4 * code originally nased on:"San Angeles" Android demo app
11 #include <sys/types.h>
15 /* native video stream dimensions */
16 #define VIDEO_WIDTH 176
17 #define VIDEO_HEIGHT 144
20 extern uint16_t default_image[VIDEO_WIDTH*VIDEO_HEIGHT];
23 extern int num_picture_decoded;
24 extern uint16_t picture_buf[];
26 extern void appInit();
27 extern void appDeinit();
28 extern void appRender(long tick, int width, int height);
30 extern void video_init(void);
31 extern void video_deinit(void);
32 extern void video_render(long tick, int width, int height);
34 void get_screen_dimensions(int *w, int *h);
35 void set_screen_dimensions(int w, int h);
37 /* Value is non-zero when application is alive, and 0 when it is closing.
38 * Defined by the application framework.
40 #define INFO(_fmt_, args...) \
41 printf(_fmt_, ##args) \
43 /*#define INFO(_fmt_, args...) \
44 __android_log_print(ANDROID_LOG_INFO, "ARDrone", _fmt_, ##args)
46 #define GETPROP(_name_,_val_) __system_property_get((_name_),(_val_))
55 typedef float float32_t;
56 #define bool_t int32_t
58 #define MYKONOS_REFRESH_MS 28
59 #define WIFI_MYKONOS_IP "192.168.1.1"
61 extern uint32_t mykonos_state;
64 NO_CONTROL_MODE = 0, // Doing nothing
65 MYKONOS_UPDATE_CONTROL_MODE, // Mykonos software update reception (update is done next run)
66 // After event completion, card should power off
67 PIC_UPDATE_CONTROL_MODE, // Mykonos pic software update reception (update is done next run)
68 // After event completion, card should power off
69 LOGS_GET_CONTROL_MODE, // Send previous run's logs
70 CFG_GET_CONTROL_MODE, // Send activ configuration
71 ACK_CONTROL_MODE // Reset command mask in navdata
75 MYKONOS_FLY_MASK = 1 << 0, /*!< FLY MASK : (0) mykonos is landed, (1) mykonos is flying */
76 MYKONOS_VIDEO_MASK = 1 << 1, /*!< VIDEO MASK : (0) video disable, (1) video enable */
77 MYKONOS_VISION_MASK = 1 << 2, /*!< VISION MASK : (0) vision disable, (1) vision enable */
78 MYKONOS_CONTROL_MASK = 1 << 3, /*!< CONTROL ALGO : (0) euler angles control, (1) angular speed control */
79 MYKONOS_ALTITUDE_MASK = 1 << 4, /*!< ALTITUDE CONTROL ALGO : (0) altitude control inactive (1) altitude control active */
80 MYKONOS_USER_FEEDBACK_START = 1 << 5, /*!< USER feedback : Start button state */
81 MYKONOS_COMMAND_MASK = 1 << 6, /*!< Control command ACK : (0) None, (1) one received */
82 MYKONOS_TRIM_COMMAND_MASK = 1 << 7, /*!< Trim command ACK : (0) None, (1) one received */
83 MYKONOS_TRIM_RUNNING_MASK = 1 << 8, /*!< Trim running : (0) none, (1) running */
84 MYKONOS_TRIM_RESULT_MASK = 1 << 9, /*!< Trim result : (0) failed, (1) succeeded */
85 MYKONOS_NAVDATA_DEMO_MASK = 1 << 10, /*!< Navdata demo : (0) All navdata, (1) only navdata demo */
86 MYKONOS_NAVDATA_BOOTSTRAP = 1 << 11, /*!< Navdata bootstrap : (0) options sent in all or demo mode, (1) no navdata options sent */
87 MYKONOS_MOTORS_BRUSHED = 1 << 12, /*!< Motors brushed : (0) brushless, (1) brushed */
88 MYKONOS_COM_LOST_MASK = 1 << 13, /*!< Communication Lost : (1) com problem, (0) Com is ok */
89 MYKONOS_GYROS_ZERO = 1 << 14, /*!< Bit means that there's an hardware problem with gyrometers */
90 MYKONOS_VBAT_LOW = 1 << 15, /*!< VBat low : (1) too low, (0) Ok */
91 MYKONOS_VBAT_HIGH = 1 << 16, /*!< VBat high (US mad) : (1) too high, (0) Ok */
92 MYKONOS_TIMER_ELAPSED = 1 << 17, /*!< Timer elapsed : (1) elapsed, (0) not elapsed */
93 MYKONOS_NOT_ENOUGH_POWER = 1 << 18, /*!< Power : (0) Ok, (1) not enough to fly */
94 MYKONOS_ANGLES_OUT_OF_RANGE = 1 << 19, /*!< Angles : (0) Ok, (1) out of range */
95 MYKONOS_WIND_MASK = 1 << 20, /*!< Wind : (0) Ok, (1) too much to fly */
96 MYKONOS_ULTRASOUND_MASK = 1 << 21, /*!< Ultrasonic sensor : (0) Ok, (1) deaf */
97 MYKONOS_CUTOUT_MASK = 1 << 22, /*!< Cutout system detection : (0) Not detected, (1) detected */
98 MYKONOS_PIC_VERSION_MASK = 1 << 23, /*!< PIC Version number OK : (0) a bad version number, (1) version number is OK */
99 MYKONOS_ATCODEC_THREAD_ON = 1 << 24, /*!< ATCodec thread ON : (0) thread OFF (1) thread ON */
100 MYKONOS_NAVDATA_THREAD_ON = 1 << 25, /*!< Navdata thread ON : (0) thread OFF (1) thread ON */
101 MYKONOS_VIDEO_THREAD_ON = 1 << 26, /*!< Video thread ON : (0) thread OFF (1) thread ON */
102 MYKONOS_ACQ_THREAD_ON = 1 << 27, /*!< Acquisition thread ON : (0) thread OFF (1) thread ON */
103 MYKONOS_CTRL_WATCHDOG_MASK = 1 << 28, /*!< CTRL watchdog : (1) delay in control execution (> 5ms), (0) control is well scheduled */
104 MYKONOS_ADC_WATCHDOG_MASK = 1 << 29, /*!< ADC Watchdog : (1) delay in uart2 dsr (> 5ms), (0) uart2 is good */
105 MYKONOS_COM_WATCHDOG_MASK = 1 << 30, /*!< Communication Watchdog : (1) com problem, (0) Com is ok */
106 MYKONOS_EMERGENCY_MASK = 1 << 31 /*!< Emergency landing : (0) no emergency, (1) emergency */
109 /* Navdata functions */
110 void navdata_run( void );
111 void navdata_stop( void );
113 /* Stream functions */
114 void stream_run( void );
115 void stream_stop( void );
117 /* AT cmds functions */
118 void at_stop( void );
120 void at_set_flat_trim( void );
121 void at_set_iphone_acceleros( int enable, float32_t fax, float32_t fay, float32_t faz );
122 void at_set_radiogp_input( int32_t pitch, int32_t roll, int32_t gaz, int32_t yaw );
123 void at_ui_pad_start_pressed( void );
124 void at_write (int8_t *buffer, int32_t len);
126 #endif // !APP_H_INCLUDED