From 08afd2dd608f1d26a279a06351be84285dbf5f5d Mon Sep 17 00:00:00 2001
From: Cristian Maglie <c.maglie@bug.st>
Date: Mon, 13 May 2013 19:50:59 +0200
Subject: Added robot hardware
---
variants/robot_control/pins_arduino.h | 274 ++++++++++++++++++++++++++++++++++
variants/robot_motor/pins_arduino.h | 271 +++++++++++++++++++++++++++++++++
2 files changed, 545 insertions(+)
create mode 100644 variants/robot_control/pins_arduino.h
create mode 100644 variants/robot_motor/pins_arduino.h
(limited to 'variants')
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 */
--
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