void TD_Init(void)             // Called once at startup
{    
    REVCTL = 0x01;
    SYNCDELAY;

  // set the CPU clock to 48MHz
  CPUCS = 0x10;    
    SYNCDELAY;
    
  // set the slave FIFO interface to 30MHz
  IFCONFIG = 0xA3;
    SYNCDELAY;

  // Registers which require a synchronization delay, see section 15.14
  // FIFORESET        FIFOPINPOLAR
  // INPKTEND         OUTPKTEND
  // EPxBCH:L         REVCTL
  // GPIFTCB3         GPIFTCB2
  // GPIFTCB1         GPIFTCB0
  // EPxFIFOPFH:L     EPxAUTOINLENH:L
  // EPxFIFOCFG       EPxGPIFFLGSEL
  // PINFLAGSxx       EPxFIFOIRQ
  // EPxFIFOIE        GPIFIRQ
  // GPIFIE           GPIFADRH:L
  // UDMACRCH:L       EPxGPIFTRIG
  // GPIFTRIG
  
  // Note: The pre-REVE EPxGPIFTCH/L register are affected, as well...
  //      ...these have been replaced by GPIFTC[B3:B0] registers

  // default: all endpoints have their VALID bit set
  // default: TYPE1 = 1 and TYPE0 = 0 --> BULK  
  // default: EP2 and EP4 DIR bits are 0 (OUT direction)
  // default: EP6 and EP8 DIR bits are 1 (IN direction)
  // default: EP2, EP4, EP6, and EP8 are double buffered

  // we are just using the default values, yes this is not necessary...
  EP1OUTCFG = 0xA0;        //1010 0000, active, BULK, 1x64 bytes
    SYNCDELAY;
  
    EP1INCFG = 0xA0;        //1010 0000, active, BULK, 1x64 bytes
  SYNCDELAY;          // see TRM section 15.14
  
    EP2CFG = 0xE0;            // 1110 0000, active, IN, BULK, 4x512 bytes
  SYNCDELAY;                    
  
    EP4CFG = 0x00;            //not active
  SYNCDELAY;

    EP6CFG = 0xA2;            // 1010 0010, active, OUT, BULK, 2x512 bytes
  SYNCDELAY;
    
//    EP8CFG = 0x00;            //not active
//    SYNCDELAY;    
    EP8CFG = 0xA0;            // 1010 0000, active, OUT, BULK, 2x512 bytes
    SYNCDELAY;    
        
    FIFORESET = 0x80;
  SYNCDELAY;
  FIFORESET = 0x02;
  SYNCDELAY;
  FIFORESET = 0x04;
  SYNCDELAY;
    FIFORESET = 0x06;
  SYNCDELAY;
  FIFORESET = 0x08;
  SYNCDELAY;
  FIFORESET = 0x00;
  SYNCDELAY;
    
    EP2FIFOCFG = 0x00;    
    SYNCDELAY;
    EP4FIFOCFG = 0x00;    
    SYNCDELAY;
    EP6FIFOCFG = 0x00;    
    SYNCDELAY;
    EP8FIFOCFG = 0x00;    
    SYNCDELAY;    

    EP2FIFOCFG = 0x0C;    // 0000 1100, AUTOIN
    SYNCDELAY;
    EP6FIFOCFG = 0x10;    // 0001 0000, AUTOOUT
    SYNCDELAY;
    EP8FIFOCFG = 0x00;    // 0000 0000
    SYNCDELAY;    

    PINFLAGSAB = 0x8A;    //FLAGA - EP6 EMPTY, FLAGB - EP2 EMPTY
    SYNCDELAY;
    PINFLAGSCD = 0xAC;    //FLAGC - EP2 FULL, FLAGD - EP6 EMPTY  
    SYNCDELAY;
        
//    INPKTEND = 0x00;
//    SYNCDELAY;
//    OUTPKTEND = 0x00;
//    SYNCDELAY;
    
    FIFOPINPOLAR = 0x00;    // Activ LOW
  SYNCDELAY;

    EP2AUTOINLENH = 0x02;
    EP2AUTOINLENL = 0x00;

    PORTACFG = 0x80;    // FLAGD
  SYNCDELAY;

    REVCTL = 0x00;
    SYNCDELAY;    
    
    OEA |= 0x01;
    PA0 = 1;                    //CLEAR = 0;
}

void TD_Init(void);
void TD_Poll(void);