An I/O controller for virtual pinball machines: accelerometer nudge sensing, analog plunger input, button input encoding, LedWiz compatible output controls, and more.

Dependencies:   mbed FastIO FastPWM USBDevice

Fork of Pinscape_Controller by Mike R


This is Version 2 of the Pinscape Controller, an I/O controller for virtual pinball machines. (You can find the old version 1 software here.) Pinscape is software for the KL25Z that turns the board into a full-featured I/O controller for virtual pinball, with support for accelerometer-based nudging, a real plunger, button inputs, and feedback device control.

In case you haven't heard of the concept before, a "virtual pinball machine" is basically a video pinball simulator that's built into a real pinball machine body. A TV monitor goes in place of the pinball playfield, and a second TV goes in the backbox to serve as the "backglass" display. A third smaller monitor can serve as the "DMD" (the Dot Matrix Display used for scoring on newer machines), or you can even install a real pinball plasma DMD. A computer is hidden inside the cabinet, running pinball emulation software that displays a life-sized playfield on the main TV. The cabinet has all of the usual buttons, too, so it not only looks like the real thing, but plays like it too. That's a picture of my own machine to the right. On the outside, it's built exactly like a real arcade pinball machine, with the same overall dimensions and all of the standard pinball cabinet hardware.

A few small companies build and sell complete, finished virtual pinball machines, but I think it's more fun as a DIY project. If you have some basic wood-working skills and know your way around PCs, you can build one from scratch. The computer part is just an ordinary Windows PC, and all of the pinball emulation can be built out of free, open-source software. In that spirit, the Pinscape Controller is an open-source software/hardware project that offers a no-compromises, all-in-one control center for all of the unique input/output needs of a virtual pinball cabinet. If you've been thinking about building one of these, but you're not sure how to connect a plunger, flipper buttons, lights, nudge sensor, and whatever else you can think of, this project might be just what you're looking for.

You can find much more information about DIY Pin Cab building in general in the Virtual Cabinet Forum on Also visit my Pinscape Resources page for more about this project and other virtual pinball projects I'm working on.


  • Pinscape Release Builds: This page has download links for all of the Pinscape software. To get started, install and run the Pinscape Config Tool on your Windows computer. It will lead you through the steps for installing the Pinscape firmware on the KL25Z.
  • Config Tool Source Code. The complete C# source code for the config tool. You don't need this to run the tool, but it's available if you want to customize anything or see how it works inside.


The new Version 2 Build Guide is now complete! This new version aims to be a complete guide to building a virtual pinball machine, including not only the Pinscape elements but all of the basics, from sourcing parts to building all of the hardware.

You can also refer to the original Hardware Build Guide (PDF), but that's out of date now, since it refers to the old version 1 software, which was rather different (especially when it comes to configuration).

System Requirements

The new config tool requires a fairly up-to-date Microsoft .NET installation. If you use Windows Update to keep your system current, you should be fine. A modern version of Internet Explorer (IE) is required, even if you don't use it as your main browser, because the config tool uses some system components that Microsoft packages into the IE install set. I test with IE11, so that's known to work. IE8 doesn't work. IE9 and 10 are unknown at this point.

The Windows requirements are only for the config tool. The firmware doesn't care about anything on the Windows side, so if you can make do without the config tool, you can use almost any Windows setup.

Main Features

Plunger: The Pinscape Controller started out as a "mechanical plunger" controller: a device for attaching a real pinball plunger to the video game software so that you could launch the ball the natural way. This is still, of course, a central feature of the project. The software supports several types of sensors: a high-resolution optical sensor (which works by essentially taking pictures of the plunger as it moves); a slide potentionmeter (which determines the position via the changing electrical resistance in the pot); a quadrature sensor (which counts bars printed on a special guide rail that it moves along); and an IR distance sensor (which determines the position by sending pulses of light at the plunger and measuring the round-trip travel time). The Build Guide explains how to set up each type of sensor.

Nudging: The KL25Z (the little microcontroller that the software runs on) has a built-in accelerometer. The Pinscape software uses it to sense when you nudge the cabinet, and feeds the acceleration data to the pinball software on the PC. This turns physical nudges into virtual English on the ball. The accelerometer is quite sensitive and accurate, so we can measure the difference between little bumps and hard shoves, and everything in between. The result is natural and immersive.

Buttons: You can wire real pinball buttons to the KL25Z, and the software will translate the buttons into PC input. You have the option to map each button to a keyboard key or joystick button. You can wire up your flipper buttons, Magna Save buttons, Start button, coin slots, operator buttons, and whatever else you need.

Feedback devices: You can also attach "feedback devices" to the KL25Z. Feedback devices are things that create tactile, sound, and lighting effects in sync with the game action. The most popular PC pinball emulators know how to address a wide variety of these devices, and know how to match them to on-screen action in each virtual table. You just need an I/O controller that translates commands from the PC into electrical signals that turn the devices on and off. The Pinscape Controller can do that for you.

Expansion Boards

There are two main ways to run the Pinscape Controller: standalone, or using the "expansion boards".

In the basic standalone setup, you just need the KL25Z, plus whatever buttons, sensors, and feedback devices you want to attach to it. This mode lets you take advantage of everything the software can do, but for some features, you'll have to build some ad hoc external circuitry to interface external devices with the KL25Z. The Build Guide has detailed plans for exactly what you need to build.

The other option is the Pinscape Expansion Boards. The expansion boards are a companion project, which is also totally free and open-source, that provides Printed Circuit Board (PCB) layouts that are designed specifically to work with the Pinscape software. The PCB designs are in the widely used EAGLE format, which many PCB manufacturers can turn directly into physical boards for you. The expansion boards organize all of the external connections more neatly than on the standalone KL25Z, and they add all of the interface circuitry needed for all of the advanced software functions. The big thing they bring to the table is lots of high-power outputs. The boards provide a modular system that lets you add boards to add more outputs. If you opt for the basic core setup, you'll have enough outputs for all of the toys in a really well-equipped cabinet. If your ambitions go beyond merely well-equipped and run to the ridiculously extravagant, just add an extra board or two. The modular design also means that you can add to the system over time.

Expansion Board project page

Update notes

If you have a Pinscape V1 setup already installed, you should be able to switch to the new version pretty seamlessly. There are just a couple of things to be aware of.

First, the "configuration" procedure is completely different in the new version. Way better and way easier, but it's not what you're used to from V1. In V1, you had to edit the project source code and compile your own custom version of the program. No more! With V2, you simply install the standard, pre-compiled .bin file, and select options using the Pinscape Config Tool on Windows.

Second, if you're using the TSL1410R optical sensor for your plunger, there's a chance you'll need to boost your light source's brightness a little bit. The "shutter speed" is faster in this version, which means that it doesn't spend as much time collecting light per frame as before. The software actually does "auto exposure" adaptation on every frame, so the increased shutter speed really shouldn't bother it, but it does require a certain minimum level of contrast, which requires a certain minimal level of lighting. Check the plunger viewer in the setup tool if you have any problems; if the image looks totally dark, try increasing the light level to see if that helps.

New Features

V2 has numerous new features. Here are some of the highlights...

Dynamic configuration: as explained above, configuration is now handled through the Config Tool on Windows. It's no longer necessary to edit the source code or compile your own modified binary.

Improved plunger sensing: the software now reads the TSL1410R optical sensor about 15x faster than it did before. This allows reading the sensor at full resolution (400dpi), about 400 times per second. The faster frame rate makes a big difference in how accurately we can read the plunger position during the fast motion of a release, which allows for more precise position sensing and faster response. The differences aren't dramatic, since the sensing was already pretty good even with the slower V1 scan rate, but you might notice a little better precision in tricky skill shots.

Keyboard keys: button inputs can now be mapped to keyboard keys. The joystick button option is still available as well, of course. Keyboard keys have the advantage of being closer to universal for PC pinball software: some pinball software can be set up to take joystick input, but nearly all PC pinball emulators can take keyboard input, and nearly all of them use the same key mappings.

Local shift button: one physical button can be designed as the local shift button. This works like a Shift button on a keyboard, but with cabinet buttons. It allows each physical button on the cabinet to have two PC keys assigned, one normal and one shifted. Hold down the local shift button, then press another key, and the other key's shifted key mapping is sent to the PC. The shift button can have a regular key mapping of its own as well, so it can do double duty. The shift feature lets you access more functions without cluttering your cabinet with extra buttons. It's especially nice for less frequently used functions like adjusting the volume or activating night mode.

Night mode: the output controller has a new "night mode" option, which lets you turn off all of your noisy devices with a single button, switch, or PC command. You can designate individual ports as noisy or not. Night mode only disables the noisemakers, so you still get the benefit of your flashers, button lights, and other quiet devices. This lets you play late into the night without disturbing your housemates or neighbors.

Gamma correction: you can designate individual output ports for gamma correction. This adjusts the intensity level of an output to make it match the way the human eye perceives brightness, so that fades and color mixes look more natural in lighting devices. You can apply this to individual ports, so that it only affects ports that actually have lights of some kind attached.

IR Remote Control: the controller software can transmit and/or receive IR remote control commands if you attach appropriate parts (an IR LED to send, an IR sensor chip to receive). This can be used to turn on your TV(s) when the system powers on, if they don't turn on automatically, and for any other functions you can think of requiring IR send/receive capabilities. You can assign IR commands to cabinet buttons, so that pressing a button on your cabinet sends a remote control command from the attached IR LED, and you can have the controller generate virtual key presses on your PC in response to received IR commands. If you have the IR sensor attached, the system can use it to learn commands from your existing remotes.

Yet more USB fixes: I've been gradually finding and fixing USB bugs in the mbed library for months now. This version has all of the fixes of the last couple of releases, of course, plus some new ones. It also has a new "last resort" feature, since there always seems to be "just one more" USB bug. The last resort is that you can tell the device to automatically reboot itself if it loses the USB connection and can't restore it within a given time limit.

More Downloads

  • Custom VP builds: I created modified versions of Visual Pinball 9.9 and Physmod5 that you might want to use in combination with this controller. The modified versions have special handling for plunger calibration specific to the Pinscape Controller, as well as some enhancements to the nudge physics. If you're not using the plunger, you might still want it for the nudge improvements. The modified version also works with any other input controller, so you can get the enhanced nudging effects even if you're using a different plunger/nudge kit. The big change in the modified versions is a "filter" for accelerometer input that's designed to make the response to cabinet nudges more realistic. It also makes the response more subdued than in the standard VP, so it's not to everyone's taste. The downloads include both the updated executables and the source code changes, in case you want to merge the changes into your own custom version(s).

    Note! These features are now standard in the official VP releases, so you don't need my custom builds if you're using 9.9.1 or later and/or VP 10. I don't think there's any reason to use my versions instead of the latest official ones, and in fact I'd encourage you to use the official releases since they're more up to date, but I'm leaving my builds available just in case. In the official versions, look for the checkbox "Enable Nudge Filter" in the Keys preferences dialog. My custom versions don't include that checkbox; they just enable the filter unconditionally.
  • Output circuit shopping list: This is a saved shopping cart at with the parts needed to build one copy of the high-power output circuit for the LedWiz emulator feature, for use with the standalone KL25Z (that is, without the expansion boards). The quantities in the cart are for one output channel, so if you want N outputs, simply multiply the quantities by the N, with one exception: you only need one ULN2803 transistor array chip for each eight output circuits. If you're using the expansion boards, you won't need any of this, since the boards provide their own high-power outputs.
  • Cary Owens' optical sensor housing: A 3D-printable design for a housing/mounting bracket for the optical plunger sensor, designed by Cary Owens. This makes it easy to mount the sensor.
  • Lemming77's potentiometer mounting bracket and shooter rod connecter: Sketchup designs for 3D-printable parts for mounting a slide potentiometer as the plunger sensor. These were designed for a particular slide potentiometer that used to be available from an seller but is no longer listed. You can probably use this design as a starting point for other similar devices; just check the dimensions before committing the design to plastic.

Copyright and License

The Pinscape firmware is copyright 2014, 2021 by Michael J Roberts. It's released under an MIT open-source license. See License.

Warning to VirtuaPin Kit Owners

This software isn't designed as a replacement for the VirtuaPin plunger kit's firmware. If you bought the VirtuaPin kit, I recommend that you don't install this software. The VirtuaPin kit uses the same KL25Z microcontroller that Pinscape uses, but the rest of its hardware is different and incompatible. In particular, the Pinscape firmware doesn't include support for the IR proximity sensor used in the VirtuaPin plunger kit, so you won't be able to use your plunger device with the Pinscape firmware. In addition, the VirtuaPin setup uses a different set of GPIO pins for the button inputs from the Pinscape defaults, so if you do install the Pinscape firmware, you'll have to go into the Config Tool and reassign all of the buttons to match the VirtuaPin wiring.

Sat Apr 18 19:08:55 2020 +0000
TCD1103 DMA setup time padding to fix sporadic missed first pixel in transfer; fix TV ON so that the TV ON IR commands don't have to be grouped in the IR command first slots

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 82:4f6209cb5c33 1 ; Edge detector scan mode 2
mjr 70:9f58735a1732 2 ; This is an assembly language implementation of "scan mode 2",
mjr 82:4f6209cb5c33 3 ; described more fully in edgeSensor.h. This scan mode searches
mjr 70:9f58735a1732 4 ; for the steepest edge in the pixel array, averaging over a few
mjr 70:9f58735a1732 5 ; pixels on each side of the edge. The assembly version is
mjr 70:9f58735a1732 6 ; necessary because the best C++ implementation I can come up
mjr 70:9f58735a1732 7 ; with is too slow (about 12ms run time); this assembly version
mjr 70:9f58735a1732 8 ; runs in about 1.5ms.
mjr 70:9f58735a1732 9
mjr 82:4f6209cb5c33 10 AREA edgeScanMode2_asm, CODE, READONLY
mjr 70:9f58735a1732 11
mjr 82:4f6209cb5c33 12 ; void edgeScanMode2(const uint8_t *pix, int npix, const uint8_t **edgep, int dir)
mjr 70:9f58735a1732 13 ; R0 = pix = pointer to first byte of pixel array
mjr 70:9f58735a1732 14 ; R1 = npix = number of pixels in the array
mjr 70:9f58735a1732 15 ; R2 = edgep = filled in with pixel index of best edge on return,
mjr 70:9f58735a1732 16 ; or null if no edge was found
mjr 70:9f58735a1732 17 ; R3 = dir = direction: 1 = bright region starts at first pixel,
mjr 70:9f58735a1732 18 ; -1 = bright region starts at last pixel
mjr 70:9f58735a1732 19 ;
mjr 70:9f58735a1732 20 ; Note: arguments passed in R0, R1,... per ARM conventions.
mjr 70:9f58735a1732 21
mjr 82:4f6209cb5c33 22 EXPORT edgeScanMode2
mjr 82:4f6209cb5c33 23 edgeScanMode2
mjr 70:9f58735a1732 24
mjr 70:9f58735a1732 25 ; save used registers plus return link
mjr 70:9f58735a1732 26 STMFD R13!, {R4-R6,LR}
mjr 70:9f58735a1732 27
mjr 70:9f58735a1732 28 ; set up registers:
mjr 70:9f58735a1732 29 ; R0 = current pixel index
mjr 70:9f58735a1732 30 ; R1 = end pixel index
mjr 70:9f58735a1732 31 ; R4 = running total
mjr 70:9f58735a1732 32 ; R5 = minmax so far
mjr 70:9f58735a1732 33 ; R6 = tmp (scratch register)
mjr 70:9f58735a1732 34 ADDS R1, R0, R1 ; endPix = pix + npix
mjr 70:9f58735a1732 35 SUBS R1, R1, #20 ; endPix -= pixel window size * 2
mjr 70:9f58735a1732 36 MOVS R5, #0 ; minmax = 0
mjr 70:9f58735a1732 37 STR R5, [R2] ; *edgep = null - no edge found yet
mjr 70:9f58735a1732 38
mjr 70:9f58735a1732 39 ; Figure sum(right window pixels) - sum(left window pixels).
mjr 70:9f58735a1732 40 ; We'll this as a running total. On each iteration, we'll
mjr 70:9f58735a1732 41 ; subtract the outgoing left pixel (because it comes out of
mjr 70:9f58735a1732 42 ; the positive left sum), add the pixel on the border (since
mjr 70:9f58735a1732 43 ; it's coming out of the negative right sum and going into the
mjr 70:9f58735a1732 44 ; positive left sum), and subtract the incoming right pixel
mjr 70:9f58735a1732 45 ; (since it's going into the negative right sum).
mjr 70:9f58735a1732 46
mjr 70:9f58735a1732 47 ; figure the right sum
mjr 70:9f58735a1732 48 LDRB R4, [R0,#10]
mjr 70:9f58735a1732 49 LDRB R6, [R0,#11]
mjr 70:9f58735a1732 50 ADDS R4, R4, R6
mjr 70:9f58735a1732 51 LDRB R6, [R0,#12]
mjr 70:9f58735a1732 52 ADDS R4, R4, R6
mjr 70:9f58735a1732 53 LDRB R6, [R0,#13]
mjr 70:9f58735a1732 54 ADDS R4, R4, R6
mjr 70:9f58735a1732 55 LDRB R6, [R0,#14]
mjr 70:9f58735a1732 56 ADDS R4, R4, R6
mjr 70:9f58735a1732 57 LDRB R6, [R0,#15]
mjr 70:9f58735a1732 58 ADDS R4, R4, R6
mjr 70:9f58735a1732 59 LDRB R6, [R0,#16]
mjr 70:9f58735a1732 60 ADDS R4, R4, R6
mjr 70:9f58735a1732 61 LDRB R6, [R0,#17]
mjr 70:9f58735a1732 62 ADDS R4, R4, R6
mjr 70:9f58735a1732 63 LDRB R6, [R0,#18]
mjr 70:9f58735a1732 64 ADDS R4, R4, R6
mjr 70:9f58735a1732 65 LDRB R6, [R0,#19]
mjr 70:9f58735a1732 66 ADDS R4, R4, R6
mjr 70:9f58735a1732 67
mjr 70:9f58735a1732 68 ; subtract the left sum
mjr 70:9f58735a1732 69 LDRB R6, [R0,#0]
mjr 70:9f58735a1732 70 SUBS R4, R4, R6
mjr 70:9f58735a1732 71 LDRB R6, [R0,#1]
mjr 70:9f58735a1732 72 SUBS R4, R4, R6
mjr 70:9f58735a1732 73 LDRB R6, [R0,#2]
mjr 70:9f58735a1732 74 SUBS R4, R4, R6
mjr 70:9f58735a1732 75 LDRB R6, [R0,#3]
mjr 70:9f58735a1732 76 SUBS R4, R4, R6
mjr 70:9f58735a1732 77 LDRB R6, [R0,#4]
mjr 70:9f58735a1732 78 SUBS R4, R4, R6
mjr 70:9f58735a1732 79 LDRB R6, [R0,#5]
mjr 70:9f58735a1732 80 SUBS R4, R4, R6
mjr 70:9f58735a1732 81 LDRB R6, [R0,#6]
mjr 70:9f58735a1732 82 SUBS R4, R4, R6
mjr 70:9f58735a1732 83 LDRB R6, [R0,#7]
mjr 70:9f58735a1732 84 SUBS R4, R4, R6
mjr 70:9f58735a1732 85 LDRB R6, [R0,#8]
mjr 70:9f58735a1732 86 SUBS R4, R4, R6
mjr 70:9f58735a1732 87 LDRB R6, [R0,#9]
mjr 70:9f58735a1732 88 SUBS R4, R4, R6
mjr 70:9f58735a1732 89
mjr 70:9f58735a1732 90 ; check which direction we're going
mjr 70:9f58735a1732 91 CMPS R3, #0
mjr 70:9f58735a1732 92 BLT ReverseScan
mjr 70:9f58735a1732 93
mjr 70:9f58735a1732 94 ; R3 is now available for other uses. Use it as the pointer to
mjr 70:9f58735a1732 95 ; the best result so far.
mjr 70:9f58735a1732 96
mjr 70:9f58735a1732 97 ; Forward scan: scanning from bright end to dark end, so look for
mjr 70:9f58735a1732 98 ; steepest negative slope
mjr 70:9f58735a1732 99 ForwardScan
mjr 70:9f58735a1732 100 CMPS R4, R5 ; if slope < minmax
mjr 73:4e8ce0b18915 101 BLT L0 ; then update minmax to current pixel
mjr 73:4e8ce0b18915 102
mjr 73:4e8ce0b18915 103 L0A ; update the window
mjr 73:4e8ce0b18915 104 LDRB R6, [R0] ; tmp = curpix[0]
mjr 73:4e8ce0b18915 105 ADD R4, R4, R6 ; leftSum -= curpix[-10], but the running total is
mjr 70:9f58735a1732 106 ; rightSum - leftSum, so ADD this to the running total
mjr 70:9f58735a1732 107
mjr 70:9f58735a1732 108 LDRB R6, [R0,#10] ; tmp = curpix[10]
mjr 73:4e8ce0b18915 109 SUBS R4, R4, R6 ; total -= curpix[10] (subtract from right sum)
mjr 73:4e8ce0b18915 110 SUBS R4, R4, R6 ; total -= curpix[10] (add to left sum -> subtract from total)
mjr 70:9f58735a1732 111
mjr 70:9f58735a1732 112 LDRB R6, [R0,#20] ; tmp = curpix[20]
mjr 70:9f58735a1732 113 ADDS R4, R4, R6 ; rightSum += curPix[20]
mjr 70:9f58735a1732 114
mjr 70:9f58735a1732 115 ; increment the index and loop
mjr 70:9f58735a1732 116 ADDS R0, R0, #1 ; curPix++
mjr 70:9f58735a1732 117 CMPS R0, R1 ; if curPix <= endPix
mjr 73:4e8ce0b18915 118 BLS ForwardScan ; then loop
mjr 73:4e8ce0b18915 119 B Done ; else return
mjr 70:9f58735a1732 120
mjr 73:4e8ce0b18915 121 L0 ; update min/max to current pixel
mjr 73:4e8ce0b18915 122 MOVS R5, R4 ; minmax = slope
mjr 73:4e8ce0b18915 123 MOVS R3, R0 ; minmaxIdx = curpix
mjr 73:4e8ce0b18915 124 B L0A ; resume loop
mjr 70:9f58735a1732 125
mjr 70:9f58735a1732 126 ; Reverse scan: scanning from dark end to bright end, so look for
mjr 70:9f58735a1732 127 ; steepest positive slope
mjr 70:9f58735a1732 128 ReverseScan
mjr 70:9f58735a1732 129 CMPS R4, R5 ; if slope > minmax
mjr 73:4e8ce0b18915 130 BGT L1 ; then update minmax to current pixel
mjr 73:4e8ce0b18915 131
mjr 73:4e8ce0b18915 132 L1A ; update the window
mjr 70:9f58735a1732 133 LDRB R6, [R0,#0] ; tmp = curpix[0]
mjr 70:9f58735a1732 134 ADDS R4, R4, R6 ; leftSum -= curpix[-10], but the running total is
mjr 70:9f58735a1732 135 ; rightSum - leftSum, so ADD this to the running total
mjr 70:9f58735a1732 136
mjr 70:9f58735a1732 137 LDRB R6, [R0,#10] ; tmp = curpix[10]
mjr 73:4e8ce0b18915 138 SUBS R4, R4, R6 ; total -= curpix[10] (subtract from right sum)
mjr 73:4e8ce0b18915 139 SUBS R4, R4, R6 ; total -= curpix[10] (add to left sum -> subtract from total)
mjr 70:9f58735a1732 140
mjr 70:9f58735a1732 141 LDRB R6, [R0,#20] ; tmp = curpix[20]
mjr 70:9f58735a1732 142 ADDS R4, R4, R6 ; rightSum += curPix[20]
mjr 70:9f58735a1732 143
mjr 70:9f58735a1732 144 ; increment the index and loop
mjr 70:9f58735a1732 145 ADDS R0, R0, #1 ; curPix++
mjr 70:9f58735a1732 146 CMPS R0, R1 ; if curPix <= endPix
mjr 73:4e8ce0b18915 147 BLS ReverseScan ; then loop
mjr 73:4e8ce0b18915 148 B Done ; else return
mjr 70:9f58735a1732 149
mjr 73:4e8ce0b18915 150 L1 ; update min/max with current pixel
mjr 73:4e8ce0b18915 151 MOVS R5, R4 ; minmax = slope
mjr 73:4e8ce0b18915 152 MOVS R3, R0 ; minmaxIdx = curpix
mjr 73:4e8ce0b18915 153 B L1A ; resume loop
mjr 73:4e8ce0b18915 154
mjr 70:9f58735a1732 155 Done
mjr 70:9f58735a1732 156 ; presume failure - return false
mjr 70:9f58735a1732 157 MOVS R0, #0
mjr 70:9f58735a1732 158
mjr 70:9f58735a1732 159 ; if we found an edge, adjust the index for the window offset
mjr 70:9f58735a1732 160 CMPS R5, #0 ; if minmax != 0, we found an edge
mjr 70:9f58735a1732 161 BEQ L2 ; nope, no edge
mjr 70:9f58735a1732 162 ADDS R3, #10 ; add the pixel window offset
mjr 70:9f58735a1732 163 STR R3, [R2] ; store the result in *edgep
mjr 70:9f58735a1732 164 MOVS R0, #1 ; return true
mjr 70:9f58735a1732 165
mjr 70:9f58735a1732 166 L2
mjr 70:9f58735a1732 167 ; done - pop registers and return
mjr 70:9f58735a1732 168 LDMFD R13!, {R4-R6,PC}
mjr 70:9f58735a1732 169
mjr 70:9f58735a1732 170 END