void bluetooth_init(void)
{
	ioport_set_pin_dir(BT_TX,IOPORT_DIR_OUTPUT);
	
	static usart_serial_options_t usart_options = {
		.baudrate = 115200,
		.charlength = USART_CHSIZE_8BIT_gc,
		.paritytype = USART_PMODE_DISABLED_gc,
		.stopbits = false
	};
	usart_serial_init(BLUETOOTH, &usart_options);
	
	#ifdef PRINTF_BLUETOOTH
	// setup our stdio stream
	stdout = &mystdout;
	stdin = &mystdout;
#endif
	
}

void bluetooth_init_interrupt(void)
{
	pmic_init();
	pmic_set_scheduling(PMIC_SCH_ROUND_ROBIN);
	USARTD0.CTRLA = USART_RXCINTLVL_HI_gc;
	cpu_irq_enable();
}

/**
 * \brief Main function.
 *
 * Initializes the board, and runs the application in an infinite loop.
 */
int main(void)
{
    /* hardware initialization */
    sysclk_init();
    board_init();
    pmic_init();
    timer_init();
    rs485_init();
    led_init();
	adc_init();
#ifdef CONF_BOARD_ENABLE_RS485_XPLAINED
    // Enable display backlight
    gpio_set_pin_high(NHD_C12832A1Z_BACKLIGHT);
#endif
    // Workaround for known issue: Enable RTC32 sysclk
    sysclk_enable_module(SYSCLK_PORT_GEN, SYSCLK_RTC);
    while (RTC32.SYNCCTRL & RTC32_SYNCBUSY_bm) {
        // Wait for RTC32 sysclk to become stable
    }
    cpu_irq_enable();
    /* application initialization */
    rs485_baud_rate_set(38400);
    bacnet_init();
    /*  run forever - timed tasks */
    timer_callback(bacnet_task_timed, 5);
    for (;;) {
        bacnet_task();
        led_task();
    }
}

int board_init(void)
{
	/* address of boot parameters */
	gd->bd->bi_boot_params = PHYS_SDRAM + 0x100;

	setup_i2c(0, CONFIG_SYS_I2C_SPEED, 0x7f, &i2c_pad_info1);
	setup_i2c(1, CONFIG_SYS_I2C_SPEED, 0x7f, &i2c_pad_info_loc);
	setup_i2c(2, CONFIG_SYS_I2C_SPEED, 0x7f, &i2c_pad_info3);

#if defined(CONFIG_VIDEO_IPUV3)
	setup_display();
#endif

#ifdef CONFIG_TDX_CMD_IMX_MFGR
	(void) pmic_init();
#endif

#ifdef CONFIG_SATA
	setup_sata();
#endif

	setup_iomux_gpio();

	return 0;
}

void bootblock_mainboard_init(void)
{
	set_clock_sources();

	/* Set up the pads required to load romstage. */
	soc_configure_pads(padcfgs, ARRAY_SIZE(padcfgs));
	soc_configure_funits(funits, ARRAY_SIZE(funits));

	/* PMIC */
	i2c_init(I2CPWR_BUS);
	pmic_init(I2CPWR_BUS);

	/* TPM */
	i2c_init(I2C3_BUS);

	/* EC */
	i2c_init(I2C2_BUS);

	/*
	 * Set power detect override for GPIO, audio & sdmmc3 rails.
	 * GPIO rail override is required to put it into 1.8V mode.
	 */
	pmc_override_pwr_det(PMC_GPIO_RAIL_AO_MASK | PMC_AUDIO_RAIL_AO_MASK |
			     PMC_SDMMC3_RAIL_AO_MASK, PMC_GPIO_RAIL_AO_DISABLE |
			     PMC_AUDIO_RAIL_AO_DISABLE |
			     PMC_SDMMC3_RAIL_AO_DISABLE);
}

int main (void)
{
    sysclk_init();
	pmic_init();
    port_init();
	tc_init();
	wdt_set_timeout_period(WDT_TIMEOUT_PERIOD_32CLK);
	wdt_enable();
	usart_init();
	spi_init();
	
	char str[200];
	uint8_t count ;
	count = sprintf(str,"RESET");
	for (uint8_t i=0;i<count;i++)
	usart_putchar(&USARTE0,str[i]);
	nrf_init(Address);
	sei();
	

	for (uint8_t i=0;i<Max_Robot;i++)
	{
		Robot_D_tmp[2][i].RID=12;
	}

	while (1)
	{
		
	}
}

int exynos_power_init(void)
{
	pmic_init(0);
	pmic_init_max77686();

	return 0;
}

/**
 * \brief Run low power demo
 *
 * This function initializes the XMEGA to the least power consuming state,
 * before initializing the sleep manager interrupts on switchports.
 * The device is then put to sleep, and the sleep mode is configured by the
 * interrupt routines.
 */
int main(void)
{
	board_init();
	sysclk_init();
	lowpower_init();

	/* Initialize the sleep manager. */
	sleepmgr_init();

	/* Enable interrupts from switchports on
	 * low level to sense all interrupts */
	pmic_init();
	SWITCHPORT0.INTCTRL = SWITCHPORT_INT_LEVEL;
	SWITCHPORT1.INTCTRL = SWITCHPORT_INT_LEVEL;
	SWITCHPORT0.INT0MASK = SWITCHMASK0;
	SWITCHPORT1.INT0MASK = SWITCHMASK1;
	ioport_configure_port_pin(&SWITCHPORT0,
			SWITCHMASK0, IOPORT_LEVEL | IOPORT_PULL_UP);
	ioport_configure_port_pin(&SWITCHPORT1,
			SWITCHMASK1, IOPORT_LEVEL | IOPORT_PULL_UP);
	cpu_irq_enable();

	/* Start in active mode */
	sleepmgr_lock_mode(SLEEPMGR_ACTIVE);

	/* Go to sleep, sleep modes are configured by interrupt routines. */
	while (1) {
		sleepmgr_enter_sleep();
	}
}

void power_init(void)
{
	unsigned int val;
	struct pmic *p;

	pmic_init();
	p = get_pmic();

	/* Set VDDA to 1.25V */
	pmic_reg_read(p, REG_SW_2, &val);
	val &= ~SWX_OUT_MASK;
	val |= SWX_OUT_1_25;
	pmic_reg_write(p, REG_SW_2, val);

	/*
	 * Need increase VCC and VDDA to 1.3V
	 * according to MX53 IC TO2 datasheet.
	 */
	if (is_soc_rev(CHIP_REV_2_0) == 0) {
		/* Set VCC to 1.3V for TO2 */
		pmic_reg_read(p, REG_SW_1, &val);
		val &= ~SWX_OUT_MASK;
		val |= SWX_OUT_1_30;
		pmic_reg_write(p, REG_SW_1, val);

		/* Set VDDA to 1.3V for TO2 */
		pmic_reg_read(p, REG_SW_2, &val);
		val &= ~SWX_OUT_MASK;
		val |= SWX_OUT_1_30;
		pmic_reg_write(p, REG_SW_2, val);
	}
}

/* This function is meant to contain board-specific initialization code
 * for, e.g., the I/O pins. The initialization can rely on application-
 * specific board configuration, found in conf_board.h.
 */
void v2x_board_init(void)
{
	irq_initialize_vectors();
	pmic_init();
	sysclk_init();							//configure clock sources for core and USB
	sleepmgr_init();						// Initialize the sleep manager
	ioport_init();							//Initializes the IOPORT service
	pin_init();								//whole chip pin init, modes and initial conditions
	spi_start();							//start SPI driver
	PWR_init();								//sets SR to default states - holds power up
	cpu_irq_enable();
	eeprom_init();							//verifies eeprom safe for use
	menu_init();							//loads menu settings
	time_init();							//starts the RTC
	button_init();							//init button stuffs
	ACL_init();								//configures, but does not start sampling
	GSM_usart_init();						//starts direct serial channel to the SIM module
	CAN_uart_start();						//starts direct serial channel to the ELM module
	canbus_serial_routing(AVR_ROUTING);		//cause the serial 3-state buffer to route the serial path from the ELM to the FTDI 
	udc_start();							//start stack and vbus monitoring
	PWR_hub_start();						//connect the hub to the computer

	//autostart all systems
	delay_ms(500);
	GSM_modem_init();
	CAN_elm_init();
	ACL_set_sample_on();
	PWR_host_start();
}

int board_late_init(void)
{
#ifdef CONFIG_CMD_BMODE
	add_board_boot_modes(board_boot_modes);
#endif

#ifdef CONFIG_VIDEO_IPUV3
	/* We need at least 200ms between power on and backlight on
	 * as per specifications from CHI MEI */
	mdelay(250);

	/* enable backlight PWM 1 */
	pwm_init(0, 0, 0);

	/* duty cycle 5000000ns, period: 5000000ns */
	pwm_config(0, 5000000, 5000000);

	/* Backlight Power */
	gpio_direction_output(LVDS_BACKLIGHT_GP, 1);

	pwm_enable(0);
#endif

	/* board specific pmic init */
	pmic_init();

	return 0;
}

int main(void)
{
	pmic_init();
	board_init();
	sysclk_init();
	sleepmgr_init();

	cpu_irq_enable();

#if (BOARD == XMEGA_A3BU_XPLAINED)
	/* The status LED must be used as LED2, so we turn off
	 * the green led which is in the same packaging. */
	ioport_set_pin_high(LED3_GPIO);
#endif

	/*
	* Unmask clock for TIMER_EXAMPLE
	*/
	tc_enable(&TIMER_EXAMPLE);

	/*
	* Configure interrupts callback functions for TIMER_EXAMPLE
	* overflow interrupt, CCA interrupt and CCB interrupt
	*/
	tc_set_overflow_interrupt_callback(&TIMER_EXAMPLE,
			example_ovf_interrupt_callback);
	tc_set_cca_interrupt_callback(&TIMER_EXAMPLE,
			example_cca_interrupt_callback);
	tc_set_ccb_interrupt_callback(&TIMER_EXAMPLE,
			example_ccb_interrupt_callback);

	/*
	* Configure TC in normal mode, configure period, CCA and CCB
	* Enable both CCA and CCB channels
	*/

	tc_set_wgm(&TIMER_EXAMPLE, TC_WG_NORMAL);
	tc_write_period(&TIMER_EXAMPLE, TIMER_EXAMPLE_PERIOD);
	tc_write_cc(&TIMER_EXAMPLE, TC_CCA, TIMER_EXAMPLE_PERIOD / 2);
	tc_write_cc(&TIMER_EXAMPLE, TC_CCB, TIMER_EXAMPLE_PERIOD / 4);
	tc_enable_cc_channels(&TIMER_EXAMPLE,(enum tc_cc_channel_mask_enable_t)(TC_CCAEN | TC_CCBEN));

	/*
	* Enable TC interrupts (overflow, CCA and CCB)
	*/
	tc_set_overflow_interrupt_level(&TIMER_EXAMPLE, TC_INT_LVL_LO);
	tc_set_cca_interrupt_level(&TIMER_EXAMPLE, TC_INT_LVL_LO);
	tc_set_ccb_interrupt_level(&TIMER_EXAMPLE, TC_INT_LVL_LO);

	/*
	* Run TIMER_EXAMPLE at TIMER_EXAMPLE_PERIOD(31250Hz) resolution
	*/
	tc_set_resolution(&TIMER_EXAMPLE, TIMER_EXAMPLE_PERIOD);

	do {
		/* Go to sleep, everything is handled by interrupts. */
		sleepmgr_enter_sleep();
	} while (1);
}

int power_init_board(void)
{
	int ret;

	ret = pmic_init(I2C_5);
	if (ret)
		return ret;

	return 0;
}

/**
 * \brief Main application routine
 *  - Initializes the board and LCD display
 *  - Initialize ADC ,to read ADC offset and configure for oversampling
 *  - If number of sample Reached to  total number of oversample required,
 *    call function to start process on oversampled ADC readings
 */
int main( void )
{
	/*
	 * Initialize basic features for the AVR XMEGA family.
	 *  - PMIC is needed to enable all interrupt levels.
	 *  - Board init for setting up GPIO and board specific features.
	 *  - Sysclk init for configuring clock speed and turning off unused
	 *    peripherals.
	 *  - Sleepmgr init for setting up the basics for the sleep manager,
	 */

	board_init();
	sysclk_init();
	pmic_init();
	sleepmgr_init();

	/* Initialize ST7565R controller and LCD display */
	gfx_mono_init();

	/* Display headings on LCD for oversampled result */
	gfx_mono_draw_string("Oversampled", 0, 0, &sysfont);

	/* Display headings on LCD for normal result */
	gfx_mono_draw_string("Normal", 80, 0, &sysfont);

	/* Initialize ADC ,to read ADC offset and configure ADC for oversampling
	**/
	init_adc();

	/* Enable global interrupt */
	cpu_irq_enable();

	/* Switch ON LCD back light */
	ioport_set_pin_high(NHD_C12832A1Z_BACKLIGHT);

	/* Set LCD contrast */
	st7565r_set_contrast(ST7565R_DISPLAY_CONTRAST_MIN);

	/* Continuous Execution Loop */
	while (1) {
		/*
		 * Check if number of sample reached to  total Number of
		 * oversample required by checking status of
		 * adc_oversampled_flag
		 */
		if (adc_oversampled_flag == true) {
			/* Reset the adc_oversampled_flag */
			adc_oversampled_flag = false;

			/* Process all received ADC samples and calculate analog
			 * input */
			adc_oversampled();
		}
	}
}

void bootblock_mainboard_init(void)
{
	set_clock_sources();

	/* Set up controllers and pads to load romstage. */
	soc_configure_funits(funits, ARRAY_SIZE(funits));
	soc_configure_pads(padcfgs, ARRAY_SIZE(padcfgs));

	i2c_init(I2CPWR_BUS);
	pmic_init(I2CPWR_BUS);
}

static int power_init(void)
{
	unsigned int val;
	int ret = -1;
	struct pmic *p;

	if (!i2c_probe(CONFIG_SYS_DIALOG_PMIC_I2C_ADDR)) {
		pmic_dialog_init();
		p = get_pmic();

		/* Set VDDA to 1.25V */
		val = DA9052_BUCKCORE_BCOREEN | DA_BUCKCORE_VBCORE_1_250V;
		ret = pmic_reg_write(p, DA9053_BUCKCORE_REG, val);

		ret |= pmic_reg_read(p, DA9053_SUPPLY_REG, &val);
		val |= DA9052_SUPPLY_VBCOREGO;
		ret |= pmic_reg_write(p, DA9053_SUPPLY_REG, val);

		/* Set Vcc peripheral to 1.30V */
		ret |= pmic_reg_write(p, DA9053_BUCKPRO_REG, 0x62);
		ret |= pmic_reg_write(p, DA9053_SUPPLY_REG, 0x62);
	}

	if (!i2c_probe(CONFIG_SYS_FSL_PMIC_I2C_ADDR)) {
		pmic_init();
		p = get_pmic();

		/* Set VDDGP to 1.25V for 1GHz on SW1 */
		pmic_reg_read(p, REG_SW_0, &val);
		val = (val & ~SWx_VOLT_MASK_MC34708) | SWx_1_250V_MC34708;
		ret = pmic_reg_write(p, REG_SW_0, val);

		/* Set VCC as 1.30V on SW2 */
		pmic_reg_read(p, REG_SW_1, &val);
		val = (val & ~SWx_VOLT_MASK_MC34708) | SWx_1_300V_MC34708;
		ret |= pmic_reg_write(p, REG_SW_1, val);

		/* Set global reset timer to 4s */
		pmic_reg_read(p, REG_POWER_CTL2, &val);
		val = (val & ~TIMER_MASK_MC34708) | TIMER_4S_MC34708;
		ret |= pmic_reg_write(p, REG_POWER_CTL2, val);

		/* Set VUSBSEL and VUSBEN for USB PHY supply*/
		pmic_reg_read(p, REG_MODE_0, &val);
		val |= (VUSBSEL_MC34708 | VUSBEN_MC34708);
		ret |= pmic_reg_write(p, REG_MODE_0, val);

		/* Set SWBST to 5V in auto mode */
		val = SWBST_AUTO;
		ret |= pmic_reg_write(p, SWBST_CTRL, val);
	}

	return ret;
}

void bootblock_mainboard_init(void)
{
	set_clock_sources();

	soc_configure_funits(funits, ARRAY_SIZE(funits));

	i2c_init(I2CPWR_BUS);
	pmic_init(I2CPWR_BUS);

	/* Foster has no TPM yet. This is for future TPM. */
	i2c_init(I2C3_BUS);
}

void bootblock_mainboard_init(void)
{
	set_clock_sources();

	/* Set up the pads required to load romstage. */
	soc_configure_pads(padcfgs, ARRAY_SIZE(padcfgs));
	soc_configure_funits(funitcfgs, ARRAY_SIZE(funitcfgs));

	i2c_init(4);
	pmic_init(4);

	tegra_spi_init(4);
}

int board_init(void)
{
	gd->bd->bi_boot_params = PHYS_SDRAM_1 + 0x100;

	check_hw_revision();
	printf("HW Revision:\t0x%x\n", board_rev);

#if defined(CONFIG_PMIC)
	pmic_init();
#endif

	return 0;
}

// setup the board instead of board_init() as recommended by ASF.. because christmas lights, that's why.
void init (void) {
	static usart_serial_options_t usart_options = {
		.baudrate = USART_SERIAL_BAUDRATE,
		.charlength = USART_SERIAL_CHAR_LENGTH,
		.paritytype = USART_SERIAL_PARITY,
		.stopbits = USART_SERIAL_STOP_BIT
	};
	
	// initialize ASF stuff
	board_init();
	sysclk_init();
	ioport_init();
	pmic_init();
	pmic_set_scheduling(PMIC_SCH_FIXED_PRIORITY);
	
	// remap, enable TX, and configure USART on PORT C
	PORTC.REMAP |= PR_USART0_bm;
	PORTC.DIR |= (1 << PIN7_bp);
		
	sysclk_enable_module(SYSCLK_PORT_C, PR_USART0_bm);
	usart_init_rs232(USART_SERIAL, &usart_options);
	
	// setup timer for PWM
	tc45_enable(&TCC4);
	tc45_set_overflow_interrupt_callback(&TCC4, pwm_callback);
	tc45_set_wgm(&TCC4, TC45_WG_NORMAL);
	tc45_write_period(&TCC4, 256);
	tc45_set_overflow_interrupt_level(&TCC4, TC45_INT_LVL_MED);
		
	// enable all channels and turn off (high)
	ioport_set_port_dir(IOPORT_PORTA, PORTA_MASK, IOPORT_DIR_OUTPUT);
	ioport_set_port_dir(IOPORT_PORTD, PORTD_MASK, IOPORT_DIR_OUTPUT);
	ioport_set_port_dir(IOPORT_PORTR, PORTR_MASK, IOPORT_DIR_OUTPUT);
	ioport_set_port_level(IOPORT_PORTA, PORTA_MASK, 0xFF);
	ioport_set_port_level(IOPORT_PORTD, PORTD_MASK, 0xFF);
	ioport_set_port_level(IOPORT_PORTR, PORTR_MASK, 0xFF);
	for (uint8_t i=0; i<NUM_CHANNELS; i++) {
		compare[i] = 0;
		compbuff[i] = 0;
	}
	
	// enable status LEDs and turn off
	ioport_set_pin_dir(LED_STATUS, IOPORT_DIR_OUTPUT);
	ioport_set_pin_dir(LED_DATA, IOPORT_DIR_OUTPUT);
	ioport_set_pin_level(LED_STATUS, 1);
	ioport_set_pin_level(LED_DATA, 1);
	
	// enable interrupts and start timer for PWM
	cpu_irq_enable();
	tc45_write_clock_source(&TCC4, TC45_CLKSEL_DIV2_gc);	
}

int power_init_board(void)
{
	int ret;

	/*
	 * For PMIC the I2C bus is named as I2C5, but it is connected
	 * to logical I2C adapter 0
	 */
	ret = pmic_init(I2C_0);
	if (ret)
		return ret;

	return 0;
}