C++ CLK_EnableModuleClock函数代码示例

void SYS_Init(void)
{
    /*---------------------------------------------------------------------------------------------------------*/
    /* Init System Clock                                                                                       */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Enable External XTAL (4~24 MHz) */
    CLK_EnableXtalRC(CLK_PWRCTL_HXTEN_Msk);

    /* Waiting for 12MHz clock ready */
    CLK_WaitClockReady( CLK_STATUS_HXTSTB_Msk);

    /* Switch HCLK clock source to HXT */
    CLK_SetHCLK(CLK_CLKSEL0_HCLKSEL_HXT,CLK_CLKDIV0_HCLK(1));

    /* Set PLL to power down mode and PLL_STB bit in CLKSTATUS register will be cleared by hardware.*/
    CLK->PLLCTL |= CLK_PLLCTL_PD_Msk;

    /* Set PLL frequency */
    CLK->PLLCTL = CLK_PLLCTL_84MHz_HXT;

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_STATUS_PLLSTB_Msk);

    /* Switch HCLK clock source to PLL */
    CLK_SetHCLK(CLK_CLKSEL0_HCLKSEL_PLL,CLK_CLKDIV0_HCLK(1));

    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);
    CLK_EnableModuleClock(TMR0_MODULE);
    CLK_EnableModuleClock(SPI0_MODULE);
    CLK_EnableModuleClock(SPI1_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UARTSEL_HXT, CLK_CLKDIV0_UART(1));
    CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0SEL_HXT, 0);

    /* Update System Core Clock */
    /* User can use SystemCoreClockUpdate() to calculate SystemCoreClock. */
    SystemCoreClockUpdate();


    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set GPG multi-function pins for UART0 RXD and TXD */
    SYS->GPG_MFPL = SYS_GPG_MFPL_PG1MFP_UART0_RXD | SYS_GPG_MFPL_PG2MFP_UART0_TXD ;

    /* SPI0: GPE4=SS0, GPE3=MOSI0, GPE2=MISO0, GPE5=CLK */
    SYS->GPE_MFPL = (SYS_GPE_MFPL_PE2MFP_SPI0_MISO0 | SYS_GPE_MFPL_PE3MFP_SPI0_MOSI0 | SYS_GPE_MFPL_PE4MFP_SPI0_SS0 | SYS_GPE_MFPL_PE5MFP_SPI0_CLK);

    /* SPI1: GPC12=SS0, GPC15=MOSI0, GPD0=MISO0, GPD1=CLK */
    SYS->GPC_MFPH |= (SYS_GPC_MFPH_PC12MFP_SPI1_SS0 | SYS_GPC_MFPH_PC15MFP_SPI1_MOSI0);
    SYS->GPD_MFPL = (SYS_GPD_MFPL_PD0MFP_SPI1_MISO0 | SYS_GPD_MFPL_PD1MFP_SPI1_CLK);

    /* Lock protected registers */
    SYS_LockReg();
}

/*--------------------------------------------------------------------------*/
void SYS_Init(void)
{
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Enable external 12MHz HXT */
    CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk);
    CLK_EnablePLL(CLK_PLLCTL_PLL_SRC_HXT, 96000000);
    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_HXT_STB_Msk | CLK_CLKSTATUS_PLL_STB_Msk);

    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_PLL, CLK_HCLK_CLK_DIVIDER(3));

    /* Select IP clock source */
    CLK_SetModuleClock(USBD_MODULE, 0, CLK_USB_CLK_DIVIDER(2));
    /* Enable IP clock */
    CLK_EnableModuleClock(USBD_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UART_S_HXT, CLK_UART_CLK_DIVIDER(1));
    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set PA multi-function pins for UART0 RXD and TXD */
    SYS->PA_H_MFP &= ~( SYS_PA_H_MFP_PA15_MFP_Msk | SYS_PA_H_MFP_PA14_MFP_Msk);
    SYS->PA_H_MFP |= (SYS_PA_H_MFP_PA15_MFP_UART0_TX|SYS_PA_H_MFP_PA14_MFP_UART0_RX);

    /* Lock protected registers */
    SYS_LockReg();
}

void SYS_Init(void)
{
    /*---------------------------------------------------------------------------------------------------------*/
    /* Init System Clock                                                                                       */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Enable Internal RC 22.1184MHz clock */
    CLK_EnableXtalRC(CLK_PWRCON_OSC22M_EN_Msk);

    /* Waiting for Internal RC clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_OSC22M_STB_Msk);

    /* Switch HCLK clock source to Internal RC and HCLK source divide 1 */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HIRC, CLK_CLKDIV_HCLK(1));

    /* Enable external XTAL 12MHz clock */
    CLK_EnableXtalRC(CLK_PWRCON_XTL12M_EN_Msk);

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_XTL12M_STB_Msk);

    /* Set core clock as PLL_CLOCK from PLL */
    CLK_SetCoreClock(PLL_CLOCK);
    
    /* Enable UART module clock */
    CLK_EnableModuleClock(UART0_MODULE);    
    
    /* Select UART module clock source */
    CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UART_S_HXT, CLK_CLKDIV_UART(1));

    /* Enable Timer 0~3 module clock */
    CLK_EnableModuleClock(TMR0_MODULE);    
    CLK_EnableModuleClock(TMR2_MODULE);    
    CLK_EnableModuleClock(TMR3_MODULE);    

    /* Select Timer 0~3 module clock source */
    CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0_S_HXT, NULL);
    CLK_SetModuleClock(TMR2_MODULE, CLK_CLKSEL1_TMR2_S_HCLK, NULL);
    CLK_SetModuleClock(TMR3_MODULE, CLK_CLKSEL1_TMR3_S_HXT, NULL);

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set PB multi-function pins for UART0 RXD, TXD */
    SYS->GPB_MFP &= ~(SYS_GPB_MFP_PB0_Msk | SYS_GPB_MFP_PB1_Msk);
    SYS->GPB_MFP |= (SYS_GPB_MFP_PB0_UART0_RXD | SYS_GPB_MFP_PB1_UART0_TXD);

    /* Set PB multi-function pins for TM0, TM2, TM3 and TM2_EXT */
    SYS->GPB_MFP &= ~(SYS_GPB_MFP_PB8_Msk | SYS_GPB_MFP_PB10_Msk | 
                      SYS_GPB_MFP_PB11_Msk | SYS_GPB_MFP_PB2_Msk);
    SYS->GPB_MFP |= (SYS_GPB_MFP_PB8_TM0 | SYS_GPB_MFP_PB10_TM2 | 
                     SYS_GPB_MFP_PB11_TM3 | SYS_GPB_MFP_PB2_TM2_EXT);

    SYS->ALT_MFP  &= ~( SYS_ALT_MFP_PB8_Msk | SYS_ALT_MFP_PB10_Msk | SYS_ALT_MFP_PB11_Msk |
                        SYS_ALT_MFP_PB2_Msk);
    SYS->ALT_MFP  |= (SYS_ALT_MFP_PB8_TM0 | SYS_ALT_MFP_PB10_TM2 |SYS_ALT_MFP_PB11_TM3 |
                      SYS_ALT_MFP_PB2_TM2_EXT);
    SYS->ALT_MFP2 &= ~SYS_ALT_MFP2_PB2_TM2_Msk;
    SYS->ALT_MFP2 |= SYS_ALT_MFP2_PB2_TM2_EXT;
}

void SYS_Init(void)
{
    /*---------------------------------------------------------------------------------------------------------*/
    /* Init System Clock                                                                                       */
    /*---------------------------------------------------------------------------------------------------------*/

    /* Enable Internal RC clock */
    CLK_EnableXtalRC(CLK_PWRCON_OSC22M_EN_Msk);

    /* Waiting for IRC22M clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_OSC22M_STB_Msk);

    /* Switch HCLK clock source to Internal RC and HCLK source divide 1 */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HIRC, CLK_CLKDIV_HCLK(1));

    /* Enable external 12MHz XTAL, internal 22.1184MHz */
    CLK_EnableXtalRC(CLK_PWRCON_XTL12M_EN_Msk | CLK_PWRCON_OSC22M_EN_Msk);

    /* Enable PLL and Set PLL frequency */
    CLK_SetCoreClock(PLLCON_SETTING);

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_PLL_STB_Msk | CLK_CLKSTATUS_XTL12M_STB_Msk | CLK_CLKSTATUS_OSC22M_STB_Msk);

    /* Switch HCLK clock source to PLL, STCLK to HCLK/2 */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_PLL, CLK_CLKDIV_HCLK(2));

    /* Enable UART module clock */
    CLK_EnableModuleClock(UART0_MODULE);

    /* Enable PWM module clock */
    CLK_EnableModuleClock(PWM01_MODULE);
    CLK_EnableModuleClock(PWM23_MODULE);

    /* Select UART module clock source */
    CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UART_S_HXT, CLK_CLKDIV_UART(1));

    /* Select PWM module clock source */
    CLK_SetModuleClock(PWM01_MODULE, CLK_CLKSEL1_PWM01_S_HXT, 0);
    CLK_SetModuleClock(PWM23_MODULE, CLK_CLKSEL1_PWM23_S_HXT, 0);

    /* Reset PWMA channel0~channel3 */
    SYS_ResetModule(PWM03_RST);

    /* Update System Core Clock */
    /* User can use SystemCoreClockUpdate() to calculate PllClock, SystemCoreClock and CycylesPerUs automatically. */
    //SystemCoreClockUpdate();
    PllClock        = PLL_CLOCK;            // PLL
    SystemCoreClock = PLL_CLOCK / 1;        // HCLK
    CyclesPerUs     = PLL_CLOCK / 1000000;  // For SYS_SysTickDelay()

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set P3 multi-function pins for UART0 RXD and TXD  */
    SYS->P3_MFP = SYS_MFP_P30_RXD0 | SYS_MFP_P31_TXD0;
    /* Set P2 multi-function pins for PWMA Channel0~3 */
    SYS->P2_MFP = SYS_MFP_P20_PWM0 | SYS_MFP_P21_PWM1 | SYS_MFP_P22_PWM2 | SYS_MFP_P23_PWM3;
}

void SYS_Init(void)
{

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init System Clock                                                                                       */
    /*---------------------------------------------------------------------------------------------------------*/

    /* Enable HIRC clock (Internal RC 22.1184MHz) */
    CLK_EnableXtalRC(CLK_PWRCTL_HIRCEN_Msk);

    /* Wait for HIRC clock ready */
    CLK_WaitClockReady(CLK_STATUS_HIRCSTB_Msk);

    /* Select HCLK clock source as HIRC and and HCLK source divider as 1 */
    CLK_SetHCLK(CLK_CLKSEL0_HCLKSEL_HIRC, CLK_CLKDIV0_HCLK(1));

    /* Set PLL to Power-down mode and PLLSTB bit in CLK_STATUS register will be cleared by hardware.*/
    CLK_DisablePLL();

    /* Enable HXT clock (external XTAL 12MHz) */
    CLK_EnableXtalRC(CLK_PWRCTL_HXTEN_Msk);

    /* Wait for HXT clock ready */
    CLK_WaitClockReady(CLK_STATUS_HXTSTB_Msk);

    /* Set core clock as PLL_CLOCK from PLL */
    CLK_SetCoreClock(PLL_CLOCK);

    /* Enable UART module clock */
    CLK_EnableModuleClock(UART0_MODULE);

    /* Select UART module clock source as HXT and UART module clock divider as 1 */
    CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UARTSEL_HXT, CLK_CLKDIV0_UART(1));

    /* Enable EADC module clock */
    CLK_EnableModuleClock(EADC_MODULE);

    /* EADC clock source is 72MHz, set divider to 8, ADC clock is 72/8 MHz */
    CLK_SetModuleClock(EADC_MODULE, 0, CLK_CLKDIV0_EADC(8));

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/

    /* Set PD multi-function pins for UART0 RXD and TXD */
    SYS->GPD_MFPL &= ~(SYS_GPD_MFPL_PD0MFP_Msk | SYS_GPD_MFPL_PD1MFP_Msk);
    SYS->GPD_MFPL |= (SYS_GPD_MFPL_PD0MFP_UART0_RXD | SYS_GPD_MFPL_PD1MFP_UART0_TXD);

    /* Configure the GPB0 - GPB3 ADC analog input pins.  */
    SYS->GPB_MFPL &= ~(SYS_GPB_MFPL_PB0MFP_Msk | SYS_GPB_MFPL_PB1MFP_Msk |
                       SYS_GPB_MFPL_PB2MFP_Msk | SYS_GPB_MFPL_PB3MFP_Msk);
    SYS->GPB_MFPL |= (SYS_GPB_MFPL_PB0MFP_EADC_CH0 | SYS_GPB_MFPL_PB1MFP_EADC_CH1 |
                      SYS_GPB_MFPL_PB2MFP_EADC_CH2 | SYS_GPB_MFPL_PB3MFP_EADC_CH3);

    /* Disable the GPB0 - GPB3 digital input path to avoid the leakage current. */
    GPIO_DISABLE_DIGITAL_PATH(PB, 0xF);

}

/**
 * Initializes the system.
 * System control registers must be unlocked.
 */
void SYS_Init() {
	// TODO: why is SYS_UnlockReg() needed? Should be already unlocked.
	SYS_UnlockReg();

	// HIRC clock (internal RC 22.1184MHz)
	CLK_EnableXtalRC(CLK_PWRCTL_HIRCEN_Msk);
	CLK_WaitClockReady(CLK_STATUS_HIRCSTB_Msk);
	
	// HCLK clock source: HIRC, HCLK source divider: 1
	CLK_SetHCLK(CLK_CLKSEL0_HCLKSEL_HIRC, CLK_CLKDIV0_HCLK(1));
	
	// HXT clock (external XTAL 12MHz)
	CLK_EnableXtalRC(CLK_PWRCTL_HXTEN_Msk);
	CLK_WaitClockReady(CLK_STATUS_HXTSTB_Msk);
	
	// Enable 72MHz optimization
	FMC_EnableFreqOptimizeMode(FMC_FTCTL_OPTIMIZE_72MHZ);
	
	// Core clock: PLL
	CLK_SetCoreClock(PLL_CLOCK);
	CLK_WaitClockReady(CLK_STATUS_PLLSTB_Msk);
	
	// SPI0 clock: PCLK0
	CLK_SetModuleClock(SPI0_MODULE, CLK_CLKSEL2_SPI0SEL_PCLK0, 0);
	CLK_EnableModuleClock(SPI0_MODULE);
	
	// TMR0 clock: HXT
	CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0SEL_HXT, 0);
	CLK_EnableModuleClock(TMR0_MODULE);

	// USBD clock
	CLK_SetModuleClock(USBD_MODULE, 0, CLK_CLKDIV0_USB(3));
	CLK_EnableModuleClock(USBD_MODULE);
	
	// Enable USB 3.3V LDO
	SYS->USBPHY = SYS_USBPHY_LDO33EN_Msk;

	// EADC clock: 72Mhz / 8
	CLK_SetModuleClock(EADC_MODULE, 0, CLK_CLKDIV0_EADC(8));
	CLK_EnableModuleClock(EADC_MODULE);
	
	// Enable BOD (reset, 2.2V)
	SYS_EnableBOD(SYS_BODCTL_BOD_RST_EN, SYS_BODCTL_BODVL_2_2V);
	
	// Update system core clock
	SystemCoreClockUpdate();

	// Initialize dataflash
	Dataflash_Init();

	// Initialize I/O
	Display_SetupSPI();
	Button_Init();
	ADC_Init();

	// Initialize display
	Display_Init();
}

/*---------------------------------------------------------------------------------------------------------*/
void SysInit(void)
{
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Set HCLK source form HXT and HCLK source divide 1  */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HXT,CLK_HCLK_CLK_DIVIDER(1));

    /* Enable external 12MHz HXT, 32KHz LXT and HIRC */
    CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk | CLK_PWRCTL_LXT_EN_Msk | CLK_PWRCTL_HIRC_EN_Msk);

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_HXT_STB_Msk | CLK_CLKSTATUS_LXT_STB_Msk | CLK_CLKSTATUS_HIRC_STB_Msk);

#if 1
    SYS->PB_H_MFP &= ~( SYS_PB_H_MFP_PB14_MFP_Msk | SYS_PB_H_MFP_PB13_MFP_Msk);
    SYS->PB_H_MFP |= (SYS_PB_H_MFP_PB14_MFP_UART0_TX | SYS_PB_H_MFP_PB13_MFP_UART0_RX );
    UART0->BAUD = 0x67;              /* Baud Rate:115200  OSC:12MHz */
    //UART0->BAUD = 0x60;            /* Baud Rate:115200  OSC:11.0592 MHz */
    UART0->TLCTL = (UART0->TLCTL & ~0x3) | 0x3; /* character len is 8 bits */
    UART0->TLCTL |= (1<<2);
#endif

    /*  Set HCLK frequency 32MHz */
    CLK_SetCoreClock(32000000);

    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);

    /* Enable PWM clock */
    CLK_EnableModuleClock(PWM0_CH01_MODULE);
    CLK_EnableModuleClock(PWM0_CH23_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE,CLK_CLKSEL1_UART_S_HIRC,CLK_UART_CLK_DIVIDER(1));

    /* Set HCLK as PWM clock source */
    CLK_SetModuleClock(PWM0_CH01_MODULE, CLK_CLKSEL1_PWM0_CH01_S_HCLK, 0);
    CLK_SetModuleClock(PWM0_CH23_MODULE, CLK_CLKSEL1_PWM0_CH23_S_HCLK, 0);

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set PA multi-function pins for UART0 RXD and TXD */
    SYS->PB_L_MFP &= ~( SYS_PB_L_MFP_PB0_MFP_Msk | SYS_PB_L_MFP_PB1_MFP_Msk);
    SYS->PB_L_MFP |= (SYS_PB_L_MFP_PB0_MFP_UART0_TX | SYS_PB_L_MFP_PB1_MFP_UART0_RX );

    /* Set PB multi-function pins for Clock Output */
    SYS->PB_H_MFP = ( SYS->PB_H_MFP & ~SYS_PB_H_MFP_PB12_MFP_Msk ) |  SYS_PB_H_MFP_PB12_MFP_CKO0;

    /* Set PB and PE multi-function pins for PWM */
    SYS->PB_H_MFP = (SYS->PB_H_MFP & ~(SYS_PB_H_MFP_PB8_MFP_Msk | SYS_PB_H_MFP_PB9_MFP_Msk)) | SYS_PB_H_MFP_PB8_MFP_PWM0_CH0 | SYS_PB_H_MFP_PB9_MFP_PWM0_CH1;
    SYS->PE_H_MFP = (SYS->PE_H_MFP & ~(SYS_PE_H_MFP_PE8_MFP_Msk | SYS_PE_H_MFP_PE9_MFP_Msk)) | SYS_PE_H_MFP_PE8_MFP_PWM0_CH2 | SYS_PE_H_MFP_PE9_MFP_PWM0_CH3;

    /* Lock protected registers */
    SYS_LockReg();
}

/*---------------------------------------------------------------------------------------------------------*/
void SysInit(void)
{
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Set HCLK source form HXT and HCLK source divide 1  */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HXT,CLK_HCLK_CLK_DIVIDER(1));

    /* Enable external 12MHz HXT, 32KHz LXT and HIRC */
    CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk | CLK_PWRCTL_LXT_EN_Msk | CLK_PWRCTL_HIRC_EN_Msk);

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_HXT_STB_Msk | CLK_CLKSTATUS_LXT_STB_Msk | CLK_CLKSTATUS_HIRC_STB_Msk);

#if 1
    SYS->PB_H_MFP &= ~( SYS_PB_H_MFP_PB14_MFP_Msk | SYS_PB_H_MFP_PB13_MFP_Msk);
    SYS->PB_H_MFP |= (SYS_PB_H_MFP_PB14_MFP_UART0_TX | SYS_PB_H_MFP_PB13_MFP_UART0_RX );
    UART0->BAUD = 0x67;              /* Baud Rate:115200  OSC:12MHz */
    //UART0->BAUD = 0x60;            /* Baud Rate:115200  OSC:11.0592 MHz */
    UART0->TLCTL = (UART0->TLCTL & ~0x3) | 0x3; /* character len is 8 bits */
    UART0->TLCTL |= (1<<2);
#endif

    /*  Set HCLK frequency 32MHz */
    CLK_SetCoreClock(32000000);

    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE,CLK_CLKSEL1_UART_S_HIRC,CLK_UART_CLK_DIVIDER(1));

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set PA multi-function pins for UART0 RXD and TXD */
    SYS->PB_L_MFP &= ~( SYS_PB_L_MFP_PB0_MFP_Msk | SYS_PB_L_MFP_PB1_MFP_Msk);
    SYS->PB_L_MFP |= (SYS_PB_L_MFP_PB0_MFP_UART0_TX | SYS_PB_L_MFP_PB1_MFP_UART0_RX );

    /* Set PB multi-function pins for Clock Output */
    SYS->PB_H_MFP = ( SYS->PB_H_MFP & ~SYS_PB_H_MFP_PB12_MFP_Msk ) |  SYS_PB_H_MFP_PB12_MFP_CKO0;

    /* Set PA multi-function pins for ADC */
    SYS->PA_L_MFP &= ~(SYS_PA_L_MFP_PA0_MFP_Msk | SYS_PA_L_MFP_PA1_MFP_Msk | SYS_PA_L_MFP_PA2_MFP_Msk);
    SYS->PA_L_MFP |= SYS_PA_L_MFP_PA0_MFP_ADC_CH0 | SYS_PA_L_MFP_PA1_MFP_ADC_CH1 | SYS_PA_L_MFP_PA2_MFP_ADC_CH2;

    /* Disable digital input path */
    PA->OFFD = PA->OFFD | ((ADC_CH_0_MASK | ADC_CH_1_MASK | ADC_CH_2_MASK)<< 16);

    /* Enable ADC clock */
    CLK_EnableModuleClock(ADC_MODULE);

    /* Lock protected registers */
    SYS_LockReg();
}

void lp_ticker_init(void)
{
    if (lp_ticker_inited) {
        return;
    }
    lp_ticker_inited = 1;

    counter_major = 0;
    cd_major_minor_clks = 0;
    cd_minor_clks = 0;
    wakeup_tick = (uint32_t) -1;

    // Reset module
    SYS_ResetModule(timer2_modinit.rsetidx);
    SYS_ResetModule(timer3_modinit.rsetidx);

    // Select IP clock source
    CLK_SetModuleClock(timer2_modinit.clkidx, timer2_modinit.clksrc, timer2_modinit.clkdiv);
    CLK_SetModuleClock(timer3_modinit.clkidx, timer3_modinit.clksrc, timer3_modinit.clkdiv);
    // Enable IP clock
    CLK_EnableModuleClock(timer2_modinit.clkidx);
    CLK_EnableModuleClock(timer3_modinit.clkidx);

    // Configure clock
    uint32_t clk_timer2 = TIMER_GetModuleClock((TIMER_T *) NU_MODBASE(timer2_modinit.modname));
    uint32_t prescale_timer2 = clk_timer2 / TMR2_CLK_PER_SEC - 1;
    MBED_ASSERT((prescale_timer2 != (uint32_t) -1) && prescale_timer2 <= 127);
    MBED_ASSERT((clk_timer2 % TMR2_CLK_PER_SEC) == 0);
    uint32_t cmp_timer2 = TMR2_CLK_PER_TMR2_INT;
    MBED_ASSERT(cmp_timer2 >= TMR_CMP_MIN && cmp_timer2 <= TMR_CMP_MAX);
    // Continuous mode
    // NOTE: TIMER_CTL_CNTDATEN_Msk exists in NUC472, but not in M451/M480. In M451/M480, TIMER_CNT is updated continuously by default.
    ((TIMER_T *) NU_MODBASE(timer2_modinit.modname))->CTL = TIMER_PERIODIC_MODE | prescale_timer2/* | TIMER_CTL_CNTDATEN_Msk*/;
    ((TIMER_T *) NU_MODBASE(timer2_modinit.modname))->CMP = cmp_timer2;

    // Set vector
    NVIC_SetVector(timer2_modinit.irq_n, (uint32_t) timer2_modinit.var);
    NVIC_SetVector(timer3_modinit.irq_n, (uint32_t) timer3_modinit.var);

    NVIC_EnableIRQ(timer2_modinit.irq_n);
    NVIC_EnableIRQ(timer3_modinit.irq_n);

    TIMER_EnableInt((TIMER_T *) NU_MODBASE(timer2_modinit.modname));
    TIMER_EnableWakeup((TIMER_T *) NU_MODBASE(timer2_modinit.modname));

    // NOTE: TIMER_Start() first and then lp_ticker_set_interrupt(); otherwise, we may get stuck in lp_ticker_read() because
    //       timer is not running.

    // Start timer
    TIMER_Start((TIMER_T *) NU_MODBASE(timer2_modinit.modname));

    // Schedule wakeup to match semantics of lp_ticker_get_compare_match()
    lp_ticker_set_interrupt(wakeup_tick);
}

void Motor_Init(void)
{
	CLK_EnableModuleClock(PWMCH01_MODULE);
	CLK_EnableModuleClock(PWMCH45_MODULE);
	CLK_SetModuleClock(PWMCH01_MODULE, CLK_CLKSEL1_PWMCH01SEL_HCLK, 0);
	CLK_SetModuleClock(PWMCH45_MODULE, CLK_CLKSEL2_PWMCH45SEL_HCLK, 0);
	SYS->P1_MFP |= SYS_MFP_P12_PWM0_CH0 | SYS_MFP_P13_PWM0_CH1 | SYS_MFP_P14_PWM0_CH4;
	SYS->P0_MFP |= SYS_MFP_P04_PWM0_CH5;
	
	MotorPwmOutput(0,0,0,0);
}

void SYS_Init(void)
{
    /*---------------------------------------------------------------------------------------------------------*/
    /* Init System Clock                                                                                       */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Enable External XTAL (4~24 MHz) */
    CLK_EnableXtalRC(CLK_PWRCON_HXT_EN_Msk);

    /* Waiting for 12MHz clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_HXT_STB_Msk);

    /* Switch HCLK clock source to HXT */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HXT,CLK_CLKDIV0_HCLK(1));

    /* Set PLL to power down mode and PLL_STB bit in CLKSTATUS register will be cleared by hardware.*/
    CLK->PLLCON |= CLK_PLLCON_PD_Msk;

    /* Set PLL frequency */
    CLK->PLLCON = PLLCON_SETTING;

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_PLL_STB_Msk);

    /* Switch HCLK clock source to PLL */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_PLL,CLK_CLKDIV0_HCLK(1));

    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);
    CLK_EnableModuleClock(PDMA_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE,CLK_CLKSEL1_UART_S_HXT,CLK_CLKDIV0_UART(1));

    /* Update System Core Clock */
    /* User can use SystemCoreClockUpdate() to calculate SystemCoreClock. */
    SystemCoreClockUpdate();

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set GPG multi-function pins for UART0 RXD and TXD */
    SYS->GPG_MFPL &= ~(SYS_GPG_MFPL_PG1_MFP_Msk|SYS_GPG_MFPL_PG2_MFP_Msk);
    SYS->GPG_MFPL |= SYS_GPG_MFPL_PG1_MFP_UART0_RXD | SYS_GPG_MFPL_PG2_MFP_UART0_TXD ;

    /* Set GPG multi-function pins for CKO */
    SYS->GPC_MFPL = (SYS->GPC_MFPL & ~SYS_GPC_MFPL_PC5_MFP_Msk) | SYS_GPC_MFPL_PC5_MFP_CLK_O ;

    /* Lock protected registers */
    SYS_LockReg();
}

void initialize()
{
    IO::pinMode(MUX_ADR0_PIN, OUTPUT);
    IO::pinMode(MUX_ADR1_PIN, OUTPUT);
    IO::pinMode(MUX_ADR2_PIN, OUTPUT);

    IO::pinMode(V_IN_PIN, ANALOG_INPUT);
    IO::pinMode(OUTPUT_VOLTAGE_MINUS_PIN, ANALOG_INPUT);
    IO::pinMode(SMPS_CURRENT_PIN, ANALOG_INPUT);
    IO::pinMode(OUTPUT_VOLTAGE_PLUS_PIN, ANALOG_INPUT);
    IO::pinMode(DISCHARGE_CURRENT_PIN, ANALOG_INPUT);

    IO::pinMode(MUX0_Z_D_PIN, ANALOG_INPUT_DISCHARGE);
    IO::digitalWrite(MUX0_Z_D_PIN, 0);

    //initialize internal temperature sensor
    SYS->TEMPCR |= 1;

    //initialize TIMER 1 (mux ADC capacitor discharge)
    CLK_EnableModuleClock(TMR1_MODULE);
    CLK_SetModuleClock(TMR1_MODULE,CLK_CLKSEL1_TMR1_S_HCLK,CLK_CLKDIV_UART(1));
    //TODO: 50kHz ??
    TIMER_Open(TIMER1, TIMER_ONESHOT_MODE, 1000000 / ADC_CAPACITOR_DISCHARGE_DELAY_US);
    TIMER_EnableInt(TIMER1);
    NVIC_EnableIRQ(TMR1_IRQn);
    NVIC_SetPriority(TMR1_IRQn, ADC_C_DISCHARGE_IRQ_PRIORITY);

    //initialize ADC
    //init clock
    CLK_EnableModuleClock(ADC_MODULE);
    CLK_SetModuleClock(ADC_MODULE, CLK_CLKSEL1_ADC_S_HCLK, CLK_CLKDIV_ADC(CLK_GetHCLKFreq()/ADC_CLOCK_FREQUENCY));
            //__HXT/ADC_CLOCK_FREQUENCY));

    /* Set the ADC operation mode as burst, input mode as single-end and enable the analog input channel 2 */
    ADC_Open(ADC, ADC_ADCR_DIFFEN_SINGLE_END, ADC_ADCR_ADMD_BURST, 0x1 << 2);
    ADC_SET_DMOF(ADC, ADC_ADCR_DMOF_UNSIGNED_OUTPUT);

    /* Power on ADC module */
    ADC_POWER_ON(ADC);

    /* clear the A/D interrupt flag for safe */
    ADC_CLR_INT_FLAG(ADC, ADC_ADF_INT);

    /* Enable the ADC interrupt */
    ADC_EnableInt(ADC, ADC_ADF_INT);
    NVIC_EnableIRQ(ADC_IRQn);
    NVIC_SetPriority(ADC_IRQn, ADC_IRQ_PRIORITY);

    current_input_ = 0;
    startConversion();
}

/*---------------------------------------------------------------------------------------------------------*/
void SYS_Init(void)
{
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Set HCLK source form HXT and HCLK source divide 1  */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HXT,CLK_HCLK_CLK_DIVIDER(1));

    /* Enable external 12MHz HXT, 32KHz LXT and HIRC */
    CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk | CLK_PWRCTL_LXT_EN_Msk | CLK_PWRCTL_HIRC_EN_Msk);

    /* Waiting for clock ready */
    CLK_WaitClockReady(CLK_CLKSTATUS_HXT_STB_Msk | CLK_CLKSTATUS_LXT_STB_Msk | CLK_CLKSTATUS_HIRC_STB_Msk);

    /*  Set HCLK frequency 32MHz */
    CLK_SetCoreClock(32000000);

    CLK->AHBCLK |= CLK_AHBCLK_DMA_EN_Msk;

    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);

    /* Enable ADC clock */
    CLK_EnableModuleClock(ADC_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE,CLK_CLKSEL1_UART_S_HXT,CLK_UART_CLK_DIVIDER(1));

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set PA multi-function pins for UART0 RXD and TXD */
    SYS->PB_L_MFP &= ~( SYS_PB_L_MFP_PB0_MFP_Msk | SYS_PB_L_MFP_PB1_MFP_Msk);
    SYS->PB_L_MFP |= (SYS_PB_L_MFP_PB0_MFP_UART0_RX | SYS_PB_L_MFP_PB1_MFP_UART0_TX );

    /* Set PB multi-function pins for Clock Output */
    SYS->PB_H_MFP = ( SYS->PB_H_MFP & ~SYS_PB_H_MFP_PB12_MFP_Msk ) |  SYS_PB_H_MFP_PB12_MFP_CKO;

    /* Set PA.0,PA.1,PA.2,PA.3 multi-function pin for ADC channel 0,1,2,3 */
    SYS->PA_L_MFP = (SYS->PA_L_MFP & ~SYS_PA_L_MFP_PA0_MFP_Msk) | SYS_PA_L_MFP_PA0_MFP_ADC_CH0;
    SYS->PA_L_MFP = (SYS->PA_L_MFP & ~SYS_PA_L_MFP_PA1_MFP_Msk) | SYS_PA_L_MFP_PA1_MFP_ADC_CH1;
    SYS->PA_L_MFP = (SYS->PA_L_MFP & ~SYS_PA_L_MFP_PA2_MFP_Msk) | SYS_PA_L_MFP_PA2_MFP_ADC_CH2;
    SYS->PA_L_MFP = (SYS->PA_L_MFP & ~SYS_PA_L_MFP_PA3_MFP_Msk) | SYS_PA_L_MFP_PA3_MFP_ADC_CH3;

    /* Disable PA.0 digital input path */
    PA->OFFD |= ((1 << 0) << GP_OFFD_OFFD_Pos);

    /* Lock protected registers */
    SYS_LockReg();
}

void lp_ticker_init(void)
{
    if (lp_ticker_inited) {
        return;
    }
    lp_ticker_inited = 1;
    
    counter_major = 0;
    cd_major_minor_ms = 0;
    cd_minor_ms = 0;
    wakeup_tick = TMR_CMP_MAX * MS_PER_TMR2_CLK / MS_PER_TICK;

    // Reset module
    SYS_ResetModule(timer2_modinit.rsetidx);
    SYS_ResetModule(timer3_modinit.rsetidx);
    
    // Select IP clock source
    CLK_SetModuleClock(timer2_modinit.clkidx, timer2_modinit.clksrc, timer2_modinit.clkdiv);
    CLK_SetModuleClock(timer3_modinit.clkidx, timer3_modinit.clksrc, timer3_modinit.clkdiv);
    // Enable IP clock
    CLK_EnableModuleClock(timer2_modinit.clkidx);
    CLK_EnableModuleClock(timer3_modinit.clkidx);

    // Configure clock
    uint32_t clk_timer2 = TIMER_GetModuleClock((TIMER_T *) NU_MODBASE(timer2_modinit.modname));
    uint32_t prescale_timer2 = clk_timer2 / TMR2_CLK_FREQ - 1;
    MBED_ASSERT((prescale_timer2 != (uint32_t) -1) && prescale_timer2 <= 127);
    uint32_t cmp_timer2 = MS_PER_TMR2_INT / MS_PER_TMR2_CLK;
    MBED_ASSERT(cmp_timer2 >= TMR_CMP_MIN && cmp_timer2 <= TMR_CMP_MAX);
    // Continuous mode
    ((TIMER_T *) NU_MODBASE(timer2_modinit.modname))->CTL = TIMER_PERIODIC_MODE | prescale_timer2 | TIMER_CTL_CNTDATEN_Msk;
    ((TIMER_T *) NU_MODBASE(timer2_modinit.modname))->CMP = cmp_timer2;
    
    // Set vector
    NVIC_SetVector(timer2_modinit.irq_n, (uint32_t) timer2_modinit.var);
    NVIC_SetVector(timer3_modinit.irq_n, (uint32_t) timer3_modinit.var);
    
    NVIC_EnableIRQ(timer2_modinit.irq_n);
    NVIC_EnableIRQ(timer3_modinit.irq_n);
    
    TIMER_EnableInt((TIMER_T *) NU_MODBASE(timer2_modinit.modname));
    TIMER_EnableWakeup((TIMER_T *) NU_MODBASE(timer2_modinit.modname));
    
    // Schedule wakeup to match semantics of lp_ticker_get_compare_match()
    lp_ticker_set_interrupt(lp_ticker_read(), wakeup_tick);
    
    // Start timer
    TIMER_Start((TIMER_T *) NU_MODBASE(timer2_modinit.modname));
}

void SysInit(void)
{

    /*---------------------------------------------------------------------------------------------------------*/
    /* Init System Clock                                                                                       */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Unlock protected registers */
    SYS_UnlockReg();

    /* Enable External XTAL (4~24 MHz) */
    CLK_EnableXtalRC(CLK_PWRCTL_HXT_EN_Msk);

    /* Waiting for 12MHz clock ready */
    CLK_WaitClockReady( CLK_CLKSTATUS_HXT_STB_Msk);

    /* Switch HCLK clock source to HXT */
    CLK_SetHCLK(CLK_CLKSEL0_HCLK_S_HXT,CLK_HCLK_CLK_DIVIDER(1));

    /* Enable IP clock */
    CLK_EnableModuleClock(UART0_MODULE);
    CLK_EnableModuleClock(TMR0_MODULE);
    CLK_EnableModuleClock(TMR1_MODULE);

    /* Select IP clock source */
    CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UART_S_HXT, CLK_UART_CLK_DIVIDER(1));
    CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR0_S_HXT, CLK_TMR0_CLK_DIVIDER(1));
    CLK_SetModuleClock(TMR0_MODULE, CLK_CLKSEL1_TMR1_S_HXT, CLK_TMR1_CLK_DIVIDER(1));

    /* Update System Core Clock */
    /* User can use SystemCoreClockUpdate() to calculate SystemCoreClock. */
    SystemCoreClockUpdate();


    /*---------------------------------------------------------------------------------------------------------*/
    /* Init I/O Multi-function                                                                                 */
    /*---------------------------------------------------------------------------------------------------------*/
    /* Set GPB multi-function pins for UART0 RXD and TXD */
    SYS->PB_L_MFP &= ~(SYS_PB_L_MFP_PB0_MFP_Msk | SYS_PB_L_MFP_PB1_MFP_Msk);
    SYS->PB_L_MFP |= (SYS_PB_L_MFP_PB0_MFP_UART0_TX | SYS_PB_L_MFP_PB1_MFP_UART0_RX);

    /* Set Timer0 event counting/toggle out pin */
    SYS->PB_H_MFP &= ~SYS_PB_H_MFP_PB8_MFP_Msk;
    SYS->PB_H_MFP |= SYS_PB_H_MFP_PB8_MFP_TMR0_EXT;

    /* Lock protected registers */
    SYS_LockReg();

}