Rev 174 | Go to most recent revision | Blame | Compare with Previous | Last modification | View Log | Download
GAS LISTING /tmp/ccf43P2i.s page 11 .file "FrameMgr.c"2 .arch atmega83 __SREG__ = 0x3f4 __SP_H__ = 0x3e5 __SP_L__ = 0x3d6 __tmp_reg__ = 07 __zero_reg__ = 18 .global __do_copy_data9 .global __do_clear_bss10 .stabs "/home/kaklik/projects/roboti/istrobot/2007/ATmega8/AVRcam/",100,0,2,.Ltext011 .stabs "FrameMgr.c",100,0,2,.Ltext012 .text13 .Ltext0:14 .stabs "gcc2_compiled.",60,0,0,015 .stabs "int:t(0,1)=r(0,1);-32768;32767;",128,0,0,016 .stabs "char:t(0,2)=@s8;r(0,2);0;255;",128,0,0,017 .stabs "long int:t(0,3)=@s32;r(0,3);020000000000;017777777777;",128,0,0,018 .stabs "unsigned int:t(0,4)=r(0,4);0;0177777;",128,0,0,019 .stabs "long unsigned int:t(0,5)=@s32;r(0,5);0;037777777777;",128,0,0,020 .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;",128,0,0,022 .stabs "short int:t(0,8)=r(0,8);-32768;32767;",128,0,0,023 .stabs "short unsigned int:t(0,9)=r(0,9);0;0177777;",128,0,0,024 .stabs "signed char:t(0,10)=@s8;r(0,10);-128;127;",128,0,0,025 .stabs "unsigned char:t(0,11)=@s8;r(0,11);0;255;",128,0,0,026 .stabs "float:t(0,12)=r(0,1);4;0;",128,0,0,027 .stabs "double:t(0,13)=r(0,1);4;0;",128,0,0,028 .stabs "long double:t(0,14)=r(0,1);4;0;",128,0,0,029 .stabs "void:t(0,15)=(0,15)",128,0,0,030 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdlib.h",130,0,0,031 .stabs "/usr/lib/gcc/avr/4.1.0/include/stddef.h",130,0,0,032 .stabs "size_t:t(2,1)=(0,4)",128,0,214,033 .stabs "wchar_t:t(2,2)=(0,1)",128,0,326,034 .stabn 162,0,0,035 .stabs "div_t:t(1,1)=(1,2)=s4quot:(0,1),0,16;rem:(0,1),16,16;;",128,0,69,036 .stabs "ldiv_t:t(1,3)=(1,4)=s8quot:(0,3),0,32;rem:(0,3),32,32;;",128,0,75,037 .stabs "__compar_fn_t:t(1,5)=(1,6)=*(1,7)=f(0,1)",128,0,78,038 .stabn 162,0,0,039 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/io.h",130,0,0,040 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/avr/sfr_defs.h",130,0,0,041 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/inttypes.h",130,0,0,042 .stabs "/usr/lib/gcc/avr/4.1.0/../../../../avr/include/stdint.h",130,0,0,043 .stabs "int8_t:t(6,1)=(0,10)",128,0,116,044 .stabs "uint8_t:t(6,2)=(0,11)",128,0,117,045 .stabs "int16_t:t(6,3)=(0,1)",128,0,118,046 .stabs "uint16_t:t(6,4)=(0,4)",128,0,119,047 .stabs "int32_t:t(6,5)=(0,3)",128,0,120,048 .stabs "uint32_t:t(6,6)=(0,5)",128,0,121,049 .stabs "int64_t:t(6,7)=(0,6)",128,0,122,050 .stabs "uint64_t:t(6,8)=(0,7)",128,0,123,051 .stabs "intptr_t:t(6,9)=(6,3)",128,0,135,052 .stabs "uintptr_t:t(6,10)=(6,4)",128,0,140,053 .stabs "int_least8_t:t(6,11)=(6,1)",128,0,152,054 .stabs "uint_least8_t:t(6,12)=(6,2)",128,0,157,055 .stabs "int_least16_t:t(6,13)=(6,3)",128,0,162,056 .stabs "uint_least16_t:t(6,14)=(6,4)",128,0,167,057 .stabs "int_least32_t:t(6,15)=(6,5)",128,0,172,0GAS LISTING /tmp/ccf43P2i.s page 258 .stabs "uint_least32_t:t(6,16)=(6,6)",128,0,177,059 .stabs "int_least64_t:t(6,17)=(6,7)",128,0,182,060 .stabs "uint_least64_t:t(6,18)=(6,8)",128,0,187,061 .stabs "int_fast8_t:t(6,19)=(6,1)",128,0,200,062 .stabs "uint_fast8_t:t(6,20)=(6,2)",128,0,205,063 .stabs "int_fast16_t:t(6,21)=(6,3)",128,0,210,064 .stabs "uint_fast16_t:t(6,22)=(6,4)",128,0,215,065 .stabs "int_fast32_t:t(6,23)=(6,5)",128,0,220,066 .stabs "uint_fast32_t:t(6,24)=(6,6)",128,0,225,067 .stabs "int_fast64_t:t(6,25)=(6,7)",128,0,230,068 .stabs "uint_fast64_t:t(6,26)=(6,8)",128,0,235,069 .stabs "intmax_t:t(6,27)=(6,7)",128,0,249,070 .stabs "uintmax_t:t(6,28)=(6,8)",128,0,254,071 .stabn 162,0,0,072 .stabs "int_farptr_t:t(5,1)=(6,5)",128,0,76,073 .stabs "uint_farptr_t:t(5,2)=(6,6)",128,0,80,074 .stabn 162,0,0,075 .stabn 162,0,0,076 .stabn 162,0,0,077 .stabs "I2CInterface.h",130,0,0,078 .stabs "CommonDefs.h",130,0,0,079 .stabs "bool_t:t(8,1)=(0,11)",128,0,56,080 .stabn 162,0,0,081 .stabs "i2cCmd_t:t(7,1)=(7,2)=s2configReg:(0,11),0,8;data:(0,11),8,8;;",128,0,53,082 .stabn 162,0,0,083 .stabs " :T(0,16)=@s8;eST_FrameMgr_idle:0,ST_FrameMgr_TrackingFrame:1,ST_FrameMgr_DumpingFrame:2,;84 .stabs "FrameMgr_State_t:t(0,17)=(0,11)",128,0,72,085 .stabs " :T(0,18)=@s8;enotTracked:0,color1:1,color2:2,color3:3,color4:4,color5:5,color6:6,color7:786 .stabs "trackedColor_t:t(0,19)=(0,11)",128,0,127,087 .stabs "trackedObject_t:t(0,20)=(0,21)=s8color:(0,19),0,8;lastLineXStart:(0,11),8,8;lastLineXFinis88 .stabs "FrameMgr_processFrame:F(0,15)",36,0,517,FrameMgr_processFrame89 .global FrameMgr_processFrame90 .type FrameMgr_processFrame, @function91 FrameMgr_processFrame:92 .stabd 46,0,01:FrameMgr.c **** /*2:FrameMgr.c **** Copyright (C) 2004 John Orlando3:FrameMgr.c ****4:FrameMgr.c **** AVRcam: a small real-time image processing engine.5:FrameMgr.c ****6:FrameMgr.c **** This program is free software; you can redistribute it and/or7:FrameMgr.c **** modify it under the terms of the GNU General Public8:FrameMgr.c **** License as published by the Free Software Foundation; either9:FrameMgr.c **** version 2 of the License, or (at your option) any later version.10:FrameMgr.c ****11:FrameMgr.c **** This program is distributed in the hope that it will be useful,12:FrameMgr.c **** but WITHOUT ANY WARRANTY; without even the implied warranty of13:FrameMgr.c **** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU14:FrameMgr.c **** General Public License for more details.15:FrameMgr.c ****16:FrameMgr.c **** You should have received a copy of the GNU General Public17:FrameMgr.c **** License along with this program; if not, write to the Free Software18:FrameMgr.c **** Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA19:FrameMgr.c ****20:FrameMgr.c **** For more information on the AVRcam, please contact:21:FrameMgr.c ****22:FrameMgr.c **** john@jrobot.netGAS LISTING /tmp/ccf43P2i.s page 323:FrameMgr.c ****24:FrameMgr.c **** or go to www.jrobot.net for more details regarding the system.25:FrameMgr.c **** */26:FrameMgr.c **** /*********************************************************27:FrameMgr.c **** Module Name: FrameMgr.c28:FrameMgr.c **** Module Date: 04/10/200429:FrameMgr.c **** Module Auth: John Orlando30:FrameMgr.c ****31:FrameMgr.c **** Description: This modules is responsible for performing32:FrameMgr.c **** both medium and high level processing on image data.33:FrameMgr.c **** This is performed at both the line level as well as34:FrameMgr.c **** the frame level. It controls the main flow of the35:FrameMgr.c **** system, adhering to all the critical timing36:FrameMgr.c **** requirements (such as when serial data can be transferred,37:FrameMgr.c **** etc).38:FrameMgr.c ****39:FrameMgr.c **** Revision History:40:FrameMgr.c **** Date Rel Ver. Notes41:FrameMgr.c **** 4/10/2004 0.1 Module created42:FrameMgr.c **** 6/30/2004 1.0 Initial release for Circuit Cellar43:FrameMgr.c **** contest.44:FrameMgr.c **** 11/15/2004 1.2 Updated processLine() function so45:FrameMgr.c **** it will remove objects less than46:FrameMgr.c **** a specified length/width (reduces47:FrameMgr.c **** shot noise)48:FrameMgr.c **** *********************************************************/49:FrameMgr.c ****50:FrameMgr.c **** /* Includes */51:FrameMgr.c **** #include <stdlib.h>52:FrameMgr.c **** #include <string.h>53:FrameMgr.c **** #include <avr/io.h>54:FrameMgr.c **** #include "Executive.h"55:FrameMgr.c **** #include "UIMgr.h"56:FrameMgr.c **** #include "FrameMgr.h"57:FrameMgr.c **** #include "CamInterface.h"58:FrameMgr.c **** #include "UartInterface.h"59:FrameMgr.c **** #include "Utility.h"60:FrameMgr.c **** #include "I2CInterface.h"61:FrameMgr.c **** #include "CamConfig.h"62:FrameMgr.c **** #include "CommonDefs.h"63:FrameMgr.c ****64:FrameMgr.c **** /* Local Structures and Typedefs */65:FrameMgr.c **** enum66:FrameMgr.c **** {67:FrameMgr.c **** ST_FrameMgr_idle,68:FrameMgr.c **** ST_FrameMgr_TrackingFrame,69:FrameMgr.c **** ST_FrameMgr_DumpingFrame70:FrameMgr.c **** };71:FrameMgr.c ****72:FrameMgr.c **** typedef unsigned char FrameMgr_State_t;73:FrameMgr.c ****74:FrameMgr.c **** /* Definitions */75:FrameMgr.c **** /* The most objects that can be tracked at any one time is 8.76:FrameMgr.c **** This number is determined by the number of bytes that can be77:FrameMgr.c **** sent out during a frame (one byte per line, 144 lines per frame)78:FrameMgr.c **** with the number of bytes in a tracked object (7) + some wiggle79:FrameMgr.c **** room :-) ... I guess this could be increased to around 20 ifGAS LISTING /tmp/ccf43P2i.s page 480:FrameMgr.c **** we had enough room and cycles to process objects between lines */81:FrameMgr.c **** #define MAX_TRACKED_OBJECTS 882:FrameMgr.c ****83:FrameMgr.c **** /* This defines the number of bytes that make up a trackedObject_t84:FrameMgr.c **** structure... */85:FrameMgr.c **** #define SIZE_OF_TRACKED_OBJECT 886:FrameMgr.c ****87:FrameMgr.c **** /* This define is used to turn off the timer overflow interrupt88:FrameMgr.c **** that is generated when the PCLK overflows TIMER1 */89:FrameMgr.c **** #define DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK 0xFB90:FrameMgr.c ****91:FrameMgr.c **** /* This define is used to determine if a run length is too small92:FrameMgr.c **** to be concerned with. This helps to reduce the number of false93:FrameMgr.c **** positives. */94:FrameMgr.c **** #define MIN_OBJECT_TRACKING_WIDTH 395:FrameMgr.c ****96:FrameMgr.c **** /* This define is used to determine if an object has enough97:FrameMgr.c **** height to be considered worth tracking...it is used to reduce98:FrameMgr.c **** shot noise */99:FrameMgr.c **** #define MIN_OBJECT_TRACKING_HEIGHT 3100:FrameMgr.c ****101:FrameMgr.c **** /* This define is used to indicate how often the filter routine102:FrameMgr.c **** that removes objects less than MIN_OBJECT_TRACKING_HEIGHT should103:FrameMgr.c **** be executed. It is measured in a number of lines (7 nominally). */104:FrameMgr.c **** #define RUN_OBJECT_FILTER_MASK 0x07105:FrameMgr.c ****106:FrameMgr.c **** /* This enum describes the possible colors that can107:FrameMgr.c **** be tracked by the system. This can't be represented as108:FrameMgr.c **** simple color names (red, brown, etc) due to the fact that109:FrameMgr.c **** the user sets which colors will be associated with which110:FrameMgr.c **** bits. Remember...after the AND operation of the indexed111:FrameMgr.c **** color map values executes, either a single bit indicating112:FrameMgr.c **** the color should be set, or no bits indicating that the113:FrameMgr.c **** color isn't represented in the color map (notTracked). */114:FrameMgr.c **** enum115:FrameMgr.c **** {116:FrameMgr.c **** notTracked,117:FrameMgr.c **** color1, /* bit 1 color */118:FrameMgr.c **** color2, /* bit 2 color */119:FrameMgr.c **** color3, /* bit 3 color */120:FrameMgr.c **** color4, /* bit 4 color */121:FrameMgr.c **** color5, /* bit 5 color */122:FrameMgr.c **** color6, /* bit 6 color */123:FrameMgr.c **** color7, /* bit 7 color */124:FrameMgr.c **** color8 /* bit 8 color */125:FrameMgr.c **** };126:FrameMgr.c ****127:FrameMgr.c **** typedef unsigned char trackedColor_t;128:FrameMgr.c ****129:FrameMgr.c **** /* This structure defines the info that needs to be130:FrameMgr.c **** maintained for each trackedObject in the trackingTable */131:FrameMgr.c **** typedef struct132:FrameMgr.c **** {133:FrameMgr.c **** trackedColor_t color;134:FrameMgr.c **** unsigned char lastLineXStart;135:FrameMgr.c **** unsigned char lastLineXFinish;136:FrameMgr.c **** unsigned char x_upperLeft;GAS LISTING /tmp/ccf43P2i.s page 5137:FrameMgr.c **** unsigned char y_upperLeft;138:FrameMgr.c **** unsigned char x_lowerRight;139:FrameMgr.c **** unsigned char y_lowerRight;140:FrameMgr.c **** unsigned char objectValid; /* used to be a fill byte...now it is141:FrameMgr.c **** used to determine if the object is valid142:FrameMgr.c **** or not...it gets invalidated if it is143:FrameMgr.c **** determined that it is too small, or144:FrameMgr.c **** that the object is within another object */145:FrameMgr.c **** } trackedObject_t;146:FrameMgr.c ****147:FrameMgr.c **** /* These defines are used to index into each individual element in the148:FrameMgr.c **** trackedObject_t structure. This seems to be MUCH more efficient than149:FrameMgr.c **** accessing the elements in GCC. */150:FrameMgr.c **** #define COLOR_OFFSET 0151:FrameMgr.c **** #define LAST_LINE_X_START_OFFSET 1152:FrameMgr.c **** #define LAST_LINE_X_FINISH_OFFSET 2153:FrameMgr.c **** #define X_UPPER_LEFT_OFFSET 3154:FrameMgr.c **** #define Y_UPPER_LEFT_OFFSET 4155:FrameMgr.c **** #define X_LOWER_RIGHT_OFFSET 5156:FrameMgr.c **** #define Y_LOWER_RIGHT_OFFSET 6157:FrameMgr.c **** #define VALID_OBJECT_OFFSET 7158:FrameMgr.c ****159:FrameMgr.c **** /* Local Variables */160:FrameMgr.c **** /* The trackedObjectTable is used to hold up to eight tracked objects161:FrameMgr.c **** while they are being acquired. */162:FrameMgr.c **** static trackedObject_t trackedObjectTable[MAX_TRACKED_OBJECTS];163:FrameMgr.c **** static trackedObject_t *pCurrentTrackedObjectTable = trackedObjectTable;164:FrameMgr.c **** static unsigned char lineCount = 0;165:FrameMgr.c **** static FrameMgr_State_t currentState = ST_FrameMgr_idle;166:FrameMgr.c **** static unsigned char numCurrTrackedObjects = 0;167:FrameMgr.c **** static unsigned char numPrevTrackedObjects = 0;168:FrameMgr.c **** static unsigned char trackedLineCount = 0;169:FrameMgr.c ****170:FrameMgr.c **** /* Local Functions */171:FrameMgr.c **** static void FrameMgr_findConnectedness(void);172:FrameMgr.c ****173:FrameMgr.c **** /* Extern Functions */174:FrameMgr.c **** /* These functions are located in assembly files, and thus175:FrameMgr.c **** must be externed here so they can be referenced in the source below. */176:FrameMgr.c **** extern void CamIntAsm_waitForNewTrackingFrame(unsigned char *pBuffer, unsigned char *pMemLookup);177:FrameMgr.c **** extern void CamIntAsm_waitForNewDumpFrame(unsigned char *pCurrBuffer, unsigned char *pPrevBuffer);178:FrameMgr.c **** extern void CamIntAsm_acquireTrackingLine(unsigned char *pBuffer, unsigned char *pMemLookup);179:FrameMgr.c **** extern void CamIntAsm_acquireDumpLine(unsigned char *pCurrBuffer, unsigned char *pPrevBuffer);180:FrameMgr.c ****181:FrameMgr.c **** /***********************************************************182:FrameMgr.c **** Function Name: FrameMgr_init183:FrameMgr.c **** Function Description: This function is responsible184:FrameMgr.c **** for initializing the FrameMgr. This includes185:FrameMgr.c **** setting up the various buffers and data needed to186:FrameMgr.c **** process each frame of image data.187:FrameMgr.c **** Inputs: none188:FrameMgr.c **** Outputs: none189:FrameMgr.c **** ***********************************************************/190:FrameMgr.c **** void FrameMgr_init(void)191:FrameMgr.c **** {192:FrameMgr.c **** memset(trackedObjectTable,0x00,sizeof(trackedObjectTable));193:FrameMgr.c **** }GAS LISTING /tmp/ccf43P2i.s page 6194:FrameMgr.c ****195:FrameMgr.c ****196:FrameMgr.c **** /***********************************************************197:FrameMgr.c **** Function Name: FrameMgr_dispatchEvent198:FrameMgr.c **** Function Description: This function is responsible for199:FrameMgr.c **** taking an incoming event and performing the needed200:FrameMgr.c **** actions with it as pertains to the FrameMgr.201:FrameMgr.c **** Inputs: event - the generated event202:FrameMgr.c **** Outputs: none203:FrameMgr.c **** ***********************************************************/204:FrameMgr.c **** void FrameMgr_dispatchEvent(unsigned char event)205:FrameMgr.c **** {206:FrameMgr.c **** switch(event)207:FrameMgr.c **** {208:FrameMgr.c **** case EV_DUMP_FRAME:209:FrameMgr.c **** /* try re-initializing the camera before we start dumping */210:FrameMgr.c ****211:FrameMgr.c **** CamConfig_setCamReg(0x11,0x01); /* reduce the frame rate for dumping*/212:FrameMgr.c **** CamConfig_sendFifoCmds();213:FrameMgr.c **** Utility_delay(1000); /* allow the new frame rate to settle */214:FrameMgr.c **** lineCount = 0;215:FrameMgr.c **** currentState = ST_FrameMgr_DumpingFrame;216:FrameMgr.c **** //CamIntAsm_waitForNewDumpFrame(currentLineBuffer,previousLineBuffer);217:FrameMgr.c **** FrameMgr_acquireLine();218:FrameMgr.c **** break;219:FrameMgr.c ****220:FrameMgr.c **** case EV_ENABLE_TRACKING:221:FrameMgr.c **** currentState = ST_FrameMgr_TrackingFrame;222:FrameMgr.c **** FrameMgr_acquireFrame();223:FrameMgr.c **** break;224:FrameMgr.c ****225:FrameMgr.c **** case EV_ACQUIRE_FRAME_COMPLETE:226:FrameMgr.c **** FrameMgr_processFrame();227:FrameMgr.c **** break;228:FrameMgr.c ****229:FrameMgr.c **** case EV_PROCESS_FRAME_COMPLETE:230:FrameMgr.c **** FrameMgr_acquireFrame();231:FrameMgr.c **** break;232:FrameMgr.c ****233:FrameMgr.c **** case EV_SERIAL_DATA_RECEIVED:234:FrameMgr.c **** if (currentState != ST_FrameMgr_idle)235:FrameMgr.c **** {236:FrameMgr.c **** /* we need to go back to processing line data, since237:FrameMgr.c **** serial data reception interrupted us....just trash the238:FrameMgr.c **** frame and act like the frame has been processed, which239:FrameMgr.c **** will kick off the system to wait for the next line */240:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);241:FrameMgr.c **** }242:FrameMgr.c **** break;243:FrameMgr.c ****244:FrameMgr.c **** case EV_DISABLE_TRACKING:245:FrameMgr.c **** /* tracking needs to be turned off */246:FrameMgr.c **** currentState = ST_FrameMgr_idle;247:FrameMgr.c **** break;248:FrameMgr.c **** }249:FrameMgr.c **** }250:FrameMgr.c ****GAS LISTING /tmp/ccf43P2i.s page 7251:FrameMgr.c **** /***********************************************************252:FrameMgr.c **** Function Name: FrameMgr_acquireFrame253:FrameMgr.c **** Function Description: This function is responsible for254:FrameMgr.c **** beginning of the acquisition of a new frame of data255:FrameMgr.c **** from the camera interface. The acquisition of this line256:FrameMgr.c **** depends on the current state of the FrameMgr.257:FrameMgr.c **** Inputs: none258:FrameMgr.c **** Outputs: none259:FrameMgr.c **** ***********************************************************/260:FrameMgr.c **** void FrameMgr_acquireFrame(void)261:FrameMgr.c **** {262:FrameMgr.c **** if (currentState == ST_FrameMgr_TrackingFrame)263:FrameMgr.c **** {264:FrameMgr.c **** trackedLineCount = 0;265:FrameMgr.c **** numPrevTrackedObjects = numCurrTrackedObjects;266:FrameMgr.c **** numCurrTrackedObjects = 0;267:FrameMgr.c ****268:FrameMgr.c **** /* clear out the tracking table, and wait for the new frame269:FrameMgr.c **** to start */270:FrameMgr.c **** memset(trackedObjectTable,0x00,sizeof(trackedObjectTable));271:FrameMgr.c **** //CamIntAsm_waitForNewTrackingFrame(currentLineBuffer,colorMap);272:FrameMgr.c **** WAIT_FOR_VSYNC_HIGH();273:FrameMgr.c **** CamIntAsm_acquireTrackingLine(currentLineBuffer,colorMap);274:FrameMgr.c **** }275:FrameMgr.c **** }276:FrameMgr.c ****277:FrameMgr.c **** /***********************************************************278:FrameMgr.c **** Function Name: FrameMgr_acquireLine279:FrameMgr.c **** Function Description: This function is responsible for280:FrameMgr.c **** acquiring a line of data from the camera interface.281:FrameMgr.c **** The acquisition of this line depends on the current282:FrameMgr.c **** state of the FrameMgr.283:FrameMgr.c **** Inputs: none284:FrameMgr.c **** Outputs: none285:FrameMgr.c **** ***********************************************************/286:FrameMgr.c **** void FrameMgr_acquireLine(void)287:FrameMgr.c **** {288:FrameMgr.c **** unsigned char tmpLineCount;289:FrameMgr.c ****290:FrameMgr.c **** /* clearing out the buffers takes too long...we should291:FrameMgr.c **** just overwrite the data here without a problem when292:FrameMgr.c **** we start acquiring...at no point do we check for293:FrameMgr.c **** a 0x00 value in the current or previous lineBuffers,294:FrameMgr.c **** so it was a bit excessive :-) */295:FrameMgr.c ****296:FrameMgr.c **** /* check which state we are in and proceed as needed */297:FrameMgr.c **** if (currentState == ST_FrameMgr_DumpingFrame)298:FrameMgr.c **** {299:FrameMgr.c **** tmpLineCount = lineCount*2;300:FrameMgr.c ****301:FrameMgr.c **** /* clearing out the line data in dump mode is ok, and actually302:FrameMgr.c **** is needed, since it is possible for the first dump line in303:FrameMgr.c **** a frame to come back with the last line captured of the304:FrameMgr.c **** last capture session...*/305:FrameMgr.c **** memset(currentLineBuffer,0x00,LENGTH_OF_LINE_BUFFER);306:FrameMgr.c **** memset(previousLineBuffer,0x00,LENGTH_OF_LINE_BUFFER);307:FrameMgr.c **** /* wait for another VSYNC so we know which frame to useGAS LISTING /tmp/ccf43P2i.s page 8308:FrameMgr.c **** to start looking for a line to receive */309:FrameMgr.c **** WAIT_FOR_VSYNC_HIGH();310:FrameMgr.c **** WAIT_FOR_VSYNC_LOW();311:FrameMgr.c ****312:FrameMgr.c **** /* look at lineCount to determine how many HREFs we should313:FrameMgr.c **** wait before we start sampling */314:FrameMgr.c **** while(tmpLineCount != 0)315:FrameMgr.c **** {316:FrameMgr.c **** WAIT_FOR_HREF_HIGH();317:FrameMgr.c **** tmpLineCount--;318:FrameMgr.c **** WAIT_FOR_HREF_LOW();319:FrameMgr.c **** }320:FrameMgr.c ****321:FrameMgr.c **** /* we should now be ready to sample our line...*/322:FrameMgr.c **** CamIntAsm_acquireDumpLine(currentLineBuffer,previousLineBuffer);323:FrameMgr.c **** }324:FrameMgr.c **** else if (currentState == ST_FrameMgr_TrackingFrame)325:FrameMgr.c **** {326:FrameMgr.c **** WAIT_FOR_HREF_LOW();327:FrameMgr.c **** CamIntAsm_acquireTrackingLine(currentLineBuffer,colorMap);328:FrameMgr.c **** }329:FrameMgr.c **** }330:FrameMgr.c ****331:FrameMgr.c **** /***********************************************************332:FrameMgr.c **** Function Name: FrameMgr_processLine333:FrameMgr.c **** Function Description: This function is responsible for334:FrameMgr.c **** parsing the received image line and performing either335:FrameMgr.c **** connected region mapping (if in the Tracking state) or336:FrameMgr.c **** sending out the raw sampled data (if in the Dumping337:FrameMgr.c **** state).338:FrameMgr.c **** Inputs: none339:FrameMgr.c **** Outputs: none340:FrameMgr.c **** ***********************************************************/341:FrameMgr.c **** void FrameMgr_processLine(void)342:FrameMgr.c **** {343:FrameMgr.c **** unsigned char i;344:FrameMgr.c **** volatile unsigned char dataToSend;345:FrameMgr.c **** unsigned char *pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;346:FrameMgr.c **** #ifdef DEBUG_TRACKED_LINE347:FrameMgr.c **** unsigned char *pSendData;348:FrameMgr.c **** unsigned char asciiBuffer[5];349:FrameMgr.c **** unsigned char pixelCount = 0;350:FrameMgr.c **** #endif351:FrameMgr.c ****352:FrameMgr.c **** if (currentState == ST_FrameMgr_DumpingFrame)353:FrameMgr.c **** {354:FrameMgr.c **** /* we want to sit in a tight loop and send the acquired data355:FrameMgr.c **** sitting in current and previous line buffers out the serial356:FrameMgr.c **** port...it is sent out the serial port immediately instead357:FrameMgr.c **** of going into the UIMgr tx fifo because we can't do anything358:FrameMgr.c **** until its sent out anyway...may as well just get it out now */359:FrameMgr.c ****360:FrameMgr.c **** /* currentLineBuffer is getting "g" previousLineBuffer is getting "b-r" */361:FrameMgr.c **** UartInt_txByte(0x0B); /* send the header byte */362:FrameMgr.c **** UartInt_txByte(lineCount); /* send the line count */363:FrameMgr.c **** for (i=0; i<NUM_PIXELS_IN_A_DUMP_LINE; i+=2)364:FrameMgr.c **** {GAS LISTING /tmp/ccf43P2i.s page 9365:FrameMgr.c **** /* when a dump line is sampled, the upper byte can potentially366:FrameMgr.c **** have garbage in it...we don't have time to mask it off as we're367:FrameMgr.c **** sampling, so it is done here before we send it out...we also368:FrameMgr.c **** combine the samples together so we really are sending up a369:FrameMgr.c **** sample for line N as well as line N+1 */370:FrameMgr.c **** dataToSend = currentLineBuffer[i];371:FrameMgr.c **** dataToSend &= 0x0F;372:FrameMgr.c **** dataToSend <<= 4;373:FrameMgr.c **** dataToSend |= (previousLineBuffer[i] & 0x0F);374:FrameMgr.c ****375:FrameMgr.c **** /* dataToSend should be packed now */376:FrameMgr.c **** UartInt_txByte(dataToSend);377:FrameMgr.c ****378:FrameMgr.c **** /* flip the colors around since we are doing all G on Y and BR on UV */379:FrameMgr.c **** dataToSend = previousLineBuffer[i+1];380:FrameMgr.c **** dataToSend &= 0x0F;381:FrameMgr.c **** dataToSend <<= 4;382:FrameMgr.c **** dataToSend |= (currentLineBuffer[i+1] & 0x0F);383:FrameMgr.c ****384:FrameMgr.c **** /* dataToSend should be packed now */385:FrameMgr.c **** UartInt_txByte(dataToSend);386:FrameMgr.c **** }387:FrameMgr.c **** UartInt_txByte(0x0F); /* send line end */388:FrameMgr.c **** /* once all the data is sent, increment out line count by 2 since389:FrameMgr.c **** we really get 2 lines worth of pixels on each pass */390:FrameMgr.c **** /* Update...increment only by 1, but only send 72 double-lines */391:FrameMgr.c **** lineCount++;392:FrameMgr.c ****393:FrameMgr.c **** /* check to see if we have retrieved all of the needed lines */394:FrameMgr.c **** if (lineCount >= 72) /* half 144, since we send two lines at a time */395:FrameMgr.c **** {396:FrameMgr.c **** /* we're done, so send the dump complete?...nope, just change397:FrameMgr.c **** states and we should be fine */398:FrameMgr.c **** lineCount = 0;399:FrameMgr.c **** currentState = ST_FrameMgr_idle;400:FrameMgr.c ****401:FrameMgr.c **** /* disable the PCLK counting overflow interrupt */402:FrameMgr.c **** TIMSK &= DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK;403:FrameMgr.c ****404:FrameMgr.c **** CamConfig_setCamReg(0x11,0x00); /* reset the frame rate to normal*/405:FrameMgr.c **** CamConfig_sendFifoCmds();406:FrameMgr.c **** }407:FrameMgr.c **** else408:FrameMgr.c **** {409:FrameMgr.c **** /* we have more lines to acquire in this frame, so keep on truckin...*/410:FrameMgr.c **** PUBLISH_FAST_EVENT(FEV_PROCESS_LINE_COMPLETE);411:FrameMgr.c **** }412:FrameMgr.c **** }413:FrameMgr.c **** else if (currentState == ST_FrameMgr_TrackingFrame)414:FrameMgr.c **** {415:FrameMgr.c **** #ifdef DEBUG_TRACKED_LINE416:FrameMgr.c **** /* send the received line over serial...this should only send417:FrameMgr.c **** until a pixelCount == 176 */418:FrameMgr.c **** pSendData = currentLineBuffer;419:FrameMgr.c **** itoa(trackedLineCount,asciiBuffer,10);420:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3);421:FrameMgr.c **** UIMgr_txBuffer(" ",1);GAS LISTING /tmp/ccf43P2i.s page 10422:FrameMgr.c **** while(pixelCount < ACTUAL_NUM_PIXELS_IN_A_LINE)423:FrameMgr.c **** {424:FrameMgr.c **** memset(asciiBuffer,0x00,5);425:FrameMgr.c **** itoa(*pSendData++,asciiBuffer,10); /* color is first byte */426:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3); /* 3 ascii bytes for data */427:FrameMgr.c **** UIMgr_txBuffer(" ",1);428:FrameMgr.c ****429:FrameMgr.c **** pixelCount += *pSendData; /* run-length is second byte */430:FrameMgr.c **** memset(asciiBuffer,0x00,5);431:FrameMgr.c **** itoa(*pSendData++,asciiBuffer,10);432:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3);433:FrameMgr.c **** UIMgr_txBuffer(" ",1);434:FrameMgr.c **** }435:FrameMgr.c **** UIMgr_txBuffer("\n\r",2);436:FrameMgr.c ****437:FrameMgr.c **** trackedLineCount++;438:FrameMgr.c **** if (trackedLineCount == 144)439:FrameMgr.c **** {440:FrameMgr.c **** UIMgr_txBuffer(" FC \n\r",8);441:FrameMgr.c **** trackedLineCount = 0;442:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);443:FrameMgr.c **** }444:FrameMgr.c **** else445:FrameMgr.c **** {446:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_LINE_COMPLETE);447:FrameMgr.c **** }448:FrameMgr.c **** #else449:FrameMgr.c **** /* determine if any of the RLE blocks overlap */450:FrameMgr.c **** FrameMgr_findConnectedness();451:FrameMgr.c ****452:FrameMgr.c **** /* we also want to remove any objects that are less than453:FrameMgr.c **** a minimum height...we already removed portions of the454:FrameMgr.c **** run-length that are less than MIN_PIXEL_WIDTH in the455:FrameMgr.c **** findConnectedness() routine...doing it here instead of456:FrameMgr.c **** a function to speed things up...this may end up slowing down the457:FrameMgr.c **** frame rate slightly, and can be removed if this isn't needed */458:FrameMgr.c ****459:FrameMgr.c **** /* run this routine once every 8 lines */460:FrameMgr.c **** if ( (trackedLineCount & RUN_OBJECT_FILTER_MASK) == RUN_OBJECT_FILTER_MASK)461:FrameMgr.c **** {462:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)463:FrameMgr.c **** {464:FrameMgr.c **** if ( *(pTrackedObjectData + VALID_OBJECT_OFFSET) == TRUE)465:FrameMgr.c **** {466:FrameMgr.c **** /* check to see if the object is already in467:FrameMgr.c **** our past...i.e., its last */468:FrameMgr.c **** if ( (*(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) -469:FrameMgr.c **** *(pTrackedObjectData + Y_UPPER_LEFT_OFFSET)) < MIN_OBJECT_TRACKING_HEIGHT470:FrameMgr.c **** {471:FrameMgr.c **** /* the object is less than the minimum height...see if it is adjacent472:FrameMgr.c **** to the current line we just processed...if so, leave it here...otherwise,473:FrameMgr.c **** it needs to be invalidated since its too small */474:FrameMgr.c **** if ( trackedLineCount - *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) > 2)475:FrameMgr.c **** {476:FrameMgr.c **** /* invalidate the object */477:FrameMgr.c **** *(pTrackedObjectData + VALID_OBJECT_OFFSET) = FALSE;478:FrameMgr.c **** numCurrTrackedObjects--;GAS LISTING /tmp/ccf43P2i.s page 11479:FrameMgr.c **** }480:FrameMgr.c **** }481:FrameMgr.c **** }482:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;483:FrameMgr.c **** }484:FrameMgr.c **** }485:FrameMgr.c ****486:FrameMgr.c **** trackedLineCount++;487:FrameMgr.c **** if (trackedLineCount == ACTUAL_NUM_LINES_IN_A_FRAME)488:FrameMgr.c **** {489:FrameMgr.c **** /* an entire frame of tracking data has been acquired, so490:FrameMgr.c **** publish an event letting the system know this fact */491:FrameMgr.c **** PUBLISH_EVENT(EV_ACQUIRE_FRAME_COMPLETE);492:FrameMgr.c **** /* disable the PCLK counting overflow interrupt */493:FrameMgr.c **** TIMSK &= DISABLE_PCLK_TIMER1_OVERFLOW_BITMASK;494:FrameMgr.c **** trackedLineCount = 0;495:FrameMgr.c **** }496:FrameMgr.c **** else497:FrameMgr.c **** {498:FrameMgr.c **** PUBLISH_FAST_EVENT(FEV_PROCESS_LINE_COMPLETE);499:FrameMgr.c **** }500:FrameMgr.c **** #endif501:FrameMgr.c **** }502:FrameMgr.c **** else503:FrameMgr.c **** {504:FrameMgr.c **** /* ...and here? */505:FrameMgr.c **** }506:FrameMgr.c **** }507:FrameMgr.c ****508:FrameMgr.c **** /***********************************************************509:FrameMgr.c **** Function Name: FrameMgr_processFrame510:FrameMgr.c **** Function Description: This function is responsible for511:FrameMgr.c **** parsing the completed frame and performing all actions512:FrameMgr.c **** needed at this level.513:FrameMgr.c **** Inputs: none514:FrameMgr.c **** Outputs: none515:FrameMgr.c **** ***********************************************************/516:FrameMgr.c **** void FrameMgr_processFrame(void)517:FrameMgr.c **** {93 .stabn 68,0,517,.LM0-FrameMgr_processFrame94 .LM0:95 /* prologue: frame size=0 */96 0000 DF92 push r1397 0002 EF92 push r1498 0004 FF92 push r1599 0006 0F93 push r16100 0008 1F93 push r17101 000a CF93 push r28102 000c DF93 push r29103 /* prologue end (size=7) */518:FrameMgr.c **** unsigned char i,k,color;519:FrameMgr.c **** #if DEBUG_FRAME_DATA520:FrameMgr.c **** unsigned char asciiBuffer[5];521:FrameMgr.c **** unsigned char j;522:FrameMgr.c **** #endif523:FrameMgr.c **** unsigned char *pTableData = (unsigned char *)pCurrentTrackedObjectTable;104 .stabn 68,0,523,.LM1-FrameMgr_processFrameGAS LISTING /tmp/ccf43P2i.s page 12105 .LM1:106 000e 2091 0000 lds r18,pCurrentTrackedObjectTable107 0012 3091 0000 lds r19,(pCurrentTrackedObjectTable)+1524:FrameMgr.c **** unsigned char tmpUpperLeftX,tmpUpperLeftY,tmpLowerRightX,tmpLowerRightY;525:FrameMgr.c ****526:FrameMgr.c **** #if DEBUG_FRAME_DATA527:FrameMgr.c **** /* we want to send all of the currently tracked table out528:FrameMgr.c **** the serial port for debugging */529:FrameMgr.c **** for (i=0; i<numCurrTrackedObjects; i++)530:FrameMgr.c **** {531:FrameMgr.c **** UIMgr_txBuffer("----------\r\n",12);532:FrameMgr.c **** for (j=0; j<SIZE_OF_TRACKED_OBJECT; j++)533:FrameMgr.c **** {534:FrameMgr.c **** memset(asciiBuffer,0x00,5);535:FrameMgr.c **** itoa(*pTableData++,asciiBuffer,10);536:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3); /* 3 ascii bytes for data537:FrameMgr.c **** + 1 space */538:FrameMgr.c **** UIMgr_txBuffer("\r\n",2);539:FrameMgr.c **** }540:FrameMgr.c **** }541:FrameMgr.c ****542:FrameMgr.c **** /* finally, send a new line */543:FrameMgr.c **** UIMgr_txBuffer("\r\n",2);544:FrameMgr.c ****545:FrameMgr.c **** memset(asciiBuffer,0x00,5);546:FrameMgr.c **** itoa(numCurrTrackedObjects,asciiBuffer,10);547:FrameMgr.c **** UIMgr_txBuffer(asciiBuffer,3);548:FrameMgr.c **** UIMgr_txBuffer(" PFC\r\n",5);549:FrameMgr.c ****550:FrameMgr.c **** #else551:FrameMgr.c **** /* we only send tracking packets if there are tracked objects */552:FrameMgr.c ****553:FrameMgr.c **** if (numCurrTrackedObjects > 0)108 .stabn 68,0,553,.LM2-FrameMgr_processFrame109 .LM2:110 0016 8091 0000 lds r24,numCurrTrackedObjects111 001a 8823 tst r24112 001c 09F4 brne .+2113 001e 3FC0 rjmp .L2114 .stabn 68,0,523,.LM3-FrameMgr_processFrame115 .LM3:116 0020 E901 movw r28,r18554:FrameMgr.c **** {555:FrameMgr.c **** UIMgr_writeTxFifo(0x0A); /* header byte for a tracking packet */117 .stabn 68,0,555,.LM4-FrameMgr_processFrame118 .LM4:119 0022 8AE0 ldi r24,lo8(10)120 0024 00D0 rcall UIMgr_writeTxFifo556:FrameMgr.c **** /* reset the pointer */557:FrameMgr.c **** pTableData = (unsigned char *)pCurrentTrackedObjectTable;558:FrameMgr.c ****559:FrameMgr.c **** UIMgr_writeTxFifo(numCurrTrackedObjects); /* num of objects tracked */121 .stabn 68,0,559,.LM5-FrameMgr_processFrame122 .LM5:123 0026 8091 0000 lds r24,numCurrTrackedObjects124 002a 00D0 rcall UIMgr_writeTxFifo125 002c DD24 clr r13GAS LISTING /tmp/ccf43P2i.s page 13126 .L4:560:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)561:FrameMgr.c **** {562:FrameMgr.c **** /* we only want to process objects that have their objectValid flag563:FrameMgr.c **** set to TRUE */564:FrameMgr.c **** if ( *(pTableData + VALID_OBJECT_OFFSET) == TRUE)127 .stabn 68,0,564,.LM6-FrameMgr_processFrame128 .LM6:129 002e 8F81 ldd r24,Y+7130 0030 8130 cpi r24,lo8(1)131 0032 69F5 brne .L5565:FrameMgr.c **** {566:FrameMgr.c **** /* the object is valid...convert the color from bit position to value...remember,567:FrameMgr.c **** each bit in the "color" byte corresponds to a color */568:FrameMgr.c **** k=0;569:FrameMgr.c **** color = *(pTableData + COLOR_OFFSET);132 .stabn 68,0,569,.LM7-FrameMgr_processFrame133 .LM7:134 0034 8881 ld r24,Y570:FrameMgr.c **** if (color == 128) k=0;135 .stabn 68,0,570,.LM8-FrameMgr_processFrame136 .LM8:137 0036 8038 cpi r24,lo8(-128)138 0038 E1F0 breq .L7571:FrameMgr.c **** else if (color == 64) k=1;139 .stabn 68,0,571,.LM9-FrameMgr_processFrame140 .LM9:141 003a 8034 cpi r24,lo8(64)142 003c 11F4 brne .L9143 003e 81E0 ldi r24,lo8(1)144 0040 19C0 rjmp .L11145 .L9:572:FrameMgr.c **** else if (color == 32) k=2;146 .stabn 68,0,572,.LM10-FrameMgr_processFrame147 .LM10:148 0042 8032 cpi r24,lo8(32)149 0044 11F4 brne .L12150 0046 82E0 ldi r24,lo8(2)151 0048 15C0 rjmp .L11152 .L12:573:FrameMgr.c **** else if (color == 16) k=3;153 .stabn 68,0,573,.LM11-FrameMgr_processFrame154 .LM11:155 004a 8031 cpi r24,lo8(16)156 004c 11F4 brne .L14157 004e 83E0 ldi r24,lo8(3)158 0050 11C0 rjmp .L11159 .L14:574:FrameMgr.c **** else if (color == 8) k=4;160 .stabn 68,0,574,.LM12-FrameMgr_processFrame161 .LM12:162 0052 8830 cpi r24,lo8(8)163 0054 11F4 brne .L16164 0056 84E0 ldi r24,lo8(4)165 0058 0DC0 rjmp .L11166 .L16:575:FrameMgr.c **** else if (color == 4) k=5;GAS LISTING /tmp/ccf43P2i.s page 14167 .stabn 68,0,575,.LM13-FrameMgr_processFrame168 .LM13:169 005a 8430 cpi r24,lo8(4)170 005c 11F4 brne .L18171 005e 85E0 ldi r24,lo8(5)172 0060 09C0 rjmp .L11173 .L18:576:FrameMgr.c **** else if (color == 2) k=6;174 .stabn 68,0,576,.LM14-FrameMgr_processFrame175 .LM14:176 0062 8230 cpi r24,lo8(2)177 0064 11F4 brne .L20178 0066 86E0 ldi r24,lo8(6)179 0068 05C0 rjmp .L11180 .L20:577:FrameMgr.c **** else if (color == 1) k=7;181 .stabn 68,0,577,.LM15-FrameMgr_processFrame182 .LM15:183 006a 8130 cpi r24,lo8(1)184 006c 11F4 brne .L7185 006e 87E0 ldi r24,lo8(7)186 0070 01C0 rjmp .L11187 .L7:188 0072 80E0 ldi r24,lo8(0)189 .L11:578:FrameMgr.c ****579:FrameMgr.c **** tmpUpperLeftX = *(pTableData + X_UPPER_LEFT_OFFSET); /* get the upper left X */190 .stabn 68,0,579,.LM16-FrameMgr_processFrame191 .LM16:192 0074 1B81 ldd r17,Y+3580:FrameMgr.c **** tmpUpperLeftY = *(pTableData + Y_UPPER_LEFT_OFFSET); /* get the upper left Y */193 .stabn 68,0,580,.LM17-FrameMgr_processFrame194 .LM17:195 0076 0C81 ldd r16,Y+4581:FrameMgr.c **** tmpLowerRightX = *(pTableData + X_LOWER_RIGHT_OFFSET); /* get the lower right X */196 .stabn 68,0,581,.LM18-FrameMgr_processFrame197 .LM18:198 0078 FD80 ldd r15,Y+5582:FrameMgr.c **** tmpLowerRightY = *(pTableData + Y_LOWER_RIGHT_OFFSET); /* get the lower right Y */199 .stabn 68,0,582,.LM19-FrameMgr_processFrame200 .LM19:201 007a EE80 ldd r14,Y+6583:FrameMgr.c ****584:FrameMgr.c **** UIMgr_writeTxFifo(k); /* send the color first */202 .stabn 68,0,584,.LM20-FrameMgr_processFrame203 .LM20:204 007c 00D0 rcall UIMgr_writeTxFifo585:FrameMgr.c **** UIMgr_writeTxFifo(tmpUpperLeftX);205 .stabn 68,0,585,.LM21-FrameMgr_processFrame206 .LM21:207 007e 812F mov r24,r17208 0080 00D0 rcall UIMgr_writeTxFifo586:FrameMgr.c **** UIMgr_writeTxFifo(tmpUpperLeftY);209 .stabn 68,0,586,.LM22-FrameMgr_processFrame210 .LM22:211 0082 802F mov r24,r16212 0084 00D0 rcall UIMgr_writeTxFifoGAS LISTING /tmp/ccf43P2i.s page 15587:FrameMgr.c **** UIMgr_writeTxFifo(tmpLowerRightX);213 .stabn 68,0,587,.LM23-FrameMgr_processFrame214 .LM23:215 0086 8F2D mov r24,r15216 0088 00D0 rcall UIMgr_writeTxFifo588:FrameMgr.c **** UIMgr_writeTxFifo(tmpLowerRightY);217 .stabn 68,0,588,.LM24-FrameMgr_processFrame218 .LM24:219 008a 8E2D mov r24,r14220 008c 00D0 rcall UIMgr_writeTxFifo221 .L5:222 .stabn 68,0,560,.LM25-FrameMgr_processFrame223 .LM25:224 008e D394 inc r13225 0090 88E0 ldi r24,lo8(8)226 0092 D816 cp r13,r24227 0094 11F0 breq .L23589:FrameMgr.c **** }590:FrameMgr.c ****591:FrameMgr.c **** /* move our pointer up to the beginning of the next object */592:FrameMgr.c **** pTableData += SIZE_OF_TRACKED_OBJECT;228 .stabn 68,0,592,.LM26-FrameMgr_processFrame229 .LM26:230 0096 2896 adiw r28,8231 0098 CACF rjmp .L4232 .L23:593:FrameMgr.c **** }594:FrameMgr.c ****595:FrameMgr.c **** /* all done...send the end of tracking packets char */596:FrameMgr.c **** UIMgr_writeTxFifo(0xFF);233 .stabn 68,0,596,.LM27-FrameMgr_processFrame234 .LM27:235 009a 8FEF ldi r24,lo8(-1)236 009c 00D0 rcall UIMgr_writeTxFifo237 .L2:597:FrameMgr.c **** }598:FrameMgr.c **** #endif599:FrameMgr.c ****600:FrameMgr.c **** /* the tracked object table will be cleared out right before we start601:FrameMgr.c **** to wait for VSYNC to indicate a new frame...so it doesn't need to be602:FrameMgr.c **** done now */603:FrameMgr.c ****604:FrameMgr.c **** /* schedule the next action to acquire a new frame */605:FrameMgr.c **** PUBLISH_EVENT(EV_PROCESS_FRAME_COMPLETE);238 .stabn 68,0,605,.LM28-FrameMgr_processFrame239 .LM28:240 009e 84E0 ldi r24,lo8(4)241 00a0 00D0 rcall Exec_writeEventFifo242 /* epilogue: frame size=0 */243 00a2 DF91 pop r29244 00a4 CF91 pop r28245 00a6 1F91 pop r17246 00a8 0F91 pop r16247 00aa FF90 pop r15248 00ac EF90 pop r14249 00ae DF90 pop r13250 00b0 0895 retGAS LISTING /tmp/ccf43P2i.s page 16251 /* epilogue end (size=8) */252 /* function FrameMgr_processFrame size 88 (73) */253 .size FrameMgr_processFrame, .-FrameMgr_processFrame254 .stabs "i:r(0,11)",64,0,518,13255 .stabs "k:r(0,11)",64,0,518,24256 .stabs "color:r(0,11)",64,0,518,24257 .stabs "pTableData:r(0,22)=*(0,11)",64,0,523,28258 .stabs "tmpUpperLeftX:r(0,11)",64,0,524,17259 .stabs "tmpUpperLeftY:r(0,11)",64,0,524,16260 .stabs "tmpLowerRightX:r(0,11)",64,0,524,15261 .stabs "tmpLowerRightY:r(0,11)",64,0,524,14262 .stabn 192,0,0,FrameMgr_processFrame-FrameMgr_processFrame263 .stabn 224,0,0,.Lscope0-FrameMgr_processFrame264 .Lscope0:265 .stabs "",36,0,0,.Lscope0-FrameMgr_processFrame266 .stabd 78,0,0267 .stabs "FrameMgr_processLine:F(0,15)",36,0,342,FrameMgr_processLine268 .global FrameMgr_processLine269 .type FrameMgr_processLine, @function270 FrameMgr_processLine:271 .stabd 46,0,0272 .stabn 68,0,342,.LM29-FrameMgr_processLine273 .LM29:274 /* prologue: frame size=1 */275 00b2 2F92 push r2276 00b4 3F92 push r3277 00b6 4F92 push r4278 00b8 5F92 push r5279 00ba 6F92 push r6280 00bc 7F92 push r7281 00be 8F92 push r8282 00c0 9F92 push r9283 00c2 AF92 push r10284 00c4 BF92 push r11285 00c6 CF92 push r12286 00c8 DF92 push r13287 00ca EF92 push r14288 00cc FF92 push r15289 00ce 0F93 push r16290 00d0 1F93 push r17291 00d2 CF93 push r28292 00d4 DF93 push r29293 00d6 CDB7 in r28,__SP_L__294 00d8 DEB7 in r29,__SP_H__295 00da 2197 sbiw r28,1296 00dc 0FB6 in __tmp_reg__,__SREG__297 00de F894 cli298 00e0 DEBF out __SP_H__,r29299 00e2 0FBE out __SREG__,__tmp_reg__300 00e4 CDBF out __SP_L__,r28301 /* prologue end (size=26) */302 .stabn 68,0,345,.LM30-FrameMgr_processLine303 .LM30:304 00e6 0091 0000 lds r16,pCurrentTrackedObjectTable305 00ea 1091 0000 lds r17,(pCurrentTrackedObjectTable)+1306 .stabn 68,0,352,.LM31-FrameMgr_processLine307 .LM31:GAS LISTING /tmp/ccf43P2i.s page 17308 00ee 8091 0000 lds r24,currentState309 00f2 8230 cpi r24,lo8(2)310 00f4 09F0 breq .+2311 00f6 6AC0 rjmp .L27312 .stabn 68,0,361,.LM32-FrameMgr_processLine313 .LM32:314 00f8 8BE0 ldi r24,lo8(11)315 00fa 00D0 rcall UartInt_txByte316 .stabn 68,0,362,.LM33-FrameMgr_processLine317 .LM33:318 00fc 8091 0000 lds r24,lineCount319 0100 00D0 rcall UartInt_txByte320 0102 0F2E mov __tmp_reg__,r31321 0104 F0E0 ldi r31,lo8(currentLineBuffer)322 0106 CF2E mov r12,r31323 0108 F0E0 ldi r31,hi8(currentLineBuffer)324 010a DF2E mov r13,r31325 010c F02D mov r31,__tmp_reg__326 010e 00E0 ldi r16,lo8(0)327 0110 10E0 ldi r17,hi8(0)328 0112 0F2E mov __tmp_reg__,r31329 0114 F0E0 ldi r31,lo8(previousLineBuffer)330 0116 EF2E mov r14,r31331 0118 F0E0 ldi r31,hi8(previousLineBuffer)332 011a FF2E mov r15,r31333 011c F02D mov r31,__tmp_reg__334 .L29:335 .stabn 68,0,370,.LM34-FrameMgr_processLine336 .LM34:337 011e F601 movw r30,r12338 0120 8081 ld r24,Z339 0122 8983 std Y+1,r24340 .stabn 68,0,371,.LM35-FrameMgr_processLine341 .LM35:342 0124 8981 ldd r24,Y+1343 0126 8F70 andi r24,lo8(15)344 0128 8983 std Y+1,r24345 .stabn 68,0,372,.LM36-FrameMgr_processLine346 .LM36:347 012a 8981 ldd r24,Y+1348 012c 8295 swap r24349 012e 807F andi r24,0xf0350 0130 8983 std Y+1,r24351 .stabn 68,0,373,.LM37-FrameMgr_processLine352 .LM37:353 0132 9981 ldd r25,Y+1354 0134 F701 movw r30,r14355 0136 8081 ld r24,Z356 0138 8F70 andi r24,lo8(15)357 013a 892B or r24,r25358 013c 8983 std Y+1,r24359 .stabn 68,0,376,.LM38-FrameMgr_processLine360 .LM38:361 013e 8981 ldd r24,Y+1362 0140 00D0 rcall UartInt_txByte363 .stabn 68,0,379,.LM39-FrameMgr_processLine364 .LM39:GAS LISTING /tmp/ccf43P2i.s page 18365 0142 D801 movw r26,r16366 0144 1196 adiw r26,1367 0146 FD01 movw r30,r26368 0148 E050 subi r30,lo8(-(previousLineBuffer))369 014a F040 sbci r31,hi8(-(previousLineBuffer))370 014c 8081 ld r24,Z371 014e 8983 std Y+1,r24372 .stabn 68,0,380,.LM40-FrameMgr_processLine373 .LM40:374 0150 8981 ldd r24,Y+1375 0152 8F70 andi r24,lo8(15)376 0154 8983 std Y+1,r24377 .stabn 68,0,381,.LM41-FrameMgr_processLine378 .LM41:379 0156 8981 ldd r24,Y+1380 0158 8295 swap r24381 015a 807F andi r24,0xf0382 015c 8983 std Y+1,r24383 .stabn 68,0,382,.LM42-FrameMgr_processLine384 .LM42:385 015e 9981 ldd r25,Y+1386 0160 A050 subi r26,lo8(-(currentLineBuffer))387 0162 B040 sbci r27,hi8(-(currentLineBuffer))388 0164 8C91 ld r24,X389 0166 8F70 andi r24,lo8(15)390 0168 892B or r24,r25391 016a 8983 std Y+1,r24392 .stabn 68,0,385,.LM43-FrameMgr_processLine393 .LM43:394 016c 8981 ldd r24,Y+1395 016e 00D0 rcall UartInt_txByte396 0170 82E0 ldi r24,lo8(2)397 0172 90E0 ldi r25,hi8(2)398 0174 C80E add r12,r24399 0176 D91E adc r13,r25400 0178 0E5F subi r16,lo8(-(2))401 017a 1F4F sbci r17,hi8(-(2))402 017c E80E add r14,r24403 017e F91E adc r15,r25404 .stabn 68,0,363,.LM44-FrameMgr_processLine405 .LM44:406 0180 003B cpi r16,176407 0182 1105 cpc r17,__zero_reg__408 0184 61F6 brne .L29409 .stabn 68,0,387,.LM45-FrameMgr_processLine410 .LM45:411 0186 8FE0 ldi r24,lo8(15)412 0188 00D0 rcall UartInt_txByte413 .stabn 68,0,391,.LM46-FrameMgr_processLine414 .LM46:415 018a 8091 0000 lds r24,lineCount416 018e 8F5F subi r24,lo8(-(1))417 0190 8093 0000 sts lineCount,r24418 .stabn 68,0,394,.LM47-FrameMgr_processLine419 .LM47:420 0194 8834 cpi r24,lo8(72)421 0196 60F0 brlo .L31GAS LISTING /tmp/ccf43P2i.s page 19422 .stabn 68,0,398,.LM48-FrameMgr_processLine423 .LM48:424 0198 1092 0000 sts lineCount,__zero_reg__425 .stabn 68,0,399,.LM49-FrameMgr_processLine426 .LM49:427 019c 1092 0000 sts currentState,__zero_reg__428 .stabn 68,0,402,.LM50-FrameMgr_processLine429 .LM50:430 01a0 89B7 in r24,89-0x20431 01a2 8B7F andi r24,lo8(-5)432 01a4 89BF out 89-0x20,r24433 .stabn 68,0,404,.LM51-FrameMgr_processLine434 .LM51:435 01a6 60E0 ldi r22,lo8(0)436 01a8 81E1 ldi r24,lo8(17)437 01aa 00D0 rcall CamConfig_setCamReg438 .stabn 68,0,405,.LM52-FrameMgr_processLine439 .LM52:440 01ac 00D0 rcall CamConfig_sendFifoCmds441 01ae C8C0 rjmp .L71442 .L31:443 .stabn 68,0,410,.LM53-FrameMgr_processLine444 .LM53:445 01b0 8091 0000 lds r24,fastEventBitmask446 01b4 8260 ori r24,lo8(2)447 01b6 8093 0000 sts fastEventBitmask,r24448 01ba C2C0 rjmp .L71449 .L72:450 .stabn 68,0,491,.LM54-FrameMgr_processLine451 .LM54:452 01bc 80E2 ldi r24,lo8(32)453 01be 00D0 rcall Exec_writeEventFifo454 .stabn 68,0,493,.LM55-FrameMgr_processLine455 .LM55:456 01c0 89B7 in r24,89-0x20457 01c2 8B7F andi r24,lo8(-5)458 01c4 89BF out 89-0x20,r24459 .stabn 68,0,494,.LM56-FrameMgr_processLine460 .LM56:461 01c6 1092 0000 sts trackedLineCount,__zero_reg__462 01ca BAC0 rjmp .L71463 .L27:464 .stabn 68,0,413,.LM57-FrameMgr_processLine465 .LM57:466 01cc 8130 cpi r24,lo8(1)467 01ce 09F0 breq .+2468 01d0 B7C0 rjmp .L71469 .LBB4:470 .LBB5:606:FrameMgr.c **** }607:FrameMgr.c ****608:FrameMgr.c **** /***********************************************************609:FrameMgr.c **** Function Name: FrameMgr_findConnectedness610:FrameMgr.c **** Function Description: This function is responsible for611:FrameMgr.c **** finding the connectedness between two particular run-612:FrameMgr.c **** length encoded lines of pixel data. It updates the613:FrameMgr.c **** trackingTable as needed.GAS LISTING /tmp/ccf43P2i.s page 20614:FrameMgr.c **** Inputs: none615:FrameMgr.c **** Outputs: none616:FrameMgr.c **** ***********************************************************/617:FrameMgr.c **** static void FrameMgr_findConnectedness(void)618:FrameMgr.c **** {619:FrameMgr.c **** trackedColor_t currColor;620:FrameMgr.c **** unsigned char *pCurrLineColorInfo = currentLineBuffer;621:FrameMgr.c **** unsigned char *pTrackedObjectData;622:FrameMgr.c **** register unsigned char currPixelRunStart=0;623:FrameMgr.c **** register unsigned char currPixelRunFinish=0;624:FrameMgr.c **** register unsigned char lastLineXStart=0;625:FrameMgr.c **** register unsigned char lastLineXFinish=0;626:FrameMgr.c **** register unsigned char runLength=1;627:FrameMgr.c **** unsigned char i;628:FrameMgr.c **** bool_t colorConnected;629:FrameMgr.c ****630:FrameMgr.c **** do631:FrameMgr.c **** {632:FrameMgr.c **** /* grab both the current color and the number of pixels633:FrameMgr.c **** in the run...remember, pixels start at 1, not 0! */634:FrameMgr.c **** colorConnected = FALSE;635:FrameMgr.c **** currColor = *pCurrLineColorInfo++;636:FrameMgr.c **** currPixelRunStart += runLength;637:FrameMgr.c **** runLength = *pCurrLineColorInfo++;638:FrameMgr.c **** currPixelRunFinish += runLength;639:FrameMgr.c ****640:FrameMgr.c **** /* make sure that the run-length is at least as wide as641:FrameMgr.c **** the minimum horizontal tracking width, and we care about the color */642:FrameMgr.c ****643:FrameMgr.c **** if ( (currColor != notTracked) && (runLength > MIN_OBJECT_TRACKING_WIDTH) )644:FrameMgr.c **** {645:FrameMgr.c **** /* this run contains a color we care about, so646:FrameMgr.c **** either it will begin a new tracked object, or it647:FrameMgr.c **** is connected to a currently tracked object...648:FrameMgr.c **** compare it with each object in the tracking649:FrameMgr.c **** table...we can't just look at the numTrackedObjects because650:FrameMgr.c **** it is entirely possible that the first couple of objects could651:FrameMgr.c **** be invalid...652:FrameMgr.c ****653:FrameMgr.c **** NOTE: Instead of accessing each element in the trackedObjectTable654:FrameMgr.c **** through the 'i' index, and then accessing the fields in each structure,655:FrameMgr.c **** a pointer to each entry is established each time through the loop, followed656:FrameMgr.c **** by accessing the elements through specified offsets. GCC seems to be657:FrameMgr.c **** able to optimize this code much better than simply accessing the elements658:FrameMgr.c **** of each structure in the array the more normal way...*/659:FrameMgr.c ****660:FrameMgr.c **** pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;661:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)662:FrameMgr.c **** {663:FrameMgr.c **** if ( (currColor == *(pTrackedObjectData + COLOR_OFFSET)) &&664:FrameMgr.c **** (*(pTrackedObjectData + VALID_OBJECT_OFFSET) == TRUE) &&665:FrameMgr.c **** (*(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) == trackedLineCount - 1) )666:FrameMgr.c **** {667:FrameMgr.c **** /* found a color match and the object is valid...check to see if there is668:FrameMgr.c **** connectedness */669:FrameMgr.c **** lastLineXStart = *(pTrackedObjectData + LAST_LINE_X_START_OFFSET);670:FrameMgr.c **** lastLineXFinish = *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET);GAS LISTING /tmp/ccf43P2i.s page 21671:FrameMgr.c ****672:FrameMgr.c **** /* Check for the 5 following types of line connectedness:673:FrameMgr.c **** ---------------------674:FrameMgr.c **** | |675:FrameMgr.c **** ---------------------676:FrameMgr.c **** -------------------------677:FrameMgr.c **** | |678:FrameMgr.c **** ------------------------- */679:FrameMgr.c **** if ( ( (currPixelRunStart >= lastLineXStart) &&680:FrameMgr.c **** (currPixelRunStart <= lastLineXFinish) ) ||681:FrameMgr.c ****682:FrameMgr.c **** /* ---------------------683:FrameMgr.c **** | |684:FrameMgr.c **** ---------------------685:FrameMgr.c **** -------------------686:FrameMgr.c **** | |687:FrameMgr.c **** -------------------688:FrameMgr.c **** OR689:FrameMgr.c **** ------------------------------690:FrameMgr.c **** | |691:FrameMgr.c **** ------------------------------692:FrameMgr.c **** ---------693:FrameMgr.c **** | |694:FrameMgr.c **** --------- */695:FrameMgr.c **** ( (currPixelRunFinish >= lastLineXStart) &&696:FrameMgr.c **** (currPixelRunFinish <= lastLineXFinish) ) ||697:FrameMgr.c ****698:FrameMgr.c ****699:FrameMgr.c **** /* -------------------------------700:FrameMgr.c **** | |701:FrameMgr.c **** -------------------------------702:FrameMgr.c **** -------------------------------703:FrameMgr.c **** | |704:FrameMgr.c **** -------------------------------705:FrameMgr.c **** OR706:FrameMgr.c **** -------------707:FrameMgr.c **** | |708:FrameMgr.c **** -------------709:FrameMgr.c **** -------------------------------710:FrameMgr.c **** | |711:FrameMgr.c **** ------------------------------- */712:FrameMgr.c **** ( (currPixelRunStart <= lastLineXStart) &&713:FrameMgr.c **** (currPixelRunFinish >= lastLineXFinish) ) )714:FrameMgr.c **** {715:FrameMgr.c **** /* THERE IS CONNECTEDNESS...update the lastLineXStart and lastLineXFinish716:FrameMgr.c **** data pointed to by pTrackedObjectData */717:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_START_OFFSET) = currPixelRunStart;718:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET) = currPixelRunFinish;719:FrameMgr.c ****720:FrameMgr.c **** /* check if the bounding box needs to be updated */721:FrameMgr.c **** if (*(pTrackedObjectData + X_UPPER_LEFT_OFFSET) > currPixelRunStart)722:FrameMgr.c **** {723:FrameMgr.c **** /* need to update the bounding box for the upper left point to724:FrameMgr.c **** enclose this new left-most point...we never have to update the725:FrameMgr.c **** upper left Y point, since each scan line we process moves from726:FrameMgr.c **** top to bottom */727:FrameMgr.c **** *(pTrackedObjectData + X_UPPER_LEFT_OFFSET) = currPixelRunStart;GAS LISTING /tmp/ccf43P2i.s page 22728:FrameMgr.c **** }729:FrameMgr.c ****730:FrameMgr.c **** if ( *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) < currPixelRunFinish)731:FrameMgr.c **** {732:FrameMgr.c **** /* need to update the bounding box for the lower right X point to733:FrameMgr.c **** enclose this new right-most point */734:FrameMgr.c **** *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) = currPixelRunFinish;735:FrameMgr.c **** }736:FrameMgr.c ****737:FrameMgr.c **** /* the lower right 'y' point always gets updated when connectedness is found */738:FrameMgr.c **** *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) = trackedLineCount;739:FrameMgr.c ****740:FrameMgr.c **** /* set a flag indicating that that color run is part of another741:FrameMgr.c **** object and thus doesn't need to be added as a new entry into the742:FrameMgr.c **** tracking table */743:FrameMgr.c **** colorConnected = TRUE;744:FrameMgr.c **** break;745:FrameMgr.c **** }746:FrameMgr.c **** }747:FrameMgr.c ****748:FrameMgr.c **** /* go to the next object */749:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;750:FrameMgr.c **** }751:FrameMgr.c ****752:FrameMgr.c **** if (colorConnected == FALSE)753:FrameMgr.c **** {754:FrameMgr.c **** /* a new entry needs to be made to the tracking table, since we have755:FrameMgr.c **** a run-length with a color, and it isn't connected to anything...but we756:FrameMgr.c **** can only do this if there is space left in the trackedObject table */757:FrameMgr.c **** if (numCurrTrackedObjects < MAX_TRACKED_OBJECTS)758:FrameMgr.c **** {759:FrameMgr.c **** /* space is available...add the object...but first we need to find an760:FrameMgr.c **** invalid object in the object tracking table */761:FrameMgr.c **** pTrackedObjectData = (unsigned char *)pCurrentTrackedObjectTable;762:FrameMgr.c **** for (i=0; i<MAX_TRACKED_OBJECTS; i++)763:FrameMgr.c **** {764:FrameMgr.c **** if ( *(pTrackedObjectData + VALID_OBJECT_OFFSET) == FALSE) break;765:FrameMgr.c ****766:FrameMgr.c **** /* if we haven't broken above, then the object must have been valid...767:FrameMgr.c **** go ahead and move the pointer to the next object to check it */768:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;769:FrameMgr.c **** }770:FrameMgr.c ****771:FrameMgr.c ****772:FrameMgr.c **** /* now that we have a pointer to the tracked object to be updated, update all773:FrameMgr.c **** the fields */774:FrameMgr.c **** *(pTrackedObjectData + COLOR_OFFSET) = currColor; /* color */775:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_START_OFFSET) = currPixelRunStart; /* lastLineXStart */776:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET) = currPixelRunFinish; /* lastLineXFinish *777:FrameMgr.c **** *(pTrackedObjectData + X_UPPER_LEFT_OFFSET) = currPixelRunStart; /* x_upperLeft */778:FrameMgr.c **** *(pTrackedObjectData + Y_UPPER_LEFT_OFFSET) = trackedLineCount; /* y_upperLeft */471 .stabn 68,0,778,.LM58-FrameMgr_processLine472 .LM58:473 01d2 F090 0000 lds r15,trackedLineCount474 .stabn 68,0,663,.LM59-FrameMgr_processLine475 .LM59:476 01d6 CF2C mov r12,r15GAS LISTING /tmp/ccf43P2i.s page 23477 01d8 DD24 clr r13478 01da 3601 movw r6,r12479 01dc 0894 sec480 01de 6108 sbc r6,__zero_reg__481 01e0 7108 sbc r7,__zero_reg__482 01e2 7091 0000 lds r23,numCurrTrackedObjects483 01e6 0F2E mov __tmp_reg__,r31484 01e8 F0E0 ldi r31,lo8(currentLineBuffer)485 01ea 2F2E mov r2,r31486 01ec F0E0 ldi r31,hi8(currentLineBuffer)487 01ee 3F2E mov r3,r31488 01f0 F02D mov r31,__tmp_reg__489 01f2 50E0 ldi r21,lo8(0)490 01f4 40E0 ldi r20,lo8(0)491 01f6 61E0 ldi r22,lo8(1)492 01f8 EF2C mov r14,r15493 01fa E394 inc r14494 .L35:495 .stabn 68,0,635,.LM60-FrameMgr_processLine496 .LM60:497 01fc F101 movw r30,r2498 01fe 3081 ld r19,Z499 .stabn 68,0,636,.LM61-FrameMgr_processLine500 .LM61:501 0200 560F add r21,r22502 .stabn 68,0,637,.LM62-FrameMgr_processLine503 .LM62:504 0202 6181 ldd r22,Z+1505 0204 82E0 ldi r24,lo8(2)506 0206 90E0 ldi r25,hi8(2)507 0208 280E add r2,r24508 020a 391E adc r3,r25509 .stabn 68,0,638,.LM63-FrameMgr_processLine510 .LM63:511 020c 460F add r20,r22512 .stabn 68,0,643,.LM64-FrameMgr_processLine513 .LM64:514 020e 3323 tst r19515 0210 09F4 brne .+2516 0212 5CC0 rjmp .L36517 0214 6430 cpi r22,lo8(4)518 0216 08F4 brsh .+2519 0218 59C0 rjmp .L36520 021a D801 movw r26,r16521 021c 20E0 ldi r18,lo8(0)522 .L39:523 .stabn 68,0,663,.LM65-FrameMgr_processLine524 .LM65:525 021e 8C91 ld r24,X526 0220 3817 cp r19,r24527 0222 C9F5 brne .L40528 0224 FD01 movw r30,r26529 0226 8781 ldd r24,Z+7530 0228 8130 cpi r24,lo8(1)531 022a A9F5 brne .L40532 022c 0F2E mov __tmp_reg__,r31533 022e F6E0 ldi r31,lo8(6)GAS LISTING /tmp/ccf43P2i.s page 24534 0230 AF2E mov r10,r31535 0232 BB24 clr r11536 0234 F02D mov r31,__tmp_reg__537 0236 AA0E add r10,r26538 0238 BB1E adc r11,r27539 023a 8681 ldd r24,Z+6540 023c 9927 clr r25541 023e 8615 cp r24,r6542 0240 9705 cpc r25,r7543 0242 49F5 brne .L40544 0244 2D01 movw r4,r26545 0246 0894 sec546 0248 411C adc r4,__zero_reg__547 024a 511C adc r5,__zero_reg__548 .stabn 68,0,669,.LM66-FrameMgr_processLine549 .LM66:550 024c 8181 ldd r24,Z+1551 024e 8824 clr r8552 0250 9924 clr r9553 0252 6894 set554 0254 81F8 bld r8,1555 0256 8A0E add r8,r26556 0258 9B1E adc r9,r27557 .stabn 68,0,670,.LM67-FrameMgr_processLine558 .LM67:559 025a 9281 ldd r25,Z+2560 .stabn 68,0,679,.LM68-FrameMgr_processLine561 .LM68:562 025c 5817 cp r21,r24563 025e 10F0 brlo .L44564 0260 9517 cp r25,r21565 0262 40F4 brsh .L46566 .L44:567 0264 4817 cp r20,r24568 0266 10F0 brlo .L47569 0268 9417 cp r25,r20570 026a 20F4 brsh .L46571 .L47:572 026c 8517 cp r24,r21573 026e 98F0 brlo .L40574 0270 4917 cp r20,r25575 0272 88F0 brlo .L40576 .L46:577 .stabn 68,0,717,.LM69-FrameMgr_processLine578 .LM69:579 0274 F201 movw r30,r4580 0276 5083 st Z,r21581 .stabn 68,0,718,.LM70-FrameMgr_processLine582 .LM70:583 0278 F401 movw r30,r8584 027a 4083 st Z,r20585 .stabn 68,0,721,.LM71-FrameMgr_processLine586 .LM71:587 027c FD01 movw r30,r26588 027e 8381 ldd r24,Z+3589 0280 5817 cp r21,r24590 0282 08F4 brsh .L50GAS LISTING /tmp/ccf43P2i.s page 25591 .stabn 68,0,727,.LM72-FrameMgr_processLine592 .LM72:593 0284 5383 std Z+3,r21594 .L50:595 .stabn 68,0,730,.LM73-FrameMgr_processLine596 .LM73:597 0286 FD01 movw r30,r26598 0288 8581 ldd r24,Z+5599 028a 8417 cp r24,r20600 028c 08F4 brsh .L52601 .stabn 68,0,734,.LM74-FrameMgr_processLine602 .LM74:603 028e 4583 std Z+5,r20604 .L52:605 .stabn 68,0,738,.LM75-FrameMgr_processLine606 .LM75:607 0290 F501 movw r30,r10608 0292 F082 st Z,r15609 0294 1BC0 rjmp .L36610 .L40:611 .stabn 68,0,661,.LM76-FrameMgr_processLine612 .LM76:613 0296 2F5F subi r18,lo8(-(1))614 0298 2830 cpi r18,lo8(8)615 029a 09F4 brne .+2616 029c 4DC0 rjmp .L54617 .stabn 68,0,749,.LM77-FrameMgr_processLine618 .LM77:619 029e 1896 adiw r26,8620 02a0 BECF rjmp .L39621 .L56:622 02a2 D801 movw r26,r16623 02a4 90E0 ldi r25,lo8(0)624 .L57:625 .stabn 68,0,764,.LM78-FrameMgr_processLine626 .LM78:627 02a6 FD01 movw r30,r26628 02a8 8781 ldd r24,Z+7629 02aa 8823 tst r24630 02ac 21F0 breq .L58631 .stabn 68,0,768,.LM79-FrameMgr_processLine632 .LM79:633 02ae 1896 adiw r26,8634 .stabn 68,0,762,.LM80-FrameMgr_processLine635 .LM80:636 02b0 9F5F subi r25,lo8(-(1))637 02b2 9830 cpi r25,lo8(8)638 02b4 C1F7 brne .L57639 .L58:640 .stabn 68,0,774,.LM81-FrameMgr_processLine641 .LM81:642 02b6 3C93 st X,r19643 .stabn 68,0,775,.LM82-FrameMgr_processLine644 .LM82:645 02b8 FD01 movw r30,r26646 02ba 5183 std Z+1,r21647 .stabn 68,0,776,.LM83-FrameMgr_processLineGAS LISTING /tmp/ccf43P2i.s page 26648 .LM83:649 02bc 4283 std Z+2,r20650 .stabn 68,0,777,.LM84-FrameMgr_processLine651 .LM84:652 02be 5383 std Z+3,r21653 .stabn 68,0,778,.LM85-FrameMgr_processLine654 .LM85:655 02c0 F482 std Z+4,r15779:FrameMgr.c **** *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) = currPixelRunFinish; /* x_lowerRight */656 .stabn 68,0,779,.LM86-FrameMgr_processLine657 .LM86:658 02c2 4583 std Z+5,r20780:FrameMgr.c **** *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) = trackedLineCount; /* y_lowerRight */659 .stabn 68,0,780,.LM87-FrameMgr_processLine660 .LM87:661 02c4 F682 std Z+6,r15781:FrameMgr.c **** *(pTrackedObjectData + VALID_OBJECT_OFFSET) = TRUE; /* o662 .stabn 68,0,781,.LM88-FrameMgr_processLine663 .LM88:664 02c6 81E0 ldi r24,lo8(1)665 02c8 8783 std Z+7,r24782:FrameMgr.c ****783:FrameMgr.c **** numCurrTrackedObjects++;666 .stabn 68,0,783,.LM89-FrameMgr_processLine667 .LM89:668 02ca 7F5F subi r23,lo8(-(1))669 .L36:784:FrameMgr.c **** }785:FrameMgr.c **** }786:FrameMgr.c ****787:FrameMgr.c **** /* move the pointer to the beginning of the next tracked object */788:FrameMgr.c **** pTrackedObjectData += SIZE_OF_TRACKED_OBJECT;789:FrameMgr.c **** }790:FrameMgr.c **** } while(currPixelRunFinish < ACTUAL_NUM_PIXELS_IN_A_LINE);670 .stabn 68,0,790,.LM90-FrameMgr_processLine671 .LM90:672 02cc 403B cpi r20,lo8(-80)673 02ce 08F4 brsh .+2674 02d0 95CF rjmp .L35675 02d2 7093 0000 sts numCurrTrackedObjects,r23676 .LBE5:677 .LBE4:678 .stabn 68,0,460,.LM91-FrameMgr_processLine679 .LM91:680 02d6 C601 movw r24,r12681 02d8 8770 andi r24,lo8(7)682 02da 9070 andi r25,hi8(7)683 02dc 0797 sbiw r24,7684 02de 01F5 brne .L61685 02e0 D801 movw r26,r16686 02e2 1796 adiw r26,7687 02e4 40E0 ldi r20,lo8(0)688 .L63:689 .stabn 68,0,464,.LM92-FrameMgr_processLine690 .LM92:691 02e6 8C91 ld r24,X692 02e8 8130 cpi r24,lo8(1)GAS LISTING /tmp/ccf43P2i.s page 27693 02ea A1F4 brne .L64694 02ec FD01 movw r30,r26695 02ee 3197 sbiw r30,1696 .stabn 68,0,468,.LM93-FrameMgr_processLine697 .LM93:698 02f0 9081 ld r25,Z699 02f2 FD01 movw r30,r26700 02f4 3397 sbiw r30,3701 02f6 8081 ld r24,Z702 02f8 292F mov r18,r25703 02fa 3327 clr r19704 02fc F901 movw r30,r18705 02fe E81B sub r30,r24706 0300 F109 sbc r31,__zero_reg__707 0302 3397 sbiw r30,3708 0304 3CF4 brge .L64709 .stabn 68,0,474,.LM94-FrameMgr_processLine710 .LM94:711 0306 C601 movw r24,r12712 0308 821B sub r24,r18713 030a 930B sbc r25,r19714 030c 0397 sbiw r24,3715 030e 14F0 brlt .L64716 .stabn 68,0,477,.LM95-FrameMgr_processLine717 .LM95:718 0310 1C92 st X,__zero_reg__719 .stabn 68,0,478,.LM96-FrameMgr_processLine720 .LM96:721 0312 7150 subi r23,lo8(-(-1))722 .L64:723 .stabn 68,0,462,.LM97-FrameMgr_processLine724 .LM97:725 0314 4F5F subi r20,lo8(-(1))726 0316 1896 adiw r26,8727 0318 4830 cpi r20,lo8(8)728 031a 29F7 brne .L63729 031c 7093 0000 sts numCurrTrackedObjects,r23730 .L61:731 .stabn 68,0,486,.LM98-FrameMgr_processLine732 .LM98:733 0320 E092 0000 sts trackedLineCount,r14734 .stabn 68,0,487,.LM99-FrameMgr_processLine735 .LM99:736 0324 F0E9 ldi r31,lo8(-112)737 0326 EF16 cp r14,r31738 0328 09F4 brne .+2739 032a 48CF rjmp .L72740 .stabn 68,0,498,.LM100-FrameMgr_processLine741 .LM100:742 032c 8091 0000 lds r24,fastEventBitmask743 0330 8260 ori r24,lo8(2)744 0332 8093 0000 sts fastEventBitmask,r24745 0336 04C0 rjmp .L71746 .L54:747 .LBB6:748 .LBB7:749 .stabn 68,0,757,.LM101-FrameMgr_processLineGAS LISTING /tmp/ccf43P2i.s page 28750 .LM101:751 0338 7830 cpi r23,lo8(8)752 033a 08F4 brsh .+2753 033c B2CF rjmp .L56754 033e C6CF rjmp .L36755 .L71:756 .LBE7:757 .LBE6:758 /* epilogue: frame size=1 */759 0340 2196 adiw r28,1760 0342 0FB6 in __tmp_reg__,__SREG__761 0344 F894 cli762 0346 DEBF out __SP_H__,r29763 0348 0FBE out __SREG__,__tmp_reg__764 034a CDBF out __SP_L__,r28765 034c DF91 pop r29766 034e CF91 pop r28767 0350 1F91 pop r17768 0352 0F91 pop r16769 0354 FF90 pop r15770 0356 EF90 pop r14771 0358 DF90 pop r13772 035a CF90 pop r12773 035c BF90 pop r11774 035e AF90 pop r10775 0360 9F90 pop r9776 0362 8F90 pop r8777 0364 7F90 pop r7778 0366 6F90 pop r6779 0368 5F90 pop r5780 036a 4F90 pop r4781 036c 3F90 pop r3782 036e 2F90 pop r2783 0370 0895 ret784 /* epilogue end (size=25) */785 /* function FrameMgr_processLine size 355 (304) */786 .size FrameMgr_processLine, .-FrameMgr_processLine787 .stabs "i:r(0,11)",64,0,343,20788 .stabs "dataToSend:(0,23)=B(0,11)",128,0,344,1789 .stabs "pTrackedObjectData:r(0,22)",64,0,345,26790 .stabn 192,0,0,FrameMgr_processLine-FrameMgr_processLine791 .stabn 224,0,0,.Lscope1-FrameMgr_processLine792 .Lscope1:793 .stabs "",36,0,0,.Lscope1-FrameMgr_processLine794 .stabd 78,0,0795 .stabs "FrameMgr_init:F(0,15)",36,0,191,FrameMgr_init796 .global FrameMgr_init797 .type FrameMgr_init, @function798 FrameMgr_init:799 .stabd 46,0,0800 .stabn 68,0,191,.LM102-FrameMgr_init801 .LM102:802 /* prologue: frame size=0 */803 /* prologue end (size=0) */804 .stabn 68,0,192,.LM103-FrameMgr_init805 .LM103:806 0372 80E4 ldi r24,lo8(64)GAS LISTING /tmp/ccf43P2i.s page 29807 0374 E0E0 ldi r30,lo8(trackedObjectTable)808 0376 F0E0 ldi r31,hi8(trackedObjectTable)809 0378 1192 st Z+,__zero_reg__810 037a 8A95 dec r24811 037c E9F7 brne .-6812 /* epilogue: frame size=0 */813 037e 0895 ret814 /* epilogue end (size=1) */815 /* function FrameMgr_init size 7 (6) */816 .size FrameMgr_init, .-FrameMgr_init817 .Lscope2:818 .stabs "",36,0,0,.Lscope2-FrameMgr_init819 .stabd 78,0,0820 .stabs "FrameMgr_acquireLine:F(0,15)",36,0,287,FrameMgr_acquireLine821 .global FrameMgr_acquireLine822 .type FrameMgr_acquireLine, @function823 FrameMgr_acquireLine:824 .stabd 46,0,0825 .stabn 68,0,287,.LM104-FrameMgr_acquireLine826 .LM104:827 /* prologue: frame size=0 */828 /* prologue end (size=0) */829 .stabn 68,0,297,.LM105-FrameMgr_acquireLine830 .LM105:831 0380 8091 0000 lds r24,currentState832 0384 8230 cpi r24,lo8(2)833 0386 49F5 brne .L83834 .stabn 68,0,299,.LM106-FrameMgr_acquireLine835 .LM106:836 0388 8091 0000 lds r24,lineCount837 038c 282F mov r18,r24838 038e 220F lsl r18839 .stabn 68,0,305,.LM107-FrameMgr_acquireLine840 .LM107:841 0390 80EB ldi r24,lo8(-80)842 0392 E0E0 ldi r30,lo8(currentLineBuffer)843 0394 F0E0 ldi r31,hi8(currentLineBuffer)844 0396 982F mov r25,r24845 0398 1192 st Z+,__zero_reg__846 039a 9A95 dec r25847 039c E9F7 brne .-6848 .stabn 68,0,306,.LM108-FrameMgr_acquireLine849 .LM108:850 039e E0E0 ldi r30,lo8(previousLineBuffer)851 03a0 F0E0 ldi r31,hi8(previousLineBuffer)852 03a2 1192 st Z+,__zero_reg__853 03a4 8A95 dec r24854 03a6 E9F7 brne .-6855 .L85:856 .stabn 68,0,309,.LM109-FrameMgr_acquireLine857 .LM109:858 03a8 829B sbis 48-0x20,2859 03aa FECF rjmp .L85860 .L101:861 .stabn 68,0,310,.LM110-FrameMgr_acquireLine862 .LM110:863 03ac 829B sbis 48-0x20,2GAS LISTING /tmp/ccf43P2i.s page 30864 03ae 07C0 rjmp .L110865 03b0 FDCF rjmp .L101866 .L88:867 03b2 90E0 ldi r25,lo8(0)868 .L114:869 .stabn 68,0,316,.LM111-FrameMgr_acquireLine870 .LM111:871 03b4 849B sbis 48-0x20,4872 03b6 FECF rjmp .L114873 .L102:874 .stabn 68,0,318,.LM112-FrameMgr_acquireLine875 .LM112:876 03b8 849B sbis 48-0x20,4877 03ba 04C0 rjmp .L111878 03bc FDCF rjmp .L102879 .L110:880 .stabn 68,0,314,.LM113-FrameMgr_acquireLine881 .LM113:882 03be 2223 tst r18883 03c0 C1F7 brne .L88884 03c2 05C0 rjmp .L92885 .L111:886 03c4 9150 subi r25,lo8(-(-1))887 03c6 822F mov r24,r18888 03c8 8195 neg r24889 03ca 9817 cp r25,r24890 03cc 99F7 brne .L114891 .L92:892 .stabn 68,0,322,.LM114-FrameMgr_acquireLine893 .LM114:894 03ce 60E0 ldi r22,lo8(previousLineBuffer)895 03d0 70E0 ldi r23,hi8(previousLineBuffer)896 03d2 80E0 ldi r24,lo8(currentLineBuffer)897 03d4 90E0 ldi r25,hi8(currentLineBuffer)898 03d6 00D0 rcall CamIntAsm_acquireDumpLine899 03d8 0895 ret900 .L83:901 .stabn 68,0,324,.LM115-FrameMgr_acquireLine902 .LM115:903 03da 8130 cpi r24,lo8(1)904 03dc 39F4 brne .L96905 .L103:906 .stabn 68,0,326,.LM116-FrameMgr_acquireLine907 .LM116:908 03de 8499 sbic 48-0x20,4909 03e0 FECF rjmp .L103910 .stabn 68,0,327,.LM117-FrameMgr_acquireLine911 .LM117:912 03e2 60E0 ldi r22,lo8(colorMap)913 03e4 70E0 ldi r23,hi8(colorMap)914 03e6 80E0 ldi r24,lo8(currentLineBuffer)915 03e8 90E0 ldi r25,hi8(currentLineBuffer)916 03ea 00D0 rcall CamIntAsm_acquireTrackingLine917 .L96:918 03ec 0895 ret919 /* epilogue: frame size=0 */920 /* epilogue: noreturn */GAS LISTING /tmp/ccf43P2i.s page 31921 /* epilogue end (size=0) */922 /* function FrameMgr_acquireLine size 55 (55) */923 .size FrameMgr_acquireLine, .-FrameMgr_acquireLine924 .stabs "tmpLineCount:r(0,11)",64,0,288,18925 .stabn 192,0,0,FrameMgr_acquireLine-FrameMgr_acquireLine926 .stabn 224,0,0,.Lscope3-FrameMgr_acquireLine927 .Lscope3:928 .stabs "",36,0,0,.Lscope3-FrameMgr_acquireLine929 .stabd 78,0,0930 .stabs "FrameMgr_acquireFrame:F(0,15)",36,0,261,FrameMgr_acquireFrame931 .global FrameMgr_acquireFrame932 .type FrameMgr_acquireFrame, @function933 FrameMgr_acquireFrame:934 .stabd 46,0,0935 .stabn 68,0,261,.LM118-FrameMgr_acquireFrame936 .LM118:937 /* prologue: frame size=0 */938 /* prologue end (size=0) */939 .stabn 68,0,262,.LM119-FrameMgr_acquireFrame940 .LM119:941 03ee 8091 0000 lds r24,currentState942 03f2 8130 cpi r24,lo8(1)943 03f4 A9F4 brne .L120944 .stabn 68,0,264,.LM120-FrameMgr_acquireFrame945 .LM120:946 03f6 1092 0000 sts trackedLineCount,__zero_reg__947 .stabn 68,0,265,.LM121-FrameMgr_acquireFrame948 .LM121:949 03fa 8091 0000 lds r24,numCurrTrackedObjects950 03fe 8093 0000 sts numPrevTrackedObjects,r24951 .stabn 68,0,266,.LM122-FrameMgr_acquireFrame952 .LM122:953 0402 1092 0000 sts numCurrTrackedObjects,__zero_reg__954 .stabn 68,0,270,.LM123-FrameMgr_acquireFrame955 .LM123:956 0406 80E4 ldi r24,lo8(64)957 0408 E0E0 ldi r30,lo8(trackedObjectTable)958 040a F0E0 ldi r31,hi8(trackedObjectTable)959 040c 1192 st Z+,__zero_reg__960 040e 8A95 dec r24961 0410 E9F7 brne .-6962 .L118:963 .stabn 68,0,272,.LM124-FrameMgr_acquireFrame964 .LM124:965 0412 829B sbis 48-0x20,2966 0414 FECF rjmp .L118967 .stabn 68,0,273,.LM125-FrameMgr_acquireFrame968 .LM125:969 0416 60E0 ldi r22,lo8(colorMap)970 0418 70E0 ldi r23,hi8(colorMap)971 041a 80E0 ldi r24,lo8(currentLineBuffer)972 041c 90E0 ldi r25,hi8(currentLineBuffer)973 041e 00D0 rcall CamIntAsm_acquireTrackingLine974 .L120:975 0420 0895 ret976 /* epilogue: frame size=0 */977 /* epilogue: noreturn */GAS LISTING /tmp/ccf43P2i.s page 32978 /* epilogue end (size=0) */979 /* function FrameMgr_acquireFrame size 26 (26) */980 .size FrameMgr_acquireFrame, .-FrameMgr_acquireFrame981 .Lscope4:982 .stabs "",36,0,0,.Lscope4-FrameMgr_acquireFrame983 .stabd 78,0,0984 .stabs "FrameMgr_dispatchEvent:F(0,15)",36,0,205,FrameMgr_dispatchEvent985 .stabs "event:P(0,11)",64,0,204,24986 .global FrameMgr_dispatchEvent987 .type FrameMgr_dispatchEvent, @function988 FrameMgr_dispatchEvent:989 .stabd 46,0,0990 .stabn 68,0,205,.LM126-FrameMgr_dispatchEvent991 .LM126:992 /* prologue: frame size=0 */993 /* prologue end (size=0) */994 .stabn 68,0,206,.LM127-FrameMgr_dispatchEvent995 .LM127:996 0422 8430 cpi r24,lo8(4)997 0424 19F1 breq .L127998 .stabn 68,0,206,.LM128-FrameMgr_dispatchEvent999 .LM128:1000 0426 8530 cpi r24,lo8(5)1001 0428 28F4 brsh .L1311002 042a 8130 cpi r24,lo8(1)1003 042c 09F1 breq .L1251004 042e 8230 cpi r24,lo8(2)1005 0430 41F5 brne .L1331006 0432 07C0 rjmp .L1261007 .L131:1008 0434 8038 cpi r24,lo8(-128)1009 0436 99F0 breq .L1291010 0438 8138 cpi r24,lo8(-127)1011 043a 09F1 breq .L1301012 043c 8032 cpi r24,lo8(32)1013 043e 09F5 brne .L1331014 0440 13C0 rjmp .L1281015 .L126:1016 .stabn 68,0,211,.LM129-FrameMgr_dispatchEvent1017 .LM129:1018 0442 61E0 ldi r22,lo8(1)1019 0444 81E1 ldi r24,lo8(17)1020 0446 00D0 rcall CamConfig_setCamReg1021 .stabn 68,0,212,.LM130-FrameMgr_dispatchEvent1022 .LM130:1023 0448 00D0 rcall CamConfig_sendFifoCmds1024 .stabn 68,0,213,.LM131-FrameMgr_dispatchEvent1025 .LM131:1026 044a 88EE ldi r24,lo8(1000)1027 044c 93E0 ldi r25,hi8(1000)1028 044e 00D0 rcall Utility_delay1029 .stabn 68,0,214,.LM132-FrameMgr_dispatchEvent1030 .LM132:1031 0450 1092 0000 sts lineCount,__zero_reg__1032 .stabn 68,0,215,.LM133-FrameMgr_dispatchEvent1033 .LM133:1034 0454 82E0 ldi r24,lo8(2)GAS LISTING /tmp/ccf43P2i.s page 331035 0456 8093 0000 sts currentState,r241036 .stabn 68,0,217,.LM134-FrameMgr_dispatchEvent1037 .LM134:1038 045a 92DF rcall FrameMgr_acquireLine1039 045c 0895 ret1040 .L129:1041 .stabn 68,0,221,.LM135-FrameMgr_dispatchEvent1042 .LM135:1043 045e 81E0 ldi r24,lo8(1)1044 0460 8093 0000 sts currentState,r241045 .stabn 68,0,222,.LM136-FrameMgr_dispatchEvent1046 .LM136:1047 0464 C4DF rcall FrameMgr_acquireFrame1048 0466 0895 ret1049 .L128:1050 .stabn 68,0,226,.LM137-FrameMgr_dispatchEvent1051 .LM137:1052 0468 CBDD rcall FrameMgr_processFrame1053 046a 0895 ret1054 .L127:1055 .stabn 68,0,230,.LM138-FrameMgr_dispatchEvent1056 .LM138:1057 046c C0DF rcall FrameMgr_acquireFrame1058 046e 0895 ret1059 .L125:1060 .stabn 68,0,234,.LM139-FrameMgr_dispatchEvent1061 .LM139:1062 0470 8091 0000 lds r24,currentState1063 0474 8823 tst r241064 0476 29F0 breq .L1331065 .stabn 68,0,240,.LM140-FrameMgr_dispatchEvent1066 .LM140:1067 0478 84E0 ldi r24,lo8(4)1068 047a 00D0 rcall Exec_writeEventFifo1069 047c 0895 ret1070 .L130:1071 .stabn 68,0,246,.LM141-FrameMgr_dispatchEvent1072 .LM141:1073 047e 1092 0000 sts currentState,__zero_reg__1074 .L133:1075 0482 0895 ret1076 /* epilogue: frame size=0 */1077 /* epilogue: noreturn */1078 /* epilogue end (size=0) */1079 /* function FrameMgr_dispatchEvent size 49 (49) */1080 .size FrameMgr_dispatchEvent, .-FrameMgr_dispatchEvent1081 .Lscope5:1082 .stabs "",36,0,0,.Lscope5-FrameMgr_dispatchEvent1083 .stabd 78,0,01084 .data1085 .type pCurrentTrackedObjectTable, @object1086 .size pCurrentTrackedObjectTable, 21087 pCurrentTrackedObjectTable:1088 0000 0000 .word trackedObjectTable1089 .lcomm numCurrTrackedObjects,11090 .lcomm currentState,11091 .lcomm lineCount,1GAS LISTING /tmp/ccf43P2i.s page 341092 .lcomm trackedLineCount,11093 .lcomm numPrevTrackedObjects,11094 .lcomm trackedObjectTable,641095 .stabs "trackedObjectTable:S(0,24)=ar(0,25)=r(0,25);0;0177777;;0;7;(0,20)",40,0,162,trackedObjectT1096 .stabs "pCurrentTrackedObjectTable:S(0,26)=*(0,20)",38,0,163,pCurrentTrackedObjectTable1097 .stabs "lineCount:S(0,11)",38,0,164,lineCount1098 .stabs "currentState:S(0,17)",38,0,165,currentState1099 .stabs "numCurrTrackedObjects:S(0,11)",38,0,166,numCurrTrackedObjects1100 .stabs "numPrevTrackedObjects:S(0,11)",38,0,167,numPrevTrackedObjects1101 .stabs "trackedLineCount:S(0,11)",38,0,168,trackedLineCount1102 .text1103 .stabs "",100,0,0,.Letext01104 .Letext0:1105 /* File "FrameMgr.c": code 580 = 0x0244 ( 513), prologues 33, epilogues 34 */GAS LISTING /tmp/ccf43P2i.s page 35DEFINED SYMBOLS*ABS*:00000000 FrameMgr.c/tmp/ccf43P2i.s:3 *ABS*:0000003f __SREG__/tmp/ccf43P2i.s:4 *ABS*:0000003e __SP_H__/tmp/ccf43P2i.s:5 *ABS*:0000003d __SP_L__/tmp/ccf43P2i.s:6 *ABS*:00000000 __tmp_reg__/tmp/ccf43P2i.s:7 *ABS*:00000001 __zero_reg__/tmp/ccf43P2i.s:91 .text:00000000 FrameMgr_processFrame/tmp/ccf43P2i.s:1087 .data:00000000 pCurrentTrackedObjectTable.bss:00000000 numCurrTrackedObjects/tmp/ccf43P2i.s:270 .text:000000b2 FrameMgr_processLine/tmp/ccf43P2i.s:1089 .bss:00000001 currentState/tmp/ccf43P2i.s:1090 .bss:00000002 lineCount/tmp/ccf43P2i.s:1091 .bss:00000003 trackedLineCount/tmp/ccf43P2i.s:798 .text:00000372 FrameMgr_init/tmp/ccf43P2i.s:1093 .bss:00000005 trackedObjectTable/tmp/ccf43P2i.s:823 .text:00000380 FrameMgr_acquireLine/tmp/ccf43P2i.s:933 .text:000003ee FrameMgr_acquireFrame/tmp/ccf43P2i.s:1092 .bss:00000004 numPrevTrackedObjects/tmp/ccf43P2i.s:988 .text:00000422 FrameMgr_dispatchEventUNDEFINED SYMBOLS__do_copy_data__do_clear_bssUIMgr_writeTxFifoExec_writeEventFifoUartInt_txBytecurrentLineBufferpreviousLineBufferCamConfig_setCamRegCamConfig_sendFifoCmdsfastEventBitmaskCamIntAsm_acquireDumpLinecolorMapCamIntAsm_acquireTrackingLineUtility_delay