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GAS LISTING /tmp/cc0XjEMJ.s page 11 .file "FrameMgr.c"2 __SREG__ = 0x3f3 __SP_H__ = 0x3e4 __SP_L__ = 0x3d5 __tmp_reg__ = 06 __zero_reg__ = 17 .global __do_copy_data8 .global __do_clear_bss9 .stabs "/home/kaklik/projects/programy/C/avr/AVRcam/",100,0,2,.Ltext010 .stabs "FrameMgr.c",100,0,2,.Ltext011 .text12 .Ltext0:13 .stabs "gcc2_compiled.",60,0,0,014 .stabs "int:t(0,1)=r(0,1);-32768;32767;",128,0,0,015 .stabs "char:t(0,2)=@s8;r(0,2);0;255;",128,0,0,016 .stabs "long int:t(0,3)=@s32;r(0,3);020000000000;017777777777;",128,0,0,017 .stabs "unsigned int:t(0,4)=r(0,4);0;0177777;",128,0,0,018 .stabs "long unsigned int:t(0,5)=@s32;r(0,5);0;037777777777;",128,0,0,019 .stabs "long long int:t(0,6)=@s64;r(0,6);01000000000000000000000;0777777777777777777777;",128,0,0,20 .stabs "long long unsigned int:t(0,7)=@s64;r(0,7);0;01777777777777777777777;",128,0,0,021 .stabs "short int:t(0,8)=r(0,8);-32768;32767;",128,0,0,022 .stabs "short unsigned int:t(0,9)=r(0,9);0;0177777;",128,0,0,023 .stabs "signed char:t(0,10)=@s8;r(0,10);-128;127;",128,0,0,024 .stabs "unsigned char:t(0,11)=@s8;r(0,11);0;255;",128,0,0,025 .stabs "float:t(0,12)=r(0,1);4;0;",128,0,0,026 .stabs "double:t(0,13)=r(0,1);4;0;",128,0,0,027 .stabs "long double:t(0,14)=r(0,1);4;0;",128,0,0,028 .stabs "void:t(0,15)=(0,15)",128,0,0,029 .stabs "/usr/lib/gcc/avr/4.2.1/../../../../avr/include/stdlib.h",130,0,0,030 .stabs "/usr/lib/gcc/avr/4.2.1/include/stddef.h",130,0,0,031 .stabs "size_t:t(2,1)=(0,4)",128,0,214,032 .stabs "wchar_t:t(2,2)=(0,1)",128,0,326,033 .stabn 162,0,0,034 .stabs "div_t:t(1,1)=(1,2)=s4quot:(0,1),0,16;rem:(0,1),16,16;;",128,0,69,035 .stabs "ldiv_t:t(1,3)=(1,4)=s8quot:(0,3),0,32;rem:(0,3),32,32;;",128,0,75,036 .stabs "__compar_fn_t:t(1,5)=(1,6)=*(1,7)=f(0,1)",128,0,78,037 .stabn 162,0,0,038 .stabs "/usr/lib/gcc/avr/4.2.1/../../../../avr/include/avr/io.h",130,0,0,039 .stabs "/usr/lib/gcc/avr/4.2.1/../../../../avr/include/avr/sfr_defs.h",130,0,0,040 .stabs "/usr/lib/gcc/avr/4.2.1/../../../../avr/include/inttypes.h",130,0,0,041 .stabs "/usr/lib/gcc/avr/4.2.1/../../../../avr/include/stdint.h",130,0,0,042 .stabs "int8_t:t(6,1)=(0,10)",128,0,116,043 .stabs "uint8_t:t(6,2)=(0,11)",128,0,117,044 .stabs "int16_t:t(6,3)=(0,1)",128,0,118,045 .stabs "uint16_t:t(6,4)=(0,4)",128,0,119,046 .stabs "int32_t:t(6,5)=(0,3)",128,0,120,047 .stabs "uint32_t:t(6,6)=(0,5)",128,0,121,048 .stabs "int64_t:t(6,7)=(0,6)",128,0,122,049 .stabs "uint64_t:t(6,8)=(0,7)",128,0,123,050 .stabs "intptr_t:t(6,9)=(6,3)",128,0,135,051 .stabs "uintptr_t:t(6,10)=(6,4)",128,0,140,052 .stabs "int_least8_t:t(6,11)=(6,1)",128,0,152,053 .stabs "uint_least8_t:t(6,12)=(6,2)",128,0,157,054 .stabs "int_least16_t:t(6,13)=(6,3)",128,0,162,055 .stabs "uint_least16_t:t(6,14)=(6,4)",128,0,167,056 .stabs "int_least32_t:t(6,15)=(6,5)",128,0,172,057 .stabs "uint_least32_t:t(6,16)=(6,6)",128,0,177,0GAS LISTING /tmp/cc0XjEMJ.s page 258 .stabs "int_least64_t:t(6,17)=(6,7)",128,0,182,059 .stabs "uint_least64_t:t(6,18)=(6,8)",128,0,187,060 .stabs "int_fast8_t:t(6,19)=(6,1)",128,0,200,061 .stabs "uint_fast8_t:t(6,20)=(6,2)",128,0,205,062 .stabs "int_fast16_t:t(6,21)=(6,3)",128,0,210,063 .stabs "uint_fast16_t:t(6,22)=(6,4)",128,0,215,064 .stabs "int_fast32_t:t(6,23)=(6,5)",128,0,220,065 .stabs "uint_fast32_t:t(6,24)=(6,6)",128,0,225,066 .stabs "int_fast64_t:t(6,25)=(6,7)",128,0,230,067 .stabs "uint_fast64_t:t(6,26)=(6,8)",128,0,235,068 .stabs "intmax_t:t(6,27)=(6,7)",128,0,249,069 .stabs "uintmax_t:t(6,28)=(6,8)",128,0,254,070 .stabn 162,0,0,071 .stabs "int_farptr_t:t(5,1)=(6,5)",128,0,76,072 .stabs "uint_farptr_t:t(5,2)=(6,6)",128,0,80,073 .stabn 162,0,0,074 .stabn 162,0,0,075 .stabn 162,0,0,076 .stabs "I2CInterface.h",130,0,0,077 .stabs "CommonDefs.h",130,0,0,078 .stabs "bool_t:t(8,1)=(0,11)",128,0,56,079 .stabn 162,0,0,080 .stabs "i2cCmd_t:t(7,1)=(7,2)=s2configReg:(0,11),0,8;data:(0,11),8,8;;",128,0,53,081 .stabn 162,0,0,082 .stabs " :T(0,16)=@s8;eST_FrameMgr_idle:0,ST_FrameMgr_TrackingFrame:1,ST_FrameMgr_DumpingFrame:2,;83 .stabs "FrameMgr_State_t:t(0,17)=(0,11)",128,0,72,084 .stabs " :T(0,18)=@s8;enotTracked:0,color1:1,color2:2,color3:3,color4:4,color5:5,color6:6,color7:785 .stabs "trackedColor_t:t(0,19)=(0,11)",128,0,127,086 .stabs "trackedObject_t:t(0,20)=(0,21)=s8color:(0,19),0,8;lastLineXStart:(0,11),8,8;lastLineXFinis87 .stabs "FrameMgr_processFrame:F(0,15)",36,0,517,FrameMgr_processFrame88 .global FrameMgr_processFrame89 .type FrameMgr_processFrame, @function90 FrameMgr_processFrame:91 .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.net23:FrameMgr.c ****GAS LISTING /tmp/cc0XjEMJ.s page 324: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 if80:FrameMgr.c **** we had enough room and cycles to process objects between lines */GAS LISTING /tmp/cc0XjEMJ.s page 481: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;137:FrameMgr.c **** unsigned char y_upperLeft;GAS LISTING /tmp/cc0XjEMJ.s page 5138: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 **** }194:FrameMgr.c ****GAS LISTING /tmp/cc0XjEMJ.s page 6195: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 ****251:FrameMgr.c **** /***********************************************************GAS LISTING /tmp/cc0XjEMJ.s page 7252: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 use308:FrameMgr.c **** to start looking for a line to receive */GAS LISTING /tmp/cc0XjEMJ.s page 8309: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 **** {365:FrameMgr.c **** /* when a dump line is sampled, the upper byte can potentiallyGAS LISTING /tmp/cc0XjEMJ.s page 9366: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);422:FrameMgr.c **** while(pixelCount < ACTUAL_NUM_PIXELS_IN_A_LINE)GAS LISTING /tmp/cc0XjEMJ.s page 10423: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--;479:FrameMgr.c **** }GAS LISTING /tmp/cc0XjEMJ.s page 11480: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 **** {92 .stabn 68,0,517,.LM0-.LFBB193 .LM0:94 .LFBB1:95 /* 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-.LFBB1GAS LISTING /tmp/cc0XjEMJ.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-.LFBB1109 .LM2:110 0016 8091 0000 lds r24,numCurrTrackedObjects111 001a 8823 tst r24112 001c 01F4 brne .+2113 001e 00C0 rjmp .L2114 .stabn 68,0,523,.LM3-.LFBB1115 .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-.LFBB1118 .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-.LFBB1122 .LM5:123 0026 8091 0000 lds r24,numCurrTrackedObjects124 002a 00D0 rcall UIMgr_writeTxFifo125 002c DD24 clr r13GAS LISTING /tmp/cc0XjEMJ.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-.LFBB1128 .LM6:129 002e 8F81 ldd r24,Y+7130 0030 8130 cpi r24,lo8(1)131 0032 01F4 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-.LFBB1133 .LM7:134 0034 8881 ld r24,Y570:FrameMgr.c **** if (color == 128) k=0;135 .stabn 68,0,570,.LM8-.LFBB1136 .LM8:137 0036 8038 cpi r24,lo8(-128)138 0038 01F0 breq .L7571:FrameMgr.c **** else if (color == 64) k=1;139 .stabn 68,0,571,.LM9-.LFBB1140 .LM9:141 003a 8034 cpi r24,lo8(64)142 003c 01F4 brne .L9143 003e 81E0 ldi r24,lo8(1)144 0040 00C0 rjmp .L11145 .L9:572:FrameMgr.c **** else if (color == 32) k=2;146 .stabn 68,0,572,.LM10-.LFBB1147 .LM10:148 0042 8032 cpi r24,lo8(32)149 0044 01F4 brne .L12150 0046 82E0 ldi r24,lo8(2)151 0048 00C0 rjmp .L11152 .L12:573:FrameMgr.c **** else if (color == 16) k=3;153 .stabn 68,0,573,.LM11-.LFBB1154 .LM11:155 004a 8031 cpi r24,lo8(16)156 004c 01F4 brne .L14157 004e 83E0 ldi r24,lo8(3)158 0050 00C0 rjmp .L11159 .L14:574:FrameMgr.c **** else if (color == 8) k=4;160 .stabn 68,0,574,.LM12-.LFBB1161 .LM12:162 0052 8830 cpi r24,lo8(8)163 0054 01F4 brne .L16164 0056 84E0 ldi r24,lo8(4)165 0058 00C0 rjmp .L11166 .L16:575:FrameMgr.c **** else if (color == 4) k=5;GAS LISTING /tmp/cc0XjEMJ.s page 14167 .stabn 68,0,575,.LM13-.LFBB1168 .LM13:169 005a 8430 cpi r24,lo8(4)170 005c 01F4 brne .L18171 005e 85E0 ldi r24,lo8(5)172 0060 00C0 rjmp .L11173 .L18:576:FrameMgr.c **** else if (color == 2) k=6;174 .stabn 68,0,576,.LM14-.LFBB1175 .LM14:176 0062 8230 cpi r24,lo8(2)177 0064 01F4 brne .L20178 0066 86E0 ldi r24,lo8(6)179 0068 00C0 rjmp .L11180 .L20:577:FrameMgr.c **** else if (color == 1) k=7;181 .stabn 68,0,577,.LM15-.LFBB1182 .LM15:183 006a 8130 cpi r24,lo8(1)184 006c 01F4 brne .L7185 006e 87E0 ldi r24,lo8(7)186 0070 00C0 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-.LFBB1191 .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-.LFBB1194 .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-.LFBB1197 .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-.LFBB1200 .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-.LFBB1203 .LM20:204 007c 00D0 rcall UIMgr_writeTxFifo585:FrameMgr.c **** UIMgr_writeTxFifo(tmpUpperLeftX);205 .stabn 68,0,585,.LM21-.LFBB1206 .LM21:207 007e 812F mov r24,r17208 0080 00D0 rcall UIMgr_writeTxFifo586:FrameMgr.c **** UIMgr_writeTxFifo(tmpUpperLeftY);209 .stabn 68,0,586,.LM22-.LFBB1210 .LM22:211 0082 802F mov r24,r16212 0084 00D0 rcall UIMgr_writeTxFifoGAS LISTING /tmp/cc0XjEMJ.s page 15587:FrameMgr.c **** UIMgr_writeTxFifo(tmpLowerRightX);213 .stabn 68,0,587,.LM23-.LFBB1214 .LM23:215 0086 8F2D mov r24,r15216 0088 00D0 rcall UIMgr_writeTxFifo588:FrameMgr.c **** UIMgr_writeTxFifo(tmpLowerRightY);217 .stabn 68,0,588,.LM24-.LFBB1218 .LM24:219 008a 8E2D mov r24,r14220 008c 00D0 rcall UIMgr_writeTxFifo221 .L5:222 .stabn 68,0,560,.LM25-.LFBB1223 .LM25:224 008e D394 inc r13225 0090 88E0 ldi r24,lo8(8)226 0092 D816 cp r13,r24227 0094 01F0 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-.LFBB1229 .LM26:230 0096 2896 adiw r28,8231 0098 00C0 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-.LFBB1234 .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-.LFBB1239 .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/cc0XjEMJ.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,.LFBB1-.LFBB1263 .stabn 224,0,0,.Lscope1-.LFBB1264 .Lscope1:265 .stabs "",36,0,0,.Lscope1-.LFBB1266 .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-.LFBB2273 .LM29:274 .LFBB2:275 /* prologue: frame size=1 */276 00b2 2F92 push r2277 00b4 3F92 push r3278 00b6 4F92 push r4279 00b8 5F92 push r5280 00ba 6F92 push r6281 00bc 7F92 push r7282 00be 8F92 push r8283 00c0 9F92 push r9284 00c2 BF92 push r11285 00c4 CF92 push r12286 00c6 DF92 push r13287 00c8 EF92 push r14288 00ca FF92 push r15289 00cc 0F93 push r16290 00ce 1F93 push r17291 00d0 CF93 push r28292 00d2 DF93 push r29293 00d4 CDB7 in r28,__SP_L__294 00d6 DEB7 in r29,__SP_H__295 00d8 2197 sbiw r28,1296 00da 0FB6 in __tmp_reg__,__SREG__297 00dc F894 cli298 00de DEBF out __SP_H__,r29299 00e0 0FBE out __SREG__,__tmp_reg__300 00e2 CDBF out __SP_L__,r28301 /* prologue end (size=25) */302 .stabn 68,0,345,.LM30-.LFBB2303 .LM30:304 00e4 4091 0000 lds r20,pCurrentTrackedObjectTable305 00e8 5091 0000 lds r21,(pCurrentTrackedObjectTable)+1306 .stabn 68,0,352,.LM31-.LFBB2307 .LM31:GAS LISTING /tmp/cc0XjEMJ.s page 17308 00ec 8091 0000 lds r24,currentState309 00f0 8230 cpi r24,lo8(2)310 00f2 01F0 breq .+2311 00f4 00C0 rjmp .L27312 .stabn 68,0,361,.LM32-.LFBB2313 .LM32:314 00f6 8BE0 ldi r24,lo8(11)315 00f8 00D0 rcall UartInt_txByte316 .stabn 68,0,362,.LM33-.LFBB2317 .LM33:318 00fa 8091 0000 lds r24,lineCount319 00fe 00D0 rcall UartInt_txByte320 0100 00E0 ldi r16,lo8(currentLineBuffer)321 0102 10E0 ldi r17,hi8(currentLineBuffer)322 0104 0F2E mov __tmp_reg__,r31323 0106 F0E0 ldi r31,lo8(previousLineBuffer)324 0108 EF2E mov r14,r31325 010a F0E0 ldi r31,hi8(previousLineBuffer)326 010c FF2E mov r15,r31327 010e F02D mov r31,__tmp_reg__328 .stabn 68,0,363,.LM34-.LFBB2329 .LM34:330 0110 0F2E mov __tmp_reg__,r31331 0112 F0E0 ldi r31,lo8(currentLineBuffer+176)332 0114 CF2E mov r12,r31333 0116 F0E0 ldi r31,hi8(currentLineBuffer+176)334 0118 DF2E mov r13,r31335 011a F02D mov r31,__tmp_reg__336 .L29:337 .stabn 68,0,370,.LM35-.LFBB2338 .LM35:339 011c D801 movw r26,r16340 011e 8C91 ld r24,X341 0120 8983 std Y+1,r24342 .stabn 68,0,371,.LM36-.LFBB2343 .LM36:344 0122 8981 ldd r24,Y+1345 0124 8F70 andi r24,lo8(15)346 0126 8983 std Y+1,r24347 .stabn 68,0,372,.LM37-.LFBB2348 .LM37:349 0128 8981 ldd r24,Y+1350 012a 8295 swap r24351 012c 807F andi r24,0xf0352 012e 8983 std Y+1,r24353 .stabn 68,0,373,.LM38-.LFBB2354 .LM38:355 0130 9981 ldd r25,Y+1356 0132 F701 movw r30,r14357 0134 8081 ld r24,Z358 0136 8F70 andi r24,lo8(15)359 0138 892B or r24,r25360 013a 8983 std Y+1,r24361 .stabn 68,0,376,.LM39-.LFBB2362 .LM39:363 013c 8981 ldd r24,Y+1364 013e 00D0 rcall UartInt_txByteGAS LISTING /tmp/cc0XjEMJ.s page 18365 .stabn 68,0,379,.LM40-.LFBB2366 .LM40:367 0140 F701 movw r30,r14368 0142 8181 ldd r24,Z+1369 0144 8983 std Y+1,r24370 .stabn 68,0,380,.LM41-.LFBB2371 .LM41:372 0146 8981 ldd r24,Y+1373 0148 8F70 andi r24,lo8(15)374 014a 8983 std Y+1,r24375 .stabn 68,0,381,.LM42-.LFBB2376 .LM42:377 014c 8981 ldd r24,Y+1378 014e 8295 swap r24379 0150 807F andi r24,0xf0380 0152 8983 std Y+1,r24381 .stabn 68,0,382,.LM43-.LFBB2382 .LM43:383 0154 9981 ldd r25,Y+1384 0156 F801 movw r30,r16385 0158 8181 ldd r24,Z+1386 015a 8F70 andi r24,lo8(15)387 015c 892B or r24,r25388 015e 8983 std Y+1,r24389 .stabn 68,0,385,.LM44-.LFBB2390 .LM44:391 0160 8981 ldd r24,Y+1392 0162 00D0 rcall UartInt_txByte393 0164 0E5F subi r16,lo8(-(2))394 0166 1F4F sbci r17,hi8(-(2))395 0168 82E0 ldi r24,lo8(2)396 016a 90E0 ldi r25,hi8(2)397 016c E80E add r14,r24398 016e F91E adc r15,r25399 .stabn 68,0,363,.LM45-.LFBB2400 .LM45:401 0170 0C15 cp r16,r12402 0172 1D05 cpc r17,r13403 0174 01F4 brne .L29404 .stabn 68,0,387,.LM46-.LFBB2405 .LM46:406 0176 8FE0 ldi r24,lo8(15)407 0178 00D0 rcall UartInt_txByte408 .stabn 68,0,391,.LM47-.LFBB2409 .LM47:410 017a 8091 0000 lds r24,lineCount411 017e 8F5F subi r24,lo8(-(1))412 0180 8093 0000 sts lineCount,r24413 .stabn 68,0,394,.LM48-.LFBB2414 .LM48:415 0184 8834 cpi r24,lo8(72)416 0186 00F0 brlo .L31417 .stabn 68,0,398,.LM49-.LFBB2418 .LM49:419 0188 1092 0000 sts lineCount,__zero_reg__420 .stabn 68,0,399,.LM50-.LFBB2421 .LM50:GAS LISTING /tmp/cc0XjEMJ.s page 19422 018c 1092 0000 sts currentState,__zero_reg__423 .stabn 68,0,402,.LM51-.LFBB2424 .LM51:425 0190 89B7 in r24,89-0x20426 0192 8B7F andi r24,lo8(-5)427 0194 89BF out 89-0x20,r24428 .stabn 68,0,404,.LM52-.LFBB2429 .LM52:430 0196 60E0 ldi r22,lo8(0)431 0198 81E1 ldi r24,lo8(17)432 019a 00D0 rcall CamConfig_setCamReg433 .stabn 68,0,405,.LM53-.LFBB2434 .LM53:435 019c 00D0 rcall CamConfig_sendFifoCmds436 019e 00C0 rjmp .L72437 .L31:438 .stabn 68,0,410,.LM54-.LFBB2439 .LM54:440 01a0 8091 0000 lds r24,fastEventBitmask441 01a4 8260 ori r24,lo8(2)442 01a6 8093 0000 sts fastEventBitmask,r24443 01aa 00C0 rjmp .L72444 .L27:445 .stabn 68,0,413,.LM55-.LFBB2446 .LM55:447 01ac 8130 cpi r24,lo8(1)448 01ae 01F0 breq .+2449 01b0 00C0 rjmp .L72450 .LBB4:451 .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.614: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 pixelsGAS LISTING /tmp/cc0XjEMJ.s page 20633: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)) &&452 .stabn 68,0,663,.LM56-.LFBB2453 .LM56:454 01b2 B090 0000 lds r11,trackedLineCount455 01b6 EB2C mov r14,r11456 01b8 FF24 clr r15457 01ba 3701 movw r6,r14458 01bc 0894 sec459 01be 6108 sbc r6,__zero_reg__460 01c0 7108 sbc r7,__zero_reg__461 01c2 0091 0000 lds r16,numCurrTrackedObjects462 01c6 10E0 ldi r17,lo8(0)463 01c8 60E0 ldi r22,lo8(0)464 01ca 71E0 ldi r23,lo8(1)465 01cc 0F2E mov __tmp_reg__,r31466 01ce F0E0 ldi r31,lo8(currentLineBuffer)467 01d0 2F2E mov r2,r31468 01d2 F0E0 ldi r31,hi8(currentLineBuffer)469 01d4 3F2E mov r3,r31470 01d6 F02D mov r31,__tmp_reg__471 .L35:472 .stabn 68,0,635,.LM57-.LFBB2473 .LM57:474 01d8 D101 movw r26,r2475 01da 3C91 ld r19,X476 .stabn 68,0,636,.LM58-.LFBB2477 .LM58:GAS LISTING /tmp/cc0XjEMJ.s page 21478 01dc 170F add r17,r23479 .stabn 68,0,637,.LM59-.LFBB2480 .LM59:481 01de F101 movw r30,r2482 01e0 7181 ldd r23,Z+1483 01e2 82E0 ldi r24,lo8(2)484 01e4 90E0 ldi r25,hi8(2)485 01e6 280E add r2,r24486 01e8 391E adc r3,r25487 .stabn 68,0,638,.LM60-.LFBB2488 .LM60:489 01ea 670F add r22,r23490 .stabn 68,0,643,.LM61-.LFBB2491 .LM61:492 01ec 3323 tst r19493 01ee 01F4 brne .+2494 01f0 00C0 rjmp .L36495 01f2 7430 cpi r23,lo8(4)496 01f4 00F4 brsh .+2497 01f6 00C0 rjmp .L36498 01f8 FA01 movw r30,r20499 01fa 20E0 ldi r18,lo8(0)500 .L39:501 .stabn 68,0,663,.LM62-.LFBB2502 .LM62:503 01fc 8081 ld r24,Z504 01fe 8317 cp r24,r19505 0200 01F4 brne .L40506 0202 8781 ldd r24,Z+7507 0204 8130 cpi r24,lo8(1)508 0206 01F4 brne .L40509 0208 0F2E mov __tmp_reg__,r31510 020a F6E0 ldi r31,lo8(6)511 020c CF2E mov r12,r31512 020e DD24 clr r13513 0210 F02D mov r31,__tmp_reg__514 0212 CE0E add r12,r30515 0214 DF1E adc r13,r31516 0216 8681 ldd r24,Z+6517 0218 9927 clr r25518 021a 8615 cp r24,r6519 021c 9705 cpc r25,r7520 021e 01F4 brne .L40521 0220 2F01 movw r4,r30522 0222 0894 sec523 0224 411C adc r4,__zero_reg__524 0226 511C adc r5,__zero_reg__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);525 .stabn 68,0,669,.LM63-.LFBB2526 .LM63:527 0228 8181 ldd r24,Z+1528 022a 8824 clr r8GAS LISTING /tmp/cc0XjEMJ.s page 22529 022c 9924 clr r9530 022e 6894 set531 0230 81F8 bld r8,1532 0232 8E0E add r8,r30533 0234 9F1E adc r9,r31670:FrameMgr.c **** lastLineXFinish = *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET);534 .stabn 68,0,670,.LM64-.LFBB2535 .LM64:536 0236 9281 ldd r25,Z+2671: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) &&537 .stabn 68,0,679,.LM65-.LFBB2538 .LM65:539 0238 1817 cp r17,r24540 023a 00F0 brlo .L44541 023c 9117 cp r25,r17542 023e 00F4 brsh .L46543 .L44:544 0240 6817 cp r22,r24545 0242 00F0 brlo .L47546 0244 9617 cp r25,r22547 0246 00F4 brsh .L46548 .L47:549 0248 8117 cp r24,r17550 024a 00F0 brlo .L40551 024c 6917 cp r22,r25552 024e 00F0 brlo .L40553 .L46:680: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 **** -------------------------------GAS LISTING /tmp/cc0XjEMJ.s page 23702: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;554 .stabn 68,0,717,.LM66-.LFBB2555 .LM66:556 0250 D201 movw r26,r4557 0252 1C93 st X,r17718:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET) = currPixelRunFinish;558 .stabn 68,0,718,.LM67-.LFBB2559 .LM67:560 0254 D401 movw r26,r8561 0256 6C93 st X,r22719:FrameMgr.c ****720:FrameMgr.c **** /* check if the bounding box needs to be updated */721:FrameMgr.c **** if (*(pTrackedObjectData + X_UPPER_LEFT_OFFSET) > currPixelRunStart)562 .stabn 68,0,721,.LM68-.LFBB2563 .LM68:564 0258 8381 ldd r24,Z+3565 025a 1817 cp r17,r24566 025c 00F4 brsh .L50722: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;567 .stabn 68,0,727,.LM69-.LFBB2568 .LM69:569 025e 1383 std Z+3,r17570 .L50:728:FrameMgr.c **** }729:FrameMgr.c ****730:FrameMgr.c **** if ( *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) < currPixelRunFinish)571 .stabn 68,0,730,.LM70-.LFBB2572 .LM70:573 0260 8581 ldd r24,Z+5574 0262 8617 cp r24,r22575 0264 00F4 brsh .L52731: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;576 .stabn 68,0,734,.LM71-.LFBB2577 .LM71:GAS LISTING /tmp/cc0XjEMJ.s page 24578 0266 6583 std Z+5,r22579 .L52:735: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;580 .stabn 68,0,738,.LM72-.LFBB2581 .LM72:582 0268 F601 movw r30,r12583 026a B082 st Z,r11584 026c 00C0 rjmp .L36585 .L40:586 .stabn 68,0,661,.LM73-.LFBB2587 .LM73:588 026e 2F5F subi r18,lo8(-(1))589 0270 2830 cpi r18,lo8(8)590 0272 01F4 brne .+2591 0274 00C0 rjmp .L54739: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;592 .stabn 68,0,749,.LM74-.LFBB2593 .LM74:594 0276 3896 adiw r30,8595 0278 00C0 rjmp .L39596 .L56:597 027a FA01 movw r30,r20598 027c 90E0 ldi r25,lo8(0)599 .L57:750: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;600 .stabn 68,0,764,.LM75-.LFBB2601 .LM75:602 027e 8781 ldd r24,Z+7603 0280 8823 tst r24604 0282 01F0 breq .L58GAS LISTING /tmp/cc0XjEMJ.s page 25765: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;605 .stabn 68,0,768,.LM76-.LFBB2606 .LM76:607 0284 3896 adiw r30,8608 .stabn 68,0,762,.LM77-.LFBB2609 .LM77:610 0286 9F5F subi r25,lo8(-(1))611 0288 9830 cpi r25,lo8(8)612 028a 01F4 brne .L57613 .L58:769: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 */614 .stabn 68,0,774,.LM78-.LFBB2615 .LM78:616 028c 3083 st Z,r19775:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_START_OFFSET) = currPixelRunStart; /* lastLineXStart */617 .stabn 68,0,775,.LM79-.LFBB2618 .LM79:619 028e 1183 std Z+1,r17776:FrameMgr.c **** *(pTrackedObjectData + LAST_LINE_X_FINISH_OFFSET) = currPixelRunFinish; /* lastLineXFinish *620 .stabn 68,0,776,.LM80-.LFBB2621 .LM80:622 0290 6283 std Z+2,r22777:FrameMgr.c **** *(pTrackedObjectData + X_UPPER_LEFT_OFFSET) = currPixelRunStart; /* x_upperLeft */623 .stabn 68,0,777,.LM81-.LFBB2624 .LM81:625 0292 1383 std Z+3,r17778:FrameMgr.c **** *(pTrackedObjectData + Y_UPPER_LEFT_OFFSET) = trackedLineCount; /* y_upperLeft */626 .stabn 68,0,778,.LM82-.LFBB2627 .LM82:628 0294 B482 std Z+4,r11779:FrameMgr.c **** *(pTrackedObjectData + X_LOWER_RIGHT_OFFSET) = currPixelRunFinish; /* x_lowerRight */629 .stabn 68,0,779,.LM83-.LFBB2630 .LM83:631 0296 6583 std Z+5,r22780:FrameMgr.c **** *(pTrackedObjectData + Y_LOWER_RIGHT_OFFSET) = trackedLineCount; /* y_lowerRight */632 .stabn 68,0,780,.LM84-.LFBB2633 .LM84:634 0298 B682 std Z+6,r11781:FrameMgr.c **** *(pTrackedObjectData + VALID_OBJECT_OFFSET) = TRUE; /* o635 .stabn 68,0,781,.LM85-.LFBB2636 .LM85:637 029a 81E0 ldi r24,lo8(1)638 029c 8783 std Z+7,r24782:FrameMgr.c ****783:FrameMgr.c **** numCurrTrackedObjects++;639 .stabn 68,0,783,.LM86-.LFBB2640 .LM86:641 029e 0F5F subi r16,lo8(-(1))642 .L36:GAS LISTING /tmp/cc0XjEMJ.s page 26784: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);643 .stabn 68,0,790,.LM87-.LFBB2644 .LM87:645 02a0 603B cpi r22,lo8(-80)646 02a2 00F4 brsh .+2647 02a4 00C0 rjmp .L35648 02a6 0093 0000 sts numCurrTrackedObjects,r16649 .LBE5:650 .LBE4:651 .stabn 68,0,460,.LM88-.LFBB2652 .LM88:653 02aa C701 movw r24,r14654 02ac 8770 andi r24,lo8(7)655 02ae 9070 andi r25,hi8(7)656 02b0 0797 sbiw r24,7657 02b2 01F4 brne .L61658 02b4 60E0 ldi r22,lo8(0)659 .L63:660 .stabn 68,0,464,.LM89-.LFBB2661 .LM89:662 02b6 FA01 movw r30,r20663 02b8 8781 ldd r24,Z+7664 02ba 8130 cpi r24,lo8(1)665 02bc 01F4 brne .L64666 .stabn 68,0,468,.LM90-.LFBB2667 .LM90:668 02be 8681 ldd r24,Z+6669 02c0 282F mov r18,r24670 02c2 3327 clr r19671 02c4 8481 ldd r24,Z+4672 02c6 D901 movw r26,r18673 02c8 A81B sub r26,r24674 02ca B109 sbc r27,__zero_reg__675 02cc 1397 sbiw r26,3676 02ce 04F4 brge .L64677 .stabn 68,0,474,.LM91-.LFBB2678 .LM91:679 02d0 C701 movw r24,r14680 02d2 821B sub r24,r18681 02d4 930B sbc r25,r19682 02d6 0397 sbiw r24,3683 02d8 04F0 brlt .L64684 .stabn 68,0,477,.LM92-.LFBB2685 .LM92:686 02da 1782 std Z+7,__zero_reg__687 .stabn 68,0,478,.LM93-.LFBB2688 .LM93:689 02dc 0150 subi r16,lo8(-(-1))690 .L64:691 .stabn 68,0,462,.LM94-.LFBB2692 .LM94:GAS LISTING /tmp/cc0XjEMJ.s page 27693 02de 6F5F subi r22,lo8(-(1))694 02e0 6830 cpi r22,lo8(8)695 02e2 01F0 breq .L68696 .stabn 68,0,482,.LM95-.LFBB2697 .LM95:698 02e4 485F subi r20,lo8(-(8))699 02e6 5F4F sbci r21,hi8(-(8))700 02e8 00C0 rjmp .L63701 .L68:702 02ea 0093 0000 sts numCurrTrackedObjects,r16703 .L61:704 .stabn 68,0,486,.LM96-.LFBB2705 .LM96:706 02ee 8B2D mov r24,r11707 02f0 8F5F subi r24,lo8(-(1))708 02f2 8093 0000 sts trackedLineCount,r24709 .stabn 68,0,487,.LM97-.LFBB2710 .LM97:711 02f6 8039 cpi r24,lo8(-112)712 02f8 01F4 brne .L70713 .stabn 68,0,491,.LM98-.LFBB2714 .LM98:715 02fa 80E2 ldi r24,lo8(32)716 02fc 00D0 rcall Exec_writeEventFifo717 .stabn 68,0,493,.LM99-.LFBB2718 .LM99:719 02fe 89B7 in r24,89-0x20720 0300 8B7F andi r24,lo8(-5)721 0302 89BF out 89-0x20,r24722 .stabn 68,0,494,.LM100-.LFBB2723 .LM100:724 0304 1092 0000 sts trackedLineCount,__zero_reg__725 0308 00C0 rjmp .L72726 .L70:727 .stabn 68,0,498,.LM101-.LFBB2728 .LM101:729 030a 8091 0000 lds r24,fastEventBitmask730 030e 8260 ori r24,lo8(2)731 0310 8093 0000 sts fastEventBitmask,r24732 0314 00C0 rjmp .L72733 .L54:734 .LBB7:735 .LBB6:736 .stabn 68,0,757,.LM102-.LFBB2737 .LM102:738 0316 0830 cpi r16,lo8(8)739 0318 00F4 brsh .+2740 031a 00C0 rjmp .L56741 031c 00C0 rjmp .L36742 .L72:743 .LBE6:744 .LBE7:745 /* epilogue: frame size=1 */746 031e 2196 adiw r28,1747 0320 0FB6 in __tmp_reg__,__SREG__748 0322 F894 cli749 0324 DEBF out __SP_H__,r29GAS LISTING /tmp/cc0XjEMJ.s page 28750 0326 0FBE out __SREG__,__tmp_reg__751 0328 CDBF out __SP_L__,r28752 032a DF91 pop r29753 032c CF91 pop r28754 032e 1F91 pop r17755 0330 0F91 pop r16756 0332 FF90 pop r15757 0334 EF90 pop r14758 0336 DF90 pop r13759 0338 CF90 pop r12760 033a BF90 pop r11761 033c 9F90 pop r9762 033e 8F90 pop r8763 0340 7F90 pop r7764 0342 6F90 pop r6765 0344 5F90 pop r5766 0346 4F90 pop r4767 0348 3F90 pop r3768 034a 2F90 pop r2769 034c 0895 ret770 /* epilogue end (size=24) */771 /* function FrameMgr_processLine size 337 (288) */772 .size FrameMgr_processLine, .-FrameMgr_processLine773 .stabs "i:r(0,11)",64,0,343,22774 .stabs "dataToSend:(0,23)=B(0,11)",128,0,344,1775 .stabs "pTrackedObjectData:r(0,22)",64,0,345,20776 .stabn 192,0,0,.LFBB2-.LFBB2777 .stabn 224,0,0,.Lscope2-.LFBB2778 .Lscope2:779 .stabs "",36,0,0,.Lscope2-.LFBB2780 .stabd 78,0,0781 .stabs "FrameMgr_init:F(0,15)",36,0,191,FrameMgr_init782 .global FrameMgr_init783 .type FrameMgr_init, @function784 FrameMgr_init:785 .stabd 46,0,0786 .stabn 68,0,191,.LM103-.LFBB3787 .LM103:788 .LFBB3:789 /* prologue: frame size=0 */790 /* prologue end (size=0) */791 .stabn 68,0,192,.LM104-.LFBB3792 .LM104:793 034e 80E4 ldi r24,lo8(64)794 0350 E0E0 ldi r30,lo8(trackedObjectTable)795 0352 F0E0 ldi r31,hi8(trackedObjectTable)796 0354 1192 st Z+,__zero_reg__797 0356 8A95 dec r24798 0358 01F4 brne .-6799 /* epilogue: frame size=0 */800 035a 0895 ret801 /* epilogue end (size=1) */802 /* function FrameMgr_init size 7 (6) */803 .size FrameMgr_init, .-FrameMgr_init804 .Lscope3:805 .stabs "",36,0,0,.Lscope3-.LFBB3806 .stabd 78,0,0GAS LISTING /tmp/cc0XjEMJ.s page 29807 .stabs "FrameMgr_acquireLine:F(0,15)",36,0,287,FrameMgr_acquireLine808 .global FrameMgr_acquireLine809 .type FrameMgr_acquireLine, @function810 FrameMgr_acquireLine:811 .stabd 46,0,0812 .stabn 68,0,287,.LM105-.LFBB4813 .LM105:814 .LFBB4:815 /* prologue: frame size=0 */816 /* prologue end (size=0) */817 .stabn 68,0,297,.LM106-.LFBB4818 .LM106:819 035c 8091 0000 lds r24,currentState820 0360 8230 cpi r24,lo8(2)821 0362 01F4 brne .L81822 .stabn 68,0,299,.LM107-.LFBB4823 .LM107:824 0364 8091 0000 lds r24,lineCount825 0368 982F mov r25,r24826 036a 990F lsl r25827 .stabn 68,0,305,.LM108-.LFBB4828 .LM108:829 036c 80EB ldi r24,lo8(-80)830 036e E0E0 ldi r30,lo8(currentLineBuffer)831 0370 F0E0 ldi r31,hi8(currentLineBuffer)832 0372 282F mov r18,r24833 0374 1192 st Z+,__zero_reg__834 0376 2A95 dec r18835 0378 01F4 brne .-6836 .stabn 68,0,306,.LM109-.LFBB4837 .LM109:838 037a E0E0 ldi r30,lo8(previousLineBuffer)839 037c F0E0 ldi r31,hi8(previousLineBuffer)840 037e 1192 st Z+,__zero_reg__841 0380 8A95 dec r24842 0382 01F4 brne .-6843 .L83:844 .stabn 68,0,309,.LM110-.LFBB4845 .LM110:846 0384 829B sbis 48-0x20,2847 0386 00C0 rjmp .L83848 .L98:849 .stabn 68,0,310,.LM111-.LFBB4850 .LM111:851 0388 829B sbis 48-0x20,2852 038a 00C0 rjmp .L106853 038c 00C0 rjmp .L98854 .L111:855 .stabn 68,0,316,.LM112-.LFBB4856 .LM112:857 038e 849B sbis 48-0x20,4858 0390 00C0 rjmp .L111859 .stabn 68,0,317,.LM113-.LFBB4860 .LM113:861 0392 9150 subi r25,lo8(-(-1))862 .L88:863 .stabn 68,0,318,.LM114-.LFBB4GAS LISTING /tmp/cc0XjEMJ.s page 30864 .LM114:865 0394 849B sbis 48-0x20,4866 0396 00C0 rjmp .L108867 0398 00C0 rjmp .L88868 .L106:869 .stabn 68,0,314,.LM115-.LFBB4870 .LM115:871 039a 9923 tst r25872 039c 01F4 brne .L111873 039e 00C0 rjmp .L90874 .L108:875 03a0 9923 tst r25876 03a2 01F4 brne .L111877 .L90:878 .stabn 68,0,322,.LM116-.LFBB4879 .LM116:880 03a4 60E0 ldi r22,lo8(previousLineBuffer)881 03a6 70E0 ldi r23,hi8(previousLineBuffer)882 03a8 80E0 ldi r24,lo8(currentLineBuffer)883 03aa 90E0 ldi r25,hi8(currentLineBuffer)884 03ac 00D0 rcall CamIntAsm_acquireDumpLine885 03ae 0895 ret886 .L81:887 .stabn 68,0,324,.LM117-.LFBB4888 .LM117:889 03b0 8130 cpi r24,lo8(1)890 03b2 01F4 brne .L94891 .L97:892 .stabn 68,0,326,.LM118-.LFBB4893 .LM118:894 03b4 8499 sbic 48-0x20,4895 03b6 00C0 rjmp .L97896 .stabn 68,0,327,.LM119-.LFBB4897 .LM119:898 03b8 60E0 ldi r22,lo8(colorMap)899 03ba 70E0 ldi r23,hi8(colorMap)900 03bc 80E0 ldi r24,lo8(currentLineBuffer)901 03be 90E0 ldi r25,hi8(currentLineBuffer)902 03c0 00D0 rcall CamIntAsm_acquireTrackingLine903 .L94:904 03c2 0895 ret905 /* epilogue: frame size=0 */906 /* epilogue: noreturn */907 /* epilogue end (size=0) */908 /* function FrameMgr_acquireLine size 52 (52) */909 .size FrameMgr_acquireLine, .-FrameMgr_acquireLine910 .stabs "tmpLineCount:r(0,11)",64,0,288,25911 .stabn 192,0,0,.LFBB4-.LFBB4912 .stabn 224,0,0,.Lscope4-.LFBB4913 .Lscope4:914 .stabs "",36,0,0,.Lscope4-.LFBB4915 .stabd 78,0,0916 .stabs "FrameMgr_acquireFrame:F(0,15)",36,0,261,FrameMgr_acquireFrame917 .global FrameMgr_acquireFrame918 .type FrameMgr_acquireFrame, @function919 FrameMgr_acquireFrame:920 .stabd 46,0,0GAS LISTING /tmp/cc0XjEMJ.s page 31921 .stabn 68,0,261,.LM120-.LFBB5922 .LM120:923 .LFBB5:924 /* prologue: frame size=0 */925 /* prologue end (size=0) */926 .stabn 68,0,262,.LM121-.LFBB5927 .LM121:928 03c4 8091 0000 lds r24,currentState929 03c8 8130 cpi r24,lo8(1)930 03ca 01F4 brne .L117931 .stabn 68,0,264,.LM122-.LFBB5932 .LM122:933 03cc 1092 0000 sts trackedLineCount,__zero_reg__934 .stabn 68,0,265,.LM123-.LFBB5935 .LM123:936 03d0 8091 0000 lds r24,numCurrTrackedObjects937 03d4 8093 0000 sts numPrevTrackedObjects,r24938 .stabn 68,0,266,.LM124-.LFBB5939 .LM124:940 03d8 1092 0000 sts numCurrTrackedObjects,__zero_reg__941 .stabn 68,0,270,.LM125-.LFBB5942 .LM125:943 03dc 80E4 ldi r24,lo8(64)944 03de E0E0 ldi r30,lo8(trackedObjectTable)945 03e0 F0E0 ldi r31,hi8(trackedObjectTable)946 03e2 1192 st Z+,__zero_reg__947 03e4 8A95 dec r24948 03e6 01F4 brne .-6949 .L115:950 .stabn 68,0,272,.LM126-.LFBB5951 .LM126:952 03e8 829B sbis 48-0x20,2953 03ea 00C0 rjmp .L115954 .stabn 68,0,273,.LM127-.LFBB5955 .LM127:956 03ec 60E0 ldi r22,lo8(colorMap)957 03ee 70E0 ldi r23,hi8(colorMap)958 03f0 80E0 ldi r24,lo8(currentLineBuffer)959 03f2 90E0 ldi r25,hi8(currentLineBuffer)960 03f4 00D0 rcall CamIntAsm_acquireTrackingLine961 .L117:962 03f6 0895 ret963 /* epilogue: frame size=0 */964 /* epilogue: noreturn */965 /* epilogue end (size=0) */966 /* function FrameMgr_acquireFrame size 26 (26) */967 .size FrameMgr_acquireFrame, .-FrameMgr_acquireFrame968 .Lscope5:969 .stabs "",36,0,0,.Lscope5-.LFBB5970 .stabd 78,0,0971 .stabs "FrameMgr_dispatchEvent:F(0,15)",36,0,205,FrameMgr_dispatchEvent972 .stabs "event:P(0,11)",64,0,204,24973 .global FrameMgr_dispatchEvent974 .type FrameMgr_dispatchEvent, @function975 FrameMgr_dispatchEvent:976 .stabd 46,0,0977 .stabn 68,0,205,.LM128-.LFBB6GAS LISTING /tmp/cc0XjEMJ.s page 32978 .LM128:979 .LFBB6:980 /* prologue: frame size=0 */981 /* prologue end (size=0) */982 .stabn 68,0,206,.LM129-.LFBB6983 .LM129:984 03f8 8430 cpi r24,lo8(4)985 03fa 01F0 breq .L124986 .stabn 68,0,206,.LM130-.LFBB6987 .LM130:988 03fc 8530 cpi r24,lo8(5)989 03fe 00F4 brsh .L128990 0400 8130 cpi r24,lo8(1)991 0402 01F0 breq .L122992 0404 8230 cpi r24,lo8(2)993 0406 01F4 brne .L130994 0408 00C0 rjmp .L123995 .L128:996 040a 8038 cpi r24,lo8(-128)997 040c 01F0 breq .L126998 040e 8138 cpi r24,lo8(-127)999 0410 01F0 breq .L1271000 0412 8032 cpi r24,lo8(32)1001 0414 01F4 brne .L1301002 0416 00C0 rjmp .L1251003 .L123:1004 .stabn 68,0,211,.LM131-.LFBB61005 .LM131:1006 0418 61E0 ldi r22,lo8(1)1007 041a 81E1 ldi r24,lo8(17)1008 041c 00D0 rcall CamConfig_setCamReg1009 .stabn 68,0,212,.LM132-.LFBB61010 .LM132:1011 041e 00D0 rcall CamConfig_sendFifoCmds1012 .stabn 68,0,213,.LM133-.LFBB61013 .LM133:1014 0420 88EE ldi r24,lo8(1000)1015 0422 93E0 ldi r25,hi8(1000)1016 0424 00D0 rcall Utility_delay1017 .stabn 68,0,214,.LM134-.LFBB61018 .LM134:1019 0426 1092 0000 sts lineCount,__zero_reg__1020 .stabn 68,0,215,.LM135-.LFBB61021 .LM135:1022 042a 82E0 ldi r24,lo8(2)1023 042c 8093 0000 sts currentState,r241024 .stabn 68,0,217,.LM136-.LFBB61025 .LM136:1026 0430 00D0 rcall FrameMgr_acquireLine1027 0432 0895 ret1028 .L126:1029 .stabn 68,0,221,.LM137-.LFBB61030 .LM137:1031 0434 81E0 ldi r24,lo8(1)1032 0436 8093 0000 sts currentState,r241033 .stabn 68,0,222,.LM138-.LFBB61034 .LM138:GAS LISTING /tmp/cc0XjEMJ.s page 331035 043a 00D0 rcall FrameMgr_acquireFrame1036 043c 0895 ret1037 .L125:1038 .stabn 68,0,226,.LM139-.LFBB61039 .LM139:1040 043e 00D0 rcall FrameMgr_processFrame1041 0440 0895 ret1042 .L124:1043 .stabn 68,0,230,.LM140-.LFBB61044 .LM140:1045 0442 00D0 rcall FrameMgr_acquireFrame1046 0444 0895 ret1047 .L122:1048 .stabn 68,0,234,.LM141-.LFBB61049 .LM141:1050 0446 8091 0000 lds r24,currentState1051 044a 8823 tst r241052 044c 01F0 breq .L1301053 .stabn 68,0,240,.LM142-.LFBB61054 .LM142:1055 044e 84E0 ldi r24,lo8(4)1056 0450 00D0 rcall Exec_writeEventFifo1057 0452 0895 ret1058 .L127:1059 .stabn 68,0,246,.LM143-.LFBB61060 .LM143:1061 0454 1092 0000 sts currentState,__zero_reg__1062 .L130:1063 0458 0895 ret1064 /* epilogue: frame size=0 */1065 /* epilogue: noreturn */1066 /* epilogue end (size=0) */1067 /* function FrameMgr_dispatchEvent size 49 (49) */1068 .size FrameMgr_dispatchEvent, .-FrameMgr_dispatchEvent1069 .Lscope6:1070 .stabs "",36,0,0,.Lscope6-.LFBB61071 .stabd 78,0,01072 .data1073 .type pCurrentTrackedObjectTable, @object1074 .size pCurrentTrackedObjectTable, 21075 pCurrentTrackedObjectTable:1076 0000 0000 .word trackedObjectTable1077 .lcomm numCurrTrackedObjects,11078 .lcomm currentState,11079 .lcomm lineCount,11080 .lcomm trackedLineCount,11081 .lcomm numPrevTrackedObjects,11082 .lcomm trackedObjectTable,641083 .stabs "trackedObjectTable:S(0,24)=ar(0,25)=r(0,25);0;0177777;;0;7;(0,20)",40,0,162,trackedObjectT1084 .stabs "pCurrentTrackedObjectTable:S(0,26)=*(0,20)",38,0,163,pCurrentTrackedObjectTable1085 .stabs "lineCount:S(0,11)",38,0,164,lineCount1086 .stabs "currentState:S(0,17)",38,0,165,currentState1087 .stabs "numCurrTrackedObjects:S(0,11)",38,0,166,numCurrTrackedObjects1088 .stabs "numPrevTrackedObjects:S(0,11)",38,0,167,numPrevTrackedObjects1089 .stabs "trackedLineCount:S(0,11)",38,0,168,trackedLineCount1090 .text1091 .stabs "",100,0,0,.Letext0GAS LISTING /tmp/cc0XjEMJ.s page 341092 .Letext0:1093 /* File "FrameMgr.c": code 559 = 0x022f ( 494), prologues 32, epilogues 33 */GAS LISTING /tmp/cc0XjEMJ.s page 35DEFINED SYMBOLS*ABS*:00000000 FrameMgr.c/tmp/cc0XjEMJ.s:2 *ABS*:0000003f __SREG__/tmp/cc0XjEMJ.s:3 *ABS*:0000003e __SP_H__/tmp/cc0XjEMJ.s:4 *ABS*:0000003d __SP_L__/tmp/cc0XjEMJ.s:5 *ABS*:00000000 __tmp_reg__/tmp/cc0XjEMJ.s:6 *ABS*:00000001 __zero_reg__/tmp/cc0XjEMJ.s:90 .text:00000000 FrameMgr_processFrame/tmp/cc0XjEMJ.s:1075 .data:00000000 pCurrentTrackedObjectTable.bss:00000000 numCurrTrackedObjects/tmp/cc0XjEMJ.s:270 .text:000000b2 FrameMgr_processLine/tmp/cc0XjEMJ.s:1077 .bss:00000001 currentState/tmp/cc0XjEMJ.s:1078 .bss:00000002 lineCount/tmp/cc0XjEMJ.s:1079 .bss:00000003 trackedLineCount/tmp/cc0XjEMJ.s:784 .text:0000034e FrameMgr_init/tmp/cc0XjEMJ.s:1081 .bss:00000005 trackedObjectTable/tmp/cc0XjEMJ.s:810 .text:0000035c FrameMgr_acquireLine/tmp/cc0XjEMJ.s:919 .text:000003c4 FrameMgr_acquireFrame/tmp/cc0XjEMJ.s:1080 .bss:00000004 numPrevTrackedObjects/tmp/cc0XjEMJ.s:975 .text:000003f8 FrameMgr_dispatchEventUNDEFINED SYMBOLS__do_copy_data__do_clear_bssUIMgr_writeTxFifoExec_writeEventFifoUartInt_txBytecurrentLineBufferpreviousLineBufferCamConfig_setCamRegCamConfig_sendFifoCmdsfastEventBitmaskCamIntAsm_acquireDumpLinecolorMapCamIntAsm_acquireTrackingLineUtility_delay