Index: source/sys_main.c
===================================================================
diff -u -r765d2c35118e202444e737c66c77faf9678cc87e -rcb47c5f896477ceae7597cb1a4191b3972e93f0d
--- source/sys_main.c	(.../sys_main.c)	(revision 765d2c35118e202444e737c66c77faf9678cc87e)
+++ source/sys_main.c	(.../sys_main.c)	(revision cb47c5f896477ceae7597cb1a4191b3972e93f0d)
@@ -51,16 +51,28 @@
 
 /* USER CODE BEGIN (1) */
 #include "system.h"
+#include "sys_dma.h"
+#include "can.h"
 #include "gio.h"
-#include "lin.h"
+#include "mibspi.h"
+#include "sci.h"
 #include "rti.h"
 
 #include "Common.h"
-#include "OperationModes.h"
+#include "AlarmLamp.h"
+#include "Buttons.h"
+#include "CommBuffers.h"
 #include "CPLD.h"
+#include "FPGA.h"
+#include "MsgQueues.h"
+#include "OperationModes.h"
 #include "SafetyShutdown.h"
+#include "SystemComm.h"
 #include "TaskBG.h"
+#include "Timers.h"
+#include "WatchdogMgmt.h"
 
+static void initProcessor( void );
 static void initSoftware( void );
 static void initHardware( void );
 static void initTasks( void );
@@ -81,12 +93,15 @@
 {
 /* USER CODE BEGIN (3) */
 
-   initHardware();
-   initSoftware();
-   initTasks();
+    initProcessor();    // configure processor
+    initSoftware();     // initialize software modules
+    initHardware();     // configure external hardware
+    initTasks();        // setup and start the scheduled tasks
 
-   // start task background (will no return)
-   taskBackground();
+    // start task background (will not return)
+#ifndef _VECTORCAST_
+    taskBackground();
+#endif
 
 /* USER CODE END */
 
@@ -96,25 +111,131 @@
 
 /* USER CODE BEGIN (4) */
 
+/*************************************************************************
+ * @brief initProcessor
+ * The initProcessor function initializes and configures the processor \n
+ * peripherals.
+ * @details
+ * Inputs : none
+ * Outputs : Processor peripherals initialized and configured.
+ * @return none
+ *************************************************************************/
+static void initProcessor( void )
+{
+    gioInit();      // configure GPIO pins
+    mibspiInit();   // re-purposing MIBSPI5 I/O/C pins as GPIO
+    canInit();      // CAN1 = CAN, re-purposing CAN2 and CAN3 Rx and Tx pins as GPIO
+    sciInit();      // SCI1 used for PC serial interface, SCI2 used for FPGA serial interface
+    dmaEnable();    // enable DMA
+}
+
+/*************************************************************************
+ * @brief initSoftware
+ * The initSoftware function calls all software module initialize functions.
+ * @details
+ * Inputs : none
+ * Outputs : All modules initialized.
+ * @return none
+ *************************************************************************/
 static void initSoftware( void )
 {
-   initSafetyShutdown();
-   initCPLD();
-   initOperationModes();
+    initTimers();
+    initSafetyShutdown();
+    initCPLD();
+    initOperationModes();
+    initAlarmLamp();
+    initButtons();
+    initWatchdogMgmt();
+    initFPGA();
+    initCommBuffers();
+    initMsgQueues();
+    initSystemComm();
 }
 
+/*************************************************************************
+ * @brief initHardware
+ * The initHardware function initializes and configures external hardware.
+ * @details
+ * Inputs : none
+ * Outputs : External hardware initialized and configured.
+ * @return none
+ *************************************************************************/
 static void initHardware( void )
 {
-   gioInit();
-   linInit(); // re-purposing LIN Rx & Tx pins as GPIO
 }
 
+/*************************************************************************
+ * @brief initTasks
+ * The initTasks function sets up and starts the scheduled tasks.
+ * @details
+ * Inputs : none
+ * Outputs : Scheduled tasks set up and started.
+ * @return none
+ *************************************************************************/
 static void initTasks( void )
 {
-   _enable_IRQ();
-   rtiInit();
-   rtiEnableNotification( rtiNOTIFICATION_COMPARE0 | rtiNOTIFICATION_COMPARE1 | rtiNOTIFICATION_COMPARE3 );
-   rtiStartCounter( rtiCOUNTER_BLOCK0 );
+    // initialize RTI to setup the 3 tasks
+    rtiInit();
+    rtiEnableNotification( rtiNOTIFICATION_COMPARE0 | rtiNOTIFICATION_COMPARE1 | rtiNOTIFICATION_COMPARE3 );
+    rtiStartCounter( rtiCOUNTER_BLOCK0 );
+    // the timer task (and other comm related interrupts) require FIQ enabled
+    _enable_FIQ();
+    // the general and priority tasks require IRQ enabled
+    _enable_IRQ();
 }
 
+void sciNotification(sciBASE_t *sci, uint32 flags)
+{
+    static U32 fErrorCnt = 0;
+    static U32 oErrorCnt = 0;
+
+    if ( ( flags & SCI_FE_INT ) != 0 )
+    {
+        fErrorCnt++;
+    }
+    if ( ( flags & SCI_OE_INT ) != 0 )
+    {
+        oErrorCnt++;
+    }
+}
+
+void dmaGroupANotification(dmaInterrupt_t inttype, uint32 channel)
+{
+    if ( inttype == BTC )
+    {
+        switch ( channel )
+        {
+            case DMA_CH0:
+                // clear DMA receipt
+                scilinREG->CLEARINT = (uint32)((uint32)1U << 17U);  /* Rx DMA */
+                scilinREG->CLEARINT = (uint32)((uint32)1U << 18U);  /* Rx DMA All */
+                break;
+
+            case DMA_CH1:
+                // clear DMA receipt
+                sciREG->CLEARINT = (uint32)((uint32)1U << 17U);  /* Rx DMA */
+                sciREG->CLEARINT = (uint32)((uint32)1U << 18U);  /* Rx DMA All */
+                // handle received packet from PC
+                handleUARTMsgRecvPacketInterrupt();
+                break;
+
+            case DMA_CH2:
+                // clear DMA xmit
+                scilinREG->CLEARINT = (uint32)((uint32)1U << 16U);  /* Tx DMA */
+                break;
+
+            case DMA_CH3:
+                // clear DMA xmit
+                sciREG->CLEARINT = (uint32)((uint32)1U << 16U);  /* Tx DMA */
+                // send next pending packet to PC (if any)
+                handleUARTMsgXmitPacketInterrupt();
+                break;
+
+            default:
+                // TODO - ignore?
+                break;
+        }
+    }
+}
+
 /* USER CODE END */