main.c

/*********************************************************************************************************
* Name: main.c
* Desc: A test suite for the ImageProc 2.2 system. These tests should not be
* considered rigorous, exhaustive tests of the hardware, but rather
* "smoke tests" - ie. turn on the functionality and make sure the 
* hardware/software doesn't start "smoking."
*
* The architecture is based on a function pointer queue scheduling model. The
* meat of the testing logic resides in test.c. If the radio has received a 
* command packet during the previous timer interval for Timer2, the appropriate
* function pointer is added to a queue in the interrupt service routine for 
* Timer2 (interrupts.c). The main loop simply pops the function pointer off
* the top of the queue and executes it. 
*
* Date: 2011-04-13
* Author: AMH, Ryan Julian
*********************************************************************************************************/
#include "p33Fxxxx.h"
#include "init.h"
#include "init_default.h"
#include "timer.h"
#include "utils.h"
#include "queue.h"
#include "radio.h"
#include "radio_settings.h"
#include "tests.h" // TODO (fgb) : define/includes need to live elsewhere
#include "dfmem.h"
#include "interrupts.h"
#include "mpu6000.h"
#include "sclock.h"
#include "spi_controller.h"
#include "interrupts.h"
#include <stdlib.h>

Payload rx_payload;
MacPacket rx_packet;
Test* test;

int main() {
    fun_queue = queueInit(FUN_Q_LEN);
    test_function tf;

    /* Initialization */
    SetupClock();
    SwitchClocks();
    SetupPorts();

    SetupInterrupts();
    //SetupI2C();
    //SetupADC();
    SetupTimer1();
    //SetupPWM();
    SetupTimer2();
    sclockSetup();
    //gyroSetup();
    //xlSetup();
    dfmemSetup(0);
    mpuSetup(1);

    // Radio setup
    radioInit(RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE, 0);
    radioSetChannel(RADIO_MY_CHAN);
    radioSetSrcAddr(RADIO_SRC_ADDR);
    radioSetSrcPanID(RADIO_PAN_ID);
    setupTimer6(RADIO_FCY); // Radio and buffer loop timer


    char j;
    for(j=0; j<3; j++){
        LED_2 = ON;
        delay_ms(250);
        LED_2 = OFF;
        delay_ms(250);
    }

    LED_2 = ON;

    EnableIntT2;
    while(1){
        while(!queueIsEmpty(fun_queue))
        {
            test = queuePop(fun_queue);
            rx_payload = macGetPayload(test->packet);
            tf = test->tf;
            (*tf)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload));
            payDelete(rx_payload);
            radioReturnPacket(test->packet);
            free(test);
        }
    }
    return 0;
}