Merged robot core

1 files changed, 0 insertions, 324 deletions

diff --git a/cores/robot/wiring.c b/cores/robot/wiring.c
deleted file mode 100644
index a3c4390..0000000
--- a/cores/robot/wiring.c
+++ /dev/null
@@ -1,324 +0,0 @@
-/*
-  wiring.c - Partial implementation of the Wiring API for the ATmega8.
-  Part of Arduino - http://www.arduino.cc/
-
-  Copyright (c) 2005-2006 David A. Mellis
-
-  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
-
-  $Id$
-*/
-
-#include "wiring_private.h"
-
-// the prescaler is set so that timer0 ticks every 64 clock cycles, and the
-// the overflow handler is called every 256 ticks.
-#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256))
-
-// the whole number of milliseconds per timer0 overflow
-#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000)
-
-// the fractional number of milliseconds per timer0 overflow. we shift right
-// by three to fit these numbers into a byte. (for the clock speeds we care
-// about - 8 and 16 MHz - this doesn't lose precision.)
-#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3)
-#define FRACT_MAX (1000 >> 3)
-
-volatile unsigned long timer0_overflow_count = 0;
-volatile unsigned long timer0_millis = 0;
-static unsigned char timer0_fract = 0;
-
-#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__)
-ISR(TIM0_OVF_vect)
-#else
-ISR(TIMER0_OVF_vect)
-#endif
-{
-	// copy these to local variables so they can be stored in registers
-	// (volatile variables must be read from memory on every access)
-	unsigned long m = timer0_millis;
-	unsigned char f = timer0_fract;
-
-	m += MILLIS_INC;
-	f += FRACT_INC;
-	if (f >= FRACT_MAX) {
-		f -= FRACT_MAX;
-		m += 1;
-	}
-
-	timer0_fract = f;
-	timer0_millis = m;
-	timer0_overflow_count++;
-}
-
-unsigned long millis()
-{
-	unsigned long m;
-	uint8_t oldSREG = SREG;
-
-	// disable interrupts while we read timer0_millis or we might get an
-	// inconsistent value (e.g. in the middle of a write to timer0_millis)
-	cli();
-	m = timer0_millis;
-	SREG = oldSREG;
-
-	return m;
-}
-
-unsigned long micros() {
-	unsigned long m;
-	uint8_t oldSREG = SREG, t;
-	
-	cli();
-	m = timer0_overflow_count;
-#if defined(TCNT0)
-	t = TCNT0;
-#elif defined(TCNT0L)
-	t = TCNT0L;
-#else
-	#error TIMER 0 not defined
-#endif
-
-  
-#ifdef TIFR0
-	if ((TIFR0 & _BV(TOV0)) && (t < 255))
-		m++;
-#else
-	if ((TIFR & _BV(TOV0)) && (t < 255))
-		m++;
-#endif
-
-	SREG = oldSREG;
-	
-	return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
-}
-
-void delay(unsigned long ms)
-{
-	uint16_t start = (uint16_t)micros();
-
-	while (ms > 0) {
-		if (((uint16_t)micros() - start) >= 1000) {
-			ms--;
-			start += 1000;
-		}
-	}
-}
-
-/* Delay for the given number of microseconds.  Assumes a 8 or 16 MHz clock. */
-void delayMicroseconds(unsigned int us)
-{
-	// calling avrlib's delay_us() function with low values (e.g. 1 or
-	// 2 microseconds) gives delays longer than desired.
-	//delay_us(us);
-#if F_CPU >= 20000000L
-	// for the 20 MHz clock on rare Arduino boards
-
-	// for a one-microsecond delay, simply wait 2 cycle and return. The overhead
-	// of the function call yields a delay of exactly a one microsecond.
-	__asm__ __volatile__ (
-		"nop" "\n\t"
-		"nop"); //just waiting 2 cycle
-	if (--us == 0)
-		return;
-
-	// the following loop takes a 1/5 of a microsecond (4 cycles)
-	// per iteration, so execute it five times for each microsecond of
-	// delay requested.
-	us = (us<<2) + us; // x5 us
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-
-#elif F_CPU >= 16000000L
-	// for the 16 MHz clock on most Arduino boards
-
-	// for a one-microsecond delay, simply return.  the overhead
-	// of the function call yields a delay of approximately 1 1/8 us.
-	if (--us == 0)
-		return;
-
-	// the following loop takes a quarter of a microsecond (4 cycles)
-	// per iteration, so execute it four times for each microsecond of
-	// delay requested.
-	us <<= 2;
-
-	// account for the time taken in the preceeding commands.
-	us -= 2;
-#else
-	// for the 8 MHz internal clock on the ATmega168
-
-	// for a one- or two-microsecond delay, simply return.  the overhead of
-	// the function calls takes more than two microseconds.  can't just
-	// subtract two, since us is unsigned; we'd overflow.
-	if (--us == 0)
-		return;
-	if (--us == 0)
-		return;
-
-	// the following loop takes half of a microsecond (4 cycles)
-	// per iteration, so execute it twice for each microsecond of
-	// delay requested.
-	us <<= 1;
-    
-	// partially compensate for the time taken by the preceeding commands.
-	// we can't subtract any more than this or we'd overflow w/ small delays.
-	us--;
-#endif
-
-	// busy wait
-	__asm__ __volatile__ (
-		"1: sbiw %0,1" "\n\t" // 2 cycles
-		"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
-	);
-}
-
-void init()
-{
-	// this needs to be called before setup() or some functions won't
-	// work there
-	sei();
-	
-	// on the ATmega168, timer 0 is also used for fast hardware pwm
-	// (using phase-correct PWM would mean that timer 0 overflowed half as often
-	// resulting in different millis() behavior on the ATmega8 and ATmega168)
-#if defined(TCCR0A) && defined(WGM01)
-	sbi(TCCR0A, WGM01);
-	sbi(TCCR0A, WGM00);
-#endif  
-
-	// set timer 0 prescale factor to 64
-#if defined(__AVR_ATmega128__)
-	// CPU specific: different values for the ATmega128
-	sbi(TCCR0, CS02);
-#elif defined(TCCR0) && defined(CS01) && defined(CS00)
-	// this combination is for the standard atmega8
-	sbi(TCCR0, CS01);
-	sbi(TCCR0, CS00);
-#elif defined(TCCR0B) && defined(CS01) && defined(CS00)
-	// this combination is for the standard 168/328/1280/2560
-	sbi(TCCR0B, CS01);
-	sbi(TCCR0B, CS00);
-#elif defined(TCCR0A) && defined(CS01) && defined(CS00)
-	// this combination is for the __AVR_ATmega645__ series
-	sbi(TCCR0A, CS01);
-	sbi(TCCR0A, CS00);
-#else
-	#error Timer 0 prescale factor 64 not set correctly
-#endif
-
-	// enable timer 0 overflow interrupt
-#if defined(TIMSK) && defined(TOIE0)
-	sbi(TIMSK, TOIE0);
-#elif defined(TIMSK0) && defined(TOIE0)
-	sbi(TIMSK0, TOIE0);
-#else
-	#error	Timer 0 overflow interrupt not set correctly
-#endif
-
-	// timers 1 and 2 are used for phase-correct hardware pwm
-	// this is better for motors as it ensures an even waveform
-	// note, however, that fast pwm mode can achieve a frequency of up
-	// 8 MHz (with a 16 MHz clock) at 50% duty cycle
-
-#if defined(TCCR1B) && defined(CS11) && defined(CS10)
-	TCCR1B = 0;
-
-	// set timer 1 prescale factor to 64
-	sbi(TCCR1B, CS11);
-#if F_CPU >= 8000000L
-	sbi(TCCR1B, CS10);
-#endif
-#elif defined(TCCR1) && defined(CS11) && defined(CS10)
-	sbi(TCCR1, CS11);
-#if F_CPU >= 8000000L
-	sbi(TCCR1, CS10);
-#endif
-#endif
-	// put timer 1 in 8-bit phase correct pwm mode
-#if defined(TCCR1A) && defined(WGM10)
-	sbi(TCCR1A, WGM10);
-#elif defined(TCCR1)
-	#warning this needs to be finished
-#endif
-
-	// set timer 2 prescale factor to 64
-#if defined(TCCR2) && defined(CS22)
-	sbi(TCCR2, CS22);
-#elif defined(TCCR2B) && defined(CS22)
-	sbi(TCCR2B, CS22);
-#else
-	#warning Timer 2 not finished (may not be present on this CPU)
-#endif
-
-	// configure timer 2 for phase correct pwm (8-bit)
-#if defined(TCCR2) && defined(WGM20)
-	sbi(TCCR2, WGM20);
-#elif defined(TCCR2A) && defined(WGM20)
-	sbi(TCCR2A, WGM20);
-#else
-	#warning Timer 2 not finished (may not be present on this CPU)
-#endif
-
-#if defined(TCCR3B) && defined(CS31) && defined(WGM30)
-	sbi(TCCR3B, CS31);		// set timer 3 prescale factor to 64
-	sbi(TCCR3B, CS30);
-	sbi(TCCR3A, WGM30);		// put timer 3 in 8-bit phase correct pwm mode
-#endif
-
-#if defined(TCCR4A) && defined(TCCR4B) && defined(TCCR4D) /* beginning of timer4 block for 32U4 and similar */
-	sbi(TCCR4B, CS42);		// set timer4 prescale factor to 64
-	sbi(TCCR4B, CS41);
-	sbi(TCCR4B, CS40);
-	sbi(TCCR4D, WGM40);		// put timer 4 in phase- and frequency-correct PWM mode	
-	sbi(TCCR4A, PWM4A);		// enable PWM mode for comparator OCR4A
-	sbi(TCCR4C, PWM4D);		// enable PWM mode for comparator OCR4D
-#else /* beginning of timer4 block for ATMEGA1280 and ATMEGA2560 */
-#if defined(TCCR4B) && defined(CS41) && defined(WGM40)
-	sbi(TCCR4B, CS41);		// set timer 4 prescale factor to 64
-	sbi(TCCR4B, CS40);
-	sbi(TCCR4A, WGM40);		// put timer 4 in 8-bit phase correct pwm mode
-#endif
-#endif /* end timer4 block for ATMEGA1280/2560 and similar */	
-
-#if defined(TCCR5B) && defined(CS51) && defined(WGM50)
-	sbi(TCCR5B, CS51);		// set timer 5 prescale factor to 64
-	sbi(TCCR5B, CS50);
-	sbi(TCCR5A, WGM50);		// put timer 5 in 8-bit phase correct pwm mode
-#endif
-
-#if defined(ADCSRA)
-	// set a2d prescale factor to 128
-	// 16 MHz / 128 = 125 KHz, inside the desired 50-200 KHz range.
-	// XXX: this will not work properly for other clock speeds, and
-	// this code should use F_CPU to determine the prescale factor.
-	sbi(ADCSRA, ADPS2);
-	sbi(ADCSRA, ADPS1);
-	sbi(ADCSRA, ADPS0);
-
-	// enable a2d conversions
-	sbi(ADCSRA, ADEN);
-#endif
-
-	// the bootloader connects pins 0 and 1 to the USART; disconnect them
-	// here so they can be used as normal digital i/o; they will be
-	// reconnected in Serial.begin()
-#if defined(UCSRB)
-	UCSRB = 0;
-#elif defined(UCSR0B)
-	UCSR0B = 0;
-#endif
-}