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GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 11 # 1 "CamInterfaceAsm.S"2 # 1 "<built-in>"1 ;002 ; Copyright (C) 2004 John Orlando3 ;4 ; AVRcam: a small real-time image processing engine.56 ; This program is free software; you can redistribute it and/or7 ; modify it under the terms of the GNU General Public8 ; License as published by the Free Software Foundation; either9 ; version 2 of the License, or (at your option) any later version.1011 ; This program is distributed in the hope that it will be useful,12 ; but WITHOUT ANY WARRANTY; without even the implied warranty of13 ; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU14 ; General Public License for more details.1516 ; You should have received a copy of the GNU General Public17 ; License along with this program; if not, write to the Free Software18 ; Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA1920 ; For more information on the AVRcam, please contact:2122 ; john@jrobot.net2324 ; or go to www.jrobot.net for more details regarding the system.25 ;**********************************************************************26 ; Module Name: CanInterfaceAsm.S27 ; Module Date: 04/14/200428 ; Module Auth: John Orlando29 ;30 ; Description: This module provides the low-level interface31 ; to the OV6620 camera hardware. It is responsible for32 ; acquiring each pixel block (R,G,B), performing the mapping33 ; into an actual color (orange, purple, etc), run-length34 ; encoding the data, and storing the info off to the appropriate35 ; line buffer. This routine is synchronized with the pixel data36 ; so that no polling of the camera data needs to be done (the37 ; 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. Notes42 ; 4/10/2004 0.1 Module created43 ; 6/30/2004 1.0 Initial release for Circuit Cellar44 ; contest.45 ; 1/16/2005 1.4 Fixed issue with the TCCR1B register46 ; where PCLK was getting routed to the47 ; timer1 even when it wasn't needed.48 ; This caused excessive counter overflow49 ; interrupts, and caused problems. Now,50 ; the "PCLK" pipe feeds timer1 when needed,51 ; and is turned off when it isn't needed.5253 #include <avr/io.h>GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 21 /* Copyright (c) 2002,2003 Marek Michalkiewicz, Joerg Wunsch2 All rights reserved.34 Redistribution and use in source and binary forms, with or without5 modification, are permitted provided that the following conditions are met:67 * Redistributions of source code must retain the above copyright8 notice, this list of conditions and the following disclaimer.9 * Redistributions in binary form must reproduce the above copyright10 notice, this list of conditions and the following disclaimer in11 the documentation and/or other materials provided with the12 distribution.1314 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"15 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE16 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE17 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE18 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR19 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF20 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS21 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN22 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 THE24 POSSIBILITY OF SUCH DAMAGE. */2526 /* $Id: io.h,v 1.10 2003/02/28 23:03:40 marekm Exp $ */2728 /** \defgroup avr_io AVR device-specific IO definitions29 \code #include <avr/io.h> \endcode3031 This header file includes the apropriate IO definitions for the32 device that has been specified by the <tt>-mmcu=</tt> compiler33 command-line switch. This is done by diverting to the appropriate34 file <tt><avr/io</tt><em>XXXX</em><tt>.h></tt> which should35 never be included directly. Some register names common to all36 AVR devices are defined directly within <tt><avr/io.h></tt>,37 but most of the details come from the respective include file.3839 Note that this file always includes40 \code #include <avr/sfr_defs.h> \endcode41 See \ref avr_sfr for the details.4243 Included are definitions of the IO register set and their44 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 on47 different devices.4849 Also included are the specific names useable for interrupt50 function definitions as documented51 \ref avr_signames "here".5253 Finally, the following macros are defined:5455 - \b RAMEND56 <br>57 A constant describing the last on-chip RAM location.GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 358 <br>59 - \b XRAMEND60 <br>61 A constant describing the last possible location in RAM.62 This is equal to RAMEND for devices that do not allow for63 external RAM.64 <br>65 - \b E2END66 <br>67 A constant describing the address of the last EEPROM cell.68 <br>69 - \b FLASHEND70 <br>71 A constant describing the last byte address in flash ROM.72 <br>73 - \b SPM_PAGESIZE74 <br>75 For devices with bootloader support, the flash pagesize76 (in bytes) to be used for the \c SPM instruction. */7778 #ifndef _AVR_IO_H_79 #define _AVR_IO_H_8081 #include <avr/sfr_defs.h>1 /* Copyright (c) 2002, Marek Michalkiewicz <marekm@amelek.gda.pl>2 All rights reserved.34 Redistribution and use in source and binary forms, with or without5 modification, are permitted provided that the following conditions are met:67 * Redistributions of source code must retain the above copyright8 notice, this list of conditions and the following disclaimer.9 * Redistributions in binary form must reproduce the above copyright10 notice, this list of conditions and the following disclaimer in11 the documentation and/or other materials provided with the12 distribution.1314 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"15 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE16 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE17 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE18 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR19 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF20 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS21 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN22 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 THE24 POSSIBILITY OF SUCH DAMAGE. */2526 /* avr/sfr_defs.h - macros for accessing AVR special function registers */2728 /* $Id: sfr_defs.h,v 1.10 2003/08/11 21:42:13 troth Exp $ */2930 #ifndef _AVR_SFR_DEFS_H_31 #define _AVR_SFR_DEFS_H_ 13233 /** \defgroup avr_sfr_notes Additional notes from <avr/sfr_defs.h>GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 434 \ingroup avr_sfr3536 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 register38 definitions look like C variables or simple constants, depending on the39 <tt>_SFR_ASM_COMPAT</tt> define. Some examples from \c <avr/iom128.h> to40 show how to define such macros:4142 \code43 #define PORTA _SFR_IO8(0x1b)44 #define TCNT1 _SFR_IO16(0x2c)45 #define PORTF _SFR_MEM8(0x61)46 #define TCNT3 _SFR_MEM16(0x88)47 \endcode4849 If \c _SFR_ASM_COMPAT is not defined, C programs can use names like50 <tt>PORTA</tt> directly in C expressions (also on the left side of51 assignment operators) and GCC will do the right thing (use short I/O52 instructions if possible). The \c __SFR_OFFSET definition is not used in53 any way in this case.5455 Define \c _SFR_ASM_COMPAT as 1 to make these names work as simple constants56 (addresses of the I/O registers). This is necessary when included in57 preprocessed assembler (*.S) source files, so it is done automatically if58 \c __ASSEMBLER__ is defined. By default, all addresses are defined as if59 they were memory addresses (used in \c lds/sts instructions). To use these60 addresses in \c in/out instructions, you must subtract 0x20 from them.6162 For more backwards compatibility, insert the following at the start of your63 old assembler source file:6465 \code66 #define __SFR_OFFSET 067 \endcode6869 This automatically subtracts 0x20 from I/O space addresses, but it's a70 hack, so it is recommended to change your source: wrap such addresses in71 macros defined here, as shown below. After this is done, the72 <tt>__SFR_OFFSET</tt> definition is no longer necessary and can be removed.7374 Real example - this code could be used in a boot loader that is portable75 between devices with \c SPMCR at different addresses.7677 \verbatim78 <avr/iom163.h>: #define SPMCR _SFR_IO8(0x37)79 <avr/iom128.h>: #define SPMCR _SFR_MEM8(0x68)80 \endverbatim8182 \code8283 /*84 * Registers common to all AVR devices.85 */8687 #if __AVR_ARCH__ != 188 /*89 * AVR architecture 1 has no RAM, thus no stack pointer.GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 590 *91 * All other archs do have a stack pointer. Some devices have only92 * less than 256 bytes of possible RAM locations (128 Bytes of SRAM93 * and no option for external RAM), thus SPH is officially "reserved"94 * for them. We catch this case below after including the95 * device-specific ioXXXX.h file, by examining XRAMEND, and96 * #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 */103104 /* Status REGister */105 #define SREG _SFR_IO8(0x3F)106107 /* Status Register - SREG */108 #define SREG_I 7109 #define SREG_T 6110 #define SREG_H 5111 #define SREG_S 4112 #define SREG_V 3113 #define SREG_N 2114 #define SREG_Z 1115 #define SREG_C 0116117 /* Pointer definition */118 #if __AVR_ARCH__ != 1119 /* avr1 has only the Z pointer */120 #define XL r26121 #define XH r27122 #define YL r28123 #define YH r29124 #endif /* #if __AVR_ARCH__ != 1 */125 #define ZL r30126 #define ZH r31127128 /*129 * Only few devices come without EEPROM. In order to assemble the130 * EEPROM library components without defining a specific device, we131 * keep the EEPROM-related definitions here, and catch the devices132 * without EEPROM (E2END == 0) below. Obviously, the EEPROM library133 * functions will not work for them. ;-)134 */135 /* EEPROM Control Register */136 #define EECR _SFR_IO8(0x1C)137138 /* EEPROM Data Register */139 #define EEDR _SFR_IO8(0x1D)140141 /* EEPROM Address Register */142 #define EEAR _SFR_IO16(0x1E)143 #define EEARL _SFR_IO8(0x1E)144 #define EEARH _SFR_IO8(0x1F)145146 /* EEPROM Control Register */GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 6147 #define EERIE 3148 #define EEMWE 2149 #define EEWE 1150 #define EERE 0151152 #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 Michalkiewicz2 All rights reserved.34 Redistribution and use in source and binary forms, with or without5 modification, are permitted provided that the following conditions are met:67 * Redistributions of source code must retain the above copyright8 notice, this list of conditions and the following disclaimer.9 * Redistributions in binary form must reproduce the above copyright10 notice, this list of conditions and the following disclaimer in11 the documentation and/or other materials provided with the12 distribution.1314 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"15 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE16 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE17 ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE18 LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR19 CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF20 SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESSGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 721 INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN22 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 THE24 POSSIBILITY OF SUCH DAMAGE. */2526 /* $Id: iom8.h,v 1.8 2003/02/17 09:57:28 marekm Exp $ */2728 /* avr/iom8.h - definitions for ATmega8 */2930 #ifndef _AVR_IOM8_H_31 #define _AVR_IOM8_H_ 13233 /* This file should only be included from <avr/io.h>, never directly. */3435 #ifndef _AVR_IO_H_36 # error "Include <avr/io.h> instead of this file."37 #endif3839 #ifndef _AVR_IOXXX_H_40 # define _AVR_IOXXX_H_ "iom8.h"41 #else42 # error "Attempt to include more than one <avr/ioXXX.h> file."43 #endif4445 /* I/O registers */4647 /* 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)5253 /* ADC */54 #define ADCW _SFR_IO16(0x04)55 #ifndef __ASSEMBLER__56 #define ADC _SFR_IO16(0x04)57 #endif58 #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)6364 /* analog comparator */65 #define ACSR _SFR_IO8(0x08)6667 /* 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)7273 /* SPI */74 #define SPCR _SFR_IO8(0x0D)75 #define SPSR _SFR_IO8(0x0E)76 #define SPDR _SFR_IO8(0x0F)77GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 878 /* Port D */79 #define PIND _SFR_IO8(0x10)80 #define DDRD _SFR_IO8(0x11)81 #define PORTD _SFR_IO8(0x12)8283 /* Port C */84 #define PINC _SFR_IO8(0x13)85 #define DDRC _SFR_IO8(0x14)86 #define PORTC _SFR_IO8(0x15)8788 /* Port B */89 #define PINB _SFR_IO8(0x16)90 #define DDRB _SFR_IO8(0x17)91 #define PORTB _SFR_IO8(0x18)9293 /* 0x1C..0x1F EEPROM */9495 #define UCSRC _SFR_IO8(0x20)96 #define UBRRH _SFR_IO8(0x20)9798 #define WDTCR _SFR_IO8(0x21)99 #define ASSR _SFR_IO8(0x22)100101 /* Timer 2 */102 #define OCR2 _SFR_IO8(0x23)103 #define TCNT2 _SFR_IO8(0x24)104 #define TCCR2 _SFR_IO8(0x25)105106 /* 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)121122 #define SFIOR _SFR_IO8(0x30)123124 #define OSCCAL _SFR_IO8(0x31)125126 /* Timer 0 */127 #define TCNT0 _SFR_IO8(0x32)128 #define TCCR0 _SFR_IO8(0x33)129130 #define MCUCSR _SFR_IO8(0x34)131 #define MCUCR _SFR_IO8(0x35)132133 #define TWCR _SFR_IO8(0x36)134GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 9135 #define SPMCR _SFR_IO8(0x37)136137 #define TIFR _SFR_IO8(0x38)138 #define TIMSK _SFR_IO8(0x39)139140 #define GIFR _SFR_IO8(0x3A)141 #define GIMSK _SFR_IO8(0x3B)142 #define GICR _SFR_IO8(0x3B) /* Changed in 2486H-AVR-09/02 */143144 /* 0x3C reserved (OCR0?) */145146 /* 0x3D..0x3E SP */147148 /* 0x3F SREG */149150 /* Interrupt vectors */151152 #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)170171 #define _VECTORS_SIZE 38172173 /* Bit numbers */174175 /* GIMSK / GICR */176 #define INT1 7177 #define INT0 6178 #define IVSEL 1179 #define IVCE 0180181 /* GIFR */182 #define INTF1 7183 #define INTF0 6184184 #elif defined (__AVR_ATmega8515__)54 #include "Events.h"1 #ifndef EVENTS_H2 #define EVENTS_H34 /*5 Copyright (C) 2004 John OrlandoGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 1067 AVRcam: a small real-time image processing engine.89 This program is free software; you can redistribute it and/or10 modify it under the terms of the GNU General Public11 License as published by the Free Software Foundation; either12 version 2 of the License, or (at your option) any later version.1314 This program is distributed in the hope that it will be useful,15 but WITHOUT ANY WARRANTY; without even the implied warranty of16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU17 General Public License for more details.1819 You should have received a copy of the GNU General Public20 License along with this program; if not, write to the Free Software21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA2223 For more information on the AVRcam, please contact:2425 john@jrobot.net2627 or go to www.jrobot.net for more details regarding the system.28 */29 /***********************************************************30 Module Name: Events.h31 Module Date: 05/23/200432 Module Auth: John Orlando3334 Description: This file provides the external interface35 to the events that can be published/processed in the36 system. It is specifically by itself (and nothing37 else should be defined in here) so that both .c and38 .S (assembly) files can include this file without39 a problem.4041 Revision History:42 Date Rel Ver. Notes43 4/10/2004 0.1 Module created44 6/30/2004 1.0 Initial release for Circuit Cellar45 contest.46 *******************************************************/4748 /* Definitions */49 /* Originally, all events were passed in a bitmask...however,50 an event FIFO was finally used, but the coding of the event51 definitions were never translated back....doesn't make a52 difference, but looks a little weird */53 #define EV_SERIAL_DATA_RECEIVED 0x0154 #define EV_DUMP_FRAME 0x0255 #define EV_PROCESS_FRAME_COMPLETE 0x045556 .extern fastEventBitmask ; This is the flag used to indicate to the rest57 ; of the system that the line is complete5859 #define HREF_INTERRUPT_ENABLE_MASK 0x8060 #define HREF_INTERRUPT_DISABLE_MASK 0x7F61 #define ENABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0x04GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 1162 #define DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0xFB63 #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) pixels6768 #define RED_MEM_OFFSET 0x0069 #define GREEN_MEM_OFFSET 0x1070 #define BLUE_MEM_OFFSET 0x207172 ; A pixelBlock is defined as a contiguous group of 4 pixels that are combined73 ; together to form a specific color. Typically, this is formed by sampling a74 ; a green value, followed by a red and blue value (since we are dealing75 ; with Bayer color data). We could optionally sample a second green with76 ; the red and average the greens, because the eye is more sensitive to77 ; green, but for speed we don't do this. These three values (RGB) are then78 ; used as indices into the color membership lookup table (memLookup) to79 ; determine which color the pixelBlock maps into. The memLookup table is80 ; manually generated for now (though it will hopefully be modified over81 ; 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 skipped87 ; | | |--this is skipped88 ; | |--this is sampled89 ; |--this is sampled9091 ; As pixel blocks are sampled, the red, green, and blue values are92 ; used to index into their respective color maps. The color maps93 ; return values that can be logically ANDed together so that a94 ; particular RGB triplet will result in a single bit being set95 ; after the AND operation. This single bit indicates which color96 ; the RGB triplet represents. It is also possible for no bits to97 ; be set after the AND process, indicating that the RGB triplet98 ; 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, but100 ; it then again it doesn't require 2^12 (4-bits for each color101 ; channel) bytes to store the lookup table. It takes just a few102 ; more cycles, and only requires 48 bytes of precious RAM (16103 ; per color channel, since our resolution on each color channel104 ; is only 4-bits). Not bad....for more information, see:105 ; http://www.cs.cmu.edu/~trb/papers/wirevision00.pdf for more106 ; information on this color segmentation technique.107108 ; One other note: this code does depend on the colorMap residing109 ; at a well-defined position in memory; specifically, it mus110 ; start at a 256-byte boundary so that the lowest byte in the111 ; map is set to 0x00. Currently, the colorMap is forced to112 ; start at RAM location 0x300. This could potentially be changed113 ; by the developer if needed, but offsets would have to be added114 ; in to the colorMap look-up code below to make it work.115116117 ; These are the registers that will be used throughout this118 ; module for acquiring each line of pixel dataGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 12119 pixelCount = 16120 pixelRunStart = 17121 lastColor = 18122 tmp1 = 19 ; be sure to not use tmp1 and color simultaneously123 tmp2 = 20124 color = 19125 greenData = 20126 blueData = 21127 colorMapLow = 22128 colorMapHigh = 23129 prevLineBuffLow = 22 ; overlaps with memLookupLow (but orthogonal)130 prevLineBuffHigh = 23 ; overlaps with memLookupHigh (but orthogonal)131 currLineBuffLow = 24132 currLineBuffHigh = 25133134 .section .text135136 ; These are the global assembly function names that are accessed via other137 ; C functions138 .global CamIntAsm_waitForNewTrackingFrame139 .global CamIntAsm_waitForNewDumpFrame140 .global CamIntAsm_acquireDumpLine141 .global CamIntAsm_acquireTrackingLine142 .global SIG_INTERRUPT0143 .global SIG_INTERRUPT1144 .global SIG_OVERFLOW0145 .global SIG_OVERFLOW1146147 ;*****************************************************************148 ; Function Name: CamIntAsm_waitForNewTrackingFrame149 ; Function Description: This function is responsible for150 ; going to sleep until a new frame begins (indicated by151 ; VSYNC transitioning from low to high. This will wake152 ; the "VSYNC sleep" up and allow it to continue with153 ; the acquireLine function, where the system waits for154 ; an "HREF sleep" that we use to synchronize with the155 ; data.156 ; Inputs: r25 - MSB of currentLineBuffer157 ; r24 - LSB of currentLineBuffer158 ; r23 - MSB of colorMap159 ; r22 - LSB of colorMap160 ; Outputs: none161 ; NOTES: This function doesn't really return...it sorta just162 ; floats into the acquireLine function after the "VSYNC sleep"163 ; is awoken, then begins processing the line data. Once164 ; 176 pixels are sampled (and the counter overflows), then165 ; an interrupt will occur, the 'T' bit in the SREG will be166 ; set, and the function will return.167 ;*****************************************************************168169 CamIntAsm_waitForNewTrackingFrame:170:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing...171:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6172:CamInterfaceAsm.S **** sleep173174 ;*****************************************************************175 ; REMEMBER...everything from here on out is critically timed to beGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 13176 ; synchronized with the flow of pixel data from the camera...177 ;*****************************************************************178179 CamIntAsm_acquireTrackingLine:180:CamInterfaceAsm.S **** brts _cleanUp181 ;sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing...182 ;cbi _SFR_IO_ADDR(PORTD),PD6183184:CamInterfaceAsm.S **** in tmp1,_SFR_IO_ADDR(TCCR1B) ; Enable the PCLK line to actually185:CamInterfaceAsm.S **** ori tmp1, 0x07 ; feed Timer1186:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCCR1B),tmp1187 ; 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 calculate190 ; the pixel run length as191 ; TCNT1L - pixelRunStart192193:CamInterfaceAsm.S **** ldi lastColor,0x00 ; clear out the last color before we start194195:CamInterfaceAsm.S **** mov XH,currLineBuffHigh ; Load the pointer to the current line196:CamInterfaceAsm.S **** mov XL,currLineBuffLow ; buffer into the X pointer regs197198:CamInterfaceAsm.S **** mov ZH,colorMapHigh ; Load the pointers to the membership199:CamInterfaceAsm.S **** mov ZL,colorMapLow ; lookup tables (ZL and YL will be overwritten200:CamInterfaceAsm.S **** mov YH,colorMapHigh ; as soon as we start reading data) to Z and Y201202:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TIMSK) ; enable TIMER1 to start counting203:CamInterfaceAsm.S **** ori tmp1, ENABLE_PCLK_TIMER1_OVERFLOW_BITMASK ; external PCLK pulses and interrupt on204:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TIMSK),tmp1 ; overflow205206:CamInterfaceAsm.S **** ldi tmp1,PIXEL_RUN_START_INITIAL ; set up the TCNT1 to overflow (and207:CamInterfaceAsm.S **** ldi tmp2,0xFF ; interrupts) after 176 pixels208:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1H),tmp2209:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1L),tmp1210211:CamInterfaceAsm.S **** mov YL,colorMapLow212213:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) ; enable the HREF interrupt...remember, we214 ; only use this interrupt to synchronize215 ; the beginning of the line216:CamInterfaceAsm.S **** ori tmp1, HREF_INTERRUPT_ENABLE_MASK217:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1218219 ;*******************************************************************************************220 ; Track Frame handler221 ;*******************************************************************************************222223 _trackFrame:224:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6225:CamInterfaceAsm.S **** sleep ; ...And we wait...226227 ; Returning from the interrupt/sleep wakeup will consume228 ; 14 clock cycles (7 to wakeup from idle sleep, 3 to vector, and 4 to return)229230 ; Disable the HREF interrupt231:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6232:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR)GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 14233:CamInterfaceAsm.S **** andi tmp1, HREF_INTERRUPT_DISABLE_MASK234:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1235236 ; 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 **** nop239:CamInterfaceAsm.S **** nop240 _acquirePixelBlock: ; Clock Cycle Count241: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 in252 ; SREG, then we need to hop out253 ; 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 cycles258 ; (16 clock cycles = 1 uS = 1 pixelBlock time)259260 ; Toggle the debug line to indicate a color change261:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6262:CamInterfaceAsm.S **** nop263:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6264265:CamInterfaceAsm.S **** mov tmp2,pixelRunStart ; get the count value of the266 ; current pixel run267:CamInterfaceAsm.S **** in pixelCount,_SFR_IO_ADDR(TCNT1L) ; get the current TCNT1 value268:CamInterfaceAsm.S **** mov pixelRunStart,pixelCount ; reload pixelRunStart for the269 ; next run270:CamInterfaceAsm.S **** sub pixelCount,tmp2 ; pixelCount = TCNT1L - pixelRunStart271272:CamInterfaceAsm.S **** st X+,lastColor ; record the color run in the current line buffer273:CamInterfaceAsm.S **** st X+,pixelCount ; with its length274:CamInterfaceAsm.S **** mov lastColor,color ; set lastColor so we can figure out when it changes275276:CamInterfaceAsm.S **** nop ; waste one more cycle for a total of 16277:CamInterfaceAsm.S **** rjmp _acquirePixelBlock278279 ; _cleanUpTrackingLine is used to write the last run length block off to the currentLineBuffer so280 ; 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 last283:CamInterfaceAsm.S **** sub pixelCount,pixelRunStart ; pixelRunStart284285:CamInterfaceAsm.S **** inc pixelCount ; increment pixelCount since we actually need to account286 ; for the overflow of TCNT1287288:CamInterfaceAsm.S **** st X+,color ; record the color run in the current line buffer289:CamInterfaceAsm.S **** st X,pixelCountGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 15290:CamInterfaceAsm.S **** rjmp _cleanUp291292 _cleanUpDumpLine:293 ; NOTE: If serial data is received, to interrupt the tracking of a line, we'll294 ; get a EV_SERIAL_DATA_RECEIVED event, and the T bit set so we will end the295 ; line's processing...however, the PCLK will keep on ticking for the rest of296 ; the frame/line, which will cause the TCNT to eventually overflow and297 ; interrupt us, generating a EV_ACQUIRE_LINE_COMPLETE event. We don't want298 ; this, so we need to actually turn off the PCLK counting each time we exit299 ; 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 counting302 ;andi tmp1, DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK ; external PCLK pulses303 ;out _SFR_IO_ADDR(TIMSK),tmp1304305 _cleanUp:306 ; Disable the external clocking of the Timer1 counter307:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TCCR1B)308:CamInterfaceAsm.S **** andi tmp1, 0xF8309:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCCR1B),tmp1310311 ; Toggle the debug line to indicate the line is complete312:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6313:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6314:CamInterfaceAsm.S **** clt ; clear out the T bit since we have detected315 ; the interruption and are exiting to handle it316 _exit:317:CamInterfaceAsm.S **** ret318319 ;*****************************************************************320 ; Function Name: CamIntAsm_waitForNewDumpFrame321 ; Function Description: This function is responsible for322 ; going to sleep until a new frame begins (indicated by323 ; VSYNC transitioning from low to high. This will wake324 ; the "VSYNC sleep" up and allow it to continue with325 ; acquiring a line of pixel data to dump out to the UI.326 ; Inputs: r25 - MSB of currentLineBuffer327 ; r24 - LSB of currentLineBuffer328 ; r23 - MSB of prevLineBuffer329 ; r22 - LSB of prevLineBuffer330 ; Outputs: none331 ; NOTES: This function doesn't really return...it sorta just332 ; 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),PD6338:CamInterfaceAsm.S **** sleep339340 ;*****************************************************************341 ; REMEMBER...everything from here on out is critically timed to be342 ; synchronized with the flow of pixel data from the camera...343 ;*****************************************************************344345 CamIntAsm_acquireDumpLine:346:CamInterfaceAsm.S **** brts _cleanUpGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 16347 ;sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing...348 ;cbi _SFR_IO_ADDR(PORTD),PD6349350:CamInterfaceAsm.S **** mov XH,currLineBuffHigh ; Load the pointer to the current line351:CamInterfaceAsm.S **** mov XL,currLineBuffLow ; buffer into the X pointer regs352353:CamInterfaceAsm.S **** mov YH,prevLineBuffHigh ; Load the pointer to the previous line354:CamInterfaceAsm.S **** mov YL,prevLineBuffLow ; buffer into the Y pointer regs355356:CamInterfaceAsm.S **** ldi tmp1,PIXEL_RUN_START_INITIAL ; set up the TCNT1 to overflow (and357:CamInterfaceAsm.S **** ldi tmp2,0xFF ; interrupts) after 176 pixels358:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1H),tmp2359:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCNT1L),tmp1360361:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TCCR1B) ; Enable the PCLK line to actually362:CamInterfaceAsm.S **** ori tmp1, 0x07 ; feed Timer1363:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TCCR1B),tmp1364:CamInterfaceAsm.S **** nop365366:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(TIMSK) ; enable TIMER1 to start counting367:CamInterfaceAsm.S **** ori tmp1, ENABLE_PCLK_TIMER1_OVERFLOW_BITMASK ; external PCLK pulses and interrupt on368:CamInterfaceAsm.S **** out _SFR_IO_ADDR(TIMSK),tmp1 ; overflow369370:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) ; enable the HREF interrupt...remember, we371 ; only use this interrupt to synchronize372 ; the beginning of the line373:CamInterfaceAsm.S **** ori tmp1, HREF_INTERRUPT_ENABLE_MASK374:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1375376 ;*******************************************************************************************377 ; Dump Frame handler378 ;*******************************************************************************************379380 _dumpFrame:381:CamInterfaceAsm.S **** sbi _SFR_IO_ADDR(PORTD),PD6382:CamInterfaceAsm.S **** sleep ; ...And we wait...383384:CamInterfaceAsm.S **** cbi _SFR_IO_ADDR(PORTD),PD6385:CamInterfaceAsm.S **** in tmp1, _SFR_IO_ADDR(GICR) ; disable the HREF interrupt386:CamInterfaceAsm.S **** andi tmp1, HREF_INTERRUPT_DISABLE_MASK ; so we don't get interrupted387:CamInterfaceAsm.S **** out _SFR_IO_ADDR(GICR), tmp1 ; while dumping the line388389:CamInterfaceAsm.S **** nop ; Remember...if we ever remove the "cbi" instruction above,390 ; we need to add two more NOPs to cover this391392 ; Ok...the following loop needs to run in 8 clock cycles, so we can get every393 ; pixel in the line...this shouldn't be a problem, since the PCLK timing was394 ; reduced by a factor of 2 whenever we go to dump a line (this is to give us395 ; 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 right397 ; before we send it out, like mask off the top 4-bits of each, and then pack both398 ; low nibbles into a single byte for transmission...we just don't have time to399 ; 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)GAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 17404: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 normally408409 ; if we make it here, it means the T flag is set, and we must have been interrupted410 ; so we need to exit (what if we were interrupted for serial? should we disable it?)411:CamInterfaceAsm.S **** rjmp _cleanUpDumpLine412413 ;***********************************************************414 ; Function Name: <interrupt handler for External Interrupt0>415 ; Function Description: This function is responsible416 ; for handling a rising edge on the Ext Interrupt 0. This417 ; routine simply returns, since we just want to wake up418 ; whenever the VSYNC transitions (meaning the start of a new419 ; frame).420 ; Inputs: none421 ; Outputs: none422 ;***********************************************************423 SIG_INTERRUPT0:424 ; This will wake us up when VSYNC transitions high...we just want to return425:CamInterfaceAsm.S **** reti426427 ;***********************************************************428 ; Function Name: <interrupt handler for External Interrupt1>429 ; Function Description: This function is responsible430 ; for handling a falling edge on the Ext Interrupt 1. This431 ; routine simply returns, since we just want to wake up432 ; whenever the HREF transitions (meaning the pixels433 ; are starting after VSYNC transitioned, and we need to434 ; start acquiring the pixel blocks435 ; Inputs: none436 ; Outputs: none437 ;***********************************************************438 SIG_INTERRUPT1:439 ; This will wake us up when HREF transitions high...we just want to return440:CamInterfaceAsm.S **** reti441442 ;***********************************************************443 ; Function Name: <interrupt handler for Timer0 overflow>444 ; Function Description: This function is responsible445 ; for handling the Timer0 overflow (hooked up to indicate446 ; when we have reached the number of HREFs required in a447 ; single frame). We set the T flag in the SREG to448 ; indicate to the _acquirePixelBlock routine that it needs449 ; to exit, and then set the appropriate action to take in450 ; the eventList of the Executive module.451 ; Inputs: none452 ; Outputs: none453 ; Note: Originally, the HREF pulses were also going to454 ; be counted by a hardware counter, but it didn't end up455 ; being necessary456 ;***********************************************************457 ;SIG_OVERFLOW0:458 ; set ; set the T bit in SREG459 ; lds tmp1,eventBitmask460 ; ori tmp1,EV_ACQUIRE_FRAME_COMPLETEGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 18461 ; sts eventBitmask,tmp1462 ; reti463464 ;***********************************************************465 ; Function Name: <interrupt handler for Timer1 overflow>466 ; Function Description: This function is responsible467 ; for handling the Timer1 overflow (hooked up to indicate468 ; when we have reached the end of a line of pixel data,469 ; since PCLK is hooked up to overflow TCNT1 after 176470 ; pixels). This routine generates an acquire line complete471 ; event in the fastEventBitmask, which is streamlined for472 ; efficiency reasons.473 ;***********************************************************474 SIG_OVERFLOW1:475:CamInterfaceAsm.S **** lds tmp1,fastEventBitmask ; set a flag indicating476:CamInterfaceAsm.S **** ori tmp1,FEV_ACQUIRE_LINE_COMPLETE ; a line is complete477:CamInterfaceAsm.S **** sts fastEventBitmask,tmp1478:CamInterfaceAsm.S **** set ; set the T bit in SREG479 ;sbi _SFR_IO_ADDR(PORTD),PD6 ; For testing...480 ;cbi _SFR_IO_ADDR(PORTD),PD6 ; For testing...481482:CamInterfaceAsm.S **** reti483484 ; This is the default handler for all interrupts that don't485 ; have handler routines specified for them.486 .global __vector_default487 __vector_default:488:CamInterfaceAsm.S **** reti489490 .endGAS LISTING C:\DOCUME~1\John\LOCALS~1\Temp/ccIlaaaa.s page 19DEFINED 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 currLineBuffHighCamInterfaceAsm.S:169 .text:00000000 CamIntAsm_waitForNewTrackingFrameCamInterfaceAsm.S:335 .text:0000008e CamIntAsm_waitForNewDumpFrameCamInterfaceAsm.S:345 .text:00000094 CamIntAsm_acquireDumpLineCamInterfaceAsm.S:179 .text:00000006 CamIntAsm_acquireTrackingLineCamInterfaceAsm.S:423 .text:000000d4 __vector_1CamInterfaceAsm.S:438 .text:000000d6 __vector_2CamInterfaceAsm.S:474 .text:000000d8 __vector_8CamInterfaceAsm.S:305 .text:00000080 _cleanUpCamInterfaceAsm.S:223 .text:00000034 _trackFrameCamInterfaceAsm.S:240 .text:00000044 _acquirePixelBlockCamInterfaceAsm.S:281 .text:00000074 _cleanUpTrackingLineCamInterfaceAsm.S:292 .text:00000080 _cleanUpDumpLineCamInterfaceAsm.S:316 .text:0000008c _exitCamInterfaceAsm.S:380 .text:000000ba _dumpFrameCamInterfaceAsm.S:400 .text:000000c8 _sampleDumpPixelCamInterfaceAsm.S:487 .text:000000e6 __vector_defaultUNDEFINED SYMBOLS__vector_9fastEventBitmask