motor_ctl-1/ti_msp_dl_config.c

/*
 * Copyright (c) 2023, 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.
 */

/*
 *  ============ ti_msp_dl_config.c =============
 *  Configured MSPM0 DriverLib module definitions
 *
 *  DO NOT EDIT - This file is generated for the MSPM0G350X
 *  by the SysConfig tool.
 */

#include "ti_msp_dl_config.h"
#include "syspar.h"

DL_TimerA_backupConfig gMOTOR_PWMBackup;
DL_TimerG_backupConfig gPWM_FBackup;
DL_TimerG_backupConfig gHALLTIMERBackup;

/*
 *  ======== SYSCFG_DL_init ========
 *  Perform any initialization needed before using any board APIs
 */
SYSCONFIG_WEAK void SYSCFG_DL_init(void)
{
    SYSCFG_DL_initPower();
    SYSCFG_DL_GPIO_init();
    /* Module-Specific Initializations*/
#if (SIMULATION  == 0) //关闭仿真功能，SWD作前灯DCDC控制
    SYSCFG_DL_DEBUG_init();
#endif
    SYSCFG_DL_SYSCTL_init();
    SYSCFG_DL_I2C_0_init();
    SYSCFG_DL_MOTOR_PWM_init();
    SYSCFG_DL_PWM_F_init();
    SYSCFG_DL_HALLTIMER_init();
    SYSCFG_DL_HALL_CNT_init();
    SYSCFG_DL_UART_HMI_init();
    SYSCFG_DL_ADC12_0_init();
    SYSCFG_DL_ADC12_1_init();
    SYSCFG_DL_COMP_0_init();
    SYSCFG_DL_OPA_BPHASE_init();
    SYSCFG_DL_OPA_CPHASE_init();
    SYSCFG_DL_SYSTICK_init();
    SYSCFG_DL_WWDT0_init();
    SYSCFG_DL_MCAN0_init();
    /* Ensure backup structures have no valid state */
	gMOTOR_PWMBackup.backupRdy 	= false;
	gPWM_FBackup.backupRdy 	= false;
	gHALLTIMERBackup.backupRdy 	= false;



}
/*
 * User should take care to save and restore register configuration in application.
 * See Retention Configuration section for more details.
 */
SYSCONFIG_WEAK bool SYSCFG_DL_saveConfiguration(void)
{
    bool retStatus = true;

	retStatus &= DL_TimerA_saveConfiguration(MOTOR_PWM_INST, &gMOTOR_PWMBackup);
	retStatus &= DL_TimerG_saveConfiguration(PWM_F_INST, &gPWM_FBackup);
	retStatus &= DL_TimerG_saveConfiguration(HALLTIMER_INST, &gHALLTIMERBackup);

    return retStatus;
}


SYSCONFIG_WEAK bool SYSCFG_DL_restoreConfiguration(void)
{
    bool retStatus = true;

	retStatus &= DL_TimerA_restoreConfiguration(MOTOR_PWM_INST, &gMOTOR_PWMBackup, false);
	retStatus &= DL_TimerG_restoreConfiguration(PWM_F_INST, &gPWM_FBackup, false);
	retStatus &= DL_TimerG_restoreConfiguration(HALLTIMER_INST, &gHALLTIMERBackup, false);

    return retStatus;
}

SYSCONFIG_WEAK void SYSCFG_DL_initPower(void)
{
    DL_GPIO_reset(GPIOA);
    DL_GPIO_reset(GPIOB);
    DL_I2C_reset(I2C_0_INST);
    DL_TimerA_reset(MOTOR_PWM_INST);
    DL_TimerG_reset(PWM_F_INST);
    DL_TimerG_reset(HALLTIMER_INST);
    DL_TimerG_reset(HALL_CNT_INST);
    DL_UART_Main_reset(UART_HMI_INST);
    DL_ADC12_reset(ADC12_0_INST);
    DL_ADC12_reset(ADC12_1_INST);
    DL_COMP_reset(COMP_0_INST);
    DL_OPA_reset(OPA_BPHASE_INST);
    DL_OPA_reset(OPA_CPHASE_INST);

    DL_WWDT_reset(WWDT0_INST);
    DL_MathACL_reset(MATHACL);
    DL_MCAN_reset(MCAN0_INST);

    DL_GPIO_enablePower(GPIOA);
    DL_GPIO_enablePower(GPIOB);
    DL_I2C_enablePower(I2C_0_INST);
    DL_TimerA_enablePower(MOTOR_PWM_INST);
    DL_TimerG_enablePower(PWM_F_INST);
    DL_TimerG_enablePower(HALLTIMER_INST);
    DL_TimerG_enablePower(HALL_CNT_INST);
    DL_UART_Main_enablePower(UART_HMI_INST);
    DL_ADC12_enablePower(ADC12_0_INST);
    DL_ADC12_enablePower(ADC12_1_INST);
    DL_COMP_enablePower(COMP_0_INST);
    DL_OPA_enablePower(OPA_BPHASE_INST);
    DL_OPA_enablePower(OPA_CPHASE_INST);

    DL_WWDT_enablePower(WWDT0_INST);
    DL_MathACL_enablePower(MATHACL);
    DL_MCAN_enablePower(MCAN0_INST);
    delay_cycles(POWER_STARTUP_DELAY);
}

SYSCONFIG_WEAK void SYSCFG_DL_GPIO_init(void)
{

    DL_GPIO_initPeripheralAnalogFunction(GPIO_HFXIN_IOMUX);
    DL_GPIO_initPeripheralAnalogFunction(GPIO_HFXOUT_IOMUX);

    DL_GPIO_initPeripheralInputFunctionFeatures(
             GPIO_I2C_0_IOMUX_SDA, GPIO_I2C_0_IOMUX_SDA_FUNC,
             DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
             DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
    DL_GPIO_initPeripheralInputFunctionFeatures(
         GPIO_I2C_0_IOMUX_SCL, GPIO_I2C_0_IOMUX_SCL_FUNC,
         DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
         DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);
    DL_GPIO_enableHiZ(GPIO_I2C_0_IOMUX_SDA);
    DL_GPIO_enableHiZ(GPIO_I2C_0_IOMUX_SCL);

    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C0_IOMUX,GPIO_MOTOR_PWM_C0_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C0_PORT, GPIO_MOTOR_PWM_C0_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C0_CMPL_IOMUX,GPIO_MOTOR_PWM_C0_CMPL_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C0_CMPL_PORT, GPIO_MOTOR_PWM_C0_CMPL_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C1_IOMUX,GPIO_MOTOR_PWM_C1_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C1_PORT, GPIO_MOTOR_PWM_C1_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C1_CMPL_IOMUX,GPIO_MOTOR_PWM_C1_CMPL_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C1_CMPL_PORT, GPIO_MOTOR_PWM_C1_CMPL_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C2_IOMUX,GPIO_MOTOR_PWM_C2_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C2_PORT, GPIO_MOTOR_PWM_C2_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_MOTOR_PWM_C2_CMPL_IOMUX,GPIO_MOTOR_PWM_C2_CMPL_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_MOTOR_PWM_C2_CMPL_PORT, GPIO_MOTOR_PWM_C2_CMPL_PIN);
    DL_GPIO_initPeripheralOutputFunction(GPIO_PWM_F_C1_IOMUX,GPIO_PWM_F_C1_IOMUX_FUNC);
    DL_GPIO_enableOutput(GPIO_PWM_F_C1_PORT, GPIO_PWM_F_C1_PIN);

    DL_GPIO_initPeripheralOutputFunction(
        GPIO_UART_HMI_IOMUX_TX, GPIO_UART_HMI_IOMUX_TX_FUNC);
    DL_GPIO_initPeripheralInputFunction(
        GPIO_UART_HMI_IOMUX_RX, GPIO_UART_HMI_IOMUX_RX_FUNC);

    DL_GPIO_initDigitalOutput(OUTPUT_POWER_EN_IOMUX);

    DL_GPIO_initDigitalInput(LIGHT_DETECT_LIGHT_PWM_F_IOMUX);

    DL_GPIO_initDigitalInputFeatures(INPUT_BREAK_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInput(INPUT_Cadence_Dir_IOMUX);

    DL_GPIO_initDigitalInput(INPUT_Cadence_Speed_IOMUX);

    DL_GPIO_initDigitalInputFeatures(INPUT_PIN_GEAR_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

    DL_GPIO_initDigitalInputFeatures(INPUT_Speed_In_IOMUX,
		 DL_GPIO_INVERSION_DISABLE, DL_GPIO_RESISTOR_PULL_UP,
		 DL_GPIO_HYSTERESIS_DISABLE, DL_GPIO_WAKEUP_DISABLE);

#if 0
    DL_GPIO_initDigitalInput(HALL_HALLA_IOMUX);

    DL_GPIO_initDigitalInput(HALL_HALLB_IOMUX);

    DL_GPIO_initDigitalInput(HALL_HALLC_IOMUX);
#endif

    DL_GPIO_initDigitalOutput(GPIO_B_LED_PIN_LED_B_EN_IOMUX);

    DL_GPIO_initDigitalOutput(GPIO_B_LED_PIN_LED_B_SEL_IOMUX);

#if (SIMULATION  == 0)
    DL_GPIO_initDigitalOutput(GPIO_F_LED_PIN_LED_F_EN_IOMUX);

    DL_GPIO_initDigitalOutput(GPIO_F_LED_PIN_LED_F_SEL_IOMUX);

    DL_GPIO_clearPins(GPIOA, GPIO_F_LED_PIN_LED_F_EN_PIN |
		GPIO_F_LED_PIN_LED_F_SEL_PIN);
    DL_GPIO_enableOutput(GPIOA, GPIO_F_LED_PIN_LED_F_EN_PIN |
		GPIO_F_LED_PIN_LED_F_SEL_PIN);
#endif
    DL_GPIO_setUpperPinsPolarity(GPIOA, DL_GPIO_PIN_23_EDGE_RISE |
		DL_GPIO_PIN_28_EDGE_RISE);
    DL_GPIO_clearInterruptStatus(GPIOA, LIGHT_DETECT_LIGHT_PWM_F_PIN);
    DL_GPIO_enableInterrupt(GPIOA, LIGHT_DETECT_LIGHT_PWM_F_PIN);
    DL_GPIO_clearPins(GPIOB, OUTPUT_POWER_EN_PIN |
		GPIO_B_LED_PIN_LED_B_EN_PIN |
		GPIO_B_LED_PIN_LED_B_SEL_PIN);
    DL_GPIO_enableOutput(GPIOB, OUTPUT_POWER_EN_PIN |
		GPIO_B_LED_PIN_LED_B_EN_PIN |
		GPIO_B_LED_PIN_LED_B_SEL_PIN);

    DL_GPIO_initPeripheralOutputFunction(
        GPIO_MCAN0_IOMUX_CAN_TX, GPIO_MCAN0_IOMUX_CAN_TX_FUNC);
    DL_GPIO_initPeripheralInputFunction(
        GPIO_MCAN0_IOMUX_CAN_RX, GPIO_MCAN0_IOMUX_CAN_RX_FUNC);

}


SYSCONFIG_WEAK void SYSCFG_DL_DEBUG_init(void)
{
    /* Set the DISABLE bit in the SWDCFG register in SYSCTL along with KEY */
    SYSCTL->SOCLOCK.SWDCFG = (SYSCTL_SWDCFG_KEY_VALUE | SYSCTL_SWDCFG_DISABLE_TRUE);
}
static const DL_SYSCTL_SYSPLLConfig gSYSPLLConfig = {
    .inputFreq              = DL_SYSCTL_SYSPLL_INPUT_FREQ_8_16_MHZ,
	.rDivClk2x              = 3,
	.rDivClk1               = 1,
	.rDivClk0               = 0,
	.enableCLK2x            = DL_SYSCTL_SYSPLL_CLK2X_ENABLE,
	.enableCLK1             = DL_SYSCTL_SYSPLL_CLK1_ENABLE,
	.enableCLK0             = DL_SYSCTL_SYSPLL_CLK0_DISABLE,
	.sysPLLMCLK             = DL_SYSCTL_SYSPLL_MCLK_CLK2X,
	.sysPLLRef              = DL_SYSCTL_SYSPLL_REF_HFCLK,
	.qDiv                   = 17,
	.pDiv                   = DL_SYSCTL_SYSPLL_PDIV_1
};
SYSCONFIG_WEAK void SYSCFG_DL_SYSCTL_init(void)
{

	//Low Power Mode is configured to be SLEEP0
    DL_SYSCTL_setBORThreshold(DL_SYSCTL_BOR_THRESHOLD_LEVEL_0);
    DL_SYSCTL_setFlashWaitState(DL_SYSCTL_FLASH_WAIT_STATE_2);

    
	DL_SYSCTL_setSYSOSCFreq(DL_SYSCTL_SYSOSC_FREQ_BASE);
	/* Set default configuration */
	DL_SYSCTL_disableHFXT();
	DL_SYSCTL_disableSYSPLL();
    DL_SYSCTL_setHFCLKSourceHFXTParams(DL_SYSCTL_HFXT_RANGE_4_8_MHZ,200, false);
    DL_SYSCTL_configSYSPLL((DL_SYSCTL_SYSPLLConfig *) &gSYSPLLConfig);
    DL_SYSCTL_setULPCLKDivider(DL_SYSCTL_ULPCLK_DIV_2);
    DL_SYSCTL_enableMFCLK();
    DL_SYSCTL_enableMFPCLK();
	DL_SYSCTL_setMFPCLKSource(DL_SYSCTL_MFPCLK_SOURCE_SYSOSC);
    DL_SYSCTL_setMCLKSource(SYSOSC, HSCLK, DL_SYSCTL_HSCLK_SOURCE_SYSPLL);
    /* INT_GROUP1 Priority */
    NVIC_SetPriority(GPIOA_INT_IRQn, 1);

}

static const DL_I2C_ClockConfig gI2C_0ClockConfig = {
    .clockSel = DL_I2C_CLOCK_BUSCLK,
    .divideRatio = DL_I2C_CLOCK_DIVIDE_1,
};

SYSCONFIG_WEAK void SYSCFG_DL_I2C_0_init(void) {

    DL_I2C_setClockConfig(I2C_0_INST,
        (DL_I2C_ClockConfig *) &gI2C_0ClockConfig);
    DL_I2C_setAnalogGlitchFilterPulseWidth(I2C_0_INST,
        DL_I2C_ANALOG_GLITCH_FILTER_WIDTH_50NS);
    DL_I2C_enableAnalogGlitchFilter(I2C_0_INST);

    /* Configure Controller Mode */
    DL_I2C_resetControllerTransfer(I2C_0_INST);
    /* Set frequency to 400000 Hz*/
    DL_I2C_setTimerPeriod(I2C_0_INST, 7);
    DL_I2C_setControllerTXFIFOThreshold(I2C_0_INST, DL_I2C_TX_FIFO_LEVEL_EMPTY);
    DL_I2C_setControllerRXFIFOThreshold(I2C_0_INST, DL_I2C_RX_FIFO_LEVEL_BYTES_1);
    DL_I2C_enableControllerClockStretching(I2C_0_INST);

    /* Configure Interrupts */
    DL_I2C_enableInterrupt(I2C_0_INST,
                           DL_I2C_INTERRUPT_CONTROLLER_ARBITRATION_LOST |
                           DL_I2C_INTERRUPT_CONTROLLER_NACK |
                           DL_I2C_INTERRUPT_CONTROLLER_RXFIFO_TRIGGER |
                           DL_I2C_INTERRUPT_CONTROLLER_RX_DONE |
                           DL_I2C_INTERRUPT_CONTROLLER_TX_DONE);
    NVIC_SetPriority(I2C_0_INST_INT_IRQN, 0);
    /* Enable module */
    DL_I2C_enableController(I2C_0_INST);

}

/*
 * Timer clock configuration to be sourced by  / 1 (72000000 Hz)
 * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
 *   72000000 Hz = 72000000 Hz / (1 * (0 + 1))
 */
static const DL_TimerA_ClockConfig gMOTOR_PWMClockConfig = {
    .clockSel = DL_TIMER_CLOCK_BUSCLK,
    .divideRatio = DL_TIMER_CLOCK_DIVIDE_1,
    .prescale = 0U
};

static const DL_TimerA_PWMConfig gMOTOR_PWMConfig = {
    .pwmMode = DL_TIMER_PWM_MODE_CENTER_ALIGN,
    .period = 4500,
    .isTimerWithFourCC = true,
    .startTimer = DL_TIMER_STOP,
};

SYSCONFIG_WEAK void SYSCFG_DL_MOTOR_PWM_init(void) {

    DL_TimerA_setClockConfig(
        MOTOR_PWM_INST, (DL_TimerA_ClockConfig *) &gMOTOR_PWMClockConfig);

    DL_TimerA_initPWMMode(
        MOTOR_PWM_INST, (DL_TimerA_PWMConfig *) &gMOTOR_PWMConfig);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_DEAD_BAND,
		DL_TIMERA_CAPTURE_COMPARE_0_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_0_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 1688, DL_TIMER_CC_0_INDEX);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_DEAD_BAND,
		DL_TIMERA_CAPTURE_COMPARE_1_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_1_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 2250, DL_TIMER_CC_1_INDEX);

    DL_TimerA_setCaptureCompareOutCtl(MOTOR_PWM_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_DEAD_BAND,
		DL_TIMERA_CAPTURE_COMPARE_2_INDEX);

    DL_TimerA_setCaptCompUpdateMethod(MOTOR_PWM_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERA_CAPTURE_COMPARE_2_INDEX);
    DL_TimerA_setCaptureCompareValue(MOTOR_PWM_INST, 1125, DL_TIMER_CC_2_INDEX);

    DL_TimerA_setDeadBand(MOTOR_PWM_INST, 108, 72, DL_TIMER_DEAD_BAND_MODE_1);
    DL_TimerA_setRepeatCounter(MOTOR_PWM_INST, MOTOR_PWM_REPEAT_COUNT_2);

    DL_TimerA_enableClock(MOTOR_PWM_INST);
    DL_TimerA_enableEvent(MOTOR_PWM_INST, DL_TIMERA_EVENT_ROUTE_1, (DL_TIMERA_EVENT_CC4_DN_EVENT |
		DL_TIMERA_EVENT_CC4_UP_EVENT));

    DL_TimerA_setPublisherChanID(MOTOR_PWM_INST, DL_TIMERA_PUBLISHER_INDEX_0, MOTOR_PWM_INST_PUB_0_CH);


    DL_TimerA_enableInterrupt(MOTOR_PWM_INST , DL_TIMERA_INTERRUPT_FAULT_EVENT |
		DL_TIMER_INTERRUPT_LOAD_EVENT |
		DL_TIMER_INTERRUPT_ZERO_EVENT);

    NVIC_SetPriority(MOTOR_PWM_INST_INT_IRQN, 0);
    DL_TimerA_setCCPDirection(MOTOR_PWM_INST , DL_TIMER_CC0_OUTPUT | DL_TIMER_CC1_OUTPUT | DL_TIMER_CC2_OUTPUT );



    DL_TimerA_setCaptureCompareInput(MOTOR_PWM_INST, DL_TIMER_CC_INPUT_INV_NOINVERT, DL_TIMER_CC_IN_SEL_TRIG, DL_TIMER_CC_0_INDEX);

    DL_TimerA_setCaptureCompareInput(MOTOR_PWM_INST, DL_TIMER_CC_INPUT_INV_NOINVERT, DL_TIMER_CC_IN_SEL_TRIG, DL_TIMER_CC_1_INDEX);

    DL_TimerA_setCaptureCompareInput(MOTOR_PWM_INST, DL_TIMER_CC_INPUT_INV_NOINVERT, DL_TIMER_CC_IN_SEL_TRIG, DL_TIMER_CC_2_INDEX);

    /*
     * Determines the external triggering event to trigger the module (self-triggered in main configuration)
     * and triggered by specific timer in secondary configuration
     */
    DL_TimerA_setExternalTriggerEvent(MOTOR_PWM_INST,DL_TIMER_EXT_TRIG_SEL_TRIG_1);
    DL_TimerA_enableExternalTrigger(MOTOR_PWM_INST);
    uint32_t temp;
    temp = DL_TimerA_getCaptureCompareCtl(MOTOR_PWM_INST, DL_TIMER_CC_0_INDEX);
    DL_TimerA_setCaptureCompareCtl(MOTOR_PWM_INST, DL_TIMER_CC_MODE_COMPARE, temp | (uint32_t) DL_TIMER_CC_LCOND_TRIG_RISE, DL_TIMER_CC_0_INDEX);

    temp = DL_TimerA_getCaptureCompareCtl(MOTOR_PWM_INST, DL_TIMER_CC_1_INDEX);
    DL_TimerA_setCaptureCompareCtl(MOTOR_PWM_INST, DL_TIMER_CC_MODE_COMPARE, temp | (uint32_t) DL_TIMER_CC_LCOND_TRIG_RISE, DL_TIMER_CC_1_INDEX);

    temp = DL_TimerA_getCaptureCompareCtl(MOTOR_PWM_INST, DL_TIMER_CC_2_INDEX);
    DL_TimerA_setCaptureCompareCtl(MOTOR_PWM_INST, DL_TIMER_CC_MODE_COMPARE, temp | (uint32_t) DL_TIMER_CC_LCOND_TRIG_RISE, DL_TIMER_CC_2_INDEX);

    DL_TimerA_setFaultSourceConfig(MOTOR_PWM_INST, (DL_TIMERA_FAULT_SOURCE_COMP1_SENSE_LOW));
    DL_TimerA_setFaultConfig(MOTOR_PWM_INST, DL_TIMERA_FAULT_CONFIG_TFIM_DISABLED
		 | DL_TIMERA_FAULT_CONFIG_FL_LATCH_LD_CLR
		 | DL_TIMERA_FAULT_CONFIG_FI_INDEPENDENT
		 | DL_TIMERA_FAULT_CONFIG_FIEN_DISABLED);
    DL_TimerA_setFaultInputFilterConfig(MOTOR_PWM_INST,
        DL_TIMERA_FAULT_FILTER_FILTERED,
        DL_TIMERA_FAULT_FILTER_CPV_CONSEC_PER,
        DL_TIMERA_FAULT_FILTER_FP_PER_8);
    DL_TimerA_configFaultOutputAction(MOTOR_PWM_INST,
        DL_TIMERA_FAULT_ENTRY_CCP_LOW,
        DL_TIMERA_FAULT_EXIT_CCP_LOW,
        DL_TIMER_CC_0_INDEX);
    DL_TimerA_configFaultOutputAction(MOTOR_PWM_INST,
        DL_TIMERA_FAULT_ENTRY_CCP_LOW,
        DL_TIMERA_FAULT_EXIT_CCP_LOW,
        DL_TIMER_CC_1_INDEX);
    DL_TimerA_configFaultOutputAction(MOTOR_PWM_INST,
        DL_TIMERA_FAULT_ENTRY_CCP_LOW,
        DL_TIMERA_FAULT_EXIT_CCP_LOW,
        DL_TIMER_CC_2_INDEX);
    DL_TimerA_configFaultCounter(MOTOR_PWM_INST,
        DL_TIMERA_FAULT_ENTRY_CTR_CONT_COUNT, DL_TIMERA_FAULT_EXIT_CTR_CVAE_ACTION);
    DL_TimerA_enableFaultInput(MOTOR_PWM_INST);
    DL_TimerA_enableClockFaultDetection(MOTOR_PWM_INST);
}
/*
 * Timer clock configuration to be sourced by  / 2 (36000000 Hz)
 * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
 *   36000000 Hz = 36000000 Hz / (2 * (0 + 1))
 */
static const DL_TimerG_ClockConfig gPWM_FClockConfig = {
    .clockSel = DL_TIMER_CLOCK_BUSCLK,
    .divideRatio = DL_TIMER_CLOCK_DIVIDE_2,
    .prescale = 0U
};

static const DL_TimerG_PWMConfig gPWM_FConfig = {
    .pwmMode = DL_TIMER_PWM_MODE_EDGE_ALIGN_UP,
    .period = 2304,
    .startTimer = DL_TIMER_STOP,
};

SYSCONFIG_WEAK void SYSCFG_DL_PWM_F_init(void) {

    DL_TimerG_setClockConfig(
        PWM_F_INST, (DL_TimerG_ClockConfig *) &gPWM_FClockConfig);

    DL_TimerG_initPWMMode(
        PWM_F_INST, (DL_TimerG_PWMConfig *) &gPWM_FConfig);

    DL_TimerG_setCaptureCompareOutCtl(PWM_F_INST, DL_TIMER_CC_OCTL_INIT_VAL_LOW,
		DL_TIMER_CC_OCTL_INV_OUT_DISABLED, DL_TIMER_CC_OCTL_SRC_FUNCVAL,
		DL_TIMERG_CAPTURE_COMPARE_1_INDEX);

    DL_TimerG_setCaptCompUpdateMethod(PWM_F_INST, DL_TIMER_CC_UPDATE_METHOD_IMMEDIATE, DL_TIMERG_CAPTURE_COMPARE_1_INDEX);
    DL_TimerG_setCaptureCompareValue(PWM_F_INST, 0, DL_TIMER_CC_1_INDEX);

    DL_TimerG_enableClock(PWM_F_INST);


    
    DL_TimerG_setCCPDirection(PWM_F_INST , DL_TIMER_CC1_OUTPUT );


}



/*
 * Timer clock configuration to be sourced by BUSCLK /  (14400000 Hz)
 * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
 *   3600000 Hz = 14400000 Hz / (5 * (3 + 1))
 */
static const DL_TimerG_ClockConfig gHALLTIMERClockConfig = {
    .clockSel    = DL_TIMER_CLOCK_BUSCLK,
    .divideRatio = DL_TIMER_CLOCK_DIVIDE_5,
    .prescale    = 3U,
};

/*
 * Timer load value (where the counter starts from) is calculated as (timerPeriod * timerClockFreq) - 1
 * HALLTIMER_INST_LOAD_VALUE = (16.67 ms * 3600000 Hz) - 1
 */
static const DL_TimerG_TimerConfig gHALLTIMERTimerConfig = {
    .period     = HALLTIMER_INST_LOAD_VALUE,
    .timerMode  = DL_TIMER_TIMER_MODE_PERIODIC_UP,
    .startTimer = DL_TIMER_START,
};

SYSCONFIG_WEAK void SYSCFG_DL_HALLTIMER_init(void) {

    DL_TimerG_setClockConfig(HALLTIMER_INST,
        (DL_TimerG_ClockConfig *) &gHALLTIMERClockConfig);

    DL_TimerG_initTimerMode(HALLTIMER_INST,
        (DL_TimerG_TimerConfig *) &gHALLTIMERTimerConfig);
    DL_TimerG_enableInterrupt(HALLTIMER_INST , DL_TIMERG_INTERRUPT_LOAD_EVENT);
	NVIC_SetPriority(HALLTIMER_INST_INT_IRQN, 1);
    DL_TimerG_enableClock(HALLTIMER_INST);





}

/*
 * Timer clock configuration to be sourced by BUSCLK /  (36000000 Hz)
 * timerClkFreq = (timerClkSrc / (timerClkDivRatio * (timerClkPrescale + 1)))
 *   36000000 Hz = 36000000 Hz / (1 * (0 + 1))
 */
static const DL_TimerG_ClockConfig gHALL_CNTClockConfig = {
    .clockSel    = DL_TIMER_CLOCK_BUSCLK,
    .divideRatio = DL_TIMER_CLOCK_DIVIDE_1,
    .prescale    = 0U,
};

/*
 * Timer load value (where the counter starts from) is calculated as (timerPeriod * timerClockFreq) - 1
 * HALL_CNT_INST_LOAD_VALUE = (0.03ms * 36000000 Hz) - 1
 */
static const DL_TimerG_TimerConfig gHALL_CNTTimerConfig = {
    .period     = HALL_CNT_INST_LOAD_VALUE,
    .timerMode  = DL_TIMER_TIMER_MODE_PERIODIC_UP,
    .startTimer = DL_TIMER_START,
};

SYSCONFIG_WEAK void SYSCFG_DL_HALL_CNT_init(void) {

    DL_TimerG_setClockConfig(HALL_CNT_INST,
        (DL_TimerG_ClockConfig *) &gHALL_CNTClockConfig);

    DL_TimerG_initTimerMode(HALL_CNT_INST,
        (DL_TimerG_TimerConfig *) &gHALL_CNTTimerConfig);
    DL_TimerG_enableInterrupt(HALL_CNT_INST , DL_TIMERG_INTERRUPT_ZERO_EVENT);
	NVIC_SetPriority(HALL_CNT_INST_INT_IRQN, 3);
    DL_TimerG_enableClock(HALL_CNT_INST);





}



static const DL_UART_Main_ClockConfig gUART_HMIClockConfig = {
    .clockSel    = DL_UART_MAIN_CLOCK_BUSCLK,
    .divideRatio = DL_UART_MAIN_CLOCK_DIVIDE_RATIO_1
};

static const DL_UART_Main_Config gUART_HMIConfig = {
    .mode        = DL_UART_MAIN_MODE_NORMAL,
    .direction   = DL_UART_MAIN_DIRECTION_TX_RX,
    .flowControl = DL_UART_MAIN_FLOW_CONTROL_NONE,
    .parity      = DL_UART_MAIN_PARITY_NONE,
    .wordLength  = DL_UART_MAIN_WORD_LENGTH_8_BITS,
    .stopBits    = DL_UART_MAIN_STOP_BITS_ONE
};

SYSCONFIG_WEAK void SYSCFG_DL_UART_HMI_init(void)
{
    DL_UART_Main_setClockConfig(UART_HMI_INST, (DL_UART_Main_ClockConfig *) &gUART_HMIClockConfig);

    DL_UART_Main_init(UART_HMI_INST, (DL_UART_Main_Config *) &gUART_HMIConfig);
    /*
     * Configure baud rate by setting oversampling and baud rate divisors.
     *  Target baud rate: 9600
     *  Actual baud rate: 9600
     */
    DL_UART_Main_setOversampling(UART_HMI_INST, DL_UART_OVERSAMPLING_RATE_16X);
    DL_UART_Main_setBaudRateDivisor(UART_HMI_INST, UART_HMI_IBRD_36_MHZ_9600_BAUD, UART_HMI_FBRD_36_MHZ_9600_BAUD);


    /* Configure Interrupts */
    DL_UART_Main_enableInterrupt(UART_HMI_INST,
                                 DL_UART_MAIN_INTERRUPT_EOT_DONE |
                                 DL_UART_MAIN_INTERRUPT_RX);
    /* Setting the Interrupt Priority */
    NVIC_SetPriority(UART_HMI_INST_INT_IRQN, 3);


    DL_UART_Main_enable(UART_HMI_INST);
}

/* ADC12_0 Initialization */
static const DL_ADC12_ClockConfig gADC12_0ClockConfig = {
    .clockSel       = DL_ADC12_CLOCK_SYSOSC,
    .divideRatio    = DL_ADC12_CLOCK_DIVIDE_1,
    .freqRange      = DL_ADC12_CLOCK_FREQ_RANGE_24_TO_32,
};
SYSCONFIG_WEAK void SYSCFG_DL_ADC12_0_init(void)
{
    DL_ADC12_setClockConfig(ADC12_0_INST, (DL_ADC12_ClockConfig *) &gADC12_0ClockConfig);

    DL_ADC12_initSeqSample(ADC12_0_INST,
        DL_ADC12_REPEAT_MODE_ENABLED, DL_ADC12_SAMPLING_SOURCE_AUTO, DL_ADC12_TRIG_SRC_EVENT,
        DL_ADC12_SEQ_START_ADDR_00, DL_ADC12_SEQ_END_ADDR_04, DL_ADC12_SAMP_CONV_RES_12_BIT,
        DL_ADC12_SAMP_CONV_DATA_FORMAT_UNSIGNED);
    DL_ADC12_configConversionMem(ADC12_0_INST, ADC12_0_ADCMEM_0,
        DL_ADC12_INPUT_CHAN_13, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP1, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_0_INST, ADC12_0_ADCMEM_1,
        DL_ADC12_INPUT_CHAN_6, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_0_INST, ADC12_0_ADCMEM_2,
        DL_ADC12_INPUT_CHAN_12, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_0_INST, ADC12_0_ADCMEM_3,
        DL_ADC12_INPUT_CHAN_0, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_0_INST, ADC12_0_ADCMEM_4,
        DL_ADC12_INPUT_CHAN_1, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_TRIGGER_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_setPowerDownMode(ADC12_0_INST,DL_ADC12_POWER_DOWN_MODE_MANUAL);
    DL_ADC12_setSampleTime0(ADC12_0_INST,32);
    DL_ADC12_setSampleTime1(ADC12_0_INST,32);
    DL_ADC12_setSubscriberChanID(ADC12_0_INST,ADC12_0_INST_SUB_CH);
    /* Enable ADC12 interrupt */
    DL_ADC12_clearInterruptStatus(ADC12_0_INST,(DL_ADC12_INTERRUPT_MEM1_RESULT_LOADED));
    DL_ADC12_enableInterrupt(ADC12_0_INST,(DL_ADC12_INTERRUPT_MEM1_RESULT_LOADED));
    NVIC_SetPriority(ADC12_0_INST_INT_IRQN, 2);
    DL_ADC12_enableConversions(ADC12_0_INST);
}
/* ADC12_1 Initialization */
static const DL_ADC12_ClockConfig gADC12_1ClockConfig = {
    .clockSel       = DL_ADC12_CLOCK_SYSOSC,
    .divideRatio    = DL_ADC12_CLOCK_DIVIDE_1,
    .freqRange      = DL_ADC12_CLOCK_FREQ_RANGE_24_TO_32,
};
SYSCONFIG_WEAK void SYSCFG_DL_ADC12_1_init(void)
{
    DL_ADC12_setClockConfig(ADC12_1_INST, (DL_ADC12_ClockConfig *) &gADC12_1ClockConfig);

    DL_ADC12_initSeqSample(ADC12_1_INST,
        DL_ADC12_REPEAT_MODE_ENABLED, DL_ADC12_SAMPLING_SOURCE_AUTO, DL_ADC12_TRIG_SRC_EVENT,
        DL_ADC12_SEQ_START_ADDR_00, DL_ADC12_SEQ_END_ADDR_05, DL_ADC12_SAMP_CONV_RES_12_BIT,
        DL_ADC12_SAMP_CONV_DATA_FORMAT_UNSIGNED);
    DL_ADC12_configConversionMem(ADC12_1_INST, ADC12_1_ADCMEM_0,
        DL_ADC12_INPUT_CHAN_13, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP1, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_1_INST, ADC12_1_ADCMEM_1,
        DL_ADC12_INPUT_CHAN_6, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_1_INST, ADC12_1_ADCMEM_2,
        DL_ADC12_INPUT_CHAN_5, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_1_INST, ADC12_1_ADCMEM_3,
        DL_ADC12_INPUT_CHAN_4, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_1_INST, ADC12_1_ADCMEM_4,
        DL_ADC12_INPUT_CHAN_7, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_AUTO_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_configConversionMem(ADC12_1_INST, ADC12_1_ADCMEM_5,
        DL_ADC12_INPUT_CHAN_0, DL_ADC12_REFERENCE_VOLTAGE_VDDA, DL_ADC12_SAMPLE_TIMER_SOURCE_SCOMP0, DL_ADC12_AVERAGING_MODE_DISABLED,
        DL_ADC12_BURN_OUT_SOURCE_DISABLED, DL_ADC12_TRIGGER_MODE_TRIGGER_NEXT, DL_ADC12_WINDOWS_COMP_MODE_DISABLED);
    DL_ADC12_setSampleTime0(ADC12_1_INST,32);
    DL_ADC12_setSampleTime1(ADC12_1_INST,32);
    DL_ADC12_setSubscriberChanID(ADC12_1_INST,ADC12_1_INST_SUB_CH);
    DL_ADC12_enableConversions(ADC12_1_INST);
}

/* COMP_0 Initialization */
static const DL_COMP_Config gCOMP_0Config = {
    .channelEnable = DL_COMP_ENABLE_CHANNEL_POS,
    .mode          = DL_COMP_MODE_FAST,
    .negChannel    = DL_COMP_IMSEL_CHANNEL_1,
    .posChannel    = DL_COMP_IPSEL_CHANNEL_1,
    .hysteresis    = DL_COMP_HYSTERESIS_NONE,
    .polarity      = DL_COMP_POLARITY_INV
};
static const DL_COMP_RefVoltageConfig gCOMP_0VRefConfig = {
    .mode           = DL_COMP_REF_MODE_STATIC,
    .source         = DL_COMP_REF_SOURCE_VDDA_DAC,
    .terminalSelect = DL_COMP_REF_TERMINAL_SELECT_NEG,
    .controlSelect  = DL_COMP_DAC_CONTROL_SW,
    .inputSelect    = DL_COMP_DAC_INPUT_DACCODE0
};

SYSCONFIG_WEAK void SYSCFG_DL_COMP_0_init(void)
{
    DL_COMP_init(COMP_0_INST, (DL_COMP_Config *) &gCOMP_0Config);
    DL_COMP_refVoltageInit(COMP_0_INST, (DL_COMP_RefVoltageConfig *) &gCOMP_0VRefConfig);
    DL_COMP_setDACCode0(COMP_0_INST, COMP_0_DACCODE0);

    DL_COMP_enable(COMP_0_INST);

}


static const DL_OPA_Config gOPA_BPHASEConfig0 = {
    .pselChannel    = DL_OPA_PSEL_IN1_POS,
    .nselChannel    = DL_OPA_NSEL_IN1_NEG,
    .mselChannel    = DL_OPA_MSEL_OPEN,
    .gain           = DL_OPA_GAIN_N0_P1,
    .outputPinState = DL_OPA_OUTPUT_PIN_ENABLED,
    .choppingMode   = DL_OPA_CHOPPING_MODE_DISABLE,
};

SYSCONFIG_WEAK void SYSCFG_DL_OPA_BPHASE_init(void)
{
    DL_OPA_init(OPA_BPHASE_INST, (DL_OPA_Config *) &gOPA_BPHASEConfig0);
    DL_OPA_setGainBandwidth(OPA_BPHASE_INST, DL_OPA_GBW_HIGH);

    DL_OPA_enable(OPA_BPHASE_INST);
}
static const DL_OPA_Config gOPA_CPHASEConfig0 = {
    .pselChannel    = DL_OPA_PSEL_IN1_POS,
    .nselChannel    = DL_OPA_NSEL_IN1_NEG,
    .mselChannel    = DL_OPA_MSEL_OPEN,
    .gain           = DL_OPA_GAIN_N0_P1,
    .outputPinState = DL_OPA_OUTPUT_PIN_ENABLED,
    .choppingMode   = DL_OPA_CHOPPING_MODE_DISABLE,
};

SYSCONFIG_WEAK void SYSCFG_DL_OPA_CPHASE_init(void)
{
    DL_OPA_init(OPA_CPHASE_INST, (DL_OPA_Config *) &gOPA_CPHASEConfig0);
    DL_OPA_setGainBandwidth(OPA_CPHASE_INST, DL_OPA_GBW_HIGH);

    DL_OPA_enable(OPA_CPHASE_INST);
}

SYSCONFIG_WEAK void SYSCFG_DL_SYSTICK_init(void)
{
    /*
     * Initializes the SysTick period to 1.00 ms,
     * enables the interrupt, and starts the SysTick Timer
     */
    DL_SYSTICK_config(72000);
}

SYSCONFIG_WEAK void SYSCFG_DL_WWDT0_init(void)
{
    /*
     * Initialize WWDT0 in Watchdog mode with following settings
     *   Watchdog Source Clock = (LFCLK Freq) / (WWDT Clock Divider)
     *                         = 32768Hz / 4 = 8.19 kHz
     *   Watchdog Period       = (WWDT Clock Divider) ∗ (WWDT Period Count) / 32768Hz
     *                         = 4 * 2^15 / 32768Hz = 4.00 s
     *   Window0 Closed Period = (WWDT Period) * (Window0 Closed Percent)
     *                         = 4.00 s * 12% = 500.00 ms
     *   Window1 Closed Period = (WWDT Period) * (Window1 Closed Percent)
     *                         = 4.00 s * 0% = 0.00 s
     */
    DL_WWDT_initWatchdogMode(WWDT0_INST, DL_WWDT_CLOCK_DIVIDE_4,
        DL_WWDT_TIMER_PERIOD_15_BITS, DL_WWDT_RUN_IN_SLEEP,
        DL_WWDT_WINDOW_PERIOD_12, DL_WWDT_WINDOW_PERIOD_0);

    /* Set Window0 as active window */
    DL_WWDT_setActiveWindow(WWDT0_INST, DL_WWDT_WINDOW0);

}


static const DL_MCAN_ClockConfig gMCAN0ClockConf = {
    .clockSel = DL_MCAN_FCLK_SYSPLLCLK1,
    .divider  = DL_MCAN_FCLK_DIV_1,
};

static const DL_MCAN_InitParams gMCAN0InitParams= {

/* Initialize MCAN Init parameters.    */
    .fdMode            = false,
    .brsEnable         = false,
    .txpEnable         = true,
    .efbi              = false,
    .pxhddisable       = false,
    .darEnable         = false,
    .wkupReqEnable     = true,
    .autoWkupEnable    = true,
    .emulationEnable   = true,
    .tdcEnable         = true,
    .wdcPreload        = 255,

/* Transmitter Delay Compensation parameters. */
    .tdcConfig.tdcf    = 10,
    .tdcConfig.tdco    = 6,
};

static const DL_MCAN_ConfigParams gMCAN0ConfigParams={
    /* Initialize MCAN Config parameters. */
    .monEnable         = false,
    .asmEnable         = false,
    .tsPrescalar       = 15,
    .tsSelect          = 0,
    .timeoutSelect     = DL_MCAN_TIMEOUT_SELECT_CONT,
    .timeoutPreload    = 65535,
    .timeoutCntEnable  = false,
    .filterConfig.rrfs = false,
    .filterConfig.rrfe = false,
    .filterConfig.anfe = 0,
    .filterConfig.anfs = 0,
};

static const DL_MCAN_MsgRAMConfigParams gMCAN0MsgRAMConfigParams ={

    /* Standard ID Filter List Start Address. */
    .flssa                = MCAN0_INST_MCAN_STD_ID_FILT_START_ADDR,
    /* List Size: Standard ID. */
    .lss                  = MCAN0_INST_MCAN_STD_ID_FILTER_NUM,
    /* Extended ID Filter List Start Address. */
    .flesa                = MCAN0_INST_MCAN_EXT_ID_FILT_START_ADDR,
    /* List Size: Extended ID. */
    .lse                  = MCAN0_INST_MCAN_EXT_ID_FILTER_NUM,
    /* Tx Buffers Start Address. */
    .txStartAddr          = MCAN0_INST_MCAN_TX_BUFF_START_ADDR,
    /* Number of Dedicated Transmit Buffers. */
    .txBufNum             = MCAN0_INST_MCAN_TX_BUFF_SIZE,
    .txFIFOSize           = 32,
    /* Tx Buffer Element Size. */
    .txBufMode            = 0,
    .txBufElemSize        = DL_MCAN_ELEM_SIZE_8BYTES,
    /* Tx Event FIFO Start Address. */
    .txEventFIFOStartAddr = MCAN0_INST_MCAN_TX_EVENT_START_ADDR,
    /* Event FIFO Size. */
    .txEventFIFOSize      = MCAN0_INST_MCAN_TX_EVENT_SIZE,
    /* Level for Tx Event FIFO watermark interrupt. */
    .txEventFIFOWaterMark = 25,
    /* Rx FIFO0 Start Address. */
    .rxFIFO0startAddr     = MCAN0_INST_MCAN_FIFO_0_START_ADDR,
    /* Number of Rx FIFO elements. */
    .rxFIFO0size          = MCAN0_INST_MCAN_FIFO_0_NUM,
    /* Rx FIFO0 Watermark. */
    .rxFIFO0waterMark     = 25,
    .rxFIFO0OpMode        = 0,
    /* Rx FIFO1 Start Address. */
    .rxFIFO1startAddr     = MCAN0_INST_MCAN_FIFO_1_START_ADDR,
    /* Number of Rx FIFO elements. */
    .rxFIFO1size          = MCAN0_INST_MCAN_FIFO_1_NUM,
    /* Level for Rx FIFO 1 watermark interrupt. */
    .rxFIFO1waterMark     = 25,
    /* FIFO blocking mode. */
    .rxFIFO1OpMode        = 0,
    /* Rx Buffer Start Address. */
    .rxBufStartAddr       = MCAN0_INST_MCAN_RX_BUFF_START_ADDR,
    /* Rx Buffer Element Size. */
    .rxBufElemSize        = DL_MCAN_ELEM_SIZE_8BYTES,
    /* Rx FIFO0 Element Size. */
    .rxFIFO0ElemSize      = DL_MCAN_ELEM_SIZE_8BYTES,
    /* Rx FIFO1 Element Size. */
    .rxFIFO1ElemSize      = DL_MCAN_ELEM_SIZE_8BYTES,
};



static const DL_MCAN_BitTimingParams   gMCAN0BitTimes = {
    /* Arbitration Baud Rate Pre-scaler. */
    .nomRatePrescalar   = 0,
    /* Arbitration Time segment before sample point. */
    .nomTimeSeg1        = 124,
    /* Arbitration Time segment after sample point. */
    .nomTimeSeg2        = 17,
    /* Arbitration (Re)Synchronization Jump Width Range. */
    .nomSynchJumpWidth  = 17,
    /* Data Baud Rate Pre-scaler. */
    .dataRatePrescalar  = 0,
    /* Data Time segment before sample point. */
    .dataTimeSeg1       = 0,
    /* Data Time segment after sample point. */
    .dataTimeSeg2       = 0,
    /* Data (Re)Synchronization Jump Width.   */
    .dataSynchJumpWidth = 0,
};


SYSCONFIG_WEAK void SYSCFG_DL_MCAN0_init(void) {
    DL_MCAN_RevisionId revid_MCAN0;

    DL_MCAN_enableModuleClock(MCAN0_INST);

    DL_MCAN_setClockConfig(MCAN0_INST, (DL_MCAN_ClockConfig *) &gMCAN0ClockConf);

    /* Get MCANSS Revision ID. */
    DL_MCAN_getRevisionId(MCAN0_INST, &revid_MCAN0);

    /* Wait for Memory initialization to be completed. */
    while(false == DL_MCAN_isMemInitDone(MCAN0_INST));

    /* Put MCAN in SW initialization mode. */

    DL_MCAN_setOpMode(MCAN0_INST, DL_MCAN_OPERATION_MODE_SW_INIT);

    /* Wait till MCAN is not initialized. */
    while (DL_MCAN_OPERATION_MODE_SW_INIT != DL_MCAN_getOpMode(MCAN0_INST));

    /* Initialize MCAN module. */
    DL_MCAN_init(MCAN0_INST, (DL_MCAN_InitParams *) &gMCAN0InitParams);

    /* Configure MCAN module. */
    DL_MCAN_config(MCAN0_INST, (DL_MCAN_ConfigParams*) &gMCAN0ConfigParams);

    /* Configure Bit timings. */
    DL_MCAN_setBitTime(MCAN0_INST, (DL_MCAN_BitTimingParams*) &gMCAN0BitTimes);

    /* Configure Message RAM Sections */
    DL_MCAN_msgRAMConfig(MCAN0_INST, (DL_MCAN_MsgRAMConfigParams*) &gMCAN0MsgRAMConfigParams);



    /* Set Extended ID Mask. */
    DL_MCAN_setExtIDAndMask(MCAN0_INST, MCAN0_INST_MCAN_EXT_ID_AND_MASK );

    /* Loopback mode */

    /* Take MCAN out of the SW initialization mode */
    DL_MCAN_setOpMode(MCAN0_INST, DL_MCAN_OPERATION_MODE_NORMAL);

    while (DL_MCAN_OPERATION_MODE_NORMAL != DL_MCAN_getOpMode(MCAN0_INST));

    /* Enable MCAN mopdule Interrupts */
    DL_MCAN_enableIntr(MCAN0_INST, MCAN0_INST_MCAN_INTERRUPTS, 1U);

    DL_MCAN_selectIntrLine(MCAN0_INST, DL_MCAN_INTR_MASK_ALL, DL_MCAN_INTR_LINE_NUM_1);
    DL_MCAN_enableIntrLine(MCAN0_INST, DL_MCAN_INTR_LINE_NUM_1, 1U);

    /* Enable MSPM0 MCAN interrupt */
    DL_MCAN_clearInterruptStatus(MCAN0_INST,(DL_MCAN_MSP_INTERRUPT_LINE1));
    DL_MCAN_enableInterrupt(MCAN0_INST,(DL_MCAN_MSP_INTERRUPT_LINE1));

}