Index: firmware/source/sys_main.c
===================================================================
diff -u -r850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f -radea34db9066bdc0dbb20f49bdf66c9331a7037c
--- firmware/source/sys_main.c	(.../sys_main.c)	(revision 850f8042a02fd17ee53b8db24bc2e3d17bbb9c7f)
+++ firmware/source/sys_main.c	(.../sys_main.c)	(revision adea34db9066bdc0dbb20f49bdf66c9331a7037c)
@@ -43,10 +43,6 @@
 
 
 /* USER CODE BEGIN (0) */
-
-static void initProcessor( void );
-static void initSoftware( void );
-static void initTasks( void );
 /* USER CODE END */
 
 /* Include Files */
@@ -62,7 +58,12 @@
 
 #include "BLCommon.h"
 #include "CommBuffers.h"
+#include "Download.h"
+#include "FPGA.h"
 #include "Interrupts.h"
+#include "NVDataMgmt.h"
+#include "OperationModes.h"
+#include "SystemComm.h"
 #include "TaskBG.h"
 #include "Timers.h"
 /* USER CODE END */
@@ -76,6 +77,14 @@
 */
 
 /* USER CODE BEGIN (2) */
+/*
+ * For reference:
+ * https://e2e.ti.com/support/tools/code-composer-studio-group/ccs/f/code-composer-studio-forum/403240/change-load-address-when-debugging-with-tm4c129cnczad
+ * https://e2e.ti.com/support/microcontrollers/arm-based-microcontrollers-group/arm-based-microcontrollers/f/arm-based-microcontrollers-forum/1218850/rm46l852-booting-main-application-from-can-bootloader-results-in-prefetchentry-system-interrupt
+ */
+static void initProcessor( void );
+static void initSoftware( void );
+static void initTasks( void );
 /* USER CODE END */
 
 int main(void)
@@ -93,28 +102,55 @@
 
 
 /* USER CODE BEGIN (4) */
+
+/*************************************************************************
+ * @brief initProcessor
+ * The initProcessor function initializes and configures the processor \n
+ * peripherals.
+ * @details Inputs: none
+ * @details Outputs: Processor peripherals initialized and configured.
+ * @return none
+ *************************************************************************/
 static void initProcessor( void )
 {
     canInit();
     sciInit();
     dmaEnable();
 }
 
+/*************************************************************************
+ * @brief initSoftware
+ * The initSoftware function calls all software unit initialization functions
+ * to initialize and configure the TD application.
+ * @details Inputs: none
+ * @details Outputs: All software units initialized.
+ * @return none
+ *************************************************************************/
 static void initSoftware( void )
 {
     initCommBuffers();
+    initDownload();
+    initFPGA();
     initInterrupts();
+    initNVDataMgmt();
+    initOperationModes();
+    initSystemComm();
     initTimers();
 }
 
+/*************************************************************************
+ * @brief initTasks
+ * The initTasks function sets up and starts the scheduled tasks.
+ * @details Inputs: none
+ * @details Outputs: Scheduled tasks set up and started.
+ * @return none
+ *************************************************************************/
 static void initTasks( void )
 {
     // Initialize RTI to setup the 3 tasks
     rtiInit();
     rtiEnableNotification( rtiNOTIFICATION_COMPARE0 | rtiNOTIFICATION_COMPARE1 | rtiNOTIFICATION_COMPARE3 );
     rtiStartCounter( rtiCOUNTER_BLOCK0 );
-    // The timer task requires FIQ enabled
-    _enable_FIQ();
     // The general and priority tasks require IRQ enabled
     _enable_IRQ();
 }