//#############################################################################
//
// FILE:   device.h
//
// TITLE:  Device setup for examples.
//
//#############################################################################
//
//
// 
// C2000Ware v5.04.00.00
//
// Copyright (C) 2024 Texas Instruments Incorporated - http://www.ti.com
//
// 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 
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// 
//   Redistributions in binary form must reproduce the above copyright
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//   distribution.
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// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
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// $
//#############################################################################

#ifndef __DEVICE_H__
#define __DEVICE_H__

#ifdef __cplusplus
extern "C"
{
#endif

//
// Included Files
//
#include "driverlib.h"

//
// Check for invalid compile flags
//
#if defined(__TMS320C28XX_FPU64__)
#error "Invalid FPU Configuration"
#endif

//*****************************************************************************
//
// Defines for pin numbers
//
//*****************************************************************************

#ifdef _LAUNCHXL_F28P55X

//
// LaunchPad
//

//
// LEDs
//
#define DEVICE_GPIO_PIN_LED1        20U                 // GPIO number for LED4
#define DEVICE_GPIO_PIN_LED2        21U                 // GPIO number for LED5
#define DEVICE_GPIO_CFG_LED1        GPIO_20_GPIO20      // "pinConfig" for LED4
#define DEVICE_GPIO_CFG_LED2        GPIO_21_GPIO21      // "pinConfig" for LED5

//
// MCANA
//
#define DEVICE_GPIO_PIN_MCANRXA     5U                  // GPIO number for MCANA RX
#define DEVICE_GPIO_PIN_MCANTXA     4U                  // GPIO number for MCANA TX
#define DEVICE_GPIO_CFG_MCANRXA     GPIO_5_MCANA_RX     // "pinConfig" for MCANA RX
#define DEVICE_GPIO_CFG_MCANTXA     GPIO_4_MCANA_TX     // "pinConfig" for MCANA TX

//
// SCI for USB-to-UART adapter on FTDI chip
//
#define DEVICE_GPIO_PIN_SCIRXDA     28U                 // GPIO number for SCIA RX
#define DEVICE_GPIO_PIN_SCITXDA     29U                 // GPIO number for SCIA TX
#define DEVICE_GPIO_CFG_SCIRXDA     GPIO_28_SCIA_RX     // "pinConfig" for SCIA RX
#define DEVICE_GPIO_CFG_SCITXDA     GPIO_29_SCIA_TX     // "pinConfig" for SCIA TX

#define DEVICE_GPIO_PIN_SCIRXDB     15U                 // GPIO number for SCIB RX
#define DEVICE_GPIO_PIN_SCITXDB     56U                 // GPIO number for SCIB TX
#define DEVICE_GPIO_CFG_SCIRXDB     GPIO_15_SCIB_RX     // "pinConfig" for SCIB RX
#define DEVICE_GPIO_CFG_SCITXDB     GPIO_56_SCIB_TX     // "pinConfig" for SCIB TX

//
// LINA
//
#define DEVICE_GPIO_PIN_LINTXA      22U                 // GPIO number for LINA TX
#define DEVICE_GPIO_PIN_LINRXA      23U                 // GPIO number for LINA RX
#define DEVICE_GPIO_CFG_LINTXA      GPIO_22_LINA_TX     // "pinConfig" for LINA TX
#define DEVICE_GPIO_CFG_LINRXA      GPIO_23_LINA_RX     // "pinConfig" for LINA RX


//
// I2CA
//
#define DEVICE_GPIO_PIN_SDAA        19U                // GPIO number for I2CA SDA
#define DEVICE_GPIO_PIN_SCLA        18U                // GPIO number for I2CA SCL
#define DEVICE_GPIO_CFG_SDAA        GPIO_19_I2CA_SDA   // "pinConfig" for I2CA SDA
#define DEVICE_GPIO_CFG_SCLA        GPIO_18_I2CA_SCL   // "pinConfig" for I2CA SCL

//
// I2CB
//
#define DEVICE_GPIO_PIN_SDAB        34U                 // GPIO number for I2CB SDA
#define DEVICE_GPIO_PIN_SCLB        51U                 // GPIO number for I2CB SCL
#define DEVICE_GPIO_CFG_SDAB        GPIO_34_I2CB_SDA    // "pinConfig" for I2CB SDA
#define DEVICE_GPIO_CFG_SCLB        GPIO_51_I2CB_SCL    // "pinConfig" for I2CB SCL

//
// FSI
//
#define DEVICE_GPIO_PIN_FSI_TXCLK   44U                 // GPIO number for FSI TXCLK
#define DEVICE_GPIO_PIN_FSI_TX0     49U                 // GPIO number for FSI TX0
#define DEVICE_GPIO_PIN_FSI_TX1     50U                 // GPIO number for FSI TX1
#define DEVICE_GPIO_PIN_FSI_RXCLK   54U                 // GPIO number for FSI RXCLK
#define DEVICE_GPIO_PIN_FSI_RX0     52U                 // GPIO number for FSI RX0
#define DEVICE_GPIO_PIN_FSI_RX1     53U                 // GPIO number for FSI RX1

#define DEVICE_GPIO_CFG_FSI_TXCLK   GPIO_44_FSITXA_CLK  // "pinConfig" for FSI TXCLK
#define DEVICE_GPIO_CFG_FSI_TX0     GPIO_49_FSITXA_D0   // "pinConfig" for FSI TX0
#define DEVICE_GPIO_CFG_FSI_TX1     GPIO_50_FSITXA_D1   // "pinConfig" for FSI TX1
#define DEVICE_GPIO_CFG_FSI_RXCLK   GPIO_54_FSIRXA_CLK  // "pinConfig" for FSI RXCLK
#define DEVICE_GPIO_CFG_FSI_RX0     GPIO_52_FSIRXA_D0   // "pinConfig" for FSI RX0
#define DEVICE_GPIO_CFG_FSI_RX1     GPIO_53_FSIRXA_D1   // "pinConfig" for FSI RX1

//
// eQEP1
//
#define DEVICE_GPIO_PIN_EQEP1A      40U  // GPIO number for EQEP 1A
#define DEVICE_GPIO_PIN_EQEP1B      41U  // GPIO number for EQEP 1B
#define DEVICE_GPIO_PIN_EQEP1I      59U  // GPIO number for EQEP 1I
#define DEVICE_GPIO_CFG_EQEP1A      GPIO_40_EQEP1_A  // "pinConfig" for EQEP 1A
#define DEVICE_GPIO_CFG_EQEP1B      GPIO_41_EQEP1_B  // "pinConfig" for EQEP 1B
#define DEVICE_GPIO_CFG_EQEP1I      GPIO_59_EQEP1_INDEX  // "pinConfig" for EQEP 1I

//
// eQEP3
//
#define DEVICE_GPIO_PIN_EQEP3A      25U  // GPIO number for EQEP 3A
#define DEVICE_GPIO_PIN_EQEP3B      26U  // GPIO number for EQEP 3B
#define DEVICE_GPIO_PIN_EQEP3I      30U  // GPIO number for EQEP 3I
#define DEVICE_GPIO_CFG_EQEP3A      GPIO_25_EQEP3_A  // "pinConfig" for EQEP 3A
#define DEVICE_GPIO_CFG_EQEP3B      GPIO_26_EQEP3_B  // "pinConfig" for EQEP 3B
#define DEVICE_GPIO_CFG_EQEP3I      GPIO_30_EQEP3_INDEX  // "pinConfig" for EQEP 3I

#else

//
// ControlCARD
//

//
// LEDs
//
#define DEVICE_GPIO_PIN_LED1        31U             // GPIO number for LED1
#define DEVICE_GPIO_PIN_LED2        34U             // GPIO number for LED2
#define DEVICE_GPIO_CFG_LED1        GPIO_31_GPIO31  // "pinConfig" for LED1
#define DEVICE_GPIO_CFG_LED2        GPIO_34_GPIO34  // "pinConfig" for LED2

//
// SCI for USB-to-UART adapter on FTDI chip
//
#define DEVICE_GPIO_PIN_SCIRXDA     28U             // GPIO number for SCI RX
#define DEVICE_GPIO_PIN_SCITXDA     29U             // GPIO number for SCI TX
#define DEVICE_GPIO_CFG_SCIRXDA     GPIO_28_SCIA_RX // "pinConfig" for SCI RX
#define DEVICE_GPIO_CFG_SCITXDA     GPIO_29_SCIA_TX // "pinConfig" for SCI TX

//
// MCANA
//
#define DEVICE_GPIO_PIN_MCANTXA    31U               // GPIO number for MCANTXA
#define DEVICE_GPIO_PIN_MCANRXA    30U               // GPIO number for MCANRXA
#define DEVICE_GPIO_CFG_MCANRXA    GPIO_30_MCANA_RX  // "pinConfig" for MCANA RX
#define DEVICE_GPIO_CFG_MCANTXA    GPIO_31_MCANA_TX  // "pinConfig" for MCANA TX

//
// MCANB
//
#define DEVICE_GPIO_PIN_MCANTXB    58U              // GPIO number for MCANTXB
#define DEVICE_GPIO_PIN_MCANRXB    61U              // GPIO number for MCANRXB
#define DEVICE_GPIO_CFG_MCANRXB    GPIO_61_MCANB_RX // "pinConfig" for MCANB RX
#define DEVICE_GPIO_CFG_MCANTXB    GPIO_58_MCANB_TX // "pinConfig" for MCANB TX

//
// LINA
//
#define DEVICE_GPIO_PIN_LINTXA      54U              // GPIO number for LINA TX
#define DEVICE_GPIO_PIN_LINRXA      55U              // GPIO number for LINA RX
#define DEVICE_GPIO_CFG_LINTXA      GPIO_54_LINA_TX  // "pinConfig" for LINA TX
#define DEVICE_GPIO_CFG_LINRXA      GPIO_55_LINA_RX  // "pinConfig" for LINA RX

//
// I2C
//
#define DEVICE_GPIO_PIN_SDAA        26U  // GPIO number for I2C SDAA
#define DEVICE_GPIO_PIN_SCLA        27U  // GPIO number for I2C SCLA
#define DEVICE_GPIO_CFG_SDAA        GPIO_26_I2CA_SDA  // "pinConfig" for I2C SDAA
#define DEVICE_GPIO_CFG_SCLA        GPIO_27_I2CA_SCL  // "pinConfig" for I2C SCLA

//I2CB GPIO pins
#define DEVICE_GPIO_PIN_SDAB    2
#define DEVICE_GPIO_PIN_SCLB    3

#define DEVICE_GPIO_CFG_SDAB GPIO_2_I2CB_SDA
#define DEVICE_GPIO_CFG_SCLB GPIO_3_I2CB_SCL


//
// FSI
//
#define DEVICE_GPIO_PIN_FSI_RXCLK   13U  // GPIO number for FSI RXCLK
#define DEVICE_GPIO_PIN_FSI_RX0     12U  // GPIO number for FSI RX0
#define DEVICE_GPIO_PIN_FSI_RX1     11U  // GPIO number for FSI RX1
#define DEVICE_GPIO_CFG_FSI_TXCLK   GPIO_27_FSITXA_CLK  // "pinConfig" for FSI TXCLK
#define DEVICE_GPIO_CFG_FSI_TX0     GPIO_26_FSITXA_D0   // "pinConfig" for FSI TX0
#define DEVICE_GPIO_CFG_FSI_TX1     GPIO_25_FSITXA_D1   // "pinConfig" for FSI TX1
#define DEVICE_GPIO_CFG_FSI_RXCLK   GPIO_13_FSIRXA_CLK  // "pinConfig" for FSI RXCLK
#define DEVICE_GPIO_CFG_FSI_RX0     GPIO_12_FSIRXA_D0   // "pinConfig" for FSI RX0
#define DEVICE_GPIO_CFG_FSI_RX1     GPIO_11_FSIRXA_D1   // "pinConfig" for FSI RX1

//
// EQEP1
//
#define DEVICE_GPIO_PIN_EQEP1A      20U  // GPIO number for EQEP 1A
#define DEVICE_GPIO_PIN_EQEP1B      21U  // GPIO number for EQEP 1B
#define DEVICE_GPIO_PIN_EQEP1I      59U  // GPIO number for EQEP 1I
#define DEVICE_GPIO_CFG_EQEP1A      GPIO_20_EQEP1_A  // "pinConfig" for EQEP 1A
#define DEVICE_GPIO_CFG_EQEP1B      GPIO_21_EQEP1_B  // "pinConfig" for EQEP 1B
#define DEVICE_GPIO_CFG_EQEP1I      GPIO_59_EQEP1_INDEX  // "pinConfig" for EQEP 1I

//
// EQEP2
//
#define DEVICE_GPIO_PIN_EQEP2A      54U  // GPIO number for EQEP 3A
#define DEVICE_GPIO_PIN_EQEP2B      55U  // GPIO number for EQEP 3B
#define DEVICE_GPIO_PIN_EQEP2I      57U  // GPIO number for EQEP 3I
#define DEVICE_GPIO_CFG_EQEP2A      GPIO_54_EQEP2_A  // "pinConfig" for EQEP 3A
#define DEVICE_GPIO_CFG_EQEP2B      GPIO_55_EQEP2_B  // "pinConfig" for EQEP 3B
#define DEVICE_GPIO_CFG_EQEP2I      GPIO_57_EQEP2_INDEX  // "pinConfig" for EQEP 3I

#endif

//*****************************************************************************
//
// Defines related to clock configuration
//
//*****************************************************************************

//
// To use INTOSC as the clock source, comment the #define USE_PLL_SRC_XTAL,
// and uncomment the #define USE_PLL_SRC_INTOSC
//
#define USE_PLL_SRC_XTAL
//#define USE_PLL_SRC_INTOSC


#if defined(USE_PLL_SRC_XTAL)
//
// 20MHz XTAL on controlCARD is used as the PLL source.
// For use with SysCtl_getClock().
//
#define DEVICE_OSCSRC_FREQ          20000000U

//
// Define to pass to SysCtl_setClock(). Will configure the clock as follows:
// PLLSYSCLK = 20MHz (XTAL_OSC) * 30 (IMULT) / (2 (REFDIV) * 1 (ODIV) * 2(SYSDIV))
//
#define DEVICE_SETCLOCK_CFG          (SYSCTL_OSCSRC_XTAL | SYSCTL_IMULT(30) | \
                                      SYSCTL_REFDIV(2) | SYSCTL_ODIV(1) | \
                                      SYSCTL_SYSDIV(2) | SYSCTL_PLL_ENABLE | \
                                      SYSCTL_DCC_BASE_0)

//
// 150MHz SYSCLK frequency based on the above DEVICE_SETCLOCK_CFG. Update the
// code below if a different clock configuration is used!
//
#define DEVICE_SYSCLK_FREQ          ((DEVICE_OSCSRC_FREQ * 30) / (2 * 1 * 2))

#elif defined(USE_PLL_SRC_INTOSC)
//
// 10MHz INTOSC on the device is used as the PLL source.
// For use with SysCtl_getClock().
//
#define DEVICE_OSCSRC_FREQ          10000000U

//
// Define to pass to SysCtl_setClock(). Will configure the clock as follows:
// PLLSYSCLK = 10MHz (INT_OSC2) * 30 (IMULT) / (1 (REFDIV) * 1 (ODIV) * 2(SYSDIV))
//
#define DEVICE_SETCLOCK_CFG          (SYSCTL_OSCSRC_OSC2 | SYSCTL_IMULT(30) | \
                                      SYSCTL_REFDIV(1) | SYSCTL_ODIV(1) | \
                                      SYSCTL_SYSDIV(2) | SYSCTL_PLL_ENABLE | \
                                      SYSCTL_DCC_BASE_0)

//
// 150MHz SYSCLK frequency based on the above DEVICE_SETCLOCK_CFG. Update the
// code below if a different clock configuration is used!
//
#define DEVICE_SYSCLK_FREQ          ((DEVICE_OSCSRC_FREQ * 30) / (1 * 1 * 2))
#endif

//
// 37.5MHz LSPCLK frequency based on the above DEVICE_SYSCLK_FREQ and a default
// low speed peripheral clock divider of 4. Update the code below if a
// different LSPCLK divider is used!
//
#define DEVICE_LSPCLK_FREQ          (DEVICE_SYSCLK_FREQ / 4)

//*****************************************************************************
//
// Macro to call SysCtl_delay() to achieve a delay in microseconds. The macro
// will convert the desired delay in microseconds to the count value expected
// by the function. \b x is the number of microseconds to delay.
//
//*****************************************************************************
#define DEVICE_DELAY_US(x) SysCtl_delay(((((long double)(x)) / (1000000.0L /  \
                              (long double)DEVICE_SYSCLK_FREQ)) - 9.0L) / 5.0L)

//
//  Defines for setting FSI clock speeds
//
#define FSI_PRESCALE_75MHZ          1U
#define FSI_PRESCALE_37_5MHZ        2U
#define FSI_PRESCALE_15MHZ          5U
#define FSI_PRESCALE_7_5MHZ         10U

//*****************************************************************************
//
// Defines, Globals, and Header Includes related to Flash Support
//
//*****************************************************************************
#ifdef _FLASH
#include <stddef.h>

#ifndef CMDTOOL
extern uint16_t RamfuncsLoadStart;
extern uint16_t RamfuncsLoadEnd;
extern uint16_t RamfuncsLoadSize;
extern uint16_t RamfuncsRunStart;
extern uint16_t RamfuncsRunEnd;
extern uint16_t RamfuncsRunSize;
#endif

#endif

#define DEVICE_FLASH_WAITSTATES 3

//*****************************************************************************
//
// Function Prototypes
//
//*****************************************************************************
//*****************************************************************************
//
//! \addtogroup device_api
//! @{
//
//*****************************************************************************

//*****************************************************************************
//
//! @brief Function to initialize the device. Primarily initializes system
//!  control to aknown state by disabling the watchdog, setting up the
//!  SYSCLKOUT frequency, and enabling the clocks to the peripherals.
//!
//! \param None.
//! \return None.
//
//*****************************************************************************
extern void Device_init(void);

//*****************************************************************************
//
//!
//! @brief Function to verify the XTAL frequency
//! \param freq is the XTAL frequency in MHz
//! \return The function return true if the the actual XTAL frequency matches with the
//! input value
//
//*****************************************************************************
extern bool Device_verifyXTAL(float freq);

//*****************************************************************************
//!
//!
//! @brief Function to turn on all peripherals, enabling reads and writes to the
//! peripherals' registers.
//!
//! Note that to reduce power, unused peripherals should be disabled.
//!
//! @param None
//! @return None
//
//*****************************************************************************
extern void Device_enableAllPeripherals(void);
//*****************************************************************************
//!
//!
//! @brief Function to disable pin locks on GPIOs.
//!
//! @param None
//! @return None
//
//*****************************************************************************
extern void Device_initGPIO(void);

//*****************************************************************************
//!
//! @brief Error handling function to be called when an ASSERT is violated
//!
//! @param *filename File name in which the error has occurred
//! @param line Line number within the file
//! @return None
//
//*****************************************************************************
extern void __error__(const char *filename, uint32_t line);

//*****************************************************************************
//
// Close the Doxygen group.
//! @}
//
//*****************************************************************************

#ifdef __cplusplus
}
#endif

#endif // __DEVICE_H__
