ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VLIB / Platform / arm9_P6 / video_quantizer_p6.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Platform/arm9_P6/video_quantizer_p6.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Platform/arm9_P6/video_quantizer_p6.c
new file mode 100644 (file)
index 0000000..3673bae
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VLIB/Platform/arm9_P6/video_quantizer_p6.c
@@ -0,0 +1,47 @@
+#include "video_quantizer_p6.h"
+#include "video_utils_p6.h"
+#include "video_config.h"
+
+#ifdef HAS_DO_QUANTIZE_INTRA_MB
+// when quantization is done by P6 hardware, do_quantize_intra_mb just count the number of coefficient and find the last one
+int16_t* do_quantize_intra_mb(int16_t* ptr, int32_t invQuant, int32_t* last_ptr)
+{
+       int32_t i, num_coeff;
+       int32_t last;
+       uint32_t* ptr32 = (uint32_t*)ptr;
+
+         for( i = 6; i > 0; i-- )
+         {
+               last=0;
+               ptr = (int16_t*)ptr32;
+               if( *ptr == 0 )
+               {
+             *ptr = 1;
+               }
+
+               num_coeff = MCU_BLOCK_SIZE/4;
+
+           while( num_coeff > 0 )
+           {
+               // we load 2 coeff at a time
+               uint32_t coeff2 = *ptr32++;
+               num_coeff--;
+                       if (coeff2 > 0x0000FFFF)
+                               last++;
+                       if ((coeff2<<16) > 0x0000FFFF)
+                               last++;
+                       // next 2 coeffs (gcc will unroll the loop)
+                       coeff2 = *ptr32++;
+                       if (coeff2 > 0x0000FFFF)
+                               last++;
+                       if ((coeff2<<16) > 0x0000FFFF)
+                               last++;
+           }
+
+           *last_ptr++ = last;
+         }
+
+
+         return (int16_t*)ptr32;
+}
+#endif // HAS_DO_QUANTIZE_INTRA_MB