GAS LISTING /tmp/ccX0nxLF.s 			page 1


   1               		.file	"UartInterface.c"
   2               	__SREG__ = 0x3f
   3               	__SP_H__ = 0x3e
   4               	__SP_L__ = 0x3d
   5               	__tmp_reg__ = 0
   6               	__zero_reg__ = 1
   7               		.global __do_copy_data
   8               		.global __do_clear_bss
   9               		.stabs	"/home/kaklik/projects/programy/C/avr/AVRcam/",100,0,2,.Ltext0
  10               		.stabs	"UartInterface.c",100,0,2,.Ltext0
  11               		.text
  12               	.Ltext0:
  13               		.stabs	"gcc2_compiled.",60,0,0,0
  14               		.stabs	"int:t(0,1)=r(0,1);-32768;32767;",128,0,0,0
  15               		.stabs	"char:t(0,2)=@s8;r(0,2);0;255;",128,0,0,0
  16               		.stabs	"long int:t(0,3)=@s32;r(0,3);020000000000;017777777777;",128,0,0,0
  17               		.stabs	"unsigned int:t(0,4)=r(0,4);0;0177777;",128,0,0,0
  18               		.stabs	"long unsigned int:t(0,5)=@s32;r(0,5);0;037777777777;",128,0,0,0
  19               		.stabs	"long long int:t(0,6)=@s64;r(0,6);01000000000000000000000;0777777777777777777777;",128,0,0,
  20               		.stabs	"long long unsigned int:t(0,7)=@s64;r(0,7);0;01777777777777777777777;",128,0,0,0
  21               		.stabs	"short int:t(0,8)=r(0,8);-32768;32767;",128,0,0,0
  22               		.stabs	"short unsigned int:t(0,9)=r(0,9);0;0177777;",128,0,0,0
  23               		.stabs	"signed char:t(0,10)=@s8;r(0,10);-128;127;",128,0,0,0
  24               		.stabs	"unsigned char:t(0,11)=@s8;r(0,11);0;255;",128,0,0,0
  25               		.stabs	"float:t(0,12)=r(0,1);4;0;",128,0,0,0
  26               		.stabs	"double:t(0,13)=r(0,1);4;0;",128,0,0,0
  27               		.stabs	"long double:t(0,14)=r(0,1);4;0;",128,0,0,0
  28               		.stabs	"void:t(0,15)=(0,15)",128,0,0,0
  29               		.stabs	"/usr/lib/gcc/avr/4.2.1/../../../../avr/include/avr/io.h",130,0,0,0
  30               		.stabs	"/usr/lib/gcc/avr/4.2.1/../../../../avr/include/avr/sfr_defs.h",130,0,0,0
  31               		.stabs	"/usr/lib/gcc/avr/4.2.1/../../../../avr/include/inttypes.h",130,0,0,0
  32               		.stabs	"/usr/lib/gcc/avr/4.2.1/../../../../avr/include/stdint.h",130,0,0,0
  33               		.stabs	"int8_t:t(4,1)=(0,10)",128,0,116,0
  34               		.stabs	"uint8_t:t(4,2)=(0,11)",128,0,117,0
  35               		.stabs	"int16_t:t(4,3)=(0,1)",128,0,118,0
  36               		.stabs	"uint16_t:t(4,4)=(0,4)",128,0,119,0
  37               		.stabs	"int32_t:t(4,5)=(0,3)",128,0,120,0
  38               		.stabs	"uint32_t:t(4,6)=(0,5)",128,0,121,0
  39               		.stabs	"int64_t:t(4,7)=(0,6)",128,0,122,0
  40               		.stabs	"uint64_t:t(4,8)=(0,7)",128,0,123,0
  41               		.stabs	"intptr_t:t(4,9)=(4,3)",128,0,135,0
  42               		.stabs	"uintptr_t:t(4,10)=(4,4)",128,0,140,0
  43               		.stabs	"int_least8_t:t(4,11)=(4,1)",128,0,152,0
  44               		.stabs	"uint_least8_t:t(4,12)=(4,2)",128,0,157,0
  45               		.stabs	"int_least16_t:t(4,13)=(4,3)",128,0,162,0
  46               		.stabs	"uint_least16_t:t(4,14)=(4,4)",128,0,167,0
  47               		.stabs	"int_least32_t:t(4,15)=(4,5)",128,0,172,0
  48               		.stabs	"uint_least32_t:t(4,16)=(4,6)",128,0,177,0
  49               		.stabs	"int_least64_t:t(4,17)=(4,7)",128,0,182,0
  50               		.stabs	"uint_least64_t:t(4,18)=(4,8)",128,0,187,0
  51               		.stabs	"int_fast8_t:t(4,19)=(4,1)",128,0,200,0
  52               		.stabs	"uint_fast8_t:t(4,20)=(4,2)",128,0,205,0
  53               		.stabs	"int_fast16_t:t(4,21)=(4,3)",128,0,210,0
  54               		.stabs	"uint_fast16_t:t(4,22)=(4,4)",128,0,215,0
  55               		.stabs	"int_fast32_t:t(4,23)=(4,5)",128,0,220,0
  56               		.stabs	"uint_fast32_t:t(4,24)=(4,6)",128,0,225,0
  57               		.stabs	"int_fast64_t:t(4,25)=(4,7)",128,0,230,0
GAS LISTING /tmp/ccX0nxLF.s 			page 2


  58               		.stabs	"uint_fast64_t:t(4,26)=(4,8)",128,0,235,0
  59               		.stabs	"intmax_t:t(4,27)=(4,7)",128,0,249,0
  60               		.stabs	"uintmax_t:t(4,28)=(4,8)",128,0,254,0
  61               		.stabn	162,0,0,0
  62               		.stabs	"int_farptr_t:t(3,1)=(4,5)",128,0,76,0
  63               		.stabs	"uint_farptr_t:t(3,2)=(4,6)",128,0,80,0
  64               		.stabn	162,0,0,0
  65               		.stabn	162,0,0,0
  66               		.stabn	162,0,0,0
  67               		.stabs	"CommonDefs.h",130,0,0,0
  68               		.stabs	"bool_t:t(5,1)=(0,11)",128,0,56,0
  69               		.stabn	162,0,0,0
  70               		.stabs	"UartInt_init:F(0,15)",36,0,76,UartInt_init
  71               	.global	UartInt_init
  72               		.type	UartInt_init, @function
  73               	UartInt_init:
  74               		.stabd	46,0,0
   1:UartInterface.c **** /*
   2:UartInterface.c ****     Copyright (C) 2004    John Orlando
   3:UartInterface.c ****     
   4:UartInterface.c ****    AVRcam: a small real-time image processing engine.
   5:UartInterface.c **** 
   6:UartInterface.c ****     This program is free software; you can redistribute it and/or
   7:UartInterface.c ****     modify it under the terms of the GNU General Public
   8:UartInterface.c ****     License as published by the Free Software Foundation; either
   9:UartInterface.c ****     version 2 of the License, or (at your option) any later version.
  10:UartInterface.c **** 
  11:UartInterface.c ****     This program is distributed in the hope that it will be useful,
  12:UartInterface.c ****     but WITHOUT ANY WARRANTY; without even the implied warranty of
  13:UartInterface.c ****     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  14:UartInterface.c ****     General Public License for more details.
  15:UartInterface.c **** 
  16:UartInterface.c ****     You should have received a copy of the GNU General Public
  17:UartInterface.c ****     License along with this program; if not, write to the Free Software
  18:UartInterface.c ****     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  19:UartInterface.c **** 
  20:UartInterface.c ****    For more information on the AVRcam, please contact:
  21:UartInterface.c **** 
  22:UartInterface.c ****    john@jrobot.net
  23:UartInterface.c **** 
  24:UartInterface.c ****    or go to www.jrobot.net for more details regarding the system.
  25:UartInterface.c **** */
  26:UartInterface.c **** /***********************************************************
  27:UartInterface.c **** 	Module Name: UartInterface.c
  28:UartInterface.c **** 	Module Date: 04/10/2004
  29:UartInterface.c **** 	Module Auth: John Orlando
  30:UartInterface.c **** 	
  31:UartInterface.c **** 	Description: This module is responsible for providing an
  32:UartInterface.c **** 	interface to the UART hardware available on the mega8.
  33:UartInterface.c **** 	This interface is an interrupt-driven interface.
  34:UartInterface.c ****     
  35:UartInterface.c ****     Revision History:
  36:UartInterface.c ****     Date        Rel Ver.    Notes
  37:UartInterface.c ****     4/10/2004      0.1     Module created
  38:UartInterface.c ****     6/30/2004      1.0     Initial release for Circuit Cellar
  39:UartInterface.c ****                            contest.
  40:UartInterface.c ****     11/15/2004     1.2     Updated UART baud rate regs so that
GAS LISTING /tmp/ccX0nxLF.s 			page 3


  41:UartInterface.c ****                            it runs at 115.2 kbps when the input
  42:UartInterface.c ****                            crystal is at 17.7 MHz (which is the
  43:UartInterface.c ****                            speed of the OV6620's crystal).
  44:UartInterface.c ****     1/16/2005      1.4     Moved the serial received ISR to
  45:UartInterface.c ****                            this file, instead of having it
  46:UartInterface.c ****                            in its own UartInterfaceAsm.S file
  47:UartInterface.c ****                            written in assembly.
  48:UartInterface.c **** ***********************************************************/
  49:UartInterface.c **** 
  50:UartInterface.c **** /*	Includes */
  51:UartInterface.c **** #include <avr/io.h>
  52:UartInterface.c **** #include <avr/interrupt.h>
  53:UartInterface.c **** #include "CommonDefs.h"
  54:UartInterface.c **** #include "UartInterface.h" 
  55:UartInterface.c **** #include "UIMgr.h"
  56:UartInterface.c **** #include "Executive.h"
  57:UartInterface.c **** 
  58:UartInterface.c **** /*  Local Variables */
  59:UartInterface.c **** 
  60:UartInterface.c **** /* 	Local Structures and Typedefs */
  61:UartInterface.c **** 
  62:UartInterface.c **** /*  Extern Variables */
  63:UartInterface.c **** 
  64:UartInterface.c **** /*  Definitions */
  65:UartInterface.c **** 
  66:UartInterface.c **** /***********************************************************
  67:UartInterface.c **** 	Function Name: UartInt_init
  68:UartInterface.c **** 	Function Description: This function is responsible for
  69:UartInterface.c **** 	initializing the UART interface on the mega8.  This 
  70:UartInterface.c **** 	interface is set to communicate at 115.2 Kbps, with an
  71:UartInterface.c **** 	8N1 protocol.
  72:UartInterface.c **** 	Inputs:  none
  73:UartInterface.c **** 	Outputs: none
  74:UartInterface.c **** ***********************************************************/	
  75:UartInterface.c **** void UartInt_init(void)
  76:UartInterface.c **** {	
  75               		.stabn	68,0,76,.LM0-.LFBB1
  76               	.LM0:
  77               	.LFBB1:
  78               	/* prologue: frame size=0 */
  79               	/* prologue end (size=0) */
  77:UartInterface.c **** 	/* set up the baud rate registers so the UART will operate
  78:UartInterface.c **** 	at 115.2 Kbps */
  79:UartInterface.c **** 	UBRRH = 0x00;
  80               		.stabn	68,0,79,.LM1-.LFBB1
  81               	.LM1:
  82 0000 10BC      		out 64-0x20,__zero_reg__
  80:UartInterface.c **** 
  81:UartInterface.c **** #ifdef NO_CRYSTAL    
  82:UartInterface.c ****     UBRRL = 18;  /* 18 for double clocking at 115.2 kbps */
  83               		.stabn	68,0,82,.LM2-.LFBB1
  84               	.LM2:
  85 0002 82E1      		ldi r24,lo8(18)
  86 0004 89B9      		out 41-0x20,r24
  83:UartInterface.c **** #else    
  84:UartInterface.c **** 	UBRRL = 0x08;  /* for 16 MHz crystal at 115.2 kbps */
  85:UartInterface.c **** #endif    
GAS LISTING /tmp/ccX0nxLF.s 			page 4


  86:UartInterface.c **** 	
  87:UartInterface.c **** 	/* enable the tx and rx capabilities of the UART...as well 
  88:UartInterface.c **** 		as the receive complete interrupt */
  89:UartInterface.c **** 	UCSRB = (1<<RXCIE)|(1<<RXEN)|(1<<TXEN);	
  87               		.stabn	68,0,89,.LM3-.LFBB1
  88               	.LM3:
  89 0006 88E9      		ldi r24,lo8(-104)
  90 0008 8AB9      		out 42-0x20,r24
  90:UartInterface.c **** 	
  91:UartInterface.c **** 	/* set up the control registers so the UART works at 8N1 */
  92:UartInterface.c **** 	UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0);
  91               		.stabn	68,0,92,.LM4-.LFBB1
  92               	.LM4:
  93 000a 86E8      		ldi r24,lo8(-122)
  94 000c 80BD      		out 64-0x20,r24
  93:UartInterface.c ****     
  94:UartInterface.c **** #ifdef NO_CRYSTAL     
  95:UartInterface.c ****     /* set the baud rate to use the double-speed */
  96:UartInterface.c ****     UCSRA = (1<<U2X);
  95               		.stabn	68,0,96,.LM5-.LFBB1
  96               	.LM5:
  97 000e 82E0      		ldi r24,lo8(2)
  98 0010 8BB9      		out 43-0x20,r24
  99               	/* epilogue: frame size=0 */
 100 0012 0895      		ret
 101               	/* epilogue end (size=1) */
 102               	/* function UartInt_init size 10 (9) */
 103               		.size	UartInt_init, .-UartInt_init
 104               	.Lscope1:
 105               		.stabs	"",36,0,0,.Lscope1-.LFBB1
 106               		.stabd	78,0,0
 107               		.stabs	"UartInt_txByte:F(0,15)",36,0,115,UartInt_txByte
 108               		.stabs	"txByte:P(0,11)",64,0,114,24
 109               	.global	UartInt_txByte
 110               		.type	UartInt_txByte, @function
 111               	UartInt_txByte:
 112               		.stabd	46,0,0
  97:UartInterface.c **** #endif    
  98:UartInterface.c **** 	
  99:UartInterface.c **** }
 100:UartInterface.c **** 
 101:UartInterface.c **** /***********************************************************
 102:UartInterface.c **** 	Function Name: UartInt_txByte
 103:UartInterface.c **** 	Function Description: This function is responsible for
 104:UartInterface.c **** 	transmitting a single byte on the uart.  
 105:UartInterface.c **** 	Inputs:  txByte - the byte to send
 106:UartInterface.c **** 	Outputs: none
 107:UartInterface.c **** 	NOTES: When the TX UDRE (data register empty) is set, there
 108:UartInterface.c **** 	is puposefully no interrupt...thus, to send a string of
 109:UartInterface.c **** 	data out, the calling routine needs to hold up the entire
 110:UartInterface.c **** 	application while this takes place (or just send one
 111:UartInterface.c **** 	byte at a time at strtegically timed intervals, like
 112:UartInterface.c **** 	the stats data is sent out :-)
 113:UartInterface.c **** ***********************************************************/
 114:UartInterface.c **** void UartInt_txByte(unsigned char txByte)
 115:UartInterface.c **** {
 113               		.stabn	68,0,115,.LM6-.LFBB2
GAS LISTING /tmp/ccX0nxLF.s 			page 5


 114               	.LM6:
 115               	.LFBB2:
 116               	/* prologue: frame size=0 */
 117               	/* prologue end (size=0) */
 118               	.L5:
 116:UartInterface.c **** 	/* Wait for empty transmit buffer */
 117:UartInterface.c **** 	while ( !( UCSRA & (1<<UDRE)) );
 119               		.stabn	68,0,117,.LM7-.LFBB2
 120               	.LM7:
 121 0014 5D9B      		sbis 43-0x20,5
 122 0016 00C0      		rjmp .L5
 118:UartInterface.c **** 	/* Put data into buffer, sends the data */
 119:UartInterface.c **** 	UDR = txByte;
 123               		.stabn	68,0,119,.LM8-.LFBB2
 124               	.LM8:
 125 0018 8CB9      		out 44-0x20,r24
 126               	/* epilogue: frame size=0 */
 127 001a 0895      		ret
 128               	/* epilogue end (size=1) */
 129               	/* function UartInt_txByte size 4 (3) */
 130               		.size	UartInt_txByte, .-UartInt_txByte
 131               	.Lscope2:
 132               		.stabs	"",36,0,0,.Lscope2-.LFBB2
 133               		.stabd	78,0,0
 134               		.stabs	"__vector_11:F(0,15)",36,0,138,__vector_11
 135               	.global	__vector_11
 136               		.type	__vector_11, @function
 137               	__vector_11:
 138               		.stabd	46,0,0
 120:UartInterface.c **** }
 121:UartInterface.c **** 
 122:UartInterface.c **** /***********************************************************
 123:UartInterface.c **** 	Function Name: SIG_UART_RECV ISR
 124:UartInterface.c **** 	Function Description: This function is responsible for
 125:UartInterface.c **** 	handling the interrupt caused when a data byte is 
 126:UartInterface.c ****     received by the UART.
 127:UartInterface.c **** 	Inputs:  none
 128:UartInterface.c **** 	Outputs: none
 129:UartInterface.c **** 	NOTES: This function was originally written in assembly,
 130:UartInterface.c ****     but moved over to C when the setting of the "T" bit at
 131:UartInterface.c ****     the end of the routine was no longer necessary (this
 132:UartInterface.c ****     theoretically allowed the AVRcam to respond to serial
 133:UartInterface.c ****     bytes in the middle of tracking or dumping a frame.
 134:UartInterface.c ****     But it wasn't really needed, and understanding the C
 135:UartInterface.c ****     is easier  :-)
 136:UartInterface.c **** ***********************************************************/
 137:UartInterface.c **** SIGNAL(SIG_UART_RECV)
 138:UartInterface.c **** {
 139               		.stabn	68,0,138,.LM9-.LFBB3
 140               	.LM9:
 141               	.LFBB3:
 142               	/* prologue: frame size=0 */
 143 001c 1F92      		push __zero_reg__
 144 001e 0F92      		push __tmp_reg__
 145 0020 0FB6      		in __tmp_reg__,__SREG__
 146 0022 0F92      		push __tmp_reg__
 147 0024 1124      		clr __zero_reg__
GAS LISTING /tmp/ccX0nxLF.s 			page 6


 148 0026 8F93      		push r24
 149 0028 9F93      		push r25
 150 002a EF93      		push r30
 151 002c FF93      		push r31
 152               	/* prologue end (size=9) */
 139:UartInterface.c ****     unsigned char tmpHead;
 140:UartInterface.c ****     /* read the data byte, put it in the serial queue, and
 141:UartInterface.c ****     post the event */
 142:UartInterface.c ****  
 143:UartInterface.c ****     UIMgr_rxFifo[UIMgr_rxFifoHead] = UDR;
 153               		.stabn	68,0,143,.LM10-.LFBB3
 154               	.LM10:
 155 002e 8091 0000 		lds r24,UIMgr_rxFifoHead
 156 0032 9CB1      		in r25,44-0x20
 157 0034 E0E0      		ldi r30,lo8(UIMgr_rxFifo)
 158 0036 F0E0      		ldi r31,hi8(UIMgr_rxFifo)
 159 0038 E80F      		add r30,r24
 160 003a F11D      		adc r31,__zero_reg__
 161 003c 9083      		st Z,r25
 144:UartInterface.c **** 
 145:UartInterface.c ****     /* now move the head up */
 146:UartInterface.c ****     tmpHead = (UIMgr_rxFifoHead + 1) & (UI_MGR_RX_FIFO_MASK);
 147:UartInterface.c ****     UIMgr_rxFifoHead = tmpHead;
 162               		.stabn	68,0,147,.LM11-.LFBB3
 163               	.LM11:
 164 003e 8F5F      		subi r24,lo8(-(1))
 165 0040 8F71      		andi r24,lo8(31)
 166 0042 8093 0000 		sts UIMgr_rxFifoHead,r24
 148:UartInterface.c ****     
 149:UartInterface.c ****     /* write the serial received event to the event fifo */
 150:UartInterface.c ****     Exec_eventFifo[Exec_eventFifoHead] = EV_SERIAL_DATA_RECEIVED;
 167               		.stabn	68,0,150,.LM12-.LFBB3
 168               	.LM12:
 169 0046 8091 0000 		lds r24,Exec_eventFifoHead
 170 004a E0E0      		ldi r30,lo8(Exec_eventFifo)
 171 004c F0E0      		ldi r31,hi8(Exec_eventFifo)
 172 004e E80F      		add r30,r24
 173 0050 F11D      		adc r31,__zero_reg__
 174 0052 91E0      		ldi r25,lo8(1)
 175 0054 9083      		st Z,r25
 151:UartInterface.c **** 
 152:UartInterface.c ****     /* now move the head up */
 153:UartInterface.c ****     tmpHead = (Exec_eventFifoHead + 1) & (EXEC_EVENT_FIFO_MASK);
 154:UartInterface.c ****     Exec_eventFifoHead = tmpHead;
 176               		.stabn	68,0,154,.LM13-.LFBB3
 177               	.LM13:
 178 0056 8F5F      		subi r24,lo8(-(1))
 179 0058 8770      		andi r24,lo8(7)
 180 005a 8093 0000 		sts Exec_eventFifoHead,r24
 181               	/* epilogue: frame size=0 */
 182 005e FF91      		pop r31
 183 0060 EF91      		pop r30
 184 0062 9F91      		pop r25
 185 0064 8F91      		pop r24
 186 0066 0F90      		pop __tmp_reg__
 187 0068 0FBE      		out __SREG__,__tmp_reg__
 188 006a 0F90      		pop __tmp_reg__
GAS LISTING /tmp/ccX0nxLF.s 			page 7


 189 006c 1F90      		pop __zero_reg__
 190 006e 1895      		reti
 191               	/* epilogue end (size=9) */
 192               	/* function __vector_11 size 42 (24) */
 193               		.size	__vector_11, .-__vector_11
 194               	.Lscope3:
 195               		.stabs	"",36,0,0,.Lscope3-.LFBB3
 196               		.stabd	78,0,0
 197               		.stabs	"",100,0,0,.Letext0
 198               	.Letext0:
 199               	/* File "UartInterface.c": code   56 = 0x0038 (  36), prologues   9, epilogues  11 */
GAS LISTING /tmp/ccX0nxLF.s 			page 8


DEFINED SYMBOLS
                            *ABS*:00000000 UartInterface.c
     /tmp/ccX0nxLF.s:2      *ABS*:0000003f __SREG__
     /tmp/ccX0nxLF.s:3      *ABS*:0000003e __SP_H__
     /tmp/ccX0nxLF.s:4      *ABS*:0000003d __SP_L__
     /tmp/ccX0nxLF.s:5      *ABS*:00000000 __tmp_reg__
     /tmp/ccX0nxLF.s:6      *ABS*:00000001 __zero_reg__
     /tmp/ccX0nxLF.s:73     .text:00000000 UartInt_init
     /tmp/ccX0nxLF.s:111    .text:00000014 UartInt_txByte
     /tmp/ccX0nxLF.s:137    .text:0000001c __vector_11

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
UIMgr_rxFifoHead
UIMgr_rxFifo
Exec_eventFifoHead
Exec_eventFifo