Quadrotor

/* Arduino SdFat Library

 * Copyright (C) 2010 by William Greiman

 *

 * This file is part of the Arduino SdFat Library

 *

 * This Library is free software: you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation, either version 3 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 General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with the Arduino SdFat Library.  If not, see

 * <http://www.gnu.org/licenses/>.

 */

// Warning this file was generated by a program.

#ifndef Sd2PinMap_h

#define Sd2PinMap_h

#include <avr/io.h>

//------------------------------------------------------------------------------

/** struct for mapping digital pins */

struct pin_map_t {

  volatile uint8_t* ddr;

  volatile uint8_t* pin;

  volatile uint8_t* port;

  uint8_t bit;

};

//------------------------------------------------------------------------------

#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)

// Mega

// Two Wire (aka I2C) ports

uint8_t const SDA_PIN = 20;

uint8_t const SCL_PIN = 21;

// SPI port

uint8_t const SS_PIN = 53;

uint8_t const MOSI_PIN = 51;

uint8_t const MISO_PIN = 50;

uint8_t const SCK_PIN = 52;

static const pin_map_t digitalPinMap[] = {

  {&DDRE, &PINE, &PORTE, 0},  // E0  0

  {&DDRE, &PINE, &PORTE, 1},  // E1  1

  {&DDRE, &PINE, &PORTE, 4},  // E4  2

  {&DDRE, &PINE, &PORTE, 5},  // E5  3

  {&DDRG, &PING, &PORTG, 5},  // G5  4

  {&DDRE, &PINE, &PORTE, 3},  // E3  5

  {&DDRH, &PINH, &PORTH, 3},  // H3  6

  {&DDRH, &PINH, &PORTH, 4},  // H4  7

  {&DDRH, &PINH, &PORTH, 5},  // H5  8

  {&DDRH, &PINH, &PORTH, 6},  // H6  9

  {&DDRB, &PINB, &PORTB, 4},  // B4 10

  {&DDRB, &PINB, &PORTB, 5},  // B5 11

  {&DDRB, &PINB, &PORTB, 6},  // B6 12

  {&DDRB, &PINB, &PORTB, 7},  // B7 13

  {&DDRJ, &PINJ, &PORTJ, 1},  // J1 14

  {&DDRJ, &PINJ, &PORTJ, 0},  // J0 15

  {&DDRH, &PINH, &PORTH, 1},  // H1 16

  {&DDRH, &PINH, &PORTH, 0},  // H0 17

  {&DDRD, &PIND, &PORTD, 3},  // D3 18

  {&DDRD, &PIND, &PORTD, 2},  // D2 19

  {&DDRD, &PIND, &PORTD, 1},  // D1 20

  {&DDRD, &PIND, &PORTD, 0},  // D0 21

  {&DDRA, &PINA, &PORTA, 0},  // A0 22

  {&DDRA, &PINA, &PORTA, 1},  // A1 23

  {&DDRA, &PINA, &PORTA, 2},  // A2 24

  {&DDRA, &PINA, &PORTA, 3},  // A3 25

  {&DDRA, &PINA, &PORTA, 4},  // A4 26

  {&DDRA, &PINA, &PORTA, 5},  // A5 27

  {&DDRA, &PINA, &PORTA, 6},  // A6 28

  {&DDRA, &PINA, &PORTA, 7},  // A7 29

  {&DDRC, &PINC, &PORTC, 7},  // C7 30

  {&DDRC, &PINC, &PORTC, 6},  // C6 31

  {&DDRC, &PINC, &PORTC, 5},  // C5 32

  {&DDRC, &PINC, &PORTC, 4},  // C4 33

  {&DDRC, &PINC, &PORTC, 3},  // C3 34

  {&DDRC, &PINC, &PORTC, 2},  // C2 35

  {&DDRC, &PINC, &PORTC, 1},  // C1 36

  {&DDRC, &PINC, &PORTC, 0},  // C0 37

  {&DDRD, &PIND, &PORTD, 7},  // D7 38

  {&DDRG, &PING, &PORTG, 2},  // G2 39

  {&DDRG, &PING, &PORTG, 1},  // G1 40

  {&DDRG, &PING, &PORTG, 0},  // G0 41

  {&DDRL, &PINL, &PORTL, 7},  // L7 42

  {&DDRL, &PINL, &PORTL, 6},  // L6 43

  {&DDRL, &PINL, &PORTL, 5},  // L5 44

  {&DDRL, &PINL, &PORTL, 4},  // L4 45

  {&DDRL, &PINL, &PORTL, 3},  // L3 46

  {&DDRL, &PINL, &PORTL, 2},  // L2 47

  {&DDRL, &PINL, &PORTL, 1},  // L1 48

  {&DDRL, &PINL, &PORTL, 0},  // L0 49

  {&DDRB, &PINB, &PORTB, 3},  // B3 50

  {&DDRB, &PINB, &PORTB, 2},  // B2 51

  {&DDRB, &PINB, &PORTB, 1},  // B1 52

  {&DDRB, &PINB, &PORTB, 0},  // B0 53

  {&DDRF, &PINF, &PORTF, 0},  // F0 54

  {&DDRF, &PINF, &PORTF, 1},  // F1 55

  {&DDRF, &PINF, &PORTF, 2},  // F2 56

  {&DDRF, &PINF, &PORTF, 3},  // F3 57

  {&DDRF, &PINF, &PORTF, 4},  // F4 58

  {&DDRF, &PINF, &PORTF, 5},  // F5 59

  {&DDRF, &PINF, &PORTF, 6},  // F6 60

  {&DDRF, &PINF, &PORTF, 7},  // F7 61

  {&DDRK, &PINK, &PORTK, 0},  // K0 62

  {&DDRK, &PINK, &PORTK, 1},  // K1 63

  {&DDRK, &PINK, &PORTK, 2},  // K2 64

  {&DDRK, &PINK, &PORTK, 3},  // K3 65

  {&DDRK, &PINK, &PORTK, 4},  // K4 66

  {&DDRK, &PINK, &PORTK, 5},  // K5 67

  {&DDRK, &PINK, &PORTK, 6},  // K6 68

  {&DDRK, &PINK, &PORTK, 7}   // K7 69

};

//------------------------------------------------------------------------------

#elif defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__)

// Sanguino

// Two Wire (aka I2C) ports

uint8_t const SDA_PIN = 17;

uint8_t const SCL_PIN = 18;

// SPI port

uint8_t const SS_PIN = 4;

uint8_t const MOSI_PIN = 5;

uint8_t const MISO_PIN = 6;

uint8_t const SCK_PIN = 7;

static const pin_map_t digitalPinMap[] = {

  {&DDRB, &PINB, &PORTB, 0},  // B0  0

  {&DDRB, &PINB, &PORTB, 1},  // B1  1

  {&DDRB, &PINB, &PORTB, 2},  // B2  2

  {&DDRB, &PINB, &PORTB, 3},  // B3  3

  {&DDRB, &PINB, &PORTB, 4},  // B4  4

  {&DDRB, &PINB, &PORTB, 5},  // B5  5

  {&DDRB, &PINB, &PORTB, 6},  // B6  6

  {&DDRB, &PINB, &PORTB, 7},  // B7  7

  {&DDRD, &PIND, &PORTD, 0},  // D0  8

  {&DDRD, &PIND, &PORTD, 1},  // D1  9

  {&DDRD, &PIND, &PORTD, 2},  // D2 10

  {&DDRD, &PIND, &PORTD, 3},  // D3 11

  {&DDRD, &PIND, &PORTD, 4},  // D4 12

  {&DDRD, &PIND, &PORTD, 5},  // D5 13

  {&DDRD, &PIND, &PORTD, 6},  // D6 14

  {&DDRD, &PIND, &PORTD, 7},  // D7 15

  {&DDRC, &PINC, &PORTC, 0},  // C0 16

  {&DDRC, &PINC, &PORTC, 1},  // C1 17

  {&DDRC, &PINC, &PORTC, 2},  // C2 18

  {&DDRC, &PINC, &PORTC, 3},  // C3 19

  {&DDRC, &PINC, &PORTC, 4},  // C4 20

  {&DDRC, &PINC, &PORTC, 5},  // C5 21

  {&DDRC, &PINC, &PORTC, 6},  // C6 22

  {&DDRC, &PINC, &PORTC, 7},  // C7 23

  {&DDRA, &PINA, &PORTA, 7},  // A7 24

  {&DDRA, &PINA, &PORTA, 6},  // A6 25

  {&DDRA, &PINA, &PORTA, 5},  // A5 26

  {&DDRA, &PINA, &PORTA, 4},  // A4 27

  {&DDRA, &PINA, &PORTA, 3},  // A3 28

  {&DDRA, &PINA, &PORTA, 2},  // A2 29

  {&DDRA, &PINA, &PORTA, 1},  // A1 30

  {&DDRA, &PINA, &PORTA, 0}   // A0 31

};

//------------------------------------------------------------------------------

#elif defined(__AVR_ATmega32U4__)

// Teensy 2.0

// Two Wire (aka I2C) ports

uint8_t const SDA_PIN = 6;

uint8_t const SCL_PIN = 5;

// SPI port

uint8_t const SS_PIN = 0;

uint8_t const MOSI_PIN = 2;

uint8_t const MISO_PIN = 3;

uint8_t const SCK_PIN = 1;

static const pin_map_t digitalPinMap[] = {

  {&DDRB, &PINB, &PORTB, 0},  // B0  0

  {&DDRB, &PINB, &PORTB, 1},  // B1  1

  {&DDRB, &PINB, &PORTB, 2},  // B2  2

  {&DDRB, &PINB, &PORTB, 3},  // B3  3

  {&DDRB, &PINB, &PORTB, 7},  // B7  4

  {&DDRD, &PIND, &PORTD, 0},  // D0  5

  {&DDRD, &PIND, &PORTD, 1},  // D1  6

  {&DDRD, &PIND, &PORTD, 2},  // D2  7

  {&DDRD, &PIND, &PORTD, 3},  // D3  8

  {&DDRC, &PINC, &PORTC, 6},  // C6  9

  {&DDRC, &PINC, &PORTC, 7},  // C7 10

  {&DDRD, &PIND, &PORTD, 6},  // D6 11

  {&DDRD, &PIND, &PORTD, 7},  // D7 12

  {&DDRB, &PINB, &PORTB, 4},  // B4 13

  {&DDRB, &PINB, &PORTB, 5},  // B5 14

  {&DDRB, &PINB, &PORTB, 6},  // B6 15

  {&DDRF, &PINF, &PORTF, 7},  // F7 16

  {&DDRF, &PINF, &PORTF, 6},  // F6 17

  {&DDRF, &PINF, &PORTF, 5},  // F5 18

  {&DDRF, &PINF, &PORTF, 4},  // F4 19

  {&DDRF, &PINF, &PORTF, 1},  // F1 20

  {&DDRF, &PINF, &PORTF, 0},  // F0 21

  {&DDRD, &PIND, &PORTD, 4},  // D4 22

  {&DDRD, &PIND, &PORTD, 5},  // D5 23

  {&DDRE, &PINE, &PORTE, 6}   // E6 24

};

//------------------------------------------------------------------------------

#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)

// Teensy++ 1.0 & 2.0

// Two Wire (aka I2C) ports

uint8_t const SDA_PIN = 1;

uint8_t const SCL_PIN = 0;

// SPI port

uint8_t const SS_PIN = 20;

uint8_t const MOSI_PIN = 22;

uint8_t const MISO_PIN = 23;

uint8_t const SCK_PIN = 21;

static const pin_map_t digitalPinMap[] = {

  {&DDRD, &PIND, &PORTD, 0},  // D0  0

  {&DDRD, &PIND, &PORTD, 1},  // D1  1

  {&DDRD, &PIND, &PORTD, 2},  // D2  2

  {&DDRD, &PIND, &PORTD, 3},  // D3  3

  {&DDRD, &PIND, &PORTD, 4},  // D4  4

  {&DDRD, &PIND, &PORTD, 5},  // D5  5

  {&DDRD, &PIND, &PORTD, 6},  // D6  6

  {&DDRD, &PIND, &PORTD, 7},  // D7  7

  {&DDRE, &PINE, &PORTE, 0},  // E0  8

  {&DDRE, &PINE, &PORTE, 1},  // E1  9

  {&DDRC, &PINC, &PORTC, 0},  // C0 10

  {&DDRC, &PINC, &PORTC, 1},  // C1 11

  {&DDRC, &PINC, &PORTC, 2},  // C2 12

  {&DDRC, &PINC, &PORTC, 3},  // C3 13

  {&DDRC, &PINC, &PORTC, 4},  // C4 14

  {&DDRC, &PINC, &PORTC, 5},  // C5 15

  {&DDRC, &PINC, &PORTC, 6},  // C6 16

  {&DDRC, &PINC, &PORTC, 7},  // C7 17

  {&DDRE, &PINE, &PORTE, 6},  // E6 18

  {&DDRE, &PINE, &PORTE, 7},  // E7 19

  {&DDRB, &PINB, &PORTB, 0},  // B0 20

  {&DDRB, &PINB, &PORTB, 1},  // B1 21

  {&DDRB, &PINB, &PORTB, 2},  // B2 22

  {&DDRB, &PINB, &PORTB, 3},  // B3 23

  {&DDRB, &PINB, &PORTB, 4},  // B4 24

  {&DDRB, &PINB, &PORTB, 5},  // B5 25

  {&DDRB, &PINB, &PORTB, 6},  // B6 26

  {&DDRB, &PINB, &PORTB, 7},  // B7 27

  {&DDRA, &PINA, &PORTA, 0},  // A0 28

  {&DDRA, &PINA, &PORTA, 1},  // A1 29

  {&DDRA, &PINA, &PORTA, 2},  // A2 30

  {&DDRA, &PINA, &PORTA, 3},  // A3 31

  {&DDRA, &PINA, &PORTA, 4},  // A4 32

  {&DDRA, &PINA, &PORTA, 5},  // A5 33

  {&DDRA, &PINA, &PORTA, 6},  // A6 34

  {&DDRA, &PINA, &PORTA, 7},  // A7 35

  {&DDRE, &PINE, &PORTE, 4},  // E4 36

  {&DDRE, &PINE, &PORTE, 5},  // E5 37

  {&DDRF, &PINF, &PORTF, 0},  // F0 38

  {&DDRF, &PINF, &PORTF, 1},  // F1 39

  {&DDRF, &PINF, &PORTF, 2},  // F2 40

  {&DDRF, &PINF, &PORTF, 3},  // F3 41

  {&DDRF, &PINF, &PORTF, 4},  // F4 42

  {&DDRF, &PINF, &PORTF, 5},  // F5 43

  {&DDRF, &PINF, &PORTF, 6},  // F6 44

  {&DDRF, &PINF, &PORTF, 7}   // F7 45

};

//------------------------------------------------------------------------------

#else  // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)

// 168 and 328 Arduinos

// Two Wire (aka I2C) ports

uint8_t const SDA_PIN = 18;

uint8_t const SCL_PIN = 19;

// SPI port

uint8_t const SS_PIN = 10;

uint8_t const MOSI_PIN = 11;

uint8_t const MISO_PIN = 12;

uint8_t const SCK_PIN = 13;

static const pin_map_t digitalPinMap[] = {

  {&DDRD, &PIND, &PORTD, 0},  // D0  0

  {&DDRD, &PIND, &PORTD, 1},  // D1  1

  {&DDRD, &PIND, &PORTD, 2},  // D2  2

  {&DDRD, &PIND, &PORTD, 3},  // D3  3

  {&DDRD, &PIND, &PORTD, 4},  // D4  4

  {&DDRD, &PIND, &PORTD, 5},  // D5  5

  {&DDRD, &PIND, &PORTD, 6},  // D6  6

  {&DDRD, &PIND, &PORTD, 7},  // D7  7

  {&DDRB, &PINB, &PORTB, 0},  // B0  8

  {&DDRB, &PINB, &PORTB, 1},  // B1  9

  {&DDRB, &PINB, &PORTB, 2},  // B2 10

  {&DDRB, &PINB, &PORTB, 3},  // B3 11

  {&DDRB, &PINB, &PORTB, 4},  // B4 12

  {&DDRB, &PINB, &PORTB, 5},  // B5 13

  {&DDRC, &PINC, &PORTC, 0},  // C0 14

  {&DDRC, &PINC, &PORTC, 1},  // C1 15

  {&DDRC, &PINC, &PORTC, 2},  // C2 16

  {&DDRC, &PINC, &PORTC, 3},  // C3 17

  {&DDRC, &PINC, &PORTC, 4},  // C4 18

  {&DDRC, &PINC, &PORTC, 5}   // C5 19

};

#endif  // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)

//------------------------------------------------------------------------------

static const uint8_t digitalPinCount = sizeof(digitalPinMap)/sizeof(pin_map_t);

uint8_t badPinNumber(void)

  __attribute__((error("Pin number is too large or not a constant")));

static inline __attribute__((always_inline))

  uint8_t getPinMode(uint8_t pin) {

  if (__builtin_constant_p(pin) && pin < digitalPinCount) {

    return (*digitalPinMap[pin].ddr >> digitalPinMap[pin].bit) & 1;

  } else {

    return badPinNumber();

  }

}

static inline __attribute__((always_inline))

  void setPinMode(uint8_t pin, uint8_t mode) {

  if (__builtin_constant_p(pin) && pin < digitalPinCount) {

    if (mode) {

      *digitalPinMap[pin].ddr |= 1 << digitalPinMap[pin].bit;

    } else {

      *digitalPinMap[pin].ddr &= ~(1 << digitalPinMap[pin].bit);

    }

  } else {

    badPinNumber();

  }

}

static inline __attribute__((always_inline))

  uint8_t fastDigitalRead(uint8_t pin) {

  if (__builtin_constant_p(pin) && pin < digitalPinCount) {

    return (*digitalPinMap[pin].pin >> digitalPinMap[pin].bit) & 1;

  } else {

    return badPinNumber();

  }

}

static inline __attribute__((always_inline))

  void fastDigitalWrite(uint8_t pin, uint8_t value) {

  if (__builtin_constant_p(pin) && pin < digitalPinCount) {

    if (value) {

      *digitalPinMap[pin].port |= 1 << digitalPinMap[pin].bit;

    } else {

      *digitalPinMap[pin].port &= ~(1 << digitalPinMap[pin].bit);

    }

  } else {

    badPinNumber();

  }

}

#endif  // Sd2PinMap_h