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00003 #ifndef Firmata_Boards_h
00004 #define Firmata_Boards_h
00005
00006 #include <WProgram.h>
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00011
00012 #ifndef MAX_SERVOS
00013 #define MAX_SERVOS 0
00014 #endif
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00122 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
00123 #define TOTAL_ANALOG_PINS 8
00124 #define TOTAL_PINS 24 // 14 digital + 2 unused + 8 analog
00125 #define VERSION_BLINK_PIN 13
00126 #define IS_PIN_DIGITAL(p) (((p) >= 2 && (p) <= 13) || ((p) >= 16 && (p) <= 21))
00127 #define IS_PIN_ANALOG(p) ((p) >= 16 && (p) <= 23)
00128 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00129 #define IS_PIN_SERVO(p) ((p) >= 2 && (p) <= 13 && (p) - 2 < MAX_SERVOS)
00130 #define IS_PIN_I2C(p) (0)
00131 #define PIN_TO_DIGITAL(p) (((p) < 16) ? (p) : (p) - 2)
00132 #define PIN_TO_ANALOG(p) ((p) - 16)
00133 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00134 #define PIN_TO_SERVO(p) ((p) - 2)
00135 #define ARDUINO_PINOUT_OPTIMIZE 1
00136
00137
00138
00139 #elif defined(__AVR_ATmega8__)
00140 #define TOTAL_ANALOG_PINS 6
00141 #define TOTAL_PINS 22 // 14 digital + 2 unused + 6 analog
00142 #define VERSION_BLINK_PIN 13
00143 #define IS_PIN_DIGITAL(p) (((p) >= 2 && (p) <= 13) || ((p) >= 16 && (p) <= 21))
00144 #define IS_PIN_ANALOG(p) ((p) >= 16 && (p) <= 21)
00145 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00146 #define IS_PIN_SERVO(p) ((p) >= 2 && (p) <= 13 && (p) - 2 < MAX_SERVOS)
00147 #define IS_PIN_I2C(p) (0)
00148 #define PIN_TO_DIGITAL(p) (((p) < 16) ? (p) : (p) - 2)
00149 #define PIN_TO_ANALOG(p) ((p) - 16)
00150 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00151 #define PIN_TO_SERVO(p) ((p) - 2)
00152 #define ARDUINO_PINOUT_OPTIMIZE 1
00153
00154
00155
00156 #elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
00157 #define TOTAL_ANALOG_PINS 16
00158 #define TOTAL_PINS 70 // 54 digital + 16 analog
00159 #define VERSION_BLINK_PIN 13
00160 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
00161 #define IS_PIN_ANALOG(p) ((p) >= 54 && (p) < TOTAL_PINS)
00162 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00163 #define IS_PIN_SERVO(p) ((p) >= 2 && (p) - 2 < MAX_SERVOS)
00164 #define IS_PIN_I2C(p) (0)
00165 #define PIN_TO_DIGITAL(p) (p)
00166 #define PIN_TO_ANALOG(p) ((p) - 54)
00167 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00168 #define PIN_TO_SERVO(p) ((p) - 2)
00169
00170
00171
00172 #elif defined(__AVR_ATmega128__)
00173 #define TOTAL_ANALOG_PINS 8
00174 #define TOTAL_PINS 51
00175 #define VERSION_BLINK_PIN 48
00176
00177
00178
00179
00180 #elif defined(__AVR_AT90USB162__)
00181 #define TOTAL_ANALOG_PINS 0
00182 #define TOTAL_PINS 21 // 21 digital + no analog
00183 #define VERSION_BLINK_PIN 6
00184 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
00185 #define IS_PIN_ANALOG(p) (0)
00186 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00187 #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
00188 #define IS_PIN_I2C(p) (0)
00189 #define PIN_TO_DIGITAL(p) (p)
00190 #define PIN_TO_ANALOG(p) (0)
00191 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00192 #define PIN_TO_SERVO(p) (p)
00193
00194
00195
00196 #elif defined(__AVR_ATmega32U4__)
00197 #define TOTAL_ANALOG_PINS 12
00198 #define TOTAL_PINS 25 // 11 digital + 12 analog
00199 #define VERSION_BLINK_PIN 11
00200 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
00201 #define IS_PIN_ANALOG(p) ((p) >= 11 && (p) <= 22)
00202 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00203 #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
00204 #define IS_PIN_I2C(p) (0)
00205 #define PIN_TO_DIGITAL(p) (p)
00206 #define PIN_TO_ANALOG(p) (((p)<22)?21-(p):11)
00207 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00208 #define PIN_TO_SERVO(p) (p)
00209
00210
00211
00212 #elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
00213 #define TOTAL_ANALOG_PINS 8
00214 #define TOTAL_PINS 46 // 38 digital + 8 analog
00215 #define VERSION_BLINK_PIN 6
00216 #define IS_PIN_DIGITAL(p) ((p) >= 0 && (p) < TOTAL_PINS)
00217 #define IS_PIN_ANALOG(p) ((p) >= 38 && (p) < TOTAL_PINS)
00218 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00219 #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
00220 #define IS_PIN_I2C(p) (0)
00221 #define PIN_TO_DIGITAL(p) (p)
00222 #define PIN_TO_ANALOG(p) ((p) - 38)
00223 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00224 #define PIN_TO_SERVO(p) (p)
00225
00226
00227
00228 #elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)
00229 #define TOTAL_ANALOG_PINS 8
00230 #define TOTAL_PINS 32 // 24 digital + 8 analog
00231 #define VERSION_BLINK_PIN 0
00232 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
00233 #define IS_PIN_ANALOG(p) ((p) >= 24 && (p) < TOTAL_PINS)
00234 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00235 #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
00236 #define IS_PIN_I2C(p) (0)
00237 #define PIN_TO_DIGITAL(p) (p)
00238 #define PIN_TO_ANALOG(p) ((p) - 24)
00239 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00240 #define PIN_TO_SERVO(p) ((p) - 2)
00241
00242
00243
00244 #elif defined(__AVR_ATmega645__)
00245 #define TOTAL_ANALOG_PINS 6
00246 #define TOTAL_PINS 42 // 36 digital + 6 analog
00247 #define VERSION_BLINK_PIN 13
00248 #define IS_PIN_DIGITAL(p) ((p) >= 2 && (p) < TOTAL_PINS)
00249 #define IS_PIN_ANALOG(p) ((p) >= 36 && (p) < TOTAL_PINS)
00250 #define IS_PIN_PWM(p) IS_PIN_DIGITAL(p)
00251 #define IS_PIN_SERVO(p) ((p) >= 0 && (p) < MAX_SERVOS)
00252 #define IS_PIN_I2C(p) (0)
00253 #define PIN_TO_DIGITAL(p) (p)
00254 #define PIN_TO_ANALOG(p) ((p) - 36)
00255 #define PIN_TO_PWM(p) PIN_TO_DIGITAL(p)
00256 #define PIN_TO_SERVO(p) ((p) - 2)
00257
00258
00259
00260 #else
00261 #error "Please edit Boards.h with a hardware abstraction for this board"
00262 #endif
00263
00264
00265
00266
00267
00268
00269 static inline unsigned char readPort(byte, byte) __attribute__((always_inline, unused));
00270 static inline unsigned char readPort(byte port, byte bitmask)
00271 {
00272 #if defined(ARDUINO_PINOUT_OPTIMIZE)
00273 if (port == 0) return PIND & B11111100 & bitmask;
00274 if (port == 1) return PINB & B00111111 & bitmask;
00275 if (port == 2) return PINC & bitmask;
00276 return 0;
00277 #else
00278 unsigned char out=0, pin=port*8;
00279 if (IS_PIN_DIGITAL(pin+0) && (bitmask & 0x01) && digitalRead(PIN_TO_DIGITAL(pin+0))) out |= 0x01;
00280 if (IS_PIN_DIGITAL(pin+1) && (bitmask & 0x02) && digitalRead(PIN_TO_DIGITAL(pin+1))) out |= 0x02;
00281 if (IS_PIN_DIGITAL(pin+2) && (bitmask & 0x04) && digitalRead(PIN_TO_DIGITAL(pin+2))) out |= 0x04;
00282 if (IS_PIN_DIGITAL(pin+3) && (bitmask & 0x08) && digitalRead(PIN_TO_DIGITAL(pin+3))) out |= 0x08;
00283 if (IS_PIN_DIGITAL(pin+4) && (bitmask & 0x10) && digitalRead(PIN_TO_DIGITAL(pin+4))) out |= 0x10;
00284 if (IS_PIN_DIGITAL(pin+5) && (bitmask & 0x20) && digitalRead(PIN_TO_DIGITAL(pin+5))) out |= 0x20;
00285 if (IS_PIN_DIGITAL(pin+6) && (bitmask & 0x40) && digitalRead(PIN_TO_DIGITAL(pin+6))) out |= 0x40;
00286 if (IS_PIN_DIGITAL(pin+7) && (bitmask & 0x80) && digitalRead(PIN_TO_DIGITAL(pin+7))) out |= 0x80;
00287 return out;
00288 #endif
00289 }
00290
00291
00292
00293
00294
00295 static inline unsigned char writePort(byte, byte, byte) __attribute__((always_inline, unused));
00296 static inline unsigned char writePort(byte port, byte value, byte bitmask)
00297 {
00298 #if defined(ARDUINO_PINOUT_OPTIMIZE)
00299 if (port == 0) {
00300 bitmask = bitmask & 0xFC;
00301 cli();
00302 PORTD = (PORTD & ~bitmask) | (bitmask & value);
00303 sei();
00304 } else if (port == 1) {
00305 cli();
00306 PORTB = (PORTB & ~bitmask) | (bitmask & value);
00307 sei();
00308 } else if (port == 2) {
00309 cli();
00310 PORTC = (PORTC & ~bitmask) | (bitmask & value);
00311 sei();
00312 }
00313 #else
00314 byte pin=port*8;
00315 if ((bitmask & 0x01)) digitalWrite(PIN_TO_DIGITAL(pin+0), (value & 0x01));
00316 if ((bitmask & 0x02)) digitalWrite(PIN_TO_DIGITAL(pin+1), (value & 0x02));
00317 if ((bitmask & 0x04)) digitalWrite(PIN_TO_DIGITAL(pin+2), (value & 0x04));
00318 if ((bitmask & 0x08)) digitalWrite(PIN_TO_DIGITAL(pin+3), (value & 0x08));
00319 if ((bitmask & 0x10)) digitalWrite(PIN_TO_DIGITAL(pin+4), (value & 0x10));
00320 if ((bitmask & 0x20)) digitalWrite(PIN_TO_DIGITAL(pin+5), (value & 0x20));
00321 if ((bitmask & 0x40)) digitalWrite(PIN_TO_DIGITAL(pin+6), (value & 0x40));
00322 if ((bitmask & 0x80)) digitalWrite(PIN_TO_DIGITAL(pin+7), (value & 0x80));
00323 #endif
00324 }
00325
00326
00327
00328
00329 #ifndef TOTAL_PORTS
00330 #define TOTAL_PORTS ((TOTAL_PINS + 7) / 8)
00331 #endif
00332
00333
00334 #endif
00335