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kaklik |
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GAS LISTING /tmp/ccf43P2i.s page 1
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1 .file "FrameMgr.c"
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2 .arch atmega8
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3 __SREG__ = 0x3f
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4 __SP_H__ = 0x3e
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5 __SP_L__ = 0x3d
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6 __tmp_reg__ = 0
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7 __zero_reg__ = 1
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8 .global __do_copy_data
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9 .global __do_clear_bss
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10 .stabs "/home/kaklik/projects/roboti/istrobot/2007/ATmega8/AVRcam/",100,0,2,.Ltext0
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11 .stabs "FrameMgr.c",100,0,2,.Ltext0
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12 .text
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13 .Ltext0:
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14 .stabs "gcc2_compiled.",60,0,0,0
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18 |
15 .stabs "int:t(0,1)=r(0,1);-32768;32767;",128,0,0,0
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19 |
16 .stabs "char:t(0,2)=@s8;r(0,2);0;255;",128,0,0,0
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17 .stabs "long int:t(0,3)=@s32;r(0,3);020000000000;017777777777;",128,0,0,0
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21 |
18 .stabs "unsigned int:t(0,4)=r(0,4);0;0177777;",128,0,0,0
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22 |
19 .stabs "long unsigned int:t(0,5)=@s32;r(0,5);0;037777777777;",128,0,0,0
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20 .stabs "long long int:t(0,6)=@s64;r(0,6);01000000000000000000000;0777777777777777777777;",128,0,0,
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21 .stabs "long long unsigned int:t(0,7)=@s64;r(0,7);0;01777777777777777777777;",128,0,0,0
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22 .stabs "short int:t(0,8)=r(0,8);-32768;32767;",128,0,0,0
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23 .stabs "short unsigned int:t(0,9)=r(0,9);0;0177777;",128,0,0,0
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24 .stabs "signed char:t(0,10)=@s8;r(0,10);-128;127;",128,0,0,0
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25 .stabs "unsigned char:t(0,11)=@s8;r(0,11);0;255;",128,0,0,0
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29 |
26 .stabs "float:t(0,12)=r(0,1);4;0;",128,0,0,0
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30 |
27 .stabs "double:t(0,13)=r(0,1);4;0;",128,0,0,0
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28 .stabs "long double:t(0,14)=r(0,1);4;0;",128,0,0,0
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29 .stabs "void:t(0,15)=(0,15)",128,0,0,0
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30 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdlib.h",130,0,0,0
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31 .stabs "/usr/lib/gcc/avr/4.1.0/include/stddef.h",130,0,0,0
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32 .stabs "size_t:t(2,1)=(0,4)",128,0,214,0
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33 .stabs "wchar_t:t(2,2)=(0,1)",128,0,326,0
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34 .stabn 162,0,0,0
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35 .stabs "div_t:t(1,1)=(1,2)=s4quot:(0,1),0,16;rem:(0,1),16,16;;",128,0,69,0
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36 .stabs "ldiv_t:t(1,3)=(1,4)=s8quot:(0,3),0,32;rem:(0,3),32,32;;",128,0,75,0
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37 .stabs "__compar_fn_t:t(1,5)=(1,6)=*(1,7)=f(0,1)",128,0,78,0
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38 .stabn 162,0,0,0
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39 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/io.h",130,0,0,0
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40 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/sfr_defs.h",130,0,0,0
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41 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/inttypes.h",130,0,0,0
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42 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdint.h",130,0,0,0
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43 .stabs "int8_t:t(6,1)=(0,10)",128,0,116,0
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44 .stabs "uint8_t:t(6,2)=(0,11)",128,0,117,0
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45 .stabs "int16_t:t(6,3)=(0,1)",128,0,118,0
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46 .stabs "uint16_t:t(6,4)=(0,4)",128,0,119,0
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47 .stabs "int32_t:t(6,5)=(0,3)",128,0,120,0
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48 .stabs "uint32_t:t(6,6)=(0,5)",128,0,121,0
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49 .stabs "int64_t:t(6,7)=(0,6)",128,0,122,0
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50 .stabs "uint64_t:t(6,8)=(0,7)",128,0,123,0
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51 .stabs "intptr_t:t(6,9)=(6,3)",128,0,135,0
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55 |
52 .stabs "uintptr_t:t(6,10)=(6,4)",128,0,140,0
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56 |
53 .stabs "int_least8_t:t(6,11)=(6,1)",128,0,152,0
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57 |
54 .stabs "uint_least8_t:t(6,12)=(6,2)",128,0,157,0
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55 .stabs "int_least16_t:t(6,13)=(6,3)",128,0,162,0
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56 .stabs "uint_least16_t:t(6,14)=(6,4)",128,0,167,0
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57 .stabs "int_least32_t:t(6,15)=(6,5)",128,0,172,0
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GAS LISTING /tmp/ccf43P2i.s page 2
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58 .stabs "uint_least32_t:t(6,16)=(6,6)",128,0,177,0
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59 .stabs "int_least64_t:t(6,17)=(6,7)",128,0,182,0
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66 |
60 .stabs "uint_least64_t:t(6,18)=(6,8)",128,0,187,0
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67 |
61 .stabs "int_fast8_t:t(6,19)=(6,1)",128,0,200,0
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68 |
62 .stabs "uint_fast8_t:t(6,20)=(6,2)",128,0,205,0
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69 |
63 .stabs "int_fast16_t:t(6,21)=(6,3)",128,0,210,0
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70 |
64 .stabs "uint_fast16_t:t(6,22)=(6,4)",128,0,215,0
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71 |
65 .stabs "int_fast32_t:t(6,23)=(6,5)",128,0,220,0
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72 |
66 .stabs "uint_fast32_t:t(6,24)=(6,6)",128,0,225,0
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67 .stabs "int_fast64_t:t(6,25)=(6,7)",128,0,230,0
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68 .stabs "uint_fast64_t:t(6,26)=(6,8)",128,0,235,0
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69 .stabs "intmax_t:t(6,27)=(6,7)",128,0,249,0
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70 .stabs "uintmax_t:t(6,28)=(6,8)",128,0,254,0
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71 .stabn 162,0,0,0
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72 .stabs "int_farptr_t:t(5,1)=(6,5)",128,0,76,0
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73 .stabs "uint_farptr_t:t(5,2)=(6,6)",128,0,80,0
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74 .stabn 162,0,0,0
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75 .stabn 162,0,0,0
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76 .stabn 162,0,0,0
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77 .stabs "I2CInterface.h",130,0,0,0
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78 .stabs "CommonDefs.h",130,0,0,0
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79 .stabs "bool_t:t(8,1)=(0,11)",128,0,56,0
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80 .stabn 162,0,0,0
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81 .stabs "i2cCmd_t:t(7,1)=(7,2)=s2configReg:(0,11),0,8;data:(0,11),8,8;;",128,0,53,0
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82 .stabn 162,0,0,0
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83 .stabs " :T(0,16)=@s8;eST_FrameMgr_idle:0,ST_FrameMgr_TrackingFrame:1,ST_FrameMgr_DumpingFrame:2,;
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84 .stabs "FrameMgr_State_t:t(0,17)=(0,11)",128,0,72,0
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85 .stabs " :T(0,18)=@s8;enotTracked:0,color1:1,color2:2,color3:3,color4:4,color5:5,color6:6,color7:7
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86 .stabs "trackedColor_t:t(0,19)=(0,11)",128,0,127,0
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87 .stabs "trackedObject_t:t(0,20)=(0,21)=s8color:(0,19),0,8;lastLineXStart:(0,11),8,8;lastLineXFinis
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88 .stabs "FrameMgr_processFrame:F(0,15)",36,0,517,FrameMgr_processFrame
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89 .global FrameMgr_processFrame
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90 .type FrameMgr_processFrame, @function
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91 FrameMgr_processFrame:
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92 .stabd 46,0,0
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1:FrameMgr.c **** /*
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2:FrameMgr.c **** Copyright (C) 2004 John Orlando
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3:FrameMgr.c ****
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4:FrameMgr.c **** AVRcam: a small real-time image processing engine.
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5:FrameMgr.c ****
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6:FrameMgr.c **** This program is free software; you can redistribute it and/or
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7:FrameMgr.c **** modify it under the terms of the GNU General Public
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8:FrameMgr.c **** License as published by the Free Software Foundation; either
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9:FrameMgr.c **** version 2 of the License, or (at your option) any later version.
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10:FrameMgr.c ****
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11:FrameMgr.c **** This program is distributed in the hope that it will be useful,
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12:FrameMgr.c **** but WITHOUT ANY WARRANTY; without even the implied warranty of
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13:FrameMgr.c **** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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14:FrameMgr.c **** General Public License for more details.
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15:FrameMgr.c ****
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16:FrameMgr.c **** You should have received a copy of the GNU General Public
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17:FrameMgr.c **** License along with this program; if not, write to the Free Software
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18:FrameMgr.c **** Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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19:FrameMgr.c ****
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20:FrameMgr.c **** For more information on the AVRcam, please contact:
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21:FrameMgr.c ****
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22:FrameMgr.c **** john@jrobot.net
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GAS LISTING /tmp/ccf43P2i.s page 3
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23:FrameMgr.c ****
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24:FrameMgr.c **** or go to www.jrobot.net for more details regarding the system.
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25:FrameMgr.c **** */
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26:FrameMgr.c **** /*********************************************************
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27:FrameMgr.c **** Module Name: FrameMgr.c
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28:FrameMgr.c **** Module Date: 04/10/2004
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29:FrameMgr.c **** Module Auth: John Orlando
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30:FrameMgr.c ****
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31:FrameMgr.c **** Description: This modules is responsible for performing
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32:FrameMgr.c **** both medium and high level processing on image data.
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33:FrameMgr.c **** This is performed at both the line level as well as
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34:FrameMgr.c **** the frame level. It controls the main flow of the
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35:FrameMgr.c **** system, adhering to all the critical timing
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36:FrameMgr.c **** requirements (such as when serial data can be transferred,
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37:FrameMgr.c **** etc).
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38:FrameMgr.c ****
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39:FrameMgr.c **** Revision History:
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40:FrameMgr.c **** Date Rel Ver. Notes
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41:FrameMgr.c **** 4/10/2004 0.1 Module created
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42:FrameMgr.c **** 6/30/2004 1.0 Initial release for Circuit Cellar
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43:FrameMgr.c **** contest.
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44:FrameMgr.c **** 11/15/2004 1.2 Updated processLine() function so
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45:FrameMgr.c **** it will remove objects less than
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46:FrameMgr.c **** a specified length/width (reduces
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47:FrameMgr.c **** shot noise)
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48:FrameMgr.c **** *********************************************************/
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49:FrameMgr.c ****
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50:FrameMgr.c **** /* Includes */
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51:FrameMgr.c **** #include <stdlib.h>
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52:FrameMgr.c **** #include <string.h>
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53:FrameMgr.c **** #include <avr/io.h>
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54:FrameMgr.c **** #include "Executive.h"
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55:FrameMgr.c **** #include "UIMgr.h"
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56:FrameMgr.c **** #include "FrameMgr.h"
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57:FrameMgr.c **** #include "CamInterface.h"
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58:FrameMgr.c **** #include "UartInterface.h"
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59:FrameMgr.c **** #include "Utility.h"
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60:FrameMgr.c **** #include "I2CInterface.h"
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61:FrameMgr.c **** #include "CamConfig.h"
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62:FrameMgr.c **** #include "CommonDefs.h"
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63:FrameMgr.c ****
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64:FrameMgr.c **** /* Local Structures and Typedefs */
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65:FrameMgr.c **** enum
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66:FrameMgr.c **** {
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67:FrameMgr.c **** ST_FrameMgr_idle,
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68:FrameMgr.c **** ST_FrameMgr_TrackingFrame,
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69:FrameMgr.c **** ST_FrameMgr_DumpingFrame
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70:FrameMgr.c **** };
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71:FrameMgr.c ****
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72:FrameMgr.c **** typedef unsigned char FrameMgr_State_t;
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73:FrameMgr.c ****
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74:FrameMgr.c **** /* Definitions */
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75:FrameMgr.c **** /* The most objects that can be tracked at any one time is 8.
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76:FrameMgr.c **** This number is determined by the number of bytes that can be
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77:FrameMgr.c **** sent out during a frame (one byte per line, 144 lines per frame)
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78:FrameMgr.c **** with the number of bytes in a tracked object (7) + some wiggle
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79:FrameMgr.c **** room :-) ... I guess this could be increased to around 20 if
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80:FrameMgr.c **** we had enough room and cycles to process objects between lines */
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81:FrameMgr.c **** #define MAX_TRACKED_OBJECTS 8
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82:FrameMgr.c ****
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83:FrameMgr.c **** /* This defines the number of bytes that make up a trackedObject_t
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84:FrameMgr.c **** structure... */
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85:FrameMgr.c **** #define SIZE_OF_TRACKED_OBJECT 8
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86:FrameMgr.c ****
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87:FrameMgr.c **** /* This define is used to turn off the timer overflow interrupt
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88:FrameMgr.c **** that is generated when the PCLK overflows TIMER1 */
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89:FrameMgr.c **** #define DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0xFB
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90:FrameMgr.c ****
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91:FrameMgr.c **** /* This define is used to determine if a run length is too small
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92:FrameMgr.c **** to be concerned with. This helps to reduce the number of false
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93:FrameMgr.c **** positives. */
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94:FrameMgr.c **** #define MIN_OBJECT_TRACKING_WIDTH 3
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95:FrameMgr.c ****
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96:FrameMgr.c **** /* This define is used to determine if an object has enough
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97:FrameMgr.c **** height to be considered worth tracking...it is used to reduce
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98:FrameMgr.c **** shot noise */
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99:FrameMgr.c **** #define MIN_OBJECT_TRACKING_HEIGHT 3
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100:FrameMgr.c ****
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101:FrameMgr.c **** /* This define is used to indicate how often the filter routine
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102:FrameMgr.c **** that removes objects less than MIN_OBJECT_TRACKING_HEIGHT should
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103:FrameMgr.c **** be executed. It is measured in a number of lines (7 nominally). */
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104:FrameMgr.c **** #define RUN_OBJECT_FILTER_MASK 0x07
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105:FrameMgr.c ****
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106:FrameMgr.c **** /* This enum describes the possible colors that can
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107:FrameMgr.c **** be tracked by the system. This can't be represented as
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108:FrameMgr.c **** simple color names (red, brown, etc) due to the fact that
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109:FrameMgr.c **** the user sets which colors will be associated with which
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110:FrameMgr.c **** bits. Remember...after the AND operation of the indexed
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111:FrameMgr.c **** color map values executes, either a single bit indicating
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112:FrameMgr.c **** the color should be set, or no bits indicating that the
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113:FrameMgr.c **** color isn't represented in the color map (notTracked). */
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114:FrameMgr.c **** enum
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115:FrameMgr.c **** {
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116:FrameMgr.c **** notTracked,
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117:FrameMgr.c **** color1, /* bit 1 color */
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118:FrameMgr.c **** color2, /* bit 2 color */
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119:FrameMgr.c **** color3, /* bit 3 color */
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120:FrameMgr.c **** color4, /* bit 4 color */
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121:FrameMgr.c **** color5, /* bit 5 color */
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122:FrameMgr.c **** color6, /* bit 6 color */
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123:FrameMgr.c **** color7, /* bit 7 color */
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124:FrameMgr.c **** color8 /* bit 8 color */
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125:FrameMgr.c **** };
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126:FrameMgr.c ****
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127:FrameMgr.c **** typedef unsigned char trackedColor_t;
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128:FrameMgr.c ****
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129:FrameMgr.c **** /* This structure defines the info that needs to be
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130:FrameMgr.c **** maintained for each trackedObject in the trackingTable */
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131:FrameMgr.c **** typedef struct
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132:FrameMgr.c **** {
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133:FrameMgr.c **** trackedColor_t color;
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238 |
134:FrameMgr.c **** unsigned char lastLineXStart;
|
|
|
239 |
135:FrameMgr.c **** unsigned char lastLineXFinish;
|
|
|
240 |
136:FrameMgr.c **** unsigned char x_upperLeft;
|
|
|
241 |
GAS LISTING /tmp/ccf43P2i.s page 5
|
|
|
242 |
|
|
|
243 |
|
|
|
244 |
137:FrameMgr.c **** unsigned char y_upperLeft;
|
|
|
245 |
138:FrameMgr.c **** unsigned char x_lowerRight;
|
|
|
246 |
139:FrameMgr.c **** unsigned char y_lowerRight;
|
|
|
247 |
140:FrameMgr.c **** unsigned char objectValid; /* used to be a fill byte...now it is
|
|
|
248 |
141:FrameMgr.c **** used to determine if the object is valid
|
|
|
249 |
142:FrameMgr.c **** or not...it gets invalidated if it is
|
|
|
250 |
143:FrameMgr.c **** determined that it is too small, or
|
|
|
251 |
144:FrameMgr.c **** that the object is within another object */
|
|
|
252 |
145:FrameMgr.c **** } trackedObject_t;
|
|
|
253 |
146:FrameMgr.c ****
|
|
|
254 |
147:FrameMgr.c **** /* These defines are used to index into each individual element in the
|
|
|
255 |
148:FrameMgr.c **** trackedObject_t structure. This seems to be MUCH more efficient than
|
|
|
256 |
149:FrameMgr.c **** accessing the elements in GCC. */
|
|
|
257 |
150:FrameMgr.c **** #define COLOR_OFFSET 0
|
|
|
258 |
151:FrameMgr.c **** #define LAST_LINE_X_START_OFFSET 1
|
|
|
259 |
152:FrameMgr.c **** #define LAST_LINE_X_FINISH_OFFSET 2
|
|
|
260 |
153:FrameMgr.c **** #define X_UPPER_LEFT_OFFSET 3
|
|
|
261 |
154:FrameMgr.c **** #define Y_UPPER_LEFT_OFFSET 4
|
|
|
262 |
155:FrameMgr.c **** #define X_LOWER_RIGHT_OFFSET 5
|
|
|
263 |
156:FrameMgr.c **** #define Y_LOWER_RIGHT_OFFSET 6
|
|
|
264 |
157:FrameMgr.c **** #define VALID_OBJECT_OFFSET 7
|
|
|
265 |
158:FrameMgr.c ****
|
|
|
266 |
159:FrameMgr.c **** /* Local Variables */
|
|
|
267 |
160:FrameMgr.c **** /* The trackedObjectTable is used to hold up to eight tracked objects
|
|
|
268 |
161:FrameMgr.c **** while they are being acquired. */
|
|
|
269 |
162:FrameMgr.c **** static trackedObject_t trackedObjectTable[MAX_TRACKED_OBJECTS];
|
|
|
270 |
163:FrameMgr.c **** static trackedObject_t *pCurrentTrackedObjectTable = trackedObjectTable;
|
|
|
271 |
164:FrameMgr.c **** static unsigned char lineCount = 0;
|
|
|
272 |
165:FrameMgr.c **** static FrameMgr_State_t currentState = ST_FrameMgr_idle;
|
|
|
273 |
166:FrameMgr.c **** static unsigned char numCurrTrackedObjects = 0;
|
|
|
274 |
167:FrameMgr.c **** static unsigned char numPrevTrackedObjects = 0;
|
|
|
275 |
168:FrameMgr.c **** static unsigned char trackedLineCount = 0;
|
|
|
276 |
169:FrameMgr.c ****
|
|
|
277 |
170:FrameMgr.c **** /* Local Functions */
|
|
|
278 |
171:FrameMgr.c **** static void FrameMgr_findConnectedness(void);
|
|
|
279 |
172:FrameMgr.c ****
|
|
|
280 |
173:FrameMgr.c **** /* Extern Functions */
|
|
|
281 |
174:FrameMgr.c **** /* These functions are located in assembly files, and thus
|
|
|
282 |
175:FrameMgr.c **** must be externed here so they can be referenced in the source below. */
|
|
|
283 |
176:FrameMgr.c **** extern void CamIntAsm_waitForNewTrackingFrame(unsigned char *pBuffer, unsigned char *pMemLookup);
|
|
|
284 |
177:FrameMgr.c **** extern void CamIntAsm_waitForNewDumpFrame(unsigned char *pCurrBuffer, unsigned char *pPrevBuffer);
|
|
|
285 |
178:FrameMgr.c **** extern void CamIntAsm_acquireTrackingLine(unsigned char *pBuffer, unsigned char *pMemLookup);
|
|
|
286 |
179:FrameMgr.c **** extern void CamIntAsm_acquireDumpLine(unsigned char *pCurrBuffer, unsigned char *pPrevBuffer);
|
|
|
287 |
180:FrameMgr.c ****
|
|
|
288 |
181:FrameMgr.c **** /***********************************************************
|
|
|
289 |
182:FrameMgr.c **** Function Name: FrameMgr_init
|
|
|
290 |
183:FrameMgr.c **** Function Description: This function is responsible
|
|
|
291 |
184:FrameMgr.c **** for initializing the FrameMgr. This includes
|
|
|
292 |
185:FrameMgr.c **** setting up the various buffers and data needed to
|
|
|
293 |
186:FrameMgr.c **** process each frame of image data.
|
|
|
294 |
187:FrameMgr.c **** Inputs: none
|
|
|
295 |
188:FrameMgr.c **** Outputs: none
|
|
|
296 |
189:FrameMgr.c **** ***********************************************************/
|
|
|
297 |
190:FrameMgr.c **** void FrameMgr_init(void)
|
|
|
298 |
191:FrameMgr.c **** {
|
|
|
299 |
192:FrameMgr.c **** memset(trackedObjectTable,0x00,sizeof(trackedObjectTable));
|
|
|
300 |
193:FrameMgr.c **** }
|
|
|
301 |
GAS LISTING /tmp/ccf43P2i.s page 6
|
|
|
302 |
|
|
|
303 |
|
|
|
304 |
194:FrameMgr.c ****
|
|
|
305 |
195:FrameMgr.c ****
|
|
|
306 |
196:FrameMgr.c **** /***********************************************************
|
|
|
307 |
197:FrameMgr.c **** Function Name: FrameMgr_dispatchEvent
|
|
|
308 |
198:FrameMgr.c **** Function Description: This function is responsible for
|
|
|
309 |
199:FrameMgr.c **** taking an incoming event and performing the needed
|
|
|
310 |
200:FrameMgr.c **** actions with it as pertains to the FrameMgr.
|
|
|
311 |
201:FrameMgr.c **** Inputs: event - the generated event
|
|
|
312 |
202:FrameMgr.c **** Outputs: none
|
|
|
313 |
203:FrameMgr.c **** ***********************************************************/
|
|
|
314 |
204:FrameMgr.c **** void FrameMgr_dispatchEvent(unsigned char event)
|
|
|
315 |
205:FrameMgr.c **** {
|
|
|
316 |
206:FrameMgr.c **** switch(event)
|
|
|
317 |
207:FrameMgr.c **** {
|
|
|
318 |
208:FrameMgr.c **** case EV_DUMP_FRAME:
|
|
|
319 |
209:FrameMgr.c **** /* try re-initializing the camera before we start dumping */
|
|
|
320 |
210:FrameMgr.c ****
|
|
|
321 |
211:FrameMgr.c **** CamConfig_setCamReg(0x11,0x01); /* reduce the frame rate for dumping*/
|
|
|
322 |
212:FrameMgr.c **** CamConfig_sendFifoCmds();
|
|
|
323 |
213:FrameMgr.c **** Utility_delay(1000); /* allow the new frame rate to settle */
|
|
|
324 |
214:FrameMgr.c **** lineCount = 0;
|
|
|
325 |
215:FrameMgr.c **** currentState = ST_FrameMgr_DumpingFrame;
|
|
|
326 |
216:FrameMgr.c **** //CamIntAsm_waitForNewDumpFrame(currentLineBuffer,previousLineBuffer);
|
|
|
327 |
217:FrameMgr.c **** FrameMgr_acquireLine();
|
|
|
328 |
218:FrameMgr.c **** break;
|
|
|
329 |
219:FrameMgr.c ****
|
|
|
330 |
220:FrameMgr.c **** case EV_ENABLE_TRACKING:
|
|
|
331 |
221:FrameMgr.c **** currentState = ST_FrameMgr_TrackingFrame;
|
|
|
332 |
222:FrameMgr.c **** FrameMgr_acquireFrame();
|
|
|
333 |
223:FrameMgr.c **** break;
|
|
|
334 |
224:FrameMgr.c ****
|
|
|
335 |
225:FrameMgr.c **** case EV_ACQUIRE_FRAME_COMPLETE:
|
|
|
336 |
226:FrameMgr.c **** FrameMgr_processFrame();
|
|
|
337 |
227:FrameMgr.c **** break;
|
|
|
338 |
228:FrameMgr.c ****
|
|
|
339 |
229:FrameMgr.c **** case EV_PROCESS_FRAME_COMPLETE:
|
|
|
340 |
230:FrameMgr.c **** FrameMgr_acquireFrame();
|
|
|
341 |
231:FrameMgr.c **** break;
|
|
|
342 |
232:FrameMgr.c ****
|
|
|
343 |
233:FrameMgr.c **** case EV_SERIAL_DATA_RECEIVED:
|
|
|
344 |
234:FrameMgr.c **** if (currentState != ST_FrameMgr_idle)
|
|
|
345 |
235:FrameMgr.c **** {
|
|
|
346 |
236:FrameMgr.c **** /* we need to go back to processing line data, since
|
|
|
347 |
237:FrameMgr.c **** serial data reception interrupted us....just trash the
|
|
|
348 |
238:FrameMgr.c **** frame and act like the frame has been processed, which
|
|
|
349 |
239:FrameMgr.c **** will kick off the system to wait for the next line */
|
|
|
350 |
240:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);
|
|
|
351 |
241:FrameMgr.c **** }
|
|
|
352 |
242:FrameMgr.c **** break;
|
|
|
353 |
243:FrameMgr.c ****
|
|
|
354 |
244:FrameMgr.c **** case EV_DISABLE_TRACKING:
|
|
|
355 |
245:FrameMgr.c **** /* tracking needs to be turned off */
|
|
|
356 |
246:FrameMgr.c **** currentState = ST_FrameMgr_idle;
|
|
|
357 |
247:FrameMgr.c **** break;
|
|
|
358 |
248:FrameMgr.c **** }
|
|
|
359 |
249:FrameMgr.c **** }
|
|
|
360 |
250:FrameMgr.c ****
|
|
|
361 |
GAS LISTING /tmp/ccf43P2i.s page 7
|
|
|
362 |
|
|
|
363 |
|
|
|
364 |
251:FrameMgr.c **** /***********************************************************
|
|
|
365 |
252:FrameMgr.c **** Function Name: FrameMgr_acquireFrame
|
|
|
366 |
253:FrameMgr.c **** Function Description: This function is responsible for
|
|
|
367 |
254:FrameMgr.c **** beginning of the acquisition of a new frame of data
|
|
|
368 |
255:FrameMgr.c **** from the camera interface. The acquisition of this line
|
|
|
369 |
256:FrameMgr.c **** depends on the current state of the FrameMgr.
|
|
|
370 |
257:FrameMgr.c **** Inputs: none
|
|
|
371 |
258:FrameMgr.c **** Outputs: none
|
|
|
372 |
259:FrameMgr.c **** ***********************************************************/
|
|
|
373 |
260:FrameMgr.c **** void FrameMgr_acquireFrame(void)
|
|
|
374 |
261:FrameMgr.c **** {
|
|
|
375 |
262:FrameMgr.c **** if (currentState == ST_FrameMgr_TrackingFrame)
|
|
|
376 |
263:FrameMgr.c **** {
|
|
|
377 |
264:FrameMgr.c **** trackedLineCount = 0;
|
|
|
378 |
265:FrameMgr.c **** numPrevTrackedObjects = numCurrTrackedObjects;
|
|
|
379 |
266:FrameMgr.c **** numCurrTrackedObjects = 0;
|
|
|
380 |
267:FrameMgr.c ****
|
|
|
381 |
268:FrameMgr.c **** /* clear out the tracking table, and wait for the new frame
|
|
|
382 |
269:FrameMgr.c **** to start */
|
|
|
383 |
270:FrameMgr.c **** memset(trackedObjectTable,0x00,sizeof(trackedObjectTable));
|
|
|
384 |
271:FrameMgr.c **** //CamIntAsm_waitForNewTrackingFrame(currentLineBuffer,colorMap);
|
|
|
385 |
272:FrameMgr.c **** WAIT_FOR_VSYNC_HIGH();
|
|
|
386 |
273:FrameMgr.c **** CamIntAsm_acquireTrackingLine(currentLineBuffer,colorMap);
|
|
|
387 |
274:FrameMgr.c **** }
|
|
|
388 |
275:FrameMgr.c **** }
|
|
|
389 |
276:FrameMgr.c ****
|
|
|
390 |
277:FrameMgr.c **** /***********************************************************
|
|
|
391 |
278:FrameMgr.c **** Function Name: FrameMgr_acquireLine
|
|
|
392 |
279:FrameMgr.c **** Function Description: This function is responsible for
|
|
|
393 |
280:FrameMgr.c **** acquiring a line of data from the camera interface.
|
|
|
394 |
281:FrameMgr.c **** The acquisition of this line depends on the current
|
|
|
395 |
282:FrameMgr.c **** state of the FrameMgr.
|
|
|
396 |
283:FrameMgr.c **** Inputs: none
|
|
|
397 |
284:FrameMgr.c **** Outputs: none
|
|
|
398 |
285:FrameMgr.c **** ***********************************************************/
|
|
|
399 |
286:FrameMgr.c **** void FrameMgr_acquireLine(void)
|
|
|
400 |
287:FrameMgr.c **** {
|
|
|
401 |
288:FrameMgr.c **** unsigned char tmpLineCount;
|
|
|
402 |
289:FrameMgr.c ****
|
|
|
403 |
290:FrameMgr.c **** /* clearing out the buffers takes too long...we should
|
|
|
404 |
291:FrameMgr.c **** just overwrite the data here without a problem when
|
|
|
405 |
292:FrameMgr.c **** we start acquiring...at no point do we check for
|
|
|
406 |
293:FrameMgr.c **** a 0x00 value in the current or previous lineBuffers,
|
|
|
407 |
294:FrameMgr.c **** so it was a bit excessive :-) */
|
|
|
408 |
295:FrameMgr.c ****
|
|
|
409 |
296:FrameMgr.c **** /* check which state we are in and proceed as needed */
|
|
|
410 |
297:FrameMgr.c **** if (currentState == ST_FrameMgr_DumpingFrame)
|
|
|
411 |
298:FrameMgr.c **** {
|
|
|
412 |
299:FrameMgr.c **** tmpLineCount = lineCount*2;
|
|
|
413 |
300:FrameMgr.c ****
|
|
|
414 |
301:FrameMgr.c **** /* clearing out the line data in dump mode is ok, and actually
|
|
|
415 |
302:FrameMgr.c **** is needed, since it is possible for the first dump line in
|
|
|
416 |
303:FrameMgr.c **** a frame to come back with the last line captured of the
|
|
|
417 |
304:FrameMgr.c **** last capture session...*/
|
|
|
418 |
305:FrameMgr.c **** memset(currentLineBuffer,0x00,LENGTH_OF_LINE_BUFFER);
|
|
|
419 |
306:FrameMgr.c **** memset(previousLineBuffer,0x00,LENGTH_OF_LINE_BUFFER);
|
|
|
420 |
307:FrameMgr.c **** /* wait for another VSYNC so we know which frame to use
|
|
|
421 |
GAS LISTING /tmp/ccf43P2i.s page 8
|
|
|
422 |
|
|
|
423 |
|
|
|
424 |
308:FrameMgr.c **** to start looking for a line to receive */
|
|
|
425 |
309:FrameMgr.c **** WAIT_FOR_VSYNC_HIGH();
|
|
|
426 |
310:FrameMgr.c **** WAIT_FOR_VSYNC_LOW();
|
|
|
427 |
311:FrameMgr.c ****
|
|
|
428 |
312:FrameMgr.c **** /* look at lineCount to determine how many HREFs we should
|
|
|
429 |
313:FrameMgr.c **** wait before we start sampling */
|
|
|
430 |
314:FrameMgr.c **** while(tmpLineCount != 0)
|
|
|
431 |
315:FrameMgr.c **** {
|
|
|
432 |
316:FrameMgr.c **** WAIT_FOR_HREF_HIGH();
|
|
|
433 |
317:FrameMgr.c **** tmpLineCount--;
|
|
|
434 |
318:FrameMgr.c **** WAIT_FOR_HREF_LOW();
|
|
|
435 |
319:FrameMgr.c **** }
|
|
|
436 |
320:FrameMgr.c ****
|
|
|
437 |
321:FrameMgr.c **** /* we should now be ready to sample our line...*/
|
|
|
438 |
322:FrameMgr.c **** CamIntAsm_acquireDumpLine(currentLineBuffer,previousLineBuffer);
|
|
|
439 |
323:FrameMgr.c **** }
|
|
|
440 |
324:FrameMgr.c **** else if (currentState == ST_FrameMgr_TrackingFrame)
|
|
|
441 |
325:FrameMgr.c **** {
|
|
|
442 |
326:FrameMgr.c **** WAIT_FOR_HREF_LOW();
|
|
|
443 |
327:FrameMgr.c **** CamIntAsm_acquireTrackingLine(currentLineBuffer,colorMap);
|
|
|
444 |
328:FrameMgr.c **** }
|
|
|
445 |
329:FrameMgr.c **** }
|
|
|
446 |
330:FrameMgr.c ****
|
|
|
447 |
331:FrameMgr.c **** /***********************************************************
|
|
|
448 |
332:FrameMgr.c **** Function Name: FrameMgr_processLine
|
|
|
449 |
333:FrameMgr.c **** Function Description: This function is responsible for
|
|
|
450 |
334:FrameMgr.c **** parsing the received image line and performing either
|
|
|
451 |
335:FrameMgr.c **** connected region mapping (if in the Tracking state) or
|
|
|
452 |
336:FrameMgr.c **** sending out the raw sampled data (if in the Dumping
|
|
|
453 |
337:FrameMgr.c **** state).
|
|
|
454 |
338:FrameMgr.c **** Inputs: none
|
|
|
455 |
339:FrameMgr.c **** Outputs: none
|
|
|
456 |
340:FrameMgr.c **** ***********************************************************/
|
|
|
457 |
341:FrameMgr.c **** void FrameMgr_processLine(void)
|
|
|
458 |
342:FrameMgr.c **** {
|
|
|
459 |
343:FrameMgr.c **** unsigned char i;
|
|
|
460 |
344:FrameMgr.c **** volatile unsigned char dataToSend;
|
|
|
461 |
345:FrameMgr.c **** unsigned char *pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;
|
|
|
462 |
346:FrameMgr.c **** #ifdef DEBUG_TRACKED_LINE
|
|
|
463 |
347:FrameMgr.c **** unsigned char *pSendData;
|
|
|
464 |
348:FrameMgr.c **** unsigned char asciiBuffer[5];
|
|
|
465 |
349:FrameMgr.c **** unsigned char pixelCount = 0;
|
|
|
466 |
350:FrameMgr.c **** #endif
|
|
|
467 |
351:FrameMgr.c ****
|
|
|
468 |
352:FrameMgr.c **** if (currentState == ST_FrameMgr_DumpingFrame)
|
|
|
469 |
353:FrameMgr.c **** {
|
|
|
470 |
354:FrameMgr.c **** /* we want to sit in a tight loop and send the acquired data
|
|
|
471 |
355:FrameMgr.c **** sitting in current and previous line buffers out the serial
|
|
|
472 |
356:FrameMgr.c **** port...it is sent out the serial port immediately instead
|
|
|
473 |
357:FrameMgr.c **** of going into the UIMgr tx fifo because we can't do anything
|
|
|
474 |
358:FrameMgr.c **** until its sent out anyway...may as well just get it out now */
|
|
|
475 |
359:FrameMgr.c ****
|
|
|
476 |
360:FrameMgr.c **** /* currentLineBuffer is getting "g" previousLineBuffer is getting "b-r" */
|
|
|
477 |
361:FrameMgr.c **** UartInt_txByte(0x0B); /* send the header byte */
|
|
|
478 |
362:FrameMgr.c **** UartInt_txByte(lineCount); /* send the line count */
|
|
|
479 |
363:FrameMgr.c **** for (i=0; i<NUM_PIXELS_IN_A_DUMP_LINE; i+=2)
|
|
|
480 |
364:FrameMgr.c **** {
|
|
|
481 |
GAS LISTING /tmp/ccf43P2i.s page 9
|
|
|
482 |
|
|
|
483 |
|
|
|
484 |
365:FrameMgr.c **** /* when a dump line is sampled, the upper byte can potentially
|
|
|
485 |
366:FrameMgr.c **** have garbage in it...we don't have time to mask it off as we're
|
|
|
486 |
367:FrameMgr.c **** sampling, so it is done here before we send it out...we also
|
|
|
487 |
368:FrameMgr.c **** combine the samples together so we really are sending up a
|
|
|
488 |
369:FrameMgr.c **** sample for line N as well as line N+1 */
|
|
|
489 |
370:FrameMgr.c **** dataToSend = currentLineBuffer[i];
|
|
|
490 |
371:FrameMgr.c **** dataToSend &= 0x0F;
|
|
|
491 |
372:FrameMgr.c **** dataToSend <<= 4;
|
|
|
492 |
373:FrameMgr.c **** dataToSend |= (previousLineBuffer[i] & 0x0F);
|
|
|
493 |
374:FrameMgr.c ****
|
|
|
494 |
375:FrameMgr.c **** /* dataToSend should be packed now */
|
|
|
495 |
376:FrameMgr.c **** UartInt_txByte(dataToSend);
|
|
|
496 |
377:FrameMgr.c ****
|
|
|
497 |
378:FrameMgr.c **** /* flip the colors around since we are doing all G on Y and BR on UV */
|
|
|
498 |
379:FrameMgr.c **** dataToSend = previousLineBuffer[i+1];
|
|
|
499 |
380:FrameMgr.c **** dataToSend &= 0x0F;
|
|
|
500 |
381:FrameMgr.c **** dataToSend <<= 4;
|
|
|
501 |
382:FrameMgr.c **** dataToSend |= (currentLineBuffer[i+1] & 0x0F);
|
|
|
502 |
383:FrameMgr.c ****
|
|
|
503 |
384:FrameMgr.c **** /* dataToSend should be packed now */
|
|
|
504 |
385:FrameMgr.c **** UartInt_txByte(dataToSend);
|
|
|
505 |
386:FrameMgr.c **** }
|
|
|
506 |
387:FrameMgr.c **** UartInt_txByte(0x0F); /* send line end */
|
|
|
507 |
388:FrameMgr.c **** /* once all the data is sent, increment out line count by 2 since
|
|
|
508 |
389:FrameMgr.c **** we really get 2 lines worth of pixels on each pass */
|
|
|
509 |
390:FrameMgr.c **** /* Update...increment only by 1, but only send 72 double-lines */
|
|
|
510 |
391:FrameMgr.c **** lineCount++;
|
|
|
511 |
392:FrameMgr.c ****
|
|
|
512 |
393:FrameMgr.c **** /* check to see if we have retrieved all of the needed lines */
|
|
|
513 |
394:FrameMgr.c **** if (lineCount >= 72) /* half 144, since we send two lines at a time */
|
|
|
514 |
395:FrameMgr.c **** {
|
|
|
515 |
396:FrameMgr.c **** /* we're done, so send the dump complete?...nope, just change
|
|
|
516 |
397:FrameMgr.c **** states and we should be fine */
|
|
|
517 |
398:FrameMgr.c **** lineCount = 0;
|
|
|
518 |
399:FrameMgr.c **** currentState = ST_FrameMgr_idle;
|
|
|
519 |
400:FrameMgr.c ****
|
|
|
520 |
401:FrameMgr.c **** /* disable the PCLK counting overflow interrupt */
|
|
|
521 |
402:FrameMgr.c **** TIMSK &= DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK;
|
|
|
522 |
403:FrameMgr.c ****
|
|
|
523 |
404:FrameMgr.c **** CamConfig_setCamReg(0x11,0x00); /* reset the frame rate to normal*/
|
|
|
524 |
405:FrameMgr.c **** CamConfig_sendFifoCmds();
|
|
|
525 |
406:FrameMgr.c **** }
|
|
|
526 |
407:FrameMgr.c **** else
|
|
|
527 |
408:FrameMgr.c **** {
|
|
|
528 |
409:FrameMgr.c **** /* we have more lines to acquire in this frame, so keep on truckin...*/
|
|
|
529 |
410:FrameMgr.c **** PUBLISH_FAST_EVENT(FEV_PROCESS_LINE_COMPLETE);
|
|
|
530 |
411:FrameMgr.c **** }
|
|
|
531 |
412:FrameMgr.c **** }
|
|
|
532 |
413:FrameMgr.c **** else if (currentState == ST_FrameMgr_TrackingFrame)
|
|
|
533 |
414:FrameMgr.c **** {
|
|
|
534 |
415:FrameMgr.c **** #ifdef DEBUG_TRACKED_LINE
|
|
|
535 |
416:FrameMgr.c **** /* send the received line over serial...this should only send
|
|
|
536 |
417:FrameMgr.c **** until a pixelCount == 176 */
|
|
|
537 |
418:FrameMgr.c **** pSendData = currentLineBuffer;
|
|
|
538 |
419:FrameMgr.c **** itoa(trackedLineCount,asciiBuffer,10);
|
|
|
539 |
420:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3);
|
|
|
540 |
421:FrameMgr.c **** UIMgr_txBuffer(" ",1);
|
|
|
541 |
GAS LISTING /tmp/ccf43P2i.s page 10
|
|
|
542 |
|
|
|
543 |
|
|
|
544 |
422:FrameMgr.c **** while(pixelCount < ACTUAL_NUM_PIXELS_IN_A_LINE)
|
|
|
545 |
423:FrameMgr.c **** {
|
|
|
546 |
424:FrameMgr.c **** memset(asciiBuffer,0x00,5);
|
|
|
547 |
425:FrameMgr.c **** itoa(*pSendData++,asciiBuffer,10); /* color is first byte */
|
|
|
548 |
426:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3); /* 3 ascii bytes for data */
|
|
|
549 |
427:FrameMgr.c **** UIMgr_txBuffer(" ",1);
|
|
|
550 |
428:FrameMgr.c ****
|
|
|
551 |
429:FrameMgr.c **** pixelCount += *pSendData; /* run-length is second byte */
|
|
|
552 |
430:FrameMgr.c **** memset(asciiBuffer,0x00,5);
|
|
|
553 |
431:FrameMgr.c **** itoa(*pSendData++,asciiBuffer,10);
|
|
|
554 |
432:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3);
|
|
|
555 |
433:FrameMgr.c **** UIMgr_txBuffer(" ",1);
|
|
|
556 |
434:FrameMgr.c **** }
|
|
|
557 |
435:FrameMgr.c **** UIMgr_txBuffer("\n\r",2);
|
|
|
558 |
436:FrameMgr.c ****
|
|
|
559 |
437:FrameMgr.c **** trackedLineCount++;
|
|
|
560 |
438:FrameMgr.c **** if (trackedLineCount == 144)
|
|
|
561 |
439:FrameMgr.c **** {
|
|
|
562 |
440:FrameMgr.c **** UIMgr_txBuffer(" FC \n\r",8);
|
|
|
563 |
441:FrameMgr.c **** trackedLineCount = 0;
|
|
|
564 |
442:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);
|
|
|
565 |
443:FrameMgr.c **** }
|
|
|
566 |
444:FrameMgr.c **** else
|
|
|
567 |
445:FrameMgr.c **** {
|
|
|
568 |
446:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_LINE_COMPLETE);
|
|
|
569 |
447:FrameMgr.c **** }
|
|
|
570 |
448:FrameMgr.c **** #else
|
|
|
571 |
449:FrameMgr.c **** /* determine if any of the RLE blocks overlap */
|
|
|
572 |
450:FrameMgr.c **** FrameMgr_findConnectedness();
|
|
|
573 |
451:FrameMgr.c ****
|
|
|
574 |
452:FrameMgr.c **** /* we also want to remove any objects that are less than
|
|
|
575 |
453:FrameMgr.c **** a minimum height...we already removed portions of the
|
|
|
576 |
454:FrameMgr.c **** run-length that are less than MIN_PIXEL_WIDTH in the
|
|
|
577 |
455:FrameMgr.c **** findConnectedness() routine...doing it here instead of
|
|
|
578 |
456:FrameMgr.c **** a function to speed things up...this may end up slowing down the
|
|
|
579 |
457:FrameMgr.c **** frame rate slightly, and can be removed if this isn't needed */
|
|
|
580 |
458:FrameMgr.c ****
|
|
|
581 |
459:FrameMgr.c **** /* run this routine once every 8 lines */
|
|
|
582 |
460:FrameMgr.c **** if ( (trackedLineCount & RUN_OBJECT_FILTER_MASK) == RUN_OBJECT_FILTER_MASK)
|
|
|
583 |
461:FrameMgr.c **** {
|
|
|
584 |
462:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)
|
|
|
585 |
463:FrameMgr.c **** {
|
|
|
586 |
464:FrameMgr.c **** if ( *(pTrackedObjectData + VALID_OBJECT_OFFSET) == TRUE)
|
|
|
587 |
465:FrameMgr.c **** {
|
|
|
588 |
466:FrameMgr.c **** /* check to see if the object is already in
|
|
|
589 |
467:FrameMgr.c **** our past...i.e., its last */
|
|
|
590 |
468:FrameMgr.c **** if ( (*(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) -
|
|
|
591 |
469:FrameMgr.c **** *(pTrackedObjectData + Y_UPPER_LEFT_OFFSET)) < MIN_OBJECT_TRACKING_HEIGHT
|
|
|
592 |
470:FrameMgr.c **** {
|
|
|
593 |
471:FrameMgr.c **** /* the object is less than the minimum height...see if it is adjacent
|
|
|
594 |
472:FrameMgr.c **** to the current line we just processed...if so, leave it here...otherwise,
|
|
|
595 |
473:FrameMgr.c **** it needs to be invalidated since its too small */
|
|
|
596 |
474:FrameMgr.c **** if ( trackedLineCount - *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) > 2)
|
|
|
597 |
475:FrameMgr.c **** {
|
|
|
598 |
476:FrameMgr.c **** /* invalidate the object */
|
|
|
599 |
477:FrameMgr.c **** *(pTrackedObjectData + VALID_OBJECT_OFFSET) = FALSE;
|
|
|
600 |
478:FrameMgr.c **** numCurrTrackedObjects--;
|
|
|
601 |
GAS LISTING /tmp/ccf43P2i.s page 11
|
|
|
602 |
|
|
|
603 |
|
|
|
604 |
479:FrameMgr.c **** }
|
|
|
605 |
480:FrameMgr.c **** }
|
|
|
606 |
481:FrameMgr.c **** }
|
|
|
607 |
482:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;
|
|
|
608 |
483:FrameMgr.c **** }
|
|
|
609 |
484:FrameMgr.c **** }
|
|
|
610 |
485:FrameMgr.c ****
|
|
|
611 |
486:FrameMgr.c **** trackedLineCount++;
|
|
|
612 |
487:FrameMgr.c **** if (trackedLineCount == ACTUAL_NUM_LINES_IN_A_FRAME)
|
|
|
613 |
488:FrameMgr.c **** {
|
|
|
614 |
489:FrameMgr.c **** /* an entire frame of tracking data has been acquired, so
|
|
|
615 |
490:FrameMgr.c **** publish an event letting the system know this fact */
|
|
|
616 |
491:FrameMgr.c **** PUBLISH_EVENT(EV_ACQUIRE_FRAME_COMPLETE);
|
|
|
617 |
492:FrameMgr.c **** /* disable the PCLK counting overflow interrupt */
|
|
|
618 |
493:FrameMgr.c **** TIMSK &= DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK;
|
|
|
619 |
494:FrameMgr.c **** trackedLineCount = 0;
|
|
|
620 |
495:FrameMgr.c **** }
|
|
|
621 |
496:FrameMgr.c **** else
|
|
|
622 |
497:FrameMgr.c **** {
|
|
|
623 |
498:FrameMgr.c **** PUBLISH_FAST_EVENT(FEV_PROCESS_LINE_COMPLETE);
|
|
|
624 |
499:FrameMgr.c **** }
|
|
|
625 |
500:FrameMgr.c **** #endif
|
|
|
626 |
501:FrameMgr.c **** }
|
|
|
627 |
502:FrameMgr.c **** else
|
|
|
628 |
503:FrameMgr.c **** {
|
|
|
629 |
504:FrameMgr.c **** /* ...and here? */
|
|
|
630 |
505:FrameMgr.c **** }
|
|
|
631 |
506:FrameMgr.c **** }
|
|
|
632 |
507:FrameMgr.c ****
|
|
|
633 |
508:FrameMgr.c **** /***********************************************************
|
|
|
634 |
509:FrameMgr.c **** Function Name: FrameMgr_processFrame
|
|
|
635 |
510:FrameMgr.c **** Function Description: This function is responsible for
|
|
|
636 |
511:FrameMgr.c **** parsing the completed frame and performing all actions
|
|
|
637 |
512:FrameMgr.c **** needed at this level.
|
|
|
638 |
513:FrameMgr.c **** Inputs: none
|
|
|
639 |
514:FrameMgr.c **** Outputs: none
|
|
|
640 |
515:FrameMgr.c **** ***********************************************************/
|
|
|
641 |
516:FrameMgr.c **** void FrameMgr_processFrame(void)
|
|
|
642 |
517:FrameMgr.c **** {
|
|
|
643 |
93 .stabn 68,0,517,.LM0-FrameMgr_processFrame
|
|
|
644 |
94 .LM0:
|
|
|
645 |
95 /* prologue: frame size=0 */
|
|
|
646 |
96 0000 DF92 push r13
|
|
|
647 |
97 0002 EF92 push r14
|
|
|
648 |
98 0004 FF92 push r15
|
|
|
649 |
99 0006 0F93 push r16
|
|
|
650 |
100 0008 1F93 push r17
|
|
|
651 |
101 000a CF93 push r28
|
|
|
652 |
102 000c DF93 push r29
|
|
|
653 |
103 /* prologue end (size=7) */
|
|
|
654 |
518:FrameMgr.c **** unsigned char i,k,color;
|
|
|
655 |
519:FrameMgr.c **** #if DEBUG_FRAME_DATA
|
|
|
656 |
520:FrameMgr.c **** unsigned char asciiBuffer[5];
|
|
|
657 |
521:FrameMgr.c **** unsigned char j;
|
|
|
658 |
522:FrameMgr.c **** #endif
|
|
|
659 |
523:FrameMgr.c **** unsigned char *pTableData = (unsigned char *)pCurrentTrackedObjectTable;
|
|
|
660 |
104 .stabn 68,0,523,.LM1-FrameMgr_processFrame
|
|
|
661 |
GAS LISTING /tmp/ccf43P2i.s page 12
|
|
|
662 |
|
|
|
663 |
|
|
|
664 |
105 .LM1:
|
|
|
665 |
106 000e 2091 0000 lds r18,pCurrentTrackedObjectTable
|
|
|
666 |
107 0012 3091 0000 lds r19,(pCurrentTrackedObjectTable)+1
|
|
|
667 |
524:FrameMgr.c **** unsigned char tmpUpperLeftX,tmpUpperLeftY,tmpLowerRightX,tmpLowerRightY;
|
|
|
668 |
525:FrameMgr.c ****
|
|
|
669 |
526:FrameMgr.c **** #if DEBUG_FRAME_DATA
|
|
|
670 |
527:FrameMgr.c **** /* we want to send all of the currently tracked table out
|
|
|
671 |
528:FrameMgr.c **** the serial port for debugging */
|
|
|
672 |
529:FrameMgr.c **** for (i=0; i<numCurrTrackedObjects; i++)
|
|
|
673 |
530:FrameMgr.c **** {
|
|
|
674 |
531:FrameMgr.c **** UIMgr_txBuffer("----------\r\n",12);
|
|
|
675 |
532:FrameMgr.c **** for (j=0; j<SIZE_OF_TRACKED_OBJECT; j++)
|
|
|
676 |
533:FrameMgr.c **** {
|
|
|
677 |
534:FrameMgr.c **** memset(asciiBuffer,0x00,5);
|
|
|
678 |
535:FrameMgr.c **** itoa(*pTableData++,asciiBuffer,10);
|
|
|
679 |
536:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3); /* 3 ascii bytes for data
|
|
|
680 |
537:FrameMgr.c **** + 1 space */
|
|
|
681 |
538:FrameMgr.c **** UIMgr_txBuffer("\r\n",2);
|
|
|
682 |
539:FrameMgr.c **** }
|
|
|
683 |
540:FrameMgr.c **** }
|
|
|
684 |
541:FrameMgr.c ****
|
|
|
685 |
542:FrameMgr.c **** /* finally, send a new line */
|
|
|
686 |
543:FrameMgr.c **** UIMgr_txBuffer("\r\n",2);
|
|
|
687 |
544:FrameMgr.c ****
|
|
|
688 |
545:FrameMgr.c **** memset(asciiBuffer,0x00,5);
|
|
|
689 |
546:FrameMgr.c **** itoa(numCurrTrackedObjects,asciiBuffer,10);
|
|
|
690 |
547:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3);
|
|
|
691 |
548:FrameMgr.c **** UIMgr_txBuffer(" PFC\r\n",5);
|
|
|
692 |
549:FrameMgr.c ****
|
|
|
693 |
550:FrameMgr.c **** #else
|
|
|
694 |
551:FrameMgr.c **** /* we only send tracking packets if there are tracked objects */
|
|
|
695 |
552:FrameMgr.c ****
|
|
|
696 |
553:FrameMgr.c **** if (numCurrTrackedObjects > 0)
|
|
|
697 |
108 .stabn 68,0,553,.LM2-FrameMgr_processFrame
|
|
|
698 |
109 .LM2:
|
|
|
699 |
110 0016 8091 0000 lds r24,numCurrTrackedObjects
|
|
|
700 |
111 001a 8823 tst r24
|
|
|
701 |
112 001c 09F4 brne .+2
|
|
|
702 |
113 001e 3FC0 rjmp .L2
|
|
|
703 |
114 .stabn 68,0,523,.LM3-FrameMgr_processFrame
|
|
|
704 |
115 .LM3:
|
|
|
705 |
116 0020 E901 movw r28,r18
|
|
|
706 |
554:FrameMgr.c **** {
|
|
|
707 |
555:FrameMgr.c **** UIMgr_writeTxFifo(0x0A); /* header byte for a tracking packet */
|
|
|
708 |
117 .stabn 68,0,555,.LM4-FrameMgr_processFrame
|
|
|
709 |
118 .LM4:
|
|
|
710 |
119 0022 8AE0 ldi r24,lo8(10)
|
|
|
711 |
120 0024 00D0 rcall UIMgr_writeTxFifo
|
|
|
712 |
556:FrameMgr.c **** /* reset the pointer */
|
|
|
713 |
557:FrameMgr.c **** pTableData = (unsigned char *)pCurrentTrackedObjectTable;
|
|
|
714 |
558:FrameMgr.c ****
|
|
|
715 |
559:FrameMgr.c **** UIMgr_writeTxFifo(numCurrTrackedObjects); /* num of objects tracked */
|
|
|
716 |
121 .stabn 68,0,559,.LM5-FrameMgr_processFrame
|
|
|
717 |
122 .LM5:
|
|
|
718 |
123 0026 8091 0000 lds r24,numCurrTrackedObjects
|
|
|
719 |
124 002a 00D0 rcall UIMgr_writeTxFifo
|
|
|
720 |
125 002c DD24 clr r13
|
|
|
721 |
GAS LISTING /tmp/ccf43P2i.s page 13
|
|
|
722 |
|
|
|
723 |
|
|
|
724 |
126 .L4:
|
|
|
725 |
560:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)
|
|
|
726 |
561:FrameMgr.c **** {
|
|
|
727 |
562:FrameMgr.c **** /* we only want to process objects that have their objectValid flag
|
|
|
728 |
563:FrameMgr.c **** set to TRUE */
|
|
|
729 |
564:FrameMgr.c **** if ( *(pTableData + VALID_OBJECT_OFFSET) == TRUE)
|
|
|
730 |
127 .stabn 68,0,564,.LM6-FrameMgr_processFrame
|
|
|
731 |
128 .LM6:
|
|
|
732 |
129 002e 8F81 ldd r24,Y+7
|
|
|
733 |
130 0030 8130 cpi r24,lo8(1)
|
|
|
734 |
131 0032 69F5 brne .L5
|
|
|
735 |
565:FrameMgr.c **** {
|
|
|
736 |
566:FrameMgr.c **** /* the object is valid...convert the color from bit position to value...remember,
|
|
|
737 |
567:FrameMgr.c **** each bit in the "color" byte corresponds to a color */
|
|
|
738 |
568:FrameMgr.c **** k=0;
|
|
|
739 |
569:FrameMgr.c **** color = *(pTableData + COLOR_OFFSET);
|
|
|
740 |
132 .stabn 68,0,569,.LM7-FrameMgr_processFrame
|
|
|
741 |
133 .LM7:
|
|
|
742 |
134 0034 8881 ld r24,Y
|
|
|
743 |
570:FrameMgr.c **** if (color == 128) k=0;
|
|
|
744 |
135 .stabn 68,0,570,.LM8-FrameMgr_processFrame
|
|
|
745 |
136 .LM8:
|
|
|
746 |
137 0036 8038 cpi r24,lo8(-128)
|
|
|
747 |
138 0038 E1F0 breq .L7
|
|
|
748 |
571:FrameMgr.c **** else if (color == 64) k=1;
|
|
|
749 |
139 .stabn 68,0,571,.LM9-FrameMgr_processFrame
|
|
|
750 |
140 .LM9:
|
|
|
751 |
141 003a 8034 cpi r24,lo8(64)
|
|
|
752 |
142 003c 11F4 brne .L9
|
|
|
753 |
143 003e 81E0 ldi r24,lo8(1)
|
|
|
754 |
144 0040 19C0 rjmp .L11
|
|
|
755 |
145 .L9:
|
|
|
756 |
572:FrameMgr.c **** else if (color == 32) k=2;
|
|
|
757 |
146 .stabn 68,0,572,.LM10-FrameMgr_processFrame
|
|
|
758 |
147 .LM10:
|
|
|
759 |
148 0042 8032 cpi r24,lo8(32)
|
|
|
760 |
149 0044 11F4 brne .L12
|
|
|
761 |
150 0046 82E0 ldi r24,lo8(2)
|
|
|
762 |
151 0048 15C0 rjmp .L11
|
|
|
763 |
152 .L12:
|
|
|
764 |
573:FrameMgr.c **** else if (color == 16) k=3;
|
|
|
765 |
153 .stabn 68,0,573,.LM11-FrameMgr_processFrame
|
|
|
766 |
154 .LM11:
|
|
|
767 |
155 004a 8031 cpi r24,lo8(16)
|
|
|
768 |
156 004c 11F4 brne .L14
|
|
|
769 |
157 004e 83E0 ldi r24,lo8(3)
|
|
|
770 |
158 0050 11C0 rjmp .L11
|
|
|
771 |
159 .L14:
|
|
|
772 |
574:FrameMgr.c **** else if (color == 8) k=4;
|
|
|
773 |
160 .stabn 68,0,574,.LM12-FrameMgr_processFrame
|
|
|
774 |
161 .LM12:
|
|
|
775 |
162 0052 8830 cpi r24,lo8(8)
|
|
|
776 |
163 0054 11F4 brne .L16
|
|
|
777 |
164 0056 84E0 ldi r24,lo8(4)
|
|
|
778 |
165 0058 0DC0 rjmp .L11
|
|
|
779 |
166 .L16:
|
|
|
780 |
575:FrameMgr.c **** else if (color == 4) k=5;
|
|
|
781 |
GAS LISTING /tmp/ccf43P2i.s page 14
|
|
|
782 |
|
|
|
783 |
|
|
|
784 |
167 .stabn 68,0,575,.LM13-FrameMgr_processFrame
|
|
|
785 |
168 .LM13:
|
|
|
786 |
169 005a 8430 cpi r24,lo8(4)
|
|
|
787 |
170 005c 11F4 brne .L18
|
|
|
788 |
171 005e 85E0 ldi r24,lo8(5)
|
|
|
789 |
172 0060 09C0 rjmp .L11
|
|
|
790 |
173 .L18:
|
|
|
791 |
576:FrameMgr.c **** else if (color == 2) k=6;
|
|
|
792 |
174 .stabn 68,0,576,.LM14-FrameMgr_processFrame
|
|
|
793 |
175 .LM14:
|
|
|
794 |
176 0062 8230 cpi r24,lo8(2)
|
|
|
795 |
177 0064 11F4 brne .L20
|
|
|
796 |
178 0066 86E0 ldi r24,lo8(6)
|
|
|
797 |
179 0068 05C0 rjmp .L11
|
|
|
798 |
180 .L20:
|
|
|
799 |
577:FrameMgr.c **** else if (color == 1) k=7;
|
|
|
800 |
181 .stabn 68,0,577,.LM15-FrameMgr_processFrame
|
|
|
801 |
182 .LM15:
|
|
|
802 |
183 006a 8130 cpi r24,lo8(1)
|
|
|
803 |
184 006c 11F4 brne .L7
|
|
|
804 |
185 006e 87E0 ldi r24,lo8(7)
|
|
|
805 |
186 0070 01C0 rjmp .L11
|
|
|
806 |
187 .L7:
|
|
|
807 |
188 0072 80E0 ldi r24,lo8(0)
|
|
|
808 |
189 .L11:
|
|
|
809 |
578:FrameMgr.c ****
|
|
|
810 |
579:FrameMgr.c **** tmpUpperLeftX = *(pTableData + X_UPPER_LEFT_OFFSET); /* get the upper left X */
|
|
|
811 |
190 .stabn 68,0,579,.LM16-FrameMgr_processFrame
|
|
|
812 |
191 .LM16:
|
|
|
813 |
192 0074 1B81 ldd r17,Y+3
|
|
|
814 |
580:FrameMgr.c **** tmpUpperLeftY = *(pTableData + Y_UPPER_LEFT_OFFSET); /* get the upper left Y */
|
|
|
815 |
193 .stabn 68,0,580,.LM17-FrameMgr_processFrame
|
|
|
816 |
194 .LM17:
|
|
|
817 |
195 0076 0C81 ldd r16,Y+4
|
|
|
818 |
581:FrameMgr.c **** tmpLowerRightX = *(pTableData + X_LOWER_RIGHT_OFFSET); /* get the lower right X */
|
|
|
819 |
196 .stabn 68,0,581,.LM18-FrameMgr_processFrame
|
|
|
820 |
197 .LM18:
|
|
|
821 |
198 0078 FD80 ldd r15,Y+5
|
|
|
822 |
582:FrameMgr.c **** tmpLowerRightY = *(pTableData + Y_LOWER_RIGHT_OFFSET); /* get the lower right Y */
|
|
|
823 |
199 .stabn 68,0,582,.LM19-FrameMgr_processFrame
|
|
|
824 |
200 .LM19:
|
|
|
825 |
201 007a EE80 ldd r14,Y+6
|
|
|
826 |
583:FrameMgr.c ****
|
|
|
827 |
584:FrameMgr.c **** UIMgr_writeTxFifo(k); /* send the color first */
|
|
|
828 |
202 .stabn 68,0,584,.LM20-FrameMgr_processFrame
|
|
|
829 |
203 .LM20:
|
|
|
830 |
204 007c 00D0 rcall UIMgr_writeTxFifo
|
|
|
831 |
585:FrameMgr.c **** UIMgr_writeTxFifo(tmpUpperLeftX);
|
|
|
832 |
205 .stabn 68,0,585,.LM21-FrameMgr_processFrame
|
|
|
833 |
206 .LM21:
|
|
|
834 |
207 007e 812F mov r24,r17
|
|
|
835 |
208 0080 00D0 rcall UIMgr_writeTxFifo
|
|
|
836 |
586:FrameMgr.c **** UIMgr_writeTxFifo(tmpUpperLeftY);
|
|
|
837 |
209 .stabn 68,0,586,.LM22-FrameMgr_processFrame
|
|
|
838 |
210 .LM22:
|
|
|
839 |
211 0082 802F mov r24,r16
|
|
|
840 |
212 0084 00D0 rcall UIMgr_writeTxFifo
|
|
|
841 |
GAS LISTING /tmp/ccf43P2i.s page 15
|
|
|
842 |
|
|
|
843 |
|
|
|
844 |
587:FrameMgr.c **** UIMgr_writeTxFifo(tmpLowerRightX);
|
|
|
845 |
213 .stabn 68,0,587,.LM23-FrameMgr_processFrame
|
|
|
846 |
214 .LM23:
|
|
|
847 |
215 0086 8F2D mov r24,r15
|
|
|
848 |
216 0088 00D0 rcall UIMgr_writeTxFifo
|
|
|
849 |
588:FrameMgr.c **** UIMgr_writeTxFifo(tmpLowerRightY);
|
|
|
850 |
217 .stabn 68,0,588,.LM24-FrameMgr_processFrame
|
|
|
851 |
218 .LM24:
|
|
|
852 |
219 008a 8E2D mov r24,r14
|
|
|
853 |
220 008c 00D0 rcall UIMgr_writeTxFifo
|
|
|
854 |
221 .L5:
|
|
|
855 |
222 .stabn 68,0,560,.LM25-FrameMgr_processFrame
|
|
|
856 |
223 .LM25:
|
|
|
857 |
224 008e D394 inc r13
|
|
|
858 |
225 0090 88E0 ldi r24,lo8(8)
|
|
|
859 |
226 0092 D816 cp r13,r24
|
|
|
860 |
227 0094 11F0 breq .L23
|
|
|
861 |
589:FrameMgr.c **** }
|
|
|
862 |
590:FrameMgr.c ****
|
|
|
863 |
591:FrameMgr.c **** /* move our pointer up to the beginning of the next object */
|
|
|
864 |
592:FrameMgr.c **** pTableData += SIZE_OF_TRACKED_OBJECT;
|
|
|
865 |
228 .stabn 68,0,592,.LM26-FrameMgr_processFrame
|
|
|
866 |
229 .LM26:
|
|
|
867 |
230 0096 2896 adiw r28,8
|
|
|
868 |
231 0098 CACF rjmp .L4
|
|
|
869 |
232 .L23:
|
|
|
870 |
593:FrameMgr.c **** }
|
|
|
871 |
594:FrameMgr.c ****
|
|
|
872 |
595:FrameMgr.c **** /* all done...send the end of tracking packets char */
|
|
|
873 |
596:FrameMgr.c **** UIMgr_writeTxFifo(0xFF);
|
|
|
874 |
233 .stabn 68,0,596,.LM27-FrameMgr_processFrame
|
|
|
875 |
234 .LM27:
|
|
|
876 |
235 009a 8FEF ldi r24,lo8(-1)
|
|
|
877 |
236 009c 00D0 rcall UIMgr_writeTxFifo
|
|
|
878 |
237 .L2:
|
|
|
879 |
597:FrameMgr.c **** }
|
|
|
880 |
598:FrameMgr.c **** #endif
|
|
|
881 |
599:FrameMgr.c ****
|
|
|
882 |
600:FrameMgr.c **** /* the tracked object table will be cleared out right before we start
|
|
|
883 |
601:FrameMgr.c **** to wait for VSYNC to indicate a new frame...so it doesn't need to be
|
|
|
884 |
602:FrameMgr.c **** done now */
|
|
|
885 |
603:FrameMgr.c ****
|
|
|
886 |
604:FrameMgr.c **** /* schedule the next action to acquire a new frame */
|
|
|
887 |
605:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);
|
|
|
888 |
238 .stabn 68,0,605,.LM28-FrameMgr_processFrame
|
|
|
889 |
239 .LM28:
|
|
|
890 |
240 009e 84E0 ldi r24,lo8(4)
|
|
|
891 |
241 00a0 00D0 rcall Exec_writeEventFifo
|
|
|
892 |
242 /* epilogue: frame size=0 */
|
|
|
893 |
243 00a2 DF91 pop r29
|
|
|
894 |
244 00a4 CF91 pop r28
|
|
|
895 |
245 00a6 1F91 pop r17
|
|
|
896 |
246 00a8 0F91 pop r16
|
|
|
897 |
247 00aa FF90 pop r15
|
|
|
898 |
248 00ac EF90 pop r14
|
|
|
899 |
249 00ae DF90 pop r13
|
|
|
900 |
250 00b0 0895 ret
|
|
|
901 |
GAS LISTING /tmp/ccf43P2i.s page 16
|
|
|
902 |
|
|
|
903 |
|
|
|
904 |
251 /* epilogue end (size=8) */
|
|
|
905 |
252 /* function FrameMgr_processFrame size 88 (73) */
|
|
|
906 |
253 .size FrameMgr_processFrame, .-FrameMgr_processFrame
|
|
|
907 |
254 .stabs "i:r(0,11)",64,0,518,13
|
|
|
908 |
255 .stabs "k:r(0,11)",64,0,518,24
|
|
|
909 |
256 .stabs "color:r(0,11)",64,0,518,24
|
|
|
910 |
257 .stabs "pTableData:r(0,22)=*(0,11)",64,0,523,28
|
|
|
911 |
258 .stabs "tmpUpperLeftX:r(0,11)",64,0,524,17
|
|
|
912 |
259 .stabs "tmpUpperLeftY:r(0,11)",64,0,524,16
|
|
|
913 |
260 .stabs "tmpLowerRightX:r(0,11)",64,0,524,15
|
|
|
914 |
261 .stabs "tmpLowerRightY:r(0,11)",64,0,524,14
|
|
|
915 |
262 .stabn 192,0,0,FrameMgr_processFrame-FrameMgr_processFrame
|
|
|
916 |
263 .stabn 224,0,0,.Lscope0-FrameMgr_processFrame
|
|
|
917 |
264 .Lscope0:
|
|
|
918 |
265 .stabs "",36,0,0,.Lscope0-FrameMgr_processFrame
|
|
|
919 |
266 .stabd 78,0,0
|
|
|
920 |
267 .stabs "FrameMgr_processLine:F(0,15)",36,0,342,FrameMgr_processLine
|
|
|
921 |
268 .global FrameMgr_processLine
|
|
|
922 |
269 .type FrameMgr_processLine, @function
|
|
|
923 |
270 FrameMgr_processLine:
|
|
|
924 |
271 .stabd 46,0,0
|
|
|
925 |
272 .stabn 68,0,342,.LM29-FrameMgr_processLine
|
|
|
926 |
273 .LM29:
|
|
|
927 |
274 /* prologue: frame size=1 */
|
|
|
928 |
275 00b2 2F92 push r2
|
|
|
929 |
276 00b4 3F92 push r3
|
|
|
930 |
277 00b6 4F92 push r4
|
|
|
931 |
278 00b8 5F92 push r5
|
|
|
932 |
279 00ba 6F92 push r6
|
|
|
933 |
280 00bc 7F92 push r7
|
|
|
934 |
281 00be 8F92 push r8
|
|
|
935 |
282 00c0 9F92 push r9
|
|
|
936 |
283 00c2 AF92 push r10
|
|
|
937 |
284 00c4 BF92 push r11
|
|
|
938 |
285 00c6 CF92 push r12
|
|
|
939 |
286 00c8 DF92 push r13
|
|
|
940 |
287 00ca EF92 push r14
|
|
|
941 |
288 00cc FF92 push r15
|
|
|
942 |
289 00ce 0F93 push r16
|
|
|
943 |
290 00d0 1F93 push r17
|
|
|
944 |
291 00d2 CF93 push r28
|
|
|
945 |
292 00d4 DF93 push r29
|
|
|
946 |
293 00d6 CDB7 in r28,__SP_L__
|
|
|
947 |
294 00d8 DEB7 in r29,__SP_H__
|
|
|
948 |
295 00da 2197 sbiw r28,1
|
|
|
949 |
296 00dc 0FB6 in __tmp_reg__,__SREG__
|
|
|
950 |
297 00de F894 cli
|
|
|
951 |
298 00e0 DEBF out __SP_H__,r29
|
|
|
952 |
299 00e2 0FBE out __SREG__,__tmp_reg__
|
|
|
953 |
300 00e4 CDBF out __SP_L__,r28
|
|
|
954 |
301 /* prologue end (size=26) */
|
|
|
955 |
302 .stabn 68,0,345,.LM30-FrameMgr_processLine
|
|
|
956 |
303 .LM30:
|
|
|
957 |
304 00e6 0091 0000 lds r16,pCurrentTrackedObjectTable
|
|
|
958 |
305 00ea 1091 0000 lds r17,(pCurrentTrackedObjectTable)+1
|
|
|
959 |
306 .stabn 68,0,352,.LM31-FrameMgr_processLine
|
|
|
960 |
307 .LM31:
|
|
|
961 |
GAS LISTING /tmp/ccf43P2i.s page 17
|
|
|
962 |
|
|
|
963 |
|
|
|
964 |
308 00ee 8091 0000 lds r24,currentState
|
|
|
965 |
309 00f2 8230 cpi r24,lo8(2)
|
|
|
966 |
310 00f4 09F0 breq .+2
|
|
|
967 |
311 00f6 6AC0 rjmp .L27
|
|
|
968 |
312 .stabn 68,0,361,.LM32-FrameMgr_processLine
|
|
|
969 |
313 .LM32:
|
|
|
970 |
314 00f8 8BE0 ldi r24,lo8(11)
|
|
|
971 |
315 00fa 00D0 rcall UartInt_txByte
|
|
|
972 |
316 .stabn 68,0,362,.LM33-FrameMgr_processLine
|
|
|
973 |
317 .LM33:
|
|
|
974 |
318 00fc 8091 0000 lds r24,lineCount
|
|
|
975 |
319 0100 00D0 rcall UartInt_txByte
|
|
|
976 |
320 0102 0F2E mov __tmp_reg__,r31
|
|
|
977 |
321 0104 F0E0 ldi r31,lo8(currentLineBuffer)
|
|
|
978 |
322 0106 CF2E mov r12,r31
|
|
|
979 |
323 0108 F0E0 ldi r31,hi8(currentLineBuffer)
|
|
|
980 |
324 010a DF2E mov r13,r31
|
|
|
981 |
325 010c F02D mov r31,__tmp_reg__
|
|
|
982 |
326 010e 00E0 ldi r16,lo8(0)
|
|
|
983 |
327 0110 10E0 ldi r17,hi8(0)
|
|
|
984 |
328 0112 0F2E mov __tmp_reg__,r31
|
|
|
985 |
329 0114 F0E0 ldi r31,lo8(previousLineBuffer)
|
|
|
986 |
330 0116 EF2E mov r14,r31
|
|
|
987 |
331 0118 F0E0 ldi r31,hi8(previousLineBuffer)
|
|
|
988 |
332 011a FF2E mov r15,r31
|
|
|
989 |
333 011c F02D mov r31,__tmp_reg__
|
|
|
990 |
334 .L29:
|
|
|
991 |
335 .stabn 68,0,370,.LM34-FrameMgr_processLine
|
|
|
992 |
336 .LM34:
|
|
|
993 |
337 011e F601 movw r30,r12
|
|
|
994 |
338 0120 8081 ld r24,Z
|
|
|
995 |
339 0122 8983 std Y+1,r24
|
|
|
996 |
340 .stabn 68,0,371,.LM35-FrameMgr_processLine
|
|
|
997 |
341 .LM35:
|
|
|
998 |
342 0124 8981 ldd r24,Y+1
|
|
|
999 |
343 0126 8F70 andi r24,lo8(15)
|
|
|
1000 |
344 0128 8983 std Y+1,r24
|
|
|
1001 |
345 .stabn 68,0,372,.LM36-FrameMgr_processLine
|
|
|
1002 |
346 .LM36:
|
|
|
1003 |
347 012a 8981 ldd r24,Y+1
|
|
|
1004 |
348 012c 8295 swap r24
|
|
|
1005 |
349 012e 807F andi r24,0xf0
|
|
|
1006 |
350 0130 8983 std Y+1,r24
|
|
|
1007 |
351 .stabn 68,0,373,.LM37-FrameMgr_processLine
|
|
|
1008 |
352 .LM37:
|
|
|
1009 |
353 0132 9981 ldd r25,Y+1
|
|
|
1010 |
354 0134 F701 movw r30,r14
|
|
|
1011 |
355 0136 8081 ld r24,Z
|
|
|
1012 |
356 0138 8F70 andi r24,lo8(15)
|
|
|
1013 |
357 013a 892B or r24,r25
|
|
|
1014 |
358 013c 8983 std Y+1,r24
|
|
|
1015 |
359 .stabn 68,0,376,.LM38-FrameMgr_processLine
|
|
|
1016 |
360 .LM38:
|
|
|
1017 |
361 013e 8981 ldd r24,Y+1
|
|
|
1018 |
362 0140 00D0 rcall UartInt_txByte
|
|
|
1019 |
363 .stabn 68,0,379,.LM39-FrameMgr_processLine
|
|
|
1020 |
364 .LM39:
|
|
|
1021 |
GAS LISTING /tmp/ccf43P2i.s page 18
|
|
|
1022 |
|
|
|
1023 |
|
|
|
1024 |
365 0142 D801 movw r26,r16
|
|
|
1025 |
366 0144 1196 adiw r26,1
|
|
|
1026 |
367 0146 FD01 movw r30,r26
|
|
|
1027 |
368 0148 E050 subi r30,lo8(-(previousLineBuffer))
|
|
|
1028 |
369 014a F040 sbci r31,hi8(-(previousLineBuffer))
|
|
|
1029 |
370 014c 8081 ld r24,Z
|
|
|
1030 |
371 014e 8983 std Y+1,r24
|
|
|
1031 |
372 .stabn 68,0,380,.LM40-FrameMgr_processLine
|
|
|
1032 |
373 .LM40:
|
|
|
1033 |
374 0150 8981 ldd r24,Y+1
|
|
|
1034 |
375 0152 8F70 andi r24,lo8(15)
|
|
|
1035 |
376 0154 8983 std Y+1,r24
|
|
|
1036 |
377 .stabn 68,0,381,.LM41-FrameMgr_processLine
|
|
|
1037 |
378 .LM41:
|
|
|
1038 |
379 0156 8981 ldd r24,Y+1
|
|
|
1039 |
380 0158 8295 swap r24
|
|
|
1040 |
381 015a 807F andi r24,0xf0
|
|
|
1041 |
382 015c 8983 std Y+1,r24
|
|
|
1042 |
383 .stabn 68,0,382,.LM42-FrameMgr_processLine
|
|
|
1043 |
384 .LM42:
|
|
|
1044 |
385 015e 9981 ldd r25,Y+1
|
|
|
1045 |
386 0160 A050 subi r26,lo8(-(currentLineBuffer))
|
|
|
1046 |
387 0162 B040 sbci r27,hi8(-(currentLineBuffer))
|
|
|
1047 |
388 0164 8C91 ld r24,X
|
|
|
1048 |
389 0166 8F70 andi r24,lo8(15)
|
|
|
1049 |
390 0168 892B or r24,r25
|
|
|
1050 |
391 016a 8983 std Y+1,r24
|
|
|
1051 |
392 .stabn 68,0,385,.LM43-FrameMgr_processLine
|
|
|
1052 |
393 .LM43:
|
|
|
1053 |
394 016c 8981 ldd r24,Y+1
|
|
|
1054 |
395 016e 00D0 rcall UartInt_txByte
|
|
|
1055 |
396 0170 82E0 ldi r24,lo8(2)
|
|
|
1056 |
397 0172 90E0 ldi r25,hi8(2)
|
|
|
1057 |
398 0174 C80E add r12,r24
|
|
|
1058 |
399 0176 D91E adc r13,r25
|
|
|
1059 |
400 0178 0E5F subi r16,lo8(-(2))
|
|
|
1060 |
401 017a 1F4F sbci r17,hi8(-(2))
|
|
|
1061 |
402 017c E80E add r14,r24
|
|
|
1062 |
403 017e F91E adc r15,r25
|
|
|
1063 |
404 .stabn 68,0,363,.LM44-FrameMgr_processLine
|
|
|
1064 |
405 .LM44:
|
|
|
1065 |
406 0180 003B cpi r16,176
|
|
|
1066 |
407 0182 1105 cpc r17,__zero_reg__
|
|
|
1067 |
408 0184 61F6 brne .L29
|
|
|
1068 |
409 .stabn 68,0,387,.LM45-FrameMgr_processLine
|
|
|
1069 |
410 .LM45:
|
|
|
1070 |
411 0186 8FE0 ldi r24,lo8(15)
|
|
|
1071 |
412 0188 00D0 rcall UartInt_txByte
|
|
|
1072 |
413 .stabn 68,0,391,.LM46-FrameMgr_processLine
|
|
|
1073 |
414 .LM46:
|
|
|
1074 |
415 018a 8091 0000 lds r24,lineCount
|
|
|
1075 |
416 018e 8F5F subi r24,lo8(-(1))
|
|
|
1076 |
417 0190 8093 0000 sts lineCount,r24
|
|
|
1077 |
418 .stabn 68,0,394,.LM47-FrameMgr_processLine
|
|
|
1078 |
419 .LM47:
|
|
|
1079 |
420 0194 8834 cpi r24,lo8(72)
|
|
|
1080 |
421 0196 60F0 brlo .L31
|
|
|
1081 |
GAS LISTING /tmp/ccf43P2i.s page 19
|
|
|
1082 |
|
|
|
1083 |
|
|
|
1084 |
422 .stabn 68,0,398,.LM48-FrameMgr_processLine
|
|
|
1085 |
423 .LM48:
|
|
|
1086 |
424 0198 1092 0000 sts lineCount,__zero_reg__
|
|
|
1087 |
425 .stabn 68,0,399,.LM49-FrameMgr_processLine
|
|
|
1088 |
426 .LM49:
|
|
|
1089 |
427 019c 1092 0000 sts currentState,__zero_reg__
|
|
|
1090 |
428 .stabn 68,0,402,.LM50-FrameMgr_processLine
|
|
|
1091 |
429 .LM50:
|
|
|
1092 |
430 01a0 89B7 in r24,89-0x20
|
|
|
1093 |
431 01a2 8B7F andi r24,lo8(-5)
|
|
|
1094 |
432 01a4 89BF out 89-0x20,r24
|
|
|
1095 |
433 .stabn 68,0,404,.LM51-FrameMgr_processLine
|
|
|
1096 |
434 .LM51:
|
|
|
1097 |
435 01a6 60E0 ldi r22,lo8(0)
|
|
|
1098 |
436 01a8 81E1 ldi r24,lo8(17)
|
|
|
1099 |
437 01aa 00D0 rcall CamConfig_setCamReg
|
|
|
1100 |
438 .stabn 68,0,405,.LM52-FrameMgr_processLine
|
|
|
1101 |
439 .LM52:
|
|
|
1102 |
440 01ac 00D0 rcall CamConfig_sendFifoCmds
|
|
|
1103 |
441 01ae C8C0 rjmp .L71
|
|
|
1104 |
442 .L31:
|
|
|
1105 |
443 .stabn 68,0,410,.LM53-FrameMgr_processLine
|
|
|
1106 |
444 .LM53:
|
|
|
1107 |
445 01b0 8091 0000 lds r24,fastEventBitmask
|
|
|
1108 |
446 01b4 8260 ori r24,lo8(2)
|
|
|
1109 |
447 01b6 8093 0000 sts fastEventBitmask,r24
|
|
|
1110 |
448 01ba C2C0 rjmp .L71
|
|
|
1111 |
449 .L72:
|
|
|
1112 |
450 .stabn 68,0,491,.LM54-FrameMgr_processLine
|
|
|
1113 |
451 .LM54:
|
|
|
1114 |
452 01bc 80E2 ldi r24,lo8(32)
|
|
|
1115 |
453 01be 00D0 rcall Exec_writeEventFifo
|
|
|
1116 |
454 .stabn 68,0,493,.LM55-FrameMgr_processLine
|
|
|
1117 |
455 .LM55:
|
|
|
1118 |
456 01c0 89B7 in r24,89-0x20
|
|
|
1119 |
457 01c2 8B7F andi r24,lo8(-5)
|
|
|
1120 |
458 01c4 89BF out 89-0x20,r24
|
|
|
1121 |
459 .stabn 68,0,494,.LM56-FrameMgr_processLine
|
|
|
1122 |
460 .LM56:
|
|
|
1123 |
461 01c6 1092 0000 sts trackedLineCount,__zero_reg__
|
|
|
1124 |
462 01ca BAC0 rjmp .L71
|
|
|
1125 |
463 .L27:
|
|
|
1126 |
464 .stabn 68,0,413,.LM57-FrameMgr_processLine
|
|
|
1127 |
465 .LM57:
|
|
|
1128 |
466 01cc 8130 cpi r24,lo8(1)
|
|
|
1129 |
467 01ce 09F0 breq .+2
|
|
|
1130 |
468 01d0 B7C0 rjmp .L71
|
|
|
1131 |
469 .LBB4:
|
|
|
1132 |
470 .LBB5:
|
|
|
1133 |
606:FrameMgr.c **** }
|
|
|
1134 |
607:FrameMgr.c ****
|
|
|
1135 |
608:FrameMgr.c **** /***********************************************************
|
|
|
1136 |
609:FrameMgr.c **** Function Name: FrameMgr_findConnectedness
|
|
|
1137 |
610:FrameMgr.c **** Function Description: This function is responsible for
|
|
|
1138 |
611:FrameMgr.c **** finding the connectedness between two particular run-
|
|
|
1139 |
612:FrameMgr.c **** length encoded lines of pixel data. It updates the
|
|
|
1140 |
613:FrameMgr.c **** trackingTable as needed.
|
|
|
1141 |
GAS LISTING /tmp/ccf43P2i.s page 20
|
|
|
1142 |
|
|
|
1143 |
|
|
|
1144 |
614:FrameMgr.c **** Inputs: none
|
|
|
1145 |
615:FrameMgr.c **** Outputs: none
|
|
|
1146 |
616:FrameMgr.c **** ***********************************************************/
|
|
|
1147 |
617:FrameMgr.c **** static void FrameMgr_findConnectedness(void)
|
|
|
1148 |
618:FrameMgr.c **** {
|
|
|
1149 |
619:FrameMgr.c **** trackedColor_t currColor;
|
|
|
1150 |
620:FrameMgr.c **** unsigned char *pCurrLineColorInfo = currentLineBuffer;
|
|
|
1151 |
621:FrameMgr.c **** unsigned char *pTrackedObjectData;
|
|
|
1152 |
622:FrameMgr.c **** register unsigned char currPixelRunStart=0;
|
|
|
1153 |
623:FrameMgr.c **** register unsigned char currPixelRunFinish=0;
|
|
|
1154 |
624:FrameMgr.c **** register unsigned char lastLineXStart=0;
|
|
|
1155 |
625:FrameMgr.c **** register unsigned char lastLineXFinish=0;
|
|
|
1156 |
626:FrameMgr.c **** register unsigned char runLength=1;
|
|
|
1157 |
627:FrameMgr.c **** unsigned char i;
|
|
|
1158 |
628:FrameMgr.c **** bool_t colorConnected;
|
|
|
1159 |
629:FrameMgr.c ****
|
|
|
1160 |
630:FrameMgr.c **** do
|
|
|
1161 |
631:FrameMgr.c **** {
|
|
|
1162 |
632:FrameMgr.c **** /* grab both the current color and the number of pixels
|
|
|
1163 |
633:FrameMgr.c **** in the run...remember, pixels start at 1, not 0! */
|
|
|
1164 |
634:FrameMgr.c **** colorConnected = FALSE;
|
|
|
1165 |
635:FrameMgr.c **** currColor = *pCurrLineColorInfo++;
|
|
|
1166 |
636:FrameMgr.c **** currPixelRunStart += runLength;
|
|
|
1167 |
637:FrameMgr.c **** runLength = *pCurrLineColorInfo++;
|
|
|
1168 |
638:FrameMgr.c **** currPixelRunFinish += runLength;
|
|
|
1169 |
639:FrameMgr.c ****
|
|
|
1170 |
640:FrameMgr.c **** /* make sure that the run-length is at least as wide as
|
|
|
1171 |
641:FrameMgr.c **** the minimum horizontal tracking width, and we care about the color */
|
|
|
1172 |
642:FrameMgr.c ****
|
|
|
1173 |
643:FrameMgr.c **** if ( (currColor != notTracked) && (runLength > MIN_OBJECT_TRACKING_WIDTH) )
|
|
|
1174 |
644:FrameMgr.c **** {
|
|
|
1175 |
645:FrameMgr.c **** /* this run contains a color we care about, so
|
|
|
1176 |
646:FrameMgr.c **** either it will begin a new tracked object, or it
|
|
|
1177 |
647:FrameMgr.c **** is connected to a currently tracked object...
|
|
|
1178 |
648:FrameMgr.c **** compare it with each object in the tracking
|
|
|
1179 |
649:FrameMgr.c **** table...we can't just look at the numTrackedObjects because
|
|
|
1180 |
650:FrameMgr.c **** it is entirely possible that the first couple of objects could
|
|
|
1181 |
651:FrameMgr.c **** be invalid...
|
|
|
1182 |
652:FrameMgr.c ****
|
|
|
1183 |
653:FrameMgr.c **** NOTE: Instead of accessing each element in the trackedObjectTable
|
|
|
1184 |
654:FrameMgr.c **** through the 'i' index, and then accessing the fields in each structure,
|
|
|
1185 |
655:FrameMgr.c **** a pointer to each entry is established each time through the loop, followed
|
|
|
1186 |
656:FrameMgr.c **** by accessing the elements through specified offsets. GCC seems to be
|
|
|
1187 |
657:FrameMgr.c **** able to optimize this code much better than simply accessing the elements
|
|
|
1188 |
658:FrameMgr.c **** of each structure in the array the more normal way...*/
|
|
|
1189 |
659:FrameMgr.c ****
|
|
|
1190 |
660:FrameMgr.c **** pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;
|
|
|
1191 |
661:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)
|
|
|
1192 |
662:FrameMgr.c **** {
|
|
|
1193 |
663:FrameMgr.c **** if ( (currColor == *(pTrackedObjectData + COLOR_OFFSET)) &&
|
|
|
1194 |
664:FrameMgr.c **** (*(pTrackedObjectData + VALID_OBJECT_OFFSET) == TRUE) &&
|
|
|
1195 |
665:FrameMgr.c **** (*(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) == trackedLineCount - 1) )
|
|
|
1196 |
666:FrameMgr.c **** {
|
|
|
1197 |
667:FrameMgr.c **** /* found a color match and the object is valid...check to see if there is
|
|
|
1198 |
668:FrameMgr.c **** connectedness */
|
|
|
1199 |
669:FrameMgr.c **** lastLineXStart = *(pTrackedObjectData + LAST_LINE_X_START_OFFSET);
|
|
|
1200 |
670:FrameMgr.c **** lastLineXFinish = *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET);
|
|
|
1201 |
GAS LISTING /tmp/ccf43P2i.s page 21
|
|
|
1202 |
|
|
|
1203 |
|
|
|
1204 |
671:FrameMgr.c ****
|
|
|
1205 |
672:FrameMgr.c **** /* Check for the 5 following types of line connectedness:
|
|
|
1206 |
673:FrameMgr.c **** ---------------------
|
|
|
1207 |
674:FrameMgr.c **** | |
|
|
|
1208 |
675:FrameMgr.c **** ---------------------
|
|
|
1209 |
676:FrameMgr.c **** -------------------------
|
|
|
1210 |
677:FrameMgr.c **** | |
|
|
|
1211 |
678:FrameMgr.c **** ------------------------- */
|
|
|
1212 |
679:FrameMgr.c **** if ( ( (currPixelRunStart >= lastLineXStart) &&
|
|
|
1213 |
680:FrameMgr.c **** (currPixelRunStart <= lastLineXFinish) ) ||
|
|
|
1214 |
681:FrameMgr.c ****
|
|
|
1215 |
682:FrameMgr.c **** /* ---------------------
|
|
|
1216 |
683:FrameMgr.c **** | |
|
|
|
1217 |
684:FrameMgr.c **** ---------------------
|
|
|
1218 |
685:FrameMgr.c **** -------------------
|
|
|
1219 |
686:FrameMgr.c **** | |
|
|
|
1220 |
687:FrameMgr.c **** -------------------
|
|
|
1221 |
688:FrameMgr.c **** OR
|
|
|
1222 |
689:FrameMgr.c **** ------------------------------
|
|
|
1223 |
690:FrameMgr.c **** | |
|
|
|
1224 |
691:FrameMgr.c **** ------------------------------
|
|
|
1225 |
692:FrameMgr.c **** ---------
|
|
|
1226 |
693:FrameMgr.c **** | |
|
|
|
1227 |
694:FrameMgr.c **** --------- */
|
|
|
1228 |
695:FrameMgr.c **** ( (currPixelRunFinish >= lastLineXStart) &&
|
|
|
1229 |
696:FrameMgr.c **** (currPixelRunFinish <= lastLineXFinish) ) ||
|
|
|
1230 |
697:FrameMgr.c ****
|
|
|
1231 |
698:FrameMgr.c ****
|
|
|
1232 |
699:FrameMgr.c **** /* -------------------------------
|
|
|
1233 |
700:FrameMgr.c **** | |
|
|
|
1234 |
701:FrameMgr.c **** -------------------------------
|
|
|
1235 |
702:FrameMgr.c **** -------------------------------
|
|
|
1236 |
703:FrameMgr.c **** | |
|
|
|
1237 |
704:FrameMgr.c **** -------------------------------
|
|
|
1238 |
705:FrameMgr.c **** OR
|
|
|
1239 |
706:FrameMgr.c **** -------------
|
|
|
1240 |
707:FrameMgr.c **** | |
|
|
|
1241 |
708:FrameMgr.c **** -------------
|
|
|
1242 |
709:FrameMgr.c **** -------------------------------
|
|
|
1243 |
710:FrameMgr.c **** | |
|
|
|
1244 |
711:FrameMgr.c **** ------------------------------- */
|
|
|
1245 |
712:FrameMgr.c **** ( (currPixelRunStart <= lastLineXStart) &&
|
|
|
1246 |
713:FrameMgr.c **** (currPixelRunFinish >= lastLineXFinish) ) )
|
|
|
1247 |
714:FrameMgr.c **** {
|
|
|
1248 |
715:FrameMgr.c **** /* THERE IS CONNECTEDNESS...update the lastLineXStart and lastLineXFinish
|
|
|
1249 |
716:FrameMgr.c **** data pointed to by pTrackedObjectData */
|
|
|
1250 |
717:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_START_OFFSET) = currPixelRunStart;
|
|
|
1251 |
718:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET) = currPixelRunFinish;
|
|
|
1252 |
719:FrameMgr.c ****
|
|
|
1253 |
720:FrameMgr.c **** /* check if the bounding box needs to be updated */
|
|
|
1254 |
721:FrameMgr.c **** if (*(pTrackedObjectData + X_UPPER_LEFT_OFFSET) > currPixelRunStart)
|
|
|
1255 |
722:FrameMgr.c **** {
|
|
|
1256 |
723:FrameMgr.c **** /* need to update the bounding box for the upper left point to
|
|
|
1257 |
724:FrameMgr.c **** enclose this new left-most point...we never have to update the
|
|
|
1258 |
725:FrameMgr.c **** upper left Y point, since each scan line we process moves from
|
|
|
1259 |
726:FrameMgr.c **** top to bottom */
|
|
|
1260 |
727:FrameMgr.c **** *(pTrackedObjectData + X_UPPER_LEFT_OFFSET) = currPixelRunStart;
|
|
|
1261 |
GAS LISTING /tmp/ccf43P2i.s page 22
|
|
|
1262 |
|
|
|
1263 |
|
|
|
1264 |
728:FrameMgr.c **** }
|
|
|
1265 |
729:FrameMgr.c ****
|
|
|
1266 |
730:FrameMgr.c **** if ( *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) < currPixelRunFinish)
|
|
|
1267 |
731:FrameMgr.c **** {
|
|
|
1268 |
732:FrameMgr.c **** /* need to update the bounding box for the lower right X point to
|
|
|
1269 |
733:FrameMgr.c **** enclose this new right-most point */
|
|
|
1270 |
734:FrameMgr.c **** *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) = currPixelRunFinish;
|
|
|
1271 |
735:FrameMgr.c **** }
|
|
|
1272 |
736:FrameMgr.c ****
|
|
|
1273 |
737:FrameMgr.c **** /* the lower right 'y' point always gets updated when connectedness is found */
|
|
|
1274 |
738:FrameMgr.c **** *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) = trackedLineCount;
|
|
|
1275 |
739:FrameMgr.c ****
|
|
|
1276 |
740:FrameMgr.c **** /* set a flag indicating that that color run is part of another
|
|
|
1277 |
741:FrameMgr.c **** object and thus doesn't need to be added as a new entry into the
|
|
|
1278 |
742:FrameMgr.c **** tracking table */
|
|
|
1279 |
743:FrameMgr.c **** colorConnected = TRUE;
|
|
|
1280 |
744:FrameMgr.c **** break;
|
|
|
1281 |
745:FrameMgr.c **** }
|
|
|
1282 |
746:FrameMgr.c **** }
|
|
|
1283 |
747:FrameMgr.c ****
|
|
|
1284 |
748:FrameMgr.c **** /* go to the next object */
|
|
|
1285 |
749:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;
|
|
|
1286 |
750:FrameMgr.c **** }
|
|
|
1287 |
751:FrameMgr.c ****
|
|
|
1288 |
752:FrameMgr.c **** if (colorConnected == FALSE)
|
|
|
1289 |
753:FrameMgr.c **** {
|
|
|
1290 |
754:FrameMgr.c **** /* a new entry needs to be made to the tracking table, since we have
|
|
|
1291 |
755:FrameMgr.c **** a run-length with a color, and it isn't connected to anything...but we
|
|
|
1292 |
756:FrameMgr.c **** can only do this if there is space left in the trackedObject table */
|
|
|
1293 |
757:FrameMgr.c **** if (numCurrTrackedObjects < MAX_TRACKED_OBJECTS)
|
|
|
1294 |
758:FrameMgr.c **** {
|
|
|
1295 |
759:FrameMgr.c **** /* space is available...add the object...but first we need to find an
|
|
|
1296 |
760:FrameMgr.c **** invalid object in the object tracking table */
|
|
|
1297 |
761:FrameMgr.c **** pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;
|
|
|
1298 |
762:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)
|
|
|
1299 |
763:FrameMgr.c **** {
|
|
|
1300 |
764:FrameMgr.c **** if ( *(pTrackedObjectData + VALID_OBJECT_OFFSET) == FALSE) break;
|
|
|
1301 |
765:FrameMgr.c ****
|
|
|
1302 |
766:FrameMgr.c **** /* if we haven't broken above, then the object must have been valid...
|
|
|
1303 |
767:FrameMgr.c **** go ahead and move the pointer to the next object to check it */
|
|
|
1304 |
768:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;
|
|
|
1305 |
769:FrameMgr.c **** }
|
|
|
1306 |
770:FrameMgr.c ****
|
|
|
1307 |
771:FrameMgr.c ****
|
|
|
1308 |
772:FrameMgr.c **** /* now that we have a pointer to the tracked object to be updated, update all
|
|
|
1309 |
773:FrameMgr.c **** the fields */
|
|
|
1310 |
774:FrameMgr.c **** *(pTrackedObjectData + COLOR_OFFSET) = currColor; /* color */
|
|
|
1311 |
775:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_START_OFFSET) = currPixelRunStart; /* lastLineXStart */
|
|
|
1312 |
776:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET) = currPixelRunFinish; /* lastLineXFinish *
|
|
|
1313 |
777:FrameMgr.c **** *(pTrackedObjectData + X_UPPER_LEFT_OFFSET) = currPixelRunStart; /* x_upperLeft */
|
|
|
1314 |
778:FrameMgr.c **** *(pTrackedObjectData + Y_UPPER_LEFT_OFFSET) = trackedLineCount; /* y_upperLeft */
|
|
|
1315 |
471 .stabn 68,0,778,.LM58-FrameMgr_processLine
|
|
|
1316 |
472 .LM58:
|
|
|
1317 |
473 01d2 F090 0000 lds r15,trackedLineCount
|
|
|
1318 |
474 .stabn 68,0,663,.LM59-FrameMgr_processLine
|
|
|
1319 |
475 .LM59:
|
|
|
1320 |
476 01d6 CF2C mov r12,r15
|
|
|
1321 |
GAS LISTING /tmp/ccf43P2i.s page 23
|
|
|
1322 |
|
|
|
1323 |
|
|
|
1324 |
477 01d8 DD24 clr r13
|
|
|
1325 |
478 01da 3601 movw r6,r12
|
|
|
1326 |
479 01dc 0894 sec
|
|
|
1327 |
480 01de 6108 sbc r6,__zero_reg__
|
|
|
1328 |
481 01e0 7108 sbc r7,__zero_reg__
|
|
|
1329 |
482 01e2 7091 0000 lds r23,numCurrTrackedObjects
|
|
|
1330 |
483 01e6 0F2E mov __tmp_reg__,r31
|
|
|
1331 |
484 01e8 F0E0 ldi r31,lo8(currentLineBuffer)
|
|
|
1332 |
485 01ea 2F2E mov r2,r31
|
|
|
1333 |
486 01ec F0E0 ldi r31,hi8(currentLineBuffer)
|
|
|
1334 |
487 01ee 3F2E mov r3,r31
|
|
|
1335 |
488 01f0 F02D mov r31,__tmp_reg__
|
|
|
1336 |
489 01f2 50E0 ldi r21,lo8(0)
|
|
|
1337 |
490 01f4 40E0 ldi r20,lo8(0)
|
|
|
1338 |
491 01f6 61E0 ldi r22,lo8(1)
|
|
|
1339 |
492 01f8 EF2C mov r14,r15
|
|
|
1340 |
493 01fa E394 inc r14
|
|
|
1341 |
494 .L35:
|
|
|
1342 |
495 .stabn 68,0,635,.LM60-FrameMgr_processLine
|
|
|
1343 |
496 .LM60:
|
|
|
1344 |
497 01fc F101 movw r30,r2
|
|
|
1345 |
498 01fe 3081 ld r19,Z
|
|
|
1346 |
499 .stabn 68,0,636,.LM61-FrameMgr_processLine
|
|
|
1347 |
500 .LM61:
|
|
|
1348 |
501 0200 560F add r21,r22
|
|
|
1349 |
502 .stabn 68,0,637,.LM62-FrameMgr_processLine
|
|
|
1350 |
503 .LM62:
|
|
|
1351 |
504 0202 6181 ldd r22,Z+1
|
|
|
1352 |
505 0204 82E0 ldi r24,lo8(2)
|
|
|
1353 |
506 0206 90E0 ldi r25,hi8(2)
|
|
|
1354 |
507 0208 280E add r2,r24
|
|
|
1355 |
508 020a 391E adc r3,r25
|
|
|
1356 |
509 .stabn 68,0,638,.LM63-FrameMgr_processLine
|
|
|
1357 |
510 .LM63:
|
|
|
1358 |
511 020c 460F add r20,r22
|
|
|
1359 |
512 .stabn 68,0,643,.LM64-FrameMgr_processLine
|
|
|
1360 |
513 .LM64:
|
|
|
1361 |
514 020e 3323 tst r19
|
|
|
1362 |
515 0210 09F4 brne .+2
|
|
|
1363 |
516 0212 5CC0 rjmp .L36
|
|
|
1364 |
517 0214 6430 cpi r22,lo8(4)
|
|
|
1365 |
518 0216 08F4 brsh .+2
|
|
|
1366 |
519 0218 59C0 rjmp .L36
|
|
|
1367 |
520 021a D801 movw r26,r16
|
|
|
1368 |
521 021c 20E0 ldi r18,lo8(0)
|
|
|
1369 |
522 .L39:
|
|
|
1370 |
523 .stabn 68,0,663,.LM65-FrameMgr_processLine
|
|
|
1371 |
524 .LM65:
|
|
|
1372 |
525 021e 8C91 ld r24,X
|
|
|
1373 |
526 0220 3817 cp r19,r24
|
|
|
1374 |
527 0222 C9F5 brne .L40
|
|
|
1375 |
528 0224 FD01 movw r30,r26
|
|
|
1376 |
529 0226 8781 ldd r24,Z+7
|
|
|
1377 |
530 0228 8130 cpi r24,lo8(1)
|
|
|
1378 |
531 022a A9F5 brne .L40
|
|
|
1379 |
532 022c 0F2E mov __tmp_reg__,r31
|
|
|
1380 |
533 022e F6E0 ldi r31,lo8(6)
|
|
|
1381 |
GAS LISTING /tmp/ccf43P2i.s page 24
|
|
|
1382 |
|
|
|
1383 |
|
|
|
1384 |
534 0230 AF2E mov r10,r31
|
|
|
1385 |
535 0232 BB24 clr r11
|
|
|
1386 |
536 0234 F02D mov r31,__tmp_reg__
|
|
|
1387 |
537 0236 AA0E add r10,r26
|
|
|
1388 |
538 0238 BB1E adc r11,r27
|
|
|
1389 |
539 023a 8681 ldd r24,Z+6
|
|
|
1390 |
540 023c 9927 clr r25
|
|
|
1391 |
541 023e 8615 cp r24,r6
|
|
|
1392 |
542 0240 9705 cpc r25,r7
|
|
|
1393 |
543 0242 49F5 brne .L40
|
|
|
1394 |
544 0244 2D01 movw r4,r26
|
|
|
1395 |
545 0246 0894 sec
|
|
|
1396 |
546 0248 411C adc r4,__zero_reg__
|
|
|
1397 |
547 024a 511C adc r5,__zero_reg__
|
|
|
1398 |
548 .stabn 68,0,669,.LM66-FrameMgr_processLine
|
|
|
1399 |
549 .LM66:
|
|
|
1400 |
550 024c 8181 ldd r24,Z+1
|
|
|
1401 |
551 024e 8824 clr r8
|
|
|
1402 |
552 0250 9924 clr r9
|
|
|
1403 |
553 0252 6894 set
|
|
|
1404 |
554 0254 81F8 bld r8,1
|
|
|
1405 |
555 0256 8A0E add r8,r26
|
|
|
1406 |
556 0258 9B1E adc r9,r27
|
|
|
1407 |
557 .stabn 68,0,670,.LM67-FrameMgr_processLine
|
|
|
1408 |
558 .LM67:
|
|
|
1409 |
559 025a 9281 ldd r25,Z+2
|
|
|
1410 |
560 .stabn 68,0,679,.LM68-FrameMgr_processLine
|
|
|
1411 |
561 .LM68:
|
|
|
1412 |
562 025c 5817 cp r21,r24
|
|
|
1413 |
563 025e 10F0 brlo .L44
|
|
|
1414 |
564 0260 9517 cp r25,r21
|
|
|
1415 |
565 0262 40F4 brsh .L46
|
|
|
1416 |
566 .L44:
|
|
|
1417 |
567 0264 4817 cp r20,r24
|
|
|
1418 |
568 0266 10F0 brlo .L47
|
|
|
1419 |
569 0268 9417 cp r25,r20
|
|
|
1420 |
570 026a 20F4 brsh .L46
|
|
|
1421 |
571 .L47:
|
|
|
1422 |
572 026c 8517 cp r24,r21
|
|
|
1423 |
573 026e 98F0 brlo .L40
|
|
|
1424 |
574 0270 4917 cp r20,r25
|
|
|
1425 |
575 0272 88F0 brlo .L40
|
|
|
1426 |
576 .L46:
|
|
|
1427 |
577 .stabn 68,0,717,.LM69-FrameMgr_processLine
|
|
|
1428 |
578 .LM69:
|
|
|
1429 |
579 0274 F201 movw r30,r4
|
|
|
1430 |
580 0276 5083 st Z,r21
|
|
|
1431 |
581 .stabn 68,0,718,.LM70-FrameMgr_processLine
|
|
|
1432 |
582 .LM70:
|
|
|
1433 |
583 0278 F401 movw r30,r8
|
|
|
1434 |
584 027a 4083 st Z,r20
|
|
|
1435 |
585 .stabn 68,0,721,.LM71-FrameMgr_processLine
|
|
|
1436 |
586 .LM71:
|
|
|
1437 |
587 027c FD01 movw r30,r26
|
|
|
1438 |
588 027e 8381 ldd r24,Z+3
|
|
|
1439 |
589 0280 5817 cp r21,r24
|
|
|
1440 |
590 0282 08F4 brsh .L50
|
|
|
1441 |
GAS LISTING /tmp/ccf43P2i.s page 25
|
|
|
1442 |
|
|
|
1443 |
|
|
|
1444 |
591 .stabn 68,0,727,.LM72-FrameMgr_processLine
|
|
|
1445 |
592 .LM72:
|
|
|
1446 |
593 0284 5383 std Z+3,r21
|
|
|
1447 |
594 .L50:
|
|
|
1448 |
595 .stabn 68,0,730,.LM73-FrameMgr_processLine
|
|
|
1449 |
596 .LM73:
|
|
|
1450 |
597 0286 FD01 movw r30,r26
|
|
|
1451 |
598 0288 8581 ldd r24,Z+5
|
|
|
1452 |
599 028a 8417 cp r24,r20
|
|
|
1453 |
600 028c 08F4 brsh .L52
|
|
|
1454 |
601 .stabn 68,0,734,.LM74-FrameMgr_processLine
|
|
|
1455 |
602 .LM74:
|
|
|
1456 |
603 028e 4583 std Z+5,r20
|
|
|
1457 |
604 .L52:
|
|
|
1458 |
605 .stabn 68,0,738,.LM75-FrameMgr_processLine
|
|
|
1459 |
606 .LM75:
|
|
|
1460 |
607 0290 F501 movw r30,r10
|
|
|
1461 |
608 0292 F082 st Z,r15
|
|
|
1462 |
609 0294 1BC0 rjmp .L36
|
|
|
1463 |
610 .L40:
|
|
|
1464 |
611 .stabn 68,0,661,.LM76-FrameMgr_processLine
|
|
|
1465 |
612 .LM76:
|
|
|
1466 |
613 0296 2F5F subi r18,lo8(-(1))
|
|
|
1467 |
614 0298 2830 cpi r18,lo8(8)
|
|
|
1468 |
615 029a 09F4 brne .+2
|
|
|
1469 |
616 029c 4DC0 rjmp .L54
|
|
|
1470 |
617 .stabn 68,0,749,.LM77-FrameMgr_processLine
|
|
|
1471 |
618 .LM77:
|
|
|
1472 |
619 029e 1896 adiw r26,8
|
|
|
1473 |
620 02a0 BECF rjmp .L39
|
|
|
1474 |
621 .L56:
|
|
|
1475 |
622 02a2 D801 movw r26,r16
|
|
|
1476 |
623 02a4 90E0 ldi r25,lo8(0)
|
|
|
1477 |
624 .L57:
|
|
|
1478 |
625 .stabn 68,0,764,.LM78-FrameMgr_processLine
|
|
|
1479 |
626 .LM78:
|
|
|
1480 |
627 02a6 FD01 movw r30,r26
|
|
|
1481 |
628 02a8 8781 ldd r24,Z+7
|
|
|
1482 |
629 02aa 8823 tst r24
|
|
|
1483 |
630 02ac 21F0 breq .L58
|
|
|
1484 |
631 .stabn 68,0,768,.LM79-FrameMgr_processLine
|
|
|
1485 |
632 .LM79:
|
|
|
1486 |
633 02ae 1896 adiw r26,8
|
|
|
1487 |
634 .stabn 68,0,762,.LM80-FrameMgr_processLine
|
|
|
1488 |
635 .LM80:
|
|
|
1489 |
636 02b0 9F5F subi r25,lo8(-(1))
|
|
|
1490 |
637 02b2 9830 cpi r25,lo8(8)
|
|
|
1491 |
638 02b4 C1F7 brne .L57
|
|
|
1492 |
639 .L58:
|
|
|
1493 |
640 .stabn 68,0,774,.LM81-FrameMgr_processLine
|
|
|
1494 |
641 .LM81:
|
|
|
1495 |
642 02b6 3C93 st X,r19
|
|
|
1496 |
643 .stabn 68,0,775,.LM82-FrameMgr_processLine
|
|
|
1497 |
644 .LM82:
|
|
|
1498 |
645 02b8 FD01 movw r30,r26
|
|
|
1499 |
646 02ba 5183 std Z+1,r21
|
|
|
1500 |
647 .stabn 68,0,776,.LM83-FrameMgr_processLine
|
|
|
1501 |
GAS LISTING /tmp/ccf43P2i.s page 26
|
|
|
1502 |
|
|
|
1503 |
|
|
|
1504 |
648 .LM83:
|
|
|
1505 |
649 02bc 4283 std Z+2,r20
|
|
|
1506 |
650 .stabn 68,0,777,.LM84-FrameMgr_processLine
|
|
|
1507 |
651 .LM84:
|
|
|
1508 |
652 02be 5383 std Z+3,r21
|
|
|
1509 |
653 .stabn 68,0,778,.LM85-FrameMgr_processLine
|
|
|
1510 |
654 .LM85:
|
|
|
1511 |
655 02c0 F482 std Z+4,r15
|
|
|
1512 |
779:FrameMgr.c **** *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) = currPixelRunFinish; /* x_lowerRight */
|
|
|
1513 |
656 .stabn 68,0,779,.LM86-FrameMgr_processLine
|
|
|
1514 |
657 .LM86:
|
|
|
1515 |
658 02c2 4583 std Z+5,r20
|
|
|
1516 |
780:FrameMgr.c **** *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) = trackedLineCount; /* y_lowerRight */
|
|
|
1517 |
659 .stabn 68,0,780,.LM87-FrameMgr_processLine
|
|
|
1518 |
660 .LM87:
|
|
|
1519 |
661 02c4 F682 std Z+6,r15
|
|
|
1520 |
781:FrameMgr.c **** *(pTrackedObjectData + VALID_OBJECT_OFFSET) = TRUE; /* o
|
|
|
1521 |
662 .stabn 68,0,781,.LM88-FrameMgr_processLine
|
|
|
1522 |
663 .LM88:
|
|
|
1523 |
664 02c6 81E0 ldi r24,lo8(1)
|
|
|
1524 |
665 02c8 8783 std Z+7,r24
|
|
|
1525 |
782:FrameMgr.c ****
|
|
|
1526 |
783:FrameMgr.c **** numCurrTrackedObjects++;
|
|
|
1527 |
666 .stabn 68,0,783,.LM89-FrameMgr_processLine
|
|
|
1528 |
667 .LM89:
|
|
|
1529 |
668 02ca 7F5F subi r23,lo8(-(1))
|
|
|
1530 |
669 .L36:
|
|
|
1531 |
784:FrameMgr.c **** }
|
|
|
1532 |
785:FrameMgr.c **** }
|
|
|
1533 |
786:FrameMgr.c ****
|
|
|
1534 |
787:FrameMgr.c **** /* move the pointer to the beginning of the next tracked object */
|
|
|
1535 |
788:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;
|
|
|
1536 |
789:FrameMgr.c **** }
|
|
|
1537 |
790:FrameMgr.c **** } while(currPixelRunFinish < ACTUAL_NUM_PIXELS_IN_A_LINE);
|
|
|
1538 |
670 .stabn 68,0,790,.LM90-FrameMgr_processLine
|
|
|
1539 |
671 .LM90:
|
|
|
1540 |
672 02cc 403B cpi r20,lo8(-80)
|
|
|
1541 |
673 02ce 08F4 brsh .+2
|
|
|
1542 |
674 02d0 95CF rjmp .L35
|
|
|
1543 |
675 02d2 7093 0000 sts numCurrTrackedObjects,r23
|
|
|
1544 |
676 .LBE5:
|
|
|
1545 |
677 .LBE4:
|
|
|
1546 |
678 .stabn 68,0,460,.LM91-FrameMgr_processLine
|
|
|
1547 |
679 .LM91:
|
|
|
1548 |
680 02d6 C601 movw r24,r12
|
|
|
1549 |
681 02d8 8770 andi r24,lo8(7)
|
|
|
1550 |
682 02da 9070 andi r25,hi8(7)
|
|
|
1551 |
683 02dc 0797 sbiw r24,7
|
|
|
1552 |
684 02de 01F5 brne .L61
|
|
|
1553 |
685 02e0 D801 movw r26,r16
|
|
|
1554 |
686 02e2 1796 adiw r26,7
|
|
|
1555 |
687 02e4 40E0 ldi r20,lo8(0)
|
|
|
1556 |
688 .L63:
|
|
|
1557 |
689 .stabn 68,0,464,.LM92-FrameMgr_processLine
|
|
|
1558 |
690 .LM92:
|
|
|
1559 |
691 02e6 8C91 ld r24,X
|
|
|
1560 |
692 02e8 8130 cpi r24,lo8(1)
|
|
|
1561 |
GAS LISTING /tmp/ccf43P2i.s page 27
|
|
|
1562 |
|
|
|
1563 |
|
|
|
1564 |
693 02ea A1F4 brne .L64
|
|
|
1565 |
694 02ec FD01 movw r30,r26
|
|
|
1566 |
695 02ee 3197 sbiw r30,1
|
|
|
1567 |
696 .stabn 68,0,468,.LM93-FrameMgr_processLine
|
|
|
1568 |
697 .LM93:
|
|
|
1569 |
698 02f0 9081 ld r25,Z
|
|
|
1570 |
699 02f2 FD01 movw r30,r26
|
|
|
1571 |
700 02f4 3397 sbiw r30,3
|
|
|
1572 |
701 02f6 8081 ld r24,Z
|
|
|
1573 |
702 02f8 292F mov r18,r25
|
|
|
1574 |
703 02fa 3327 clr r19
|
|
|
1575 |
704 02fc F901 movw r30,r18
|
|
|
1576 |
705 02fe E81B sub r30,r24
|
|
|
1577 |
706 0300 F109 sbc r31,__zero_reg__
|
|
|
1578 |
707 0302 3397 sbiw r30,3
|
|
|
1579 |
708 0304 3CF4 brge .L64
|
|
|
1580 |
709 .stabn 68,0,474,.LM94-FrameMgr_processLine
|
|
|
1581 |
710 .LM94:
|
|
|
1582 |
711 0306 C601 movw r24,r12
|
|
|
1583 |
712 0308 821B sub r24,r18
|
|
|
1584 |
713 030a 930B sbc r25,r19
|
|
|
1585 |
714 030c 0397 sbiw r24,3
|
|
|
1586 |
715 030e 14F0 brlt .L64
|
|
|
1587 |
716 .stabn 68,0,477,.LM95-FrameMgr_processLine
|
|
|
1588 |
717 .LM95:
|
|
|
1589 |
718 0310 1C92 st X,__zero_reg__
|
|
|
1590 |
719 .stabn 68,0,478,.LM96-FrameMgr_processLine
|
|
|
1591 |
720 .LM96:
|
|
|
1592 |
721 0312 7150 subi r23,lo8(-(-1))
|
|
|
1593 |
722 .L64:
|
|
|
1594 |
723 .stabn 68,0,462,.LM97-FrameMgr_processLine
|
|
|
1595 |
724 .LM97:
|
|
|
1596 |
725 0314 4F5F subi r20,lo8(-(1))
|
|
|
1597 |
726 0316 1896 adiw r26,8
|
|
|
1598 |
727 0318 4830 cpi r20,lo8(8)
|
|
|
1599 |
728 031a 29F7 brne .L63
|
|
|
1600 |
729 031c 7093 0000 sts numCurrTrackedObjects,r23
|
|
|
1601 |
730 .L61:
|
|
|
1602 |
731 .stabn 68,0,486,.LM98-FrameMgr_processLine
|
|
|
1603 |
732 .LM98:
|
|
|
1604 |
733 0320 E092 0000 sts trackedLineCount,r14
|
|
|
1605 |
734 .stabn 68,0,487,.LM99-FrameMgr_processLine
|
|
|
1606 |
735 .LM99:
|
|
|
1607 |
736 0324 F0E9 ldi r31,lo8(-112)
|
|
|
1608 |
737 0326 EF16 cp r14,r31
|
|
|
1609 |
738 0328 09F4 brne .+2
|
|
|
1610 |
739 032a 48CF rjmp .L72
|
|
|
1611 |
740 .stabn 68,0,498,.LM100-FrameMgr_processLine
|
|
|
1612 |
741 .LM100:
|
|
|
1613 |
742 032c 8091 0000 lds r24,fastEventBitmask
|
|
|
1614 |
743 0330 8260 ori r24,lo8(2)
|
|
|
1615 |
744 0332 8093 0000 sts fastEventBitmask,r24
|
|
|
1616 |
745 0336 04C0 rjmp .L71
|
|
|
1617 |
746 .L54:
|
|
|
1618 |
747 .LBB6:
|
|
|
1619 |
748 .LBB7:
|
|
|
1620 |
749 .stabn 68,0,757,.LM101-FrameMgr_processLine
|
|
|
1621 |
GAS LISTING /tmp/ccf43P2i.s page 28
|
|
|
1622 |
|
|
|
1623 |
|
|
|
1624 |
750 .LM101:
|
|
|
1625 |
751 0338 7830 cpi r23,lo8(8)
|
|
|
1626 |
752 033a 08F4 brsh .+2
|
|
|
1627 |
753 033c B2CF rjmp .L56
|
|
|
1628 |
754 033e C6CF rjmp .L36
|
|
|
1629 |
755 .L71:
|
|
|
1630 |
756 .LBE7:
|
|
|
1631 |
757 .LBE6:
|
|
|
1632 |
758 /* epilogue: frame size=1 */
|
|
|
1633 |
759 0340 2196 adiw r28,1
|
|
|
1634 |
760 0342 0FB6 in __tmp_reg__,__SREG__
|
|
|
1635 |
761 0344 F894 cli
|
|
|
1636 |
762 0346 DEBF out __SP_H__,r29
|
|
|
1637 |
763 0348 0FBE out __SREG__,__tmp_reg__
|
|
|
1638 |
764 034a CDBF out __SP_L__,r28
|
|
|
1639 |
765 034c DF91 pop r29
|
|
|
1640 |
766 034e CF91 pop r28
|
|
|
1641 |
767 0350 1F91 pop r17
|
|
|
1642 |
768 0352 0F91 pop r16
|
|
|
1643 |
769 0354 FF90 pop r15
|
|
|
1644 |
770 0356 EF90 pop r14
|
|
|
1645 |
771 0358 DF90 pop r13
|
|
|
1646 |
772 035a CF90 pop r12
|
|
|
1647 |
773 035c BF90 pop r11
|
|
|
1648 |
774 035e AF90 pop r10
|
|
|
1649 |
775 0360 9F90 pop r9
|
|
|
1650 |
776 0362 8F90 pop r8
|
|
|
1651 |
777 0364 7F90 pop r7
|
|
|
1652 |
778 0366 6F90 pop r6
|
|
|
1653 |
779 0368 5F90 pop r5
|
|
|
1654 |
780 036a 4F90 pop r4
|
|
|
1655 |
781 036c 3F90 pop r3
|
|
|
1656 |
782 036e 2F90 pop r2
|
|
|
1657 |
783 0370 0895 ret
|
|
|
1658 |
784 /* epilogue end (size=25) */
|
|
|
1659 |
785 /* function FrameMgr_processLine size 355 (304) */
|
|
|
1660 |
786 .size FrameMgr_processLine, .-FrameMgr_processLine
|
|
|
1661 |
787 .stabs "i:r(0,11)",64,0,343,20
|
|
|
1662 |
788 .stabs "dataToSend:(0,23)=B(0,11)",128,0,344,1
|
|
|
1663 |
789 .stabs "pTrackedObjectData:r(0,22)",64,0,345,26
|
|
|
1664 |
790 .stabn 192,0,0,FrameMgr_processLine-FrameMgr_processLine
|
|
|
1665 |
791 .stabn 224,0,0,.Lscope1-FrameMgr_processLine
|
|
|
1666 |
792 .Lscope1:
|
|
|
1667 |
793 .stabs "",36,0,0,.Lscope1-FrameMgr_processLine
|
|
|
1668 |
794 .stabd 78,0,0
|
|
|
1669 |
795 .stabs "FrameMgr_init:F(0,15)",36,0,191,FrameMgr_init
|
|
|
1670 |
796 .global FrameMgr_init
|
|
|
1671 |
797 .type FrameMgr_init, @function
|
|
|
1672 |
798 FrameMgr_init:
|
|
|
1673 |
799 .stabd 46,0,0
|
|
|
1674 |
800 .stabn 68,0,191,.LM102-FrameMgr_init
|
|
|
1675 |
801 .LM102:
|
|
|
1676 |
802 /* prologue: frame size=0 */
|
|
|
1677 |
803 /* prologue end (size=0) */
|
|
|
1678 |
804 .stabn 68,0,192,.LM103-FrameMgr_init
|
|
|
1679 |
805 .LM103:
|
|
|
1680 |
806 0372 80E4 ldi r24,lo8(64)
|
|
|
1681 |
GAS LISTING /tmp/ccf43P2i.s page 29
|
|
|
1682 |
|
|
|
1683 |
|
|
|
1684 |
807 0374 E0E0 ldi r30,lo8(trackedObjectTable)
|
|
|
1685 |
808 0376 F0E0 ldi r31,hi8(trackedObjectTable)
|
|
|
1686 |
809 0378 1192 st Z+,__zero_reg__
|
|
|
1687 |
810 037a 8A95 dec r24
|
|
|
1688 |
811 037c E9F7 brne .-6
|
|
|
1689 |
812 /* epilogue: frame size=0 */
|
|
|
1690 |
813 037e 0895 ret
|
|
|
1691 |
814 /* epilogue end (size=1) */
|
|
|
1692 |
815 /* function FrameMgr_init size 7 (6) */
|
|
|
1693 |
816 .size FrameMgr_init, .-FrameMgr_init
|
|
|
1694 |
817 .Lscope2:
|
|
|
1695 |
818 .stabs "",36,0,0,.Lscope2-FrameMgr_init
|
|
|
1696 |
819 .stabd 78,0,0
|
|
|
1697 |
820 .stabs "FrameMgr_acquireLine:F(0,15)",36,0,287,FrameMgr_acquireLine
|
|
|
1698 |
821 .global FrameMgr_acquireLine
|
|
|
1699 |
822 .type FrameMgr_acquireLine, @function
|
|
|
1700 |
823 FrameMgr_acquireLine:
|
|
|
1701 |
824 .stabd 46,0,0
|
|
|
1702 |
825 .stabn 68,0,287,.LM104-FrameMgr_acquireLine
|
|
|
1703 |
826 .LM104:
|
|
|
1704 |
827 /* prologue: frame size=0 */
|
|
|
1705 |
828 /* prologue end (size=0) */
|
|
|
1706 |
829 .stabn 68,0,297,.LM105-FrameMgr_acquireLine
|
|
|
1707 |
830 .LM105:
|
|
|
1708 |
831 0380 8091 0000 lds r24,currentState
|
|
|
1709 |
832 0384 8230 cpi r24,lo8(2)
|
|
|
1710 |
833 0386 49F5 brne .L83
|
|
|
1711 |
834 .stabn 68,0,299,.LM106-FrameMgr_acquireLine
|
|
|
1712 |
835 .LM106:
|
|
|
1713 |
836 0388 8091 0000 lds r24,lineCount
|
|
|
1714 |
837 038c 282F mov r18,r24
|
|
|
1715 |
838 038e 220F lsl r18
|
|
|
1716 |
839 .stabn 68,0,305,.LM107-FrameMgr_acquireLine
|
|
|
1717 |
840 .LM107:
|
|
|
1718 |
841 0390 80EB ldi r24,lo8(-80)
|
|
|
1719 |
842 0392 E0E0 ldi r30,lo8(currentLineBuffer)
|
|
|
1720 |
843 0394 F0E0 ldi r31,hi8(currentLineBuffer)
|
|
|
1721 |
844 0396 982F mov r25,r24
|
|
|
1722 |
845 0398 1192 st Z+,__zero_reg__
|
|
|
1723 |
846 039a 9A95 dec r25
|
|
|
1724 |
847 039c E9F7 brne .-6
|
|
|
1725 |
848 .stabn 68,0,306,.LM108-FrameMgr_acquireLine
|
|
|
1726 |
849 .LM108:
|
|
|
1727 |
850 039e E0E0 ldi r30,lo8(previousLineBuffer)
|
|
|
1728 |
851 03a0 F0E0 ldi r31,hi8(previousLineBuffer)
|
|
|
1729 |
852 03a2 1192 st Z+,__zero_reg__
|
|
|
1730 |
853 03a4 8A95 dec r24
|
|
|
1731 |
854 03a6 E9F7 brne .-6
|
|
|
1732 |
855 .L85:
|
|
|
1733 |
856 .stabn 68,0,309,.LM109-FrameMgr_acquireLine
|
|
|
1734 |
857 .LM109:
|
|
|
1735 |
858 03a8 829B sbis 48-0x20,2
|
|
|
1736 |
859 03aa FECF rjmp .L85
|
|
|
1737 |
860 .L101:
|
|
|
1738 |
861 .stabn 68,0,310,.LM110-FrameMgr_acquireLine
|
|
|
1739 |
862 .LM110:
|
|
|
1740 |
863 03ac 829B sbis 48-0x20,2
|
|
|
1741 |
GAS LISTING /tmp/ccf43P2i.s page 30
|
|
|
1742 |
|
|
|
1743 |
|
|
|
1744 |
864 03ae 07C0 rjmp .L110
|
|
|
1745 |
865 03b0 FDCF rjmp .L101
|
|
|
1746 |
866 .L88:
|
|
|
1747 |
867 03b2 90E0 ldi r25,lo8(0)
|
|
|
1748 |
868 .L114:
|
|
|
1749 |
869 .stabn 68,0,316,.LM111-FrameMgr_acquireLine
|
|
|
1750 |
870 .LM111:
|
|
|
1751 |
871 03b4 849B sbis 48-0x20,4
|
|
|
1752 |
872 03b6 FECF rjmp .L114
|
|
|
1753 |
873 .L102:
|
|
|
1754 |
874 .stabn 68,0,318,.LM112-FrameMgr_acquireLine
|
|
|
1755 |
875 .LM112:
|
|
|
1756 |
876 03b8 849B sbis 48-0x20,4
|
|
|
1757 |
877 03ba 04C0 rjmp .L111
|
|
|
1758 |
878 03bc FDCF rjmp .L102
|
|
|
1759 |
879 .L110:
|
|
|
1760 |
880 .stabn 68,0,314,.LM113-FrameMgr_acquireLine
|
|
|
1761 |
881 .LM113:
|
|
|
1762 |
882 03be 2223 tst r18
|
|
|
1763 |
883 03c0 C1F7 brne .L88
|
|
|
1764 |
884 03c2 05C0 rjmp .L92
|
|
|
1765 |
885 .L111:
|
|
|
1766 |
886 03c4 9150 subi r25,lo8(-(-1))
|
|
|
1767 |
887 03c6 822F mov r24,r18
|
|
|
1768 |
888 03c8 8195 neg r24
|
|
|
1769 |
889 03ca 9817 cp r25,r24
|
|
|
1770 |
890 03cc 99F7 brne .L114
|
|
|
1771 |
891 .L92:
|
|
|
1772 |
892 .stabn 68,0,322,.LM114-FrameMgr_acquireLine
|
|
|
1773 |
893 .LM114:
|
|
|
1774 |
894 03ce 60E0 ldi r22,lo8(previousLineBuffer)
|
|
|
1775 |
895 03d0 70E0 ldi r23,hi8(previousLineBuffer)
|
|
|
1776 |
896 03d2 80E0 ldi r24,lo8(currentLineBuffer)
|
|
|
1777 |
897 03d4 90E0 ldi r25,hi8(currentLineBuffer)
|
|
|
1778 |
898 03d6 00D0 rcall CamIntAsm_acquireDumpLine
|
|
|
1779 |
899 03d8 0895 ret
|
|
|
1780 |
900 .L83:
|
|
|
1781 |
901 .stabn 68,0,324,.LM115-FrameMgr_acquireLine
|
|
|
1782 |
902 .LM115:
|
|
|
1783 |
903 03da 8130 cpi r24,lo8(1)
|
|
|
1784 |
904 03dc 39F4 brne .L96
|
|
|
1785 |
905 .L103:
|
|
|
1786 |
906 .stabn 68,0,326,.LM116-FrameMgr_acquireLine
|
|
|
1787 |
907 .LM116:
|
|
|
1788 |
908 03de 8499 sbic 48-0x20,4
|
|
|
1789 |
909 03e0 FECF rjmp .L103
|
|
|
1790 |
910 .stabn 68,0,327,.LM117-FrameMgr_acquireLine
|
|
|
1791 |
911 .LM117:
|
|
|
1792 |
912 03e2 60E0 ldi r22,lo8(colorMap)
|
|
|
1793 |
913 03e4 70E0 ldi r23,hi8(colorMap)
|
|
|
1794 |
914 03e6 80E0 ldi r24,lo8(currentLineBuffer)
|
|
|
1795 |
915 03e8 90E0 ldi r25,hi8(currentLineBuffer)
|
|
|
1796 |
916 03ea 00D0 rcall CamIntAsm_acquireTrackingLine
|
|
|
1797 |
917 .L96:
|
|
|
1798 |
918 03ec 0895 ret
|
|
|
1799 |
919 /* epilogue: frame size=0 */
|
|
|
1800 |
920 /* epilogue: noreturn */
|
|
|
1801 |
GAS LISTING /tmp/ccf43P2i.s page 31
|
|
|
1802 |
|
|
|
1803 |
|
|
|
1804 |
921 /* epilogue end (size=0) */
|
|
|
1805 |
922 /* function FrameMgr_acquireLine size 55 (55) */
|
|
|
1806 |
923 .size FrameMgr_acquireLine, .-FrameMgr_acquireLine
|
|
|
1807 |
924 .stabs "tmpLineCount:r(0,11)",64,0,288,18
|
|
|
1808 |
925 .stabn 192,0,0,FrameMgr_acquireLine-FrameMgr_acquireLine
|
|
|
1809 |
926 .stabn 224,0,0,.Lscope3-FrameMgr_acquireLine
|
|
|
1810 |
927 .Lscope3:
|
|
|
1811 |
928 .stabs "",36,0,0,.Lscope3-FrameMgr_acquireLine
|
|
|
1812 |
929 .stabd 78,0,0
|
|
|
1813 |
930 .stabs "FrameMgr_acquireFrame:F(0,15)",36,0,261,FrameMgr_acquireFrame
|
|
|
1814 |
931 .global FrameMgr_acquireFrame
|
|
|
1815 |
932 .type FrameMgr_acquireFrame, @function
|
|
|
1816 |
933 FrameMgr_acquireFrame:
|
|
|
1817 |
934 .stabd 46,0,0
|
|
|
1818 |
935 .stabn 68,0,261,.LM118-FrameMgr_acquireFrame
|
|
|
1819 |
936 .LM118:
|
|
|
1820 |
937 /* prologue: frame size=0 */
|
|
|
1821 |
938 /* prologue end (size=0) */
|
|
|
1822 |
939 .stabn 68,0,262,.LM119-FrameMgr_acquireFrame
|
|
|
1823 |
940 .LM119:
|
|
|
1824 |
941 03ee 8091 0000 lds r24,currentState
|
|
|
1825 |
942 03f2 8130 cpi r24,lo8(1)
|
|
|
1826 |
943 03f4 A9F4 brne .L120
|
|
|
1827 |
944 .stabn 68,0,264,.LM120-FrameMgr_acquireFrame
|
|
|
1828 |
945 .LM120:
|
|
|
1829 |
946 03f6 1092 0000 sts trackedLineCount,__zero_reg__
|
|
|
1830 |
947 .stabn 68,0,265,.LM121-FrameMgr_acquireFrame
|
|
|
1831 |
948 .LM121:
|
|
|
1832 |
949 03fa 8091 0000 lds r24,numCurrTrackedObjects
|
|
|
1833 |
950 03fe 8093 0000 sts numPrevTrackedObjects,r24
|
|
|
1834 |
951 .stabn 68,0,266,.LM122-FrameMgr_acquireFrame
|
|
|
1835 |
952 .LM122:
|
|
|
1836 |
953 0402 1092 0000 sts numCurrTrackedObjects,__zero_reg__
|
|
|
1837 |
954 .stabn 68,0,270,.LM123-FrameMgr_acquireFrame
|
|
|
1838 |
955 .LM123:
|
|
|
1839 |
956 0406 80E4 ldi r24,lo8(64)
|
|
|
1840 |
957 0408 E0E0 ldi r30,lo8(trackedObjectTable)
|
|
|
1841 |
958 040a F0E0 ldi r31,hi8(trackedObjectTable)
|
|
|
1842 |
959 040c 1192 st Z+,__zero_reg__
|
|
|
1843 |
960 040e 8A95 dec r24
|
|
|
1844 |
961 0410 E9F7 brne .-6
|
|
|
1845 |
962 .L118:
|
|
|
1846 |
963 .stabn 68,0,272,.LM124-FrameMgr_acquireFrame
|
|
|
1847 |
964 .LM124:
|
|
|
1848 |
965 0412 829B sbis 48-0x20,2
|
|
|
1849 |
966 0414 FECF rjmp .L118
|
|
|
1850 |
967 .stabn 68,0,273,.LM125-FrameMgr_acquireFrame
|
|
|
1851 |
968 .LM125:
|
|
|
1852 |
969 0416 60E0 ldi r22,lo8(colorMap)
|
|
|
1853 |
970 0418 70E0 ldi r23,hi8(colorMap)
|
|
|
1854 |
971 041a 80E0 ldi r24,lo8(currentLineBuffer)
|
|
|
1855 |
972 041c 90E0 ldi r25,hi8(currentLineBuffer)
|
|
|
1856 |
973 041e 00D0 rcall CamIntAsm_acquireTrackingLine
|
|
|
1857 |
974 .L120:
|
|
|
1858 |
975 0420 0895 ret
|
|
|
1859 |
976 /* epilogue: frame size=0 */
|
|
|
1860 |
977 /* epilogue: noreturn */
|
|
|
1861 |
GAS LISTING /tmp/ccf43P2i.s page 32
|
|
|
1862 |
|
|
|
1863 |
|
|
|
1864 |
978 /* epilogue end (size=0) */
|
|
|
1865 |
979 /* function FrameMgr_acquireFrame size 26 (26) */
|
|
|
1866 |
980 .size FrameMgr_acquireFrame, .-FrameMgr_acquireFrame
|
|
|
1867 |
981 .Lscope4:
|
|
|
1868 |
982 .stabs "",36,0,0,.Lscope4-FrameMgr_acquireFrame
|
|
|
1869 |
983 .stabd 78,0,0
|
|
|
1870 |
984 .stabs "FrameMgr_dispatchEvent:F(0,15)",36,0,205,FrameMgr_dispatchEvent
|
|
|
1871 |
985 .stabs "event:P(0,11)",64,0,204,24
|
|
|
1872 |
986 .global FrameMgr_dispatchEvent
|
|
|
1873 |
987 .type FrameMgr_dispatchEvent, @function
|
|
|
1874 |
988 FrameMgr_dispatchEvent:
|
|
|
1875 |
989 .stabd 46,0,0
|
|
|
1876 |
990 .stabn 68,0,205,.LM126-FrameMgr_dispatchEvent
|
|
|
1877 |
991 .LM126:
|
|
|
1878 |
992 /* prologue: frame size=0 */
|
|
|
1879 |
993 /* prologue end (size=0) */
|
|
|
1880 |
994 .stabn 68,0,206,.LM127-FrameMgr_dispatchEvent
|
|
|
1881 |
995 .LM127:
|
|
|
1882 |
996 0422 8430 cpi r24,lo8(4)
|
|
|
1883 |
997 0424 19F1 breq .L127
|
|
|
1884 |
998 .stabn 68,0,206,.LM128-FrameMgr_dispatchEvent
|
|
|
1885 |
999 .LM128:
|
|
|
1886 |
1000 0426 8530 cpi r24,lo8(5)
|
|
|
1887 |
1001 0428 28F4 brsh .L131
|
|
|
1888 |
1002 042a 8130 cpi r24,lo8(1)
|
|
|
1889 |
1003 042c 09F1 breq .L125
|
|
|
1890 |
1004 042e 8230 cpi r24,lo8(2)
|
|
|
1891 |
1005 0430 41F5 brne .L133
|
|
|
1892 |
1006 0432 07C0 rjmp .L126
|
|
|
1893 |
1007 .L131:
|
|
|
1894 |
1008 0434 8038 cpi r24,lo8(-128)
|
|
|
1895 |
1009 0436 99F0 breq .L129
|
|
|
1896 |
1010 0438 8138 cpi r24,lo8(-127)
|
|
|
1897 |
1011 043a 09F1 breq .L130
|
|
|
1898 |
1012 043c 8032 cpi r24,lo8(32)
|
|
|
1899 |
1013 043e 09F5 brne .L133
|
|
|
1900 |
1014 0440 13C0 rjmp .L128
|
|
|
1901 |
1015 .L126:
|
|
|
1902 |
1016 .stabn 68,0,211,.LM129-FrameMgr_dispatchEvent
|
|
|
1903 |
1017 .LM129:
|
|
|
1904 |
1018 0442 61E0 ldi r22,lo8(1)
|
|
|
1905 |
1019 0444 81E1 ldi r24,lo8(17)
|
|
|
1906 |
1020 0446 00D0 rcall CamConfig_setCamReg
|
|
|
1907 |
1021 .stabn 68,0,212,.LM130-FrameMgr_dispatchEvent
|
|
|
1908 |
1022 .LM130:
|
|
|
1909 |
1023 0448 00D0 rcall CamConfig_sendFifoCmds
|
|
|
1910 |
1024 .stabn 68,0,213,.LM131-FrameMgr_dispatchEvent
|
|
|
1911 |
1025 .LM131:
|
|
|
1912 |
1026 044a 88EE ldi r24,lo8(1000)
|
|
|
1913 |
1027 044c 93E0 ldi r25,hi8(1000)
|
|
|
1914 |
1028 044e 00D0 rcall Utility_delay
|
|
|
1915 |
1029 .stabn 68,0,214,.LM132-FrameMgr_dispatchEvent
|
|
|
1916 |
1030 .LM132:
|
|
|
1917 |
1031 0450 1092 0000 sts lineCount,__zero_reg__
|
|
|
1918 |
1032 .stabn 68,0,215,.LM133-FrameMgr_dispatchEvent
|
|
|
1919 |
1033 .LM133:
|
|
|
1920 |
1034 0454 82E0 ldi r24,lo8(2)
|
|
|
1921 |
GAS LISTING /tmp/ccf43P2i.s page 33
|
|
|
1922 |
|
|
|
1923 |
|
|
|
1924 |
1035 0456 8093 0000 sts currentState,r24
|
|
|
1925 |
1036 .stabn 68,0,217,.LM134-FrameMgr_dispatchEvent
|
|
|
1926 |
1037 .LM134:
|
|
|
1927 |
1038 045a 92DF rcall FrameMgr_acquireLine
|
|
|
1928 |
1039 045c 0895 ret
|
|
|
1929 |
1040 .L129:
|
|
|
1930 |
1041 .stabn 68,0,221,.LM135-FrameMgr_dispatchEvent
|
|
|
1931 |
1042 .LM135:
|
|
|
1932 |
1043 045e 81E0 ldi r24,lo8(1)
|
|
|
1933 |
1044 0460 8093 0000 sts currentState,r24
|
|
|
1934 |
1045 .stabn 68,0,222,.LM136-FrameMgr_dispatchEvent
|
|
|
1935 |
1046 .LM136:
|
|
|
1936 |
1047 0464 C4DF rcall FrameMgr_acquireFrame
|
|
|
1937 |
1048 0466 0895 ret
|
|
|
1938 |
1049 .L128:
|
|
|
1939 |
1050 .stabn 68,0,226,.LM137-FrameMgr_dispatchEvent
|
|
|
1940 |
1051 .LM137:
|
|
|
1941 |
1052 0468 CBDD rcall FrameMgr_processFrame
|
|
|
1942 |
1053 046a 0895 ret
|
|
|
1943 |
1054 .L127:
|
|
|
1944 |
1055 .stabn 68,0,230,.LM138-FrameMgr_dispatchEvent
|
|
|
1945 |
1056 .LM138:
|
|
|
1946 |
1057 046c C0DF rcall FrameMgr_acquireFrame
|
|
|
1947 |
1058 046e 0895 ret
|
|
|
1948 |
1059 .L125:
|
|
|
1949 |
1060 .stabn 68,0,234,.LM139-FrameMgr_dispatchEvent
|
|
|
1950 |
1061 .LM139:
|
|
|
1951 |
1062 0470 8091 0000 lds r24,currentState
|
|
|
1952 |
1063 0474 8823 tst r24
|
|
|
1953 |
1064 0476 29F0 breq .L133
|
|
|
1954 |
1065 .stabn 68,0,240,.LM140-FrameMgr_dispatchEvent
|
|
|
1955 |
1066 .LM140:
|
|
|
1956 |
1067 0478 84E0 ldi r24,lo8(4)
|
|
|
1957 |
1068 047a 00D0 rcall Exec_writeEventFifo
|
|
|
1958 |
1069 047c 0895 ret
|
|
|
1959 |
1070 .L130:
|
|
|
1960 |
1071 .stabn 68,0,246,.LM141-FrameMgr_dispatchEvent
|
|
|
1961 |
1072 .LM141:
|
|
|
1962 |
1073 047e 1092 0000 sts currentState,__zero_reg__
|
|
|
1963 |
1074 .L133:
|
|
|
1964 |
1075 0482 0895 ret
|
|
|
1965 |
1076 /* epilogue: frame size=0 */
|
|
|
1966 |
1077 /* epilogue: noreturn */
|
|
|
1967 |
1078 /* epilogue end (size=0) */
|
|
|
1968 |
1079 /* function FrameMgr_dispatchEvent size 49 (49) */
|
|
|
1969 |
1080 .size FrameMgr_dispatchEvent, .-FrameMgr_dispatchEvent
|
|
|
1970 |
1081 .Lscope5:
|
|
|
1971 |
1082 .stabs "",36,0,0,.Lscope5-FrameMgr_dispatchEvent
|
|
|
1972 |
1083 .stabd 78,0,0
|
|
|
1973 |
1084 .data
|
|
|
1974 |
1085 .type pCurrentTrackedObjectTable, @object
|
|
|
1975 |
1086 .size pCurrentTrackedObjectTable, 2
|
|
|
1976 |
1087 pCurrentTrackedObjectTable:
|
|
|
1977 |
1088 0000 0000 .word trackedObjectTable
|
|
|
1978 |
1089 .lcomm numCurrTrackedObjects,1
|
|
|
1979 |
1090 .lcomm currentState,1
|
|
|
1980 |
1091 .lcomm lineCount,1
|
|
|
1981 |
GAS LISTING /tmp/ccf43P2i.s page 34
|
|
|
1982 |
|
|
|
1983 |
|
|
|
1984 |
1092 .lcomm trackedLineCount,1
|
|
|
1985 |
1093 .lcomm numPrevTrackedObjects,1
|
|
|
1986 |
1094 .lcomm trackedObjectTable,64
|
|
|
1987 |
1095 .stabs "trackedObjectTable:S(0,24)=ar(0,25)=r(0,25);0;0177777;;0;7;(0,20)",40,0,162,trackedObjectT
|
|
|
1988 |
1096 .stabs "pCurrentTrackedObjectTable:S(0,26)=*(0,20)",38,0,163,pCurrentTrackedObjectTable
|
|
|
1989 |
1097 .stabs "lineCount:S(0,11)",38,0,164,lineCount
|
|
|
1990 |
1098 .stabs "currentState:S(0,17)",38,0,165,currentState
|
|
|
1991 |
1099 .stabs "numCurrTrackedObjects:S(0,11)",38,0,166,numCurrTrackedObjects
|
|
|
1992 |
1100 .stabs "numPrevTrackedObjects:S(0,11)",38,0,167,numPrevTrackedObjects
|
|
|
1993 |
1101 .stabs "trackedLineCount:S(0,11)",38,0,168,trackedLineCount
|
|
|
1994 |
1102 .text
|
|
|
1995 |
1103 .stabs "",100,0,0,.Letext0
|
|
|
1996 |
1104 .Letext0:
|
|
|
1997 |
1105 /* File "FrameMgr.c": code 580 = 0x0244 ( 513), prologues 33, epilogues 34 */
|
|
|
1998 |
GAS LISTING /tmp/ccf43P2i.s page 35
|
|
|
1999 |
|
|
|
2000 |
|
|
|
2001 |
DEFINED SYMBOLS
|
|
|
2002 |
*ABS*:00000000 FrameMgr.c
|
|
|
2003 |
/tmp/ccf43P2i.s:3 *ABS*:0000003f __SREG__
|
|
|
2004 |
/tmp/ccf43P2i.s:4 *ABS*:0000003e __SP_H__
|
|
|
2005 |
/tmp/ccf43P2i.s:5 *ABS*:0000003d __SP_L__
|
|
|
2006 |
/tmp/ccf43P2i.s:6 *ABS*:00000000 __tmp_reg__
|
|
|
2007 |
/tmp/ccf43P2i.s:7 *ABS*:00000001 __zero_reg__
|
|
|
2008 |
/tmp/ccf43P2i.s:91 .text:00000000 FrameMgr_processFrame
|
|
|
2009 |
/tmp/ccf43P2i.s:1087 .data:00000000 pCurrentTrackedObjectTable
|
|
|
2010 |
.bss:00000000 numCurrTrackedObjects
|
|
|
2011 |
/tmp/ccf43P2i.s:270 .text:000000b2 FrameMgr_processLine
|
|
|
2012 |
/tmp/ccf43P2i.s:1089 .bss:00000001 currentState
|
|
|
2013 |
/tmp/ccf43P2i.s:1090 .bss:00000002 lineCount
|
|
|
2014 |
/tmp/ccf43P2i.s:1091 .bss:00000003 trackedLineCount
|
|
|
2015 |
/tmp/ccf43P2i.s:798 .text:00000372 FrameMgr_init
|
|
|
2016 |
/tmp/ccf43P2i.s:1093 .bss:00000005 trackedObjectTable
|
|
|
2017 |
/tmp/ccf43P2i.s:823 .text:00000380 FrameMgr_acquireLine
|
|
|
2018 |
/tmp/ccf43P2i.s:933 .text:000003ee FrameMgr_acquireFrame
|
|
|
2019 |
/tmp/ccf43P2i.s:1092 .bss:00000004 numPrevTrackedObjects
|
|
|
2020 |
/tmp/ccf43P2i.s:988 .text:00000422 FrameMgr_dispatchEvent
|
|
|
2021 |
|
|
|
2022 |
UNDEFINED SYMBOLS
|
|
|
2023 |
__do_copy_data
|
|
|
2024 |
__do_clear_bss
|
|
|
2025 |
UIMgr_writeTxFifo
|
|
|
2026 |
Exec_writeEventFifo
|
|
|
2027 |
UartInt_txByte
|
|
|
2028 |
currentLineBuffer
|
|
|
2029 |
previousLineBuffer
|
|
|
2030 |
CamConfig_setCamReg
|
|
|
2031 |
CamConfig_sendFifoCmds
|
|
|
2032 |
fastEventBitmask
|
|
|
2033 |
CamIntAsm_acquireDumpLine
|
|
|
2034 |
colorMap
|
|
|
2035 |
CamIntAsm_acquireTrackingLine
|
|
|
2036 |
Utility_delay
|