TMS320F28027: ADC randomly stops working

Rajan Joshi

Part Number: TMS320F28027
Other Parts Discussed in Thread: CONTROLSUITE

Hello,

I have set up the ADC like the example that is given in controlSUITE.

I will get perfect ADC counts for most of the day but then randomly, the ADC will stop working and not return anything.

I do not understand why this would happen? Is there some buffer that i need to clear so that i dont overload it or something ?

it is very strange and frustrating.

The ADC example works perfectly fine and that is almost exactly what I have implemented in my code.

Please help.

Regards,

Rajan Joshi

over 8 years ago

0 Gautam Iyer over 8 years ago

Guru 192875 points

Hi Rajan,

Does the controller freeze ? Anyway you can check this?

Regards,
Gautam

0 Rajan Joshi over 8 years ago in reply to Gautam Iyer

Expert 1020 points

Hello Gautam,

The controller is still functional. I can run the motor by running the code. It is just the Voltage2[10] variable in the code that i monitor is not showing me any values.

This is my ADC initialization function :

void ADC_INIT(void){
	/*
	 * ADC SETUP
	 */
		// Initialize all the handles needed for this application
		myAdc = ADC_init((void *)ADC_BASE_ADDR, sizeof(ADC_Obj));
		myClk = CLK_init((void *)CLK_BASE_ADDR, sizeof(CLK_Obj));
		myCpu = CPU_init((void *)NULL, sizeof(CPU_Obj));
		myFlash = FLASH_init((void *)FLASH_BASE_ADDR, sizeof(FLASH_Obj));
		myGpio = GPIO_init((void *)GPIO_BASE_ADDR, sizeof(GPIO_Obj));
		myPie = PIE_init((void *)PIE_BASE_ADDR, sizeof(PIE_Obj));
		myPll = PLL_init((void *)PLL_BASE_ADDR, sizeof(PLL_Obj));
		myPwm = PWM_init((void *)PWM_ePWM1_BASE_ADDR, sizeof(PWM_Obj));
		myWDog = WDOG_init((void *)WDOG_BASE_ADDR, sizeof(WDOG_Obj));

		// Perform basic system initialization
		WDOG_disable(myWDog);
		CLK_enableAdcClock(myClk);
		(*Device_cal)();

		//Select the internal oscillator 1 as the clock source
		CLK_setOscSrc(myClk, CLK_OscSrc_Internal);

		// Disable the PIE and all interrupts
		PIE_disable(myPie);
		PIE_disableAllInts(myPie);
		CPU_disableGlobalInts(myCpu);
		CPU_clearIntFlags(myCpu);

		// Setup a debug vector table and enable the PIE
		PIE_enable(myPie);


		// Initialize the ADC
		ADC_enableBandGap(myAdc);
		ADC_enableRefBuffers(myAdc);
		ADC_powerUp(myAdc);
		ADC_enable(myAdc);
		ADC_setVoltRefSrc(myAdc, ADC_VoltageRefSrc_Int);

		// Enable ADCINT1 in PIE
		PIE_enableAdcInt(myPie, ADC_IntNumber_1);
		// Enable CPU Interrupt 1
		CPU_enableInt(myCpu, CPU_IntNumber_10);
		// Enable Global interrupt INTM
		CPU_enableGlobalInts(myCpu);
		// Enable Global realtime interrupt DBGM
		CPU_enableDebugInt(myCpu);

		LoopCount = 0;
		ConversionCount = 0;

		ADC_setIntSrc(myAdc, ADC_IntNumber_1, ADC_IntSrc_EOC2);
		// Enable PWM clock
		CLK_enablePwmClock(myClk, PWM_Number_1);

		// Setup PWM
		PWM_enableSocAPulse(myPwm);                                         // Enable SOC on A group
		PWM_setSocAPulseSrc(myPwm, PWM_SocPulseSrc_CounterEqualCmpAIncr);   // Select SOC from from CPMA on upcount
		PWM_setSocAPeriod(myPwm, PWM_SocPeriod_FirstEvent);                 // Generate pulse on 1st event
		PWM_setCmpA(myPwm, 0x0080);                                         // Set compare A value
		PWM_setPeriod(myPwm, 0xFFFF);                                       // Set period for ePWM1
		PWM_setCounterMode(myPwm, PWM_CounterMode_Up);                      // count up and start
		CLK_enableTbClockSync(myClk);


	    EALLOW;
	    myGpio->AIOMUX1 = 0<<13;//Enable AIO6
	    myGpio->AIODIR = 1<<6;// Set AIO6 as OUTPUT
//	    ((GPIO_Obj *)myGpio)->AIODAT = 1<<6;// Set AIO6 as OUTPUT
	    myGpio->AIOCLEAR= 1<<6;// Set AIO6 as OUTPUT
	    EDIS;

	/*
	 * END ADC SETUP
	 */
}

What I have done is set up a timer to fetch the ADC value every five seconds and if set to a particular count it will run the motor.

I think I may not be setting up the ADC perfectly, but this is strange since it works sometimes and does not work some other times in my code despite the fact that I am using the same setup as the one in the example code.

I have attached my hal.c file.

Is there something in my initialization that I may be doing wrong ?

Regards,

Rajan Joshi

Fullscreen 4101.hal.c Download

/* --COPYRIGHT--,BSD
 * 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.
 * --/COPYRIGHT--*/
//! \file  sw\modules\hal\boards\boostxldrv8305evm_revA\f28x\f2802x\src\hal.c
//! \brief Contains the various functions related to the HAL object (everything outside the CTRL system)
//!
//! (C) Copyright 2015, 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

#define US_TO_CNT(A) ((((long double) A * (long double)USER_SYSTEM_FREQ_MHz) - 9.0L) / 5.0L)

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

#ifdef F2802xF
#pragma DATA_SECTION(hal,"rom_accessed_data");
#endif
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(US_TO_CNT(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_enableDrv(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  DRV8305_enable(obj->drv8305Handle);

  return;
}  // end of HAL_enableDrv() 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_CycleByCycle_TZ2_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);
    }

  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;


  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 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 the SPIA handle
  obj->spiAHandle = SPI_init((void *)SPIA_BASE_ADDR,sizeof(SPI_Obj));


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


  // initialize timer drivers
  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));


  // initialize drv8305 interface
  obj->drv8305Handle = DRV8305_init(&obj->drv8305,sizeof(obj->drv8305));

  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);


  // 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);


  // setup the spiA
  HAL_setupSpiA(handle);


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


  // setup the drv8305 interface
  HAL_setupGate(handle);


  // 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_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 boostxldrv8305evm_revA
  // sample the first sample twice due to errata sprz342f

  // ISEN_A
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_B1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_7_cycles);

  // ISEN_A
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_B1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_7_cycles);

  // ISEN_B
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_2,ADC_SocChanNumber_B3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_2,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_2,ADC_SocSampleDelay_7_cycles);

  // ISEN_C
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_B7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_7_cycles);

  // VSEN_A
  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);

  // VSEN_B
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_A3);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_7_cycles);

  // VSEN_C
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_6,ADC_SocChanNumber_A1);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_6,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_6,ADC_SocSampleDelay_7_cycles);

  // V_PVDD
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_7_cycles);
//
//
//#ifdef ADC
//  //ADC for switch
//  ADC_setSocChanNumber (obj->adcHandle, ADC_SocNumber_8, ADC_SocChanNumber_A4);    //set SOC0 channel select to ADCINA4
//  ADC_setSocChanNumber (obj->adcHandle, ADC_SocNumber_9, ADC_SocChanNumber_A4);
//  ADC_setSocTrigSrc(obj->adcHandle, ADC_SocNumber_8, ADC_SocTrigSrc_EPWM1_ADCSOCA);    //set SOC0 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
//  ADC_setSocTrigSrc(obj->adcHandle, ADC_SocNumber_9, ADC_SocTrigSrc_EPWM1_ADCSOCA);    //set SOC1 start trigger on EPWM1A, due to round-robin SOC0 converts first then SOC1
//  ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_8, ADC_SocSampleDelay_7_cycles);   //set SOC0 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
//  ADC_setSocSampleDelay(obj->adcHandle, ADC_SocNumber_9, ADC_SocSampleDelay_7_cycles);   //set SOC1 S/H Window to 7 ADC Clock Cycles, (6 ACQPS plus 1)
//#endif

  //  //SWITCH
//  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_8,ADC_SocChanNumber_A2);
//  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_8,ADC_SocTrigSrc_EPWM1_ADCSOCA);
//  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_8,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_4);

  // 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_setupGate(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  DRV8305_setSpiHandle(obj->drv8305Handle,obj->spiAHandle);
  DRV8305_setGpioHandle(obj->drv8305Handle,obj->gpioHandle);
  DRV8305_setGpioNumber(obj->drv8305Handle,GPIO_Number_6);
} // HAL_setupGate() function


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

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

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

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

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

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

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

    // EN_GATE
  GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_6);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_6,GPIO_Direction_Output);
//
    // WAKE
  GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_7);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_7,GPIO_Direction_Output);

  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Input);

  // SPI_SDI if JP4 is soldered, No Connection if JP4 is not soldered
  GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);

  // SPI_SDO if JP6 is soldered, No Connection if JP6 is not soldered
//  GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);
//  GPIO_setPullUp(obj->gpioHandle, GPIO_Number_17, GPIO_PullUp_Disable);

  // SPI_CLK
  GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);

  // SPI_SCS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);

  // nFAULT
  GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_TZ2_NOT);

  // No connection (TX)
#ifdef SWITCHMOTOR //Selects MOTOR 1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_29);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_29,GPIO_Direction_Output);
#endif
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_29);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_29,GPIO_Direction_Output);

  // SPI_SDI if JP5 is soldered, No Connection if JP5 is not soldered
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_32);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_32,GPIO_Direction_Output);
#ifdef SWITCHMOTOR //Selects MOTOR 3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_32);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_32,GPIO_Direction_Output);
#endif

  // SPI_SDO if JP7 is soldered, No Connection if JP7 is not soldered
#ifdef SWITCHMOTOR //Selects MOTOR 4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_33);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_33,GPIO_Direction_Output);

#endif

  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_33);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_33,GPIO_Direction_Output);
  // No Connection
#ifdef SWITCHMOTOR //Selects MOTOR 2
  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);
#endif
  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);


#ifdef HALL_COUNTER

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Input);

  // No connection (TX)//WORKS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_29);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_29,GPIO_Direction_Input);


  // SPI_SDI if JP5 is soldered, No Connection if JP5 is not soldered //WORKS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);

  // SPI_SDO if JP7 is soldered, No Connection if JP7 is not soldered
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);

  // No Connection//WORKS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);

#endif

#ifdef LOW_Gpio


  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Input);

  // SPI_SDO if JP7 is soldered, No Connection if JP7 is not soldered MOTOR 1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_33);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_33,GPIO_Direction_Output);

  // SPI_SDI if JP5 is soldered, No Connection if JP5 is not soldered //WORKS MOTOR 2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_32);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_32,GPIO_Direction_Output);

  // No Connection//WORKS MOTOR 3
  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);

  // No connection (TX)//WORKS MOTOR 4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_29);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_29,GPIO_Direction_Output);

#endif

#ifdef HIGH_Gpio


  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_12);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_12,GPIO_Direction_Input);

  // No connection (TX)//WORKS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_29);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_29,GPIO_Direction_Output);

  // SPI_SDI if JP5 is soldered, No Connection if JP5 is not soldered //WORKS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_32);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_32,GPIO_Direction_Output);

  // SPI_SDO if JP7 is soldered, No Connection if JP7 is not soldered
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_33);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_33,GPIO_Direction_Output);

  // No Connection//WORKS
  GPIO_setMode(obj->gpioHandle,GPIO_Number_34,GPIO_34_Mode_GeneralPurpose);
  GPIO_setHigh(obj->gpioHandle,GPIO_Number_34);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_34,GPIO_Direction_Output);
#endif

  // 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);



  return;
}  // end of HAL_setupGpios() function


void HAL_setupLaunchPadGpio0and1(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  // GPIO 0 (LED 2 on the LaunchPad)
  // Since the LaunchPad uses the same GPIO pins for LEDs as PWM pins,
  // the GPIO 0 and 1 are setup outside of the HAL file.
  GPIO_setMode(obj->gpioHandle,GPIO_Number_0,GPIO_0_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_0);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_0,GPIO_Direction_Output);

  // GPIO 1 (LED 4 on the LaunchPad)
  // Since the LaunchPad uses the same GPIO pins for LEDs as PWM pins,
  // the GPIO 0 and 1 are setup outside of the HAL file.  GPIO 1 will be
  // kept low so that there is no possibility of shoot-through conduction
  // with the high side switch that is controlled by GPIO0.
  GPIO_setMode(obj->gpioHandle,GPIO_Number_1,GPIO_1_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_1);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_1,GPIO_Direction_Output);

  return;
}  // end of HAL_setupGpios() function


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


#define _DEBUG

  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_enableCompClock(obj->clkHandle,CLK_CompNumber_1);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_2);
  CLK_enableCompClock(obj->clkHandle,CLK_CompNumber_3);

  CLK_enableEcap1Clock(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_disableHrPwmClock(obj->clkHandle);

  CLK_disableI2cClock(obj->clkHandle);

  CLK_enableSciaClock(obj->clkHandle);

  CLK_enableSpiaClock(obj->clkHandle);

  CLK_enableTbClockSync(obj->clkHandle);

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

  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]);


  // 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


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

  SPI_reset(obj->spiAHandle);
  SPI_setMode(obj->spiAHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiAHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiAHandle);
  SPI_enableTxFifoEnh(obj->spiAHandle);
  SPI_enableTxFifo(obj->spiAHandle);
  SPI_setTxDelay(obj->spiAHandle,0x0010);
  SPI_setBaudRate(obj->spiAHandle,(SPI_BaudRate_e)(0x0001));
  SPI_setCharLength(obj->spiAHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiAHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiAHandle);

  return;
}  // end of HAL_setupSpiA() function


void HAL_setupTimers(HAL_Handle handle,const float_t systemFreq_MHz)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;
  uint32_t  timerPeriod_0p5ms = (uint32_t)(systemFreq_MHz * (float_t)500.0) - 1;
  uint32_t  timerPeriod_10ms = (uint32_t)(systemFreq_MHz * (float_t)10000.0) - 1;
#ifdef SWITCHMOTOR
  uint32_t  timerPeriod_1s = (uint32_t)(systemFreq_MHz*(float_t)500000.0) - 1;
#endif
#ifdef ADC_timer
  uint32_t  timerPeriod_2s = (uint32_t)(systemFreq_MHz*(float_t)2000000.0) - 1;
#endif

  // 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_0p5ms);
#ifdef SWITCHMOTOR
  TIMER_setPeriod(obj->timerHandle[0],timerPeriod_1s);
#endif

#ifdef ADC_timer
  TIMER_setPeriod(obj->timerHandle[0],timerPeriod_2s);
#endif

  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_10ms);
  TIMER_setPreScaler(obj->timerHandle[1],0);

  // use timer 2 for CPU time diagnostics
  TIMER_setDecimationFactor(obj->timerHandle[2],0);
  TIMER_setEmulationMode(obj->timerHandle[2],TIMER_EmulationMode_RunFree);
  TIMER_setPeriod(obj->timerHandle[2],0xFFFFFFFF);
  TIMER_setPreScaler(obj->timerHandle[2],0);

  return;
}  // end


#ifdef ADC_timer
void HAL_enableTimer0Int(HAL_Handle handle)
{
	HAL_Obj *obj = (HAL_Obj *)handle;
	PIE_enableTimer0Int(obj->pieHandle);
	//enable the interrupt
	TIMER_enableInt(obj->timerHandle[0]);
	//enable CPU interrupt for TINT0
	CPU_enableInt(obj->cpuHandle,CPU_IntNumber_1);
	return;
}// end of HAL_enableTimer0Int() function
#endif

#ifdef SWITCHMOTOR
void HAL_enableTimer0Int(HAL_Handle handle)
{
	HAL_Obj *obj = (HAL_Obj *)handle;
	PIE_enableTimer0Int(obj->pieHandle);
	//enable the interrupt
	TIMER_enableInt(obj->timerHandle[0]);
	//enable CPU interrupt for TINT0
	CPU_enableInt(obj->cpuHandle,CPU_IntNumber_1);
	return;
}// end of HAL_enableTimer0Int() function
#endif

void HAL_writeDrvData(HAL_Handle handle, DRV_SPI_8305_Vars_t *Spi_8305_Vars)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  DRV8305_writeData(obj->drv8305Handle,Spi_8305_Vars);

  return;
}  // end of HAL_writeDrvData() function


void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8305_Vars_t *Spi_8305_Vars)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  DRV8305_readData(obj->drv8305Handle,Spi_8305_Vars);

  return;
}  // end of HAL_readDrvData() function


void HAL_setupDrvSpi(HAL_Handle handle, DRV_SPI_8305_Vars_t *Spi_8305_Vars)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  DRV8305_setupSpi(obj->drv8305Handle,Spi_8305_Vars);

  return;
}  // end of HAL_setupDrvSpi() function

void HAL_setDacParameters(HAL_Handle handle, HAL_DacData_t *pDacData)
{
	HAL_Obj *obj = (HAL_Obj *)handle;

	pDacData->PeriodMax = PWMDAC_getPeriod(obj->pwmDacHandle[PWMDAC_Number_1]);

	pDacData->offset[0] = _IQ(0.5);
	pDacData->offset[1] = _IQ(0.5);
	pDacData->offset[2] = _IQ(0.0);
	pDacData->offset[3] = _IQ(0.0);

	pDacData->gain[0] = _IQ(1.0);
	pDacData->gain[1] = _IQ(1.0);
	pDacData->gain[2] = _IQ(1.0);
	pDacData->gain[3] = _IQ(1.0);

	return;
}	//end of HAL_setDacParameters() function

// end of file

0 tlee over 8 years ago in reply to Rajan Joshi

TI__Guru 62975 points

Rajan,

Can you check the ADCINTOVF and ADCSOCOVF1 registers when the ADC stops working? This might happen if your system misses the interrupt service deadline.

-Tommy

0 Rajan Joshi over 8 years ago in reply to tlee

Expert 1020 points

Hey Tommy,
I checked the registers and the output is :
ADCINTOVF = 0x0003 and ADCSOCOVF1= 0x0000

So i do think that the ADCINT1 is being missed ?

how can i reset this ?

Regards,
Rajan Joshi

0 tlee over 8 years ago in reply to Rajan Joshi

TI__Guru 62975 points

Rajan,

You'll need to clear it using the ADCINTOVFCLR register. The ADC will not generate further interrupts until the ADCINTOVF status is cleared.

One option is to configure the ADCINT to run in continuous mode -- interrupts should continue to trigger even if you do not service them in time.

-Tommy

0 Rajan Joshi over 8 years ago in reply to tlee

Expert 1020 points

Tommy,

I did try to clear it but it did not seem to work. Also tried to continuous mode but it also did not work.

I feel like i am not calling the command correctly, what I did is the following :

EALLOW;
myAdc->ADCINTOVFCLR = 0x0003;
EDIS;

It still was not able to clear the interrupt. Am i doing this correctly, I know it maybe a straightforward question. Sorry for wasting your time.

Regards,

Rajan

0 tlee over 8 years ago in reply to Rajan Joshi

TI__Guru 62975 points

Rajan,

Are you able to clear the ADCINTOVF flags if you do this manually through CCS at a breakpoint?

Trying to clear the ADCINOVF may be difficult in the program because you are already missing the ADCINT service deadline so you probably won't be able to keep up with clearing the OVF flags.

-Tommy

C2000™︎ microcontrollers

C2000 microcontrollers forum

TMS320F28027: ADC randomly stops working