% var module = system.modules['/driverlib/eqep.js'];
% let Common   = system.getScript("/driverlib/Common.js");
% var nameOfModule = "eqep";
% var nameOfPeripheral = module.peripheralName;
//*****************************************************************************
//
// EQEP Configurations
//
//*****************************************************************************
void `nameOfPeripheral`_init(){
%   for(var i = 0; i < module.$instances.length; i++) 
%   {
%      var instance = module.$instances[i];
	`instance.$name`_init();
%   }
}

%if (module != null)
%{
	% for(var i = 0; i < module.$instances.length; i++) {
	    % var instance = module.$instances[i];
		% var baseName = instance.$name + "_BASE";
void `instance.$name`_init(){
		% let instancePinmux = instance[nameOfModule];
		% let solution    = instancePinmux.$solution;
		% let peripheral  = system.deviceData.peripherals[solution.peripheralName];
		% if(instance.useInterrupts && instance.enableInterrupt){
	//
	// Disable, clear all flags and interrupts
	//
	EQEP_disableInterrupt(`baseName`,
		(EQEP_INT_GLOBAL     		|   
		EQEP_INT_POS_CNT_ERROR		|      
		EQEP_INT_PHASE_ERROR    	| 
		EQEP_INT_DIR_CHANGE    		| 
		EQEP_INT_WATCHDOG          	|   
		EQEP_INT_UNDERFLOW         	|
		EQEP_INT_OVERFLOW        	|
		EQEP_INT_POS_COMP_READY    	|	
		EQEP_INT_POS_COMP_MATCH   	|
		EQEP_INT_STROBE_EVNT_LATCH	| 
		EQEP_INT_INDEX_EVNT_LATCH 	|
			% if( ["F28002x", "F28003x", "F280013x", "F280015x", "F28004x","F2838x"].includes(system.deviceData.deviceId)){
		EQEP_INT_UNIT_TIME_OUT   	|
		EQEP_INT_QMA_ERROR));
			% }
			% else{
		EQEP_INT_UNIT_TIME_OUT));
			% }
	EQEP_clearInterruptStatus(`baseName`,
		(EQEP_INT_GLOBAL     		|   
		EQEP_INT_POS_CNT_ERROR		|      
		EQEP_INT_PHASE_ERROR    	| 
		EQEP_INT_DIR_CHANGE    		| 
		EQEP_INT_WATCHDOG          	|   
		EQEP_INT_UNDERFLOW         	|
		EQEP_INT_OVERFLOW        	|
		EQEP_INT_POS_COMP_READY    	|	
		EQEP_INT_POS_COMP_MATCH   	|
		EQEP_INT_STROBE_EVNT_LATCH	| 
		EQEP_INT_INDEX_EVNT_LATCH 	|
			% if( ["F28002x", "F28003x", "F280013x", "F280015x", "F28004x","F2838x"].includes(system.deviceData.deviceId)){
		EQEP_INT_UNIT_TIME_OUT   	|
		EQEP_INT_QMA_ERROR));
			% }
			% else{
		EQEP_INT_UNIT_TIME_OUT));
			% }
		% }
		% if( ["F28002x", "F28003x", "F280013x", "F280015x","F2838x"].includes(system.deviceData.deviceId)){
	EQEP_SourceSelect source_`instance.$name` =
	{
		`instance.selectSourceA`, 		// eQEPA source
		`instance.selectSourceB`,		// eQEPB source
		`instance.selectSourceIndex`,  	// eQEP Index source 
	};
	//
	// Selects the source for eQEPA/B/I signals
	//
	EQEP_selectSource(`baseName`, source_`instance.$name`);
		% }
		% if( ["F28002x", "F28003x", "F280013x", "F280015x","F28004x","F2838x"].includes(system.deviceData.deviceId)){
	//
	// Set the strobe input source of the eQEP module.
	//
	EQEP_setStrobeSource(`baseName`,`instance.strobeSource`);
		% }
%%{
	var inputCount = 0
	var invertQEPA = false
	var invertQEPB = false
	var invertIndex = false
	var invertStrobe = false
	for (var inputEntry in instance.inputPolarity){
		if (instance.inputPolarity[inputCount] == "invertQEPA"){
			invertQEPA = true
		}
		else if (instance.inputPolarity[inputCount] == "invertQEPB"){
			invertQEPB = true
		}
		else if (instance.inputPolarity[inputCount] == "invertIndex"){
			invertIndex = true
		}
		else if (instance.inputPolarity[inputCount] == "invertStrobe"){
			invertStrobe = true
		}
		inputCount++
	}
%%}
	//
	// Sets the polarity of the eQEP module's input signals.
	//
	EQEP_setInputPolarity(`baseName`,`invertQEPA`,`invertQEPB`,`invertIndex`,`invertStrobe`);
	//
	// Configures eQEP module's quadrature decoder unit.
	//
	EQEP_setDecoderConfig(`baseName`, (`instance.eqepOperationMode` | `instance.eqepResolution` | `instance.eqepSwap` | `instance.eqepIGATE`));
	//
	// Set the emulation mode of the eQEP module.
	//
	EQEP_setEmulationMode(`baseName`,`instance.emulationMode`);
	//
	// Configures eQEP module position counter unit.
	//
	EQEP_setPositionCounterConfig(`baseName`,`instance.positionCounterMode`,`instance.positionCounterMax`U);
	//
	// Sets the current encoder position.
	//
	EQEP_setPosition(`baseName`,`instance.setPosition`U);
		% if(instance.enableUnitTimer){
	//
	// Enables the eQEP module unit timer.
	//
	EQEP_enableUnitTimer(`baseName`,`instance.unitTimerPeriod`U);
		% }
		% else {
	//
	// Disables the eQEP module unit timer.
	//
	EQEP_disableUnitTimer(`baseName`);
		% }
		% if(instance.enableWatchdog){
	//
	// Enables the eQEP module watchdog timer.
	//
	EQEP_enableWatchdog(`baseName`,`instance.watchdogTimerPeriod`U);
	//
	// Sets the eQEP module watchdog timer value.
	//
	EQEP_setWatchdogTimerValue(`baseName`,`instance.watchdogTimerValue`U);
		% }
		% else{
	//
	// Disables the eQEP module watchdog timer.
	//
	EQEP_disableWatchdog(`baseName`);
		% }
	//
	// Configures the quadrature modes in which the position count can be latched.
	//
	EQEP_setLatchMode(`baseName`,(`instance.latchPositionCounter`|`instance.latchStrobePosition`|`instance.latchIndexPosition`));
		% if( ["F28002x", "F28003x", "F280013x", "F280015x", "F28004x","F2838x"].includes(system.deviceData.deviceId)){
	//
	// Set the quadrature mode adapter (QMA) module mode.
	//
	EQEP_setQMAModuleMode(`baseName`,`instance.qmaModuleMode`);
		% }
		% if( ["F28002x", "F28003x", "F280013x", "F280015x", "F2838x"].includes(system.deviceData.deviceId)){
			% if(instance.enableDirectionChange){
	//
	// Enable Direction Change During Index
	//
	EQEP_enableDirectionChangeDuringIndex(`baseName`);
			% }
			% else{
	//
	// Disable Direction Change During Index
	//
	EQEP_disableDirectionChangeDuringIndex(`baseName`);
			% }
		% }
		% if(instance.useInterrupts && instance.enableInterrupt){
			% if (instance.interruptSources.length>0)
			%{
%%{		
			var sourceCount = 0
			var sourcesToEnableOR = "("
			for (var sourceToEnable in instance.interruptSources)
			{
				if (sourceCount == 0)
				{
					sourcesToEnableOR += instance.interruptSources[sourceCount]
				}
				else
				{
					sourcesToEnableOR += "\n\t\t"
					sourcesToEnableOR += " | " + instance.interruptSources[sourceCount]
				}
				sourceCount++
			}
			sourcesToEnableOR += ")"
%%}
	//
	// Enables individual eQEP module interrupt sources.
	//
	EQEP_enableInterrupt(`baseName`,`sourcesToEnableOR`);
			% }
		% }
%%{
		var initModeStr = ""
		if(!(instance.positionStrobeEvents == "EQEP_INIT_DO_NOTHING")){
			initModeStr += instance.positionStrobeEvents
			if(!(instance.positionIndexEvents == "EQEP_INIT_DO_NOTHING")){
				initModeStr += " | " + instance.positionIndexEvents
			}
		}
		else{
			initModeStr = instance.positionIndexEvents
		}
%%}
	//
	// Configures the mode in which the position counter is initialized.
	//
	EQEP_setPositionInitMode(`baseName`,(`initModeStr`));
	//
	// Sets the software initialization of the encoder position counter.
	//
	EQEP_setSWPositionInit(`baseName`,`instance.swPositionInit`);
	//
	// Sets the init value for the encoder position counter.
	//
	EQEP_setInitialPosition(`baseName`,`instance.initialPosition`U);
		% if(instance.enableModule){
	//
	// Enables the eQEP module.
	//
	EQEP_enableModule(`baseName`);
		% }
		% else{
	//
	// Disables the eQEP module.
	//
	EQEP_disableModule(`baseName`);
		% }
		% if(instance.captureConfig){
	//
	// Configures eQEP module edge-capture unit.
	//
	EQEP_setCaptureConfig(`baseName`,`instance.capPrescale`,`instance.evntPrescale`);
			% if(instance.enableCapture){
	//
	// Enables the eQEP module edge-capture unit.
	//
	EQEP_enableCapture(`baseName`);
			% }
			% else{
	//
	// Disables the eQEP module edge-capture unit.
	//
	EQEP_disableCapture(`baseName`);
			% }
		% }
		% if(instance.compareConfig){
	//
	// Configures eQEP module position-compare unit.
	//
	EQEP_setCompareConfig(`baseName`,(`instance.compareSyncPulsePin` | `instance.compareShadowRegisterUse`), `instance.compareValue`U, `instance.compareCycles`U);
			% if(instance.enableCompare){
	//
	// Enables the eQEP module position-compare unit.
	//
	EQEP_enableCompare(`baseName`);
			% }
			% else{
	//
	// Disables the eQEP module position-compare unit.
	//
	EQEP_disableCompare(`baseName`);
			% }
		% }
}
	%}
%}