WebSVN – svnkaklik – Blame – /programy/C/avr/AVRcam/FrameMgr.lst

Rev	Author	Line No.	Line
174	kaklik	1	`GAS LISTING /tmp/cceB4D4U.s page 1`
151	kaklik	2
		3
		4	`1 .file "FrameMgr.c"`
		5	`2 .arch atmega8`
		6	`3 __SREG__ = 0x3f`
		7	`4 __SP_H__ = 0x3e`
		8	`5 __SP_L__ = 0x3d`
		9	`6 __tmp_reg__ = 0`
		10	`7 __zero_reg__ = 1`
		11	`8 .global __do_copy_data`
		12	`9 .global __do_clear_bss`
174	kaklik	13	`10 .stabs "/home/kaklik/projects/programy/Atmel_C/AVRcam/",100,0,2,.Ltext0`
151	kaklik	14	`11 .stabs "FrameMgr.c",100,0,2,.Ltext0`
		15	`12 .text`
		16	`13 .Ltext0:`
		17	`14 .stabs "gcc2_compiled.",60,0,0,0`
		18	`15 .stabs "int:t(0,1)=r(0,1);-32768;32767;",128,0,0,0`
		19	`16 .stabs "char:t(0,2)=@s8;r(0,2);0;255;",128,0,0,0`
		20	`17 .stabs "long int:t(0,3)=@s32;r(0,3);020000000000;017777777777;",128,0,0,0`
		21	`18 .stabs "unsigned int:t(0,4)=r(0,4);0;0177777;",128,0,0,0`
		22	`19 .stabs "long unsigned int:t(0,5)=@s32;r(0,5);0;037777777777;",128,0,0,0`
		23	`20 .stabs "long long int:t(0,6)=@s64;r(0,6);01000000000000000000000;0777777777777777777777;",128,0,0,`
		24	`21 .stabs "long long unsigned int:t(0,7)=@s64;r(0,7);0;01777777777777777777777;",128,0,0,0`
		25	`22 .stabs "short int:t(0,8)=r(0,8);-32768;32767;",128,0,0,0`
		26	`23 .stabs "short unsigned int:t(0,9)=r(0,9);0;0177777;",128,0,0,0`
		27	`24 .stabs "signed char:t(0,10)=@s8;r(0,10);-128;127;",128,0,0,0`
		28	`25 .stabs "unsigned char:t(0,11)=@s8;r(0,11);0;255;",128,0,0,0`
		29	`26 .stabs "float:t(0,12)=r(0,1);4;0;",128,0,0,0`
		30	`27 .stabs "double:t(0,13)=r(0,1);4;0;",128,0,0,0`
		31	`28 .stabs "long double:t(0,14)=r(0,1);4;0;",128,0,0,0`
		32	`29 .stabs "void:t(0,15)=(0,15)",128,0,0,0`
		33	`30 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdlib.h",130,0,0,0`
		34	`31 .stabs "/usr/lib/gcc/avr/4.1.0/include/stddef.h",130,0,0,0`
		35	`32 .stabs "size_t:t(2,1)=(0,4)",128,0,214,0`
		36	`33 .stabs "wchar_t:t(2,2)=(0,1)",128,0,326,0`
		37	`34 .stabn 162,0,0,0`
		38	`35 .stabs "div_t:t(1,1)=(1,2)=s4quot:(0,1),0,16;rem:(0,1),16,16;;",128,0,69,0`
		39	`36 .stabs "ldiv_t:t(1,3)=(1,4)=s8quot:(0,3),0,32;rem:(0,3),32,32;;",128,0,75,0`
		40	`37 .stabs "__compar_fn_t:t(1,5)=(1,6)=*(1,7)=f(0,1)",128,0,78,0`
		41	`38 .stabn 162,0,0,0`
		42	`39 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/io.h",130,0,0,0`
		43	`40 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/sfr_defs.h",130,0,0,0`
		44	`41 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/inttypes.h",130,0,0,0`
		45	`42 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdint.h",130,0,0,0`
		46	`43 .stabs "int8_t:t(6,1)=(0,10)",128,0,116,0`
		47	`44 .stabs "uint8_t:t(6,2)=(0,11)",128,0,117,0`
		48	`45 .stabs "int16_t:t(6,3)=(0,1)",128,0,118,0`
		49	`46 .stabs "uint16_t:t(6,4)=(0,4)",128,0,119,0`
		50	`47 .stabs "int32_t:t(6,5)=(0,3)",128,0,120,0`
		51	`48 .stabs "uint32_t:t(6,6)=(0,5)",128,0,121,0`
		52	`49 .stabs "int64_t:t(6,7)=(0,6)",128,0,122,0`
		53	`50 .stabs "uint64_t:t(6,8)=(0,7)",128,0,123,0`
		54	`51 .stabs "intptr_t:t(6,9)=(6,3)",128,0,135,0`
		55	`52 .stabs "uintptr_t:t(6,10)=(6,4)",128,0,140,0`
		56	`53 .stabs "int_least8_t:t(6,11)=(6,1)",128,0,152,0`
		57	`54 .stabs "uint_least8_t:t(6,12)=(6,2)",128,0,157,0`
		58	`55 .stabs "int_least16_t:t(6,13)=(6,3)",128,0,162,0`
		59	`56 .stabs "uint_least16_t:t(6,14)=(6,4)",128,0,167,0`
		60	`57 .stabs "int_least32_t:t(6,15)=(6,5)",128,0,172,0`
174	kaklik	61	`GAS LISTING /tmp/cceB4D4U.s page 2`
151	kaklik	62
		63
		64	`58 .stabs "uint_least32_t:t(6,16)=(6,6)",128,0,177,0`
		65	`59 .stabs "int_least64_t:t(6,17)=(6,7)",128,0,182,0`
		66	`60 .stabs "uint_least64_t:t(6,18)=(6,8)",128,0,187,0`
		67	`61 .stabs "int_fast8_t:t(6,19)=(6,1)",128,0,200,0`
		68	`62 .stabs "uint_fast8_t:t(6,20)=(6,2)",128,0,205,0`
		69	`63 .stabs "int_fast16_t:t(6,21)=(6,3)",128,0,210,0`
		70	`64 .stabs "uint_fast16_t:t(6,22)=(6,4)",128,0,215,0`
		71	`65 .stabs "int_fast32_t:t(6,23)=(6,5)",128,0,220,0`
		72	`66 .stabs "uint_fast32_t:t(6,24)=(6,6)",128,0,225,0`
		73	`67 .stabs "int_fast64_t:t(6,25)=(6,7)",128,0,230,0`
		74	`68 .stabs "uint_fast64_t:t(6,26)=(6,8)",128,0,235,0`
		75	`69 .stabs "intmax_t:t(6,27)=(6,7)",128,0,249,0`
		76	`70 .stabs "uintmax_t:t(6,28)=(6,8)",128,0,254,0`
		77	`71 .stabn 162,0,0,0`
		78	`72 .stabs "int_farptr_t:t(5,1)=(6,5)",128,0,76,0`
		79	`73 .stabs "uint_farptr_t:t(5,2)=(6,6)",128,0,80,0`
		80	`74 .stabn 162,0,0,0`
		81	`75 .stabn 162,0,0,0`
		82	`76 .stabn 162,0,0,0`
		83	`77 .stabs "I2CInterface.h",130,0,0,0`
		84	`78 .stabs "CommonDefs.h",130,0,0,0`
		85	`79 .stabs "bool_t:t(8,1)=(0,11)",128,0,56,0`
		86	`80 .stabn 162,0,0,0`
		87	`81 .stabs "i2cCmd_t:t(7,1)=(7,2)=s2configReg:(0,11),0,8;data:(0,11),8,8;;",128,0,53,0`
		88	`82 .stabn 162,0,0,0`
		89	`83 .stabs " :T(0,16)=@s8;eST_FrameMgr_idle:0,ST_FrameMgr_TrackingFrame:1,ST_FrameMgr_DumpingFrame:2,;`
		90	`84 .stabs "FrameMgr_State_t:t(0,17)=(0,11)",128,0,72,0`
		91	`85 .stabs " :T(0,18)=@s8;enotTracked:0,color1:1,color2:2,color3:3,color4:4,color5:5,color6:6,color7:7`
		92	`86 .stabs "trackedColor_t:t(0,19)=(0,11)",128,0,127,0`
		93	`87 .stabs "trackedObject_t:t(0,20)=(0,21)=s8color:(0,19),0,8;lastLineXStart:(0,11),8,8;lastLineXFinis`
		94	`88 .stabs "FrameMgr_processFrame:F(0,15)",36,0,517,FrameMgr_processFrame`
		95	`89 .global FrameMgr_processFrame`
		96	`90 .type FrameMgr_processFrame, @function`
		97	`91 FrameMgr_processFrame:`
		98	`92 .stabd 46,0,0`
		99	`1:FrameMgr.c **** /*`
		100	`2:FrameMgr.c **** Copyright (C) 2004 John Orlando`
		101	`3:FrameMgr.c ****`
		102	`4:FrameMgr.c **** AVRcam: a small real-time image processing engine.`
		103	`5:FrameMgr.c ****`
		104	`6:FrameMgr.c **** This program is free software; you can redistribute it and/or`
		105	`7:FrameMgr.c **** modify it under the terms of the GNU General Public`
		106	`8:FrameMgr.c **** License as published by the Free Software Foundation; either`
		107	`9:FrameMgr.c **** version 2 of the License, or (at your option) any later version.`
		108	`10:FrameMgr.c ****`
		109	`11:FrameMgr.c **** This program is distributed in the hope that it will be useful,`
		110	`12:FrameMgr.c **** but WITHOUT ANY WARRANTY; without even the implied warranty of`
		111	`13:FrameMgr.c **** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU`
		112	`14:FrameMgr.c **** General Public License for more details.`
		113	`15:FrameMgr.c ****`
		114	`16:FrameMgr.c **** You should have received a copy of the GNU General Public`
		115	`17:FrameMgr.c **** License along with this program; if not, write to the Free Software`
		116	`18:FrameMgr.c **** Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA`
		117	`19:FrameMgr.c ****`
		118	`20:FrameMgr.c **** For more information on the AVRcam, please contact:`
		119	`21:FrameMgr.c ****`
		120	`22:FrameMgr.c **** john@jrobot.net`
174	kaklik	121	`GAS LISTING /tmp/cceB4D4U.s page 3`
151	kaklik	122
		123
		124	`23:FrameMgr.c ****`
		125	`24:FrameMgr.c **** or go to www.jrobot.net for more details regarding the system.`
		126	`25:FrameMgr.c **** */`
		127	`26:FrameMgr.c ** /*******************************************************`
		128	`27:FrameMgr.c **** Module Name: FrameMgr.c`
		129	`28:FrameMgr.c **** Module Date: 04/10/2004`
		130	`29:FrameMgr.c **** Module Auth: John Orlando`
		131	`30:FrameMgr.c ****`
		132	`31:FrameMgr.c **** Description: This modules is responsible for performing`
		133	`32:FrameMgr.c **** both medium and high level processing on image data.`
		134	`33:FrameMgr.c **** This is performed at both the line level as well as`
		135	`34:FrameMgr.c **** the frame level. It controls the main flow of the`
		136	`35:FrameMgr.c **** system, adhering to all the critical timing`
		137	`36:FrameMgr.c **** requirements (such as when serial data can be transferred,`
		138	`37:FrameMgr.c **** etc).`
		139	`38:FrameMgr.c ****`
		140	`39:FrameMgr.c **** Revision History:`
		141	`40:FrameMgr.c **** Date Rel Ver. Notes`
		142	`41:FrameMgr.c **** 4/10/2004 0.1 Module created`
		143	`42:FrameMgr.c **** 6/30/2004 1.0 Initial release for Circuit Cellar`
		144	`43:FrameMgr.c **** contest.`
		145	`44:FrameMgr.c **** 11/15/2004 1.2 Updated processLine() function so`
		146	`45:FrameMgr.c **** it will remove objects less than`
		147	`46:FrameMgr.c **** a specified length/width (reduces`
		148	`47:FrameMgr.c **** shot noise)`
		149	`48:FrameMgr.c ** *******************************************************/`
		150	`49:FrameMgr.c ****`
		151	`50:FrameMgr.c **** /* Includes */`
		152	`51:FrameMgr.c **** #include <stdlib.h>`
		153	`52:FrameMgr.c **** #include <string.h>`
		154	`53:FrameMgr.c **** #include <avr/io.h>`
		155	`54:FrameMgr.c **** #include "Executive.h"`
		156	`55:FrameMgr.c **** #include "UIMgr.h"`
		157	`56:FrameMgr.c **** #include "FrameMgr.h"`
		158	`57:FrameMgr.c **** #include "CamInterface.h"`
		159	`58:FrameMgr.c **** #include "UartInterface.h"`
		160	`59:FrameMgr.c **** #include "Utility.h"`
		161	`60:FrameMgr.c **** #include "I2CInterface.h"`
		162	`61:FrameMgr.c **** #include "CamConfig.h"`
		163	`62:FrameMgr.c **** #include "CommonDefs.h"`
		164	`63:FrameMgr.c ****`
		165	`64:FrameMgr.c **** /* Local Structures and Typedefs */`
		166	`65:FrameMgr.c **** enum`
		167	`66:FrameMgr.c **** {`
		168	`67:FrameMgr.c **** ST_FrameMgr_idle,`
		169	`68:FrameMgr.c **** ST_FrameMgr_TrackingFrame,`
		170	`69:FrameMgr.c **** ST_FrameMgr_DumpingFrame`
		171	`70:FrameMgr.c **** };`
		172	`71:FrameMgr.c ****`
		173	`72:FrameMgr.c **** typedef unsigned char FrameMgr_State_t;`
		174	`73:FrameMgr.c ****`
		175	`74:FrameMgr.c **** /* Definitions */`
		176	`75:FrameMgr.c **** /* The most objects that can be tracked at any one time is 8.`
		177	`76:FrameMgr.c **** This number is determined by the number of bytes that can be`
		178	`77:FrameMgr.c **** sent out during a frame (one byte per line, 144 lines per frame)`
		179	`78:FrameMgr.c **** with the number of bytes in a tracked object (7) + some wiggle`
		180	`79:FrameMgr.c **** room :-) ... I guess this could be increased to around 20 if`
174	kaklik	181	`GAS LISTING /tmp/cceB4D4U.s page 4`
151	kaklik	182
		183
		184	`80:FrameMgr.c **** we had enough room and cycles to process objects between lines */`
		185	`81:FrameMgr.c **** #define MAX_TRACKED_OBJECTS 8`
		186	`82:FrameMgr.c ****`
		187	`83:FrameMgr.c **** /* This defines the number of bytes that make up a trackedObject_t`
		188	`84:FrameMgr.c **** structure... */`
		189	`85:FrameMgr.c **** #define SIZE_OF_TRACKED_OBJECT 8`
		190	`86:FrameMgr.c ****`
		191	`87:FrameMgr.c **** /* This define is used to turn off the timer overflow interrupt`
		192	`88:FrameMgr.c **** that is generated when the PCLK overflows TIMER1 */`
		193	`89:FrameMgr.c **** #define DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0xFB`
		194	`90:FrameMgr.c ****`
		195	`91:FrameMgr.c **** /* This define is used to determine if a run length is too small`
		196	`92:FrameMgr.c **** to be concerned with. This helps to reduce the number of false`
		197	`93:FrameMgr.c **** positives. */`
		198	`94:FrameMgr.c **** #define MIN_OBJECT_TRACKING_WIDTH 3`
		199	`95:FrameMgr.c ****`
		200	`96:FrameMgr.c **** /* This define is used to determine if an object has enough`
		201	`97:FrameMgr.c **** height to be considered worth tracking...it is used to reduce`
		202	`98:FrameMgr.c **** shot noise */`
		203	`99:FrameMgr.c **** #define MIN_OBJECT_TRACKING_HEIGHT 3`
		204	`100:FrameMgr.c ****`
		205	`101:FrameMgr.c **** /* This define is used to indicate how often the filter routine`
		206	`102:FrameMgr.c **** that removes objects less than MIN_OBJECT_TRACKING_HEIGHT should`
		207	`103:FrameMgr.c **** be executed. It is measured in a number of lines (7 nominally). */`
		208	`104:FrameMgr.c **** #define RUN_OBJECT_FILTER_MASK 0x07`
		209	`105:FrameMgr.c ****`
		210	`106:FrameMgr.c **** /* This enum describes the possible colors that can`
		211	`107:FrameMgr.c **** be tracked by the system. This can't be represented as`
		212	`108:FrameMgr.c **** simple color names (red, brown, etc) due to the fact that`
		213	`109:FrameMgr.c **** the user sets which colors will be associated with which`
		214	`110:FrameMgr.c **** bits. Remember...after the AND operation of the indexed`
		215	`111:FrameMgr.c **** color map values executes, either a single bit indicating`
		216	`112:FrameMgr.c **** the color should be set, or no bits indicating that the`
		217	`113:FrameMgr.c **** color isn't represented in the color map (notTracked). */`
		218	`114:FrameMgr.c **** enum`
		219	`115:FrameMgr.c **** {`
		220	`116:FrameMgr.c **** notTracked,`
		221	`117:FrameMgr.c **** color1, /* bit 1 color */`
		222	`118:FrameMgr.c **** color2, /* bit 2 color */`
		223	`119:FrameMgr.c **** color3, /* bit 3 color */`
		224	`120:FrameMgr.c **** color4, /* bit 4 color */`
		225	`121:FrameMgr.c **** color5, /* bit 5 color */`
		226	`122:FrameMgr.c **** color6, /* bit 6 color */`
		227	`123:FrameMgr.c **** color7, /* bit 7 color */`
		228	`124:FrameMgr.c **** color8 /* bit 8 color */`
		229	`125:FrameMgr.c **** };`
		230	`126:FrameMgr.c ****`
		231	`127:FrameMgr.c **** typedef unsigned char trackedColor_t;`
		232	`128:FrameMgr.c ****`
		233	`129:FrameMgr.c **** /* This structure defines the info that needs to be`
		234	`130:FrameMgr.c **** maintained for each trackedObject in the trackingTable */`
		235	`131:FrameMgr.c **** typedef struct`
		236	`132:FrameMgr.c **** {`
		237	`133:FrameMgr.c **** trackedColor_t color;`
		238	`134:FrameMgr.c **** unsigned char lastLineXStart;`
		239	`135:FrameMgr.c **** unsigned char lastLineXFinish;`
		240	`136:FrameMgr.c **** unsigned char x_upperLeft;`
174	kaklik	241	`GAS LISTING /tmp/cceB4D4U.s page 5`
151	kaklik	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 **** }`
174	kaklik	301	`GAS LISTING /tmp/cceB4D4U.s page 6`
151	kaklik	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 ****`
174	kaklik	361	`GAS LISTING /tmp/cceB4D4U.s page 7`
151	kaklik	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`
174	kaklik	421	`GAS LISTING /tmp/cceB4D4U.s page 8`
151	kaklik	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 **** {`
174	kaklik	481	`GAS LISTING /tmp/cceB4D4U.s page 9`
151	kaklik	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);`
174	kaklik	541	`GAS LISTING /tmp/cceB4D4U.s page 10`
151	kaklik	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--;`
174	kaklik	601	`GAS LISTING /tmp/cceB4D4U.s page 11`
151	kaklik	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`
174	kaklik	661	`GAS LISTING /tmp/cceB4D4U.s page 12`
151	kaklik	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`
174	kaklik	721	`GAS LISTING /tmp/cceB4D4U.s page 13`
151	kaklik	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;`
174	kaklik	781	`GAS LISTING /tmp/cceB4D4U.s page 14`
151	kaklik	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`
174	kaklik	841	`GAS LISTING /tmp/cceB4D4U.s page 15`
151	kaklik	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`
174	kaklik	901	`GAS LISTING /tmp/cceB4D4U.s page 16`
151	kaklik	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:`
174	kaklik	961	`GAS LISTING /tmp/cceB4D4U.s page 17`
151	kaklik	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:`
174	kaklik	1021	`GAS LISTING /tmp/cceB4D4U.s page 18`
151	kaklik	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`
174	kaklik	1081	`GAS LISTING /tmp/cceB4D4U.s page 19`
151	kaklik	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.`
174	kaklik	1141	`GAS LISTING /tmp/cceB4D4U.s page 20`
151	kaklik	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);`
174	kaklik	1201	`GAS LISTING /tmp/cceB4D4U.s page 21`
151	kaklik	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;`
174	kaklik	1261	`GAS LISTING /tmp/cceB4D4U.s page 22`
151	kaklik	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`
174	kaklik	1321	`GAS LISTING /tmp/cceB4D4U.s page 23`
151	kaklik	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)`
174	kaklik	1381	`GAS LISTING /tmp/cceB4D4U.s page 24`
151	kaklik	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`
174	kaklik	1441	`GAS LISTING /tmp/cceB4D4U.s page 25`
151	kaklik	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`
174	kaklik	1501	`GAS LISTING /tmp/cceB4D4U.s page 26`
151	kaklik	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)`
174	kaklik	1561	`GAS LISTING /tmp/cceB4D4U.s page 27`
151	kaklik	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`
174	kaklik	1621	`GAS LISTING /tmp/cceB4D4U.s page 28`
151	kaklik	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)`
174	kaklik	1681	`GAS LISTING /tmp/cceB4D4U.s page 29`
151	kaklik	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`
174	kaklik	1741	`GAS LISTING /tmp/cceB4D4U.s page 30`
151	kaklik	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 */`
174	kaklik	1801	`GAS LISTING /tmp/cceB4D4U.s page 31`
151	kaklik	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 */`
174	kaklik	1861	`GAS LISTING /tmp/cceB4D4U.s page 32`
151	kaklik	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)`
174	kaklik	1921	`GAS LISTING /tmp/cceB4D4U.s page 33`
151	kaklik	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`
174	kaklik	1981	`GAS LISTING /tmp/cceB4D4U.s page 34`
151	kaklik	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 */`
174	kaklik	1998	`GAS LISTING /tmp/cceB4D4U.s page 35`
151	kaklik	1999
		2000
		2001	`DEFINED SYMBOLS`
		2002	`ABS:00000000 FrameMgr.c`
174	kaklik	2003	`/tmp/cceB4D4U.s:3 ABS:0000003f __SREG__`
		2004	`/tmp/cceB4D4U.s:4 ABS:0000003e __SP_H__`
		2005	`/tmp/cceB4D4U.s:5 ABS:0000003d __SP_L__`
		2006	`/tmp/cceB4D4U.s:6 ABS:00000000 __tmp_reg__`
		2007	`/tmp/cceB4D4U.s:7 ABS:00000001 __zero_reg__`
		2008	`/tmp/cceB4D4U.s:91 .text:00000000 FrameMgr_processFrame`
		2009	`/tmp/cceB4D4U.s:1087 .data:00000000 pCurrentTrackedObjectTable`
151	kaklik	2010	`.bss:00000000 numCurrTrackedObjects`
174	kaklik	2011	`/tmp/cceB4D4U.s:270 .text:000000b2 FrameMgr_processLine`
		2012	`/tmp/cceB4D4U.s:1089 .bss:00000001 currentState`
		2013	`/tmp/cceB4D4U.s:1090 .bss:00000002 lineCount`
		2014	`/tmp/cceB4D4U.s:1091 .bss:00000003 trackedLineCount`
		2015	`/tmp/cceB4D4U.s:798 .text:00000372 FrameMgr_init`
		2016	`/tmp/cceB4D4U.s:1093 .bss:00000005 trackedObjectTable`
		2017	`/tmp/cceB4D4U.s:823 .text:00000380 FrameMgr_acquireLine`
		2018	`/tmp/cceB4D4U.s:933 .text:000003ee FrameMgr_acquireFrame`
		2019	`/tmp/cceB4D4U.s:1092 .bss:00000004 numPrevTrackedObjects`
		2020	`/tmp/cceB4D4U.s:988 .text:00000422 FrameMgr_dispatchEvent`
151	kaklik	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`

Subversion Repositories svnkaklik

(root)/programy/C/avr/AVRcam/FrameMgr.lst – Rev 174