {
        TxMessageLength = Previous_message_length;
        TxBuff_pointer = Previous_message_pointer;
    }
    else
    {
        if(*schar != NAK)
        {
            Previous_message_length = len;
            Previous_message_pointer = schar;
        }
        TxMessageLength = len;
        TxBuff_pointer = schar;
    }
    state |= TxFlag;
    UCA0IE |= UCTXIE;             // Enable USCI_A0 Tx interrupt
    while(state & TxFlag);        // TxFlag cleared by the ISR
}


//******************************************************************************
//  utoa - Convert an unsigned integer into a decimal ASCII string
//******************************************************************************
//  value is the unsigned integer to be converted
//  sp is a pointer to the string buffer where the characters are placed
//  returns the length of the string
//******************************************************************************
unsigned int utoa(unsigned int value, unsigned char *sp)
{
    char tmp[16];
    char *tp = tmp;
    unsigned int i, len;

    while (value || tp == tmp)
    {
        i = value % 10;
        value /= 10;
        if (i < 10)
          *tp++ = i + '0';
    }

    len = tp - tmp;

    while (tp > tmp)
        *sp++ = *--tp;

    return len;
}

//******************************************************************************
//*******************************  ISRs   **************************************
//******************************************************************************
// UART ISR
//******************************************************************************
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=USCI_A0_VECTOR
__interrupt void USCI_A0_ISR(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(USCI_A0_VECTOR))) USCI_A0_ISR (void)
#else
#error Compiler not supported!
#endif
{
    switch(__even_in_range(UCA0IV,USCI_UART_UCTXCPTIFG))
    {
        case USCI_NONE:
            break;
        case USCI_UART_UCRXIFG:
            RxBuff = UCA0RXBUF;
            state |= RxFlag;           // Set flag that a char has been received
            break;
        case USCI_UART_UCTXIFG:
            UCA0TXBUF = *TxBuff_pointer;
            TxMessageLength--;
            if(TxMessageLength == 0)
            {
                state &= ~TxFlag;       // Clear flag to indicate completion of Tx
                UCA0IE &= ~UCTXIE;      // Disable USCI_A0 TX interrupt
            }
            else
            {
                TxBuff_pointer++;
            }
            break;
        case USCI_UART_UCSTTIFG:
            break;
        case USCI_UART_UCTXCPTIFG:
            break;
    }
}
//******************************************************************************
// Port 1 interrupt service routine
//******************************************************************************
//  A high-to-low transition on port pin 1.6 (the SBC 5V sensing signal) creates
//  an interrupt.  Once this transition is detected, a timer is set up to
//  sample the 5V signal every 250 ms.  When the 250 ms delay expires, the
//  compare 2 ISR is called.  The compare 2 ISR is set up to take multiple
//  sample of the 5V signal.
//******************************************************************************
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector=PORT1_VECTOR
__interrupt void Port_1(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(PORT1_VECTOR))) Port_1 (void)
#else
#error Compiler not supported!
#endif
{
    P1IFG &= ~BIT1;                 // Clear P1.1 IFG
    TB0CCR2 = TB0R + DELAY_250ms;   // Read timer and add delay to compare 2
    TB0CCTL2 &=  ~CCIFG;            // Ensure no compare 2 interrupt is pending
    TB0CCTL2 |=  CCIE;              // Enable compare 2 interrupt
}
//******************************************************************************
// Timer B0 CCR0, interrupt service routine
//******************************************************************************
//  This is the highest priority timer interrupt.  It is used for the FAILSAFE
//  mode.  The number of times this ISR is called is counted for off line
//  service analysis.
//******************************************************************************
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector = TIMER0_B0_VECTOR
__interrupt void Timer_B (void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(TIMER0_B0_VECTOR))) Timer_B (void)
#else
#error Compiler not supported!
#endif
{
    state |= FAILSAFE;            // Set FAILSAFE flag
    SYSCFG0 = FRWPPW;             // Program FRAM write enable
    FAILSAFE_count++;             // Count the number of times FAILSAFE occurs
    SYSCFG0 = FRWPPW | PFWP;      // Program FRAM write protected (not writable)
    TB0CCTL0 &=  ~CCIE;           // Disable compare interrupt
}
//******************************************************************************
// Timer0_B1 CCR1 and CCR2, interrupt service routine
//******************************************************************************
//  CCR1 is used to capture the FPS activation.  The rising edge is captured
//  and starts the CCR0 to interrupt in 6 seconds.  If the fall edge is captured
//  before the CCR0 interrupt occurs, then the fall edge timer value is captured
//  and the CCR0 interrupt is disabled.  This is a normal FPS activation.  If
//  the CCR0 interrupt occurs before the fall edge, then the FAILSAFE mode is
//  set.  On the detection of the fall edge after FAILSAFE mode is handled in
//  the background tasks, the FAILSAFE flag is cleared.
//
//  CCR2 is used to sample the SBC_5V signal multiple (6) times at a rate of
//  250 ms.  If the SBC_5V signal is low each time, the state flag
//  SBC_5V_down is set.  This flag is monitored by the background tasks.  This
//  flag is cleared by the background tasks: powerdown and powerup.
//******************************************************************************
#if defined(__TI_COMPILER_VERSION__) || defined(__IAR_SYSTEMS_ICC__)
#pragma vector = TIMER0_B1_VECTOR
__interrupt void TIMER0_B1_ISR(void)
#elif defined(__GNUC__)
void __attribute__ ((interrupt(TIMER0_B1_VECTOR))) TIMER0_B1_ISR (void)
#else
#error Compiler not supported!
#endif
{
    switch(__even_in_range(TB0IV,TB0IV_TBIFG))
    {
        case TB0IV_NONE:
            break;                                  // No interrupt
        case TB0IV_TBCCR1:
            if(!(TB0CCTL1 & COV))                   // No overflow
            {
                if((TB0CCTL1 & CCI) == CCI)         // Rising edge interrupt
                {
                    start_pulse = TB0CCR1;
                    TB0CCR0 = start_pulse + DELAY_6S; // Compare interrupt in 6 seconds
                    TB0CCTL0 &=  ~CCIFG;             // Ensure no interrupt is pending
                    TB0CCTL0 |=  CCIE;              // Enable compare interrupt
                }
                else                                // Falling edge interrupt
                {
                    if(state & FAILSAFE)
                    {
                        state &= ~(FAILSAFE | PULSE_END);  // Clear Flags
                    }
                    else
                    {
                        state |= PULSE_END;
                        stop_pulse = TB0CCR1;
                        TB0CCTL0 &=  ~CCIFG;        // Ensure no interrupt is pending
                        TB0CCTL0 &=  ~CCIE;         // Disable compare interrupt
                    }
                }
            }
            else    // Clear overflow
            {
                TB0CCTL1 &= ~COV;
            }
            break;
        case TB0IV_TBCCR2:              // CCR2 check to ensure SBC 5V supply is still down
            if(SBC_5V_down_counter < NUMofSAMPLES)
            {
                if(P1IN & BIT1)
                {
                    SBC_5V_down_counter++;
                    TB0CCR2 = TB0R + DELAY_250ms;   // Read timer and add delay to compare 2
                    TB0CCTL2 &=  ~CCIFG;            // Ensure no compare 2 interrupt is pending
                }
                else
                {
                    SBC_5V_down_counter = 0;    // Reset counter
                    TB0CCTL2 &=  ~CCIE;         // Disable compare 2 interrupt
                }
            }
            else
            {
                state |= SBC_5V_down;       // Set flag
                SBC_5V_down_counter = 0;    // Reset counter
                TB0CCTL2 &=  ~CCIE;         // Disable compare 2 interrupt
            }
            break;
        case TB0IV_TBIFG:
            break;                               // overflow
        default:
            break;
    }
}