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GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                   page 1


   1                    # 1 "CamInterfaceAsm.S"
   2                    # 1 "<built-in>"
   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 <avr/io.h>
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 2


   1                    /* Copyright (c) 2002,2003 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                       * Redistributions in binary form must reproduce the above copyright
  10                         notice, this list of conditions and the following disclaimer in
  11                         the documentation and/or other materials provided with the
  12                         distribution.
  13                    
  14                      THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  15                      AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  16                      IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  17                      ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  18                      LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  19                      CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  20                      SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  21                      INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  22                      CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  23                      ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  24                      POSSIBILITY OF SUCH DAMAGE. */
  25                    
  26                    /* $Id: io.h,v 1.10 2003/02/28 23:03:40 marekm Exp $ */
  27                    
  28                    /** \defgroup avr_io AVR device-specific IO definitions
  29                        \code #include <avr/io.h> \endcode
  30                    
  31                        This header file includes the apropriate IO definitions for the
  32                        device that has been specified by the <tt>-mmcu=</tt> compiler
  33                        command-line switch.  This is done by diverting to the appropriate
  34                        file <tt>&lt;avr/io</tt><em>XXXX</em><tt>.h&gt;</tt> which should
  35                        never be included directly.  Some register names common to all
  36                        AVR devices are defined directly within <tt>&lt;avr/io.h&gt;</tt>,
  37                        but most of the details come from the respective include file.
  38                    
  39                        Note that this file always includes
  40                        \code #include <avr/sfr_defs.h> \endcode
  41                        See \ref avr_sfr for the details.
  42                    
  43                        Included are definitions of the IO register set and their
  44                        respective bit values as specified in the Atmel documentation.
  45                        Note that Atmel is not very consistent in its naming conventions,
  46                        so even identical functions sometimes get different names on
  47                        different devices.
  48                    
  49                        Also included are the specific names useable for interrupt
  50                        function definitions as documented
  51                        \ref avr_signames "here".
  52                    
  53                        Finally, the following macros are defined:
  54                    
  55                        - \b RAMEND
  56                        <br>
  57                        A constant describing the last on-chip RAM location.
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 3


  58                        <br>
  59                        - \b XRAMEND
  60                        <br>
  61                        A constant describing the last possible location in RAM.
  62                        This is equal to RAMEND for devices that do not allow for
  63                        external RAM.
  64                        <br>
  65                        - \b E2END
  66                        <br>
  67                        A constant describing the address of the last EEPROM cell.
  68                        <br>
  69                        - \b FLASHEND
  70                        <br>
  71                        A constant describing the last byte address in flash ROM.
  72                        <br>
  73                        - \b SPM_PAGESIZE
  74                        <br>
  75                        For devices with bootloader support, the flash pagesize
  76                        (in bytes) to be used for the \c SPM instruction. */
  77                    
  78                    #ifndef _AVR_IO_H_
  79                    #define _AVR_IO_H_
  80                    
  81                    #include <avr/sfr_defs.h>
   1                    /* Copyright (c) 2002, Marek Michalkiewicz <marekm@amelek.gda.pl>
   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                       * Redistributions in binary form must reproduce the above copyright
  10                         notice, this list of conditions and the following disclaimer in
  11                         the documentation and/or other materials provided with the
  12                         distribution.
  13                    
  14                       THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  15                       AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  16                       IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  17                       ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  18                       LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  19                       CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  20                       SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  21                       INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  22                       CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  23                       ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  24                       POSSIBILITY OF SUCH DAMAGE.  */
  25                    
  26                    /* avr/sfr_defs.h - macros for accessing AVR special function registers */
  27                    
  28                    /* $Id: sfr_defs.h,v 1.10 2003/08/11 21:42:13 troth Exp $ */
  29                    
  30                    #ifndef _AVR_SFR_DEFS_H_
  31                    #define _AVR_SFR_DEFS_H_ 1
  32                    
  33                    /** \defgroup avr_sfr_notes Additional notes from <avr/sfr_defs.h>
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 4


  34                        \ingroup avr_sfr
  35                    
  36                       The \c <avr/sfr_defs.h> file is included by all of the \c <avr/ioXXXX.h>
  37                       files, which use macros defined here to make the special function register
  38                       definitions look like C variables or simple constants, depending on the
  39                       <tt>_SFR_ASM_COMPAT</tt> define.  Some examples from \c <avr/iom128.h> to
  40                       show how to define such macros:
  41                    
  42                    \code
  43                    #define PORTA _SFR_IO8(0x1b)
  44                    #define TCNT1 _SFR_IO16(0x2c)
  45                    #define PORTF _SFR_MEM8(0x61)
  46                    #define TCNT3 _SFR_MEM16(0x88)
  47                    \endcode
  48                    
  49                       If \c _SFR_ASM_COMPAT is not defined, C programs can use names like
  50                       <tt>PORTA</tt> directly in C expressions (also on the left side of
  51                       assignment operators) and GCC will do the right thing (use short I/O
  52                       instructions if possible).  The \c __SFR_OFFSET definition is not used in
  53                       any way in this case.
  54                    
  55                       Define \c _SFR_ASM_COMPAT as 1 to make these names work as simple constants
  56                       (addresses of the I/O registers).  This is necessary when included in
  57                       preprocessed assembler (*.S) source files, so it is done automatically if
  58                       \c __ASSEMBLER__ is defined.  By default, all addresses are defined as if
  59                       they were memory addresses (used in \c lds/sts instructions).  To use these
  60                       addresses in \c in/out instructions, you must subtract 0x20 from them.
  61                    
  62                       For more backwards compatibility, insert the following at the start of your
  63                       old assembler source file:
  64                    
  65                    \code
  66                    #define __SFR_OFFSET 0
  67                    \endcode
  68                    
  69                       This automatically subtracts 0x20 from I/O space addresses, but it's a
  70                       hack, so it is recommended to change your source: wrap such addresses in
  71                       macros defined here, as shown below.  After this is done, the
  72                       <tt>__SFR_OFFSET</tt> definition is no longer necessary and can be removed.
  73                    
  74                       Real example - this code could be used in a boot loader that is portable
  75                       between devices with \c SPMCR at different addresses.
  76                    
  77                    \verbatim
  78                    <avr/iom163.h>: #define SPMCR _SFR_IO8(0x37)
  79                    <avr/iom128.h>: #define SPMCR _SFR_MEM8(0x68)
  80                    \endverbatim
  81                    
  82                    \code
  82                    
  83                    /*
  84                     * Registers common to all AVR devices.
  85                     */
  86                    
  87                    #if __AVR_ARCH__ != 1
  88                    /*
  89                     * AVR architecture 1 has no RAM, thus no stack pointer.
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 5


  90                     *
  91                     * All other archs do have a stack pointer.  Some devices have only
  92                     * less than 256 bytes of possible RAM locations (128 Bytes of SRAM
  93                     * and no option for external RAM), thus SPH is officially "reserved"
  94                     * for them.  We catch this case below after including the
  95                     * device-specific ioXXXX.h file, by examining XRAMEND, and
  96                     * #undef-ining SP and SPH in that case.
  97                     */
  98                    /* Stack Pointer */
  99                    #define SP        _SFR_IO16(0x3D)
 100                    #define SPL       _SFR_IO8(0x3D)
 101                    #define SPH       _SFR_IO8(0x3E)
 102                    #endif /* #if __AVR_ARCH__ != 1 */
 103                    
 104                    /* Status REGister */
 105                    #define SREG      _SFR_IO8(0x3F)
 106                    
 107                    /* Status Register - SREG */
 108                    #define    SREG_I       7
 109                    #define    SREG_T       6
 110                    #define    SREG_H       5
 111                    #define    SREG_S       4
 112                    #define    SREG_V       3
 113                    #define    SREG_N       2
 114                    #define    SREG_Z       1
 115                    #define    SREG_C       0
 116                    
 117                    /* Pointer definition */
 118                    #if __AVR_ARCH__ != 1
 119                    /* avr1 has only the Z pointer */
 120                    #define    XL           r26
 121                    #define    XH           r27
 122                    #define    YL           r28
 123                    #define    YH           r29
 124                    #endif /* #if __AVR_ARCH__ != 1 */
 125                    #define    ZL           r30
 126                    #define    ZH           r31
 127                    
 128                    /*
 129                     * Only few devices come without EEPROM.  In order to assemble the
 130                     * EEPROM library components without defining a specific device, we
 131                     * keep the EEPROM-related definitions here, and catch the devices
 132                     * without EEPROM (E2END == 0) below.  Obviously, the EEPROM library
 133                     * functions will not work for them. ;-)
 134                     */
 135                    /* EEPROM Control Register */
 136                    #define EECR    _SFR_IO8(0x1C)
 137                    
 138                    /* EEPROM Data Register */
 139                    #define EEDR    _SFR_IO8(0x1D)
 140                    
 141                    /* EEPROM Address Register */
 142                    #define EEAR    _SFR_IO16(0x1E)
 143                    #define EEARL   _SFR_IO8(0x1E)
 144                    #define EEARH   _SFR_IO8(0x1F)
 145                    
 146                    /* EEPROM Control Register */
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 6


 147                    #define    EERIE        3
 148                    #define    EEMWE        2
 149                    #define    EEWE         1
 150                    #define    EERE         0
 151                    
 152                    #if defined (__AVR_AT94K__)
 153                    #  include <avr/ioat94k.h>
 154                    #elif defined (__AVR_AT43USB320__)
 155                    #  include <avr/io43u32x.h>
 156                    #elif defined (__AVR_AT43USB355__)
 157                    #  include <avr/io43u35x.h>
 158                    #elif defined (__AVR_AT76C711__)
 159                    #  include <avr/io76c711.h>
 160                    #elif defined (__AVR_AT86RF401__)
 161                    #  include <avr/io86r401.h>
 162                    #elif defined (__AVR_ATmega128__)
 163                    #  include <avr/iom128.h>
 164                    #elif defined (__AVR_ATmega64__)
 165                    #  include <avr/iom64.h>
 166                    #elif defined (__AVR_ATmega103__)
 167                    #  include <avr/iom103.h>
 168                    #elif defined (__AVR_ATmega32__)
 169                    #  include <avr/iom32.h>
 170                    #elif defined (__AVR_ATmega323__)
 171                    #  include <avr/iom323.h>
 172                    #elif defined (__AVR_ATmega16__)
 173                    #  include <avr/iom16.h>
 174                    #elif defined (__AVR_ATmega161__)
 175                    #  include <avr/iom161.h>
 176                    #elif defined (__AVR_ATmega162__)
 177                    #  include <avr/iom162.h>
 178                    #elif defined (__AVR_ATmega163__)
 179                    #  include <avr/iom163.h>
 180                    #elif defined (__AVR_ATmega169__)
 181                    #  include <avr/iom169.h>
 182                    #elif defined (__AVR_ATmega8__)
 183                    #  include <avr/iom8.h>
   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                       * Redistributions in binary form must reproduce the above copyright
  10                         notice, this list of conditions and the following disclaimer in
  11                         the documentation and/or other materials provided with the
  12                         distribution.
  13                    
  14                      THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  15                      AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  16                      IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  17                      ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  18                      LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  19                      CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  20                      SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 7


  21                      INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  22                      CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  23                      ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  24                      POSSIBILITY OF SUCH DAMAGE. */
  25                    
  26                    /* $Id: iom8.h,v 1.8 2003/02/17 09:57:28 marekm Exp $ */
  27                    
  28                    /* avr/iom8.h - definitions for ATmega8 */
  29                    
  30                    #ifndef _AVR_IOM8_H_
  31                    #define _AVR_IOM8_H_ 1
  32                    
  33                    /* This file should only be included from <avr/io.h>, never directly. */
  34                    
  35                    #ifndef _AVR_IO_H_
  36                    #  error "Include <avr/io.h> instead of this file."
  37                    #endif
  38                    
  39                    #ifndef _AVR_IOXXX_H_
  40                    #  define _AVR_IOXXX_H_ "iom8.h"
  41                    #else
  42                    #  error "Attempt to include more than one <avr/ioXXX.h> file."
  43                    #endif 
  44                    
  45                    /* I/O registers */
  46                    
  47                    /* TWI stands for "Two Wire Interface" or "TWI Was I2C(tm)" */
  48                    #define TWBR    _SFR_IO8(0x00)
  49                    #define TWSR    _SFR_IO8(0x01)
  50                    #define TWAR    _SFR_IO8(0x02)
  51                    #define TWDR    _SFR_IO8(0x03)
  52                    
  53                    /* ADC */
  54                    #define ADCW    _SFR_IO16(0x04)
  55                    #ifndef __ASSEMBLER__
  56                    #define ADC     _SFR_IO16(0x04)
  57                    #endif
  58                    #define ADCL    _SFR_IO8(0x04)
  59                    #define ADCH    _SFR_IO8(0x05)
  60                    #define ADCSR   _SFR_IO8(0x06)
  61                    #define ADCSRA  _SFR_IO8(0x06)  /* Changed in 2486H-AVR-09/02 */
  62                    #define ADMUX   _SFR_IO8(0x07)
  63                    
  64                    /* analog comparator */
  65                    #define ACSR    _SFR_IO8(0x08)
  66                    
  67                    /* USART */
  68                    #define UBRRL   _SFR_IO8(0x09)
  69                    #define UCSRB   _SFR_IO8(0x0A)
  70                    #define UCSRA   _SFR_IO8(0x0B)
  71                    #define UDR     _SFR_IO8(0x0C)
  72                    
  73                    /* SPI */
  74                    #define SPCR    _SFR_IO8(0x0D)
  75                    #define SPSR    _SFR_IO8(0x0E)
  76                    #define SPDR    _SFR_IO8(0x0F)
  77                    
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 8


  78                    /* Port D */
  79                    #define PIND    _SFR_IO8(0x10)
  80                    #define DDRD    _SFR_IO8(0x11)
  81                    #define PORTD   _SFR_IO8(0x12)
  82                    
  83                    /* Port C */
  84                    #define PINC    _SFR_IO8(0x13)
  85                    #define DDRC    _SFR_IO8(0x14)
  86                    #define PORTC   _SFR_IO8(0x15)
  87                    
  88                    /* Port B */
  89                    #define PINB    _SFR_IO8(0x16)
  90                    #define DDRB    _SFR_IO8(0x17)
  91                    #define PORTB   _SFR_IO8(0x18)
  92                    
  93                    /* 0x1C..0x1F EEPROM */
  94                    
  95                    #define UCSRC   _SFR_IO8(0x20)
  96                    #define UBRRH   _SFR_IO8(0x20)
  97                    
  98                    #define WDTCR   _SFR_IO8(0x21)
  99                    #define ASSR    _SFR_IO8(0x22)
 100                    
 101                    /* Timer 2 */
 102                    #define OCR2    _SFR_IO8(0x23)
 103                    #define TCNT2   _SFR_IO8(0x24)
 104                    #define TCCR2   _SFR_IO8(0x25)
 105                    
 106                    /* Timer 1 */
 107                    #define ICR1    _SFR_IO16(0x26)
 108                    #define ICR1L   _SFR_IO8(0x26)
 109                    #define ICR1H   _SFR_IO8(0x27)
 110                    #define OCR1B   _SFR_IO16(0x28)
 111                    #define OCR1BL  _SFR_IO8(0x28)
 112                    #define OCR1BH  _SFR_IO8(0x29)
 113                    #define OCR1A   _SFR_IO16(0x2A)
 114                    #define OCR1AL  _SFR_IO8(0x2A)
 115                    #define OCR1AH  _SFR_IO8(0x2B)
 116                    #define TCNT1   _SFR_IO16(0x2C)
 117                    #define TCNT1L  _SFR_IO8(0x2C)
 118                    #define TCNT1H  _SFR_IO8(0x2D)
 119                    #define TCCR1B  _SFR_IO8(0x2E)
 120                    #define TCCR1A  _SFR_IO8(0x2F)
 121                    
 122                    #define SFIOR   _SFR_IO8(0x30)
 123                    
 124                    #define OSCCAL  _SFR_IO8(0x31)
 125                    
 126                    /* Timer 0 */
 127                    #define TCNT0   _SFR_IO8(0x32)
 128                    #define TCCR0   _SFR_IO8(0x33)
 129                    
 130                    #define MCUCSR  _SFR_IO8(0x34)
 131                    #define MCUCR   _SFR_IO8(0x35)
 132                    
 133                    #define TWCR    _SFR_IO8(0x36)
 134                    
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 135                    #define SPMCR   _SFR_IO8(0x37)
 136                    
 137                    #define TIFR    _SFR_IO8(0x38)
 138                    #define TIMSK   _SFR_IO8(0x39)
 139                    
 140                    #define GIFR    _SFR_IO8(0x3A)
 141                    #define GIMSK   _SFR_IO8(0x3B)
 142                    #define GICR    _SFR_IO8(0x3B)   /* Changed in 2486H-AVR-09/02 */
 143                    
 144                    /* 0x3C reserved (OCR0?) */
 145                    
 146                    /* 0x3D..0x3E SP */
 147                    
 148                    /* 0x3F SREG */
 149                    
 150                    /* Interrupt vectors */
 151                    
 152                    #define SIG_INTERRUPT0          _VECTOR(1)
 153                    #define SIG_INTERRUPT1          _VECTOR(2)
 154                    #define SIG_OUTPUT_COMPARE2     _VECTOR(3)
 155                    #define SIG_OVERFLOW2           _VECTOR(4)
 156                    #define SIG_INPUT_CAPTURE1      _VECTOR(5)
 157                    #define SIG_OUTPUT_COMPARE1A    _VECTOR(6)
 158                    #define SIG_OUTPUT_COMPARE1B    _VECTOR(7)
 159                    #define SIG_OVERFLOW1           _VECTOR(8)
 160                    #define SIG_OVERFLOW0           _VECTOR(9)
 161                    #define SIG_SPI                 _VECTOR(10)
 162                    #define SIG_UART_RECV           _VECTOR(11)
 163                    #define SIG_UART_DATA           _VECTOR(12)
 164                    #define SIG_UART_TRANS          _VECTOR(13)
 165                    #define SIG_ADC                 _VECTOR(14)
 166                    #define SIG_EEPROM_READY        _VECTOR(15)
 167                    #define SIG_COMPARATOR          _VECTOR(16)
 168                    #define SIG_2WIRE_SERIAL        _VECTOR(17)
 169                    #define SIG_SPM_READY           _VECTOR(18)
 170                    
 171                    #define _VECTORS_SIZE 38
 172                    
 173                    /* Bit numbers */
 174                    
 175                    /* GIMSK / GICR */
 176                    #define INT1    7
 177                    #define INT0    6
 178                    #define IVSEL   1
 179                    #define IVCE    0
 180                    
 181                    /* GIFR */
 182                    #define INTF1   7
 183                    #define INTF0   6
 184                    
 184                    #elif defined (__AVR_ATmega8515__)
  54                    #include "Events.h"
   1                    #ifndef EVENTS_H
   2                    #define EVENTS_H
   3                    
   4                    /*
   5                        Copyright (C) 2004    John Orlando
GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s                  page 10


   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.
  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
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  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
  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
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 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
 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
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 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
 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)
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 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
 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            
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 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
 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
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 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
 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)
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 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?)
 411:CamInterfaceAsm.S ****             rjmp    _cleanUpDumpLine
 412                    
 413                    ;***********************************************************
 414                    ;       Function Name: <interrupt handler for External Interrupt0> 
 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: <interrupt handler for External Interrupt1> 
 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: <interrupt handler for Timer0 overflow>
 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
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 461                    ;               sts             eventBitmask,tmp1
 462                    ;               reti
 463                                    
 464                    ;***********************************************************
 465                    ;       Function Name: <interrupt handler for Timer1 overflow>
 466                    ;       Function Description: This function is responsible
 467                    ;       for handling the Timer1 overflow (hooked up to indicate
 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
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DEFINED SYMBOLS
                            *ABS*:00000000 CamInterfaceAsm.S
                            *ABS*:00000000 Events.h
                            *ABS*:00000000 CamInterfaceAsm.S
                            *ABS*:00000000 C:/WinAVR/avr/include/avr/io.h
                            *ABS*:00000000 C:/WinAVR/avr/include/avr/iom8.h
                            *ABS*:00000000 C:/WinAVR/avr/include/avr/io.h
                            *ABS*:00000000 C:/WinAVR/avr/include/avr/sfr_defs.h
                            *ABS*:00000000 C:/WinAVR/avr/include/avr/io.h
                            *ABS*:00000000 CamInterfaceAsm.S
                            *ABS*:00000000 <command line>
                            *ABS*:00000000 <built-in>
                            *ABS*:00000000 CamInterfaceAsm.S
                            *ABS*:00000010 pixelCount
                            *ABS*:00000011 pixelRunStart
                            *ABS*:00000012 lastColor
                            *ABS*:00000013 tmp1
                            *ABS*:00000014 tmp2
                            *ABS*:00000013 color
                            *ABS*:00000014 greenData
                            *ABS*:00000015 blueData
                            *ABS*:00000016 colorMapLow
                            *ABS*:00000017 colorMapHigh
                            *ABS*:00000016 prevLineBuffLow
                            *ABS*:00000017 prevLineBuffHigh
                            *ABS*:00000018 currLineBuffLow
                            *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