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
 */

#include "init.h"
#include "init_default.h"
#include "timer.h"
#include "utils.h"
#include "queue.h"
#include "payload_queue.h"
#include "payload.h"
#include "at86rf.h"
#include "radio.h"
#include "radio_settings.h"
#include "tests.h" // TODO (fgb) : define/includes need to live elsewhere
#include "gyro.h"
#include "xl.h"
#include "dfmem.h"


Payload rx_payload;

int main ( void )
{
    fun_queue = queueInit(FUN_Q_LEN);
    rx_pay_queue = pqInit(12); //replace 12 with a #define const later
    test_function tf;

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

    SetupInterrupts();
    SetupI2C();
    SetupADC();
    SetupTimer1();
    SetupPWM();
    SetupTimer2();
    gyroSetup();
    xlSetup();
    dfmemSetup();

    WordVal pan_id    = {RADIO_PAN_ID};
    WordVal src_addr  = {RADIO_SRC_ADDR};
    WordVal dest_addr = {RADIO_DEST_ADDR};

    radioInit(src_addr, pan_id, RADIO_RXPQ_MAX_SIZE, RADIO_TXPQ_MAX_SIZE);
    radioSetDestAddr(dest_addr);
    radioSetChannel(RADIO_MY_CHAN);

    char j;
    for(j=0; j<3; j++){
        LED_2 = ON;
        delay_ms(500);
        LED_2 = OFF;
        delay_ms(500);
    }

    LED_2 = ON;

    EnableIntT2;
    while(1){
        while(!queueIsEmpty(fun_queue))
        {
            rx_payload = pqPop(rx_pay_queue);
            tf = (test_function)queuePop(fun_queue);
            (*tf)(payGetType(rx_payload), payGetStatus(rx_payload), payGetDataLength(rx_payload), payGetData(rx_payload));
            payDelete(rx_payload);
        }
    }
    return 0;
}