GAS LISTING /tmp/ccowxWMg.s page 1 1 # 1 "CamInterfaceAsm.S" 2 # 1 "" 1 ; 0 0 2 ; Copyright (C) 2004 John Orlando 3 ; 4 ; AVRcam: a small real-time image processing engine. 5 6 ; This program is free software; you can redistribute it and/or 7 ; modify it under the terms of the GNU General Public 8 ; License as published by the Free Software Foundation; either 9 ; version 2 of the License, or (at your option) any later version. 10 11 ; This program is distributed in the hope that it will be useful, 12 ; but WITHOUT ANY WARRANTY; without even the implied warranty of 13 ; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 14 ; General Public License for more details. 15 16 ; You should have received a copy of the GNU General Public 17 ; License along with this program; if not, write to the Free Software 18 ; Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 19 20 ; For more information on the AVRcam, please contact: 21 22 ; john@jrobot.net 23 24 ; or go to www.jrobot.net for more details regarding the system. 25 ;********************************************************************** 26 ; Module Name: CanInterfaceAsm.S 27 ; Module Date: 04/14/2004 28 ; Module Auth: John Orlando 29 ; 30 ; Description: This module provides the low-level interface 31 ; to the OV6620 camera hardware. It is responsible for 32 ; acquiring each pixel block (R,G,B), performing the mapping 33 ; into an actual color (orange, purple, etc), run-length 34 ; encoding the data, and storing the info off to the appropriate 35 ; line buffer. This routine is synchronized with the pixel data 36 ; so that no polling of the camera data needs to be done (the 37 ; OV6620 is clocked off of the same crystal source as the mega8, 38 ; thus providing inherent synchronization between the two). 39 ; 40 ; Revision History: 41 ; Date Rel Ver. Notes 42 ; 4/10/2004 0.1 Module created 43 ; 6/30/2004 1.0 Initial release for Circuit Cellar 44 ; contest. 45 ; 1/16/2005 1.4 Fixed issue with the TCCR1B register 46 ; where PCLK was getting routed to the 47 ; timer1 even when it wasn't needed. 48 ; This caused excessive counter overflow 49 ; interrupts, and caused problems. Now, 50 ; the "PCLK" pipe feeds timer1 when needed, 51 ; and is turned off when it isn't needed. 52 53 #include GAS LISTING /tmp/ccowxWMg.s page 2 1 /* Copyright (c) 2002,2003,2005,2006, Marek Michalkiewicz, Joerg Wunsch 2 All rights reserved. 3 4 Redistribution and use in source and binary forms, with or without 5 modification, are permitted provided that the following conditions are met: 6 7 * Redistributions of source code must retain the above copyright 8 notice, this list of conditions and the following disclaimer. 9 10 * Redistributions in binary form must reproduce the above copyright 11 notice, this list of conditions and the following disclaimer in 12 the documentation and/or other materials provided with the 13 distribution. 14 15 * Neither the name of the copyright holders nor the names of 16 contributors may be used to endorse or promote products derived 17 from this software without specific prior written permission. 18 19 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 23 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 POSSIBILITY OF SUCH DAMAGE. */ 30 31 /* $Id: io.h,v 1.24.2.9 2006/09/13 20:41:41 arcanum Exp $ */ 32 33 /** \defgroup avr_io : AVR device-specific IO definitions 34 \code #include \endcode 35 36 This header file includes the apropriate IO definitions for the 37 device that has been specified by the -mmcu= compiler 38 command-line switch. This is done by diverting to the appropriate 39 file <avr/ioXXXX.h> which should 40 never be included directly. Some register names common to all 41 AVR devices are defined directly within <avr/io.h>, 42 but most of the details come from the respective include file. 43 44 Note that this file always includes 45 \code #include \endcode 46 See \ref avr_sfr for the details. 47 48 Included are definitions of the IO register set and their 49 respective bit values as specified in the Atmel documentation. 50 Note that Atmel is not very consistent in its naming conventions, 51 so even identical functions sometimes get different names on 52 different devices. 53 54 Also included are the specific names useable for interrupt 55 function definitions as documented 56 \ref avr_signames "here". 57 GAS LISTING /tmp/ccowxWMg.s page 3 58 Finally, the following macros are defined: 59 60 - \b RAMEND 61
62 A constant describing the last on-chip RAM location. 63
64 - \b XRAMEND 65
66 A constant describing the last possible location in RAM. 67 This is equal to RAMEND for devices that do not allow for 68 external RAM. 69
70 - \b E2END 71
72 A constant describing the address of the last EEPROM cell. 73
74 - \b FLASHEND 75
76 A constant describing the last byte address in flash ROM. 77
78 - \b SPM_PAGESIZE 79
80 For devices with bootloader support, the flash pagesize 81 (in bytes) to be used for the \c SPM instruction. */ 82 83 #ifndef _AVR_IO_H_ 84 #define _AVR_IO_H_ 85 86 #include 1 /* Copyright (c) 2002, Marek Michalkiewicz 2 All rights reserved. 3 4 Redistribution and use in source and binary forms, with or without 5 modification, are permitted provided that the following conditions are met: 6 7 * Redistributions of source code must retain the above copyright 8 notice, this list of conditions and the following disclaimer. 9 10 * Redistributions in binary form must reproduce the above copyright 11 notice, this list of conditions and the following disclaimer in 12 the documentation and/or other materials provided with the 13 distribution. 14 15 * Neither the name of the copyright holders nor the names of 16 contributors may be used to endorse or promote products derived 17 from this software without specific prior written permission. 18 19 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 23 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE GAS LISTING /tmp/ccowxWMg.s page 4 29 POSSIBILITY OF SUCH DAMAGE. */ 30 31 /* avr/sfr_defs.h - macros for accessing AVR special function registers */ 32 33 /* $Id: sfr_defs.h,v 1.16.2.2 2006/05/17 08:25:10 joerg_wunsch Exp $ */ 34 35 #ifndef _AVR_SFR_DEFS_H_ 36 #define _AVR_SFR_DEFS_H_ 1 37 38 /** \defgroup avr_sfr_notes Additional notes from 39 \ingroup avr_sfr 40 41 The \c file is included by all of the \c 42 files, which use macros defined here to make the special function register 43 definitions look like C variables or simple constants, depending on the 44 _SFR_ASM_COMPAT define. Some examples from \c to 45 show how to define such macros: 46 47 \code 48 #define PORTA _SFR_IO8(0x02) 49 #define EEAR _SFR_IO16(0x21) 50 #define UDR0 _SFR_MEM8(0xC6) 51 #define TCNT3 _SFR_MEM16(0x94) 52 #define CANIDT _SFR_MEM32(0xF0) 53 \endcode 54 55 If \c _SFR_ASM_COMPAT is not defined, C programs can use names like 56 PORTA directly in C expressions (also on the left side of 57 assignment operators) and GCC will do the right thing (use short I/O 58 instructions if possible). The \c __SFR_OFFSET definition is not used in 59 any way in this case. 60 61 Define \c _SFR_ASM_COMPAT as 1 to make these names work as simple constants 62 (addresses of the I/O registers). This is necessary when included in 63 preprocessed assembler (*.S) source files, so it is done automatically if 64 \c __ASSEMBLER__ is defined. By default, all addresses are defined as if 65 they were memory addresses (used in \c lds/sts instructions). To use these 66 addresses in \c in/out instructions, you must subtract 0x20 from them. 67 68 For more backwards compatibility, insert the following at the start of your 69 old assembler source file: 70 71 \code 72 #define __SFR_OFFSET 0 73 \endcode 74 75 This automatically subtracts 0x20 from I/O space addresses, but it's a 76 hack, so it is recommended to change your source: wrap such addresses in 77 macros defined here, as shown below. After this is done, the 78 __SFR_OFFSET definition is no longer necessary and can be removed. 79 80 Real example - this code could be used in a boot loader that is portable 81 between devices with \c SPMCR at different addresses. 82 83 \verbatim 84 : #define SPMCR _SFR_IO8(0x37) 85 : #define SPMCR _SFR_MEM8(0x68) GAS LISTING /tmp/ccowxWMg.s page 5 86 \endverbatim 87 87 88 #ifndef __AVR_HAVE_MOVW__ 89 # if defined(__AVR_ENHANCED__) && __AVR_ENHANCED__ 90 # define __AVR_HAVE_MOVW__ 1 91 # endif 92 #endif 93 94 #ifndef __AVR_HAVE_LPMX__ 95 # if defined(__AVR_ENHANCED__) && __AVR_ENHANCED__ 96 # define __AVR_HAVE_LPMX__ 1 97 # endif 98 #endif 99 100 /* 101 * Registers common to all AVR devices. 102 */ 103 104 #if __AVR_ARCH__ != 1 105 /* 106 * AVR architecture 1 has no RAM, thus no stack pointer. 107 * 108 * All other archs do have a stack pointer. Some devices have only 109 * less than 256 bytes of possible RAM locations (128 Bytes of SRAM 110 * and no option for external RAM), thus SPH is officially "reserved" 111 * for them. We catch this case below after including the 112 * device-specific ioXXXX.h file, by examining XRAMEND, and 113 * #undef-ining SP and SPH in that case. 114 */ 115 /* Stack Pointer */ 116 #define SP _SFR_IO16(0x3D) 117 #define SPL _SFR_IO8(0x3D) 118 #define SPH _SFR_IO8(0x3E) 119 #endif /* #if __AVR_ARCH__ != 1 */ 120 121 /* Status REGister */ 122 #define SREG _SFR_IO8(0x3F) 123 124 /* Status Register - SREG */ 125 #define SREG_I 7 126 #define SREG_T 6 127 #define SREG_H 5 128 #define SREG_S 4 129 #define SREG_V 3 130 #define SREG_N 2 131 #define SREG_Z 1 132 #define SREG_C 0 133 134 /* Pointer definition */ 135 #if __AVR_ARCH__ != 1 136 /* avr1 has only the Z pointer */ 137 #define XL r26 138 #define XH r27 139 #define YL r28 140 #define YH r29 141 #endif /* #if __AVR_ARCH__ != 1 */ GAS LISTING /tmp/ccowxWMg.s page 6 142 #define ZL r30 143 #define ZH r31 144 145 /* 146 * Only few devices come without EEPROM. In order to assemble the 147 * EEPROM library components without defining a specific device, we 148 * keep the EEPROM-related definitions here. 149 */ 150 #if defined(__COMPILING_AVR_LIBC__) 151 152 /* EEPROM Control Register */ 153 #define EECR _SFR_IO8(0x1C) 154 155 /* EEPROM Data Register */ 156 #define EEDR _SFR_IO8(0x1D) 157 158 /* EEPROM Address Register */ 159 #define EEAR _SFR_IO16(0x1E) 160 #define EEARL _SFR_IO8(0x1E) 161 #define EEARH _SFR_IO8(0x1F) 162 163 /* EEPROM Control Register */ 164 #define EERIE 3 165 #define EEMWE 2 166 #define EEWE 1 167 #define EERE 0 168 169 #endif /* __COMPILING_AVR_LIBC__ */ 170 171 #if defined (__AVR_AT94K__) 172 # include 173 #elif defined (__AVR_AT43USB320__) 174 # include 175 #elif defined (__AVR_AT43USB355__) 176 # include 177 #elif defined (__AVR_AT76C711__) 178 # include 179 #elif defined (__AVR_AT86RF401__) 180 # include 181 #elif defined (__AVR_AT90PWM2__) 182 # include 183 #elif defined (__AVR_AT90PWM3__) 184 # include 185 #elif defined (__AVR_ATmega128__) 186 # include 187 #elif defined (__AVR_ATmega1280__) 188 # include 189 #elif defined (__AVR_ATmega1281__) 190 # include 191 #elif defined (__AVR_ATmega2560__) 192 # include 193 #elif defined (__AVR_ATmega2561__) 194 # include 195 #elif defined (__AVR_AT90CAN32__) 196 # include 197 #elif defined (__AVR_AT90CAN64__) 198 # include GAS LISTING /tmp/ccowxWMg.s page 7 199 #elif defined (__AVR_AT90CAN128__) 200 # include 201 #elif defined (__AVR_AT90USB646__) 202 # include 203 #elif defined (__AVR_AT90USB647__) 204 # include 205 #elif defined (__AVR_AT90USB1286__) 206 # include 207 #elif defined (__AVR_AT90USB1287__) 208 # include 209 #elif defined (__AVR_ATmega64__) 210 # include 211 #elif defined (__AVR_ATmega640__) 212 # include 213 #elif defined (__AVR_ATmega644__) 214 # include 215 #elif defined (__AVR_ATmega644P__) 216 # include 217 #elif defined (__AVR_ATmega645__) 218 # include 219 #elif defined (__AVR_ATmega6450__) 220 # include 221 #elif defined (__AVR_ATmega649__) 222 # include 223 #elif defined (__AVR_ATmega6490__) 224 # include 225 #elif defined (__AVR_ATmega103__) 226 # include 227 #elif defined (__AVR_ATmega32__) 228 # include 229 #elif defined (__AVR_ATmega323__) 230 # include 231 #elif defined (__AVR_ATmega324P__) 232 # include 233 #elif defined (__AVR_ATmega325__) 234 # include 235 #elif defined (__AVR_ATmega3250__) 236 # include 237 #elif defined (__AVR_ATmega329__) 238 # include 239 #elif defined (__AVR_ATmega3290__) 240 # include 241 #elif defined (__AVR_ATmega406__) 242 # include 243 #elif defined (__AVR_ATmega16__) 244 # include 245 #elif defined (__AVR_ATmega161__) 246 # include 247 #elif defined (__AVR_ATmega162__) 248 # include 249 #elif defined (__AVR_ATmega163__) 250 # include 251 #elif defined (__AVR_ATmega164P__) 252 # include 253 #elif defined (__AVR_ATmega165__) 254 # include 255 #elif defined (__AVR_ATmega165P__) GAS LISTING /tmp/ccowxWMg.s page 8 256 # include 257 #elif defined (__AVR_ATmega168__) 258 # include 259 #elif defined (__AVR_ATmega169__) 260 # include 261 #elif defined (__AVR_ATmega169P__) 262 # include 263 #elif defined (__AVR_ATmega8__) 264 # include 1 /* Copyright (c) 2002, Marek Michalkiewicz 2 All rights reserved. 3 4 Redistribution and use in source and binary forms, with or without 5 modification, are permitted provided that the following conditions are met: 6 7 * Redistributions of source code must retain the above copyright 8 notice, this list of conditions and the following disclaimer. 9 10 * Redistributions in binary form must reproduce the above copyright 11 notice, this list of conditions and the following disclaimer in 12 the documentation and/or other materials provided with the 13 distribution. 14 15 * Neither the name of the copyright holders nor the names of 16 contributors may be used to endorse or promote products derived 17 from this software without specific prior written permission. 18 19 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 23 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 POSSIBILITY OF SUCH DAMAGE. */ 30 31 /* $Id: iom8.h,v 1.13 2005/10/30 22:11:23 joerg_wunsch Exp $ */ 32 33 /* avr/iom8.h - definitions for ATmega8 */ 34 35 #ifndef _AVR_IOM8_H_ 36 #define _AVR_IOM8_H_ 1 37 38 /* This file should only be included from , never directly. */ 39 40 #ifndef _AVR_IO_H_ 41 # error "Include instead of this file." 42 #endif 43 44 #ifndef _AVR_IOXXX_H_ 45 # define _AVR_IOXXX_H_ "iom8.h" 46 #else 47 # error "Attempt to include more than one file." 48 #endif GAS LISTING /tmp/ccowxWMg.s page 9 49 50 /* I/O registers */ 51 52 /* TWI stands for "Two Wire Interface" or "TWI Was I2C(tm)" */ 53 #define TWBR _SFR_IO8(0x00) 54 #define TWSR _SFR_IO8(0x01) 55 #define TWAR _SFR_IO8(0x02) 56 #define TWDR _SFR_IO8(0x03) 57 58 /* ADC */ 59 #define ADCW _SFR_IO16(0x04) 60 #ifndef __ASSEMBLER__ 61 #define ADC _SFR_IO16(0x04) 62 #endif 63 #define ADCL _SFR_IO8(0x04) 64 #define ADCH _SFR_IO8(0x05) 65 #define ADCSR _SFR_IO8(0x06) 66 #define ADCSRA _SFR_IO8(0x06) /* Changed in 2486H-AVR-09/02 */ 67 #define ADMUX _SFR_IO8(0x07) 68 69 /* analog comparator */ 70 #define ACSR _SFR_IO8(0x08) 71 72 /* USART */ 73 #define UBRRL _SFR_IO8(0x09) 74 #define UCSRB _SFR_IO8(0x0A) 75 #define UCSRA _SFR_IO8(0x0B) 76 #define UDR _SFR_IO8(0x0C) 77 78 /* SPI */ 79 #define SPCR _SFR_IO8(0x0D) 80 #define SPSR _SFR_IO8(0x0E) 81 #define SPDR _SFR_IO8(0x0F) 82 83 /* Port D */ 84 #define PIND _SFR_IO8(0x10) 85 #define DDRD _SFR_IO8(0x11) 86 #define PORTD _SFR_IO8(0x12) 87 88 /* Port C */ 89 #define PINC _SFR_IO8(0x13) 90 #define DDRC _SFR_IO8(0x14) 91 #define PORTC _SFR_IO8(0x15) 92 93 /* Port B */ 94 #define PINB _SFR_IO8(0x16) 95 #define DDRB _SFR_IO8(0x17) 96 #define PORTB _SFR_IO8(0x18) 97 98 /* EEPROM Control Register */ 99 #define EECR _SFR_IO8(0x1C) 100 101 /* EEPROM Data Register */ 102 #define EEDR _SFR_IO8(0x1D) 103 104 /* EEPROM Address Register */ 105 #define EEAR _SFR_IO16(0x1E) GAS LISTING /tmp/ccowxWMg.s page 10 106 #define EEARL _SFR_IO8(0x1E) 107 #define EEARH _SFR_IO8(0x1F) 108 109 #define UCSRC _SFR_IO8(0x20) 110 #define UBRRH _SFR_IO8(0x20) 111 112 #define WDTCR _SFR_IO8(0x21) 113 #define ASSR _SFR_IO8(0x22) 114 115 /* Timer 2 */ 116 #define OCR2 _SFR_IO8(0x23) 117 #define TCNT2 _SFR_IO8(0x24) 118 #define TCCR2 _SFR_IO8(0x25) 119 120 /* Timer 1 */ 121 #define ICR1 _SFR_IO16(0x26) 122 #define ICR1L _SFR_IO8(0x26) 123 #define ICR1H _SFR_IO8(0x27) 124 #define OCR1B _SFR_IO16(0x28) 125 #define OCR1BL _SFR_IO8(0x28) 126 #define OCR1BH _SFR_IO8(0x29) 127 #define OCR1A _SFR_IO16(0x2A) 128 #define OCR1AL _SFR_IO8(0x2A) 129 #define OCR1AH _SFR_IO8(0x2B) 130 #define TCNT1 _SFR_IO16(0x2C) 131 #define TCNT1L _SFR_IO8(0x2C) 132 #define TCNT1H _SFR_IO8(0x2D) 133 #define TCCR1B _SFR_IO8(0x2E) 134 #define TCCR1A _SFR_IO8(0x2F) 135 136 #define SFIOR _SFR_IO8(0x30) 137 138 #define OSCCAL _SFR_IO8(0x31) 139 140 /* Timer 0 */ 141 #define TCNT0 _SFR_IO8(0x32) 142 #define TCCR0 _SFR_IO8(0x33) 143 144 #define MCUCSR _SFR_IO8(0x34) 145 #define MCUCR _SFR_IO8(0x35) 146 147 #define TWCR _SFR_IO8(0x36) 148 149 #define SPMCR _SFR_IO8(0x37) 150 151 #define TIFR _SFR_IO8(0x38) 152 #define TIMSK _SFR_IO8(0x39) 153 154 #define GIFR _SFR_IO8(0x3A) 155 #define GIMSK _SFR_IO8(0x3B) 156 #define GICR _SFR_IO8(0x3B) /* Changed in 2486H-AVR-09/02 */ 157 158 /* 0x3C reserved (OCR0?) */ 159 160 /* 0x3D..0x3E SP */ 161 162 /* 0x3F SREG */ GAS LISTING /tmp/ccowxWMg.s page 11 163 164 /* Interrupt vectors */ 165 166 /* External Interrupt Request 0 */ 167 #define INT0_vect _VECTOR(1) 168 #define SIG_INTERRUPT0 _VECTOR(1) 169 170 /* External Interrupt Request 1 */ 171 #define INT1_vect _VECTOR(2) 172 #define SIG_INTERRUPT1 _VECTOR(2) 173 174 /* Timer/Counter2 Compare Match */ 175 #define TIMER2_COMP_vect _VECTOR(3) 176 #define SIG_OUTPUT_COMPARE2 _VECTOR(3) 177 178 /* Timer/Counter2 Overflow */ 179 #define TIMER2_OVF_vect _VECTOR(4) 180 #define SIG_OVERFLOW2 _VECTOR(4) 181 182 /* Timer/Counter1 Capture Event */ 183 #define TIMER1_CAPT_vect _VECTOR(5) 184 #define SIG_INPUT_CAPTURE1 _VECTOR(5) 185 186 /* Timer/Counter1 Compare Match A */ 187 #define TIMER1_COMPA_vect _VECTOR(6) 188 #define SIG_OUTPUT_COMPARE1A _VECTOR(6) 189 190 /* Timer/Counter1 Compare Match B */ 191 #define TIMER1_COMPB_vect _VECTOR(7) 192 #define SIG_OUTPUT_COMPARE1B _VECTOR(7) 193 194 /* Timer/Counter1 Overflow */ 195 #define TIMER1_OVF_vect _VECTOR(8) 196 #define SIG_OVERFLOW1 _VECTOR(8) 197 198 /* Timer/Counter0 Overflow */ 199 #define TIMER0_OVF_vect _VECTOR(9) 200 #define SIG_OVERFLOW0 _VECTOR(9) 201 202 /* Serial Transfer Complete */ 203 #define SPI_STC_vect _VECTOR(10) 204 #define SIG_SPI _VECTOR(10) 205 206 /* USART, Rx Complete */ 207 #define USART_RXC_vect _VECTOR(11) 208 #define SIG_UART_RECV _VECTOR(11) 209 210 /* USART Data Register Empty */ 211 #define USART_UDRE_vect _VECTOR(12) 212 #define SIG_UART_DATA _VECTOR(12) 213 214 /* USART, Tx Complete */ 215 #define USART_TXC_vect _VECTOR(13) 216 #define SIG_UART_TRANS _VECTOR(13) 217 218 /* ADC Conversion Complete */ 219 #define ADC_vect _VECTOR(14) GAS LISTING /tmp/ccowxWMg.s page 12 220 #define SIG_ADC _VECTOR(14) 221 222 /* EEPROM Ready */ 223 #define EE_RDY_vect _VECTOR(15) 224 #define SIG_EEPROM_READY _VECTOR(15) 225 226 /* Analog Comparator */ 227 #define ANA_COMP_vect _VECTOR(16) 228 #define SIG_COMPARATOR _VECTOR(16) 229 230 /* 2-wire Serial Interface */ 231 #define TWI_vect _VECTOR(17) 232 #define SIG_2WIRE_SERIAL _VECTOR(17) 233 234 /* Store Program Memory Ready */ 235 #define SPM_RDY_vect _VECTOR(18) 236 #define SIG_SPM_READY _VECTOR(18) 237 238 #define _VECTORS_SIZE 38 239 240 /* Bit numbers */ 241 242 /* GIMSK / GICR */ 243 #define INT1 7 244 #define INT0 6 245 #define IVSEL 1 246 #define IVCE 0 247 248 /* GIFR */ 249 #define INTF1 7 250 #define INTF0 6 251 252 /* TIMSK */ 253 #define OCIE2 7 254 #define TOIE2 6 255 #define TICIE1 5 256 #define OCIE1A 4 257 #define OCIE1B 3 258 #define TOIE1 2 259 /* bit 1 reserved (OCIE0?) */ 260 #define TOIE0 0 261 262 /* TIFR */ 263 #define OCF2 7 264 #define TOV2 6 265 #define ICF1 5 265 #elif defined (__AVR_ATmega48__) 266 # include 267 #elif defined (__AVR_ATmega88__) 268 # include 269 #elif defined (__AVR_ATmega8515__) 270 # include 271 #elif defined (__AVR_ATmega8535__) 272 # include 273 #elif defined (__AVR_AT90S8535__) 274 # include 275 #elif defined (__AVR_AT90C8534__) GAS LISTING /tmp/ccowxWMg.s page 13 276 # include 277 #elif defined (__AVR_AT90S8515__) 278 # include 279 #elif defined (__AVR_AT90S4434__) 280 # include 281 #elif defined (__AVR_AT90S4433__) 282 # include 283 #elif defined (__AVR_AT90S4414__) 284 # include 285 #elif defined (__AVR_ATtiny22__) 286 # include 287 #elif defined (__AVR_ATtiny26__) 288 # include 289 #elif defined (__AVR_AT90S2343__) 290 # include 291 #elif defined (__AVR_AT90S2333__) 292 # include 293 #elif defined (__AVR_AT90S2323__) 294 # include 295 #elif defined (__AVR_AT90S2313__) 296 # include 297 #elif defined (__AVR_ATtiny2313__) 298 # include 299 #elif defined (__AVR_ATtiny13__) 300 # include 301 #elif defined (__AVR_ATtiny25__) 302 # include 303 #elif defined (__AVR_ATtiny45__) 304 # include 305 #elif defined (__AVR_ATtiny85__) 306 # include 307 #elif defined (__AVR_ATtiny24__) 308 # include 309 #elif defined (__AVR_ATtiny44__) 310 # include 311 #elif defined (__AVR_ATtiny84__) 312 # include 313 #elif defined (__AVR_ATtiny261__) 314 # include 315 #elif defined (__AVR_ATtiny461__) 316 # include 317 #elif defined (__AVR_ATtiny861__) 318 # include 319 /* avr1: the following only supported for assembler programs */ 320 #elif defined (__AVR_ATtiny28__) 321 # include 322 #elif defined (__AVR_AT90S1200__) 323 # include 324 #elif defined (__AVR_ATtiny15__) 325 # include 326 #elif defined (__AVR_ATtiny12__) 327 # include 328 #elif defined (__AVR_ATtiny11__) 329 # include 330 #else 331 # if !defined(__COMPILING_AVR_LIBC__) 332 # warning "device type not defined" GAS LISTING /tmp/ccowxWMg.s page 14 333 # endif 334 #endif 335 336 #include 1 /* Copyright (c) 2003 Theodore A. Roth 2 All rights reserved. 3 4 Redistribution and use in source and binary forms, with or without 5 modification, are permitted provided that the following conditions are met: 6 7 * Redistributions of source code must retain the above copyright 8 notice, this list of conditions and the following disclaimer. 9 10 * Redistributions in binary form must reproduce the above copyright 11 notice, this list of conditions and the following disclaimer in 12 the documentation and/or other materials provided with the 13 distribution. 14 15 * Neither the name of the copyright holders nor the names of 16 contributors may be used to endorse or promote products derived 17 from this software without specific prior written permission. 18 19 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 23 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 POSSIBILITY OF SUCH DAMAGE. */ 30 31 /* $Id: portpins.h,v 1.3.4.1 2006/03/10 16:22:38 aesok Exp $ */ 32 33 #ifndef _AVR_PORTPINS_H_ 34 #define _AVR_PORTPINS_H_ 1 35 36 /* This file should only be included from , never directly. */ 37 38 #ifndef _AVR_IO_H_ 39 # error "Include instead of this file." 40 #endif 41 42 /* Define Generic PORTn, DDn, and PINn values. */ 43 44 /* Port Data Register (generic) */ 45 #define PORT7 7 46 #define PORT6 6 47 #define PORT5 5 48 #define PORT4 4 49 #define PORT3 3 50 #define PORT2 2 51 #define PORT1 1 52 #define PORT0 0 53 GAS LISTING /tmp/ccowxWMg.s page 15 54 /* Port Data Direction Register (generic) */ 55 #define DD7 7 56 #define DD6 6 57 #define DD5 5 58 #define DD4 4 59 #define DD3 3 60 #define DD2 2 61 #define DD1 1 62 #define DD0 0 63 64 /* Port Input Pins (generic) */ 65 #define PIN7 7 66 #define PIN6 6 67 #define PIN5 5 68 #define PIN4 4 69 #define PIN3 3 70 #define PIN2 2 71 #define PIN1 1 72 #define PIN0 0 73 74 /* Define PORTxn values for all possible port pins. */ 75 76 /* PORT A */ 77 78 #if defined(PA0) 79 # define PORTA0 PA0 80 #endif 81 #if defined(PA1) 82 # define PORTA1 PA1 83 #endif 84 #if defined(PA2) 85 # define PORTA2 PA2 86 #endif 87 #if defined(PA3) 88 # define PORTA3 PA3 89 #endif 90 #if defined(PA4) 91 # define PORTA4 PA4 92 #endif 93 #if defined(PA5) 94 # define PORTA5 PA5 95 #endif 96 #if defined(PA6) 97 # define PORTA6 PA6 98 #endif 99 #if defined(PA7) 100 # define PORTA7 PA7 101 #endif 102 103 /* PORT B */ 104 105 #if defined(PB0) 106 # define PORTB0 PB0 107 #endif 108 #if defined(PB1) 109 # define PORTB1 PB1 110 #endif GAS LISTING /tmp/ccowxWMg.s page 16 111 #if defined(PB2) 112 # define PORTB2 PB2 113 #endif 114 #if defined(PB3) 115 # define PORTB3 PB3 116 #endif 117 #if defined(PB4) 118 # define PORTB4 PB4 119 #endif 120 #if defined(PB5) 121 # define PORTB5 PB5 122 #endif 123 #if defined(PB6) 124 # define PORTB6 PB6 125 #endif 126 #if defined(PB7) 127 # define PORTB7 PB7 128 #endif 129 130 /* PORT C */ 131 132 #if defined(PC0) 133 # define PORTC0 PC0 134 #endif 135 #if defined(PC1) 136 # define PORTC1 PC1 137 #endif 138 #if defined(PC2) 139 # define PORTC2 PC2 140 #endif 141 #if defined(PC3) 142 # define PORTC3 PC3 143 #endif 144 #if defined(PC4) 145 # define PORTC4 PC4 146 #endif 147 #if defined(PC5) 148 # define PORTC5 PC5 149 #endif 150 #if defined(PC6) 151 # define PORTC6 PC6 152 #endif 153 #if defined(PC7) 154 # define PORTC7 PC7 155 #endif 156 157 /* PORT D */ 158 159 #if defined(PD0) 160 # define PORTD0 PD0 161 #endif 162 #if defined(PD1) 163 # define PORTD1 PD1 164 #endif 165 #if defined(PD2) 166 # define PORTD2 PD2 167 #endif GAS LISTING /tmp/ccowxWMg.s page 17 168 #if defined(PD3) 169 # define PORTD3 PD3 170 #endif 171 #if defined(PD4) 172 # define PORTD4 PD4 173 #endif 174 #if defined(PD5) 175 # define PORTD5 PD5 176 #endif 177 #if defined(PD6) 178 # define PORTD6 PD6 179 #endif 180 #if defined(PD7) 181 # define PORTD7 PD7 182 #endif 183 184 /* PORT E */ 185 186 #if defined(PE0) 187 # define PORTE0 PE0 188 #endif 189 #if defined(PE1) 190 # define PORTE1 PE1 191 #endif 192 #if defined(PE2) 193 # define PORTE2 PE2 194 #endif 195 #if defined(PE3) 196 # define PORTE3 PE3 197 #endif 198 #if defined(PE4) 199 # define PORTE4 PE4 200 #endif 201 #if defined(PE5) 202 # define PORTE5 PE5 203 #endif 204 #if defined(PE6) 205 # define PORTE6 PE6 206 #endif 207 #if defined(PE7) 208 # define PORTE7 PE7 209 #endif 210 211 /* PORT F */ 212 213 #if defined(PF0) 214 # define PORTF0 PF0 215 #endif 216 #if defined(PF1) 217 # define PORTF1 PF1 218 #endif 219 #if defined(PF2) 220 # define PORTF2 PF2 221 #endif 222 #if defined(PF3) 223 # define PORTF3 PF3 224 #endif GAS LISTING /tmp/ccowxWMg.s page 18 225 #if defined(PF4) 226 # define PORTF4 PF4 227 #endif 228 #if defined(PF5) 229 # define PORTF5 PF5 230 #endif 231 #if defined(PF6) 232 # define PORTF6 PF6 233 #endif 234 #if defined(PF7) 235 # define PORTF7 PF7 236 #endif 237 238 /* PORT G */ 239 240 #if defined(PG0) 241 # define PORTG0 PG0 242 #endif 243 #if defined(PG1) 244 # define PORTG1 PG1 245 #endif 246 #if defined(PG2) 247 # define PORTG2 PG2 248 #endif 249 #if defined(PG3) 250 # define PORTG3 PG3 251 #endif 252 #if defined(PG4) 253 # define PORTG4 PG4 254 #endif 255 #if defined(PG5) 256 # define PORTG5 PG5 257 #endif 258 #if defined(PG6) 259 # define PORTG6 PG6 260 #endif 261 #if defined(PG7) 262 # define PORTG7 PG7 263 #endif 264 265 /* PORT H */ 266 267 #if defined(PH0) 268 # define PORTH0 PH0 269 #endif 270 #if defined(PH1) 271 # define PORTH1 PH1 272 #endif 273 #if defined(PH2) 274 # define PORTH2 PH2 275 #endif 276 #if defined(PH3) 277 # define PORTH3 PH3 278 #endif 279 #if defined(PH4) 280 # define PORTH4 PH4 281 #endif GAS LISTING /tmp/ccowxWMg.s page 19 282 #if defined(PH5) 283 # define PORTH5 PH5 284 #endif 285 #if defined(PH6) 286 # define PORTH6 PH6 287 #endif 288 #if defined(PH7) 289 # define PORTH7 PH7 290 #endif 291 292 /* PORT J */ 293 294 #if defined(PJ0) 295 # define PORTJ0 PJ0 296 #endif 297 #if defined(PJ1) 298 # define PORTJ1 PJ1 299 #endif 300 #if defined(PJ2) 301 # define PORTJ2 PJ2 302 #endif 303 #if defined(PJ3) 304 # define PORTJ3 PJ3 305 #endif 306 #if defined(PJ4) 307 # define PORTJ4 PJ4 308 #endif 309 #if defined(PJ5) 310 # define PORTJ5 PJ5 311 #endif 312 #if defined(PJ6) 313 # define PORTJ6 PJ6 314 #endif 315 #if defined(PJ7) 316 # define PORTJ7 PJ7 317 #endif 318 319 /* PORT K */ 320 321 #if defined(PK0) 322 # define PORTK0 PK0 323 #endif 324 #if defined(PK1) 325 # define PORTK1 PK1 326 #endif 327 #if defined(PK2) 328 # define PORTK2 PK2 329 #endif 330 #if defined(PK3) 331 # define PORTK3 PK3 332 #endif 333 #if defined(PK4) 334 # define PORTK4 PK4 335 #endif 336 #if defined(PK5) 337 # define PORTK5 PK5 337 GAS LISTING /tmp/ccowxWMg.s page 20 338 #if __AVR_ARCH__ != 1 339 # if XRAMEND < 0x100 && !defined(__COMPILING_AVR_LIBC__) 340 # undef SP 341 # define SP _SFR_IO8(0x3D) 342 # undef SPH 343 # endif 344 #endif 345 346 #include 1 /* Copyright (c) 2005, Joerg Wunsch -*- c -*- 2 All rights reserved. 3 4 Redistribution and use in source and binary forms, with or without 5 modification, are permitted provided that the following conditions are met: 6 7 * Redistributions of source code must retain the above copyright 8 notice, this list of conditions and the following disclaimer. 9 10 * Redistributions in binary form must reproduce the above copyright 11 notice, this list of conditions and the following disclaimer in 12 the documentation and/or other materials provided with the 13 distribution. 14 15 * Neither the name of the copyright holders nor the names of 16 contributors may be used to endorse or promote products derived 17 from this software without specific prior written permission. 18 19 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 20 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 21 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 22 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 23 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 24 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 25 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 26 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 27 CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 28 ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 29 POSSIBILITY OF SUCH DAMAGE. */ 30 31 /* $Id: version.h.in,v 1.1 2005/09/12 20:18:12 joerg_wunsch Exp $ */ 32 33 /** \defgroup avr_version : avr-libc version macros 34 \code #include \endcode 35 36 This header file defines macros that contain version numbers and 37 strings describing the current version of avr-libc. 38 39 The version number itself basically consists of three pieces that 40 are separated by a dot: the major number, the minor number, and 41 the revision number. For development versions (which use an odd 42 minor number), the string representation additionally gets the 43 date code (YYYYMMDD) appended. 44 45 This file will also be included by \c . That way, 46 portable tests can be implemented using \c that can be 47 used in code that wants to remain backwards-compatible to library 48 versions prior to the date when the library version API had been GAS LISTING /tmp/ccowxWMg.s page 21 49 added, as referenced but undefined C preprocessor macros 50 automatically evaluate to 0. 51 */ 52 53 #ifndef _AVR_VERSION_H_ 54 #define _AVR_VERSION_H_ 55 56 /** \ingroup avr_version 57 String literal representation of the current library version. */ 58 #define __AVR_LIBC_VERSION_STRING__ "1.4.5" 59 60 /** \ingroup avr_version 61 Numerical representation of the current library version. 62 63 In the numerical representation, the major number is multiplied by 64 10000, the minor number by 100, and all three parts are then 65 added. It is intented to provide a monotonically increasing 66 numerical value that can easily be used in numerical checks. 67 */ 68 #define __AVR_LIBC_VERSION__ 10405UL 69 70 /** \ingroup avr_version 71 String literal representation of the release date. */ 72 #define __AVR_LIBC_DATE_STRING__ "20061009" 73 74 /** \ingroup avr_version 75 Numerical representation of the release date. */ 76 #define __AVR_LIBC_DATE_ 20061009UL 77 78 /** \ingroup avr_version 79 Library major version number. */ 80 #define __AVR_LIBC_MAJOR__ 1 81 82 /** \ingroup avr_version 83 Library minor version number. */ 84 #define __AVR_LIBC_MINOR__ 4 85 86 /** \ingroup avr_version 87 Library revision number. */ 88 #define __AVR_LIBC_REVISION__ 5 89 90 #endif /* _AVR_VERSION_H_ */ 91 ... 347 54 #include "Events.h" 1 #ifndef EVENTS_H 2 #define EVENTS_H 3 4 /* 5 Copyright (C) 2004 John Orlando 6 7 AVRcam: a small real-time image processing engine. 8 9 This program is free software; you can redistribute it and/or 10 modify it under the terms of the GNU General Public 11 License as published by the Free Software Foundation; either 12 version 2 of the License, or (at your option) any later version. GAS LISTING /tmp/ccowxWMg.s page 22 13 14 This program is distributed in the hope that it will be useful, 15 but WITHOUT ANY WARRANTY; without even the implied warranty of 16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 17 General Public License for more details. 18 19 You should have received a copy of the GNU General Public 20 License along with this program; if not, write to the Free Software 21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 22 23 For more information on the AVRcam, please contact: 24 25 john@jrobot.net 26 27 or go to www.jrobot.net for more details regarding the system. 28 */ 29 /*********************************************************** 30 Module Name: Events.h 31 Module Date: 05/23/2004 32 Module Auth: John Orlando 33 34 Description: This file provides the external interface 35 to the events that can be published/processed in the 36 system. It is specifically by itself (and nothing 37 else should be defined in here) so that both .c and 38 .S (assembly) files can include this file without 39 a problem. 40 41 Revision History: 42 Date Rel Ver. Notes 43 4/10/2004 0.1 Module created 44 6/30/2004 1.0 Initial release for Circuit Cellar 45 contest. 46 *******************************************************/ 47 48 /* Definitions */ 49 /* Originally, all events were passed in a bitmask...however, 50 an event FIFO was finally used, but the coding of the event 51 definitions were never translated back....doesn't make a 52 difference, but looks a little weird */ 53 #define EV_SERIAL_DATA_RECEIVED 0x01 54 #define EV_DUMP_FRAME 0x02 55 #define EV_PROCESS_FRAME_COMPLETE 0x04 55 56 .extern fastEventBitmask ; This is the flag used to indicate to the rest 57 ; of the system that the line is complete 58 59 #define HREF_INTERRUPT_ENABLE_MASK 0x80 60 #define HREF_INTERRUPT_DISABLE_MASK 0x7F 61 #define ENABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0x04 62 #define DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0xFB 63 #define G_PORT _SFR_IO_ADDR(PINC) 64 #define RB_PORT _SFR_IO_ADDR(PINB) 65 #define PIXEL_RUN_START_INITIAL 0x50 ; This value causes our pixel counter (TCNT1) 66 ; to overflow after 176 (horizontal) pixels 67 68 #define RED_MEM_OFFSET 0x00 GAS LISTING /tmp/ccowxWMg.s page 23 69 #define GREEN_MEM_OFFSET 0x10 70 #define BLUE_MEM_OFFSET 0x20 71 72 ; A pixelBlock is defined as a contiguous group of 4 pixels that are combined 73 ; together to form a specific color. Typically, this is formed by sampling a 74 ; a green value, followed by a red and blue value (since we are dealing 75 ; with Bayer color data). We could optionally sample a second green with 76 ; the red and average the greens, because the eye is more sensitive to 77 ; green, but for speed we don't do this. These three values (RGB) are then 78 ; used as indices into the color membership lookup table (memLookup) to 79 ; determine which color the pixelBlock maps into. The memLookup table is 80 ; manually generated for now (though it will hopefully be modified over 81 ; the serial interface eventually). 82 ; 83 ; Here is a pixel block: 84 ; ...G G G G... (row x) 85 ; ...B R B R... (row x+1) 86 ; | | | |--this is skipped 87 ; | | |--this is skipped 88 ; | |--this is sampled 89 ; |--this is sampled 90 91 ; As pixel blocks are sampled, the red, green, and blue values are 92 ; used to index into their respective color maps. The color maps 93 ; return values that can be logically ANDed together so that a 94 ; particular RGB triplet will result in a single bit being set 95 ; after the AND operation. This single bit indicates which color 96 ; the RGB triplet represents. It is also possible for no bits to 97 ; be set after the AND process, indicating that the RGB triplet 98 ; does not map to any of the colors configured in the color map. 99 ; This isn't quite as fast as a pure RGB lookup table, but 100 ; it then again it doesn't require 2^12 (4-bits for each color 101 ; channel) bytes to store the lookup table. It takes just a few 102 ; more cycles, and only requires 48 bytes of precious RAM (16 103 ; per color channel, since our resolution on each color channel 104 ; is only 4-bits). Not bad....for more information, see: 105 ; http://www.cs.cmu.edu/~trb/papers/wirevision00.pdf for more 106 ; information on this color segmentation technique. 107 108 ; One other note: this code does depend on the colorMap residing 109 ; at a well-defined position in memory; specifically, it mus 110 ; start at a 256-byte boundary so that the lowest byte in the 111 ; map is set to 0x00. Currently, the colorMap is forced to 112 ; start at RAM location 0x300. This could potentially be changed 113 ; by the developer if needed, but offsets would have to be added 114 ; in to the colorMap look-up code below to make it work. 115 116 117 ; These are the registers that will be used throughout this 118 ; module for acquiring each line of pixel data 119 pixelCount = 16 120 pixelRunStart = 17 121 lastColor = 18 122 tmp1 = 19 ; be sure to not use tmp1 and color simultaneously 123 tmp2 = 20 124 color = 19 125 greenData = 20 GAS LISTING /tmp/ccowxWMg.s page 24 126 blueData = 21 127 colorMapLow = 22 128 colorMapHigh = 23 129 prevLineBuffLow = 22 ; overlaps with memLookupLow (but orthogonal) 130 prevLineBuffHigh = 23 ; overlaps with memLookupHigh (but orthogonal) 131 currLineBuffLow = 24 132 currLineBuffHigh = 25 133 134 .section .text 135 136 ; These are the global assembly function names that are accessed via other 137 ; C functions 138 .global CamIntAsm_waitForNewTrackingFrame 139 .global CamIntAsm_waitForNewDumpFrame 140 .global CamIntAsm_acquireDumpLine 141 .global CamIntAsm_acquireTrackingLine 142 .global SIG_INTERRUPT0 143 .global SIG_INTERRUPT1 144 .global SIG_OVERFLOW0 145 .global SIG_OVERFLOW1 146 147 ;***************************************************************** 148 ; Function Name: CamIntAsm_waitForNewTrackingFrame 149 ; Function Description: This function is responsible for 150 ; going to sleep until a new frame begins (indicated by 151 ; VSYNC transitioning from low to high. This will wake 152 ; the "VSYNC sleep" up and allow it to continue with 153 ; the acquireLine function, where the system waits for 154 ; an "HREF sleep" that we use to synchronize with the 155 ; data. 156 ; Inputs: r25 - MSB of currentLineBuffer 157 ; r24 - LSB of currentLineBuffer 158 ; r23 - MSB of colorMap 159 ; r22 - LSB of colorMap 160 ; Outputs: none 161 ; NOTES: This function doesn't really return...it sorta just 162 ; floats into the acquireLine function after the "VSYNC sleep" 163 ; is awoken, then begins processing the line data. Once 164 ; 176 pixels are sampled (and the counter overflows), then 165 ; an interrupt will occur, the 'T' bit in the SREG will be 166 ; set, and the function will return. 167 ;***************************************************************** 168 169 CamIntAsm_waitForNewTrackingFrame: 170:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing... 171:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6 172:CamInterfaceAsm.S **** sleep 173 174 ;***************************************************************** 175 ; REMEMBER...everything from here on out is critically timed to be 176 ; synchronized with the flow of pixel data from the camera... 177 ;***************************************************************** 178 179 CamIntAsm_acquireTrackingLine: 180:CamInterfaceAsm.S **** brts _cleanUp 181 ;sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing... 182 ;cbi _SFR_IO_ADDR(PORTD),PD6 GAS LISTING /tmp/ccowxWMg.s page 25 183 184:CamInterfaceAsm.S **** in tmp1,_SFR_IO_ADDR(TCCR1B) ; Enable the PCLK line to actually 185:CamInterfaceAsm.S **** ori tmp1, 0x07 ; feed Timer1 186:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCCR1B),tmp1 187 ; The line is about to start... 188:CamInterfaceAsm.S **** ldi pixelCount,0 ; Initialize the RLE stats... 189:CamInterfaceAsm.S **** ldi pixelRunStart,PIXEL_RUN_START_INITIAL ; Remember, we always calculate 190 ; the pixel run length as 191 ; TCNT1L - pixelRunStart 192 193:CamInterfaceAsm.S **** ldi lastColor,0x00 ; clear out the last color before we start 194 195:CamInterfaceAsm.S **** mov XH,currLineBuffHigh ; Load the pointer to the current line 196:CamInterfaceAsm.S **** mov XL,currLineBuffLow ; buffer into the X pointer regs 197 198:CamInterfaceAsm.S **** mov ZH,colorMapHigh ; Load the pointers to the membership 199:CamInterfaceAsm.S **** mov ZL,colorMapLow ; lookup tables (ZL and YL will be overwritten 200:CamInterfaceAsm.S **** mov YH,colorMapHigh ; as soon as we start reading data) to Z and Y 201 202:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TIMSK) ; enable TIMER1 to start counting 203:CamInterfaceAsm.S **** ori tmp1, ENABLE_PCLK_TIMER1_OVERFLOW_BITMASK ; external PCLK pulses and interrupt on 204:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TIMSK),tmp1 ; overflow 205 206:CamInterfaceAsm.S **** ldi tmp1,PIXEL_RUN_START_INITIAL ; set up the TCNT1 to overflow (and 207:CamInterfaceAsm.S **** ldi tmp2,0xFF ; interrupts) after 176 pixels 208:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1H),tmp2 209:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1L),tmp1 210 211:CamInterfaceAsm.S **** mov YL,colorMapLow 212 213:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) ; enable the HREF interrupt...remember, we 214 ; only use this interrupt to synchronize 215 ; the beginning of the line 216:CamInterfaceAsm.S **** ori tmp1, HREF_INTERRUPT_ENABLE_MASK 217:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1 218 219 ;******************************************************************************************* 220 ; Track Frame handler 221 ;******************************************************************************************* 222 223 _trackFrame: 224:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 225:CamInterfaceAsm.S **** sleep ; ...And we wait... 226 227 ; Returning from the interrupt/sleep wakeup will consume 228 ; 14 clock cycles (7 to wakeup from idle sleep, 3 to vector, and 4 to return) 229 230 ; Disable the HREF interrupt 231:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6 232:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) 233:CamInterfaceAsm.S **** andi tmp1, HREF_INTERRUPT_DISABLE_MASK 234:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1 235 236 ; A couple of NOPs are needed here to sync up the pixel data...the number (2) 237 ; of NOPs was determined emperically by trial and error. 238:CamInterfaceAsm.S **** nop 239:CamInterfaceAsm.S **** nop GAS LISTING /tmp/ccowxWMg.s page 26 240 _acquirePixelBlock: ; Clock Cycle Count 241:CamInterfaceAsm.S **** in ZL,RB_PORT ; sample the red value (PINB) (1) 242:CamInterfaceAsm.S **** in YL,G_PORT ; sample the green value (PINC) (1) 243:CamInterfaceAsm.S **** andi YL,0x0F ; clear the high nibble (1) 244:CamInterfaceAsm.S **** ldd color,Z+RED_MEM_OFFSET ; lookup the red membership (2) 245:CamInterfaceAsm.S **** in ZL,RB_PORT ; sample the blue value (PINB) (1) 246:CamInterfaceAsm.S **** ldd greenData,Y+GREEN_MEM_OFFSET; lookup the green membership (2) 247:CamInterfaceAsm.S **** ldd blueData,Z+BLUE_MEM_OFFSET ; lookup the blue membership (2) 248:CamInterfaceAsm.S **** and color,greenData ; mask memberships together (1) 249:CamInterfaceAsm.S **** and color,blueData ; to produce the final color (1) 250:CamInterfaceAsm.S **** brts _cleanUpTrackingLine ; if some interrupt routine has (1...not set) 251 ; come in and set our T flag in 252 ; SREG, then we need to hop out 253 ; and blow away this frames data (common cleanup) 254:CamInterfaceAsm.S **** cp color,lastColor ; check to see if the run continues (1) 255:CamInterfaceAsm.S **** breq _acquirePixelBlock ; (2...equal) 256 ; ___________ 257 ; 16 clock cycles 258 ; (16 clock cycles = 1 uS = 1 pixelBlock time) 259 260 ; Toggle the debug line to indicate a color change 261:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 262:CamInterfaceAsm.S **** nop 263:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6 264 265:CamInterfaceAsm.S **** mov tmp2,pixelRunStart ; get the count value of the 266 ; current pixel run 267:CamInterfaceAsm.S **** in pixelCount,_SFR_IO_ADDR(TCNT1L) ; get the current TCNT1 value 268:CamInterfaceAsm.S **** mov pixelRunStart,pixelCount ; reload pixelRunStart for the 269 ; next run 270:CamInterfaceAsm.S **** sub pixelCount,tmp2 ; pixelCount = TCNT1L - pixelRunStart 271 272:CamInterfaceAsm.S **** st X+,lastColor ; record the color run in the current line buffer 273:CamInterfaceAsm.S **** st X+,pixelCount ; with its length 274:CamInterfaceAsm.S **** mov lastColor,color ; set lastColor so we can figure out when it changes 275 276:CamInterfaceAsm.S **** nop ; waste one more cycle for a total of 16 277:CamInterfaceAsm.S **** rjmp _acquirePixelBlock 278 279 ; _cleanUpTrackingLine is used to write the last run length block off to the currentLineBuffer so 280 ; that all 176 pixels in the line are accounted for. 281 _cleanUpTrackingLine: 282:CamInterfaceAsm.S **** ldi pixelCount,0xFF ; the length of the last run is ALWAYS 0xFF minus the last 283:CamInterfaceAsm.S **** sub pixelCount,pixelRunStart ; pixelRunStart 284 285:CamInterfaceAsm.S **** inc pixelCount ; increment pixelCount since we actually need to account 286 ; for the overflow of TCNT1 287 288:CamInterfaceAsm.S **** st X+,color ; record the color run in the current line buffer 289:CamInterfaceAsm.S **** st X,pixelCount 290:CamInterfaceAsm.S **** rjmp _cleanUp 291 292 _cleanUpDumpLine: 293 ; NOTE: If serial data is received, to interrupt the tracking of a line, we'll 294 ; get a EV_SERIAL_DATA_RECEIVED event, and the T bit set so we will end the 295 ; line's processing...however, the PCLK will keep on ticking for the rest of 296 ; the frame/line, which will cause the TCNT to eventually overflow and GAS LISTING /tmp/ccowxWMg.s page 27 297 ; interrupt us, generating a EV_ACQUIRE_LINE_COMPLETE event. We don't want 298 ; this, so we need to actually turn off the PCLK counting each time we exit 299 ; this loop, and only turn it on when we begin acquiring lines.... 300 ; NOT NEEDED FOR NOW... 301 ;in tmp1, _SFR_IO_ADDR(TIMSK) ; disable TIMER1 to stop counting 302 ;andi tmp1, DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK ; external PCLK pulses 303 ;out _SFR_IO_ADDR(TIMSK),tmp1 304 305 _cleanUp: 306 ; Disable the external clocking of the Timer1 counter 307:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TCCR1B) 308:CamInterfaceAsm.S **** andi tmp1, 0xF8 309:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCCR1B),tmp1 310 311 ; Toggle the debug line to indicate the line is complete 312:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 313:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6 314:CamInterfaceAsm.S **** clt ; clear out the T bit since we have detected 315 ; the interruption and are exiting to handle it 316 _exit: 317:CamInterfaceAsm.S **** ret 318 319 ;***************************************************************** 320 ; Function Name: CamIntAsm_waitForNewDumpFrame 321 ; Function Description: This function is responsible for 322 ; going to sleep until a new frame begins (indicated by 323 ; VSYNC transitioning from low to high. This will wake 324 ; the "VSYNC sleep" up and allow it to continue with 325 ; acquiring a line of pixel data to dump out to the UI. 326 ; Inputs: r25 - MSB of currentLineBuffer 327 ; r24 - LSB of currentLineBuffer 328 ; r23 - MSB of prevLineBuffer 329 ; r22 - LSB of prevLineBuffer 330 ; Outputs: none 331 ; NOTES: This function doesn't really return...it sorta just 332 ; floats into the acquireDumpLine function after the "VSYNC sleep" 333 ; is awoken. 334 ;***************************************************************** 335 CamIntAsm_waitForNewDumpFrame: 336:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing... 337:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6 338:CamInterfaceAsm.S **** sleep 339 340 ;***************************************************************** 341 ; REMEMBER...everything from here on out is critically timed to be 342 ; synchronized with the flow of pixel data from the camera... 343 ;***************************************************************** 344 345 CamIntAsm_acquireDumpLine: 346:CamInterfaceAsm.S **** brts _cleanUp 347 ;sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing... 348 ;cbi _SFR_IO_ADDR(PORTD),PD6 349 350:CamInterfaceAsm.S **** mov XH,currLineBuffHigh ; Load the pointer to the current line 351:CamInterfaceAsm.S **** mov XL,currLineBuffLow ; buffer into the X pointer regs 352 353:CamInterfaceAsm.S **** mov YH,prevLineBuffHigh ; Load the pointer to the previous line GAS LISTING /tmp/ccowxWMg.s page 28 354:CamInterfaceAsm.S **** mov YL,prevLineBuffLow ; buffer into the Y pointer regs 355 356:CamInterfaceAsm.S **** ldi tmp1,PIXEL_RUN_START_INITIAL ; set up the TCNT1 to overflow (and 357:CamInterfaceAsm.S **** ldi tmp2,0xFF ; interrupts) after 176 pixels 358:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1H),tmp2 359:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1L),tmp1 360 361:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TCCR1B) ; Enable the PCLK line to actually 362:CamInterfaceAsm.S **** ori tmp1, 0x07 ; feed Timer1 363:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCCR1B),tmp1 364:CamInterfaceAsm.S **** nop 365 366:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TIMSK) ; enable TIMER1 to start counting 367:CamInterfaceAsm.S **** ori tmp1, ENABLE_PCLK_TIMER1_OVERFLOW_BITMASK ; external PCLK pulses and interrupt on 368:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TIMSK),tmp1 ; overflow 369 370:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) ; enable the HREF interrupt...remember, we 371 ; only use this interrupt to synchronize 372 ; the beginning of the line 373:CamInterfaceAsm.S **** ori tmp1, HREF_INTERRUPT_ENABLE_MASK 374:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1 375 376 ;******************************************************************************************* 377 ; Dump Frame handler 378 ;******************************************************************************************* 379 380 _dumpFrame: 381:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 382:CamInterfaceAsm.S **** sleep ; ...And we wait... 383 384:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6 385:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) ; disable the HREF interrupt 386:CamInterfaceAsm.S **** andi tmp1, HREF_INTERRUPT_DISABLE_MASK ; so we don't get interrupted 387:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1 ; while dumping the line 388 389:CamInterfaceAsm.S **** nop ; Remember...if we ever remove the "cbi" instruction above, 390 ; we need to add two more NOPs to cover this 391 392 ; Ok...the following loop needs to run in 8 clock cycles, so we can get every 393 ; pixel in the line...this shouldn't be a problem, since the PCLK timing was 394 ; reduced by a factor of 2 whenever we go to dump a line (this is to give us 395 ; enough time to do the sampling and storing of the pixel data). In addition, 396 ; it is assumed that we will have to do some minor processing on the data right 397 ; before we send it out, like mask off the top 4-bits of each, and then pack both 398 ; low nibbles into a single byte for transmission...we just don't have time to 399 ; do that here (only 8 instruction cycles :-) ) 400 _sampleDumpPixel: 401:CamInterfaceAsm.S **** in tmp1,G_PORT ; sample the G value (1) 402:CamInterfaceAsm.S **** in tmp2,RB_PORT ; sample the R/B value (1) 403:CamInterfaceAsm.S **** st X+,tmp1 ; store to the currLineBuff and inc ptrs(2) 404:CamInterfaceAsm.S **** st Y+,tmp2 ; store to the prevLineBuff and inc ptrs(2) 405:CamInterfaceAsm.S **** brtc _sampleDumpPixel ; loop back unless flag is set (2...if not set) 406 ; ___________ 407 ; 8 cycles normally 408 409 ; if we make it here, it means the T flag is set, and we must have been interrupted 410 ; so we need to exit (what if we were interrupted for serial? should we disable it?) GAS LISTING /tmp/ccowxWMg.s page 29 411:CamInterfaceAsm.S **** rjmp _cleanUpDumpLine 412 413 ;*********************************************************** 414 ; Function Name: 415 ; Function Description: This function is responsible 416 ; for handling a rising edge on the Ext Interrupt 0. This 417 ; routine simply returns, since we just want to wake up 418 ; whenever the VSYNC transitions (meaning the start of a new 419 ; frame). 420 ; Inputs: none 421 ; Outputs: none 422 ;*********************************************************** 423 SIG_INTERRUPT0: 424 ; This will wake us up when VSYNC transitions high...we just want to return 425:CamInterfaceAsm.S **** reti 426 427 ;*********************************************************** 428 ; Function Name: 429 ; Function Description: This function is responsible 430 ; for handling a falling edge on the Ext Interrupt 1. This 431 ; routine simply returns, since we just want to wake up 432 ; whenever the HREF transitions (meaning the pixels 433 ; are starting after VSYNC transitioned, and we need to 434 ; start acquiring the pixel blocks 435 ; Inputs: none 436 ; Outputs: none 437 ;*********************************************************** 438 SIG_INTERRUPT1: 439 ; This will wake us up when HREF transitions high...we just want to return 440:CamInterfaceAsm.S **** reti 441 442 ;*********************************************************** 443 ; Function Name: 444 ; Function Description: This function is responsible 445 ; for handling the Timer0 overflow (hooked up to indicate 446 ; when we have reached the number of HREFs required in a 447 ; single frame). We set the T flag in the SREG to 448 ; indicate to the _acquirePixelBlock routine that it needs 449 ; to exit, and then set the appropriate action to take in 450 ; the eventList of the Executive module. 451 ; Inputs: none 452 ; Outputs: none 453 ; Note: Originally, the HREF pulses were also going to 454 ; be counted by a hardware counter, but it didn't end up 455 ; being necessary 456 ;*********************************************************** 457 ;SIG_OVERFLOW0: 458 ; set ; set the T bit in SREG 459 ; lds tmp1,eventBitmask 460 ; ori tmp1,EV_ACQUIRE_FRAME_COMPLETE 461 ; sts eventBitmask,tmp1 462 ; reti 463 464 ;*********************************************************** 465 ; Function Name: 466 ; Function Description: This function is responsible 467 ; for handling the Timer1 overflow (hooked up to indicate GAS LISTING /tmp/ccowxWMg.s page 30 468 ; when we have reached the end of a line of pixel data, 469 ; since PCLK is hooked up to overflow TCNT1 after 176 470 ; pixels). This routine generates an acquire line complete 471 ; event in the fastEventBitmask, which is streamlined for 472 ; efficiency reasons. 473 ;*********************************************************** 474 SIG_OVERFLOW1: 475:CamInterfaceAsm.S **** lds tmp1,fastEventBitmask ; set a flag indicating 476:CamInterfaceAsm.S **** ori tmp1,FEV_ACQUIRE_LINE_COMPLETE ; a line is complete 477:CamInterfaceAsm.S **** sts fastEventBitmask,tmp1 478:CamInterfaceAsm.S **** set ; set the T bit in SREG 479 ;sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing... 480 ;cbi _SFR_IO_ADDR(PORTD),PD6 ; For testing... 481 482:CamInterfaceAsm.S **** reti 483 484 ; This is the default handler for all interrupts that don't 485 ; have handler routines specified for them. 486 .global __vector_default 487 __vector_default: 488:CamInterfaceAsm.S **** reti 489 490 .end GAS LISTING /tmp/ccowxWMg.s page 31 DEFINED SYMBOLS *ABS*:00000000 CamInterfaceAsm.S CamInterfaceAsm.S:119 *ABS*:00000010 pixelCount CamInterfaceAsm.S:120 *ABS*:00000011 pixelRunStart CamInterfaceAsm.S:121 *ABS*:00000012 lastColor CamInterfaceAsm.S:122 *ABS*:00000013 tmp1 CamInterfaceAsm.S:123 *ABS*:00000014 tmp2 CamInterfaceAsm.S:124 *ABS*:00000013 color CamInterfaceAsm.S:125 *ABS*:00000014 greenData CamInterfaceAsm.S:126 *ABS*:00000015 blueData CamInterfaceAsm.S:127 *ABS*:00000016 colorMapLow CamInterfaceAsm.S:128 *ABS*:00000017 colorMapHigh CamInterfaceAsm.S:129 *ABS*:00000016 prevLineBuffLow CamInterfaceAsm.S:130 *ABS*:00000017 prevLineBuffHigh CamInterfaceAsm.S:131 *ABS*:00000018 currLineBuffLow CamInterfaceAsm.S:132 *ABS*:00000019 currLineBuffHigh CamInterfaceAsm.S:169 .text:00000000 CamIntAsm_waitForNewTrackingFrame CamInterfaceAsm.S:335 .text:0000008e CamIntAsm_waitForNewDumpFrame CamInterfaceAsm.S:345 .text:00000094 CamIntAsm_acquireDumpLine CamInterfaceAsm.S:179 .text:00000006 CamIntAsm_acquireTrackingLine CamInterfaceAsm.S:423 .text:000000d4 __vector_1 CamInterfaceAsm.S:438 .text:000000d6 __vector_2 CamInterfaceAsm.S:474 .text:000000d8 __vector_8 CamInterfaceAsm.S:305 .text:00000080 _cleanUp CamInterfaceAsm.S:223 .text:00000034 _trackFrame CamInterfaceAsm.S:240 .text:00000044 _acquirePixelBlock CamInterfaceAsm.S:281 .text:00000074 _cleanUpTrackingLine CamInterfaceAsm.S:292 .text:00000080 _cleanUpDumpLine CamInterfaceAsm.S:316 .text:0000008c _exit CamInterfaceAsm.S:380 .text:000000ba _dumpFrame CamInterfaceAsm.S:400 .text:000000c8 _sampleDumpPixel CamInterfaceAsm.S:487 .text:000000e6 __vector_default UNDEFINED SYMBOLS __vector_9 fastEventBitmask