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GAS LISTING /tmp/ccGIWzET.s                     page 1


   1                            .file   "UartInterface.c"
   2                            .arch atmega8
   3                    __SREG__ = 0x3f
   4                    __SP_H__ = 0x3e
   5                    __SP_L__ = 0x3d
   6                    __tmp_reg__ = 0
   7                    __zero_reg__ = 1
   8                            .global __do_copy_data
   9                            .global __do_clear_bss
  10                            .stabs  "/home/kaklik/projects/roboti/istrobot/2007/ATmega8/AVRcam/",100,0,2,.Ltext0
  11                            .stabs  "UartInterface.c",100,0,2,.Ltext0
  12                            .text
  13                    .Ltext0:
  14                            .stabs  "gcc2_compiled.",60,0,0,0
  15                            .stabs  "int:t(0,1)=r(0,1);-32768;32767;",128,0,0,0
  16                            .stabs  "char:t(0,2)=@s8;r(0,2);0;255;",128,0,0,0
  17                            .stabs  "long int:t(0,3)=@s32;r(0,3);020000000000;017777777777;",128,0,0,0
  18                            .stabs  "unsigned int:t(0,4)=r(0,4);0;0177777;",128,0,0,0
  19                            .stabs  "long unsigned int:t(0,5)=@s32;r(0,5);0;037777777777;",128,0,0,0
  20                            .stabs  "long long int:t(0,6)=@s64;r(0,6);01000000000000000000000;0777777777777777777777;",128,0,0,
  21                            .stabs  "long long unsigned int:t(0,7)=@s64;r(0,7);0;01777777777777777777777;",128,0,0,0
  22                            .stabs  "short int:t(0,8)=r(0,8);-32768;32767;",128,0,0,0
  23                            .stabs  "short unsigned int:t(0,9)=r(0,9);0;0177777;",128,0,0,0
  24                            .stabs  "signed char:t(0,10)=@s8;r(0,10);-128;127;",128,0,0,0
  25                            .stabs  "unsigned char:t(0,11)=@s8;r(0,11);0;255;",128,0,0,0
  26                            .stabs  "float:t(0,12)=r(0,1);4;0;",128,0,0,0
  27                            .stabs  "double:t(0,13)=r(0,1);4;0;",128,0,0,0
  28                            .stabs  "long double:t(0,14)=r(0,1);4;0;",128,0,0,0
  29                            .stabs  "void:t(0,15)=(0,15)",128,0,0,0
  30                            .stabs  "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/io.h",130,0,0,0
  31                            .stabs  "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/sfr_defs.h",130,0,0,0
  32                            .stabs  "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/inttypes.h",130,0,0,0
  33                            .stabs  "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdint.h",130,0,0,0
  34                            .stabs  "int8_t:t(4,1)=(0,10)",128,0,116,0
  35                            .stabs  "uint8_t:t(4,2)=(0,11)",128,0,117,0
  36                            .stabs  "int16_t:t(4,3)=(0,1)",128,0,118,0
  37                            .stabs  "uint16_t:t(4,4)=(0,4)",128,0,119,0
  38                            .stabs  "int32_t:t(4,5)=(0,3)",128,0,120,0
  39                            .stabs  "uint32_t:t(4,6)=(0,5)",128,0,121,0
  40                            .stabs  "int64_t:t(4,7)=(0,6)",128,0,122,0
  41                            .stabs  "uint64_t:t(4,8)=(0,7)",128,0,123,0
  42                            .stabs  "intptr_t:t(4,9)=(4,3)",128,0,135,0
  43                            .stabs  "uintptr_t:t(4,10)=(4,4)",128,0,140,0
  44                            .stabs  "int_least8_t:t(4,11)=(4,1)",128,0,152,0
  45                            .stabs  "uint_least8_t:t(4,12)=(4,2)",128,0,157,0
  46                            .stabs  "int_least16_t:t(4,13)=(4,3)",128,0,162,0
  47                            .stabs  "uint_least16_t:t(4,14)=(4,4)",128,0,167,0
  48                            .stabs  "int_least32_t:t(4,15)=(4,5)",128,0,172,0
  49                            .stabs  "uint_least32_t:t(4,16)=(4,6)",128,0,177,0
  50                            .stabs  "int_least64_t:t(4,17)=(4,7)",128,0,182,0
  51                            .stabs  "uint_least64_t:t(4,18)=(4,8)",128,0,187,0
  52                            .stabs  "int_fast8_t:t(4,19)=(4,1)",128,0,200,0
  53                            .stabs  "uint_fast8_t:t(4,20)=(4,2)",128,0,205,0
  54                            .stabs  "int_fast16_t:t(4,21)=(4,3)",128,0,210,0
  55                            .stabs  "uint_fast16_t:t(4,22)=(4,4)",128,0,215,0
  56                            .stabs  "int_fast32_t:t(4,23)=(4,5)",128,0,220,0
  57                            .stabs  "uint_fast32_t:t(4,24)=(4,6)",128,0,225,0
GAS LISTING /tmp/ccGIWzET.s                    page 2


  58                            .stabs  "int_fast64_t:t(4,25)=(4,7)",128,0,230,0
  59                            .stabs  "uint_fast64_t:t(4,26)=(4,8)",128,0,235,0
  60                            .stabs  "intmax_t:t(4,27)=(4,7)",128,0,249,0
  61                            .stabs  "uintmax_t:t(4,28)=(4,8)",128,0,254,0
  62                            .stabn  162,0,0,0
  63                            .stabs  "int_farptr_t:t(3,1)=(4,5)",128,0,76,0
  64                            .stabs  "uint_farptr_t:t(3,2)=(4,6)",128,0,80,0
  65                            .stabn  162,0,0,0
  66                            .stabn  162,0,0,0
  67                            .stabn  162,0,0,0
  68                            .stabs  "CommonDefs.h",130,0,0,0
  69                            .stabs  "bool_t:t(5,1)=(0,11)",128,0,56,0
  70                            .stabn  162,0,0,0
  71                            .stabs  "UartInt_init:F(0,15)",36,0,77,UartInt_init
  72                    .global UartInt_init
  73                            .type   UartInt_init, @function
  74                    UartInt_init:
  75                            .stabd  46,0,0
   1:UartInterface.c **** /*
   2:UartInterface.c ****     Copyright (C) 2004    John Orlando
   3:UartInterface.c ****     
   4:UartInterface.c ****    AVRcam: a small real-time image processing engine.
   5:UartInterface.c **** 
   6:UartInterface.c ****     This program is free software; you can redistribute it and/or
   7:UartInterface.c ****     modify it under the terms of the GNU General Public
   8:UartInterface.c ****     License as published by the Free Software Foundation; either
   9:UartInterface.c ****     version 2 of the License, or (at your option) any later version.
  10:UartInterface.c **** 
  11:UartInterface.c ****     This program is distributed in the hope that it will be useful,
  12:UartInterface.c ****     but WITHOUT ANY WARRANTY; without even the implied warranty of
  13:UartInterface.c ****     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  14:UartInterface.c ****     General Public License for more details.
  15:UartInterface.c **** 
  16:UartInterface.c ****     You should have received a copy of the GNU General Public
  17:UartInterface.c ****     License along with this program; if not, write to the Free Software
  18:UartInterface.c ****     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  19:UartInterface.c **** 
  20:UartInterface.c ****    For more information on the AVRcam, please contact:
  21:UartInterface.c **** 
  22:UartInterface.c ****    john@jrobot.net
  23:UartInterface.c **** 
  24:UartInterface.c ****    or go to www.jrobot.net for more details regarding the system.
  25:UartInterface.c **** */
  26:UartInterface.c **** /***********************************************************
  27:UartInterface.c ****       Module Name: UartInterface.c
  28:UartInterface.c ****       Module Date: 04/10/2004
  29:UartInterface.c ****       Module Auth: John Orlando
  30:UartInterface.c ****       
  31:UartInterface.c ****       Description: This module is responsible for providing an
  32:UartInterface.c ****       interface to the UART hardware available on the mega8.
  33:UartInterface.c ****       This interface is an interrupt-driven interface.
  34:UartInterface.c ****     
  35:UartInterface.c ****     Revision History:
  36:UartInterface.c ****     Date        Rel Ver.    Notes
  37:UartInterface.c ****     4/10/2004      0.1     Module created
  38:UartInterface.c ****     6/30/2004      1.0     Initial release for Circuit Cellar
  39:UartInterface.c ****                            contest.
GAS LISTING /tmp/ccGIWzET.s                    page 3


  40:UartInterface.c ****     11/15/2004     1.2     Updated UART baud rate regs so that
  41:UartInterface.c ****                            it runs at 115.2 kbps when the input
  42:UartInterface.c ****                            crystal is at 17.7 MHz (which is the
  43:UartInterface.c ****                            speed of the OV6620's crystal).
  44:UartInterface.c ****     1/16/2005      1.4     Moved the serial received ISR to
  45:UartInterface.c ****                            this file, instead of having it
  46:UartInterface.c ****                            in its own UartInterfaceAsm.S file
  47:UartInterface.c ****                            written in assembly.
  48:UartInterface.c **** ***********************************************************/
  49:UartInterface.c **** 
  50:UartInterface.c **** /*    Includes */
  51:UartInterface.c **** #include <avr/io.h>
  52:UartInterface.c **** #include <avr/interrupt.h>
  53:UartInterface.c **** #include <avr/signal.h>
  54:UartInterface.c **** #include "CommonDefs.h"
  55:UartInterface.c **** #include "UartInterface.h" 
  56:UartInterface.c **** #include "UIMgr.h"
  57:UartInterface.c **** #include "Executive.h"
  58:UartInterface.c **** 
  59:UartInterface.c **** /*  Local Variables */
  60:UartInterface.c **** 
  61:UartInterface.c **** /*    Local Structures and Typedefs */
  62:UartInterface.c **** 
  63:UartInterface.c **** /*  Extern Variables */
  64:UartInterface.c **** 
  65:UartInterface.c **** /*  Definitions */
  66:UartInterface.c **** 
  67:UartInterface.c **** /***********************************************************
  68:UartInterface.c ****       Function Name: UartInt_init
  69:UartInterface.c ****       Function Description: This function is responsible for
  70:UartInterface.c ****       initializing the UART interface on the mega8.  This 
  71:UartInterface.c ****       interface is set to communicate at 115.2 Kbps, with an
  72:UartInterface.c ****       8N1 protocol.
  73:UartInterface.c ****       Inputs:  none
  74:UartInterface.c ****       Outputs: none
  75:UartInterface.c **** ***********************************************************/  
  76:UartInterface.c **** void UartInt_init(void)
  77:UartInterface.c **** {     
  76                            .stabn  68,0,77,.LM0-UartInt_init
  77                    .LM0:
  78                    /* prologue: frame size=0 */
  79                    /* prologue end (size=0) */
  78:UartInterface.c ****       /* set up the baud rate registers so the UART will operate
  79:UartInterface.c ****       at 115.2 Kbps */
  80:UartInterface.c ****       UBRRH = 0x00;
  80                            .stabn  68,0,80,.LM1-UartInt_init
  81                    .LM1:
  82 0000 10BC                  out 64-0x20,__zero_reg__
  81:UartInterface.c **** 
  82:UartInterface.c **** #ifdef NO_CRYSTAL    
  83:UartInterface.c ****     UBRRL = 18;  /* 18 for double clocking at 115.2 kbps */
  83                            .stabn  68,0,83,.LM2-UartInt_init
  84                    .LM2:
  85 0002 82E1                  ldi r24,lo8(18)
  86 0004 89B9                  out 41-0x20,r24
  84:UartInterface.c **** #else    
  85:UartInterface.c ****       UBRRL = 0x08;  /* for 16 MHz crystal at 115.2 kbps */
GAS LISTING /tmp/ccGIWzET.s                    page 4


  86:UartInterface.c **** #endif    
  87:UartInterface.c ****       
  88:UartInterface.c ****       /* enable the tx and rx capabilities of the UART...as well 
  89:UartInterface.c ****               as the receive complete interrupt */
  90:UartInterface.c ****       UCSRB = (1<<RXCIE)|(1<<RXEN)|(1<<TXEN); 
  87                            .stabn  68,0,90,.LM3-UartInt_init
  88                    .LM3:
  89 0006 88E9                  ldi r24,lo8(-104)
  90 0008 8AB9                  out 42-0x20,r24
  91:UartInterface.c ****       
  92:UartInterface.c ****       /* set up the control registers so the UART works at 8N1 */
  93:UartInterface.c ****       UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0);
  91                            .stabn  68,0,93,.LM4-UartInt_init
  92                    .LM4:
  93 000a 86E8                  ldi r24,lo8(-122)
  94 000c 80BD                  out 64-0x20,r24
  94:UartInterface.c ****     
  95:UartInterface.c **** #ifdef NO_CRYSTAL     
  96:UartInterface.c ****     /* set the baud rate to use the double-speed */
  97:UartInterface.c ****     UCSRA = (1<<U2X);
  95                            .stabn  68,0,97,.LM5-UartInt_init
  96                    .LM5:
  97 000e 82E0                  ldi r24,lo8(2)
  98 0010 8BB9                  out 43-0x20,r24
  99                    /* epilogue: frame size=0 */
 100 0012 0895                  ret
 101                    /* epilogue end (size=1) */
 102                    /* function UartInt_init size 10 (9) */
 103                            .size   UartInt_init, .-UartInt_init
 104                    .Lscope0:
 105                            .stabs  "",36,0,0,.Lscope0-UartInt_init
 106                            .stabd  78,0,0
 107                            .stabs  "UartInt_txByte:F(0,15)",36,0,116,UartInt_txByte
 108                            .stabs  "txByte:P(0,11)",64,0,115,24
 109                    .global UartInt_txByte
 110                            .type   UartInt_txByte, @function
 111                    UartInt_txByte:
 112                            .stabd  46,0,0
  98:UartInterface.c **** #endif    
  99:UartInterface.c ****       
 100:UartInterface.c **** }
 101:UartInterface.c **** 
 102:UartInterface.c **** /***********************************************************
 103:UartInterface.c ****       Function Name: UartInt_txByte
 104:UartInterface.c ****       Function Description: This function is responsible for
 105:UartInterface.c ****       transmitting a single byte on the uart.  
 106:UartInterface.c ****       Inputs:  txByte - the byte to send
 107:UartInterface.c ****       Outputs: none
 108:UartInterface.c ****       NOTES: When the TX UDRE (data register empty) is set, there
 109:UartInterface.c ****       is puposefully no interrupt...thus, to send a string of
 110:UartInterface.c ****       data out, the calling routine needs to hold up the entire
 111:UartInterface.c ****       application while this takes place (or just send one
 112:UartInterface.c ****       byte at a time at strtegically timed intervals, like
 113:UartInterface.c ****       the stats data is sent out :-)
 114:UartInterface.c **** ***********************************************************/
 115:UartInterface.c **** void UartInt_txByte(unsigned char txByte)
 116:UartInterface.c **** {
GAS LISTING /tmp/ccGIWzET.s                    page 5


 113                            .stabn  68,0,116,.LM6-UartInt_txByte
 114                    .LM6:
 115                    /* prologue: frame size=0 */
 116                    /* prologue end (size=0) */
 117                    .L5:
 117:UartInterface.c ****       /* Wait for empty transmit buffer */
 118:UartInterface.c ****       while ( !( UCSRA & (1<<UDRE)) );
 118                            .stabn  68,0,118,.LM7-UartInt_txByte
 119                    .LM7:
 120 0014 5D9B                  sbis 43-0x20,5
 121 0016 FECF                  rjmp .L5
 119:UartInterface.c ****       /* Put data into buffer, sends the data */
 120:UartInterface.c ****       UDR = txByte;
 122                            .stabn  68,0,120,.LM8-UartInt_txByte
 123                    .LM8:
 124 0018 8CB9                  out 44-0x20,r24
 125                    /* epilogue: frame size=0 */
 126 001a 0895                  ret
 127                    /* epilogue end (size=1) */
 128                    /* function UartInt_txByte size 4 (3) */
 129                            .size   UartInt_txByte, .-UartInt_txByte
 130                    .Lscope1:
 131                            .stabs  "",36,0,0,.Lscope1-UartInt_txByte
 132                            .stabd  78,0,0
 133                            .stabs  "__vector_11:F(0,15)",36,0,139,__vector_11
 134                    .global __vector_11
 135                            .type   __vector_11, @function
 136                    __vector_11:
 137                            .stabd  46,0,0
 121:UartInterface.c **** }
 122:UartInterface.c **** 
 123:UartInterface.c **** /***********************************************************
 124:UartInterface.c ****       Function Name: SIG_UART_RECV ISR
 125:UartInterface.c ****       Function Description: This function is responsible for
 126:UartInterface.c ****       handling the interrupt caused when a data byte is 
 127:UartInterface.c ****     received by the UART.
 128:UartInterface.c ****       Inputs:  none
 129:UartInterface.c ****       Outputs: none
 130:UartInterface.c ****       NOTES: This function was originally written in assembly,
 131:UartInterface.c ****     but moved over to C when the setting of the "T" bit at
 132:UartInterface.c ****     the end of the routine was no longer necessary (this
 133:UartInterface.c ****     theoretically allowed the AVRcam to respond to serial
 134:UartInterface.c ****     bytes in the middle of tracking or dumping a frame.
 135:UartInterface.c ****     But it wasn't really needed, and understanding the C
 136:UartInterface.c ****     is easier  :-)
 137:UartInterface.c **** ***********************************************************/
 138:UartInterface.c **** SIGNAL(SIG_UART_RECV)
 139:UartInterface.c **** {
 138                            .stabn  68,0,139,.LM9-__vector_11
 139                    .LM9:
 140                    /* prologue: frame size=0 */
 141 001c 1F92                  push __zero_reg__
 142 001e 0F92                  push __tmp_reg__
 143 0020 0FB6                  in __tmp_reg__,__SREG__
 144 0022 0F92                  push __tmp_reg__
 145 0024 1124                  clr __zero_reg__
 146 0026 8F93                  push r24
GAS LISTING /tmp/ccGIWzET.s                    page 6


 147 0028 9F93                  push r25
 148 002a EF93                  push r30
 149 002c FF93                  push r31
 150                    /* prologue end (size=9) */
 140:UartInterface.c ****     unsigned char tmpHead;
 141:UartInterface.c ****     /* read the data byte, put it in the serial queue, and
 142:UartInterface.c ****     post the event */
 143:UartInterface.c ****  
 144:UartInterface.c ****     UIMgr_rxFifo[UIMgr_rxFifoHead] = UDR;
 151                            .stabn  68,0,144,.LM10-__vector_11
 152                    .LM10:
 153 002e 8091 0000             lds r24,UIMgr_rxFifoHead
 154 0032 9CB1                  in r25,44-0x20
 155 0034 E0E0                  ldi r30,lo8(UIMgr_rxFifo)
 156 0036 F0E0                  ldi r31,hi8(UIMgr_rxFifo)
 157 0038 E80F                  add r30,r24
 158 003a F11D                  adc r31,__zero_reg__
 159 003c 9083                  st Z,r25
 145:UartInterface.c **** 
 146:UartInterface.c ****     /* now move the head up */
 147:UartInterface.c ****     tmpHead = (UIMgr_rxFifoHead + 1) & (UI_MGR_RX_FIFO_MASK);
 148:UartInterface.c ****     UIMgr_rxFifoHead = tmpHead;
 160                            .stabn  68,0,148,.LM11-__vector_11
 161                    .LM11:
 162 003e 8F5F                  subi r24,lo8(-(1))
 163 0040 8F71                  andi r24,lo8(31)
 164 0042 8093 0000             sts UIMgr_rxFifoHead,r24
 149:UartInterface.c ****     
 150:UartInterface.c ****     /* write the serial received event to the event fifo */
 151:UartInterface.c ****     Exec_eventFifo[Exec_eventFifoHead] = EV_SERIAL_DATA_RECEIVED;
 165                            .stabn  68,0,151,.LM12-__vector_11
 166                    .LM12:
 167 0046 8091 0000             lds r24,Exec_eventFifoHead
 168 004a E0E0                  ldi r30,lo8(Exec_eventFifo)
 169 004c F0E0                  ldi r31,hi8(Exec_eventFifo)
 170 004e E80F                  add r30,r24
 171 0050 F11D                  adc r31,__zero_reg__
 172 0052 91E0                  ldi r25,lo8(1)
 173 0054 9083                  st Z,r25
 152:UartInterface.c **** 
 153:UartInterface.c ****     /* now move the head up */
 154:UartInterface.c ****     tmpHead = (Exec_eventFifoHead + 1) & (EXEC_EVENT_FIFO_MASK);
 155:UartInterface.c ****     Exec_eventFifoHead = tmpHead;
 174                            .stabn  68,0,155,.LM13-__vector_11
 175                    .LM13:
 176 0056 8F5F                  subi r24,lo8(-(1))
 177 0058 8770                  andi r24,lo8(7)
 178 005a 8093 0000             sts Exec_eventFifoHead,r24
 179                    /* epilogue: frame size=0 */
 180 005e FF91                  pop r31
 181 0060 EF91                  pop r30
 182 0062 9F91                  pop r25
 183 0064 8F91                  pop r24
 184 0066 0F90                  pop __tmp_reg__
 185 0068 0FBE                  out __SREG__,__tmp_reg__
 186 006a 0F90                  pop __tmp_reg__
 187 006c 1F90                  pop __zero_reg__
GAS LISTING /tmp/ccGIWzET.s                    page 7


 188 006e 1895                  reti
 189                    /* epilogue end (size=9) */
 190                    /* function __vector_11 size 42 (24) */
 191                            .size   __vector_11, .-__vector_11
 192                    .Lscope2:
 193                            .stabs  "",36,0,0,.Lscope2-__vector_11
 194                            .stabd  78,0,0
 195                            .stabs  "",100,0,0,.Letext0
 196                    .Letext0:
 197                    /* File "UartInterface.c": code   56 = 0x0038 (  36), prologues   9, epilogues  11 */
GAS LISTING /tmp/ccGIWzET.s                    page 8


DEFINED SYMBOLS
                            *ABS*:00000000 UartInterface.c
     /tmp/ccGIWzET.s:3      *ABS*:0000003f __SREG__
     /tmp/ccGIWzET.s:4      *ABS*:0000003e __SP_H__
     /tmp/ccGIWzET.s:5      *ABS*:0000003d __SP_L__
     /tmp/ccGIWzET.s:6      *ABS*:00000000 __tmp_reg__
     /tmp/ccGIWzET.s:7      *ABS*:00000001 __zero_reg__
     /tmp/ccGIWzET.s:74     .text:00000000 UartInt_init
     /tmp/ccGIWzET.s:111    .text:00000014 UartInt_txByte
     /tmp/ccGIWzET.s:136    .text:0000001c __vector_11

UNDEFINED SYMBOLS
__do_copy_data
__do_clear_bss
UIMgr_rxFifoHead
UIMgr_rxFifo
Exec_eventFifoHead
Exec_eventFifo