Merge branch 'robot'

2 files changed, 545 insertions, 0 deletions

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 */