CCS/DRV8301-69M-KIT: gMotorVars.CtrlState always remains in idle , not able to identify motor

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//! \file   solutions/instaspin_motion/src/proj_lab05d.c
//! \brief  InstaSPIN-MOTION SpinTAC Speed Controller
//!
//! (C) Copyright 2012, LineStream Technologies, Inc.
//! (C) Copyright 2011, Texas Instruments, Inc.

//! \defgroup PROJ_LAB05d PROJ_LAB05d
//@{

//! \defgroup PROJ_LAB05d_OVERVIEW Project Overview
//!
//! Running the SpinTAC Velocity Controller
//!

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

// system includes
#include <math.h>
#include "main.h"
//#include "DSP28x_Project.h"     // Device Headerfile and Examples Include File
//#include "stdio.h"
//#include "sw/drivers/can/src/32b/f28x/f2806x/can.h"

//#pragma DATA_SECTION(ECanaRegs,"ECanaRegsFile");

//volatile struct ECAN_REGS ECanaRegs;

//#pragma DATA_SECTION(ECanaMboxes,"ECanaMboxesFile");

//volatile struct ECAN_MBOXES ECanaMboxes;


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

// Include header files used in the main function


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

#define LED_BLINK_FREQ_Hz   5


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

uint_least16_t gCounter_updateGlobals = 0;

bool Flag_Latch_softwareUpdate = true;

CTRL_Handle ctrlHandle;

HAL_Handle halHandle;

USER_Params gUserParams;

HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};

HAL_AdcData_t gAdcData;

_iq gMaxCurrentSlope = _IQ(0.0);



#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
CTRL_Obj ctrl;				//v1p7 format
#endif

ST_Obj st_obj;
ST_Handle stHandle;

uint16_t gLEDcnt = 0;

volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;

#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#endif


#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif
#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars;
#endif

_iq gFlux_pu_to_Wb_sf;

_iq gFlux_pu_to_VpHz_sf;

_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;

_iq gTorque_Flux_Iq_pu_to_Nm_sf;

// **************************************************************************
// In future declare variables over here
void InitECana(void);
void InitECanaGpio(void);
void spi_init(void);

void spi_fifo_init(void);
void delay(float n);

unsigned long spi_xmit(unsigned long  a);
Uint16 sdata=0x0000;  // s3end data
Uint16 rdata1=0;  // received data
Uint16 rdata2=0;
Uint16 rdata3=0;
Uint16 rdata4=0;
Uint16 rdata5=0;
Uint16 rdata6=0;
Uint32 byte7=0;
Uint32 fbyte3=0;
Uint16 fbyte4=0;
Uint32 fibyte3=0;
Uint32 fiibyte3=0;
Uint32 fibyte4=0;
Uint32 fibyte5=0;
long i;
//long loopcount=0;
//volatile struct ECAN_REGS ECanaShadow;
void main(void)
{

	//struct ECAN_REGS ECanaShadow;
    uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));


  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);


  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);


  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }


  // initialize the user parameters
  USER_setParams(&gUserParams);


  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);


  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);  		//v1p6 format (06xF and 06xM devices)
  controller_obj = (CTRL_Obj *)ctrlHandle;
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl));	//v1p7 format default
#endif


  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }


  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);


  // setup faults
  HAL_setupFaults(halHandle);


  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);


  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);


  // enable global interrupts
  HAL_enableGlobalInts(halHandle);


  // enable debug interrupts
  HAL_enableDebugInt(halHandle);


  // disable the PWM
  HAL_disablePwm(halHandle);


  // initialize the SpinTAC Components
  stHandle = ST_init(&st_obj, sizeof(st_obj));


  // setup the SpinTAC Components
  ST_setupVelCtl(stHandle);


#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
  // turn on the DRV8305 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8305 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

  // enable DC bus compensation
    CTRL_setFlag_enableDcBusComp(ctrlHandle, true);


    // compute scaling factors for flux and torque calculations
    gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
    gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
    gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
    gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

    InitSysCtrl();



 // EALLOW;
  // InitECana();
 // InitECanaGpio();
  EALLOW;
  /* Write to the MSGID field  */


   //   ECanaMboxes.MBOX25.MSGID.all = 0x95555555;

 // EDIS;

  // Configure Mailbox under test as a Transmit mailbox

 // 	ECanaShadow.CANMD.all = ECanaRegs.CANMD.all;
  	//ECanaShadow.CANMD.bit.MD25 = 0;
  //	ECanaRegs.CANMD.all = ECanaShadow.CANMD.all;


  	// Enable Mailbox under test

  	//	ECanaShadow.CANME.all = ECanaRegs.CANME.all;
  	//	ECanaShadow.CANME.bit.ME25 = 1;
  	//	ECanaRegs.CANME.all = ECanaShadow.CANME.all;


  /* Write to DLC field in Message Control reg */

 // ECanaMboxes.MBOX25.MSGCTRL.bit.DLC = 8;








 void spi_init(void);

  for(;;)
  {
	  // Waiting for enable system flag to be set
	      while(!(gMotorVars.Flag_enableSys));

	      // Dis-able the Library internal PI.  Iq has no reference now
	      CTRL_setFlag_enableSpeedCtrl(ctrlHandle, false);

	      // loop while the enable system flag is true
	      while(gMotorVars.Flag_enableSys)
	        {
	          CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;
	          ST_Obj *stObj = (ST_Obj *)stHandle;

	          // increment counters
	          gCounter_updateGlobals++;

	          // enable/disable the use of motor parameters being loaded from user.h
	          CTRL_setFlag_enableUserMotorParams(ctrlHandle,gMotorVars.Flag_enableUserParams);

	          // enable/disable Rs recalibration during motor startup
	       //   EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars.Flag_enableRsRecalc);

	          // enable/disable automatic calculation of bias values
	          CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc);


	          if(CTRL_isError(ctrlHandle))
	            {
	              // set the enable controller flag to false
	              CTRL_setFlag_enableCtrl(ctrlHandle,false);

	              // set the enable system flag to false
	              gMotorVars.Flag_enableSys = false;

	              // disable the PWM
	              HAL_disablePwm(halHandle);
	            }
	          else
	            {
	              // update the controller state
	              bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);

	              // enable or disable the control
	              CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);

	              if(flag_ctrlStateChanged)
	                {
	                  CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);

	                  if(ctrlState == CTRL_State_OffLine)
	                    {
	                      // enable the PWM
	                      HAL_enablePwm(halHandle);
	                    }
	                  else if(ctrlState == CTRL_State_OnLine)
	                    {
	                      if(gMotorVars.Flag_enableOffsetcalc == true)
	                      {
	                        // update the ADC bias values
	                        HAL_updateAdcBias(halHandle);
	                      }
	                      else
	                      {
	                        // set the current bias
	                        HAL_setBias(halHandle,HAL_SensorType_Current,0,_IQ(I_A_offset));
	                        HAL_setBias(halHandle,HAL_SensorType_Current,1,_IQ(I_B_offset));
	                        HAL_setBias(halHandle,HAL_SensorType_Current,2,_IQ(I_C_offset));

	                        // set the voltage bias
	                        HAL_setBias(halHandle,HAL_SensorType_Voltage,0,_IQ(V_A_offset));
	                        HAL_setBias(halHandle,HAL_SensorType_Voltage,1,_IQ(V_B_offset));
	                        HAL_setBias(halHandle,HAL_SensorType_Voltage,2,_IQ(V_C_offset));
	                      }

	                      // Return the bias value for currents
	                      gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
	                      gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
	                      gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);

	                      // Return the bias value for voltages
	                      gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
	                      gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
	                      gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);

	                      // enable the PWM
	                      HAL_enablePwm(halHandle);
	                    }
	                  else if(ctrlState == CTRL_State_Idle)
	                    {
	                      // disable the PWM
	                      HAL_disablePwm(halHandle);
	                      gMotorVars.Flag_Run_Identify = false;
	                    }

	                  if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
	                    (ctrlState > CTRL_State_Idle) &&
	                    (gMotorVars.CtrlVersion.minor == 6))
	                    {
	                      // call this function to fix 1p6
	                      USER_softwareUpdate1p6(ctrlHandle);
	                    }

	                }
	            }


	          if(EST_isMotorIdentified(obj->estHandle))
	            {
	              // set the current ramp
	              EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
	              gMotorVars.Flag_MotorIdentified = true;

	              // set the speed reference
	              CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);

	              // set the speed acceleration
	              CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));

	              // enable the SpinTAC Speed Controller
	              STVELCTL_setEnable(stObj->velCtlHandle, true);

	              if(EST_getState(obj->estHandle) != EST_State_OnLine)
	              {
	              	// if the estimator is not running, place SpinTAC into reset
	              	STVELCTL_setEnable(stObj->velCtlHandle, false);
	              }

	              if(Flag_Latch_softwareUpdate)
	              {
	                Flag_Latch_softwareUpdate = false;

	                USER_calcPIgains(ctrlHandle);

	                // initialize the watch window kp and ki current values with pre-calculated values
	                gMotorVars.Kp_Idq = CTRL_getKp(ctrlHandle,CTRL_Type_PID_Id);
	                gMotorVars.Ki_Idq = CTRL_getKi(ctrlHandle,CTRL_Type_PID_Id);

	                // initialize the watch window with maximum and minimum Iq reference
	                gMotorVars.SpinTAC.VelCtlOutputMax_A = _IQmpy(STVELCTL_getOutputMaximum(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
	                gMotorVars.SpinTAC.VelCtlOutputMin_A = _IQmpy(STVELCTL_getOutputMinimum(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
	              }

	            }
	          else
	            {
	              Flag_Latch_softwareUpdate = true;

	              // the estimator sets the maximum current slope during identification
	              gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
	            }


	          // when appropriate, update the global variables
	          if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
	            {
	              // reset the counter
	              gCounter_updateGlobals = 0;

	              updateGlobalVariables_motor(ctrlHandle, stHandle);
	            }


	          // update Kp and Ki gains
	          updateKpKiGains(ctrlHandle);

	          // set the maximum and minimum values for Iq reference
	          STVELCTL_setOutputMaximums(stObj->velCtlHandle, _IQmpy(gMotorVars.SpinTAC.VelCtlOutputMax_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)), _IQmpy(gMotorVars.SpinTAC.VelCtlOutputMin_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));

	          // enable/disable the forced angle
	          EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);

	          // enable or disable power warp
	          CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);

	  #ifdef DRV8301_SPI
	          HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);

	          HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
	  #endif
	  #ifdef DRV8305_SPI
	          HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);

	          HAL_readDrvData(halHandle,&gDrvSpi8305Vars);
	  #endif
	        } // end of while(gFlag_enableSys) loop


	      // disable the PWM
	      HAL_disablePwm(halHandle);

	      // set the default controller parameters (Reset the control to re-identify the motor)
	      CTRL_setParams(ctrlHandle,&gUserParams);
	      gMotorVars.Flag_Run_Identify = false;

	      // setup the SpinTAC Components
	      ST_setupVelCtl(stHandle);







} // end of for(;;) loop
//  asm(" ESTOP0");
} // end of main() function


interrupt void mainISR(void)
{

  static uint16_t stCnt = 0;

  // toggle status LED
  if(++gLEDcnt >= (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
  {
    HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
    gLEDcnt = 0;
  }


  // acknowledge the ADC interrupt
  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);


  // convert the ADC data
  HAL_readAdcData(halHandle,&gAdcData);


  // Run the SpinTAC Components
  if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
	  ST_runVelCtl(stHandle, ctrlHandle);
	  stCnt = 1;
  }



  // run the controller
  CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);


  // write the PWM compare values
  HAL_writePwmData(halHandle,&gPwmData);


  // setup the controller
  CTRL_setup(ctrlHandle);
  // Transmit data

        spi_xmit(sdata);
         // Wait until data is received
         while(SpiaRegs.SPIFFRX.bit.RXFFST !=1) { }

        // while(SpiaRegs.SPISTS.bit.INT_FLAG !=1) { }
         // Check against sent data
         rdata1 = SpiaRegs.SPIRXBUF ;
         delay(10);
         spi_xmit(sdata);
              // Wait until data is received
         while(SpiaRegs.SPIFFRX.bit.RXFFST !=1) { }
              //while(SpiaRegs.SPISTS.bit.INT_FLAG !=1) { }
              // Check against sent data
         rdata2 = SpiaRegs.SPIRXBUF  ;
         delay(10);
         spi_xmit(sdata);
              // Wait until data is received
         while(SpiaRegs.SPIFFRX.bit.RXFFST !=1) { }
              //while(SpiaRegs.SPISTS.bit.INT_FLAG !=1) { }
              // Check against sent data
         rdata3 = SpiaRegs.SPIRXBUF ;
         delay(10);
         spi_xmit(sdata);
                   // Wait until data is received
         while(SpiaRegs.SPIFFRX.bit.RXFFST !=1) { }
                   //while(SpiaRegs.SPISTS.bit.INT_FLAG !=1) { }
                   // Check against sent data
         rdata4 = SpiaRegs.SPIRXBUF;
         delay(10);
         spi_xmit(sdata);
                        // Wait until data is received
         while(SpiaRegs.SPIFFRX.bit.RXFFST !=1) { }
                        //while(SpiaRegs.SPISTS.bit.INT_FLAG !=1) { }
                        // Check against sent data
         rdata5 = SpiaRegs.SPIRXBUF ;
         delay(10);
         spi_xmit(sdata);
                             // Wait until data is received
         while(SpiaRegs.SPIFFRX.bit.RXFFST !=1) { }
                             //while(SpiaRegs.SPISTS.bit.INT_FLAG !=1) { }
                             // Check against sent data
         rdata6 = SpiaRegs.SPIRXBUF ;
         delay(10);
                                   fbyte3  = rdata3 & 0x03;
                                   fibyte3 = fbyte3<< 0x08;
                                   fiibyte3= fibyte3<<0x08;
                                   fbyte4  = rdata4<< 0x08;
                                   fibyte4 = fiibyte3 | fbyte4;
                                   fibyte5 = (rdata5 | fibyte4);
                                   byte7   = (fibyte5*360)/262144;// position data


                               //    ECanaMboxes.MBOX25.MDL.all = byte7;
                               //    ECanaMboxes.MBOX25.MDH.all = 0x00000000;




  return;
} // end of mainISR() function
asm(" ESTOP0");


void spi_init()
{
	SpiaRegs.SPICCR.all =0x0007;	             // Reset on, rising edge, 16-bit char bits
	SpiaRegs.SPICTL.all =0x0007;    		     // Enable master mode, normal phase,
                                                 // enable talk, and SPI int disabled.
	SpiaRegs.SPIBRR =0X0004;
    SpiaRegs.SPICCR.all =0x00C7;		         // Relinquish SPI from Reset
    SpiaRegs.SPIPRI.bit.FREE = 1;                // Set so breakpoints don't disturb xmission


}

/*void InitECanaGpio(void)
{
   EALLOW;

/* Enable internal pull-up for the selected CAN pins */
// Pull-ups can be enabled or disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.

   /*GpioCtrlRegs.GPAPUD.bit.GPIO30 = 0;     // Enable pull-up for GPIO30 (CANRXA)
   GpioCtrlRegs.GPAPUD.bit.GPIO31 = 0;     // Enable pull-up for GPIO31 (CANTXA)

/* Set qualification for selected CAN pins to asynch only */
// Inputs are synchronized to SYSCLKOUT by default.
// This will select asynch (no qualification) for the selected pins.

 /*   GpioCtrlRegs.GPAQSEL2.bit.GPIO30 = 3;   // Asynch qual for GPIO30 (CANRXA)
    GpioCtrlRegs.GPAQSEL2.bit.GPIO31 = 3;   // Asynch qual for GPIO31 (CANTXA)
/* Configure eCAN-A pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be eCAN functional pins.

 /*   GpioCtrlRegs.GPAMUX2.bit.GPIO30 = 1;    // Configure GPIO30 for CANRXA operation
    GpioCtrlRegs.GPAMUX2.bit.GPIO31 = 1;    // Configure GPIO31 for CANTXA operation

    EDIS;
}
void InitECana(void)        // Initialize eCAN-A module
{

/* Create a shadow register structure for the CAN control registers. This is
 needed, since only 32-bit access is allowed to these registers. 16-bit access
 to these registers could potentially corrupt the register contents or return
 false data. */

/*	struct ECAN_REGS ECanaShadow;

    EALLOW;     // EALLOW enables access to protected bits

/* Configure eCAN RX and TX pins for CAN operation using eCAN regs*/

 /*   ECanaShadow.CANTIOC.all = ECanaRegs.CANTIOC.all;
    ECanaShadow.CANTIOC.bit.TXFUNC = 1;
    ECanaRegs.CANTIOC.all = ECanaShadow.CANTIOC.all;

    ECanaShadow.CANRIOC.all = ECanaRegs.CANRIOC.all;
    ECanaShadow.CANRIOC.bit.RXFUNC = 1;
    ECanaRegs.CANRIOC.all = ECanaShadow.CANRIOC.all;

/* Configure eCAN for HECC mode - (reqd to access mailboxes 16 thru 31) */
                                    // HECC mode also enables time-stamping feature

/*    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.SCB = 1;
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

/* Initialize all bits of 'Message Control Register' to zero */
// Some bits of MSGCTRL register come up in an unknown state. For proper operation,
// all bits (including reserved bits) of MSGCTRL must be initialized to zero

  /*  ECanaMboxes.MBOX0.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX1.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX2.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX3.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX4.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX5.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX6.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX7.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX8.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX9.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX10.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX11.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX12.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX13.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX14.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX15.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX16.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX17.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX18.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX19.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX20.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX21.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX22.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX23.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX24.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX25.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX26.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX27.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX28.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX29.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX30.MSGCTRL.all = 0x00000000;
    ECanaMboxes.MBOX31.MSGCTRL.all = 0x00000000;

// TAn, RMPn, GIFn bits are all zero upon reset and are cleared again
//  as a matter of precaution.

    ECanaRegs.CANTA.all = 0xFFFFFFFF;   /* Clear all TAn bits */

 /*   ECanaRegs.CANRMP.all = 0xFFFFFFFF;  /* Clear all RMPn bits */

 /*   ECanaRegs.CANGIF0.all = 0xFFFFFFFF; /* Clear all interrupt flag bits */
/*    ECanaRegs.CANGIF1.all = 0xFFFFFFFF;

/* Configure bit timing parameters for eCANA*/

 /*   ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 1 ;            // Set CCR = 1
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

    // Wait until the CPU has been granted permission to change the configuration registers
    do
    {
      ECanaShadow.CANES.all = ECanaRegs.CANES.all;
    } while(ECanaShadow.CANES.bit.CCE != 1 );       // Wait for CCE bit to be set..

    ECanaShadow.CANBTC.all = 0;
    /* The following block is for 80 MHz SYSCLKOUT. (40 MHz CAN module clock Bit rate = 1 Mbps
       See Note at end of file. */
    //ECanaShadow.CANBTC.all =  0x000503BD;   // 500k
 /*   ECanaShadow.CANBTC.bit.BRPREG = 1;
    ECanaShadow.CANBTC.bit.TSEG2REG = 2;//4
    ECanaShadow.CANBTC.bit.TSEG1REG = 10;//13

    ECanaShadow.CANBTC.bit.SAM = 0;
   // ECanaShadow.CANME.bit.SJW = 4;
    ECanaRegs.CANBTC.all = ECanaShadow.CANBTC.all;

    ECanaShadow.CANMC.all = ECanaRegs.CANMC.all;
    ECanaShadow.CANMC.bit.CCR = 0 ;            // Set CCR = 0
    ECanaRegs.CANMC.all = ECanaShadow.CANMC.all;

    // Wait until the CPU no longer has permission to change the configuration registers
    do
    {
      ECanaShadow.CANES.all = ECanaRegs.CANES.all;
    } while(ECanaShadow.CANES.bit.CCE != 0 );       // Wait for CCE bit to be  cleared..

/* Disable all Mailboxes  */
   /* ECanaRegs.CANME.all = 0;        // Required before writing the MSGIDs

    EDIS;
}*/

void spi_fifo_init()
{
// Initialize SPI FIFO registers
    SpiaRegs.SPIFFTX.all=0xE040;
    SpiaRegs.SPIFFRX.all=0x2044;
    SpiaRegs.SPIFFCT.all=0x0;
}
void delay(float n)
{
   short      i;
    for (i = 0; i < n; i++) {}
}
unsigned long spi_xmit(unsigned long a)
{
   SpiaRegs.SPITXBUF=a<<8;
    return a;
}
void updateGlobalVariables_motor(CTRL_Handle handle, ST_Handle sthandle)
{
  CTRL_Obj *obj = (CTRL_Obj *)handle;
  ST_Obj *stObj = (ST_Obj *)sthandle;


  // get the speed estimate
  gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);

  // get the real time speed reference coming out of the speed trajectory generator
  gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));

  // get the torque estimate
  gMotorVars.Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);

  // get the magnetizing current
  gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);

  // get the rotor resistance
  gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);

  // get the stator resistance
  gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);

  // get the stator inductance in the direct coordinate direction
  gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);

  // get the stator inductance in the quadrature coordinate direction
  gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);

  // get the flux in V/Hz in floating point
  gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);

  // get the flux in Wb in fixed point
  gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);

  // get the controller state
  gMotorVars.CtrlState = CTRL_getState(handle);

  // get the estimator state
  gMotorVars.EstState = EST_getState(obj->estHandle);

  // Get the DC buss voltage
  gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));

  // get the Iq reference from the speed controller
  gMotorVars.IqRef_A = _IQmpy(STVELCTL_getTorqueReference(stObj->velCtlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));

  // gets the Velocity Controller status
  gMotorVars.SpinTAC.VelCtlStatus = STVELCTL_getStatus(stObj->velCtlHandle);

  // get the inertia setting
  gMotorVars.SpinTAC.InertiaEstimate_Aperkrpm = _IQmpy(STVELCTL_getInertia(stObj->velCtlHandle), _IQ(ST_SPEED_PU_PER_KRPM * USER_IQ_FULL_SCALE_CURRENT_A));

  // get the friction setting
  gMotorVars.SpinTAC.FrictionEstimate_Aperkrpm = _IQmpy(STVELCTL_getFriction(stObj->velCtlHandle), _IQ(ST_SPEED_PU_PER_KRPM * USER_IQ_FULL_SCALE_CURRENT_A));

  // get the Velocity Controller error
  gMotorVars.SpinTAC.VelCtlErrorID = STVELCTL_getErrorID(stObj->velCtlHandle);

  return;
} // end of updateGlobalVariables_motor() function


void updateKpKiGains(CTRL_Handle handle)
{
  if((gMotorVars.CtrlState == CTRL_State_OnLine) && (gMotorVars.Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate == false))
    {
      // set the kp and ki speed values from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars.Kp_spd);
      CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars.Ki_spd);

      // set the kp and ki current values for Id and Iq from the watch window
      CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars.Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars.Ki_Idq);
      CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars.Kp_Idq);
      CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars.Ki_Idq);
	}

  return;
} // end of updateKpKiGains() function


void ST_runVelCtl(ST_Handle handle, CTRL_Handle ctrlHandle)
{

    _iq speedFeedback, iqReference;
    ST_Obj *stObj = (ST_Obj *)handle;
    CTRL_Obj *ctrlObj = (CTRL_Obj *)ctrlHandle;

    // Get the mechanical speed in pu
    speedFeedback = EST_getFm_pu(ctrlObj->estHandle);

	// Run the SpinTAC Controller
	// Note that the library internal ramp generator is used to set the speed reference
    STVELCTL_setVelocityReference(stObj->velCtlHandle, TRAJ_getIntValue(ctrlObj->trajHandle_spd));
	STVELCTL_setAccelerationReference(stObj->velCtlHandle, _IQ(0.0));	// Internal ramp generator does not provide Acceleration Reference
	STVELCTL_setVelocityFeedback(stObj->velCtlHandle, speedFeedback);
	STVELCTL_run(stObj->velCtlHandle);

	// select SpinTAC Velocity Controller
	iqReference = STVELCTL_getTorqueReference(stObj->velCtlHandle);

	// Set the Iq reference that came out of SpinTAC Velocity Control
	CTRL_setIq_ref_pu(ctrlHandle, iqReference);
}


//@} //defgroup
// end of file

/* --COPYRIGHT--,BSDhghhhfh
 * Copyright (c) 2012, 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   solutions/instaspin_foc/boards/drv8301kit_revD/f28x/f2806xF/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 "sw/solutions/instaspin_motion/boards/drv8301kit_revD/f28x/f2806xM/src/user.h"
#include "hal_obj.h"
#include "F2806x_Device.h"
//#include "F2806x_ECan.h"
//#include"can.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

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);

  // 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);

  //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;

  DRV8301_enable(obj->drv8301Handle);

  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_enableTimer0Int(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  PIE_enableTimer0Int(obj->pieHandle);


  // enable the interrupt
  TIMER_enableInt(obj->timerHandle[0]);


  // enable the cpu interrupt for TINT0
  CPU_enableInt(obj->cpuHandle,CPU_IntNumber_1);

  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_TZ3_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 SPI handles
  obj->spiAHandle = SPI_init((void *)SPIA_BASE_ADDR,sizeof(SPI_Obj));
  obj->spiBHandle = SPI_init((void *)SPIB_BASE_ADDR,sizeof(SPI_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));


  // initialize drv8301 interface
  obj->drv8301Handle = DRV8301_init(&obj->drv8301,sizeof(obj->drv8301));


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

  //obj->ecanaHandle = InitECana();
  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_90_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 eCAN
//  HAL_setupECAN(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 ecana
  //HAL_setupECAN(handle);
  // setup the spiA
  HAL_setupSpiA(handle);


  // setup the spiB
  HAL_setupSpiB(handle);


  // setup the PWM DACs
  HAL_setupPwmDacs(handle);


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


  // setup the drv8301 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);


  // 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);


  // 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 drv8301kit_revD
  // EXT IA-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_0,ADC_SocChanNumber_A6);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_0,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_0,ADC_SocSampleDelay_9_cycles);

  // EXT IA-FB
  // Duplicate conversion due to ADC Initial Conversion bug (SPRZ342)
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_1,ADC_SocChanNumber_A6);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_1,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_1,ADC_SocSampleDelay_9_cycles);

  // EXT IB-FB
  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_9_cycles);

  // EXT IC-FB
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_3,ADC_SocChanNumber_A0);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_3,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_3,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb1
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_4,ADC_SocChanNumber_B7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_4,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_4,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb2
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_5,ADC_SocChanNumber_A7);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_5,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_5,ADC_SocSampleDelay_9_cycles);

  // ADC-Vhb3
  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_9_cycles);

  // VDCBUS
  ADC_setSocChanNumber(obj->adcHandle,ADC_SocNumber_7,ADC_SocChanNumber_B2);
  ADC_setSocTrigSrc(obj->adcHandle,ADC_SocNumber_7,ADC_SocTrigSrc_EPWM1_ADCSOCA);
  ADC_setSocSampleDelay(obj->adcHandle,ADC_SocNumber_7,ADC_SocSampleDelay_9_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_3);

  FLASH_setNumRandomReadWaitStates(obj->flashHandle,FLASH_NumRandomWaitStates_3);

  FLASH_setOtpWaitStates(obj->flashHandle,FLASH_NumOtpWaitStates_5);

  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;

  DRV8301_setSpiHandle(obj->drv8301Handle,obj->spiBHandle);
  DRV8301_setGpioHandle(obj->drv8301Handle,obj->gpioHandle);
  DRV8301_setGpioNumber(obj->drv8301Handle,GPIO_Number_51);
  
  return;
} // HAL_setupGate() 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);

  // PWM-DAC4
  GPIO_setMode(obj->gpioHandle,GPIO_Number_6,GPIO_6_Mode_EPWM4A);

  // Push Button SW2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_7,GPIO_7_Mode_GeneralPurpose);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_7,GPIO_Direction_Input);

  // ADCSOCAO_NOT or PWM-DAC3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_8,GPIO_8_Mode_EPWM5A);

  // Push Button SW1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_9,GPIO_9_Mode_GeneralPurpose);

  // PWM-DAC1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_10,GPIO_10_Mode_EPWM6A);

  // PWM-DAC2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_11,GPIO_11_Mode_EPWM6B);

  // DRV8301-LED1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_12,GPIO_12_Mode_GeneralPurpose);

  // OCTWn
  GPIO_setMode(obj->gpioHandle,GPIO_Number_13,GPIO_13_Mode_TZ2_NOT);

  // FAULTn
  GPIO_setMode(obj->gpioHandle,GPIO_Number_14,GPIO_14_Mode_TZ3_NOT);

  // LED2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_15,GPIO_15_Mode_GeneralPurpose);

  // Set Qualification Period for GPIO16-23, 5*2*(1/90MHz) = 0.11us
  GPIO_setQualificationPeriod(obj->gpioHandle,GPIO_Number_16,5);

  // SPI-SIMO
  GPIO_setMode(obj->gpioHandle,GPIO_Number_16,GPIO_16_Mode_SPISIMOA);
  GPIO_setPullup(obj->gpioHandle,GPIO_Number_16, GPIO_Pullup_Enable);

  // SPI-SOMI
  GPIO_setMode(obj->gpioHandle,GPIO_Number_17,GPIO_17_Mode_SPISOMIA);
  GPIO_setPullup(obj->gpioHandle,GPIO_Number_17, GPIO_Pullup_Enable);

  // SPI-CLK
  GPIO_setMode(obj->gpioHandle,GPIO_Number_18,GPIO_18_Mode_SPICLKA);
  GPIO_setPullup(obj->gpioHandle,GPIO_Number_18, GPIO_Pullup_Enable);

  // SPI-STE
  GPIO_setMode(obj->gpioHandle,GPIO_Number_19,GPIO_19_Mode_SPISTEA_NOT);
  GPIO_setPullup(obj->gpioHandle,GPIO_Number_19, GPIO_Pullup_Enable);

      GpioCtrlRegs.GPAQSEL2.bit.GPIO16 = 3; // Asynch input GPIO16 (SPISIMOA)
      GpioCtrlRegs.GPAQSEL2.bit.GPIO17 = 3; // Asynch input GPIO17 (SPISOMIA)
      GpioCtrlRegs.GPAQSEL2.bit.GPIO18 = 3; // Asynch input GPIO18 (SPICLKA)
      GpioCtrlRegs.GPAQSEL2.bit.GPIO19 = 3; // Asynch input GPIO19 (SPISTEA)

#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

  // SPI SIMO B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_24,GPIO_24_Mode_SPISIMOB);

  // SPI SOMI B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_25,GPIO_25_Mode_SPISOMIB);

  // SPI CLK B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_26,GPIO_26_Mode_SPICLKB);

  // SPI CSn B
  GPIO_setMode(obj->gpioHandle,GPIO_Number_27,GPIO_27_Mode_SPISTEB_NOT);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_28,GPIO_28_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_29,GPIO_29_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_30,GPIO_30_Mode_CANRXA);
  //GPIO_setPullup(obj->gpioHandle,GPIO_Number_30, GPIO_Pullup_Enable);
  //GpioCtrlRegs.GPAQSEL2.bit.GPIO30 = 3;

  // ControlCARD LED2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_31,GPIO_31_Mode_CANTXA);
  //GPIO_setPullup(obj->gpioHandle,GPIO_Number_31, GPIO_Pullup_Enable);
  //GpioCtrlRegs.GPAQSEL2.bit.GPIO31 = 3;

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_32,GPIO_32_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_33,GPIO_33_Mode_GeneralPurpose);

  // ControlCARD LED3
  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);

  // DRV8301 Enable
  GPIO_setMode(obj->gpioHandle,GPIO_Number_39,GPIO_39_Mode_GeneralPurpose);

  // CAP1
  GPIO_setMode(obj->gpioHandle,GPIO_Number_40,GPIO_40_Mode_GeneralPurpose);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_40,GPIO_Direction_Input);

  // CAP2
  GPIO_setMode(obj->gpioHandle,GPIO_Number_41,GPIO_41_Mode_GeneralPurpose);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_41,GPIO_Direction_Input);

  // CAP3
  GPIO_setMode(obj->gpioHandle,GPIO_Number_42,GPIO_42_Mode_GeneralPurpose);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_42,GPIO_Direction_Input);

  // DC_CAL
  GPIO_setMode(obj->gpioHandle,GPIO_Number_43,GPIO_43_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_44,GPIO_44_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_50,GPIO_50_Mode_GeneralPurpose);

  // DRV8301 Enable
  GPIO_setMode(obj->gpioHandle,GPIO_Number_51,GPIO_51_Mode_GeneralPurpose);
  GPIO_setLow(obj->gpioHandle,GPIO_Number_51);
  GPIO_setDirection(obj->gpioHandle,GPIO_Number_51,GPIO_Direction_Output);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_52,GPIO_52_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_53,GPIO_53_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_54,GPIO_54_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_55,GPIO_55_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_56,GPIO_56_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_57,GPIO_57_Mode_GeneralPurpose);

  // No Connection
  GPIO_setMode(obj->gpioHandle,GPIO_Number_58,GPIO_58_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_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_enableEcanaClock(obj->clkHandle);

#ifdef QEP
  CLK_enableEqep1Clock(obj->clkHandle);
  CLK_enableEqep2Clock(obj->clkHandle);
#endif

  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_disableHrPwmClock(obj->clkHandle);

  CLK_disableI2cClock(obj->clkHandle);

  CLK_disableLinAClock(obj->clkHandle);

  CLK_disableClaClock(obj->clkHandle);

  CLK_enableSciaClock(obj->clkHandle);

  CLK_enableSpiaClock(obj->clkHandle);
  CLK_enableSpibClock(obj->clkHandle);
  
  CLK_enableTbClockSync(obj->clkHandle);

  //Modified for enabling ecana

  //CLK_enableEcanaClock(obj->clkHandle);

  CLK_enableEcanaClock(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

#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_setupECAN(HAL_Handle handle){
	//HAL_Obj *obj = (HAL_Obj *)handle;

//	ECAN_setTXIO(obj->ecanaHandle);
//	ECAN_setRXIO(obj->ecanaHandle);
//	ECAN_setSCCmode(obj->ecanaHandle);
//	ECAN_Mode(obj->ecanaHandle, eCANmode);
 //   ECAN_disableAllMailbox(obj->ecanaHandle);
//	ECAN_clearMSGCTRL(obj->ecanaHandle);
 //   ECAN_clearCANTA(obj->ecanaHandle);
//	ECAN_clearCANRMP(obj->ecanaHandle);
//	ECAN_clearCANGIF0(obj->ecanaHandle);
//	ECAN_clearCANGIF1(obj->ecanaHandle);
 //   ECAN_setBitrate(obj->ecanaHandle, Bitrate_1M); // 90 MHz SYSCLKOUT. 45 MHz CAN module clock Bit rate = 500 Kbps

//}


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

  SPI_reset(obj->spiAHandle);
  SPI_setClkPolarity(obj->spiAHandle,SPI_ClkPolarity_OutputFallingEdge_InputRisingEdge);
  SPI_disableLoopBack(obj->spiAHandle);
  SPI_setCharLength(obj->spiAHandle,SPI_CharLength_8_Bits);

  SPI_setMode(obj->spiAHandle,SPI_Mode_Master);
  SPI_setClkPhase(obj->spiAHandle,SPI_ClkPhase_Normal);
  SPI_enableTx(obj->spiAHandle);

  SPI_enableChannels(obj->spiAHandle);
  SPI_enableTxFifoEnh(obj->spiAHandle);
  SPI_enableTxFifo(obj->spiAHandle);
  SPI_setTxDelay(obj->spiAHandle,0);
  SPI_clearTxFifoInt(obj->spiAHandle);
  SPI_enableRxFifo(obj->spiAHandle);

  SPI_setBaudRate(obj->spiAHandle,(SPI_BaudRate_e)(0x0004));
  SPI_setSuspend(obj->spiAHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiAHandle);

  return;
}  // end of HAL_setupSpiA() function


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

  SPI_reset(obj->spiBHandle);
  SPI_setMode(obj->spiBHandle,SPI_Mode_Master);
  SPI_setClkPolarity(obj->spiBHandle,SPI_ClkPolarity_OutputRisingEdge_InputFallingEdge);
  SPI_enableTx(obj->spiBHandle);
  SPI_enableTxFifoEnh(obj->spiBHandle);
  SPI_enableTxFifo(obj->spiBHandle);
  SPI_setTxDelay(obj->spiBHandle,0x0018);
  SPI_setBaudRate(obj->spiBHandle,(SPI_BaudRate_e)(0x000d));
  SPI_setCharLength(obj->spiBHandle,SPI_CharLength_16_Bits);
  SPI_setSuspend(obj->spiBHandle,SPI_TxSuspend_free);
  SPI_enable(obj->spiBHandle);

  return;
}  // end of HAL_setupSpiB() function


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);   // Set period for both DAC1 and DAC2
  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_0p5ms = (uint32_t)(systemFreq_MHz * (float_t)500.0) - 1;
  uint32_t  timerPeriod_10ms = (uint32_t)(systemFreq_MHz * (float_t)10000.0) - 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_0p5ms);
  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 of HAL_setupTimers() function


void HAL_writeDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  DRV8301_writeData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_writeDrvData() function


void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  DRV8301_readData(obj->drv8301Handle,Spi_8301_Vars);
  
  return;
}  // end of HAL_readDrvData() function


void HAL_setupDrvSpi(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  DRV8301_setupSpi(obj->drv8301Handle,Spi_8301_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