Added robot hardware

author: Cristian Maglie <c.maglie@bug.st> 2013-05-13 19:50:59 +0200
committer: Cristian Maglie <c.maglie@bug.st> 2013-05-13 19:50:59 +0200
commit: 08afd2dd608f1d26a279a06351be84285dbf5f5d (patch)
tree: cf0273be22152c1df9c339b8a680eb464e53288f
parent: eb40f35b2d95b2701d92e3b8baf53832a3bd2993 (diff)
12 files changed, 3175 insertions, 0 deletions
diff --git a/boards.txt b/boards.txt
index 145d551..271a7e9 100644
--- a/boards.txt
+++ b/boards.txt
@@ -522,3 +522,46 @@ atmega8.build.mcu=atmega8
 atmega8.build.f_cpu=16000000L
 atmega8.build.core=arduino
 atmega8.build.variant=standard
+
+##############################################################
+
+robotControl.name=Arduino Robot Control
+robotControl.upload.protocol=avr109
+robotControl.upload.maximum_size=28672
+robotControl.upload.speed=57600
+robotControl.upload.disable_flushing=true
+robotControl.bootloader.low_fuses=0xff
+robotControl.bootloader.high_fuses=0xd8
+robotControl.bootloader.extended_fuses=0xcb
+robotControl.bootloader.path=caterina-Arduino_Robot
+robotControl.bootloader.file=Caterina-Robot-Control.hex
+robotControl.bootloader.unlock_bits=0x3F
+robotControl.bootloader.lock_bits=0x2F
+robotControl.build.mcu=atmega32u4
+robotControl.build.f_cpu=16000000L
+robotControl.build.vid=0x2341
+robotControl.build.pid=0x8038
+robotControl.build.core=arduino
+robotControl.build.variant=robot_control
+
+##############################################################
+
+robotMotor.name=Arduino Robot Motor
+robotMotor.upload.protocol=avr109
+robotMotor.upload.maximum_size=28672
+robotMotor.upload.speed=57600
+robotMotor.upload.disable_flushing=true
+robotMotor.bootloader.low_fuses=0xff
+robotMotor.bootloader.high_fuses=0xd8
+robotMotor.bootloader.extended_fuses=0xcb
+robotMotor.bootloader.path=caterina-Arduino_Robot
+robotMotor.bootloader.file=Caterina-Robot-Motor.hex
+robotMotor.bootloader.unlock_bits=0x3F
+robotMotor.bootloader.lock_bits=0x2F
+robotMotor.build.mcu=atmega32u4
+robotMotor.build.f_cpu=16000000L
+robotMotor.build.vid=0x2341
+robotMotor.build.pid=0x8039
+robotMotor.build.core=arduino
+robotMotor.build.variant=robot_motor
+
diff --git a/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Control.hex b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Control.hex
new file mode 100644
index 0000000..bc13bbb
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Control.hex
@@ -0,0 +1,258 @@
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diff --git a/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Motor.hex b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Motor.hex
new file mode 100644
index 0000000..b5560ba
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Caterina-Robot-Motor.hex
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diff --git a/bootloaders/caterina-Arduino_Robot/Caterina-Robot.txt b/bootloaders/caterina-Arduino_Robot/Caterina-Robot.txt
new file mode 100644
index 0000000..5beb659
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Caterina-Robot.txt
@@ -0,0 +1,11 @@
+Builds against LUFA version 111009
+make version 3.81
+avrdude version 5.11
+
+All AVR tools except avrdude were installed by CrossPack 20100115:
+avr-gcc version 4.3.3 (GCC)
+Thread model: single
+Configured with: ../configure —prefix=/usr/local/CrossPack-AVR-20100115 —disable-dependency-tracking —disable-nls —disable-werror —target=avr —enable-languages=c,c++ —disable-nls —disable-libssp —with-dwarf2
+avr-libc version 1.6.7
+binutils version 2.19
+
diff --git a/bootloaders/caterina-Arduino_Robot/Caterina.c b/bootloaders/caterina-Arduino_Robot/Caterina.c
new file mode 100644
index 0000000..c462420
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Caterina.c
@@ -0,0 +1,780 @@
+/*
+             LUFA Library
+     Copyright (C) Dean Camera, 2011.
+
+  dean [at] fourwalledcubicle [dot] com
+           www.lufa-lib.org
+*/
+
+/*
+  Copyright 2011  Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+  Permission to use, copy, modify, distribute, and sell this
+  software and its documentation for any purpose is hereby granted
+  without fee, provided that the above copyright notice appear in
+  all copies and that both that the copyright notice and this
+  permission notice and warranty disclaimer appear in supporting
+  documentation, and that the name of the author not be used in
+  advertising or publicity pertaining to distribution of the
+  software without specific, written prior permission.
+
+  The author disclaim all warranties with regard to this
+  software, including all implied warranties of merchantability
+  and fitness.  In no event shall the author be liable for any
+  special, indirect or consequential damages or any damages
+  whatsoever resulting from loss of use, data or profits, whether
+  in an action of contract, negligence or other tortious action,
+  arising out of or in connection with the use or performance of
+  this software.
+*/
+
+/** \file
+ *
+ *  Main source file for the CDC class bootloader. This file contains the complete bootloader logic.
+ */
+
+#define  INCLUDE_FROM_CATERINA_C
+#include "Caterina.h"
+
+/** Contains the current baud rate and other settings of the first virtual serial port. This must be retained as some
+ *  operating systems will not open the port unless the settings can be set successfully.
+ */
+static CDC_LineEncoding_t LineEncoding = { .BaudRateBPS = 0,
+                                           .CharFormat  = CDC_LINEENCODING_OneStopBit,
+                                           .ParityType  = CDC_PARITY_None,
+                                           .DataBits    = 8                            };
+
+/** Current address counter. This stores the current address of the FLASH or EEPROM as set by the host,
+ *  and is used when reading or writing to the AVRs memory (either FLASH or EEPROM depending on the issued
+ *  command.)
+ */
+static uint32_t CurrAddress;
+
+/** Flag to indicate if the bootloader should be running, or should exit and allow the application code to run
+ *  via a watchdog reset. When cleared the bootloader will exit, starting the watchdog and entering an infinite
+ *  loop until the AVR restarts and the application runs.
+ */
+static bool RunBootloader = true;
+
+/* Pulse generation counters to keep track of the time remaining for each pulse type */
+#define TX_RX_LED_PULSE_PERIOD 100
+uint16_t TxLEDPulse = 0; // time remaining for Tx LED pulse
+uint16_t RxLEDPulse = 0; // time remaining for Rx LED pulse
+
+/* Bootloader timeout timer */
+// MAH 8/15/12- change so timeouts work properly when the chip is running at 8MHz instead of 16.
+#define TIMEOUT_PERIOD	8000
+#define EXT_RESET_TIMEOUT_PERIOD	750
+
+
+/*********************************************************************************************************
+LilyPadUSB bootloader code
+The LilyPadUSB bootloader has been changed to remove the 8-second delay after external reset which is in
+the Leonardo. To enter the bootloader, the user should execute TWO external resets within 750 ms; that is,
+press the reset button twice, quickly.\
+
+Some other changes were made to allow this code to compile tightly enough to fit in the alloted 4k of
+bootloader space.
+*/
+// MAH 8/15/12- added this flag to replace the bulky program memory reads to check for the presence of a sketch
+//   at the top of the memory space.
+static bool sketchPresent = false;
+
+// MAH 8/15/12- make this volatile, since we modify it in one place and read it in another, we want to make
+//  sure we're always working on the copy in memory and not an erroneous value stored in a cache somewhere.
+//  This variable stores the length of time we've been in the bootloader when waiting for the 8 second delay.
+volatile uint16_t Timeout = 0;
+// MAH 8/15/12- added this for delay during startup. Did not use existing Timeout value b/c it only increments
+//  when there's a sketch at the top of the memory.
+volatile uint16_t resetTimeout = 0;
+
+// MAH 8/15/12- let's make this an 8-bit value instead of 16- that saves on memory because 16-bit addition and
+//  comparison compiles to bulkier code. Note that this does *not* require a change to the Arduino core- we're 
+//  just sort of ignoring the extra byte that the Arduino core puts at the next location.
+uint8_t bootKey = 0x77;
+volatile uint8_t *const bootKeyPtr = (volatile uint8_t *)0x0800;
+
+// StartSketch() is called to clean up our mess before passing execution to the sketch.
+void StartSketch(void)
+{
+	cli();
+	
+	/* Undo TIMER1 setup and clear the count before running the sketch */
+	TIMSK1 = 0;
+	TCCR1B = 0;
+	
+	/* Relocate the interrupt vector table to the application section */
+	MCUCR = (1 << IVCE);
+	MCUCR = 0;
+
+	L_LED_OFF();
+	TX_LED_OFF();
+	RX_LED_OFF();
+
+	/* jump to beginning of application space */
+	__asm__ volatile("jmp 0x0000");
+	
+}
+
+uint16_t LLEDPulse;
+
+/** Main program entry point. This routine configures the hardware required by the bootloader, then continuously
+ *  runs the bootloader processing routine until it times out or is instructed to exit.
+ */
+int main(void)
+{
+	/* Save the value of the boot key memory before it is overwritten */
+	uint8_t bootKeyPtrVal = *bootKeyPtr;
+	*bootKeyPtr = 0;
+
+	/* Check the reason for the reset so we can act accordingly */
+	uint8_t  mcusr_state = MCUSR;		// store the initial state of the Status register
+	MCUSR = 0;							// clear all reset flags	
+
+	/* Watchdog may be configured with a 15 ms period so must disable it before going any further */
+	// MAH 8/15/12- I removed this because wdt_disable() is the first thing SetupHardware() does- why
+	//  do it twice right in a row?
+	//wdt_disable();
+	
+	/* Setup hardware required for the bootloader */
+	// MAH 8/15/12- Moved this up to before the bootloader go/no-go decision tree so I could use the
+	//  timer in that decision tree. Removed the USBInit() call from it; if I'm not going to stay in
+	//  the bootloader, there's no point spending the time initializing the USB.
+	// SetupHardware();
+	wdt_disable();
+
+	// Disable clock division 
+	clock_prescale_set(clock_div_1);
+
+	// Relocate the interrupt vector table to the bootloader section
+	MCUCR = (1 << IVCE);
+	MCUCR = (1 << IVSEL);
+	
+	LED_SETUP();
+	CPU_PRESCALE(0); 
+	L_LED_OFF();
+	TX_LED_OFF();
+	RX_LED_OFF();
+	
+	// Initialize TIMER1 to handle bootloader timeout and LED tasks.  
+	// With 16 MHz clock and 1/64 prescaler, timer 1 is clocked at 250 kHz
+	// Our chosen compare match generates an interrupt every 1 ms.
+	// This interrupt is disabled selectively when doing memory reading, erasing,
+	// or writing since SPM has tight timing requirements. 
+
+	OCR1AH = 0;
+	OCR1AL = 250;
+	TIMSK1 = (1 << OCIE1A);					// enable timer 1 output compare A match interrupt
+	TCCR1B = ((1 << CS11) | (1 << CS10));	// 1/64 prescaler on timer 1 input
+	
+	
+	// MAH 8/15/12- this replaces bulky pgm_read_word(0) calls later on, to save memory.
+	if (pgm_read_word(0) != 0xFFFF) sketchPresent = true;
+	
+// MAH 26 Oct 2012- The "bootload or not?" section has been modified since the code released
+//  with Arduino 1.0.1. The simplest modification is the replacement of equivalence checks on
+//  the reset bits with masked checks, so if more than one reset occurs before the register is
+//  checked, the check doesn't fail and fall through to the bootloader unnecessarily.
+
+// The second, more in depth modification addresses behavior after an external reset (i.e.,
+//  user pushes the reset button). The Leonardo treats all external resets as requests to
+//  re-enter the bootloader and wait for code to be loaded. It remains in bootloader mode for
+//  8 seconds before continuing on to the sketch (if one is present). By defining RESET_DELAY
+//  equal to 1, this behavior will persist.
+
+// However, if RESET_DELAY is defined to 0, the reset timeout before loading the sketch drops
+//  to 750ms. If, during that 750ms, another external reset occurs, THEN an 8-second delay
+//  in the bootloader will occur.
+
+	// This is the "no-8-second-delay" code. If this is the first time through the loop, we
+	//  don't expect to see the bootKey in memory.
+	if ( (mcusr_state & (1<<EXTRF)) && (bootKeyPtrVal != bootKey) ) {
+		*bootKeyPtr = bootKey;   // Put the bootKey in memory so if we get back to this
+		                         //  point again, we know to jump into the bootloader
+		sei();  // Enable interrupts, so we can use timer1 to track our time in the bootloader
+		while (RunBootloader) 
+		{
+			if (resetTimeout > EXT_RESET_TIMEOUT_PERIOD) // resetTimeout is getting incremeted
+				RunBootloader = false;                   //  in the timer1 ISR.
+		}
+		// If we make it past that while loop, it's sketch loading time!
+		*bootKeyPtr = 0;   // clear out the bootKey; from now on, we want to treat a reset like
+						   //  a normal reset.
+		cli();             // Disable interrupts, in case no sketch is present.
+		RunBootloader = true;  // We want to hang out in the bootloader if no sketch is present.
+		if (sketchPresent) StartSketch(); // If a sketch is present, go! Otherwise, wait around
+										  //  in the bootloader until one is uploaded.
+	} 
+	// On a power-on reset, we ALWAYS want to go to the sketch. If there is one.
+	//  This is a place where the old code had an equivalence and now there is a mask.
+	else if ( (mcusr_state & (1<<PORF)) && sketchPresent) {	
+		StartSketch();
+	} 
+	// On a watchdog reset, if the bootKey isn't set, and there's a sketch, we should just
+	//  go straight to the sketch.
+	//  This is a place where the old code had an equivalence and now there is a mask.
+	else if ( (mcusr_state & (1<<WDRF) ) && (bootKeyPtrVal != bootKey) && sketchPresent) {	
+		// If it looks like an "accidental" watchdog reset then start the sketch.
+		StartSketch();
+	}
+
+	/* Initialize USB Subsystem */
+	USB_Init();
+
+	/* Enable global interrupts so that the USB stack can function */
+	sei();
+	
+	Timeout = 0;
+	
+	while (RunBootloader)
+	{
+		CDC_Task();
+		USB_USBTask();
+		/* Time out and start the sketch if one is present */
+		if (Timeout > TIMEOUT_PERIOD)
+			RunBootloader = false;
+			
+		// MAH 8/15/12- This used to be a function call- inlining it saves a few bytes.
+		LLEDPulse++;
+		uint8_t p = LLEDPulse >> 8;
+		if (p > 127)
+			p = 254-p;
+		p += p;
+		if (((uint8_t)LLEDPulse) > p)
+			L_LED_OFF();
+		else
+			L_LED_ON();
+	}
+
+	/* Disconnect from the host - USB interface will be reset later along with the AVR */
+	USB_Detach();
+
+	/* Jump to beginning of application space to run the sketch - do not reset */	
+	StartSketch();
+}
+
+// Timer1 is set up to provide periodic interrupts. This is used to flicker the LEDs during
+//  programming as well as to generate the clock counts which determine how long the board should
+//  remain in bootloading mode.
+
+ISR(TIMER1_COMPA_vect, ISR_BLOCK)
+{
+	/* Reset counter */
+	TCNT1H = 0;
+	TCNT1L = 0;
+
+	/* Check whether the TX or RX LED one-shot period has elapsed.  if so, turn off the LED */
+	if (TxLEDPulse && !(--TxLEDPulse))
+		TX_LED_OFF();
+	if (RxLEDPulse && !(--RxLEDPulse))
+		RX_LED_OFF();
+	resetTimeout++;  // Needed for the "short reset delay" mode- governs the time the board waits
+					 //  for a second reset before loading the sketch.
+	if (pgm_read_word(0) != 0xFFFF)
+		Timeout++;
+}
+
+// MAH 29 Oct 2012 Nothing below this point has to change for the LilyPadUSB support
+
+/** Event handler for the USB_ConfigurationChanged event. This configures the device's endpoints ready
+ *  to relay data to and from the attached USB host.
+ */
+void EVENT_USB_Device_ConfigurationChanged(void)
+{
+	/* Setup CDC Notification, Rx and Tx Endpoints */
+	Endpoint_ConfigureEndpoint(CDC_NOTIFICATION_EPNUM, EP_TYPE_INTERRUPT,
+	                           ENDPOINT_DIR_IN, CDC_NOTIFICATION_EPSIZE,
+	                           ENDPOINT_BANK_SINGLE);
+
+	Endpoint_ConfigureEndpoint(CDC_TX_EPNUM, EP_TYPE_BULK,
+	                           ENDPOINT_DIR_IN, CDC_TXRX_EPSIZE,
+	                           ENDPOINT_BANK_SINGLE);
+
+	Endpoint_ConfigureEndpoint(CDC_RX_EPNUM, EP_TYPE_BULK,
+	                           ENDPOINT_DIR_OUT, CDC_TXRX_EPSIZE,
+	                           ENDPOINT_BANK_SINGLE);
+}
+
+/** Event handler for the USB_ControlRequest event. This is used to catch and process control requests sent to
+ *  the device from the USB host before passing along unhandled control requests to the library for processing
+ *  internally.
+ */
+void EVENT_USB_Device_ControlRequest(void)
+{
+	/* Ignore any requests that aren't directed to the CDC interface */
+	if ((USB_ControlRequest.bmRequestType & (CONTROL_REQTYPE_TYPE | CONTROL_REQTYPE_RECIPIENT)) !=
+	    (REQTYPE_CLASS | REQREC_INTERFACE))
+	{
+		return;
+	}
+
+	/* Process CDC specific control requests */
+	switch (USB_ControlRequest.bRequest)
+	{
+		case CDC_REQ_GetLineEncoding:
+			if (USB_ControlRequest.bmRequestType == (REQDIR_DEVICETOHOST | REQTYPE_CLASS | REQREC_INTERFACE))
+			{
+				Endpoint_ClearSETUP();
+
+				/* Write the line coding data to the control endpoint */
+				Endpoint_Write_Control_Stream_LE(&LineEncoding, sizeof(CDC_LineEncoding_t));
+				Endpoint_ClearOUT();
+			}
+
+			break;
+		case CDC_REQ_SetLineEncoding:
+			if (USB_ControlRequest.bmRequestType == (REQDIR_HOSTTODEVICE | REQTYPE_CLASS | REQREC_INTERFACE))
+			{
+				Endpoint_ClearSETUP();
+
+				/* Read the line coding data in from the host into the global struct */
+				Endpoint_Read_Control_Stream_LE(&LineEncoding, sizeof(CDC_LineEncoding_t));
+				Endpoint_ClearIN();
+			}
+
+			break;
+	}
+}
+
+#if !defined(NO_BLOCK_SUPPORT)
+/** Reads or writes a block of EEPROM or FLASH memory to or from the appropriate CDC data endpoint, depending
+ *  on the AVR910 protocol command issued.
+ *
+ *  \param[in] Command  Single character AVR910 protocol command indicating what memory operation to perform
+ */
+static void ReadWriteMemoryBlock(const uint8_t Command)
+{
+	uint16_t BlockSize;
+	char     MemoryType;
+
+	bool     HighByte = false;
+	uint8_t  LowByte  = 0;
+
+	BlockSize  = (FetchNextCommandByte() << 8);
+	BlockSize |=  FetchNextCommandByte();
+
+	MemoryType =  FetchNextCommandByte();
+
+	if ((MemoryType != 'E') && (MemoryType != 'F'))
+	{
+		/* Send error byte back to the host */
+		WriteNextResponseByte('?');
+
+		return;
+	}
+
+	/* Disable timer 1 interrupt - can't afford to process nonessential interrupts
+	 * while doing SPM tasks */
+	TIMSK1 = 0;
+
+	/* Check if command is to read memory */
+	if (Command == 'g')
+	{		
+		/* Re-enable RWW section */
+		boot_rww_enable();
+
+		while (BlockSize--)
+		{
+			if (MemoryType == 'F')
+			{
+				/* Read the next FLASH byte from the current FLASH page */
+				#if (FLASHEND > 0xFFFF)
+				WriteNextResponseByte(pgm_read_byte_far(CurrAddress | HighByte));
+				#else
+				WriteNextResponseByte(pgm_read_byte(CurrAddress | HighByte));
+				#endif
+
+				/* If both bytes in current word have been read, increment the address counter */
+				if (HighByte)
+				  CurrAddress += 2;
+
+				HighByte = !HighByte;
+			}
+			else
+			{
+				/* Read the next EEPROM byte into the endpoint */
+				WriteNextResponseByte(eeprom_read_byte((uint8_t*)(intptr_t)(CurrAddress >> 1)));
+
+				/* Increment the address counter after use */
+				CurrAddress += 2;
+			}
+		}
+	}
+	else
+	{
+		uint32_t PageStartAddress = CurrAddress;
+
+		if (MemoryType == 'F')
+		{
+			boot_page_erase(PageStartAddress);
+			boot_spm_busy_wait();
+		}
+
+		while (BlockSize--)
+		{
+			if (MemoryType == 'F')
+			{
+				/* If both bytes in current word have been written, increment the address counter */
+				if (HighByte)
+				{
+					/* Write the next FLASH word to the current FLASH page */
+					boot_page_fill(CurrAddress, ((FetchNextCommandByte() << 8) | LowByte));
+
+					/* Increment the address counter after use */
+					CurrAddress += 2;
+				}
+				else
+				{
+					LowByte = FetchNextCommandByte();
+				}
+				
+				HighByte = !HighByte;
+			}
+			else
+			{
+				/* Write the next EEPROM byte from the endpoint */
+				eeprom_write_byte((uint8_t*)((intptr_t)(CurrAddress >> 1)), FetchNextCommandByte());
+
+				/* Increment the address counter after use */
+				CurrAddress += 2;
+			}
+		}
+
+		/* If in FLASH programming mode, commit the page after writing */
+		if (MemoryType == 'F')
+		{
+			/* Commit the flash page to memory */
+			boot_page_write(PageStartAddress);
+
+			/* Wait until write operation has completed */
+			boot_spm_busy_wait();
+		}
+
+		/* Send response byte back to the host */
+		WriteNextResponseByte('\r');
+	}
+
+	/* Re-enable timer 1 interrupt disabled earlier in this routine */	
+	TIMSK1 = (1 << OCIE1A);
+}
+#endif
+
+/** Retrieves the next byte from the host in the CDC data OUT endpoint, and clears the endpoint bank if needed
+ *  to allow reception of the next data packet from the host.
+ *
+ *  \return Next received byte from the host in the CDC data OUT endpoint
+ */
+static uint8_t FetchNextCommandByte(void)
+{
+	/* Select the OUT endpoint so that the next data byte can be read */
+	Endpoint_SelectEndpoint(CDC_RX_EPNUM);
+
+	/* If OUT endpoint empty, clear it and wait for the next packet from the host */
+	while (!(Endpoint_IsReadWriteAllowed()))
+	{
+		Endpoint_ClearOUT();
+
+		while (!(Endpoint_IsOUTReceived()))
+		{
+			if (USB_DeviceState == DEVICE_STATE_Unattached)
+			  return 0;
+		}
+	}
+
+	/* Fetch the next byte from the OUT endpoint */
+	return Endpoint_Read_8();
+}
+
+/** Writes the next response byte to the CDC data IN endpoint, and sends the endpoint back if needed to free up the
+ *  bank when full ready for the next byte in the packet to the host.
+ *
+ *  \param[in] Response  Next response byte to send to the host
+ */
+static void WriteNextResponseByte(const uint8_t Response)
+{
+	/* Select the IN endpoint so that the next data byte can be written */
+	Endpoint_SelectEndpoint(CDC_TX_EPNUM);
+
+	/* If IN endpoint full, clear it and wait until ready for the next packet to the host */
+	if (!(Endpoint_IsReadWriteAllowed()))
+	{
+		Endpoint_ClearIN();
+
+		while (!(Endpoint_IsINReady()))
+		{
+			if (USB_DeviceState == DEVICE_STATE_Unattached)
+			  return;
+		}
+	}
+
+	/* Write the next byte to the IN endpoint */
+	Endpoint_Write_8(Response);
+	
+	TX_LED_ON();
+	TxLEDPulse = TX_RX_LED_PULSE_PERIOD;
+}
+
+#define STK_OK              0x10
+#define STK_INSYNC          0x14  // ' '
+#define CRC_EOP             0x20  // 'SPACE'
+#define STK_GET_SYNC        0x30  // '0'
+
+#define STK_GET_PARAMETER   0x41  // 'A'
+#define STK_SET_DEVICE      0x42  // 'B'
+#define STK_SET_DEVICE_EXT  0x45  // 'E'
+#define STK_LOAD_ADDRESS    0x55  // 'U'
+#define STK_UNIVERSAL       0x56  // 'V'
+#define STK_PROG_PAGE       0x64  // 'd'
+#define STK_READ_PAGE       0x74  // 't'
+#define STK_READ_SIGN       0x75  // 'u'
+
+/** Task to read in AVR910 commands from the CDC data OUT endpoint, process them, perform the required actions
+ *  and send the appropriate response back to the host.
+ */
+void CDC_Task(void)
+{
+	/* Select the OUT endpoint */
+	Endpoint_SelectEndpoint(CDC_RX_EPNUM);
+
+	/* Check if endpoint has a command in it sent from the host */
+	if (!(Endpoint_IsOUTReceived()))
+	  return;
+	  
+	RX_LED_ON();
+	RxLEDPulse = TX_RX_LED_PULSE_PERIOD;
+
+	/* Read in the bootloader command (first byte sent from host) */
+	uint8_t Command = FetchNextCommandByte();
+
+	if (Command == 'E')
+	{
+		/* We nearly run out the bootloader timeout clock, 
+		* leaving just a few hundred milliseconds so the 
+		* bootloder has time to respond and service any 
+		* subsequent requests */
+		Timeout = TIMEOUT_PERIOD - 500;
+	
+		/* Re-enable RWW section - must be done here in case 
+		 * user has disabled verification on upload.  */
+		boot_rww_enable_safe();		
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 'T')
+	{
+		FetchNextCommandByte();
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if ((Command == 'L') || (Command == 'P'))
+	{
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 't')
+	{
+		// Return ATMEGA128 part code - this is only to allow AVRProg to use the bootloader 
+		WriteNextResponseByte(0x44);
+		WriteNextResponseByte(0x00);
+	}
+	else if (Command == 'a')
+	{
+		// Indicate auto-address increment is supported 
+		WriteNextResponseByte('Y');
+	}
+	else if (Command == 'A')
+	{
+		// Set the current address to that given by the host 
+		CurrAddress   = (FetchNextCommandByte() << 9);
+		CurrAddress  |= (FetchNextCommandByte() << 1);
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 'p')
+	{
+		// Indicate serial programmer back to the host 
+		WriteNextResponseByte('S');
+	}
+	else if (Command == 'S')
+	{
+		// Write the 7-byte software identifier to the endpoint 
+		for (uint8_t CurrByte = 0; CurrByte < 7; CurrByte++)
+		  WriteNextResponseByte(SOFTWARE_IDENTIFIER[CurrByte]);
+	}
+	else if (Command == 'V')
+	{
+		WriteNextResponseByte('0' + BOOTLOADER_VERSION_MAJOR);
+		WriteNextResponseByte('0' + BOOTLOADER_VERSION_MINOR);
+	}
+	else if (Command == 's')
+	{
+		WriteNextResponseByte(AVR_SIGNATURE_3);
+		WriteNextResponseByte(AVR_SIGNATURE_2);
+		WriteNextResponseByte(AVR_SIGNATURE_1);
+	}
+	else if (Command == 'e')
+	{
+		// Clear the application section of flash 
+		for (uint32_t CurrFlashAddress = 0; CurrFlashAddress < BOOT_START_ADDR; CurrFlashAddress += SPM_PAGESIZE)
+		{
+			boot_page_erase(CurrFlashAddress);
+			boot_spm_busy_wait();
+			boot_page_write(CurrFlashAddress);
+			boot_spm_busy_wait();
+		}
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	#if !defined(NO_LOCK_BYTE_WRITE_SUPPORT)
+	else if (Command == 'l')
+	{
+		// Set the lock bits to those given by the host 
+		boot_lock_bits_set(FetchNextCommandByte());
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	#endif
+	else if (Command == 'r')
+	{
+		WriteNextResponseByte(boot_lock_fuse_bits_get(GET_LOCK_BITS));
+	}
+	else if (Command == 'F')
+	{
+		WriteNextResponseByte(boot_lock_fuse_bits_get(GET_LOW_FUSE_BITS));
+	}
+	else if (Command == 'N')
+	{
+		WriteNextResponseByte(boot_lock_fuse_bits_get(GET_HIGH_FUSE_BITS));
+	}
+	else if (Command == 'Q')
+	{
+		WriteNextResponseByte(boot_lock_fuse_bits_get(GET_EXTENDED_FUSE_BITS));
+	}
+	#if !defined(NO_BLOCK_SUPPORT)
+	else if (Command == 'b')
+	{
+		WriteNextResponseByte('Y');
+
+		// Send block size to the host 
+		WriteNextResponseByte(SPM_PAGESIZE >> 8);
+		WriteNextResponseByte(SPM_PAGESIZE & 0xFF);
+	}
+	else if ((Command == 'B') || (Command == 'g'))
+	{
+		// Keep resetting the timeout counter if we're receiving self-programming instructions
+		Timeout = 0;
+		// Delegate the block write/read to a separate function for clarity 
+		ReadWriteMemoryBlock(Command);
+	}
+	#endif
+	#if !defined(NO_FLASH_BYTE_SUPPORT)
+	else if (Command == 'C')
+	{
+		// Write the high byte to the current flash page
+		boot_page_fill(CurrAddress, FetchNextCommandByte());
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 'c')
+	{
+		// Write the low byte to the current flash page 
+		boot_page_fill(CurrAddress | 0x01, FetchNextCommandByte());
+
+		// Increment the address 
+		CurrAddress += 2;
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 'm')
+	{
+		// Commit the flash page to memory
+		boot_page_write(CurrAddress);
+
+		// Wait until write operation has completed 
+		boot_spm_busy_wait();
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 'R')
+	{
+		#if (FLASHEND > 0xFFFF)
+		uint16_t ProgramWord = pgm_read_word_far(CurrAddress);
+		#else
+		uint16_t ProgramWord = pgm_read_word(CurrAddress);
+		#endif
+
+		WriteNextResponseByte(ProgramWord >> 8);
+		WriteNextResponseByte(ProgramWord & 0xFF);
+	}
+	#endif
+	#if !defined(NO_EEPROM_BYTE_SUPPORT)
+	else if (Command == 'D')
+	{
+		// Read the byte from the endpoint and write it to the EEPROM 
+		eeprom_write_byte((uint8_t*)((intptr_t)(CurrAddress >> 1)), FetchNextCommandByte());
+
+		// Increment the address after use
+		CurrAddress += 2;
+
+		// Send confirmation byte back to the host 
+		WriteNextResponseByte('\r');
+	}
+	else if (Command == 'd')
+	{
+		// Read the EEPROM byte and write it to the endpoint 
+		WriteNextResponseByte(eeprom_read_byte((uint8_t*)((intptr_t)(CurrAddress >> 1))));
+
+		// Increment the address after use 
+		CurrAddress += 2;
+	}
+	#endif
+	else if (Command != 27)
+	{
+		// Unknown (non-sync) command, return fail code 
+		WriteNextResponseByte('?');
+	}
+	
+
+	/* Select the IN endpoint */
+	Endpoint_SelectEndpoint(CDC_TX_EPNUM);
+
+	/* Remember if the endpoint is completely full before clearing it */
+	bool IsEndpointFull = !(Endpoint_IsReadWriteAllowed());
+
+	/* Send the endpoint data to the host */
+	Endpoint_ClearIN();
+
+	/* If a full endpoint's worth of data was sent, we need to send an empty packet afterwards to signal end of transfer */
+	if (IsEndpointFull)
+	{
+		while (!(Endpoint_IsINReady()))
+		{
+			if (USB_DeviceState == DEVICE_STATE_Unattached)
+			  return;
+		}
+
+		Endpoint_ClearIN();
+	}
+
+	/* Wait until the data has been sent to the host */
+	while (!(Endpoint_IsINReady()))
+	{
+		if (USB_DeviceState == DEVICE_STATE_Unattached)
+		  return;
+	}
+
+	/* Select the OUT endpoint */
+	Endpoint_SelectEndpoint(CDC_RX_EPNUM);
+
+	/* Acknowledge the command from the host */
+	Endpoint_ClearOUT();
+}
+
diff --git a/bootloaders/caterina-Arduino_Robot/Caterina.h b/bootloaders/caterina-Arduino_Robot/Caterina.h
new file mode 100644
index 0000000..5ce80fa
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Caterina.h
@@ -0,0 +1,106 @@
+/*
+             LUFA Library
+     Copyright (C) Dean Camera, 2011.
+
+  dean [at] fourwalledcubicle [dot] com
+           www.lufa-lib.org
+*/
+
+/*
+  Copyright 2011  Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+  Permission to use, copy, modify, distribute, and sell this
+  software and its documentation for any purpose is hereby granted
+  without fee, provided that the above copyright notice appear in
+  all copies and that both that the copyright notice and this
+  permission notice and warranty disclaimer appear in supporting
+  documentation, and that the name of the author not be used in
+  advertising or publicity pertaining to distribution of the
+  software without specific, written prior permission.
+
+  The author disclaim all warranties with regard to this
+  software, including all implied warranties of merchantability
+  and fitness.  In no event shall the author be liable for any
+  special, indirect or consequential damages or any damages
+  whatsoever resulting from loss of use, data or profits, whether
+  in an action of contract, negligence or other tortious action,
+  arising out of or in connection with the use or performance of
+  this software.
+*/
+
+/** \file
+ *
+ *  Header file for BootloaderCDC.c.
+ */
+
+#ifndef _CDC_H_
+#define _CDC_H_
+
+	/* Includes: */
+		#include <avr/io.h>
+		#include <avr/wdt.h>
+		#include <avr/boot.h>
+		#include <avr/eeprom.h>
+		#include <avr/power.h>
+		#include <avr/interrupt.h>
+		#include <stdbool.h>
+
+		#include "Descriptors.h"
+
+		#include <LUFA/Drivers/USB/USB.h>
+	/* Macros: */
+		/** Version major of the CDC bootloader. */
+		#define BOOTLOADER_VERSION_MAJOR     0x01
+
+		/** Version minor of the CDC bootloader. */
+		#define BOOTLOADER_VERSION_MINOR     0x00
+
+		/** Hardware version major of the CDC bootloader. */
+		#define BOOTLOADER_HWVERSION_MAJOR   0x01
+
+		/** Hardware version minor of the CDC bootloader. */
+		#define BOOTLOADER_HWVERSION_MINOR   0x00
+
+		/** Eight character bootloader firmware identifier reported to the host when requested */
+		#define SOFTWARE_IDENTIFIER          "CATERINA"
+		
+		#define CPU_PRESCALE(n)	(CLKPR = 0x80, CLKPR = (n))
+		#define LED_SETUP()		DDRC |= (1<<7); DDRB |= (1<<0); DDRD |= (1<<5);
+		#define L_LED_OFF()		PORTC &= ~(1<<7)
+		#define L_LED_ON()		PORTC |= (1<<7)
+		#define L_LED_TOGGLE()	PORTC ^= (1<<7)
+		#if DEVICE_PID == 0x0037	// polarity of the RX and TX LEDs is reversed on the Micro
+			#define TX_LED_OFF()	PORTD &= ~(1<<5)
+			#define TX_LED_ON()		PORTD |= (1<<5)
+			#define RX_LED_OFF()	PORTB &= ~(1<<0)
+			#define RX_LED_ON()		PORTB |= (1<<0)			
+		#else 
+			#define TX_LED_OFF()	PORTD |= (1<<5)
+			#define TX_LED_ON()		PORTD &= ~(1<<5)
+			#define RX_LED_OFF()	PORTB |= (1<<0)
+			#define RX_LED_ON()		PORTB &= ~(1<<0)
+		#endif
+
+	/* Type Defines: */
+		/** Type define for a non-returning pointer to the start of the loaded application in flash memory. */
+		typedef void (*AppPtr_t)(void) ATTR_NO_RETURN;
+
+	/* Function Prototypes: */
+		void StartSketch(void);
+		void LEDPulse(void);
+	
+		void CDC_Task(void);
+		void SetupHardware(void);
+
+		void EVENT_USB_Device_ConfigurationChanged(void);
+
+		#if defined(INCLUDE_FROM_CATERINA_C) || defined(__DOXYGEN__)
+			#if !defined(NO_BLOCK_SUPPORT)
+			static void    ReadWriteMemoryBlock(const uint8_t Command);
+			#endif
+			static uint8_t FetchNextCommandByte(void);
+			static void    WriteNextResponseByte(const uint8_t Response);
+		#endif
+
+#endif
+
diff --git a/bootloaders/caterina-Arduino_Robot/Descriptors.c b/bootloaders/caterina-Arduino_Robot/Descriptors.c
new file mode 100644
index 0000000..57f39d9
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Descriptors.c
@@ -0,0 +1,270 @@
+/*
+             LUFA Library
+     Copyright (C) Dean Camera, 2011.
+
+  dean [at] fourwalledcubicle [dot] com
+           www.lufa-lib.org
+*/
+
+/*
+  Copyright 2011  Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+  Permission to use, copy, modify, distribute, and sell this
+  software and its documentation for any purpose is hereby granted
+  without fee, provided that the above copyright notice appear in
+  all copies and that both that the copyright notice and this
+  permission notice and warranty disclaimer appear in supporting
+  documentation, and that the name of the author not be used in
+  advertising or publicity pertaining to distribution of the
+  software without specific, written prior permission.
+
+  The author disclaim all warranties with regard to this
+  software, including all implied warranties of merchantability
+  and fitness.  In no event shall the author be liable for any
+  special, indirect or consequential damages or any damages
+  whatsoever resulting from loss of use, data or profits, whether
+  in an action of contract, negligence or other tortious action,
+  arising out of or in connection with the use or performance of
+  this software.
+*/
+
+/** \file
+ *
+ *  USB Device Descriptors, for library use when in USB device mode. Descriptors are special
+ *  computer-readable structures which the host requests upon device enumeration, to determine
+ *  the device's capabilities and functions.
+ */
+
+#include "Descriptors.h"
+
+/** Device descriptor structure. This descriptor, located in SRAM memory, describes the overall
+ *  device characteristics, including the supported USB version, control endpoint size and the
+ *  number of device configurations. The descriptor is read out by the USB host when the enumeration
+ *  process begins.
+ */
+const USB_Descriptor_Device_t DeviceDescriptor =
+{
+	.Header                 = {.Size = sizeof(USB_Descriptor_Device_t), .Type = DTYPE_Device},
+
+	.USBSpecification       = VERSION_BCD(01.10),
+	.Class                  = CDC_CSCP_CDCClass,
+	.SubClass               = CDC_CSCP_NoSpecificSubclass,
+	.Protocol               = CDC_CSCP_NoSpecificProtocol,
+
+	.Endpoint0Size          = FIXED_CONTROL_ENDPOINT_SIZE,
+
+	.VendorID               = DEVICE_VID,
+	.ProductID              = DEVICE_PID,
+	.ReleaseNumber          = VERSION_BCD(00.01),
+
+	.ManufacturerStrIndex   = 0x02,
+	.ProductStrIndex        = 0x01,
+	.SerialNumStrIndex      = NO_DESCRIPTOR,
+
+	.NumberOfConfigurations = FIXED_NUM_CONFIGURATIONS
+};
+
+/** Configuration descriptor structure. This descriptor, located in SRAM memory, describes the usage
+ *  of the device in one of its supported configurations, including information about any device interfaces
+ *  and endpoints. The descriptor is read out by the USB host during the enumeration process when selecting
+ *  a configuration so that the host may correctly communicate with the USB device.
+ */
+const USB_Descriptor_Configuration_t ConfigurationDescriptor =
+{
+	.Config =
+		{
+			.Header                 = {.Size = sizeof(USB_Descriptor_Configuration_Header_t), .Type = DTYPE_Configuration},
+
+			.TotalConfigurationSize = sizeof(USB_Descriptor_Configuration_t),
+			.TotalInterfaces        = 2,
+
+			.ConfigurationNumber    = 1,
+			.ConfigurationStrIndex  = NO_DESCRIPTOR,
+
+			.ConfigAttributes       = USB_CONFIG_ATTR_BUSPOWERED,
+
+			.MaxPowerConsumption    = USB_CONFIG_POWER_MA(100)
+		},
+
+	.CDC_CCI_Interface =
+		{
+			.Header                 = {.Size = sizeof(USB_Descriptor_Interface_t), .Type = DTYPE_Interface},
+
+			.InterfaceNumber        = 0,
+			.AlternateSetting       = 0,
+
+			.TotalEndpoints         = 1,
+
+			.Class                  = CDC_CSCP_CDCClass,
+			.SubClass               = CDC_CSCP_ACMSubclass,
+			.Protocol               = CDC_CSCP_ATCommandProtocol,
+
+			.InterfaceStrIndex      = NO_DESCRIPTOR
+		},
+
+	.CDC_Functional_Header =
+		{
+			.Header                 = {.Size = sizeof(USB_CDC_Descriptor_FunctionalHeader_t), .Type = DTYPE_CSInterface},
+			.Subtype                = 0x00,
+
+			.CDCSpecification       = VERSION_BCD(01.10),
+		},
+
+	.CDC_Functional_ACM =
+		{
+			.Header                 = {.Size = sizeof(USB_CDC_Descriptor_FunctionalACM_t), .Type = DTYPE_CSInterface},
+			.Subtype                = 0x02,
+
+			.Capabilities           = 0x04,
+		},
+
+	.CDC_Functional_Union =
+		{
+			.Header                 = {.Size = sizeof(USB_CDC_Descriptor_FunctionalUnion_t), .Type = DTYPE_CSInterface},
+			.Subtype                = 0x06,
+
+			.MasterInterfaceNumber  = 0,
+			.SlaveInterfaceNumber   = 1,
+		},
+
+	.CDC_NotificationEndpoint =
+		{
+			.Header                 = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
+
+			.EndpointAddress        = (ENDPOINT_DIR_IN | CDC_NOTIFICATION_EPNUM),
+			.Attributes             = (EP_TYPE_INTERRUPT | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
+			.EndpointSize           = CDC_NOTIFICATION_EPSIZE,
+			.PollingIntervalMS      = 0xFF
+		},
+
+	.CDC_DCI_Interface =
+		{
+			.Header                 = {.Size = sizeof(USB_Descriptor_Interface_t), .Type = DTYPE_Interface},
+
+			.InterfaceNumber        = 1,
+			.AlternateSetting       = 0,
+
+			.TotalEndpoints         = 2,
+
+			.Class                  = CDC_CSCP_CDCDataClass,
+			.SubClass               = CDC_CSCP_NoDataSubclass,
+			.Protocol               = CDC_CSCP_NoDataProtocol,
+
+			.InterfaceStrIndex      = NO_DESCRIPTOR
+		},
+
+	.CDC_DataOutEndpoint =
+		{
+			.Header                 = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
+
+			.EndpointAddress        = (ENDPOINT_DIR_OUT | CDC_RX_EPNUM),
+			.Attributes             = (EP_TYPE_BULK | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
+			.EndpointSize           = CDC_TXRX_EPSIZE,
+			.PollingIntervalMS      = 0x01
+		},
+
+	.CDC_DataInEndpoint =
+		{
+			.Header                 = {.Size = sizeof(USB_Descriptor_Endpoint_t), .Type = DTYPE_Endpoint},
+
+			.EndpointAddress        = (ENDPOINT_DIR_IN | CDC_TX_EPNUM),
+			.Attributes             = (EP_TYPE_BULK | ENDPOINT_ATTR_NO_SYNC | ENDPOINT_USAGE_DATA),
+			.EndpointSize           = CDC_TXRX_EPSIZE,
+			.PollingIntervalMS      = 0x01
+		}
+};
+
+/** Language descriptor structure. This descriptor, located in SRAM memory, is returned when the host requests
+ *  the string descriptor with index 0 (the first index). It is actually an array of 16-bit integers, which indicate
+ *  via the language ID table available at USB.org what languages the device supports for its string descriptors.
+ */
+const USB_Descriptor_String_t LanguageString =
+{
+	.Header                 = {.Size = USB_STRING_LEN(1), .Type = DTYPE_String},
+
+	.UnicodeString          = {LANGUAGE_ID_ENG}
+};
+
+/** Product descriptor string. This is a Unicode string containing the product's details in human readable form,
+ *  and is read out upon request by the host when the appropriate string ID is requested, listed in the Device
+ *  Descriptor.
+ */
+const USB_Descriptor_String_t ProductString =
+{
+	.Header                 = {.Size = USB_STRING_LEN(19), .Type = DTYPE_String},
+
+	#if DEVICE_PID == 0x0036
+	.UnicodeString          = L"Arduino Leonardo" 
+	#elif DEVICE_PID == 0x0037
+	.UnicodeString			= L"Arduino Micro   "
+	#elif DEVICE_PID == 0x0038
+	.UnicodeString			= L"Robot Control Board"
+	#elif DEVICE_PID == 0x0039
+	.UnicodeString			= L"Robot Motor Board  "
+	#elif DEVICE_PID == 0x003C
+	.UnicodeString			= L"Arduino Esplora "
+	#else
+	.UnicodeString			= L"USB IO board    "
+	#endif
+};
+
+const USB_Descriptor_String_t ManufacturerString = 
+{
+	.Header					= {.Size = USB_STRING_LEN(11), .Type = DTYPE_String},
+	
+	#if DEVICE_VID == 0x2341
+	.UnicodeString			= L"Arduino LLC"
+	#else
+	.UnicodeString			= L"Unknown    "
+	#endif
+};
+
+/** This function is called by the library when in device mode, and must be overridden (see LUFA library "USB Descriptors"
+ *  documentation) by the application code so that the address and size of a requested descriptor can be given
+ *  to the USB library. When the device receives a Get Descriptor request on the control endpoint, this function
+ *  is called so that the descriptor details can be passed back and the appropriate descriptor sent back to the
+ *  USB host.
+ */
+uint16_t CALLBACK_USB_GetDescriptor(const uint16_t wValue,
+                                    const uint8_t wIndex,
+                                    const void** const DescriptorAddress)
+{
+	const uint8_t  DescriptorType   = (wValue >> 8);
+	const uint8_t  DescriptorNumber = (wValue & 0xFF);
+
+	const void* Address = NULL;
+	uint16_t    Size    = NO_DESCRIPTOR;
+
+	switch (DescriptorType)
+	{
+		case DTYPE_Device:
+			Address = &DeviceDescriptor;
+			Size    = sizeof(USB_Descriptor_Device_t);
+			break;
+		case DTYPE_Configuration:
+			Address = &ConfigurationDescriptor;
+			Size    = sizeof(USB_Descriptor_Configuration_t);
+			break;
+		case DTYPE_String:
+			if (!(DescriptorNumber))
+			{
+				Address = &LanguageString;
+				Size    = LanguageString.Header.Size;
+			}
+			else if (DescriptorNumber == DeviceDescriptor.ProductStrIndex) 
+			{
+				Address = &ProductString;
+				Size    = ProductString.Header.Size;
+			} else if (DescriptorNumber == DeviceDescriptor.ManufacturerStrIndex)
+			{
+				Address = &ManufacturerString;
+				Size	= ManufacturerString.Header.Size;
+			}
+
+			break;
+	}
+
+	*DescriptorAddress = Address;
+	return Size;
+}
+
diff --git a/bootloaders/caterina-Arduino_Robot/Descriptors.h b/bootloaders/caterina-Arduino_Robot/Descriptors.h
new file mode 100644
index 0000000..94091ae
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Descriptors.h
@@ -0,0 +1,139 @@
+/*
+             LUFA Library
+     Copyright (C) Dean Camera, 2011.
+
+  dean [at] fourwalledcubicle [dot] com
+           www.lufa-lib.org
+*/
+
+/*
+  Copyright 2011  Dean Camera (dean [at] fourwalledcubicle [dot] com)
+
+  Permission to use, copy, modify, distribute, and sell this
+  software and its documentation for any purpose is hereby granted
+  without fee, provided that the above copyright notice appear in
+  all copies and that both that the copyright notice and this
+  permission notice and warranty disclaimer appear in supporting
+  documentation, and that the name of the author not be used in
+  advertising or publicity pertaining to distribution of the
+  software without specific, written prior permission.
+
+  The author disclaim all warranties with regard to this
+  software, including all implied warranties of merchantability
+  and fitness.  In no event shall the author be liable for any
+  special, indirect or consequential damages or any damages
+  whatsoever resulting from loss of use, data or profits, whether
+  in an action of contract, negligence or other tortious action,
+  arising out of or in connection with the use or performance of
+  this software.
+*/
+
+/** \file
+ *
+ *  Header file for Descriptors.c.
+ */
+
+#ifndef _DESCRIPTORS_H_
+#define _DESCRIPTORS_H_
+
+	/* Includes: */
+		#include <LUFA/Drivers/USB/USB.h>
+
+	/* Macros: */
+		#if defined(__AVR_AT90USB1287__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x97
+			#define AVR_SIGNATURE_3               0x82
+		#elif defined(__AVR_AT90USB647__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x96
+			#define AVR_SIGNATURE_3               0x82
+		#elif defined(__AVR_AT90USB1286__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x97
+			#define AVR_SIGNATURE_3               0x82
+		#elif defined(__AVR_AT90USB646__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x96
+			#define AVR_SIGNATURE_3               0x82
+		#elif defined(__AVR_ATmega32U6__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x95
+			#define AVR_SIGNATURE_3               0x88
+		#elif defined(__AVR_ATmega32U4__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x95
+			#define AVR_SIGNATURE_3               0x87
+		#elif defined(__AVR_ATmega16U4__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x94
+			#define AVR_SIGNATURE_3               0x88
+		#elif defined(__AVR_ATmega32U2__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x95
+			#define AVR_SIGNATURE_3               0x8A
+		#elif defined(__AVR_ATmega16U2__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x94
+			#define AVR_SIGNATURE_3               0x89
+		#elif defined(__AVR_AT90USB162__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x94
+			#define AVR_SIGNATURE_3               0x82
+		#elif defined(__AVR_ATmega8U2__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x93
+			#define AVR_SIGNATURE_3               0x89
+		#elif defined(__AVR_AT90USB82__)
+			#define AVR_SIGNATURE_1               0x1E
+			#define AVR_SIGNATURE_2               0x94
+			#define AVR_SIGNATURE_3               0x82
+		#else
+			#error The selected AVR part is not currently supported by this bootloader.
+		#endif
+
+		/** Endpoint number for the CDC control interface event notification endpoint. */
+		#define CDC_NOTIFICATION_EPNUM         2
+
+		/** Endpoint number for the CDC data interface TX (data IN) endpoint. */
+		#define CDC_TX_EPNUM                   3
+
+		/** Endpoint number for the CDC data interface RX (data OUT) endpoint. */
+		#define CDC_RX_EPNUM                   4
+
+		/** Size of the CDC data interface TX and RX data endpoint banks, in bytes. */
+		#define CDC_TXRX_EPSIZE                16
+
+		/** Size of the CDC control interface notification endpoint bank, in bytes. */
+		#define CDC_NOTIFICATION_EPSIZE        8
+
+	/* Type Defines: */
+		/** Type define for the device configuration descriptor structure. This must be defined in the
+		 *  application code, as the configuration descriptor contains several sub-descriptors which
+		 *  vary between devices, and which describe the device's usage to the host.
+		 */
+		typedef struct
+		{
+			USB_Descriptor_Configuration_Header_t    Config;
+			
+			// CDC Control Interface
+			USB_Descriptor_Interface_t               CDC_CCI_Interface;
+			USB_CDC_Descriptor_FunctionalHeader_t    CDC_Functional_Header;
+			USB_CDC_Descriptor_FunctionalACM_t       CDC_Functional_ACM;
+			USB_CDC_Descriptor_FunctionalUnion_t     CDC_Functional_Union;
+			USB_Descriptor_Endpoint_t                CDC_NotificationEndpoint;
+			
+			// CDC Data Interface
+			USB_Descriptor_Interface_t               CDC_DCI_Interface;
+			USB_Descriptor_Endpoint_t                CDC_DataOutEndpoint;
+			USB_Descriptor_Endpoint_t                CDC_DataInEndpoint;
+		} USB_Descriptor_Configuration_t;
+
+	/* Function Prototypes: */
+		uint16_t CALLBACK_USB_GetDescriptor(const uint16_t wValue,
+		                                    const uint8_t wIndex,
+		                                    const void** const DescriptorAddress)
+		                                    ATTR_WARN_UNUSED_RESULT ATTR_NON_NULL_PTR_ARG(3);
+
+#endif
+
diff --git a/bootloaders/caterina-Arduino_Robot/Makefile b/bootloaders/caterina-Arduino_Robot/Makefile
new file mode 100644
index 0000000..af9990e
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/Makefile
@@ -0,0 +1,738 @@
+# Hey Emacs, this is a -*- makefile -*-
+#----------------------------------------------------------------------------
+# WinAVR Makefile Template written by Eric B. Weddington, J�rg Wunsch, et al.
+#  >> Modified for use with the LUFA project. <<
+#
+# Released to the Public Domain
+#
+# Additional material for this makefile was written by:
+# Peter Fleury
+# Tim Henigan
+# Colin O'Flynn
+# Reiner Patommel
+# Markus Pfaff
+# Sander Pool
+# Frederik Rouleau
+# Carlos Lamas
+# Dean Camera
+# Opendous Inc.
+# Denver Gingerich
+#
+#----------------------------------------------------------------------------
+# On command line:
+#
+# make all = Make software.
+#
+# make clean = Clean out built project files.
+#
+# make coff = Convert ELF to AVR COFF.
+#
+# make extcoff = Convert ELF to AVR Extended COFF.
+#
+# make program = Download the hex file to the device, using avrdude.
+#                Please customize the avrdude settings below first!
+#
+# make doxygen = Generate DoxyGen documentation for the project (must have
+#                DoxyGen installed)
+#
+# make debug = Start either simulavr or avarice as specified for debugging,
+#              with avr-gdb or avr-insight as the front end for debugging.
+#
+# make filename.s = Just compile filename.c into the assembler code only.
+#
+# make filename.i = Create a preprocessed source file for use in submitting
+#                   bug reports to the GCC project.
+#
+# To rebuild project do "make clean" then "make all".
+#----------------------------------------------------------------------------
+
+# USB vendor ID (VID)
+# reuse of this VID by others is forbidden by USB-IF
+# official Arduino LLC VID
+VID = 0x2341
+
+
+# USB product ID (PID)
+# official Leonardo PID
+# PID = 0x0036
+# official Micro PID
+# PID = 0x0037
+# official Arduino Robot Control Board PID
+PID = 0x0038
+# official Arduino Robot Motor Board PID
+# PID = 0x0039
+# official Esplora PID
+# PID = 0x003C
+
+# MCU name
+MCU = atmega32u4
+
+
+# Target architecture (see library "Board Types" documentation).
+ARCH = AVR8
+
+
+# Target board (see library "Board Types" documentation, NONE for projects not requiring
+# LUFA board drivers). If USER is selected, put custom board drivers in a directory called
+# "Board" inside the application directory.
+BOARD = USER
+
+
+# Processor frequency.
+#     This will define a symbol, F_CPU, in all source code files equal to the
+#     processor frequency in Hz. You can then use this symbol in your source code to
+#     calculate timings. Do NOT tack on a 'UL' at the end, this will be done
+#     automatically to create a 32-bit value in your source code.
+#
+#     This will be an integer division of F_USB below, as it is sourced by
+#     F_USB after it has run through any CPU prescalers. Note that this value
+#     does not *change* the processor frequency - it should merely be updated to
+#     reflect the processor speed set externally so that the code can use accurate
+#     software delays.
+F_CPU = 16000000
+
+
+# Input clock frequency.
+#     This will define a symbol, F_USB, in all source code files equal to the
+#     input clock frequency (before any prescaling is performed) in Hz. This value may
+#     differ from F_CPU if prescaling is used on the latter, and is required as the
+#     raw input clock is fed directly to the PLL sections of the AVR for high speed
+#     clock generation for the USB and other AVR subsections. Do NOT tack on a 'UL'
+#     at the end, this will be done automatically to create a 32-bit value in your
+#     source code.
+#
+#     If no clock division is performed on the input clock inside the AVR (via the
+#     CPU clock adjust registers or the clock division fuses), this will be equal to F_CPU.
+F_USB = $(F_CPU)
+
+
+# Starting byte address of the bootloader, as a byte address - computed via the formula
+#   BOOT_START = ((FLASH_SIZE_KB - BOOT_SECTION_SIZE_KB) * 1024)
+#
+# Note that the bootloader size and start address given in AVRStudio is in words and not
+# bytes, and so will need to be doubled to obtain the byte address needed by AVR-GCC.
+FLASH_SIZE_KB        = 32
+BOOT_SECTION_SIZE_KB = 4
+BOOT_START           = 0x$(shell echo "obase=16; ($(FLASH_SIZE_KB) - $(BOOT_SECTION_SIZE_KB)) * 1024" | bc)
+
+
+# Output format. (can be srec, ihex, binary)
+FORMAT = ihex
+
+
+# Target file name (without extension).
+TARGET = Caterina
+
+
+# Object files directory
+#     To put object files in current directory, use a dot (.), do NOT make
+#     this an empty or blank macro!
+OBJDIR = .
+
+
+# Path to the LUFA library
+LUFA_PATH = LUFA-111009
+
+
+# LUFA library compile-time options and predefined tokens
+LUFA_OPTS  = -D USB_DEVICE_ONLY
+LUFA_OPTS += -D DEVICE_STATE_AS_GPIOR=0
+LUFA_OPTS += -D ORDERED_EP_CONFIG
+LUFA_OPTS += -D FIXED_CONTROL_ENDPOINT_SIZE=8
+LUFA_OPTS += -D FIXED_NUM_CONFIGURATIONS=1
+LUFA_OPTS += -D USE_RAM_DESCRIPTORS
+LUFA_OPTS += -D USE_STATIC_OPTIONS="(USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_AUTO_PLL)"
+LUFA_OPTS += -D NO_INTERNAL_SERIAL
+LUFA_OPTS += -D NO_DEVICE_SELF_POWER
+LUFA_OPTS += -D NO_DEVICE_REMOTE_WAKEUP
+LUFA_OPTS += -D NO_SOF_EVENTS
+
+#LUFA_OPTS += -D NO_BLOCK_SUPPORT
+#LUFA_OPTS += -D NO_EEPROM_BYTE_SUPPORT
+#LUFA_OPTS += -D NO_FLASH_BYTE_SUPPORT
+LUFA_OPTS += -D NO_LOCK_BYTE_WRITE_SUPPORT
+
+
+# Create the LUFA source path variables by including the LUFA root makefile
+include $(LUFA_PATH)/LUFA/makefile
+
+
+# List C source files here. (C dependencies are automatically generated.)
+SRC = $(TARGET).c                                                 \
+	  Descriptors.c                                               \
+	  $(LUFA_SRC_USB)                                             \
+
+
+# List C++ source files here. (C dependencies are automatically generated.)
+CPPSRC =
+
+
+# List Assembler source files here.
+#     Make them always end in a capital .S.  Files ending in a lowercase .s
+#     will not be considered source files but generated files (assembler
+#     output from the compiler), and will be deleted upon "make clean"!
+#     Even though the DOS/Win* filesystem matches both .s and .S the same,
+#     it will preserve the spelling of the filenames, and gcc itself does
+#     care about how the name is spelled on its command-line.
+ASRC =
+
+
+# Optimization level, can be [0, 1, 2, 3, s].
+#     0 = turn off optimization. s = optimize for size.
+#     (Note: 3 is not always the best optimization level. See avr-libc FAQ.)
+OPT = s
+
+
+# Debugging format.
+#     Native formats for AVR-GCC's -g are dwarf-2 [default] or stabs.
+#     AVR Studio 4.10 requires dwarf-2.
+#     AVR [Extended] COFF format requires stabs, plus an avr-objcopy run.
+DEBUG = dwarf-2
+
+
+# List any extra directories to look for include files here.
+#     Each directory must be seperated by a space.
+#     Use forward slashes for directory separators.
+#     For a directory that has spaces, enclose it in quotes.
+EXTRAINCDIRS = $(LUFA_PATH)/
+
+
+# Compiler flag to set the C Standard level.
+#     c89   = "ANSI" C
+#     gnu89 = c89 plus GCC extensions
+#     c99   = ISO C99 standard (not yet fully implemented)
+#     gnu99 = c99 plus GCC extensions
+CSTANDARD = -std=c99
+
+
+# Place -D or -U options here for C sources
+CDEFS  = -DF_CPU=$(F_CPU)UL
+CDEFS += -DF_USB=$(F_USB)UL
+CDEFS += -DBOARD=BOARD_$(BOARD) -DARCH=ARCH_$(ARCH)
+CDEFS += -DBOOT_START_ADDR=$(BOOT_START)UL
+CDEFS += -DDEVICE_VID=$(VID)UL
+CDEFS += -DDEVICE_PID=$(PID)UL
+CDEFS += $(LUFA_OPTS)
+
+
+# Place -D or -U options here for ASM sources
+ADEFS  = -DF_CPU=$(F_CPU)
+ADEFS += -DF_USB=$(F_USB)UL
+ADEFS += -DBOARD=BOARD_$(BOARD)
+ADEFS += -DBOOT_START_ADDR=$(BOOT_START)UL
+ADEFS += $(LUFA_OPTS)
+
+
+# Place -D or -U options here for C++ sources
+CPPDEFS  = -DF_CPU=$(F_CPU)UL
+CPPDEFS += -DF_USB=$(F_USB)UL
+CPPDEFS += -DBOARD=BOARD_$(BOARD)
+CPPDEFS += -DBOOT_START_ADDR=$(BOOT_START)UL
+CPPDEFS += $(LUFA_OPTS)
+#CPPDEFS += -D__STDC_LIMIT_MACROS
+#CPPDEFS += -D__STDC_CONSTANT_MACROS
+
+
+
+#---------------- Compiler Options C ----------------
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CFLAGS = -g$(DEBUG)
+CFLAGS += $(CDEFS)
+CFLAGS += -O$(OPT)
+CFLAGS += -funsigned-char
+CFLAGS += -funsigned-bitfields
+CFLAGS += -ffunction-sections
+CFLAGS += -fno-inline-small-functions
+CFLAGS += -fpack-struct
+CFLAGS += -fshort-enums
+CFLAGS += -fno-strict-aliasing
+CFLAGS += -Wall
+CFLAGS += -Wstrict-prototypes
+#CFLAGS += -mshort-calls
+#CFLAGS += -fno-unit-at-a-time
+#CFLAGS += -Wundef
+#CFLAGS += -Wunreachable-code
+#CFLAGS += -Wsign-compare
+CFLAGS += -Wa,-adhlns=$(<:%.c=$(OBJDIR)/%.lst)
+CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+CFLAGS += $(CSTANDARD)
+
+
+#---------------- Compiler Options C++ ----------------
+#  -g*:          generate debugging information
+#  -O*:          optimization level
+#  -f...:        tuning, see GCC manual and avr-libc documentation
+#  -Wall...:     warning level
+#  -Wa,...:      tell GCC to pass this to the assembler.
+#    -adhlns...: create assembler listing
+CPPFLAGS = -g$(DEBUG)
+CPPFLAGS += $(CPPDEFS)
+CPPFLAGS += -O$(OPT)
+CPPFLAGS += -funsigned-char
+CPPFLAGS += -funsigned-bitfields
+CPPFLAGS += -fpack-struct
+CPPFLAGS += -fshort-enums
+CPPFLAGS += -fno-exceptions
+CPPFLAGS += -Wall
+CPPFLAGS += -Wundef
+#CPPFLAGS += -mshort-calls
+#CPPFLAGS += -fno-unit-at-a-time
+#CPPFLAGS += -Wstrict-prototypes
+#CPPFLAGS += -Wunreachable-code
+#CPPFLAGS += -Wsign-compare
+CPPFLAGS += -Wa,-adhlns=$(<:%.cpp=$(OBJDIR)/%.lst)
+CPPFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
+#CPPFLAGS += $(CSTANDARD)
+
+
+#---------------- Assembler Options ----------------
+#  -Wa,...:   tell GCC to pass this to the assembler.
+#  -adhlns:   create listing
+#  -gstabs:   have the assembler create line number information; note that
+#             for use in COFF files, additional information about filenames
+#             and function names needs to be present in the assembler source
+#             files -- see avr-libc docs [FIXME: not yet described there]
+#  -listing-cont-lines: Sets the maximum number of continuation lines of hex
+#       dump that will be displayed for a given single line of source input.
+ASFLAGS = $(ADEFS) -Wa,-adhlns=$(<:%.S=$(OBJDIR)/%.lst),-gstabs,--listing-cont-lines=100
+
+
+#---------------- Library Options ----------------
+# Minimalistic printf version
+PRINTF_LIB_MIN = -Wl,-u,vfprintf -lprintf_min
+
+# Floating point printf version (requires MATH_LIB = -lm below)
+PRINTF_LIB_FLOAT = -Wl,-u,vfprintf -lprintf_flt
+
+# If this is left blank, then it will use the Standard printf version.
+PRINTF_LIB =
+#PRINTF_LIB = $(PRINTF_LIB_MIN)
+#PRINTF_LIB = $(PRINTF_LIB_FLOAT)
+
+
+# Minimalistic scanf version
+SCANF_LIB_MIN = -Wl,-u,vfscanf -lscanf_min
+
+# Floating point + %[ scanf version (requires MATH_LIB = -lm below)
+SCANF_LIB_FLOAT = -Wl,-u,vfscanf -lscanf_flt
+
+# If this is left blank, then it will use the Standard scanf version.
+SCANF_LIB =
+#SCANF_LIB = $(SCANF_LIB_MIN)
+#SCANF_LIB = $(SCANF_LIB_FLOAT)
+
+
+MATH_LIB = -lm
+
+
+# List any extra directories to look for libraries here.
+#     Each directory must be seperated by a space.
+#     Use forward slashes for directory separators.
+#     For a directory that has spaces, enclose it in quotes.
+EXTRALIBDIRS =
+
+
+
+#---------------- External Memory Options ----------------
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# used for variables (.data/.bss) and heap (malloc()).
+#EXTMEMOPTS = -Wl,-Tdata=0x801100,--defsym=__heap_end=0x80ffff
+
+# 64 KB of external RAM, starting after internal RAM (ATmega128!),
+# only used for heap (malloc()).
+#EXTMEMOPTS = -Wl,--section-start,.data=0x801100,--defsym=__heap_end=0x80ffff
+
+EXTMEMOPTS =
+
+
+
+#---------------- Linker Options ----------------
+#  -Wl,...:     tell GCC to pass this to linker.
+#    -Map:      create map file
+#    --cref:    add cross reference to  map file
+LDFLAGS  = -Wl,-Map=$(TARGET).map,--cref
+LDFLAGS += -Wl,--section-start=.text=$(BOOT_START)
+LDFLAGS += -Wl,--relax
+LDFLAGS += -Wl,--gc-sections
+LDFLAGS += $(EXTMEMOPTS)
+LDFLAGS += $(patsubst %,-L%,$(EXTRALIBDIRS))
+LDFLAGS += $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
+#LDFLAGS += -T linker_script.x
+
+
+
+#---------------- Programming Options (avrdude) ----------------
+
+# Programming hardware
+# Type: avrdude -c ?
+# to get a full listing.
+#
+#AVRDUDE_PROGRAMMER = avrispmkII
+AVRDUDE_PROGRAMMER = usbtiny
+
+# com1 = serial port. Use lpt1 to connect to parallel port.
+AVRDUDE_PORT = usb
+
+AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex
+#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep
+
+
+# Uncomment the following if you want avrdude's erase cycle counter.
+# Note that this counter needs to be initialized first using -Yn,
+# see avrdude manual.
+#AVRDUDE_ERASE_COUNTER = -y
+
+# Uncomment the following if you do /not/ wish a verification to be
+# performed after programming the device.
+#AVRDUDE_NO_VERIFY = -V
+
+# Increase verbosity level.  Please use this when submitting bug
+# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude>
+# to submit bug reports.
+#AVRDUDE_VERBOSE = -v -v
+
+AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER)
+AVRDUDE_FLAGS += $(AVRDUDE_NO_VERIFY)
+AVRDUDE_FLAGS += $(AVRDUDE_VERBOSE)
+AVRDUDE_FLAGS += $(AVRDUDE_ERASE_COUNTER)
+
+
+
+#---------------- Debugging Options ----------------
+
+# For simulavr only - target MCU frequency.
+DEBUG_MFREQ = $(F_CPU)
+
+# Set the DEBUG_UI to either gdb or insight.
+# DEBUG_UI = gdb
+DEBUG_UI = insight
+
+# Set the debugging back-end to either avarice, simulavr.
+DEBUG_BACKEND = avarice
+#DEBUG_BACKEND = simulavr
+
+# GDB Init Filename.
+GDBINIT_FILE = __avr_gdbinit
+
+# When using avarice settings for the JTAG
+JTAG_DEV = /dev/com1
+
+# Debugging port used to communicate between GDB / avarice / simulavr.
+DEBUG_PORT = 4242
+
+# Debugging host used to communicate between GDB / avarice / simulavr, normally
+#     just set to localhost unless doing some sort of crazy debugging when
+#     avarice is running on a different computer.
+DEBUG_HOST = localhost
+
+
+
+#============================================================================
+
+
+# Define programs and commands.
+SHELL = sh
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+AR = avr-ar rcs
+NM = avr-nm
+#AVRDUDE = /Applications/avrdude -C /Applications/avrdude.conf -B 1
+AVRDUDE = /home/david/tmp/Arduino-master/build/linux/dist/tools/avrdude -B 1 -C /home/david/tmp/Arduino-master/build/linux/dist/tools/avrdude.conf
+REMOVE = rm -f
+REMOVEDIR = rm -rf
+COPY = cp
+WINSHELL = cmd
+
+
+# Define Messages
+# English
+MSG_ERRORS_NONE = Errors: none
+MSG_BEGIN = -------- begin --------
+MSG_END = --------  end  --------
+MSG_SIZE_BEFORE = Size before:
+MSG_SIZE_AFTER = Size after:
+MSG_COFF = Converting to AVR COFF:
+MSG_EXTENDED_COFF = Converting to AVR Extended COFF:
+MSG_FLASH = Creating load file for Flash:
+MSG_EEPROM = Creating load file for EEPROM:
+MSG_EXTENDED_LISTING = Creating Extended Listing:
+MSG_SYMBOL_TABLE = Creating Symbol Table:
+MSG_LINKING = Linking:
+MSG_COMPILING = Compiling C:
+MSG_COMPILING_CPP = Compiling C++:
+MSG_ASSEMBLING = Assembling:
+MSG_CLEANING = Cleaning project:
+MSG_CREATING_LIBRARY = Creating library:
+
+
+
+
+# Define all object files.
+OBJ = $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
+
+# Define all listing files.
+LST = $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
+
+
+# Compiler flags to generate dependency files.
+GENDEPFLAGS = -MMD -MP -MF .dep/$(@F).d
+
+
+# Combine all necessary flags and optional flags.
+# Add target processor to flags.
+ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) $(GENDEPFLAGS)
+ALL_CPPFLAGS = -mmcu=$(MCU) -I. -x c++ $(CPPFLAGS) $(GENDEPFLAGS)
+ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS)
+
+
+
+
+
+# Default target.
+all: begin gccversion sizebefore build sizeafter end
+
+# Change the build target to build a HEX file or a library.
+build: elf hex eep lss sym
+#build: lib
+
+
+elf: $(TARGET).elf
+hex: $(TARGET).hex
+eep: $(TARGET).eep
+lss: $(TARGET).lss
+sym: $(TARGET).sym
+LIBNAME=lib$(TARGET).a
+lib: $(LIBNAME)
+
+
+
+# Eye candy.
+# AVR Studio 3.x does not check make's exit code but relies on
+# the following magic strings to be generated by the compile job.
+begin:
+	@echo
+	@echo $(MSG_BEGIN)
+
+end:
+	@echo $(MSG_END)
+	@echo
+
+
+# Display size of file.
+HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex
+ELFSIZE = $(SIZE) $(MCU_FLAG) $(FORMAT_FLAG) $(TARGET).elf
+MCU_FLAG = $(shell $(SIZE) --help | grep -- --mcu > /dev/null && echo --mcu=$(MCU) )
+FORMAT_FLAG = $(shell $(SIZE) --help | grep -- --format=.*avr > /dev/null && echo --format=avr )
+
+
+sizebefore:
+	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); \
+	2>/dev/null; echo; fi
+
+sizeafter:
+	@if test -f $(TARGET).elf; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); \
+	2>/dev/null; echo; fi
+
+
+
+# Display compiler version information.
+gccversion :
+	@$(CC) --version
+
+
+# Program the device.
+program: $(TARGET).hex $(TARGET).eep
+	$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM)
+
+
+# Generate avr-gdb config/init file which does the following:
+#     define the reset signal, load the target file, connect to target, and set
+#     a breakpoint at main().
+gdb-config:
+	@$(REMOVE) $(GDBINIT_FILE)
+	@echo define reset >> $(GDBINIT_FILE)
+	@echo SIGNAL SIGHUP >> $(GDBINIT_FILE)
+	@echo end >> $(GDBINIT_FILE)
+	@echo file $(TARGET).elf >> $(GDBINIT_FILE)
+	@echo target remote $(DEBUG_HOST):$(DEBUG_PORT)  >> $(GDBINIT_FILE)
+ifeq ($(DEBUG_BACKEND),simulavr)
+	@echo load  >> $(GDBINIT_FILE)
+endif
+	@echo break main >> $(GDBINIT_FILE)
+
+debug: gdb-config $(TARGET).elf
+ifeq ($(DEBUG_BACKEND), avarice)
+	@echo Starting AVaRICE - Press enter when "waiting to connect" message displays.
+	@$(WINSHELL) /c start avarice --jtag $(JTAG_DEV) --erase --program --file \
+	$(TARGET).elf $(DEBUG_HOST):$(DEBUG_PORT)
+	@$(WINSHELL) /c pause
+
+else
+	@$(WINSHELL) /c start simulavr --gdbserver --device $(MCU) --clock-freq \
+	$(DEBUG_MFREQ) --port $(DEBUG_PORT)
+endif
+	@$(WINSHELL) /c start avr-$(DEBUG_UI) --command=$(GDBINIT_FILE)
+
+
+
+
+# Convert ELF to COFF for use in debugging / simulating in AVR Studio or VMLAB.
+COFFCONVERT = $(OBJCOPY) --debugging
+COFFCONVERT += --change-section-address .data-0x800000
+COFFCONVERT += --change-section-address .bss-0x800000
+COFFCONVERT += --change-section-address .noinit-0x800000
+COFFCONVERT += --change-section-address .eeprom-0x810000
+
+
+
+coff: $(TARGET).elf
+	@echo
+	@echo $(MSG_COFF) $(TARGET).cof
+	$(COFFCONVERT) -O coff-avr $< $(TARGET).cof
+
+
+extcoff: $(TARGET).elf
+	@echo
+	@echo $(MSG_EXTENDED_COFF) $(TARGET).cof
+	$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof
+
+
+
+# Create final output files (.hex, .eep) from ELF output file.
+%.hex: %.elf
+	@echo
+	@echo $(MSG_FLASH) $@
+	$(OBJCOPY) -O $(FORMAT) -R .eeprom -R .fuse -R .lock $< $@
+
+%.eep: %.elf
+	@echo
+	@echo $(MSG_EEPROM) $@
+	-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	--change-section-lma .eeprom=0 --no-change-warnings -O $(FORMAT) $< $@ || exit 0
+
+# Create extended listing file from ELF output file.
+%.lss: %.elf
+	@echo
+	@echo $(MSG_EXTENDED_LISTING) $@
+	$(OBJDUMP) -h -S -z $< > $@
+
+# Create a symbol table from ELF output file.
+%.sym: %.elf
+	@echo
+	@echo $(MSG_SYMBOL_TABLE) $@
+	$(NM) -n $< > $@
+
+
+
+# Create library from object files.
+.SECONDARY : $(TARGET).a
+.PRECIOUS : $(OBJ)
+%.a: $(OBJ)
+	@echo
+	@echo $(MSG_CREATING_LIBRARY) $@
+	$(AR) $@ $(OBJ)
+
+
+# Link: create ELF output file from object files.
+.SECONDARY : $(TARGET).elf
+.PRECIOUS : $(OBJ)
+%.elf: $(OBJ)
+	@echo
+	@echo $(MSG_LINKING) $@
+	$(CC) $(ALL_CFLAGS) $^ --output $@ $(LDFLAGS)
+
+
+# Compile: create object files from C source files.
+$(OBJDIR)/%.o : %.c
+	@echo
+	@echo $(MSG_COMPILING) $<
+	$(CC) -c $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create object files from C++ source files.
+$(OBJDIR)/%.o : %.cpp
+	@echo
+	@echo $(MSG_COMPILING_CPP) $<
+	$(CC) -c $(ALL_CPPFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C source files.
+%.s : %.c
+	$(CC) -S $(ALL_CFLAGS) $< -o $@
+
+
+# Compile: create assembler files from C++ source files.
+%.s : %.cpp
+	$(CC) -S $(ALL_CPPFLAGS) $< -o $@
+
+
+# Assemble: create object files from assembler source files.
+$(OBJDIR)/%.o : %.S
+	@echo
+	@echo $(MSG_ASSEMBLING) $<
+	$(CC) -c $(ALL_ASFLAGS) $< -o $@
+
+
+# Create preprocessed source for use in sending a bug report.
+%.i : %.c
+	$(CC) -E -mmcu=$(MCU) -I. $(CFLAGS) $< -o $@
+
+
+# Target: clean project.
+clean: begin clean_list end
+
+clean_list :
+	@echo
+	@echo $(MSG_CLEANING)
+	$(REMOVE) $(TARGET).hex
+	$(REMOVE) $(TARGET).eep
+	$(REMOVE) $(TARGET).cof
+	$(REMOVE) $(TARGET).elf
+	$(REMOVE) $(TARGET).map
+	$(REMOVE) $(TARGET).sym
+	$(REMOVE) $(TARGET).lss
+	$(REMOVE) $(SRC:%.c=$(OBJDIR)/%.o) $(CPPSRC:%.cpp=$(OBJDIR)/%.o) $(ASRC:%.S=$(OBJDIR)/%.o)
+	$(REMOVE) $(SRC:%.c=$(OBJDIR)/%.lst) $(CPPSRC:%.cpp=$(OBJDIR)/%.lst) $(ASRC:%.S=$(OBJDIR)/%.lst)
+	$(REMOVE) $(SRC:.c=.s)
+	$(REMOVE) $(SRC:.c=.d)
+	$(REMOVE) $(SRC:.c=.i)
+	$(REMOVEDIR) .dep
+
+doxygen:
+	@echo Generating Project Documentation \($(TARGET)\)...
+	@doxygen Doxygen.conf
+	@echo Documentation Generation Complete.
+
+clean_doxygen:
+	rm -rf Documentation
+
+checksource:
+	@for f in $(SRC) $(CPPSRC) $(ASRC); do \
+		if [ -f $$f ]; then \
+			echo "Found Source File: $$f" ; \
+		else \
+			echo "Source File Not Found: $$f" ; \
+		fi; done 
+
+
+# Create object files directory
+$(shell mkdir $(OBJDIR) 2>/dev/null)
+
+
+# Include the dependency files.
+-include $(shell mkdir .dep 2>/dev/null) $(wildcard .dep/*)
+
+
+# Listing of phony targets.
+.PHONY : all begin finish end sizebefore sizeafter gccversion \
+build elf hex eep lss sym coff extcoff doxygen clean          \
+clean_list clean_doxygen program debug gdb-config checksource
+
diff --git a/bootloaders/caterina-Arduino_Robot/README.md b/bootloaders/caterina-Arduino_Robot/README.md
new file mode 100644
index 0000000..08235e0
--- /dev/null
+++ b/bootloaders/caterina-Arduino_Robot/README.md
@@ -0,0 +1,27 @@
+Building the bootloader for the Arduino Robot
+=============================================
+
+The Arduino Robot has two boards featuring the atmega32U4 processor from Atmel. Each one of them is identified as a different board at the USB level and has a different bootloader.
+
+The Arduino Robot Control board has the USB identifier 0x0038. This is the value configured by default in the Makefile. 
+
+The Arduino Robot Motor board has the USB identifier 0x0039. If you want to compile/upload this version of the bootloader, you will have to edit the Makefile, comment away the like dedicated to the PID and uncomment the one that configures such variable accordingly.
+
+The general conditions for using these bootloaders require downloading a specific version of LUFA as explained here:
+
+1. Download the LUFA-111009 file (http://fourwalledcubicle.com/blog/2011/10/lufa-111009-released/).
+2. Extract that file directly to the Caterina-Arduino_Robot bootloader directory.
+3. Open a command prompt in the Caterina-Arduino_Robot bootloader directory.
+4. Type 'make'.
+5. Enjoy!
+
+Programming the bootloader for one of the Arduino Robot boards
+1. Open a command prompt in the Caterina-Arduino_Robot folder.
+2. Connect your programmer- use a 2x3 .1" header, pressed against the programming vias.
+3. Edit the make file for it to include the right programmer (e.g. in my lab I have AVRMKII and USBTINY ISP)
+4. Type 'make program' into the command prompt.
+
+Differences between this bootoloader and the standard one for Leonardo boards
+=============================================================================
+
+This bootloader is different from the one on the standard Leonardo boards. To enter the bootloader, you need to double click the reset button. You need to click twice in less that 3/4 of a second (easy uh?). This bootloader, designed in the first place for the LilypadUSB, seems to be optimal for situations when users are e.g. using their robots in soccer competitions where they make direct manipulation of the board as it runs.
diff --git a/variants/robot_control/pins_arduino.h b/variants/robot_control/pins_arduino.h
new file mode 100644
index 0000000..d7ecae5
--- /dev/null
+++ b/variants/robot_control/pins_arduino.h
@@ -0,0 +1,274 @@
+/*
+  pins_arduino.h - Pin definition functions for Arduino Robot Control Board
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2913 D. Cuartielles, X. Yang (Arduino Verkstad)
+  Copyright (c) 2012 D. Cuartielles, N. de la Riva, I. Gallego, E. Gallego
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: pins_arduino.h 1 2013-03-16 20:47:51Z cuartielles $
+*/
+
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+#include <avr/pgmspace.h>
+
+#define ARDUINO_MODEL_USB_PID	0x0038
+
+#define TX_RX_LED_INIT	DDRD |= (1<<5), DDRB |= (1<<0)
+#define TXLED0			PORTD |= (1<<5)
+#define TXLED1			PORTD &= ~(1<<5)
+#define RXLED0			PORTB |= (1<<0)
+#define RXLED1			PORTB &= ~(1<<0)
+
+static const uint8_t RX  = 0;
+static const uint8_t TX  = 1;
+static const uint8_t SDA = 2;
+static const uint8_t SCL = 3;
+
+// Map SPI port to 'new' pins D14..D17
+static const uint8_t SS   = 17;
+static const uint8_t MOSI = 16;
+static const uint8_t MISO = 14;
+static const uint8_t SCK  = 15;
+
+// Mapping of analog pins as digital I/O
+// A6-A11 share with digital pins
+static const uint8_t A0 = 18;
+static const uint8_t A1 = 19;
+static const uint8_t A2 = 20;
+static const uint8_t A3 = 21;
+static const uint8_t A4 = 22;
+static const uint8_t A5 = 23;
+static const uint8_t A6 = 24;	// D4
+static const uint8_t A7 = 25;	// D6
+static const uint8_t A8 = 26;	// D8
+static const uint8_t A9 = 27;	// D9
+static const uint8_t A10 = 28;	// D10
+static const uint8_t A11 = 29;	// D12
+
+// Specific Mapping for the Control Board
+static const uint8_t KEY 	= 18;  	// AD0
+static const uint8_t MUX_IN = 24; 	// ADC8 - A6
+static const uint8_t MUXA 	= 6;  	// D5 - TKD4
+static const uint8_t MUXB 	= 11;  	// D11
+static const uint8_t MUXC 	= 12;  	// D12 - TKD5
+static const uint8_t MUXD 	= 13;   // D13
+static const uint8_t BUZZ 	= 5;   	// D5
+static const uint8_t POT 	= 23;  	// AD5
+static const uint8_t DC_LCD = 10; 	// D10
+static const uint8_t LCD_CS = 9;  	// D9
+static const uint8_t RST_LCD = 7; 	// D6
+static const uint8_t CARD_CS = 8;   // D8
+static const uint8_t TKD0	 = 19;  // ADC6 - A1
+static const uint8_t TKD1	 = 20;  // ADC5 - A2
+static const uint8_t TKD2	 = 21;  // ADC4 - A3
+static const uint8_t TKD3	 = 22;  // ADC1 - A4
+static const uint8_t TKD4	 = 6;   // D5 - MUXA
+static const uint8_t TKD5	 = 12;  // D12 - MUXC
+static const uint8_t LED1	 = 17;  // D17 - RX_Led
+
+//	__AVR_ATmega32U4__ has an unusual mapping of pins to channels
+extern const uint8_t PROGMEM analog_pin_to_channel_PGM[];
+#define analogPinToChannel(P)  ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) )
+
+#ifdef ARDUINO_MAIN
+
+// On the Arduino board, digital pins are also used
+// for the analog output (software PWM).  Analog input
+// pins are a separate set.
+
+// ARDUINO LEONARDO / ARDUINO ROBOT CONTROL / ATMEGA 32U4 / FUNCTION / REGISTER 
+//
+// D0		RX					PD2		RX			RXD1/INT2
+// D1		TX					PD3		TX			TXD1/INT3
+// D2		SDA					PD1		SDA			SDA/INT1
+// D3#		SCL					PD0		PWM8/SCL	OC0B/SCL/INT0
+// D4		MUX_IN		A6		PD4					ADC8
+// D5#		BUZZ				PC6		???			OC3A/#OC4A
+// D6#		MUXA/TKD4	A7		PD7		FastPWM		#OC4D/ADC10
+// D7		RST_LCD				PE6					INT6/AIN0
+//
+// D8		CARD_CS		A8		PB4					ADC11/PCINT4
+// D9#		LCD_CS		A9		PB5		PWM16		OC1A/#OC4B/ADC12/PCINT5
+// D10#		DC_LCD		A10		PB6		PWM16		OC1B/0c4B/ADC13/PCINT6
+// D11#		MUXB				PB7		PWM8/16		0C0A/OC1C/#RTS/PCINT7
+// D12		MUXC/TKD5	A11		PD6					T1/#OC4D/ADC9
+// D13#		MUXD				PC7		PWM10		CLK0/OC4A
+//
+// A0		KEY			D18		PF7					ADC7
+// A1		TKD0		D19		PF6					ADC6
+// A2		TKD1		D20 	PF5					ADC5
+// A3		TKD2		D21 	PF4					ADC4
+// A4		TKD3		D22		PF1					ADC1
+// A5		POT			D23 	PF0					ADC0
+//
+// MISO		MISO		D14		PB3					MISO,PCINT3
+// SCK		SCK			D15		PB1					SCK,PCINT1
+// MOSI		MOSI		D16		PB2					MOSI,PCINT2
+// SS		RX_LED		D17		PB0					RXLED,SS/PCINT0
+//
+// TXLED	TX_LED		PD5
+// HWB					PE2					HWB
+
+// these arrays map port names (e.g. port B) to the
+// appropriate addresses for various functions (e.g. reading
+// and writing)
+const uint16_t PROGMEM port_to_mode_PGM[] = {
+	NOT_A_PORT,
+	NOT_A_PORT,
+	(uint16_t) &DDRB,
+	(uint16_t) &DDRC,
+	(uint16_t) &DDRD,
+	(uint16_t) &DDRE,
+	(uint16_t) &DDRF,
+};
+
+const uint16_t PROGMEM port_to_output_PGM[] = {
+	NOT_A_PORT,
+	NOT_A_PORT,
+	(uint16_t) &PORTB,
+	(uint16_t) &PORTC,
+	(uint16_t) &PORTD,
+	(uint16_t) &PORTE,
+	(uint16_t) &PORTF,
+};
+
+const uint16_t PROGMEM port_to_input_PGM[] = {
+	NOT_A_PORT,
+	NOT_A_PORT,
+	(uint16_t) &PINB,
+	(uint16_t) &PINC,
+	(uint16_t) &PIND,
+	(uint16_t) &PINE,
+	(uint16_t) &PINF,
+};
+
+const uint8_t PROGMEM digital_pin_to_port_PGM[30] = {
+	PD, // D0 - PD2
+	PD,	// D1 - PD3
+	PD, // D2 - PD1
+	PD,	// D3 - PD0
+	PD,	// D4 - PD4
+	PC, // D5 - PC6
+	PD, // D6 - PD7
+	PE, // D7 - PE6
+	
+	PB, // D8 - PB4
+	PB,	// D9 - PB5
+	PB, // D10 - PB6
+	PB,	// D11 - PB7
+	PD, // D12 - PD6
+	PC, // D13 - PC7
+	
+	PB,	// D14 - MISO - PB3
+	PB,	// D15 - SCK - PB1
+	PB,	// D16 - MOSI - PB2
+	PB,	// D17 - SS - PB0
+	
+	PF,	// D18 - A0 - PF7
+	PF, // D19 - A1 - PF6
+	PF, // D20 - A2 - PF5
+	PF, // D21 - A3 - PF4
+	PF, // D22 - A4 - PF1
+	PF, // D23 - A5 - PF0
+	
+	PD, // D24 / D4 - A6 - PD4
+	PD, // D25 / D6 - A7 - PD7
+	PB, // D26 / D8 - A8 - PB4
+	PB, // D27 / D9 - A9 - PB5
+	PB, // D28 / D10 - A10 - PB6
+	PD, // D29 / D12 - A11 - PD6
+};
+
+const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[30] = {
+	_BV(2), // D0 - PD2
+	_BV(3),	// D1 - PD3
+	_BV(1), // D2 - PD1
+	_BV(0),	// D3 - PD0
+	_BV(4),	// D4 - PD4
+	_BV(6), // D5 - PC6
+	_BV(7), // D6 - PD7
+	_BV(6), // D7 - PE6
+	
+	_BV(4), // D8 - PB4
+	_BV(5),	// D9 - PB5
+	_BV(6), // D10 - PB6
+	_BV(7),	// D11 - PB7
+	_BV(6), // D12 - PD6
+	_BV(7), // D13 - PC7
+	
+	_BV(3),	// D14 - MISO - PB3
+	_BV(1),	// D15 - SCK - PB1
+	_BV(2),	// D16 - MOSI - PB2
+	_BV(0),	// D17 - SS - PB0
+	
+	_BV(7),	// D18 - A0 - PF7
+	_BV(6), // D19 - A1 - PF6
+	_BV(5), // D20 - A2 - PF5
+	_BV(4), // D21 - A3 - PF4
+	_BV(1), // D22 - A4 - PF1
+	_BV(0), // D23 - A5 - PF0
+	
+	_BV(4), // D24 / D4 - A6 - PD4
+	_BV(7), // D25 / D6 - A7 - PD7
+	_BV(4), // D26 / D8 - A8 - PB4
+	_BV(5), // D27 / D9 - A9 - PB5
+	_BV(6), // D28 / D10 - A10 - PB6
+	_BV(6), // D29 / D12 - A11 - PD6
+};
+
+const uint8_t PROGMEM digital_pin_to_timer_PGM[18] = {
+	NOT_ON_TIMER,	
+	NOT_ON_TIMER,
+	NOT_ON_TIMER,
+	TIMER0B,		/* 3 */
+	NOT_ON_TIMER,
+	TIMER3A,		/* 5 */
+	TIMER4D,		/* 6 */
+	NOT_ON_TIMER,	
+	
+	NOT_ON_TIMER,	
+	TIMER1A,		/* 9 */
+	TIMER1B,		/* 10 */
+	TIMER0A,		/* 11 */
+	
+	NOT_ON_TIMER,	
+	TIMER4A,		/* 13 */
+	
+	NOT_ON_TIMER,	
+	NOT_ON_TIMER,
+};
+
+const uint8_t PROGMEM analog_pin_to_channel_PGM[12] = {
+	7,	// A0				PF7					ADC7
+	6,	// A1				PF6					ADC6	
+	5,	// A2				PF5					ADC5	
+	4,	// A3				PF4					ADC4
+	1,	// A4				PF1					ADC1	
+	0,	// A5				PF0					ADC0	
+	8,	// A6		D4		PD4					ADC8
+	10,	// A7		D6		PD7					ADC10
+	11,	// A8		D8		PB4					ADC11
+	12,	// A9		D9		PB5					ADC12
+	13,	// A10		D10		PB6					ADC13
+	9	// A11		D12		PD6					ADC9
+};
+
+#endif /* ARDUINO_MAIN */
+#endif /* Pins_Arduino_h */
diff --git a/variants/robot_motor/pins_arduino.h b/variants/robot_motor/pins_arduino.h
new file mode 100644
index 0000000..902d424
--- /dev/null
+++ b/variants/robot_motor/pins_arduino.h
@@ -0,0 +1,271 @@
+/*
+  pins_arduino.h - Pin definition functions for Arduino Robot Control Board
+  Part of Arduino - http://www.arduino.cc/
+
+  Copyright (c) 2913 D. Cuartielles, X. Yang (Arduino Verkstad)
+  Copyright (c) 2012 D. Cuartielles, N. de la Riva, I. Gallego, E. Gallego
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General
+  Public License along with this library; if not, write to the
+  Free Software Foundation, Inc., 59 Temple Place, Suite 330,
+  Boston, MA  02111-1307  USA
+
+  $Id: pins_arduino.h 1 2013-03-16 20:47:51Z cuartielles $
+*/
+
+#ifndef Pins_Arduino_h
+#define Pins_Arduino_h
+
+#include <avr/pgmspace.h>
+
+#define ARDUINO_MODEL_USB_PID	0x0039
+
+#define TX_RX_LED_INIT	DDRD |= (1<<5), DDRB |= (1<<0)
+#define TXLED0			PORTD |= (1<<5)
+#define TXLED1			PORTD &= ~(1<<5)
+#define RXLED0			PORTB |= (1<<0)
+#define RXLED1			PORTB &= ~(1<<0)
+
+static const uint8_t RX  = 0;
+static const uint8_t TX  = 1;
+static const uint8_t SDA = 2;
+static const uint8_t SCL = 3;
+
+// Map SPI port to 'new' pins D14..D17
+static const uint8_t SS   = 17;
+static const uint8_t MOSI = 16;
+static const uint8_t MISO = 14;
+static const uint8_t SCK  = 15;
+
+// Mapping of analog pins as digital I/O
+// A6-A11 share with digital pins
+static const uint8_t A0 = 18;
+static const uint8_t A1 = 19;
+static const uint8_t A2 = 20;
+static const uint8_t A3 = 21;
+static const uint8_t A4 = 22;
+static const uint8_t A5 = 23;
+static const uint8_t A6 = 24;	// D4
+static const uint8_t A7 = 25;	// D6
+static const uint8_t A8 = 26;	// D8
+static const uint8_t A9 = 27;	// D9
+static const uint8_t A10 = 28;	// D10
+static const uint8_t A11 = 29;	// D12
+
+// Specific Mapping for the Motor Board
+static const uint8_t MUX_IN = 20;  	// A2
+static const uint8_t MUXA = 7;  	// D7
+static const uint8_t MUXB = 8;  	// D8
+static const uint8_t MUXC = 11;  	// D11
+static const uint8_t MUXI = 13;   	// D13
+static const uint8_t TRIM = 21;  	// A3
+static const uint8_t SENSE_A = 22; 	// A4
+static const uint8_t SENSE_B = 23; 	// A5
+static const uint8_t IN_A1 = 6;  	// D6 - A7
+static const uint8_t IN_A2 = 5;  	// D5
+static const uint8_t IN_B1 = 10;  	// D10
+static const uint8_t IN_B2 = 9;  	// D9
+static const uint8_t TK1 = 18;  	// A0
+static const uint8_t TK2 = 19;  	// A1
+static const uint8_t TK3 = 4;  		// A6
+static const uint8_t TK4 = 12;   	// A11
+
+//	__AVR_ATmega32U4__ has an unusual mapping of pins to channels
+extern const uint8_t PROGMEM analog_pin_to_channel_PGM[];
+#define analogPinToChannel(P)  ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) )
+
+#ifdef ARDUINO_MAIN
+
+// On the Arduino board, digital pins are also used
+// for the analog output (software PWM).  Analog input
+// pins are a separate set.
+
+// ARDUINO LEONARDO / ARDUINO ROBOT CONTROL / ATMEGA 32U4 / FUNCTION / REGISTER 
+//
+// D0		RX					PD2		RX			RXD1/INT2
+// D1		TX					PD3		TX			TXD1/INT3
+// D2		SDA					PD1		SDA			SDA/INT1
+// D3#		SCL					PD0		PWM8/SCL	OC0B/SCL/INT0
+// D4		TK3			A6		PD4					ADC8
+// D5#		INA2				PC6		???			OC3A/#OC4A
+// D6#		INA1		A7		PD7		FastPWM		#OC4D/ADC10
+// D7		MUXA				PE6					INT6/AIN0
+//
+// D8		MUXB		A8		PB4					ADC11/PCINT4
+// D9#		INB2		A9		PB5		PWM16		OC1A/#OC4B/ADC12/PCINT5
+// D10#		INB1		A10		PB6		PWM16		OC1B/0c4B/ADC13/PCINT6
+// D11#		MUXC				PB7		PWM8/16		0C0A/OC1C/#RTS/PCINT7
+// D12		TK4			A11		PD6					T1/#OC4D/ADC9
+// D13#		MUXI				PC7		PWM10		CLK0/OC4A
+//
+// A0		TK1			D18		PF7					ADC7
+// A1		TK2			D19		PF6					ADC6
+// A2		MUX_IN		D20 	PF5					ADC5
+// A3		TRIM		D21 	PF4					ADC4
+// A4		SENSE_A		D22		PF1					ADC1
+// A5		SENSE_B		D23 	PF0					ADC0
+//
+// MISO		MISO		D14		PB3					MISO,PCINT3
+// SCK		SCK			D15		PB1					SCK,PCINT1
+// MOSI		MOSI		D16		PB2					MOSI,PCINT2
+// SS		RX_LED		D17		PB0					RXLED,SS/PCINT0
+//
+// TXLED	TX_LED		PD5
+// HWB					PE2					HWB
+
+// these arrays map port names (e.g. port B) to the
+// appropriate addresses for various functions (e.g. reading
+// and writing)
+const uint16_t PROGMEM port_to_mode_PGM[] = {
+	NOT_A_PORT,
+	NOT_A_PORT,
+	(uint16_t) &DDRB,
+	(uint16_t) &DDRC,
+	(uint16_t) &DDRD,
+	(uint16_t) &DDRE,
+	(uint16_t) &DDRF,
+};
+
+const uint16_t PROGMEM port_to_output_PGM[] = {
+	NOT_A_PORT,
+	NOT_A_PORT,
+	(uint16_t) &PORTB,
+	(uint16_t) &PORTC,
+	(uint16_t) &PORTD,
+	(uint16_t) &PORTE,
+	(uint16_t) &PORTF,
+};
+
+const uint16_t PROGMEM port_to_input_PGM[] = {
+	NOT_A_PORT,
+	NOT_A_PORT,
+	(uint16_t) &PINB,
+	(uint16_t) &PINC,
+	(uint16_t) &PIND,
+	(uint16_t) &PINE,
+	(uint16_t) &PINF,
+};
+
+const uint8_t PROGMEM digital_pin_to_port_PGM[30] = {
+	PD, // D0 - PD2
+	PD,	// D1 - PD3
+	PD, // D2 - PD1
+	PD,	// D3 - PD0
+	PD,	// D4 - PD4
+	PC, // D5 - PC6
+	PD, // D6 - PD7
+	PE, // D7 - PE6
+	
+	PB, // D8 - PB4
+	PB,	// D9 - PB5
+	PB, // D10 - PB6
+	PB,	// D11 - PB7
+	PD, // D12 - PD6
+	PC, // D13 - PC7
+	
+	PB,	// D14 - MISO - PB3
+	PB,	// D15 - SCK - PB1
+	PB,	// D16 - MOSI - PB2
+	PB,	// D17 - SS - PB0
+	
+	PF,	// D18 - A0 - PF7
+	PF, // D19 - A1 - PF6
+	PF, // D20 - A2 - PF5
+	PF, // D21 - A3 - PF4
+	PF, // D22 - A4 - PF1
+	PF, // D23 - A5 - PF0
+	
+	PD, // D24 / D4 - A6 - PD4
+	PD, // D25 / D6 - A7 - PD7
+	PB, // D26 / D8 - A8 - PB4
+	PB, // D27 / D9 - A9 - PB5
+	PB, // D28 / D10 - A10 - PB6
+	PD, // D29 / D12 - A11 - PD6
+};
+
+const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[30] = {
+	_BV(2), // D0 - PD2
+	_BV(3),	// D1 - PD3
+	_BV(1), // D2 - PD1
+	_BV(0),	// D3 - PD0
+	_BV(4),	// D4 - PD4
+	_BV(6), // D5 - PC6
+	_BV(7), // D6 - PD7
+	_BV(6), // D7 - PE6
+	
+	_BV(4), // D8 - PB4
+	_BV(5),	// D9 - PB5
+	_BV(6), // D10 - PB6
+	_BV(7),	// D11 - PB7
+	_BV(6), // D12 - PD6
+	_BV(7), // D13 - PC7
+	
+	_BV(3),	// D14 - MISO - PB3
+	_BV(1),	// D15 - SCK - PB1
+	_BV(2),	// D16 - MOSI - PB2
+	_BV(0),	// D17 - SS - PB0
+	
+	_BV(7),	// D18 - A0 - PF7
+	_BV(6), // D19 - A1 - PF6
+	_BV(5), // D20 - A2 - PF5
+	_BV(4), // D21 - A3 - PF4
+	_BV(1), // D22 - A4 - PF1
+	_BV(0), // D23 - A5 - PF0
+	
+	_BV(4), // D24 / D4 - A6 - PD4
+	_BV(7), // D25 / D6 - A7 - PD7
+	_BV(4), // D26 / D8 - A8 - PB4
+	_BV(5), // D27 / D9 - A9 - PB5
+	_BV(6), // D28 / D10 - A10 - PB6
+	_BV(6), // D29 / D12 - A11 - PD6
+};
+
+const uint8_t PROGMEM digital_pin_to_timer_PGM[18] = {
+	NOT_ON_TIMER,	
+	NOT_ON_TIMER,
+	NOT_ON_TIMER,
+	TIMER0B,		/* 3 */
+	NOT_ON_TIMER,
+	TIMER3A,		/* 5 */
+	TIMER4D,		/* 6 */
+	NOT_ON_TIMER,	
+	
+	NOT_ON_TIMER,	
+	TIMER1A,		/* 9 */
+	TIMER1B,		/* 10 */
+	TIMER0A,		/* 11 */
+	
+	NOT_ON_TIMER,	
+	TIMER4A,		/* 13 */
+	
+	NOT_ON_TIMER,	
+	NOT_ON_TIMER,
+};
+
+const uint8_t PROGMEM analog_pin_to_channel_PGM[12] = {
+	7,	// A0				PF7					ADC7
+	6,	// A1				PF6					ADC6	
+	5,	// A2				PF5					ADC5	
+	4,	// A3				PF4					ADC4
+	1,	// A4				PF1					ADC1	
+	0,	// A5				PF0					ADC0	
+	8,	// A6		D4		PD4					ADC8
+	10,	// A7		D6		PD7					ADC10
+	11,	// A8		D8		PB4					ADC11
+	12,	// A9		D9		PB5					ADC12
+	13,	// A10		D10		PB6					ADC13
+	9	// A11		D12		PD6					ADC9
+};
+
+#endif /* ARDUINO_MAIN */
+#endif /* Pins_Arduino_h */
author	Cristian Maglie <c.maglie@bug.st>	2013-05-13 19:50:59 +0200
committer	Cristian Maglie <c.maglie@bug.st>	2013-05-13 19:50:59 +0200
commit	08afd2dd608f1d26a279a06351be84285dbf5f5d (patch)
tree	cf0273be22152c1df9c339b8a680eb464e53288f
parent	eb40f35b2d95b2701d92e3b8baf53832a3bd2993 (diff)