Parameter detection EST state gets locked in idle state

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//! \file   solutions/instaspin_foc/boards/hvkit_rev1p1/f28x/f2805xF/src/hal.c
//! \brief Contains the various functions related to the HAL object (everything outside the CTRL system) 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.


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

// drivers

// modules

// platforms
#include "hal.h"
#include "user.h"
#include "hal_obj.h"

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

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


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

HAL_Obj hal;


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

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


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


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

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

  // run oscillator compensation
  //HAL_OscTempComp(handle);

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

  return;
} // end of HAL_cal() function


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

  HAL_osc1Comp(handle, Temperature);

  HAL_osc2Comp(handle, Temperature);

  return;
} // end of HAL_OscTempComp() function


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

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

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

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

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

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc1Comp() function


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

	ENABLE_PROTECTED_REGISTER_WRITE_MODE;

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

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

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

    DISABLE_PROTECTED_REGISTER_WRITE_MODE;

    return;
} // end of HAL_osc2Comp() function


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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

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

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

  return;
} // end of HAL_AdcOffsetSelfCal() function


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

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

  return;
} // end of HAL_AdcCalChanSelect() function


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

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

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

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

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

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

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

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

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

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

  ADC_setSocFrcWord(obj->adcHandle, 0x00FF);

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

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

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

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

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

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

      index+=16;

  } // end data collection

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

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

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

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


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


  WDOG_disable(hal->wdogHandle);


  return;
} // end of HAL_disableWdog() function


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


  CPU_disableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_disableGlobalInts() function


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


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


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


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

  return;
} // end of HAL_enableAdcInts() function


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


  CPU_enableDebugInt(obj->cpuHandle);

  return;
} // end of HAL_enableDebugInt() function


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


  CPU_enableGlobalInts(obj->cpuHandle);

  return;
} // end of HAL_enableGlobalInts() function


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


  PIE_enablePwmInt(obj->pieHandle,PWM_Number_1);


  // enable the interrupt
  PWM_enableInt(obj->pwmHandle[PWM_Number_1]);


  // enable the cpu interrupt for EPWM1_INT
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_3);

  return;
} // end of HAL_enablePwmInt() function


void HAL_setupFaults(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint_least8_t cnt;


  // Configure Trip Mechanism for the Motor control software
  // -Cycle by cycle trip on CPU halt
  // -One shot fault trip zone
  // These trips need to be repeated for EPWM1 ,2 & 3
  for(cnt=0;cnt<3;cnt++)
    {
   //   PWM_enableTripZoneSrc(obj->pwmHandle[cnt],PWM_TripZoneSrc_CycleByCycle_TZ6_NOT);

   //   PWM_enableTripZoneSrc(obj->pwmHandle[cnt],PWM_TripZoneSrc_OneShot_TZ1_NOT);

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

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

      // Clear faults from flip flop
      GPIO_setLow(obj->gpioHandle,GPIO_Number_9);
      GPIO_setHigh(obj->gpioHandle,GPIO_Number_9);
    }

  return;
} // end of HAL_setupFaults() function


HAL_Handle HAL_init(void *pMemory,const size_t numBytes)
{
  uint_least8_t cnt;
  HAL_Handle handle;
  HAL_Obj *obj;

  volatile int tmp;

  ENABLE_PROTECTED_REGISTER_WRITE_MODE;

  tmp = *(int *)0x003D7A18;
  tmp = *(int *)0x003D7A19;
  tmp = *(int *)0x003D7A1a;
  tmp = *(int *)0x003D7A1b;
  *(int *)0xB90 = 0xCEEC;
  *(int *)0xB91 = 0x4CA7;
  *(int *)0xB92 = 0xAAEB;
  *(int *)0xB93 = 0x7030;

  DISABLE_PROTECTED_REGISTER_WRITE_MODE;


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


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


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


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


  // disable watchdog
  HAL_disableWdog(handle);


  // initialize the AFE
  obj->afeHandle = AFE_init((void *)AFE_BASE_ADDR,sizeof(AFE_Obj));


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


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


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


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


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


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


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


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


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


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


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


  // initialize PWM DAC handles
  obj->pwmDacHandle[0] = PWMDAC_init((void *)PWM_ePWM6_BASE_ADDR,sizeof(PWM_Obj));
  obj->pwmDacHandle[1] = PWMDAC_init((void *)PWM_ePWM5_BASE_ADDR,sizeof(PWM_Obj));
  obj->pwmDacHandle[2] = PWMDAC_init((void *)PWM_ePWM4_BASE_ADDR,sizeof(PWM_Obj));


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


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

#ifdef QEP
  // initialize QEP driver
  obj->qepHandle[0] = QEP_init((void*)QEP1_BASE_ADDR,sizeof(QEP_Obj));
#endif

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


void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams)
{
  uint_least8_t cnt;
  HAL_Obj *obj = (HAL_Obj *)handle;
  _iq beta_lp_pu = _IQ(pUserParams->offsetPole_rps/(float_t)pUserParams->ctrlFreq_Hz);


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


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


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


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


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


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


  // setup the clocks
  HAL_setupClks(handle);


  // Setup the PLL
  HAL_setupPll(handle,PLL_ClkFreq_60_MHz);


  // setup the PIE
  HAL_setupPie(handle);


  // run the device calibration
  HAL_cal(handle);


  // setup the peripheral clocks
  HAL_setupPeripheralClks(handle);


  // setup the GPIOs
  HAL_setupGpios(handle);


  // enable the appropriate pgas
  HAL_setupAfe(handle);


  // setup the flash
  HAL_setupFlash(handle);


  // setup the ADCs
  HAL_setupAdcs(handle);


  // setup the PWMs
  HAL_setupPwms(handle,
                (float_t)pUserParams->systemFreq_MHz,
                pUserParams->pwmPeriod_usec,
                USER_NUM_PWM_TICKS_PER_ISR_TICK);

#ifdef QEP
  // setup the QEP
  HAL_setupQEP(handle,HAL_Qep_QEP1);
#endif

  // setup the PWM DACs
  HAL_setupPwmDacs(handle);


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


  // set the default current bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ12mpy(ADC_dataBias,_IQ(pUserParams->current_sf));
   
   for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++)
     {
       HAL_setBias(handle,HAL_SensorType_Current,cnt,bias);
     }
 }


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

  HAL_setCurrentScaleFactor(handle,current_sf);
 }


  // set the default voltage bias
 {
   uint_least8_t cnt;
   _iq bias = _IQ(0.0);
   
   for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++)
     {
       HAL_setBias(handle,HAL_SensorType_Voltage,cnt,bias);
     }
 }


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

  HAL_setVoltageScaleFactor(handle,voltage_sf);
 }

 return;
} // end of HAL_setParams() function


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


  // enable the PGA amplifiers
  AFE_enablePGA(obj->afeHandle, (AFE_PGAEN_e)(AFE_AMPA6EN   \
                                            | AFE_AMPB6EN   \
                                            | AFE_AMPB4EN));

//  // enable VrefOut
//  AFE_enableVrefOut(obj->afeHandle);
//
//  // set the VrefOut voltage
//  AFE_setVrefOut(obj->afeHandle,47);
//
//  // enable the DACs for the M1 comparators
//  AFE_enableDAC(obj->afeHandle, (AFE_DACEN_e)(AFE_DAC1EN  \
//                                            | AFE_DAC2EN));
//
//  // set the DAC output voltage
//  AFE_setDacCtl(obj->afeHandle, AFE_DAC1, (31 + 7));
//  AFE_setDacCtl(obj->afeHandle, AFE_DAC2, (31 - 8));
//
//  // enable the M1 comparators
//  AFE_enableComp(obj->afeHandle, (AFE_COMPEN_e)(AFE_COMPA1EN    \
//                                              | AFE_COMPA3EN    \
//                                              | AFE_COMPB1EN));
//
//  // Bypass the M1 system digital filter, send both high and low of M1 comparator outputs
//  // to the digital filter subsystem
//  AFE_setA1CompSubsystem(obj->afeHandle, (AFE_CTRIPxxICTL_FIELDS_e)(AFE_CTRIPOUTBYP \
//                                                                  | AFE_CTRIPBYP    \
//                                                                  | AFE_COMPLINPEN  \
//                                                                  | AFE_COMPHINPEN  \
//                                                                  | AFE_COMPLPOL));
//
//  AFE_setB1CompSubsystem(obj->afeHandle, (AFE_CTRIPxxICTL_FIELDS_e)(AFE_CTRIPOUTBYP \
//                                                                  | AFE_CTRIPBYP    \
//                                                                  | AFE_COMPLINPEN  \
//                                                                  | AFE_COMPHINPEN  \
//                                                                  | AFE_COMPLPOL));
//
//  AFE_setA3CompSubsystem(obj->afeHandle, (AFE_CTRIPxxICTL_FIELDS_e)(AFE_CTRIPOUTBYP \
//                                                                  | AFE_CTRIPBYP    \
//                                                                  | AFE_COMPLINPEN  \
//                                                                  | AFE_COMPHINPEN  \
//                                                                  | AFE_COMPLPOL));
//
//  // Enable the M1 CTRIP output to the GPIO
//  AFE_setM1CtripOut(obj->afeHandle, (AFE_CTRIPMxOCTL_FIELDS_e)(AFE_CTRIPA1OUTEN));

  return;
}


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


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


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


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


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


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


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


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


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


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


  //configure the SOCs for hvkit_rev1p1
  // sample the first sample twice due to errata sprz342f
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_B0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_B0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_B6);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_B5);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_A7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_B3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_B4);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_7_cycles);

  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A6);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_7_cycles);

  return;
} // end of HAL_setupAdcs() function


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


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

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

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

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

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

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

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

  return;
} // end of HAL_setupClks() function


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


  FLASH_enablePipelineMode(obj->flashHandle);

  FLASH_setNumPagedReadWaitStates(obj->flashHandle,FLASH_NumPagedWaitStates_2);

  FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_2);

  FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_3);

  FLASH_setStandbyWaitCount(obj->flashHandle,FLASH_STANDBY_WAIT_COUNT_DEFAULT);

  FLASH_setActiveWaitCount(obj->flashHandle,FLASH_ACTIVE_WAIT_COUNT_DEFAULT);

  return;
} // HAL_setupFlash() function


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


  // PWM1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_EPWM1A);

  // PWM2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_1_Mode_EPWM1B);

  // PWM3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_2,GPIO_2_Mode_EPWM2A);

  // PWM4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_3,GPIO_3_Mode_EPWM2B);

  // PWM5
  GPIO_setMode(obj->gpioHandle,GPIO_Number_4,GPIO_4_Mode_EPWM3A);

  // PWM6
  GPIO_setMode(obj->gpioHandle,GPIO_Number_5,GPIO_5_Mode_EPWM3B);

  // PFC-PWM1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_GeneralPurpose);

  // PFC-PWM2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_8,GPIO_8_Mode_EPWM5A);

  // CLR-FAULT
  GPIO_setMode(obj->gpioHandle,GPIO_Number_9,GPIO_9_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_9);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_9,GPIO_Direction_Output);

  // DAC-PWM-1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_10,GPIO_10_Mode_EPWM6A);

  // DAC-PWM-2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_11,GPIO_11_Mode_EPWM6B);

  // TZ-1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_TZ1_NOT_CTRIPM1OUT);

  // HALL-2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_13,GPIO_13_Mode_GeneralPurpose);

  // HALL-3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_14,GPIO_14_Mode_GeneralPurpose);

  // OCP
  GPIO_setMode(obj->gpioHandle,GPIO_Number_15,GPIO_15_Mode_GeneralPurpose);

  // Set Qualification Period for GPIO16-23, 15*2*(1/60MHz) = 0.50us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_16,15);

  // SPISIMOA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_GeneralPurpose);

  // SPISOMIA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_GeneralPurpose);

  // SPICLKA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_GeneralPurpose);

  // SPISTEA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_GeneralPurpose);

#ifdef QEP
  // EQEPA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_EQEP1A);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_20,GPIO_Qual_Sample_3);

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

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

  // EQEP1I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_EQEP1I);
  GPIO_setQualification(obj->gpioHandle,GPIO_Number_23,GPIO_Qual_Sample_3);
#else
  // EQEPA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_20,GPIO_20_Mode_GeneralPurpose);

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

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

  // EQEP1I
  GPIO_setMode(obj->gpioHandle,GPIO_Number_23,GPIO_23_Mode_GeneralPurpose);
#endif

  // CAP-1/HALL-1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_24,GPIO_24_Mode_GeneralPurpose);

  // HALL-2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_25,GPIO_25_Mode_GeneralPurpose);

  // HALL-3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_26,GPIO_26_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_27,GPIO_27_Mode_GeneralPurpose);

  // RX-S
  GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_GeneralPurpose);

  // TX-S
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);

  // CAN-RX
  GPIO_setMode(obj->gpioHandle,GPIO_Number_30,GPIO_30_Mode_GeneralPurpose);

  // LD1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_31,GPIO_31_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_31);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_31,GPIO_Direction_Output);

  // I2C-SDA
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);

  // I2C-SCL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);

  // LD2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_34);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output);

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

  // GPIO-39
  GPIO_setMode(obj->gpioHandle,GPIO_Number_39,GPIO_39_Mode_GeneralPurpose);

  // DAC-PWM3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_40,GPIO_40_Mode_GeneralPurpose);

  // LED-2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_42,GPIO_42_Mode_GeneralPurpose);


  return;
}  // end of HAL_setupGpios() function


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


  PIE_disable(obj->pieHandle);

  PIE_disableAllInts(obj->pieHandle);

  PIE_clearAllInts(obj->pieHandle);

  PIE_clearAllFlags(obj->pieHandle);

  PIE_setDefaultIntVectorTable(obj->pieHandle);

  PIE_enable(obj->pieHandle);

  return;
} // end of HAL_setupPie() function


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


  CLK_enableAdcClock(obj->clkHandle);

  CLK_enableEcap1Clock(obj->clkHandle);

  CLK_enableEqep1Clock(obj->clkHandle);

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

  CLK_disableI2cClock(obj->clkHandle);

  CLK_disableClaClock(obj->clkHandle);

  CLK_enableSciaClock(obj->clkHandle);

  CLK_enableSpiaClock(obj->clkHandle);

  CLK_enableTbClockSync(obj->clkHandle);

//  CLK_enableAfeCompClock(obj->clkHandle,(CLK_ClkAfeCtrip_e)(CLK_PCLKCR4_CTRIPA1ENCLK | CLK_PCLKCR4_CTRIPA3ENCLK | CLK_PCLKCR4_CTRIPB1ENCLK));

  return;
} // end of HAL_setupPeripheralClks() function


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


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

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


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


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

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


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


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


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

  return;
} // end of HAL_setupPll() function


void HAL_setupPwms(HAL_Handle handle,
                   const float_t systemFreq_MHz,
                   const float_t pwmPeriod_usec,
                   const uint_least16_t numPwmTicksPerIsrTick)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;
  uint16_t   halfPeriod_cycles = (uint16_t)(systemFreq_MHz*pwmPeriod_usec) >> 1;
  uint_least8_t    cnt;


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

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

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

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

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

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

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

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

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

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

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


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

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


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

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

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

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

  return;
}  // end of HAL_setupPwms() function

#ifdef QEP
void HAL_setupQEP(HAL_Handle handle,HAL_QepSelect_e qep)
{
  HAL_Obj   *obj = (HAL_Obj *)handle;


  // hold the counter in reset
  QEP_reset_counter(obj->qepHandle[qep]);

  // set the QPOSINIT register
  QEP_set_posn_init_count(obj->qepHandle[qep], 0);

  // disable all interrupts
  QEP_disable_all_interrupts(obj->qepHandle[qep]);

  // clear the interrupt flags
  QEP_clear_all_interrupt_flags(obj->qepHandle[qep]);

  // clear the position counter
  QEP_clear_posn_counter(obj->qepHandle[qep]);

  // setup the max position
  QEP_set_max_posn_count(obj->qepHandle[qep], (4*USER_MOTOR_ENCODER_LINES)-1);

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

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

  // setup the QPOSCTL register
  QEP_disable_posn_compare(obj->qepHandle[qep]);

  // setup the QCAPCTL register
  QEP_disable_capture(obj->qepHandle[qep]);

  // renable the position counter
  QEP_enable_counter(obj->qepHandle[qep]);


  return;
}
#endif

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


  for(cnt=0;cnt<3;cnt++)
    {
      // initialize the Time-Base Control Register (TBCTL)
      PWMDAC_setCounterMode(obj->pwmDacHandle[cnt],PWM_CounterMode_UpDown);
      PWMDAC_disableCounterLoad(obj->pwmDacHandle[cnt]);
      PWMDAC_setPeriodLoad(obj->pwmDacHandle[cnt],PWM_PeriodLoad_Immediate);
      PWMDAC_setSyncMode(obj->pwmDacHandle[cnt],PWM_SyncMode_EPWMxSYNC);
      PWMDAC_setHighSpeedClkDiv(obj->pwmDacHandle[cnt],PWM_HspClkDiv_by_1);
      PWMDAC_setClkDiv(obj->pwmDacHandle[cnt],PWM_ClkDiv_by_1);
      PWMDAC_setPhaseDir(obj->pwmDacHandle[cnt],PWM_PhaseDir_CountUp);
      PWMDAC_setRunMode(obj->pwmDacHandle[cnt],PWM_RunMode_FreeRun);

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

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

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

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

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

      // account for EPWM6B
      if(cnt == 0)
        {
          PWMDAC_setActionQual_CntUp_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Clear);
          PWMDAC_setActionQual_CntDown_CmpB_PwmB(obj->pwmDacHandle[cnt],PWM_ActionQual_Set);
        }

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

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

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

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

  // since the PWM is configured as an up/down counter, the period register is set to one-half 
  // of the desired PWM period
  PWMDAC_setPeriod(obj->pwmDacHandle[PWMDAC_Number_1],halfPeriod_cycles);
  PWMDAC_setPeriod(obj->pwmDacHandle[PWMDAC_Number_2],halfPeriod_cycles);
  PWMDAC_setPeriod(obj->pwmDacHandle[PWMDAC_Number_3],halfPeriod_cycles);

  return;
}  // end of HAL_setupPwmDacs() function


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

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

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

  return;
}  // end of HAL_setupTimers() function


// end of file