Merged 1.0.5

1 files changed, 178 insertions, 0 deletions

diff --git a/cores/robot/wiring_digital.c b/cores/robot/wiring_digital.c
new file mode 100644
index 0000000..be323b1
--- /dev/null
+++ b/cores/robot/wiring_digital.c
@@ -0,0 +1,178 @@
+/*
+  wiring_digital.c - digital input and output functions
+  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
+
+  Modified 28 September 2010 by Mark Sproul
+
+  $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $
+*/
+
+#define ARDUINO_MAIN
+#include "wiring_private.h"
+#include "pins_arduino.h"
+
+void pinMode(uint8_t pin, uint8_t mode)
+{
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	volatile uint8_t *reg, *out;
+
+	if (port == NOT_A_PIN) return;
+
+	// JWS: can I let the optimizer do this?
+	reg = portModeRegister(port);
+	out = portOutputRegister(port);
+
+	if (mode == INPUT) { 
+		uint8_t oldSREG = SREG;
+                cli();
+		*reg &= ~bit;
+		*out &= ~bit;
+		SREG = oldSREG;
+	} else if (mode == INPUT_PULLUP) {
+		uint8_t oldSREG = SREG;
+                cli();
+		*reg &= ~bit;
+		*out |= bit;
+		SREG = oldSREG;
+	} else {
+		uint8_t oldSREG = SREG;
+                cli();
+		*reg |= bit;
+		SREG = oldSREG;
+	}
+}
+
+// Forcing this inline keeps the callers from having to push their own stuff
+// on the stack. It is a good performance win and only takes 1 more byte per
+// user than calling. (It will take more bytes on the 168.)
+//
+// But shouldn't this be moved into pinMode? Seems silly to check and do on
+// each digitalread or write.
+//
+// Mark Sproul:
+// - Removed inline. Save 170 bytes on atmega1280
+// - changed to a switch statment; added 32 bytes but much easier to read and maintain.
+// - Added more #ifdefs, now compiles for atmega645
+//
+//static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline));
+//static inline void turnOffPWM(uint8_t timer)
+static void turnOffPWM(uint8_t timer)
+{
+	switch (timer)
+	{
+		#if defined(TCCR1A) && defined(COM1A1)
+		case TIMER1A:   cbi(TCCR1A, COM1A1);    break;
+		#endif
+		#if defined(TCCR1A) && defined(COM1B1)
+		case TIMER1B:   cbi(TCCR1A, COM1B1);    break;
+		#endif
+		
+		#if defined(TCCR2) && defined(COM21)
+		case  TIMER2:   cbi(TCCR2, COM21);      break;
+		#endif
+		
+		#if defined(TCCR0A) && defined(COM0A1)
+		case  TIMER0A:  cbi(TCCR0A, COM0A1);    break;
+		#endif
+		
+		#if defined(TIMER0B) && defined(COM0B1)
+		case  TIMER0B:  cbi(TCCR0A, COM0B1);    break;
+		#endif
+		#if defined(TCCR2A) && defined(COM2A1)
+		case  TIMER2A:  cbi(TCCR2A, COM2A1);    break;
+		#endif
+		#if defined(TCCR2A) && defined(COM2B1)
+		case  TIMER2B:  cbi(TCCR2A, COM2B1);    break;
+		#endif
+		
+		#if defined(TCCR3A) && defined(COM3A1)
+		case  TIMER3A:  cbi(TCCR3A, COM3A1);    break;
+		#endif
+		#if defined(TCCR3A) && defined(COM3B1)
+		case  TIMER3B:  cbi(TCCR3A, COM3B1);    break;
+		#endif
+		#if defined(TCCR3A) && defined(COM3C1)
+		case  TIMER3C:  cbi(TCCR3A, COM3C1);    break;
+		#endif
+
+		#if defined(TCCR4A) && defined(COM4A1)
+		case  TIMER4A:  cbi(TCCR4A, COM4A1);    break;
+		#endif					
+		#if defined(TCCR4A) && defined(COM4B1)
+		case  TIMER4B:  cbi(TCCR4A, COM4B1);    break;
+		#endif
+		#if defined(TCCR4A) && defined(COM4C1)
+		case  TIMER4C:  cbi(TCCR4A, COM4C1);    break;
+		#endif			
+		#if defined(TCCR4C) && defined(COM4D1)
+		case TIMER4D:	cbi(TCCR4C, COM4D1);	break;
+		#endif			
+			
+		#if defined(TCCR5A)
+		case  TIMER5A:  cbi(TCCR5A, COM5A1);    break;
+		case  TIMER5B:  cbi(TCCR5A, COM5B1);    break;
+		case  TIMER5C:  cbi(TCCR5A, COM5C1);    break;
+		#endif
+	}
+}
+
+void digitalWrite(uint8_t pin, uint8_t val)
+{
+	uint8_t timer = digitalPinToTimer(pin);
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+	volatile uint8_t *out;
+
+	if (port == NOT_A_PIN) return;
+
+	// If the pin that support PWM output, we need to turn it off
+	// before doing a digital write.
+	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
+
+	out = portOutputRegister(port);
+
+	uint8_t oldSREG = SREG;
+	cli();
+
+	if (val == LOW) {
+		*out &= ~bit;
+	} else {
+		*out |= bit;
+	}
+
+	SREG = oldSREG;
+}
+
+int digitalRead(uint8_t pin)
+{
+	uint8_t timer = digitalPinToTimer(pin);
+	uint8_t bit = digitalPinToBitMask(pin);
+	uint8_t port = digitalPinToPort(pin);
+
+	if (port == NOT_A_PIN) return LOW;
+
+	// If the pin that support PWM output, we need to turn it off
+	// before getting a digital reading.
+	if (timer != NOT_ON_TIMER) turnOffPWM(timer);
+
+	if (*portInputRegister(port) & bit) return HIGH;
+	return LOW;
+}