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cmagliecmaglie
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Robot has its own core
1 parent 44c5dae commit ef4e8c6

37 files changed

+7475
-2
lines changed

‎boards.txt

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Original file line numberDiff line numberDiff line change
@@ -541,7 +541,7 @@ robotControl.build.mcu=atmega32u4
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robotControl.build.f_cpu=16000000L
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robotControl.build.vid=0x2341
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robotControl.build.pid=0x8038
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robotControl.build.core=arduino
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robotControl.build.core=robot
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robotControl.build.variant=robot_control
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##############################################################
@@ -562,6 +562,6 @@ robotMotor.build.mcu=atmega32u4
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robotMotor.build.f_cpu=16000000L
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robotMotor.build.vid=0x2341
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robotMotor.build.pid=0x8039
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robotMotor.build.core=arduino
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robotMotor.build.core=robot
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robotMotor.build.variant=robot_motor
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‎cores/robot/Arduino.h

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#ifndef Arduino_h
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#define Arduino_h
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#include <avr/pgmspace.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "binary.h"
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#ifdef __cplusplus
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extern "C"{
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#endif
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#define HIGH 0x1
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#define LOW 0x0
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#define INPUT 0x0
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#define OUTPUT 0x1
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#define INPUT_PULLUP 0x2
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#define true 0x1
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#define false 0x0
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#define PI 3.1415926535897932384626433832795
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#define HALF_PI 1.5707963267948966192313216916398
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#define TWO_PI 6.283185307179586476925286766559
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#define DEG_TO_RAD 0.017453292519943295769236907684886
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#define RAD_TO_DEG 57.295779513082320876798154814105
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#define SERIAL 0x0
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#define DISPLAY 0x1
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#define LSBFIRST 0
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#define MSBFIRST 1
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#define CHANGE 1
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#define FALLING 2
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#define RISING 3
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#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
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#define DEFAULT 0
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#define EXTERNAL 1
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#define INTERNAL 2
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#else
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega644__) || defined(__AVR_ATmega644A__) || defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644PA__)
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#define INTERNAL1V1 2
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#define INTERNAL2V56 3
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#else
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#define INTERNAL 3
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#endif
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#define DEFAULT 1
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#define EXTERNAL 0
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#endif
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// undefine stdlib's abs if encountered
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#ifdef abs
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#undef abs
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#endif
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#define min(a,b) ((a)<(b)?(a):(b))
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#define max(a,b) ((a)>(b)?(a):(b))
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#define abs(x) ((x)>0?(x):-(x))
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#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
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#define round(x) ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
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#define radians(deg) ((deg)*DEG_TO_RAD)
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#define degrees(rad) ((rad)*RAD_TO_DEG)
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#define sq(x) ((x)*(x))
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#define interrupts() sei()
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#define noInterrupts() cli()
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#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
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#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() )
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#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )
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#define lowByte(w) ((uint8_t) ((w) & 0xff))
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#define highByte(w) ((uint8_t) ((w) >> 8))
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#define bitRead(value, bit) (((value) >> (bit)) & 0x01)
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#define bitSet(value, bit) ((value) |= (1UL << (bit)))
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#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
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#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
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typedef unsigned int word;
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#define bit(b) (1UL << (b))
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typedef uint8_t boolean;
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typedef uint8_t byte;
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void init(void);
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void pinMode(uint8_t, uint8_t);
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void digitalWrite(uint8_t, uint8_t);
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int digitalRead(uint8_t);
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int analogRead(uint8_t);
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void analogReference(uint8_t mode);
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void analogWrite(uint8_t, int);
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unsigned long millis(void);
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unsigned long micros(void);
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void delay(unsigned long);
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void delayMicroseconds(unsigned int us);
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unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
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void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
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uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
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void attachInterrupt(uint8_t, void (*)(void), int mode);
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void detachInterrupt(uint8_t);
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void setup(void);
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void loop(void);
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// Get the bit location within the hardware port of the given virtual pin.
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// This comes from the pins_*.c file for the active board configuration.
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#define analogInPinToBit(P) (P)
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// On the ATmega1280, the addresses of some of the port registers are
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// greater than 255, so we can't store them in uint8_t's.
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extern const uint16_t PROGMEM port_to_mode_PGM[];
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extern const uint16_t PROGMEM port_to_input_PGM[];
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extern const uint16_t PROGMEM port_to_output_PGM[];
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extern const uint8_t PROGMEM digital_pin_to_port_PGM[];
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// extern const uint8_t PROGMEM digital_pin_to_bit_PGM[];
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extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[];
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extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
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// Get the bit location within the hardware port of the given virtual pin.
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// This comes from the pins_*.c file for the active board configuration.
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//
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// These perform slightly better as macros compared to inline functions
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//
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#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
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#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
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#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
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#define analogInPinToBit(P) (P)
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#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
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#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
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#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )
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#define NOT_A_PIN 0
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#define NOT_A_PORT 0
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#ifdef ARDUINO_MAIN
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#define PA 1
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#define PB 2
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#define PC 3
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#define PD 4
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#define PE 5
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#define PF 6
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#define PG 7
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#define PH 8
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#define PJ 10
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#define PK 11
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#define PL 12
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#endif
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#define NOT_ON_TIMER 0
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#define TIMER0A 1
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#define TIMER0B 2
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#define TIMER1A 3
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#define TIMER1B 4
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#define TIMER2 5
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#define TIMER2A 6
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#define TIMER2B 7
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#define TIMER3A 8
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#define TIMER3B 9
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#define TIMER3C 10
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#define TIMER4A 11
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#define TIMER4B 12
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#define TIMER4C 13
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#define TIMER4D 14
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#define TIMER5A 15
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#define TIMER5B 16
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#define TIMER5C 17
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#ifdef __cplusplus
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#include "WCharacter.h"
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#include "WString.h"
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#include "HardwareSerial.h"
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uint16_t makeWord(uint16_t w);
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uint16_t makeWord(byte h, byte l);
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#define word(...) makeWord(__VA_ARGS__)
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unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);
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void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0);
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void noTone(uint8_t _pin);
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// WMath prototypes
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long random(long);
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long random(long, long);
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void randomSeed(unsigned int);
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long map(long, long, long, long, long);
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#endif
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#include "pins_arduino.h"
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#endif

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