ArDrone SDK 1.8 added

[mardrone] / mardrone / ARDrone_SDK_Version_1_8_20110726 / ARDroneLib / VP_SDK / Examples / nds / atcodec_client.c

diff --git a/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/nds/atcodec_client.c b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/nds/atcodec_client.c
new file mode 100644 (file)
index 0000000..deea953
--- /dev/null
+++ b/mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/nds/atcodec_client.c
@@ -0,0 +1,136 @@
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <ATcodec/ATcodec_api.h>
+#include <VP_Stages/vp_stages_io_com.h>
+
+#define AT_MESSAGES_HEADER "ATcodec/ATcodec_Messages_ex.h"
+
+#include "ATcodec/ATcodec_api.h"
+#include "VP_Os/vp_os_types.h"
+#include "VP_Os/vp_os_thread.h"
+#include "VP_Os/vp_os_delay.h"
+#include "VP_Os/vp_os_print.h"
+#include <Examples/common/atcodec_client.h>
+
+#include <nds.h>
+
+#ifndef AT_MESSAGES_HEADER
+#error You need to define AT_MESSAGES_HEADER
+#endif
+
+extern AT_CODEC_MSG_IDS ids;
+
+#define INTRA_CMD_DELAY 10
+
+
+volatile int frame = 0;
+
+
+//---------------------------------------------------------------------------------
+void Vblank()
+{
+  //---------------------------------------------------------------------------------
+  frame++;
+}
+
+
+//---------------------------------------------------------------------------------
+void initNDS()
+{
+  //---------------------------------------------------------------------------------
+  irqInit();
+  irqSet(IRQ_VBLANK, Vblank);
+  irqEnable(IRQ_VBLANK);
+  videoSetMode(0);     //not using the main screen
+  videoSetModeSub(MODE_0_2D | DISPLAY_BG0_ACTIVE);     //sub bg 0 will be used to print text
+  vramSetBankC(VRAM_C_SUB_BG);
+
+  SUB_BG0_CR = BG_MAP_BASE(31);
+       
+  BG_PALETTE_SUB[255] = RGB15(31,31,31);       //by default font will be rendered with color 255
+       
+  //consoleInit() is a lot more flexible but this gets you up and running quick
+  consoleInitDefault((u16*)SCREEN_BASE_BLOCK_SUB(31), (u16*)CHAR_BASE_BLOCK_SUB(0), 16);
+}
+
+
+//---------------------------------------------------------------------------------
+THREAD_RET
+thread_send_commands (THREAD_PARAMS data)
+{
+  //---------------------------------------------------------------------------------
+  while(1)
+    {
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
+      vp_os_delay(INTRA_CMD_DELAY);
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
+      vp_os_delay(INTRA_CMD_DELAY);
+      //vp_os_thread_yield();
+
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
+      vp_os_delay(INTRA_CMD_DELAY);
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
+      vp_os_delay(INTRA_CMD_DELAY);
+      //vp_os_thread_yield();
+
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
+      vp_os_delay(INTRA_CMD_DELAY);
+      ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
+      vp_os_delay(INTRA_CMD_DELAY);
+      //vp_os_thread_yield();
+    }
+}
+
+
+//---------------------------------------------------------------------------------
+int main(int argc, char **argv)
+{
+  //---------------------------------------------------------------------------------
+  touchPosition touchXY;
+  THREAD_HANDLE atcodec_test_handle;
+  THREAD_HANDLE atcodec_test_handle2;
+  THREAD_HANDLE cmds_handle;
+
+  initNDS();
+
+  AT_CODEC_FUNCTIONS_PTRS ptrs =
+    {
+      .init     = AT_CODEC_Client_init,
+      .shutdown = AT_CODEC_Client_shutdown,
+      .open     = AT_CODEC_Client_open,
+      .close    = AT_CODEC_Client_close,
+      .read     = AT_CODEC_Client_read,
+      .write    = AT_CODEC_Client_write,
+    };
+
+  ATcodec_Init_Library(&ptrs);
+
+  vp_os_thread_create(thread_ATcodec_Commands_Client, 0, &atcodec_test_handle);
+  vp_os_thread_create(thread_send_commands, 0, &cmds_handle);
+  vp_os_thread_create(thread_ATcodec_Commands_Server, 0, &atcodec_test_handle2);
+
+  vp_os_thread_join(cmds_handle);
+  vp_os_thread_join(atcodec_test_handle2);
+  vp_os_thread_join(atcodec_test_handle);
+
+  iprintf("      Hello DS dev'rs\n");
+  iprintf("     www.devkitpro.org\n");
+  iprintf("   www.drunkencoders.com");
+
+  while(1) {
+       
+    swiWaitForVBlank();
+    touchXY=touchReadXY();
+
+    // print at using ansi escape sequence \x1b[line;columnH
+    iprintf("\x1b[10;0HFrame = %d",frame);
+    iprintf("\x1b[16;0HTouch x = %04X, %04X\n", touchXY.x, touchXY.px);
+    iprintf("Touch y = %04X, %04X\n", touchXY.y, touchXY.py);
+       
+  }
+
+  return EXIT_SUCCESS;
+}
+