vcs.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/VP_SDK/Examples/nds/atcodec_client.c

   1
   2 #include <stdio.h>
   3 #include <stdlib.h>
   4
   5 #include <ATcodec/ATcodec_api.h>
   6 #include <VP_Stages/vp_stages_io_com.h>
   7
   8 #define AT_MESSAGES_HEADER "ATcodec/ATcodec_Messages_ex.h"
   9
  10 #include "ATcodec/ATcodec_api.h"
  11 #include "VP_Os/vp_os_types.h"
  12 #include "VP_Os/vp_os_thread.h"
  13 #include "VP_Os/vp_os_delay.h"
  14 #include "VP_Os/vp_os_print.h"
  15 #include <Examples/common/atcodec_client.h>
  16
  17 #include <nds.h>
  18
  19 #ifndef AT_MESSAGES_HEADER
  20 #error You need to define AT_MESSAGES_HEADER
  21 #endif
  22
  23 extern AT_CODEC_MSG_IDS ids;
  24
  25 #define INTRA_CMD_DELAY 10
  26
  27
  28 volatile int frame = 0;
  29
  30
  31 //---------------------------------------------------------------------------------
  32 void Vblank()
  33 {
  34   //---------------------------------------------------------------------------------
  35   frame++;
  36 }
  37
  38
  39 //---------------------------------------------------------------------------------
  40 void initNDS()
  41 {
  42   //---------------------------------------------------------------------------------
  43   irqInit();
  44   irqSet(IRQ_VBLANK, Vblank);
  45   irqEnable(IRQ_VBLANK);
  46   videoSetMode(0);      //not using the main screen
  47   videoSetModeSub(MODE_0_2D | DISPLAY_BG0_ACTIVE);      //sub bg 0 will be used to print text
  48   vramSetBankC(VRAM_C_SUB_BG);
  49
  50   SUB_BG0_CR = BG_MAP_BASE(31);
  51
  52   BG_PALETTE_SUB[255] = RGB15(31,31,31);        //by default font will be rendered with color 255
  53
  54   //consoleInit() is a lot more flexible but this gets you up and running quick
  55   consoleInitDefault((u16*)SCREEN_BASE_BLOCK_SUB(31), (u16*)CHAR_BASE_BLOCK_SUB(0), 16);
  56 }
  57
  58
  59 //---------------------------------------------------------------------------------
  60 THREAD_RET
  61 thread_send_commands (THREAD_PARAMS data)
  62 {
  63   //---------------------------------------------------------------------------------
  64   while(1)
  65     {
  66       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
  67       vp_os_delay(INTRA_CMD_DELAY);
  68       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_CGMI);
  69       vp_os_delay(INTRA_CMD_DELAY);
  70       //vp_os_thread_yield();
  71
  72       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
  73       vp_os_delay(INTRA_CMD_DELAY);
  74       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_QW,1);
  75       vp_os_delay(INTRA_CMD_DELAY);
  76       //vp_os_thread_yield();
  77
  78       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
  79       vp_os_delay(INTRA_CMD_DELAY);
  80       ATcodec_Queue_Message_valist(ids.AT_MSG_ATCMD_PM_EXE,1,50);
  81       vp_os_delay(INTRA_CMD_DELAY);
  82       //vp_os_thread_yield();
  83     }
  84 }
  85
  86
  87 //---------------------------------------------------------------------------------
  88 int main(int argc, char **argv)
  89 {
  90   //---------------------------------------------------------------------------------
  91   touchPosition touchXY;
  92   THREAD_HANDLE atcodec_test_handle;
  93   THREAD_HANDLE atcodec_test_handle2;
  94   THREAD_HANDLE cmds_handle;
  95
  96   initNDS();
  97
  98   AT_CODEC_FUNCTIONS_PTRS ptrs =
  99     {
 100       .init     = AT_CODEC_Client_init,
 101       .shutdown = AT_CODEC_Client_shutdown,
 102       .open     = AT_CODEC_Client_open,
 103       .close    = AT_CODEC_Client_close,
 104       .read     = AT_CODEC_Client_read,
 105       .write    = AT_CODEC_Client_write,
 106     };
 107
 108   ATcodec_Init_Library(&ptrs);
 109
 110   vp_os_thread_create(thread_ATcodec_Commands_Client, 0, &atcodec_test_handle);
 111   vp_os_thread_create(thread_send_commands, 0, &cmds_handle);
 112   vp_os_thread_create(thread_ATcodec_Commands_Server, 0, &atcodec_test_handle2);
 113
 114   vp_os_thread_join(cmds_handle);
 115   vp_os_thread_join(atcodec_test_handle2);
 116   vp_os_thread_join(atcodec_test_handle);
 117
 118   iprintf("      Hello DS dev'rs\n");
 119   iprintf("     www.devkitpro.org\n");
 120   iprintf("   www.drunkencoders.com");
 121
 122   while(1) {
 123
 124     swiWaitForVBlank();
 125     touchXY=touchReadXY();
 126
 127     // print at using ansi escape sequence \x1b[line;columnH
 128     iprintf("\x1b[10;0HFrame = %d",frame);
 129     iprintf("\x1b[16;0HTouch x = %04X, %04X\n", touchXY.x, touchXY.px);
 130     iprintf("Touch y = %04X, %04X\n", touchXY.y, touchXY.py);
 131
 132   }
 133
 134   return EXIT_SUCCESS;
 135 }
 136