/****************************************************************************
 Module
   HardwareInitialize.c

 Revision
   1.0.1

 Description
   This is a hardware initialization file for the ME218B project for Team 3.

 Notes

 Private Definitions
   PWMTicksPerMS
   BitsPerNibble
   PWM0_GenA_Normal
   PWM0_GenB_Normal
   PWM1_GenA_Normal
   PWM1_GenB_Normal
   PWM2_GenA_Normal



void InitializeHardware(void) -----------------------------------------------
  // first enable the clocks to ports A, B, C, D, E, and F
  // wait for each of the peripherals to be ready
  // --> port A
  // --> port B
  // --> port C
  // --> port D
  // --> port E
  // --> port F

  // do all of the SPI initialization
  // do all of the PWM initialization
  // do all of the input capture initialization
  // do all of the GPIO initialization
  // globally enable interrupts


static void InitializeSPI(void) ---------------------------------------------
  // enable clock to SSI module 0
  // program GPIO for alternate functions
  // write in GPIOCTL to select desired functions

  // program PA2, PA3, PA4, & PA5 for digital I/O
  // set PA2, PA3, & PA5 to be outputs
  // set PA4 to be an input

  // turn on the pull-up resistor for the clock line for SPI mode 3
  // wait for SSI0 to be ready
  // disable SSI0 0
  // select Master mode, and TXRIS for End of Transmission
  // configure SSI clock source to be the system clock
  // configure clock prescaler (Bit Rate 15 kHz) Set CPSR to 132
  // Set SCR to 19
  // configure SPH = 1 because data is captured at the second edge
  // configure SPO = 1 because idle state is high
  // freescale SPI Mode
  // set up sending 8 bit data between command generator & TIVA
  // locally enable interrupts (TXIM in SSIIM)
  // enable SSI (DISABLING FOR ACTIVATING ON THE COMPASS MODULE ITSELF)
  // enable NVIC bit 7 in EN0


static void InitializePWM(void) ---------------------------------------------
  // start by enabling the clock to both PWM Modules (PWM0 & PWM1)
  // Select the PWM clock as System Clock/32 (this sets both modules)

  // make sure that the PWM module clock has gotten going
  // --> module 0
  // --> module 1

  // disable the PWMs while initializing
  // --> module 0
  // --> module 1

  // program generators to go to 1 at rising compare A/B, 0 on falling
  // compare A/B

  // ALL PERIOD-SETTING AND ENABLING STEPS SHOULD HAPPEN IN INDIVIDUAL
  // MODULES, NOT HERE.

  // now configure the pins to be PWM outputs
  // start by selecting the alternate functions for all pins

  // now choose to map PWM to those pins, using the specified mux values
  // --> PA6 and PA7 with mux value 5
  // --> PB4, PB5, PB6, and PA7 with mux value 4
  // --> PD0 with mux value 5

  // enable all pins for digital I/O as digital outputs

  // set the up/down count mode, enable the PWM generator and make
  // both generator updates locally synchronized to zero count
  // --> PWM module 0, PWM0 + PWM1 (generator 0, A + B)
  // --> PWM module 0, PWM2 + PWM3 (generator 1, A + B)
  // --> PWM module 1, PWM0 (generator 0, A)
  // --> PWM module 1, PWM2 + PWM3 (generator 1, A + B)


static void InitializeInputCapture(void) ------------------------------------
  // enable the clock to the timers (Wide Timers 0 + 2)

  // wait for the peripherals to be ready
  // --> Wide Timer 0
  // --> Wide Timer 2

  // disable timers before configuring
  // --> wide timer 0, timers A + B
  // --> wide timer 2, timer B

  // set up timer in 32-bit wide individual (not concatenated) mode
  // (don't get confused by the name of this constant -- 16 means individual)

  // initialize the Interval Load Register to 0xffff.ffff

  // set up timers in capture mode (TAMR/TBMR=3, TAAMS/TBAMS=0), for edge
  // time (TACMR/TBCMR=1), and for up-counting (TACDIR/TBCDIR=1)
  // --> wide timer 0, timer A
  // --> wide timer 0, timer B
  // --> wide timer 2, timer B

  // set the event to rises only
  // --> wide timer 0, timers A + B
  // --> wide timer 2, timer B

  // select the alternate functions for all pins

  // now choose to map input capture to those pins, using the specified mux
  // values
  // --> PC4 and PC5 with mux value 7
  // --> PD1 with mux value 7

  // enable all pins for digital I/O as digital inputs

  // enable local capture interrupts for the timers
  // --> wide timer 0, timers A + B
  // --> wide timer 2, timer B

  // no NVIC initialization to occur in this function -- will be done in
  // individual modules.

  // enable the input capture timer
  // enable it to stall while stopped by the debugger
  // --> wide timer 0 timer A
  // --> wide timer 0 timer B
  // --> wide timer 2 timer B


static void InitializeGPIO(void) --------------------------------------------
  // initialize PB0 & PB1 to be digital outputs
  // initialize PE0, PE1, PE2, PE3, & PE5 to be digital inputs
  // initialize PF4 to be a digital input
  // initialize PF0 & PF1 to be digital outputs


/***************************************************************************/