From 6a1c3303d6d94330a7871361638043de946c2411 Mon Sep 17 00:00:00 2001
From: Cristian Maglie <c.maglie@bug.st>
Date: Thu, 22 Aug 2013 16:29:49 +0200
Subject: Merged robot core

---
 cores/robot/WInterrupts.c | 334 ----------------------------------------------
 1 file changed, 334 deletions(-)
 delete mode 100644 cores/robot/WInterrupts.c

(limited to 'cores/robot/WInterrupts.c')

diff --git a/cores/robot/WInterrupts.c b/cores/robot/WInterrupts.c
deleted file mode 100644
index d3fbf10..0000000
--- a/cores/robot/WInterrupts.c
+++ /dev/null
@@ -1,334 +0,0 @@
-/* -*- mode: jde; c-basic-offset: 2; indent-tabs-mode: nil -*- */
-
-/*
-  Part of the Wiring project - http://wiring.uniandes.edu.co
-
-  Copyright (c) 2004-05 Hernando Barragan
-
-  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 24 November 2006 by David A. Mellis
-  Modified 1 August 2010 by Mark Sproul
-*/
-
-#include <inttypes.h>
-#include <avr/io.h>
-#include <avr/interrupt.h>
-#include <avr/pgmspace.h>
-#include <stdio.h>
-
-#include "wiring_private.h"
-
-static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS];
-// volatile static voidFuncPtr twiIntFunc;
-
-void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
-  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
-    intFunc[interruptNum] = userFunc;
-    
-    // Configure the interrupt mode (trigger on low input, any change, rising
-    // edge, or falling edge).  The mode constants were chosen to correspond
-    // to the configuration bits in the hardware register, so we simply shift
-    // the mode into place.
-      
-    // Enable the interrupt.
-      
-    switch (interruptNum) {
-#if defined(__AVR_ATmega32U4__)
-	// I hate doing this, but the register assignment differs between the 1280/2560
-	// and the 32U4.  Since avrlib defines registers PCMSK1 and PCMSK2 that aren't 
-	// even present on the 32U4 this is the only way to distinguish between them.
-    case 0:
-	EICRA = (EICRA & ~((1<<ISC00) | (1<<ISC01))) | (mode << ISC00);
-	EIMSK |= (1<<INT0);
-	break;
-    case 1:
-	EICRA = (EICRA & ~((1<<ISC10) | (1<<ISC11))) | (mode << ISC10);
-	EIMSK |= (1<<INT1);
-	break;	
-    case 2:
-        EICRA = (EICRA & ~((1<<ISC20) | (1<<ISC21))) | (mode << ISC20);
-        EIMSK |= (1<<INT2);
-        break;
-    case 3:
-        EICRA = (EICRA & ~((1<<ISC30) | (1<<ISC31))) | (mode << ISC30);
-        EIMSK |= (1<<INT3);
-        break;
-    case 4:
-        EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60);
-        EIMSK |= (1<<INT6);
-        break;
-#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
-    case 2:
-      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      EIMSK |= (1 << INT0);
-      break;
-    case 3:
-      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      EIMSK |= (1 << INT1);
-      break;
-    case 4:
-      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      EIMSK |= (1 << INT2);
-      break;
-    case 5:
-      EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30);
-      EIMSK |= (1 << INT3);
-      break;
-    case 0:
-      EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40);
-      EIMSK |= (1 << INT4);
-      break;
-    case 1:
-      EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50);
-      EIMSK |= (1 << INT5);
-      break;
-    case 6:
-      EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
-      EIMSK |= (1 << INT6);
-      break;
-    case 7:
-      EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70);
-      EIMSK |= (1 << INT7);
-      break;
-#else		
-    case 0:
-    #if defined(EICRA) && defined(ISC00) && defined(EIMSK)
-      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      EIMSK |= (1 << INT0);
-    #elif defined(MCUCR) && defined(ISC00) && defined(GICR)
-      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      GICR |= (1 << INT0);
-    #elif defined(MCUCR) && defined(ISC00) && defined(GIMSK)
-      MCUCR = (MCUCR & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
-      GIMSK |= (1 << INT0);
-    #else
-      #error attachInterrupt not finished for this CPU (case 0)
-    #endif
-      break;
-
-    case 1:
-    #if defined(EICRA) && defined(ISC10) && defined(ISC11) && defined(EIMSK)
-      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      EIMSK |= (1 << INT1);
-    #elif defined(MCUCR) && defined(ISC10) && defined(ISC11) && defined(GICR)
-      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      GICR |= (1 << INT1);
-    #elif defined(MCUCR) && defined(ISC10) && defined(GIMSK) && defined(GIMSK)
-      MCUCR = (MCUCR & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
-      GIMSK |= (1 << INT1);
-    #else
-      #warning attachInterrupt may need some more work for this cpu (case 1)
-    #endif
-      break;
-    
-    case 2:
-    #if defined(EICRA) && defined(ISC20) && defined(ISC21) && defined(EIMSK)
-      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      EIMSK |= (1 << INT2);
-    #elif defined(MCUCR) && defined(ISC20) && defined(ISC21) && defined(GICR)
-      MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      GICR |= (1 << INT2);
-    #elif defined(MCUCR) && defined(ISC20) && defined(GIMSK) && defined(GIMSK)
-      MCUCR = (MCUCR & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
-      GIMSK |= (1 << INT2);
-    #endif
-      break;
-#endif
-    }
-  }
-}
-
-void detachInterrupt(uint8_t interruptNum) {
-  if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
-    // Disable the interrupt.  (We can't assume that interruptNum is equal
-    // to the number of the EIMSK bit to clear, as this isn't true on the 
-    // ATmega8.  There, INT0 is 6 and INT1 is 7.)
-    switch (interruptNum) {
-#if defined(__AVR_ATmega32U4__)
-    case 0:
-        EIMSK &= ~(1<<INT0);
-        break;
-    case 1:
-        EIMSK &= ~(1<<INT1);
-        break;
-    case 2:
-        EIMSK &= ~(1<<INT2);
-        break;
-    case 3:
-        EIMSK &= ~(1<<INT3);
-        break;	
-    case 4:
-        EIMSK &= ~(1<<INT6);
-        break;	
-#elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
-    case 2:
-      EIMSK &= ~(1 << INT0);
-      break;
-    case 3:
-      EIMSK &= ~(1 << INT1);
-      break;
-    case 4:
-      EIMSK &= ~(1 << INT2);
-      break;
-    case 5:
-      EIMSK &= ~(1 << INT3);
-      break;
-    case 0:
-      EIMSK &= ~(1 << INT4);
-      break;
-    case 1:
-      EIMSK &= ~(1 << INT5);
-      break;
-    case 6:
-      EIMSK &= ~(1 << INT6);
-      break;
-    case 7:
-      EIMSK &= ~(1 << INT7);
-      break;
-#else
-    case 0:
-    #if defined(EIMSK) && defined(INT0)
-      EIMSK &= ~(1 << INT0);
-    #elif defined(GICR) && defined(ISC00)
-      GICR &= ~(1 << INT0); // atmega32
-    #elif defined(GIMSK) && defined(INT0)
-      GIMSK &= ~(1 << INT0);
-    #else
-      #error detachInterrupt not finished for this cpu
-    #endif
-      break;
-
-    case 1:
-    #if defined(EIMSK) && defined(INT1)
-      EIMSK &= ~(1 << INT1);
-    #elif defined(GICR) && defined(INT1)
-      GICR &= ~(1 << INT1); // atmega32
-    #elif defined(GIMSK) && defined(INT1)
-      GIMSK &= ~(1 << INT1);
-    #else
-      #warning detachInterrupt may need some more work for this cpu (case 1)
-    #endif
-      break;
-#endif
-    }
-      
-    intFunc[interruptNum] = 0;
-  }
-}
-
-/*
-void attachInterruptTwi(void (*userFunc)(void) ) {
-  twiIntFunc = userFunc;
-}
-*/
-
-#if defined(__AVR_ATmega32U4__)
-ISR(INT0_vect) {
-	if(intFunc[EXTERNAL_INT_0])
-		intFunc[EXTERNAL_INT_0]();
-}
-
-ISR(INT1_vect) {
-	if(intFunc[EXTERNAL_INT_1])
-		intFunc[EXTERNAL_INT_1]();
-}
-
-ISR(INT2_vect) {
-    if(intFunc[EXTERNAL_INT_2])
-		intFunc[EXTERNAL_INT_2]();
-}
-
-ISR(INT3_vect) {
-    if(intFunc[EXTERNAL_INT_3])
-		intFunc[EXTERNAL_INT_3]();
-}
-
-ISR(INT6_vect) {
-    if(intFunc[EXTERNAL_INT_4])
-		intFunc[EXTERNAL_INT_4]();
-}
-
-#elif defined(EICRA) && defined(EICRB)
-
-ISR(INT0_vect) {
-  if(intFunc[EXTERNAL_INT_2])
-    intFunc[EXTERNAL_INT_2]();
-}
-
-ISR(INT1_vect) {
-  if(intFunc[EXTERNAL_INT_3])
-    intFunc[EXTERNAL_INT_3]();
-}
-
-ISR(INT2_vect) {
-  if(intFunc[EXTERNAL_INT_4])
-    intFunc[EXTERNAL_INT_4]();
-}
-
-ISR(INT3_vect) {
-  if(intFunc[EXTERNAL_INT_5])
-    intFunc[EXTERNAL_INT_5]();
-}
-
-ISR(INT4_vect) {
-  if(intFunc[EXTERNAL_INT_0])
-    intFunc[EXTERNAL_INT_0]();
-}
-
-ISR(INT5_vect) {
-  if(intFunc[EXTERNAL_INT_1])
-    intFunc[EXTERNAL_INT_1]();
-}
-
-ISR(INT6_vect) {
-  if(intFunc[EXTERNAL_INT_6])
-    intFunc[EXTERNAL_INT_6]();
-}
-
-ISR(INT7_vect) {
-  if(intFunc[EXTERNAL_INT_7])
-    intFunc[EXTERNAL_INT_7]();
-}
-
-#else
-
-ISR(INT0_vect) {
-  if(intFunc[EXTERNAL_INT_0])
-    intFunc[EXTERNAL_INT_0]();
-}
-
-ISR(INT1_vect) {
-  if(intFunc[EXTERNAL_INT_1])
-    intFunc[EXTERNAL_INT_1]();
-}
-
-#if defined(EICRA) && defined(ISC20)
-ISR(INT2_vect) {
-  if(intFunc[EXTERNAL_INT_2])
-    intFunc[EXTERNAL_INT_2]();
-}
-#endif
-
-#endif
-
-/*
-ISR(TWI_vect) {
-  if(twiIntFunc)
-    twiIntFunc();
-}
-*/
-
-- 
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