Quadrotor

/*

  pins_arduino.h - Pin definition functions for Arduino

  Part of Arduino - http://www.arduino.cc/

  Copyright (c) 2007 David A. Mellis

  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: wiring.h 249 2007-02-03 16:52:51Z mellis $

*/

#ifndef Pins_Arduino_h

#define Pins_Arduino_h

#include <avr/pgmspace.h>

#define NUM_DIGITAL_PINS            20

#define NUM_ANALOG_INPUTS           6

#define analogInputToDigitalPin(p)  ((p < 6) ? (p) + 14 : -1)

#if defined(__AVR_ATmega8__)

#define digitalPinHasPWM(p)         ((p) == 9 || (p) == 10 || (p) == 11)

#else

#define digitalPinHasPWM(p)         ((p) == 3 || (p) == 5 || (p) == 6 || (p) == 9 || (p) == 10 || (p) == 11)

#endif

const static uint8_t SS   = 10;

const static uint8_t MOSI = 11;

const static uint8_t MISO = 12;

const static uint8_t SCK  = 13;

const static uint8_t SDA = 18;

const static uint8_t SCL = 19;

const static uint8_t LED_BUILTIN = 13;

const static uint8_t A0 = 14;

const static uint8_t A1 = 15;

const static uint8_t A2 = 16;

const static uint8_t A3 = 17;

const static uint8_t A4 = 18;

const static uint8_t A5 = 19;

const static uint8_t A6 = 20;

const static uint8_t A7 = 21;

#define digitalPinToPCICR(p)    (((p) >= 0 && (p) <= 21) ? (&PCICR) : ((uint8_t *)0))

#define digitalPinToPCICRbit(p) (((p) <= 7) ? 2 : (((p) <= 13) ? 0 : 1))

#define digitalPinToPCMSK(p)    (((p) <= 7) ? (&PCMSK2) : (((p) <= 13) ? (&PCMSK0) : (((p) <= 21) ? (&PCMSK1) : ((uint8_t *)0))))

#define digitalPinToPCMSKbit(p) (((p) <= 7) ? (p) : (((p) <= 13) ? ((p) - 8) : ((p) - 14)))

#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.

// ATMEL ATMEGA8 & 168 / ARDUINO

//

//                  +-\/-+

//            PC6  1|    |28  PC5 (AI 5)

//      (D 0) PD0  2|    |27  PC4 (AI 4)

//      (D 1) PD1  3|    |26  PC3 (AI 3)

//      (D 2) PD2  4|    |25  PC2 (AI 2)

// PWM+ (D 3) PD3  5|    |24  PC1 (AI 1)

//      (D 4) PD4  6|    |23  PC0 (AI 0)

//            VCC  7|    |22  GND

//            GND  8|    |21  AREF

//            PB6  9|    |20  AVCC

//            PB7 10|    |19  PB5 (D 13)

// PWM+ (D 5) PD5 11|    |18  PB4 (D 12)

// PWM+ (D 6) PD6 12|    |17  PB3 (D 11) PWM

//      (D 7) PD7 13|    |16  PB2 (D 10) PWM

//      (D 8) PB0 14|    |15  PB1 (D 9) PWM

//                  +----+

//

// (PWM+ indicates the additional PWM pins on the ATmega168.)

// ATMEL ATMEGA1280 / ARDUINO

//

// 0-7 PE0-PE7   works

// 8-13 PB0-PB5  works

// 14-21 PA0-PA7 works 

// 22-29 PH0-PH7 works

// 30-35 PG5-PG0 works

// 36-43 PC7-PC0 works

// 44-51 PJ7-PJ0 works

// 52-59 PL7-PL0 works

// 60-67 PD7-PD0 works

// A0-A7 PF0-PF7

// A8-A15 PK0-PK7

// 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,

};

const uint16_t PROGMEM port_to_output_PGM[] = {

        NOT_A_PORT,

        NOT_A_PORT,

        (uint16_t) &PORTB,

        (uint16_t) &PORTC,

        (uint16_t) &PORTD,

};

const uint16_t PROGMEM port_to_input_PGM[] = {

        NOT_A_PORT,

        NOT_A_PORT,

        (uint16_t) &PINB,

        (uint16_t) &PINC,

        (uint16_t) &PIND,

};

const uint8_t PROGMEM digital_pin_to_port_PGM[] = {

        PD, /* 0 */

        PD,

        PD,

        PD,

        PD,

        PD,

        PD,

        PD,

        PB, /* 8 */

        PB,

        PB,

        PB,

        PB,

        PB,

        PC, /* 14 */

        PC,

        PC,

        PC,

        PC,

        PC,

};

const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[] = {

        _BV(0), /* 0, port D */

        _BV(1),

        _BV(2),

        _BV(3),

        _BV(4),

        _BV(5),

        _BV(6),

        _BV(7),

        _BV(0), /* 8, port B */

        _BV(1),

        _BV(2),

        _BV(3),

        _BV(4),

        _BV(5),

        _BV(0), /* 14, port C */

        _BV(1),

        _BV(2),

        _BV(3),

        _BV(4),

        _BV(5),

};

const uint8_t PROGMEM digital_pin_to_timer_PGM[] = {

        NOT_ON_TIMER, /* 0 - port D */

        NOT_ON_TIMER,

        NOT_ON_TIMER,

        // on the ATmega168, digital pin 3 has hardware pwm

#if defined(__AVR_ATmega8__)

        NOT_ON_TIMER,

#else

        TIMER2B,

#endif

        NOT_ON_TIMER,

        // on the ATmega168, digital pins 5 and 6 have hardware pwm

#if defined(__AVR_ATmega8__)

        NOT_ON_TIMER,

        NOT_ON_TIMER,

#else

        TIMER0B,

        TIMER0A,

#endif

        NOT_ON_TIMER,

        NOT_ON_TIMER, /* 8 - port B */

        TIMER1A,

        TIMER1B,

#if defined(__AVR_ATmega8__)

        TIMER2,

#else

        TIMER2A,

#endif

        NOT_ON_TIMER,

        NOT_ON_TIMER,

        NOT_ON_TIMER,

        NOT_ON_TIMER, /* 14 - port C */

        NOT_ON_TIMER,

        NOT_ON_TIMER,

        NOT_ON_TIMER,

        NOT_ON_TIMER,

};

#endif

#endif