--- /dev/null
+/*
+ * AR Drone demo
+ *
+ * code originally nased on:"San Angeles" Android demo app
+ */
+
+#ifndef APP_H_INCLUDED
+#define APP_H_INCLUDED
+
+#include <sys/types.h>
+#include <unistd.h>
+
+#include <VP_Os/vp_os_types.h>
+#include <VP_Os/vp_os_thread.h>
+
+/* native video stream dimensions */
+#define VIDEO_WIDTH 176
+#define VIDEO_HEIGHT 144
+
+extern uint16_t default_image[VIDEO_WIDTH*VIDEO_HEIGHT];
+extern int num_picture_decoded;
+extern uint16_t picture_buf[];
+
+extern void appInit();
+extern void appDeinit();
+extern void appRender(long tick, int width, int height);
+
+extern void video_init(void);
+extern void video_deinit(void);
+extern void video_render(long tick, int width, int height);
+
+DEFINE_THREAD_ROUTINE( navdata_loop, data);
+DEFINE_THREAD_ROUTINE( at_cmds_loop, data);
+DEFINE_THREAD_ROUTINE( stream_loop, data);
+
+void get_screen_dimensions(int *w, int *h);
+void set_screen_dimensions(int w, int h);
+
+struct event_info {
+ unsigned state:1;
+ unsigned x:12;
+ unsigned y:12;
+ unsigned unsused:7;
+};
+
+struct orientation_info {
+ int values[3];
+};
+
+extern struct event_info motion_info;
+extern struct event_info trackball_info;
+extern struct orientation_info orientation;
+
+/* Value is non-zero when application is alive, and 0 when it is closing.
+ * Defined by the application framework.
+ */
+extern int gAppAlive;
+
+#define INFO(_fmt_, args...) \
+printf(_fmt_, ##args) \
+
+/*#define INFO(_fmt_, args...) \
+ __android_log_print(ANDROID_LOG_INFO, "ARDrone", _fmt_, ##args)
+*/
+#define GETPROP(_name_,_val_) __system_property_get((_name_),(_val_))
+
+#define MYKONOS_REFRESH_MS 28
+#define WIFI_MYKONOS_IP "192.168.1.1"
+
+extern uint32_t mykonos_state;
+
+enum {
+ NO_CONTROL_MODE = 0, // Doing nothing
+ MYKONOS_UPDATE_CONTROL_MODE, // Mykonos software update reception (update is done next run)
+ // After event completion, card should power off
+ PIC_UPDATE_CONTROL_MODE, // Mykonos pic software update reception (update is done next run)
+ // After event completion, card should power off
+ LOGS_GET_CONTROL_MODE, // Send previous run's logs
+ CFG_GET_CONTROL_MODE, // Send activ configuration
+ ACK_CONTROL_MODE // Reset command mask in navdata
+};
+
+enum {
+ MYKONOS_FLY_MASK = 1 << 0, /*!< FLY MASK : (0) mykonos is landed, (1) mykonos is flying */
+ MYKONOS_VIDEO_MASK = 1 << 1, /*!< VIDEO MASK : (0) video disable, (1) video enable */
+ MYKONOS_VISION_MASK = 1 << 2, /*!< VISION MASK : (0) vision disable, (1) vision enable */
+ MYKONOS_CONTROL_MASK = 1 << 3, /*!< CONTROL ALGO : (0) euler angles control, (1) angular speed control */
+ MYKONOS_ALTITUDE_MASK = 1 << 4, /*!< ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active */
+ MYKONOS_USER_FEEDBACK_START = 1 << 5, /*!< USER feedback : Start button state */
+ MYKONOS_COMMAND_MASK = 1 << 6, /*!< Control command ACK : (0) None, (1) one received */
+ MYKONOS_TRIM_COMMAND_MASK = 1 << 7, /*!< Trim command ACK : (0) None, (1) one received */
+ MYKONOS_TRIM_RUNNING_MASK = 1 << 8, /*!< Trim running : (0) none, (1) running */
+ MYKONOS_TRIM_RESULT_MASK = 1 << 9, /*!< Trim result : (0) failed, (1) succeeded */
+ MYKONOS_NAVDATA_DEMO_MASK = 1 << 10, /*!< Navdata demo : (0) All navdata, (1) only navdata demo */
+ MYKONOS_NAVDATA_BOOTSTRAP = 1 << 11, /*!< Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent */
+ MYKONOS_MOTORS_BRUSHED = 1 << 12, /*!< Motors brushed : (0) brushless, (1) brushed */
+ MYKONOS_COM_LOST_MASK = 1 << 13, /*!< Communication Lost : (1) com problem, (0) Com is ok */
+ MYKONOS_GYROS_ZERO = 1 << 14, /*!< Bit means that there's an hardware problem with gyrometers */
+ MYKONOS_VBAT_LOW = 1 << 15, /*!< VBat low : (1) too low, (0) Ok */
+ MYKONOS_VBAT_HIGH = 1 << 16, /*!< VBat high (US mad) : (1) too high, (0) Ok */
+ MYKONOS_TIMER_ELAPSED = 1 << 17, /*!< Timer elapsed : (1) elapsed, (0) not elapsed */
+ MYKONOS_NOT_ENOUGH_POWER = 1 << 18, /*!< Power : (0) Ok, (1) not enough to fly */
+ MYKONOS_ANGLES_OUT_OF_RANGE = 1 << 19, /*!< Angles : (0) Ok, (1) out of range */
+ MYKONOS_WIND_MASK = 1 << 20, /*!< Wind : (0) Ok, (1) too much to fly */
+ MYKONOS_ULTRASOUND_MASK = 1 << 21, /*!< Ultrasonic sensor : (0) Ok, (1) deaf */
+ MYKONOS_CUTOUT_MASK = 1 << 22, /*!< Cutout system detection : (0) Not detected, (1) detected */
+ MYKONOS_PIC_VERSION_MASK = 1 << 23, /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
+ MYKONOS_ATCODEC_THREAD_ON = 1 << 24, /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
+ MYKONOS_NAVDATA_THREAD_ON = 1 << 25, /*!< Navdata thread ON : (0) thread OFF (1) thread ON */
+ MYKONOS_VIDEO_THREAD_ON = 1 << 26, /*!< Video thread ON : (0) thread OFF (1) thread ON */
+ MYKONOS_ACQ_THREAD_ON = 1 << 27, /*!< Acquisition thread ON : (0) thread OFF (1) thread ON */
+ MYKONOS_CTRL_WATCHDOG_MASK = 1 << 28, /*!< CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled */
+ MYKONOS_ADC_WATCHDOG_MASK = 1 << 29, /*!< ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */
+ MYKONOS_COM_WATCHDOG_MASK = 1 << 30, /*!< Communication Watchdog : (1) com problem, (0) Com is ok */
+ MYKONOS_EMERGENCY_MASK = 1 << 31 /*!< Emergency landing : (0) no emergency, (1) emergency */
+};
+
+void at_write (int8_t *buffer, int32_t len);
+
+#endif // !APP_H_INCLUDED
projects / mardrone / blobdiff