// Functions that will be run from RAM need to be assigned to 
// a different section.  This section will then be mapped using
// the linker cmd file.

#pragma CODE_SECTION(ecap2_isr, "ramfuncs");
#pragma CODE_SECTION(cpu_timer0_isr, "ramfuncs");
#pragma CODE_SECTION(InitAdc, "ramfuncs");

// Prototype statements for functions found within this file.
interrupt void ecap2_isr(void);
interrupt void cpu_timer0_isr(void);

void InitECapture(void);
void InitEPwmTimer(void);
void InitMessage(void);
void GetADC(void);
void InitGenGpio(void);
void Start_Motor (void);
void Stop(void);
void Fail(void);

void ReceiveCANMsg(void);
void SendCANMsg(void);
Uint16 crc16(Uint32, Uint16);


// Global variables 

Uint16 CRC;


// These are defined by the linker (see F2808.cmd)

extern Uint16 RamfuncsLoadStart;
extern Uint16 RamfuncsLoadEnd;
extern Uint16 RamfuncsRunStart;


void main(void)
{

// CAN stuff
 
   struct ECAN_MBOXES MBoxesShadow;
   struct ECAN_REGS ECanaShadow;

// CRC test
//	FlashAddr = &Flash;
	CRC = crc16(FLASH_BASE, FLASH_SIZE);
//	if (CRC != CRC)
//	{
//		Fail();
//	}


  
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP280x_SysCtrl.c file.
   InitSysCtrl();

// Specific clock setting for this example:

   EALLOW;
   SysCtrlRegs.HISPCP.all = ADC_MODCLK;	// HSPCLK = SYSCLKOUT/ADC_MODCLK
   EDIS;



// Step 2. Initalize GPIO: 
   
   InitEPwm3Gpio();
   InitECap2Gpio();
   InitGenGpio();
   InitECanaGpio();
   InitMessage();
      
      

// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts 

   DINT;

// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.  
// This function is found in the DSP280x_PieCtrl.c file.
//   XIntruptRegs.XNMICR.bit.ENABLE = 1;
//   XIntruptRegs.XNMICR.bit.SELECT = 0;

   InitPieCtrl();
   
// Disable CPU interrupts and clear all CPU interrupt flags:

   IER = 0x0000;
   IFR = 0x0000;

// Initialize the PIE vector table with pointers to the shell Interrupt 
// Service Routines (ISR).  
// This will populate the entire table, even if the interrupt
// is not used in this example.  This is useful for debug purposes.
// The shell ISR routines are found in DSP280x_DefaultIsr.c.
// This function is found in DSP280x_PieVect.c.

   InitPieVectTable();

// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.  

   EALLOW;  // This is needed to write to EALLOW protected registers
   PieVectTable.ECAP2_INT = &ecap2_isr;
   PieVectTable.TINT0 = &cpu_timer0_isr;
   PieVectTable.SEQ1INT = &SEQ1INT_ISR;
   PieVectTable.SEQ2INT = &SEQ2INT_ISR;
   PieVectTable.ADCINT = &ADCINT_ISR;
   EDIS;    // This is needed to disable write to EALLOW protected registers



// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP280x_InitPeripherals.c

   InitEPwmTimer();    
   InitECapture();
   InitAdc();  
   InitECana();
   InitCpuTimers();   

// Copy time critical code and Flash setup code to RAM
// This includes the following ISR functions: epwm1_timer_isr(), epwm2_timer_isr()
// epwm3_timer_isr and and InitFlash();
// The  RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the F2808.cmd file. 

   MemCopy(&RamfuncsLoadStart, &RamfuncsLoadEnd, &RamfuncsRunStart);

// Call Flash Initialization to setup flash waitstates
// This function must reside in RAM

   InitFlash();

...