system.h

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#ifndef SYSTEM_H_
#define SYSTEM_H_

/******** Defines ********/

#define SYSCTL_CLOCK_FREQ               50000000

/* Size of the stack allocated to the uIP task. */
#define BASIC_TASK_STACK_SIZE                   (configMINIMAL_STACK_SIZE * 3)
#define SYSTEM_INTERRUPT_PRIORITY                       (configMAX_SYSCALL_INTERRUPT_PRIORITY + ( ( unsigned char ) 2 << ( unsigned char ) 5 ))
//#define SYSTEM_INTERRUPT_PRIORITY                     (configMAX_SYSCALL_INTERRUPT_PRIORITY + 1)
#define SYSTEM_INTERRUPT_PRIORITY_IR            (configMAX_SYSCALL_INTERRUPT_PRIORITY + ( ( unsigned char ) 1 << ( unsigned char ) 5 ))

/* Task priorities. */
#define SERIALIO_TASK_PRIORITY                          ( tskIDLE_PRIORITY + 6 )
#define RADIOCOMMAND_TASK_PRIORITY                      ( tskIDLE_PRIORITY + 6 )
#define HEARTBEAT_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 5 )
#define RPRINTFTERMINAL_TASK_PRIORITY           ( tskIDLE_PRIORITY + 4 )
#define MIDI_TASK_PRIORITY                                      ( tskIDLE_PRIORITY + 4 )
#define NEIGHBORS_TASK_PRIORITY                         ( tskIDLE_PRIORITY + 3 )
#define BACKGROUND_TASK_PRIORITY                        ( tskIDLE_PRIORITY)

// MSP430 SPI States
#define MSP430_SPI_NORMAL_OPERATION  0
#define MSP430_SPI_BOOT_LOADER_MODE  1

/******** Functions ********/

/* TODO: QUILLAN: Look into storing the error messages into something so that you can plug the robot into a computer, send 'er' through the serial port and it will spew the last error messages. */

#define systemPrintStartup()                            _systemPrintStartup(__FILE__)
#define error(errMsg)                                           _error(__FILE__, __LINE__, errMsg)
//#define warning(warningMessage)                               _warning(__FILE__, __LINE__, warningMessage)


void _systemPrintStartup(char* fileName);


void _error(char* fileName, int lineNumber, char* errMsg);


//void _warning(char *fileName, int lineNumber, char *errMsg);


//Static Varible of roneID
extern uint8 roneID;


void systemInit(void);


void systemHeartbeatTask(void* parameters);


void systemShutdown(void);


void systemBootloader(void);


void systemPrintMemUsage(void);


uint32 systemUSBConnected(void);


void systemIDInit(void);


void systemDelay(uint32 delay);


void setMSP430SPIOperationState(uint8 state);



// RONE_V9+ functions.  Will not work on v6
/*
 * @brief Initialize the system IO
 * Systems includes battery voltage, usb voltage, powerbutton, mspversion and prevVal .RONE_V9+ functions.  Will not work on v6
 * @return void
 */
void systemIOInit(void);


void systemBatteryVoltageUpdate(uint8 val);


float systemBatteryVoltageGet(void);


void systemBatteryVoltageGet2(uint8* onesPtr, uint8* tenthsPtr);


void systemUSBVoltageUpdate(uint8 val);


uint8 systemUSBVoltageGet(void);


void systemPowerButtonUpdate(uint8 val);


uint8 systemPowerButtonGet(void);


void systemMSPVersionUpdate(uint8 val);


uint8 systemMSPVersionGet(void);


void systemShutdown(void);

#endif /* SYSTEM_H_ */