Quadrotor

#include <inttypes.h>

#include <avr/io.h>

#include <avr/pgmspace.h>

#include <avr/boot.h>

#include <util/delay.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <stdio.h>

#include <stdlib.h>

#include <string.h>

typedef unsigned char u8;

typedef unsigned short u16;

typedef unsigned long u32;

#define CPU_PRESCALE(n)        (CLKPR = 0x80, CLKPR = (n))

#define DISABLE_JTAG()  MCUCR = (1 << JTD) | (1 << IVCE) | (0 << PUD); MCUCR = (1 << JTD) | (0 << IVSEL) | (0 << IVCE) | (0 << PUD);

#define USB_PID_LEONARDO 0x0034

#define USB_PID_MICRO 0x0035

#define USB_VID 0x2341        // arduino LLC vid

#define USB_PID ARDUINO_MODEL_PID        // passed in by Makefile - 0x0034 for Leonardo, 0x0035 for MIcro

#define USB_SERIAL_STRING        '0','0','0','0','0','0','0','0','1','7','0','1'

#define OEM_NAME                'l','e','o','n','a','r','d','o'                                        // 8 chars

#define BOARD_INIT()        DDRC |= (1<<7); DDRB |= (1<<0); DDRD |= (1<<5); CPU_PRESCALE(0); DISABLE_JTAG();

#define LED0                        PORTC &= ~(1<<7)

#define LED1                        PORTC |= (1<<7)

#define TXLED0                        PORTD |= (1<<5)

#define TXLED1                        PORTD &= ~(1<<5)

#define RXLED0                        PORTB |= (1<<0)

#define RXLED1                        PORTB &= ~(1<<0)

#define TRANSFER_PGM                0x80

#define TRANSFER_RELEASE        0x40

#define TRANSFER_ZERO                0x20

void Transfer(u8 ep, const u8* data, int len);

void Recv(u8 ep, u8* dst, u8 len);

void Program(u8 ep, u16 page, u8 count);

#define CDC_ENABLED

#include "USBCore.h"

#include "USBDesc.h"