TM4C1292NCPDT: Debug error when debugging custom SPI code

/*
 * 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.
 */

/*
 *  ======== EK_TM4C1294XL.c ========
 *  This file is responsible for setting up the board specific items for the
 *  EK_TM4C1294XL board.
 */

#include <stdint.h>
#include <stdbool.h>

#include <xdc/std.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>
#include <ti/sysbios/family/arm/m3/Hwi.h>

#include <inc/hw_ints.h>
#include <inc/hw_memmap.h>
#include <inc/hw_types.h>
#include <inc/hw_gpio.h>

#include <driverlib/flash.h>
#include <driverlib/gpio.h>
#include <driverlib/i2c.h>
#include <driverlib/pin_map.h>
#include <driverlib/pwm.h>
#include <driverlib/ssi.h>
#include <driverlib/sysctl.h>
#include <driverlib/uart.h>
#include <driverlib/udma.h>

#include "EK_TM4C1294XL.h"

#ifndef TI_DRIVERS_UART_DMA
#define TI_DRIVERS_UART_DMA 0
#endif

#ifndef TI_EXAMPLES_PPP
#define TI_EXAMPLES_PPP 0
#else
/* prototype for NIMU init function */
extern int USBSerialPPP_NIMUInit();
#endif

/*
 *  =============================== DMA ===============================
 */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_ALIGN(dmaControlTable, 1024)
#elif defined(__IAR_SYSTEMS_ICC__)
#pragma data_alignment=1024
#elif defined(__GNUC__)
__attribute__ ((aligned (1024)))
#endif
static tDMAControlTable dmaControlTable[32];
static bool dmaInitialized = false;

/* Hwi_Struct used in the initDMA Hwi_construct call */
static Hwi_Struct dmaHwiStruct;

/* Hwi_Struct used in the usbBusFault Hwi_construct call */
static Hwi_Struct usbBusFaultHwiStruct;

/*
 *  ======== dmaErrorHwi ========
 */
static Void dmaErrorHwi(UArg arg)
{
    System_printf("DMA error code: %d\n", uDMAErrorStatusGet());
    uDMAErrorStatusClear();
    System_abort("DMA error!!");
}

/*
 *  ======== EK_TM4C1294XL_usbBusFaultHwi ========
 */
static Void EK_TM4C1294XL_usbBusFaultHwi(UArg arg)
{
    /*
     *  This function should be modified to appropriately manage handle
     *  a USB bus fault.
    */
    System_printf("USB bus fault detected.");
    Hwi_clearInterrupt(INT_GPIOQ4);
    System_abort("USB error!!");
}

/*
 *  ======== EK_TM4C1294XL_initDMA ========
 */
void EK_TM4C1294XL_initDMA(void)
{
    Error_Block eb;
    Hwi_Params  hwiParams;

    if (!dmaInitialized) {
        Error_init(&eb);
        Hwi_Params_init(&hwiParams);
        Hwi_construct(&(dmaHwiStruct), INT_UDMAERR, dmaErrorHwi,
                      &hwiParams, &eb);
        if (Error_check(&eb)) {
            System_abort("Couldn't construct DMA error hwi");
        }

        SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
        uDMAEnable();
        uDMAControlBaseSet(dmaControlTable);

        dmaInitialized = true;
    }
}

/*
 *  =============================== General ===============================
 */
/*
 *  ======== EK_TM4C1294XL_initGeneral ========
 */
void EK_TM4C1294XL_initGeneral(void)
{
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOG);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOH);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOJ);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOK);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOL);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOM);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOP);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOQ);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOR);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOS);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOT);
}

/*
 *  =============================== EMAC ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(EMAC_config, ".const:EMAC_config")
#pragma DATA_SECTION(emacHWAttrs, ".const:emacHWAttrs")
#pragma DATA_SECTION(NIMUDeviceTable, ".data:NIMUDeviceTable")
#endif

#include <ti/drivers/EMAC.h>
#include <ti/drivers/emac/EMACSnow.h>

/*
 *  Required by the Networking Stack (NDK). This array must be NULL terminated.
 *  This can be removed if NDK is not used.
 *  Double curly braces are needed to avoid GCC bug #944572
 *  https://bugs.launchpad.net/gcc-linaro/+bug/944572
 */
NIMU_DEVICE_TABLE_ENTRY NIMUDeviceTable[2] = {
    {
#if TI_EXAMPLES_PPP
        /* Use PPP driver for PPP example only */
        .init = USBSerialPPP_NIMUInit
#else
        /* Default: use Ethernet driver */
        .init = EMACSnow_NIMUInit
#endif
    },
    {NULL}
};

EMACSnow_Object emacObjects[EK_TM4C1294XL_EMACCOUNT];

/*
 *  EMAC configuration structure
 *  Set user/company specific MAC octates. The following sets the address
 *  to ff-ff-ff-ff-ff-ff. Users need to change this to make the label on
 *  their boards.
 */
unsigned char macAddress[6] = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff};

const EMACSnow_HWAttrs emacHWAttrs[EK_TM4C1294XL_EMACCOUNT] = {
    {
        .baseAddr = EMAC0_BASE,
        .intNum = INT_EMAC0,
        .intPriority = (~0),
        .macAddress = macAddress
    }
};

const EMAC_Config EMAC_config[] = {
    {
        .fxnTablePtr = &EMACSnow_fxnTable,
        .object = &emacObjects[0],
        .hwAttrs = &emacHWAttrs[0]
    },
    {NULL, NULL, NULL}
};

/*
 *  ======== EK_TM4C1294XL_initEMAC ========
 */
void EK_TM4C1294XL_initEMAC(void)
{
    uint32_t ulUser0, ulUser1;

    /* Get the MAC address */
    FlashUserGet(&ulUser0, &ulUser1);
    if ((ulUser0 != 0xffffffff) && (ulUser1 != 0xffffffff)) {
        System_printf("Using MAC address in flash\n");
        /*
         *  Convert the 24/24 split MAC address from NV ram into a 32/16 split MAC
         *  address needed to program the hardware registers, then program the MAC
         *  address into the Ethernet Controller registers.
         */
        macAddress[0] = ((ulUser0 >>  0) & 0xff);
        macAddress[1] = ((ulUser0 >>  8) & 0xff);
        macAddress[2] = ((ulUser0 >> 16) & 0xff);
        macAddress[3] = ((ulUser1 >>  0) & 0xff);
        macAddress[4] = ((ulUser1 >>  8) & 0xff);
        macAddress[5] = ((ulUser1 >> 16) & 0xff);
    }
    else if (macAddress[0] == 0xff && macAddress[1] == 0xff &&
             macAddress[2] == 0xff && macAddress[3] == 0xff &&
             macAddress[4] == 0xff && macAddress[5] == 0xff) {
        System_abort("Change the macAddress variable to match your boards MAC sticker");
    }

    GPIOPinConfigure(GPIO_PF0_EN0LED0);  /* EK_TM4C1294XL_USR_D3 */
    GPIOPinConfigure(GPIO_PF4_EN0LED1);  /* EK_TM4C1294XL_USR_D4 */
    GPIOPinTypeEthernetLED(GPIO_PORTF_BASE, GPIO_PIN_0 | GPIO_PIN_4);


    /* Once EMAC_init is called, EMAC_config cannot be changed */
    EMAC_init();
}

/*
 *  =============================== GPIO ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(GPIOTiva_config, ".const:GPIOTiva_config")
#endif

#include <ti/drivers/GPIO.h>
#include <ti/drivers/gpio/GPIOTiva.h>

/*
 * Array of Pin configurations
 * NOTE: The order of the pin configurations must coincide with what was
 *       defined in EK_TM4C1294XL.h
 * NOTE: Pins not used for interrupts should be placed at the end of the
 *       array.  Callback entries can be omitted from callbacks array to
 *       reduce memory usage.
 */
GPIO_PinConfig gpioPinConfigs[] = {
    /* Input pins */
    /* EK_TM4C1294XL_USR_SW1 */
    GPIOTiva_PJ_0 | GPIO_CFG_IN_PU | GPIO_CFG_IN_INT_RISING,
    /* EK_TM4C1294XL_USR_SW2 */
    GPIOTiva_PJ_1 | GPIO_CFG_IN_PU | GPIO_CFG_IN_INT_RISING,

    /* Output pins */
    /* EK_TM4C1294XL_USR_D1 */
    GPIOTiva_PN_1 | GPIO_CFG_OUT_STD | GPIO_CFG_OUT_STR_HIGH | GPIO_CFG_OUT_LOW,
    /* EK_TM4C1294XL_USR_D2 */
    GPIOTiva_PN_0 | GPIO_CFG_OUT_STD | GPIO_CFG_OUT_STR_HIGH | GPIO_CFG_OUT_LOW,
};

/*
 * Array of callback function pointers
 * NOTE: The order of the pin configurations must coincide with what was
 *       defined in EK_TM4C1294XL.h
 * NOTE: Pins not used for interrupts can be omitted from callbacks array to
 *       reduce memory usage (if placed at end of gpioPinConfigs array).
 */
GPIO_CallbackFxn gpioCallbackFunctions[] = {
    NULL,  /* EK_TM4C1294XL_USR_SW1 */
    NULL   /* EK_TM4C1294XL_USR_SW2 */
};

/* The device-specific GPIO_config structure */
const GPIOTiva_Config GPIOTiva_config = {
    .pinConfigs = (GPIO_PinConfig *)gpioPinConfigs,
    .callbacks = (GPIO_CallbackFxn *)gpioCallbackFunctions,
    .numberOfPinConfigs = sizeof(gpioPinConfigs)/sizeof(GPIO_PinConfig),
    .numberOfCallbacks = sizeof(gpioCallbackFunctions)/sizeof(GPIO_CallbackFxn),
    .intPriority = (~0)
};

/*
 *  ======== EK_TM4C1294XL_initGPIO ========
 */
void EK_TM4C1294XL_initGPIO(void)
{
    /* Initialize peripheral and pins */
    GPIO_init();
}

/*
 *  =============================== I2C ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(I2C_config, ".const:I2C_config")
#pragma DATA_SECTION(i2cTivaHWAttrs, ".const:i2cTivaHWAttrs")
#endif

#include <ti/drivers/I2C.h>
#include <ti/drivers/i2c/I2CTiva.h>

I2CTiva_Object i2cTivaObjects[EK_TM4C1294XL_I2CCOUNT];

const I2CTiva_HWAttrs i2cTivaHWAttrs[EK_TM4C1294XL_I2CCOUNT] = {
    {
        .baseAddr = I2C7_BASE,
        .intNum = INT_I2C7,
        .intPriority = (~0)
    },
    {
        .baseAddr = I2C8_BASE,
        .intNum = INT_I2C8,
        .intPriority = (~0)
    }
};

const I2C_Config I2C_config[] = {
    {
        .fxnTablePtr = &I2CTiva_fxnTable,
        .object = &i2cTivaObjects[0],
        .hwAttrs = &i2cTivaHWAttrs[0]
    },
    {
        .fxnTablePtr = &I2CTiva_fxnTable,
        .object = &i2cTivaObjects[1],
        .hwAttrs = &i2cTivaHWAttrs[1]
    },
    {NULL, NULL, NULL}
};

/*
 *  ======== EK_TM4C1294XL_initI2C ========
 */
void EK_TM4C1294XL_initI2C(void)
{
    /* I2C7 Init */
    /*
     * NOTE: TI-RTOS examples configure pins PD0 & PD1 for SSI2 or I2C7.  Thus,
     * a conflict occurs when the I2C & SPI drivers are used simultaneously in
     * an application.  Modify the pin mux settings in this file and resolve the
     * conflict before running your the application.
     */
    /* Enable the peripheral */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C7);

    /* Configure the appropriate pins to be I2C instead of GPIO. */
    GPIOPinConfigure(GPIO_PD0_I2C7SCL);
    GPIOPinConfigure(GPIO_PD1_I2C7SDA);
    GPIOPinTypeI2CSCL(GPIO_PORTD_BASE, GPIO_PIN_0);
    GPIOPinTypeI2C(GPIO_PORTD_BASE, GPIO_PIN_1);

    /* I2C8 Init */
    /* Enable the peripheral */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C8);

    /* Configure the appropriate pins to be I2C instead of GPIO. */
    GPIOPinConfigure(GPIO_PA2_I2C8SCL);
    GPIOPinConfigure(GPIO_PA3_I2C8SDA);
    GPIOPinTypeI2CSCL(GPIO_PORTA_BASE, GPIO_PIN_2);
    GPIOPinTypeI2C(GPIO_PORTA_BASE, GPIO_PIN_3);

    I2C_init();
}

/*
 *  =============================== PWM ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(PWM_config, ".const:PWM_config")
#pragma DATA_SECTION(pwmTivaHWAttrs, ".const:pwmTivaHWAttrs")
#endif

#include <ti/drivers/PWM.h>
#include <ti/drivers/pwm/PWMTiva.h>

PWMTiva_Object pwmTivaObjects[EK_TM4C1294XL_PWMCOUNT];

const PWMTiva_HWAttrs pwmTivaHWAttrs[EK_TM4C1294XL_PWMCOUNT] = {
    {
        .baseAddr = PWM0_BASE,
        .pwmOutput = PWM_OUT_0,
        .pwmGenOpts = PWM_GEN_MODE_DOWN | PWM_GEN_MODE_DBG_RUN
    }
};

const PWM_Config PWM_config[] = {
    {
        .fxnTablePtr = &PWMTiva_fxnTable,
        .object = &pwmTivaObjects[0],
        .hwAttrs = &pwmTivaHWAttrs[0]
    },
    {NULL, NULL, NULL}
};

/*
 *  ======== EK_TM4C1294XL_initPWM ========
 */
void EK_TM4C1294XL_initPWM(void)
{
    /* Enable PWM peripherals */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);

    /*
     * Enable PWM output on GPIO pins.  PWM output is connected to an Ethernet
     * LED on the development board (D4).  The PWM configuration
     * below will disable Ethernet functionality.
     */
    GPIOPinConfigure(GPIO_PF0_M0PWM0);
    GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_0);

    PWM_init();
}

/*
 *  =============================== SDSPI ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(SDSPI_config, ".const:SDSPI_config")
#pragma DATA_SECTION(sdspiTivaHWattrs, ".const:sdspiTivaHWattrs")
#endif

#include <ti/drivers/SDSPI.h>
#include <ti/drivers/sdspi/SDSPITiva.h>

SDSPITiva_Object sdspiTivaObjects[EK_TM4C1294XL_SDSPICOUNT];

const SDSPITiva_HWAttrs sdspiTivaHWattrs[EK_TM4C1294XL_SDSPICOUNT] = {
    {
        .baseAddr = SSI2_BASE,

        .portSCK = GPIO_PORTD_BASE,
        .pinSCK = GPIO_PIN_3,
        .portMISO = GPIO_PORTD_BASE,
        .pinMISO = GPIO_PIN_0,
        .portMOSI = GPIO_PORTD_BASE,
        .pinMOSI = GPIO_PIN_1,
        .portCS = GPIO_PORTC_BASE,
        .pinCS = GPIO_PIN_7,
    },
    {
        .baseAddr = SSI3_BASE,

        .portSCK = GPIO_PORTQ_BASE,
        .pinSCK = GPIO_PIN_0,
        .portMISO = GPIO_PORTQ_BASE,
        .pinMISO = GPIO_PIN_3,
        .portMOSI = GPIO_PORTQ_BASE,
        .pinMOSI = GPIO_PIN_2,
        .portCS = GPIO_PORTP_BASE,
        .pinCS = GPIO_PIN_4,
    }
};

const SDSPI_Config SDSPI_config[] = {
    {
        .fxnTablePtr = &SDSPITiva_fxnTable,
        .object = &sdspiTivaObjects[0],
        .hwAttrs = &sdspiTivaHWattrs[0]
    },
    {
        .fxnTablePtr = &SDSPITiva_fxnTable,
        .object = &sdspiTivaObjects[1],
        .hwAttrs = &sdspiTivaHWattrs[1]
    },
    {NULL, NULL, NULL}
};

/*
 *  ======== EK_TM4C1294XL_initSDSPI ========
 */
void EK_TM4C1294XL_initSDSPI(void)
{
    /* SDSPI0 configuration */
    /* Enable the peripherals used by the SD Card */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);

    /* Configure pad settings */
    GPIOPadConfigSet(GPIO_PORTD_BASE,
                     GPIO_PIN_3 | GPIO_PIN_1,
                     GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);

    GPIOPadConfigSet(GPIO_PORTD_BASE,
                     GPIO_PIN_0,
                     GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);

    GPIOPadConfigSet(GPIO_PORTC_BASE,
                     GPIO_PIN_7,
                     GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);

    GPIOPinConfigure(GPIO_PD3_SSI2CLK);
    GPIOPinConfigure(GPIO_PD0_SSI2XDAT1);
    GPIOPinConfigure(GPIO_PD1_SSI2XDAT0);

    /* SDSPI1 configuration */
    /* Enable the peripherals used by the SD Card */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3);

    /* Configure pad settings */
    GPIOPadConfigSet(GPIO_PORTQ_BASE,
                     GPIO_PIN_0 | GPIO_PIN_2,
                     GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);

    GPIOPadConfigSet(GPIO_PORTQ_BASE,
                     GPIO_PIN_3,
                     GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD_WPU);

    GPIOPadConfigSet(GPIO_PORTP_BASE,
                     GPIO_PIN_4,
                     GPIO_STRENGTH_4MA, GPIO_PIN_TYPE_STD);

    GPIOPinConfigure(GPIO_PQ0_SSI3CLK);
    GPIOPinConfigure(GPIO_PQ3_SSI3XDAT1);
    GPIOPinConfigure(GPIO_PQ2_SSI3XDAT0);

    /*
     *  These GPIOs are connected to PA2 and PA3 and need to be brought into a
     *  GPIO input state so they don't interfere with SPI communications.
     */
    GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_2);
    GPIOPinTypeGPIOInput(GPIO_PORTA_BASE, GPIO_PIN_3);

    SDSPI_init();
}

/*
 *  =============================== SPI ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(SPI_config, ".const:SPI_config")
#pragma DATA_SECTION(spiTivaDMAHWAttrs, ".const:spiTivaDMAHWAttrs")
#endif

#include <ti/drivers/SPI.h>
#include <ti/drivers/spi/SPITivaDMA.h>

SPITivaDMA_Object spiTivaDMAObjects[EK_TM4C1294XL_SPICOUNT];

#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_ALIGN(spiTivaDMAscratchBuf, 32)
#elif defined(__IAR_SYSTEMS_ICC__)
#pragma data_alignment=32
#elif defined(__GNUC__)
__attribute__ ((aligned (32)))
#endif
uint32_t spiTivaDMAscratchBuf[EK_TM4C1294XL_SPICOUNT];

const SPITivaDMA_HWAttrs spiTivaDMAHWAttrs[EK_TM4C1294XL_SPICOUNT] = {
    {
        .baseAddr = SSI2_BASE,
        .intNum = INT_SSI2,
        .intPriority = (~0),
        .scratchBufPtr = &spiTivaDMAscratchBuf[0],
        .defaultTxBufValue = 0,
        .rxChannelIndex = UDMA_SEC_CHANNEL_UART2RX_12,
        .txChannelIndex = UDMA_SEC_CHANNEL_UART2TX_13,
        .channelMappingFxn = uDMAChannelAssign,
        .rxChannelMappingFxnArg = UDMA_CH12_SSI2RX,
        .txChannelMappingFxnArg = UDMA_CH13_SSI2TX
    },
    {
        .baseAddr = SSI3_BASE,
        .intNum = INT_SSI3,
        .intPriority = (~0),
        .scratchBufPtr = &spiTivaDMAscratchBuf[1],
        .defaultTxBufValue = 0,
        .rxChannelIndex = UDMA_SEC_CHANNEL_TMR2A_14,
        .txChannelIndex = UDMA_SEC_CHANNEL_TMR2B_15,
        .channelMappingFxn = uDMAChannelAssign,
        .rxChannelMappingFxnArg = UDMA_CH14_SSI3RX,
        .txChannelMappingFxnArg = UDMA_CH15_SSI3TX
    }
};

const SPI_Config SPI_config[] = {
    {
        .fxnTablePtr = &SPITivaDMA_fxnTable,
        .object = &spiTivaDMAObjects[0],
        .hwAttrs = &spiTivaDMAHWAttrs[0]
    },
    {
        .fxnTablePtr = &SPITivaDMA_fxnTable,
        .object = &spiTivaDMAObjects[1],
        .hwAttrs = &spiTivaDMAHWAttrs[1]
    },
    {NULL, NULL, NULL}
};

/*
 *  ======== EK_TM4C1294XL_initSPI ========
 */
void EK_TM4C1294XL_initSPI(void)
{
    /* SSI2 */
    /*
     * NOTE: TI-RTOS examples configure pins PD0 & PD1 for SSI2 or I2C7.  Thus,
     * a conflict occurs when the I2C & SPI drivers are used simultaneously in
     * an application.  Modify the pin mux settings in this file and resolve the
     * conflict before running your the application.
     */
   /* SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);

    GPIOPinConfigure(GPIO_PD3_SSI2CLK);
    GPIOPinConfigure(GPIO_PD2_SSI2FSS);
    GPIOPinConfigure(GPIO_PD1_SSI2XDAT0);
    GPIOPinConfigure(GPIO_PD0_SSI2XDAT1);

    GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1 |
                                    GPIO_PIN_2 | GPIO_PIN_3);*/

    /* SSI3 */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI3);

    GPIOPinConfigure(GPIO_PQ0_SSI3CLK);
    GPIOPinConfigure(GPIO_PQ1_SSI3FSS);
    GPIOPinConfigure(GPIO_PQ2_SSI3XDAT0);
    GPIOPinConfigure(GPIO_PQ3_SSI3XDAT1);

    GPIOPinTypeSSI(GPIO_PORTQ_BASE, GPIO_PIN_0 | GPIO_PIN_1 |
                                    GPIO_PIN_2 | GPIO_PIN_3);

    EK_TM4C1294XL_initDMA();
    SPI_init();

    /*SSI0 */

}

/*
 *  =============================== UART ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(UART_config, ".const:UART_config")
#pragma DATA_SECTION(uartTivaHWAttrs, ".const:uartTivaHWAttrs")
#endif

#include <ti/drivers/UART.h>
#if TI_DRIVERS_UART_DMA
#include <ti/drivers/uart/UARTTivaDMA.h>

UARTTivaDMA_Object uartTivaObjects[EK_TM4C1294XL_UARTCOUNT];

const UARTTivaDMA_HWAttrs uartTivaHWAttrs[EK_TM4C1294XL_UARTCOUNT] = {
    {
        .baseAddr = UART0_BASE,
        .intNum = INT_UART0,
        .intPriority = (~0),
        .rxChannelIndex = UDMA_CH8_UART0RX,
        .txChannelIndex = UDMA_CH9_UART0TX,
    }
};

const UART_Config UART_config[] = {
    {
        .fxnTablePtr = &UARTTivaDMA_fxnTable,
        .object = &uartTivaObjects[0],
        .hwAttrs = &uartTivaHWAttrs[0]
    },
    {NULL, NULL, NULL}
};
#else
#include <ti/drivers/uart/UARTTiva.h>

UARTTiva_Object uartTivaObjects[EK_TM4C1294XL_UARTCOUNT];
unsigned char uartTivaRingBuffer[EK_TM4C1294XL_UARTCOUNT][32];

/* UART configuration structure */
const UARTTiva_HWAttrs uartTivaHWAttrs[EK_TM4C1294XL_UARTCOUNT] = {
    {
        .baseAddr = UART0_BASE,
        .intNum = INT_UART0,
        .intPriority = (~0),
        .flowControl = UART_FLOWCONTROL_NONE,
        .ringBufPtr  = uartTivaRingBuffer[0],
        .ringBufSize = sizeof(uartTivaRingBuffer[0])
    }
};

const UART_Config UART_config[] = {
    {
        .fxnTablePtr = &UARTTiva_fxnTable,
        .object = &uartTivaObjects[0],
        .hwAttrs = &uartTivaHWAttrs[0]
    },
    {NULL, NULL, NULL}
};
#endif /* TI_DRIVERS_UART_DMA */

/*
 *  ======== EK_TM4C1294XL_initUART ========
 */
void EK_TM4C1294XL_initUART(void)
{
    /* Enable and configure the peripherals used by the uart. */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
    GPIOPinConfigure(GPIO_PA0_U0RX);
    GPIOPinConfigure(GPIO_PA1_U0TX);
    GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    /* Initialize the UART driver */
#if TI_DRIVERS_UART_DMA
    EK_TM4C1294XL_initDMA();
#endif
    UART_init();
}

/*
 *  =============================== USB ===============================
 */
/*
 *  ======== EK_TM4C1294XL_initUSB ========
 *  This function just turns on the USB
 */
void EK_TM4C1294XL_initUSB(EK_TM4C1294XL_USBMode usbMode)
{
    Error_Block eb;
    Hwi_Params  hwiParams;

    /* Enable the USB peripheral and PLL */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_USB0);
    SysCtlUSBPLLEnable();

    /* Setup pins for USB operation */
    GPIOPinTypeUSBAnalog(GPIO_PORTB_BASE, GPIO_PIN_0 | GPIO_PIN_1);
    GPIOPinTypeUSBAnalog(GPIO_PORTL_BASE, GPIO_PIN_6 | GPIO_PIN_7);

    /* Additional configurations for Host mode */
    if (usbMode == EK_TM4C1294XL_USBHOST) {
        /* Configure the pins needed */
        HWREG(GPIO_PORTD_BASE + GPIO_O_LOCK) = GPIO_LOCK_KEY;
        HWREG(GPIO_PORTD_BASE + GPIO_O_CR) = 0xff;
        GPIOPinConfigure(GPIO_PD6_USB0EPEN);
        GPIOPinTypeUSBDigital(GPIO_PORTD_BASE, GPIO_PIN_6 | GPIO_PIN_7);

        /*
         *  USB bus fault is routed to pin PQ4.  We create a Hwi to allow us
         *  to detect power faults and recover gracefully or terminate the
         *  program.  PQ4 is active low; set the pin as input with a weak
         *  pull-up.
         */
        GPIOPadConfigSet(GPIO_PORTQ_BASE, GPIO_PIN_4,
                         GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPU);
        GPIOIntTypeSet(GPIO_PORTQ_BASE, GPIO_PIN_4, GPIO_FALLING_EDGE);
        GPIOIntClear(GPIO_PORTQ_BASE, GPIO_PIN_4);

        /* Create a Hwi for PQ4 pin. */
        Error_init(&eb);
        Hwi_Params_init(&hwiParams);
        Hwi_construct(&(usbBusFaultHwiStruct), INT_GPIOQ4,
                      EK_TM4C1294XL_usbBusFaultHwi, &hwiParams, &eb);
        if (Error_check(&eb)) {
            System_abort("Couldn't construct USB bus fault hwi");
        }
    }
}

/*
 *  =============================== USBMSCHFatFs ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(USBMSCHFatFs_config, ".const:USBMSCHFatFs_config")
#pragma DATA_SECTION(usbmschfatfstivaHWAttrs, ".const:usbmschfatfstivaHWAttrs")
#endif

#include <ti/drivers/USBMSCHFatFs.h>
#include <ti/drivers/usbmschfatfs/USBMSCHFatFsTiva.h>

USBMSCHFatFsTiva_Object usbmschfatfstivaObjects[EK_TM4C1294XL_USBMSCHFatFsCOUNT];

const USBMSCHFatFsTiva_HWAttrs usbmschfatfstivaHWAttrs[EK_TM4C1294XL_USBMSCHFatFsCOUNT] = {
    {
        .intNum = INT_USB0,
        .intPriority = (~0)
    }
};

const USBMSCHFatFs_Config USBMSCHFatFs_config[] = {
    {
        .fxnTablePtr = &USBMSCHFatFsTiva_fxnTable,
        .object = &usbmschfatfstivaObjects[0],
        .hwAttrs = &usbmschfatfstivaHWAttrs[0]
    },
    {NULL, NULL, NULL}
};

/*
 *  ======== EK_TM4C1294XL_initUSBMSCHFatFs ========
 */
void EK_TM4C1294XL_initUSBMSCHFatFs(void)
{
    /* Initialize the DMA control table */
    EK_TM4C1294XL_initDMA();

    /* Call the USB initialization function for the USB Reference modules */
    EK_TM4C1294XL_initUSB(EK_TM4C1294XL_USBHOST);
    USBMSCHFatFs_init();
}

/*
 *  =============================== Watchdog ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(Watchdog_config, ".const:Watchdog_config")
#pragma DATA_SECTION(watchdogTivaHWAttrs, ".const:watchdogTivaHWAttrs")
#endif

#include <ti/drivers/Watchdog.h>
#include <ti/drivers/watchdog/WatchdogTiva.h>

WatchdogTiva_Object watchdogTivaObjects[EK_TM4C1294XL_WATCHDOGCOUNT];

const WatchdogTiva_HWAttrs watchdogTivaHWAttrs[EK_TM4C1294XL_WATCHDOGCOUNT] = {
    {
        .baseAddr = WATCHDOG0_BASE,
        .intNum = INT_WATCHDOG,
        .intPriority = (~0),
        .reloadValue = 80000000 // 1 second period at default CPU clock freq
    },
};

const Watchdog_Config Watchdog_config[] = {
    {
        .fxnTablePtr = &WatchdogTiva_fxnTable,
        .object = &watchdogTivaObjects[0],
        .hwAttrs = &watchdogTivaHWAttrs[0]
    },
    {NULL, NULL, NULL},
};

/*
 *  ======== EK_TM4C1294XL_initWatchdog ========
 *
 * NOTE: To use the other watchdog timer with base address WATCHDOG1_BASE,
 *       an additional function call may need be made to enable PIOSC. Enabling
 *       WDOG1 does not do this. Enabling another peripheral that uses PIOSC
 *       such as ADC0 or SSI0, however, will do so. Example:
 *
 *       SysCtlPeripheralEnable(SYSCTL_PERIPH_ADC0);
 *       SysCtlPeripheralEnable(SYSCTL_PERIPH_WDOG1);
 *
 *       See the following forum post for more information:
 *       http://e2e.ti.com/support/microcontrollers/stellaris_arm_cortex-m3_microcontroller/f/471/p/176487/654390.aspx#654390
 */
void EK_TM4C1294XL_initWatchdog(void)
{
    /* Enable peripherals used by Watchdog */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_WDOG0);

    Watchdog_init();
}

/*
 *  =============================== WiFi ===============================
 */
/* Place into subsections to allow the TI linker to remove items properly */
#if defined(__TI_COMPILER_VERSION__)
#pragma DATA_SECTION(WiFi_config, ".const:WiFi_config")
#pragma DATA_SECTION(wiFiCC3100HWAttrs, ".const:wiFiCC3100HWAttrs")
#endif

#include <ti/drivers/WiFi.h>
#include <ti/drivers/wifi/WiFiCC3100.h>

WiFiCC3100_Object wiFiCC3100Objects[EK_TM4C1294XL_WIFICOUNT];

const WiFiCC3100_HWAttrs wiFiCC3100HWAttrs[EK_TM4C1294XL_WIFICOUNT] = {
    {
        .irqPort = GPIO_PORTM_BASE,
        .irqPin = GPIO_PIN_3,
        .irqIntNum = INT_GPIOM,

        .csPort = GPIO_PORTH_BASE,
        .csPin = GPIO_PIN_2,

        .enPort = GPIO_PORTC_BASE,
        .enPin = GPIO_PIN_6
    }
};

const WiFi_Config WiFi_config[] = {
    {
        .fxnTablePtr = &WiFiCC3100_fxnTable,
        .object = &wiFiCC3100Objects[0],
        .hwAttrs = &wiFiCC3100HWAttrs[0]
    },
    {NULL,NULL, NULL},
};

/*
 *  ======== EK_TM4C1294XL_initWiFi ========
 */
void EK_TM4C1294XL_initWiFi(void)
{
    /* Configure EN & CS pins to disable CC3100 */
    GPIOPinTypeGPIOOutput(GPIO_PORTH_BASE, GPIO_PIN_2);
    GPIOPinTypeGPIOOutput(GPIO_PORTC_BASE, GPIO_PIN_6);
    GPIOPinWrite(GPIO_PORTH_BASE, GPIO_PIN_2, GPIO_PIN_2);
    GPIOPinWrite(GPIO_PORTC_BASE, GPIO_PIN_6, 0);

    /* Configure SSI2 for CC3100 */
    SysCtlPeripheralEnable(SYSCTL_PERIPH_SSI2);
    GPIOPinConfigure(GPIO_PD3_SSI2CLK);
    GPIOPinConfigure(GPIO_PD1_SSI2XDAT0);
    GPIOPinConfigure(GPIO_PD0_SSI2XDAT1);
    GPIOPinTypeSSI(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_3);

    /* Configure IRQ pin */
    GPIOPinTypeGPIOInput(GPIO_PORTM_BASE, GPIO_PIN_3);
    GPIOPadConfigSet(GPIO_PORTM_BASE, GPIO_PIN_3, GPIO_STRENGTH_2MA,
                     GPIO_PIN_TYPE_STD_WPD);
    GPIOIntTypeSet(GPIO_PORTM_BASE, GPIO_PIN_3, GPIO_RISING_EDGE);

    SPI_init();
    EK_TM4C1294XL_initDMA();

    WiFi_init();
}

/*
 * 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.
 */

/*
 *  ======== spiloopback.c ========
 */
/* XDCtools Header files */

#include <xdc/std.h>
#include <xdc/runtime/System.h>

/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>

#include <drivers/spi/ioc_spi.h>
/* TI-RTOS Header files */
#include <ti/drivers/GPIO.h>
#include <ti/drivers/SPI.h>

/* Example/Board Header files */
#include "Board.h"
#include "ioc_debug.h"
#include "spi_test_main.h"

//#include <digital_output/digital_output_spi_test.h>

#define SPI_MSG_LENGTH    26

#define TASKSTACKSIZE     768

/* Allocate buffers in .dma section of memory for concerto devices */
#ifdef MWARE
#pragma DATA_SECTION(masterRxBuffer, ".dma");
#pragma DATA_SECTION(masterTxBuffer, ".dma");
#pragma DATA_SECTION(slaveRxBuffer, ".dma");
#pragma DATA_SECTION(slaveTxBuffer, ".dma");
#endif

Task_Struct task0Struct, task1Struct;
Char task0Stack[TASKSTACKSIZE], task1Stack[TASKSTACKSIZE];

//unsigned char masterRxBuffer[SPI_MSG_LENGTH];
unsigned char masterRxBuffer[3];
//unsigned char masterTxBuffer[SPI_MSG_LENGTH] = "Hello, this is master SPI";


unsigned char slaveRxBuffer[3];
//unsigned char slaveRxBuffer[SPI_MSG_LENGTH];
//unsigned char slaveTxBuffer[SPI_MSG_LENGTH] =  "Hello, this is slave SPI";

uint16_t ui16SpiRxBuffer[2];
uint16_t ui16SpiTxBuffer[2];

uint16_t spiTx1Buffer[2], spiTx2Buffer[2];
/* *  ======== slaveTaskFxn ========
 *  Task function for slave task.
 *
 *  This task runs on a higher priority, since slave
 *  has to be ready for master. Slave SPI sends a
 *  message to master and also receives message from
 *  master. Task for this function is created
 *  statically. See the project's .cfg file.
 */

/******************************************************************************/
void ioc_DefaultDOInit(void)
{
   spiConfigbus  stSpiConfig;
   void *pPoint;
   uint8_t i;

   //stSpiConfig.vui8SpiBus = Board_SPI3;
   stSpiConfig.vui8DataCount = 1;
   stSpiConfig.pui8SRxBuffer = ui16SpiRxBuffer;

   // Enabling both half bridges
   GPIO_write(BOARD_PORTM_PIN5, HIGH);

   // Making Chip Select 1 to high impedance state for
    //  digital output from 0 to 4
   GPIO_write(BOARD_PORTP_PIN1, HIGH);

   ui16SpiTxBuffer[0] = STATUS_RESET_REG;
   stSpiConfig.vui8ChipSelect = 1;
   stSpiConfig.pui8STxbuffer = ui16SpiTxBuffer;
   ioc_DOSpiTransfer(&stSpiConfig);
}

void ioc_UpdateDOData(unsigned char *pDO_Status, uint8_t ui8Do_Source_Sink)
{
    spiConfigbus  stSpiConfig;
   // i2cConfigbus stI2cConfig;
    uint16_t aui16SpiTxBuffer[2];
    uint16_t aui16SpiRxBuffer[2][2];
    uint8_t aui8I2cTxBuffer[3];
    uint8_t aui8I2cRxBuffer[3];
    uint8_t i;

    //stSpiConfig.vui8SpiBus = Board_SPI3;
    stSpiConfig.vui8DataCount = 1;
    stSpiConfig.pui8SRxBuffer = aui16SpiRxBuffer;

    // Digital output channel number from 0 to 5 select first half bridge
    aui16SpiTxBuffer[0] = 0;

   for(i = 0; i <= 5; i++)
   {    if(*(pDO_Status + i))
        {  if(~(ui8Do_Source_Sink & 0x1)) //Source High,so sinking output
              aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | ((HB_ENABLE << i)
                                                    | (HB_CONFIG << i));
           else//Sink
               aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | (HB_ENABLE << i)
                                                       & (~(HB_CONFIG << i));
        }
   }
   stSpiConfig.vui8ChipSelect = 1;
   stSpiConfig.pui8STxbuffer = aui16SpiTxBuffer;

   ioc_DOSpiTransfer(&stSpiConfig);

   // Digital output channel number from 6 to 11 select second half bridge
   /*aui16SpiTxBuffer[0] = 0;

      for(i = 0; i <= 5; i++)
      {   if(*(pDO_Status + i + 6))
          { if(~(ui8Do_Source_Sink & 0x1)) //Source High,so sinking output
              aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | ((HB_ENABLE << i)
                                                    | (HB_CONFIG << i));
            else//Sink
               aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | (HB_ENABLE << i)
                                                       & (~(HB_CONFIG << i));
          }
      }
    stSpiConfig.vui8ChipSelect = 2;
    stSpiConfig.pui8STxbuffer = aui16SpiTxBuffer;
    ioc_DOSpiTransfer(&stSpiConfig);*/
}

    // Digital output channel number from 12 to 17 select second half bridge
       /*
        aui16SpiTxBuffer[0] = 0;

       for(i = 0; i <= 5; i++)
       {   if(*(pDO_Status + i + 12))
           { if(~((ui8Do_Source_Sink>>1) & 0x1) & 0x1) //Source High
               aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | ((HB_ENABLE << i)
                                                     | (HB_CONFIG << i));
             else//Sink
                aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | (HB_ENABLE << i)
                                                        & (~(HB_CONFIG << i));
           }
       }
       stSpiConfig.vui8ChipSelect = 3;//for 3rd half bridge driver
       stSpiConfig.pui8STxbuffer = aui16SpiTxBuffer;
       ioc_DOSpiTransfer(&stSpiConfig);

       // Digital output channel number from 18 to 23 select second half bridge
       aui16SpiTxBuffer[0] = 0;

       for(i = 0; i <= 5; i++)
       {   if(*(pDO_Status + i + 18))
           { if(~((ui8Do_Source_Sink>>1) & 0x1) & 0x1) //Source High
               aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | ((HB_ENABLE << i)
                                                     | (HB_CONFIG << i));
             else//Sink
                aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | (HB_ENABLE << i)
                                                        & (~(HB_CONFIG << i));
           }
       }
       stSpiConfig.vui8ChipSelect = 4;//for 4th half bridge driver
       stSpiConfig.pui8STxbuffer = aui16SpiTxBuffer;
       ioc_DOSpiTransfer(&stSpiConfig);*/

       /*
        aui8I2cTxBuffer[1] = 0;
    aui8I2cTxBuffer[2] = 0;

    for(i = 0; i <= 11; i++) /////check this code for LEDs
        {   if(i <= 7)
                if(*(pDO_Status + i))//if output active
                    aui8I2cTxBuffer[1] = aui8I2cTxBuffer[1] & (~(0x1 << i));//turn ON the led
                else
                    aui8I2cTxBuffer[1] = aui8I2cTxBuffer[1] | (0x1 << i);//else turn OFF
            else //if(i <= 11)
                if(*(pDO_Status + i))
                    aui8I2cTxBuffer[2] = aui8I2cTxBuffer[2] & (~(0x1 << (i - 8)));
                else
                    aui8I2cTxBuffer[2] = aui8I2cTxBuffer[2] | (0x1 << (i - 8));

        }

        //check I2C and SPI communication formats
        aui8I2cTxBuffer[0] = DIO_OUTPUTREG_PORTONE;
        stI2cConfig.ui8regaddr = DIO_OUTPUTREG_PORTONE;
        stI2cConfig.vui8slaveAddress =  LED_SLAVEADDRESS1;//IO expander IC address
        stI2cConfig.vui8I2cBus = Board_I2C2;
        stI2cConfig.pui8txbuffer = aui8I2cTxBuffer;
        stI2cConfig.pui8RxBuffer = aui8I2cRxBuffer;
        stI2cConfig.vui8writeCount = 3;
        stI2cConfig.vui8readCount = 0;
        ioc_DigitalLEDI2CTransfer(&stI2cConfig);

        for(i = 12; i < 24; i++) /////check this code for LEDs
        {   if(i <= 19)
                if(*(pDO_Status + i))
                    aui8I2cTxBuffer[1] = aui8I2cTxBuffer[1] & (~(0x1 << (i - 12)));
                else
                    aui8I2cTxBuffer[1] = aui8I2cTxBuffer[1] | (0x1 << (i - 12));
            else
                if(*(pDO_Status + i))
                aui8I2cTxBuffer[2] = aui8I2cTxBuffer[2] & (~(0x1 << (i - 20)));
                else
                aui8I2cTxBuffer[2] = aui8I2cTxBuffer[2] | (0x1 << (i - 20));
        }

        aui8I2cTxBuffer[0] = DIO_OUTPUTREG_PORTONE;
        stI2cConfig.ui8regaddr = DIO_OUTPUTREG_PORTONE;
        stI2cConfig.vui8slaveAddress =  LED_SLAVEADDRESS2;//IO expander IC address
        stI2cConfig.vui8I2cBus = Board_I2C2;
        stI2cConfig.pui8txbuffer = aui8I2cTxBuffer;
        stI2cConfig.pui8RxBuffer = aui8I2cRxBuffer;
        stI2cConfig.vui8writeCount = 3;
        stI2cConfig.vui8readCount = 0;
        ioc_DigitalLEDI2CTransfer(&stI2cConfig);*/

/*void ioc_UpdateDOData(void)
{

}*/

void DigitalOutputProcessingFunc()
{
    uint8_t i;
    void *pPoint;
    uint8_t u8Do_Source_Sink;
    bool pDO_Status[DIGITAL_OUTPUT_COUNT];
    //pD0_status,ui16Do_Source_Sink
    u8Do_Source_Sink = 0x00;
    //bDoInitialized = TRUE;
    pDO_Status[0] = true;

    ioc_UpdateDOData(pDO_Status, u8Do_Source_Sink);
}


/* Void slaveTaskFxn (UArg arg0, UArg arg1)
{
    SPI_Handle slaveSpi;
    SPI_Params slaveSpiParams;
    SPI_Transaction slaveTransaction;
    bool transferOK;

    // Initialize SPI handle with slave mode
    SPI_Params_init(&slaveSpiParams);
    slaveSpiParams.mode = SPI_SLAVE;
    slaveSpi = SPI_open(Board_SPI1, &slaveSpiParams);
    if (slaveSpi == NULL) {
        System_abort("Error initializing SPI\n");
    }
    else {
        System_printf("SPI initialized\n");
    }

    // Initialize slave SPI transaction structure
    slaveTransaction.count = SPI_MSG_LENGTH;
    slaveTransaction.txBuf = (Ptr)slaveTxBuffer;
    slaveTransaction.rxBuf = (Ptr)slaveRxBuffer;

    // Initiate SPI transfer
    transferOK = SPI_transfer(slaveSpi, &slaveTransaction);

    if(transferOK) {
        // Print contents of slave receive buffer
        System_printf("Slave: %s\n", slaveRxBuffer);
    }
    else {
        System_printf("Unsuccessful slave SPI transfer");
    }

    // Deinitialize SPI
    SPI_close(slaveSpi);
}*/

/*
 *  ======== masterTaskFxn ========
 *  Task function for master task.
 *
 *  This task runs at a lower priority after the slave
 *  task to ensure it is ready for a transaction.
 *  Master SPI sends a message to slave and also
 *  receives message from slave. Task for this function
 *  is created statically. See the project's .cfg
 *  file.
 */
/*Void masterTaskFxn (UArg arg0, UArg arg1)
{
    SPI_Handle masterSpi;
    SPI_Transaction masterTransaction;
    bool transferOK;

    // Initialize SPI handle as default master
    masterSpi = SPI_open(Board_SPI0, NULL);
    if (masterSpi == NULL) {
        System_abort("Error initializing SPI\n");
    }
    else {
        System_printf("SPI initialized\n");
    }

    // Initialize master SPI transaction structure
    masterTransaction.count = SPI_MSG_LENGTH;
    masterTransaction.txBuf = (Ptr)masterTxBuffer;
    masterTransaction.rxBuf = (Ptr)masterRxBuffer;

    // Initiate SPI transfer
    transferOK = SPI_transfer(masterSpi, &masterTransaction);

    if(transferOK) {
        // Print contents of master receive buffer
        System_printf("Master: %s\n", masterRxBuffer);
    }
    else {
        System_printf("Unsuccessful master SPI transfer");
    }

    // Deinitialize SPI
    SPI_close(masterSpi);

    System_printf("Done\n");

    System_flush();
}*/


Void masterTaskFxn (UArg arg0, UArg arg1)
{
    SPI_Handle masterSpi;
    SPI_Transaction masterTransaction;
    bool transferOK;

    uint16_t aui16SpiTxBuffer[2];
    SPI_Params stSpiParams;

    SPI_Params_init(&stSpiParams);
   stSpiParams.bitRate = 1500000;
   stSpiParams.frameFormat = SPI_POL0_PHA1;
   stSpiParams.dataSize = 16;

    // Initialize SPI handle as default master
    //masterSpi = SPI_open(Board_SPI1, NULL);
       masterSpi = SPI_open(Board_SPI1, &stSpiParams);
    if (masterSpi == NULL) {
        System_abort("Error initializing SPI\n");
    }
    else {
        System_printf("SPI initialized\n");
    }

    aui16SpiTxBuffer[0] = aui16SpiTxBuffer[0] | (HB_ENABLE << 0)
                                                           & (~(HB_CONFIG << 0));
    // Initialize master SPI transaction structure
    masterTransaction.count = 1;//16;//SPI_MSG_LENGTH;
    masterTransaction.txBuf = aui16SpiTxBuffer[0];//(Ptr)masterTxBuffer;
    masterTransaction.rxBuf = (Ptr)masterRxBuffer;

    // Initiate SPI transfer
    transferOK = SPI_transfer(masterSpi, &masterTransaction);

    if(transferOK) {
        // Print contents of master receive buffer

        System_printf("Master: %s\n", masterRxBuffer);
    }
    else {
        System_printf("Unsuccessful master SPI transfer");
    }

    // Deinitialize SPI
    SPI_close(masterSpi);

    System_printf("Done\n");

    System_flush();
}
/*
 *  ======== main ========
 */
int main(void)
{
    /* Construct BIOS objects */
    Task_Params taskParams;

    /* Call board init functions. */
    Board_initGeneral();
    Board_initGPIO();
    Board_initSPI();

    GPIOPinTypeGPIOOutput(GPIO_PORTP_BASE, GPIO_PIN_1);

    GPIOPinTypeGPIOOutput(GPIO_PORTM_BASE, GPIO_PIN_5);


    /* Construct master/slave Task threads */

    Task_Params_init(&taskParams);
    taskParams.priority = 1;
    taskParams.stackSize = TASKSTACKSIZE;
    taskParams.stack = &task0Stack;
    Task_construct(&task0Struct, (Task_FuncPtr)masterTaskFxn, &taskParams, NULL);

   /* taskParams.stack = &task1Stack;
    taskParams.priority = 2;
    Task_construct(&task1Struct, (Task_FuncPtr)slaveTaskFxn, &taskParams, NULL);*/

    /*Task_Params_init(&taskParams);
    taskParams.priority = 1;
    taskParams.stackSize = TASKSTACKSIZE;
    taskParams.stack = &task0Stack;
    Task_construct(&task0Struct, (Task_FuncPtr)ioc_DefaultDOInit, &taskParams, NULL);*/

    /* Turn on user LED */
    GPIO_write(Board_LED0, Board_LED_ON);

    //GPIO_write(BOARD_PORTM_PIN5, HIGH);

    System_printf("Starting the SPI loop-back example\nSystem provider is set to"
                  " SysMin. Halt the target to view any SysMin contents in ROV.\n");
    /* SysMin will only print to the console when you call flush or exit */
    System_flush();
    System_printf("This example requires external wires to be connected to the "
                  "header pins. Please see the Getting Started Guide for "
                  "details.\n");
    /* SysMin will only print to the console when you call flush or exit */
    System_flush();

    /* Start BIOS */
    BIOS_start();

    return (0);
}