Revision 58d82c77
ID | 58d82c77908eee0e1c222f7b38691e6532deb77b |
Added mikrokopter/arduino, which uses rosserial
It currently runs on an Arduino Uno, and successfully gives data back to
the computer over USB. With a few changes (one specified in the README,
the rest minor changes to CMakeLists.txt) it should run on the Pro
Micro, though that is not currently functioning so I can't test it.
Also, added a subset of the arduino-1.0 libraries/IDE so that
mikrokopter/arduino can work.
arduino-1.0/hardware/arduino/boards.txt | ||
---|---|---|
1 |
############################################################## |
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2 |
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3 |
uno.name=Arduino Uno |
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4 |
uno.upload.protocol=arduino |
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5 |
uno.upload.maximum_size=32256 |
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6 |
uno.upload.speed=115200 |
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7 |
uno.bootloader.low_fuses=0xff |
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8 |
uno.bootloader.high_fuses=0xde |
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9 |
uno.bootloader.extended_fuses=0x05 |
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10 |
uno.bootloader.path=optiboot |
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11 |
uno.bootloader.file=optiboot_atmega328.hex |
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12 |
uno.bootloader.unlock_bits=0x3F |
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13 |
uno.bootloader.lock_bits=0x0F |
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14 |
uno.build.mcu=atmega328p |
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15 |
uno.build.f_cpu=16000000L |
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16 |
uno.build.core=arduino |
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17 |
uno.build.variant=standard |
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18 |
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19 |
############################################################## |
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20 |
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21 |
atmega328.name=Arduino Duemilanove w/ ATmega328 |
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22 |
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23 |
atmega328.upload.protocol=arduino |
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24 |
atmega328.upload.maximum_size=30720 |
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25 |
atmega328.upload.speed=57600 |
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26 |
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|
27 |
atmega328.bootloader.low_fuses=0xFF |
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28 |
atmega328.bootloader.high_fuses=0xDA |
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29 |
atmega328.bootloader.extended_fuses=0x05 |
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30 |
atmega328.bootloader.path=atmega |
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31 |
atmega328.bootloader.file=ATmegaBOOT_168_atmega328.hex |
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32 |
atmega328.bootloader.unlock_bits=0x3F |
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33 |
atmega328.bootloader.lock_bits=0x0F |
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34 |
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35 |
atmega328.build.mcu=atmega328p |
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36 |
atmega328.build.f_cpu=16000000L |
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37 |
atmega328.build.core=arduino |
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38 |
atmega328.build.variant=standard |
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39 |
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40 |
############################################################## |
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41 |
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42 |
diecimila.name=Arduino Diecimila or Duemilanove w/ ATmega168 |
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43 |
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44 |
diecimila.upload.protocol=arduino |
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45 |
diecimila.upload.maximum_size=14336 |
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46 |
diecimila.upload.speed=19200 |
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47 |
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48 |
diecimila.bootloader.low_fuses=0xff |
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49 |
diecimila.bootloader.high_fuses=0xdd |
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50 |
diecimila.bootloader.extended_fuses=0x00 |
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51 |
diecimila.bootloader.path=atmega |
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52 |
diecimila.bootloader.file=ATmegaBOOT_168_diecimila.hex |
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53 |
diecimila.bootloader.unlock_bits=0x3F |
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54 |
diecimila.bootloader.lock_bits=0x0F |
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55 |
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56 |
diecimila.build.mcu=atmega168 |
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57 |
diecimila.build.f_cpu=16000000L |
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58 |
diecimila.build.core=arduino |
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59 |
diecimila.build.variant=standard |
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60 |
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61 |
############################################################## |
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62 |
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63 |
nano328.name=Arduino Nano w/ ATmega328 |
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64 |
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65 |
nano328.upload.protocol=arduino |
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66 |
nano328.upload.maximum_size=30720 |
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67 |
nano328.upload.speed=57600 |
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68 |
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69 |
nano328.bootloader.low_fuses=0xFF |
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70 |
nano328.bootloader.high_fuses=0xDA |
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71 |
nano328.bootloader.extended_fuses=0x05 |
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72 |
nano328.bootloader.path=atmega |
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73 |
nano328.bootloader.file=ATmegaBOOT_168_atmega328.hex |
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74 |
nano328.bootloader.unlock_bits=0x3F |
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75 |
nano328.bootloader.lock_bits=0x0F |
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76 |
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|
77 |
nano328.build.mcu=atmega328p |
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78 |
nano328.build.f_cpu=16000000L |
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79 |
nano328.build.core=arduino |
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80 |
nano328.build.variant=eightanaloginputs |
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81 |
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82 |
############################################################## |
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83 |
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|
84 |
nano.name=Arduino Nano w/ ATmega168 |
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85 |
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|
86 |
nano.upload.protocol=arduino |
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87 |
nano.upload.maximum_size=14336 |
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88 |
nano.upload.speed=19200 |
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89 |
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90 |
nano.bootloader.low_fuses=0xff |
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91 |
nano.bootloader.high_fuses=0xdd |
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92 |
nano.bootloader.extended_fuses=0x00 |
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93 |
nano.bootloader.path=atmega |
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94 |
nano.bootloader.file=ATmegaBOOT_168_diecimila.hex |
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95 |
nano.bootloader.unlock_bits=0x3F |
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96 |
nano.bootloader.lock_bits=0x0F |
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97 |
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98 |
nano.build.mcu=atmega168 |
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99 |
nano.build.f_cpu=16000000L |
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100 |
nano.build.core=arduino |
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101 |
nano.build.variant=eightanaloginputs |
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102 |
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103 |
############################################################## |
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104 |
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105 |
mega2560.name=Arduino Mega 2560 or Mega ADK |
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106 |
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107 |
mega2560.upload.protocol=stk500v2 |
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108 |
mega2560.upload.maximum_size=258048 |
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109 |
mega2560.upload.speed=115200 |
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110 |
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111 |
mega2560.bootloader.low_fuses=0xFF |
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112 |
mega2560.bootloader.high_fuses=0xD8 |
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113 |
mega2560.bootloader.extended_fuses=0xFD |
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114 |
mega2560.bootloader.path=stk500v2 |
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115 |
mega2560.bootloader.file=stk500boot_v2_mega2560.hex |
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116 |
mega2560.bootloader.unlock_bits=0x3F |
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117 |
mega2560.bootloader.lock_bits=0x0F |
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118 |
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119 |
mega2560.build.mcu=atmega2560 |
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120 |
mega2560.build.f_cpu=16000000L |
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121 |
mega2560.build.core=arduino |
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122 |
mega2560.build.variant=mega |
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123 |
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124 |
############################################################## |
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125 |
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126 |
mega.name=Arduino Mega (ATmega1280) |
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127 |
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128 |
mega.upload.protocol=arduino |
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129 |
mega.upload.maximum_size=126976 |
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130 |
mega.upload.speed=57600 |
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131 |
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132 |
mega.bootloader.low_fuses=0xFF |
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133 |
mega.bootloader.high_fuses=0xDA |
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134 |
mega.bootloader.extended_fuses=0xF5 |
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135 |
mega.bootloader.path=atmega |
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136 |
mega.bootloader.file=ATmegaBOOT_168_atmega1280.hex |
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137 |
mega.bootloader.unlock_bits=0x3F |
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138 |
mega.bootloader.lock_bits=0x0F |
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139 |
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|
140 |
mega.build.mcu=atmega1280 |
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141 |
mega.build.f_cpu=16000000L |
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142 |
mega.build.core=arduino |
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143 |
mega.build.variant=mega |
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144 |
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145 |
############################################################## |
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146 |
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147 |
leonardo.name=Arduino Leonardo |
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148 |
leonardo.upload.protocol=arduino |
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149 |
leonardo.upload.maximum_size=28672 |
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150 |
leonardo.upload.speed=1200 |
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151 |
leonardo.bootloader.low_fuses=0xde |
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152 |
leonardo.bootloader.high_fuses=0xd8 |
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153 |
leonardo.bootloader.extended_fuses=0xcb |
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154 |
leonardo.bootloader.path=diskloader |
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155 |
leonardo.bootloader.file=DiskLoader-Leonardo.hex |
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156 |
leonardo.bootloader.unlock_bits=0x3F |
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157 |
leonardo.bootloader.lock_bits=0x2F |
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158 |
leonardo.build.mcu=atmega32u4 |
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159 |
leonardo.build.f_cpu=16000000L |
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160 |
leonardo.build.core=arduino |
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161 |
leonardo.build.variant=leonardo |
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162 |
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163 |
############################################################## |
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164 |
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165 |
#micro.name=Arduino Micro |
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166 |
#micro.upload.protocol=arduino |
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167 |
#micro.upload.maximum_size=30720 |
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168 |
#micro.upload.speed=1200 |
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169 |
#micro.bootloader.low_fuses=0xde |
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170 |
#micro.bootloader.high_fuses=0xda |
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171 |
#micro.bootloader.extended_fuses=0xcb |
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172 |
#micro.bootloader.path=diskloader |
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173 |
#micro.bootloader.file=DiskLoader-Micro.hex |
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174 |
#micro.bootloader.unlock_bits=0x3F |
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175 |
#micro.bootloader.lock_bits=0x2F |
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176 |
#micro.build.mcu=atmega32u4 |
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177 |
#micro.build.f_cpu=16000000L |
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178 |
#micro.build.core=arduino |
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179 |
#micro.build.variant=micro |
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180 |
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181 |
############################################################## |
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182 |
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183 |
mini328.name=Arduino Mini w/ ATmega328 |
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184 |
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185 |
mini328.upload.protocol=stk500 |
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186 |
mini328.upload.maximum_size=28672 |
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187 |
mini328.upload.speed=115200 |
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188 |
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189 |
mini328.bootloader.low_fuses=0xff |
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190 |
mini328.bootloader.high_fuses=0xd8 |
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191 |
mini328.bootloader.extended_fuses=0x05 |
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192 |
mini328.bootloader.path=optiboot |
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193 |
mini328.bootloader.file=optiboot_atmega328-Mini.hex |
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194 |
mini328.bootloader.unlock_bits=0x3F |
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195 |
mini328.bootloader.lock_bits=0x0F |
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196 |
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197 |
mini328.build.mcu=atmega328p |
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198 |
mini328.build.f_cpu=16000000L |
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199 |
mini328.build.core=arduino |
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200 |
mini328.build.variant=eightanaloginputs |
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201 |
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202 |
############################################################## |
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203 |
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204 |
mini.name=Arduino Mini w/ ATmega168 |
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205 |
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206 |
mini.upload.protocol=arduino |
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207 |
mini.upload.maximum_size=14336 |
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208 |
mini.upload.speed=19200 |
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209 |
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|
210 |
mini.bootloader.low_fuses=0xff |
|
211 |
mini.bootloader.high_fuses=0xdd |
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212 |
mini.bootloader.extended_fuses=0x00 |
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213 |
mini.bootloader.path=atmega |
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214 |
mini.bootloader.file=ATmegaBOOT_168_ng.hex |
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215 |
mini.bootloader.unlock_bits=0x3F |
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216 |
mini.bootloader.lock_bits=0x0F |
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217 |
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|
218 |
mini.build.mcu=atmega168 |
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219 |
mini.build.f_cpu=16000000L |
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220 |
mini.build.core=arduino |
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221 |
mini.build.variant=eightanaloginputs |
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222 |
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223 |
############################################################## |
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224 |
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225 |
ethernet.name=Arduino Ethernet |
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226 |
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227 |
ethernet.upload.protocol=arduino |
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228 |
ethernet.upload.maximum_size=32256 |
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229 |
ethernet.upload.speed=115200 |
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230 |
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231 |
ethernet.bootloader.low_fuses=0xff |
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232 |
ethernet.bootloader.high_fuses=0xde |
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233 |
ethernet.bootloader.extended_fuses=0x05 |
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234 |
ethernet.bootloader.path=optiboot |
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235 |
ethernet.bootloader.file=optiboot_atmega328.hex |
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236 |
ethernet.bootloader.unlock_bits=0x3F |
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237 |
ethernet.bootloader.lock_bits=0x0F |
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238 |
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239 |
ethernet.build.variant=standard |
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240 |
ethernet.build.mcu=atmega328p |
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241 |
ethernet.build.f_cpu=16000000L |
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242 |
ethernet.build.core=arduino |
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243 |
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244 |
############################################################## |
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245 |
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|
246 |
fio.name=Arduino Fio |
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247 |
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|
248 |
fio.upload.protocol=arduino |
|
249 |
fio.upload.maximum_size=30720 |
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250 |
fio.upload.speed=57600 |
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251 |
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|
252 |
fio.bootloader.low_fuses=0xFF |
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253 |
fio.bootloader.high_fuses=0xDA |
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254 |
fio.bootloader.extended_fuses=0x05 |
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255 |
fio.bootloader.path=arduino:atmega |
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256 |
fio.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex |
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257 |
fio.bootloader.unlock_bits=0x3F |
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258 |
fio.bootloader.lock_bits=0x0F |
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259 |
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|
260 |
fio.build.mcu=atmega328p |
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261 |
fio.build.f_cpu=8000000L |
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262 |
fio.build.core=arduino |
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263 |
fio.build.variant=eightanaloginputs |
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264 |
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265 |
############################################################## |
|
266 |
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|
267 |
bt328.name=Arduino BT w/ ATmega328 |
|
268 |
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|
269 |
bt328.upload.protocol=arduino |
|
270 |
bt328.upload.maximum_size=28672 |
|
271 |
bt328.upload.speed=19200 |
|
272 |
bt328.upload.disable_flushing=true |
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273 |
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|
274 |
bt328.bootloader.low_fuses=0xff |
|
275 |
bt328.bootloader.high_fuses=0xd8 |
|
276 |
bt328.bootloader.extended_fuses=0x05 |
|
277 |
bt328.bootloader.path=bt |
|
278 |
bt328.bootloader.file=ATmegaBOOT_168_atmega328_bt.hex |
|
279 |
bt328.bootloader.unlock_bits=0x3F |
|
280 |
bt328.bootloader.lock_bits=0x0F |
|
281 |
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|
282 |
bt328.build.mcu=atmega328p |
|
283 |
bt328.build.f_cpu=16000000L |
|
284 |
bt328.build.core=arduino |
|
285 |
bt328.build.variant=eightanaloginputs |
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286 |
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|
287 |
############################################################## |
|
288 |
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|
289 |
bt.name=Arduino BT w/ ATmega168 |
|
290 |
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|
291 |
bt.upload.protocol=arduino |
|
292 |
bt.upload.maximum_size=14336 |
|
293 |
bt.upload.speed=19200 |
|
294 |
bt.upload.disable_flushing=true |
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295 |
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|
296 |
bt.bootloader.low_fuses=0xff |
|
297 |
bt.bootloader.high_fuses=0xdd |
|
298 |
bt.bootloader.extended_fuses=0x00 |
|
299 |
bt.bootloader.path=bt |
|
300 |
bt.bootloader.file=ATmegaBOOT_168.hex |
|
301 |
bt.bootloader.unlock_bits=0x3F |
|
302 |
bt.bootloader.lock_bits=0x0F |
|
303 |
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|
304 |
bt.build.mcu=atmega168 |
|
305 |
bt.build.f_cpu=16000000L |
|
306 |
bt.build.core=arduino |
|
307 |
bt.build.variant=eightanaloginputs |
|
308 |
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309 |
############################################################## |
|
310 |
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|
311 |
lilypad328.name=LilyPad Arduino w/ ATmega328 |
|
312 |
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|
313 |
lilypad328.upload.protocol=arduino |
|
314 |
lilypad328.upload.maximum_size=30720 |
|
315 |
lilypad328.upload.speed=57600 |
|
316 |
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|
317 |
lilypad328.bootloader.low_fuses=0xFF |
|
318 |
lilypad328.bootloader.high_fuses=0xDA |
|
319 |
lilypad328.bootloader.extended_fuses=0x05 |
|
320 |
lilypad328.bootloader.path=atmega |
|
321 |
lilypad328.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex |
|
322 |
lilypad328.bootloader.unlock_bits=0x3F |
|
323 |
lilypad328.bootloader.lock_bits=0x0F |
|
324 |
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|
325 |
lilypad328.build.mcu=atmega328p |
|
326 |
lilypad328.build.f_cpu=8000000L |
|
327 |
lilypad328.build.core=arduino |
|
328 |
lilypad328.build.variant=standard |
|
329 |
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|
330 |
############################################################## |
|
331 |
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|
332 |
lilypad.name=LilyPad Arduino w/ ATmega168 |
|
333 |
|
|
334 |
lilypad.upload.protocol=arduino |
|
335 |
lilypad.upload.maximum_size=14336 |
|
336 |
lilypad.upload.speed=19200 |
|
337 |
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|
338 |
lilypad.bootloader.low_fuses=0xe2 |
|
339 |
lilypad.bootloader.high_fuses=0xdd |
|
340 |
lilypad.bootloader.extended_fuses=0x00 |
|
341 |
lilypad.bootloader.path=lilypad |
|
342 |
lilypad.bootloader.file=LilyPadBOOT_168.hex |
|
343 |
lilypad.bootloader.unlock_bits=0x3F |
|
344 |
lilypad.bootloader.lock_bits=0x0F |
|
345 |
|
|
346 |
lilypad.build.mcu=atmega168 |
|
347 |
lilypad.build.f_cpu=8000000L |
|
348 |
lilypad.build.core=arduino |
|
349 |
lilypad.build.variant=standard |
|
350 |
|
|
351 |
############################################################## |
|
352 |
|
|
353 |
pro5v328.name=Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega328 |
|
354 |
|
|
355 |
pro5v328.upload.protocol=arduino |
|
356 |
pro5v328.upload.maximum_size=30720 |
|
357 |
pro5v328.upload.speed=57600 |
|
358 |
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|
359 |
pro5v328.bootloader.low_fuses=0xFF |
|
360 |
pro5v328.bootloader.high_fuses=0xDA |
|
361 |
pro5v328.bootloader.extended_fuses=0x05 |
|
362 |
pro5v328.bootloader.path=atmega |
|
363 |
pro5v328.bootloader.file=ATmegaBOOT_168_atmega328.hex |
|
364 |
pro5v328.bootloader.unlock_bits=0x3F |
|
365 |
pro5v328.bootloader.lock_bits=0x0F |
|
366 |
|
|
367 |
pro5v328.build.mcu=atmega328p |
|
368 |
pro5v328.build.f_cpu=16000000L |
|
369 |
pro5v328.build.core=arduino |
|
370 |
pro5v328.build.variant=standard |
|
371 |
|
|
372 |
############################################################## |
|
373 |
|
|
374 |
pro5v.name=Arduino Pro or Pro Mini (5V, 16 MHz) w/ ATmega168 |
|
375 |
|
|
376 |
pro5v.upload.protocol=arduino |
|
377 |
pro5v.upload.maximum_size=14336 |
|
378 |
pro5v.upload.speed=19200 |
|
379 |
|
|
380 |
pro5v.bootloader.low_fuses=0xff |
|
381 |
pro5v.bootloader.high_fuses=0xdd |
|
382 |
pro5v.bootloader.extended_fuses=0x00 |
|
383 |
pro5v.bootloader.path=atmega |
|
384 |
pro5v.bootloader.file=ATmegaBOOT_168_diecimila.hex |
|
385 |
pro5v.bootloader.unlock_bits=0x3F |
|
386 |
pro5v.bootloader.lock_bits=0x0F |
|
387 |
|
|
388 |
pro5v.build.mcu=atmega168 |
|
389 |
pro5v.build.f_cpu=16000000L |
|
390 |
pro5v.build.core=arduino |
|
391 |
pro5v.build.variant=standard |
|
392 |
|
|
393 |
############################################################## |
|
394 |
|
|
395 |
pro328.name=Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega328 |
|
396 |
|
|
397 |
pro328.upload.protocol=arduino |
|
398 |
pro328.upload.maximum_size=30720 |
|
399 |
pro328.upload.speed=57600 |
|
400 |
|
|
401 |
pro328.bootloader.low_fuses=0xFF |
|
402 |
pro328.bootloader.high_fuses=0xDA |
|
403 |
pro328.bootloader.extended_fuses=0x05 |
|
404 |
pro328.bootloader.path=atmega |
|
405 |
pro328.bootloader.file=ATmegaBOOT_168_atmega328_pro_8MHz.hex |
|
406 |
pro328.bootloader.unlock_bits=0x3F |
|
407 |
pro328.bootloader.lock_bits=0x0F |
|
408 |
|
|
409 |
pro328.build.mcu=atmega328p |
|
410 |
pro328.build.f_cpu=8000000L |
|
411 |
pro328.build.core=arduino |
|
412 |
pro328.build.variant=standard |
|
413 |
|
|
414 |
############################################################## |
|
415 |
|
|
416 |
pro.name=Arduino Pro or Pro Mini (3.3V, 8 MHz) w/ ATmega168 |
|
417 |
|
|
418 |
pro.upload.protocol=arduino |
|
419 |
pro.upload.maximum_size=14336 |
|
420 |
pro.upload.speed=19200 |
|
421 |
|
|
422 |
pro.bootloader.low_fuses=0xc6 |
|
423 |
pro.bootloader.high_fuses=0xdd |
|
424 |
pro.bootloader.extended_fuses=0x00 |
|
425 |
pro.bootloader.path=atmega |
|
426 |
pro.bootloader.file=ATmegaBOOT_168_pro_8MHz.hex |
|
427 |
pro.bootloader.unlock_bits=0x3F |
|
428 |
pro.bootloader.lock_bits=0x0F |
|
429 |
|
|
430 |
pro.build.mcu=atmega168 |
|
431 |
pro.build.f_cpu=8000000L |
|
432 |
pro.build.core=arduino |
|
433 |
pro.build.variant=standard |
|
434 |
|
|
435 |
############################################################## |
|
436 |
|
|
437 |
atmega168.name=Arduino NG or older w/ ATmega168 |
|
438 |
|
|
439 |
atmega168.upload.protocol=arduino |
|
440 |
atmega168.upload.maximum_size=14336 |
|
441 |
atmega168.upload.speed=19200 |
|
442 |
|
|
443 |
atmega168.bootloader.low_fuses=0xff |
|
444 |
atmega168.bootloader.high_fuses=0xdd |
|
445 |
atmega168.bootloader.extended_fuses=0x00 |
|
446 |
atmega168.bootloader.path=atmega |
|
447 |
atmega168.bootloader.file=ATmegaBOOT_168_ng.hex |
|
448 |
atmega168.bootloader.unlock_bits=0x3F |
|
449 |
atmega168.bootloader.lock_bits=0x0F |
|
450 |
|
|
451 |
atmega168.build.mcu=atmega168 |
|
452 |
atmega168.build.f_cpu=16000000L |
|
453 |
atmega168.build.core=arduino |
|
454 |
atmega168.build.variant=standard |
|
455 |
|
|
456 |
############################################################## |
|
457 |
|
|
458 |
atmega8.name=Arduino NG or older w/ ATmega8 |
|
459 |
|
|
460 |
atmega8.upload.protocol=arduino |
|
461 |
atmega8.upload.maximum_size=7168 |
|
462 |
atmega8.upload.speed=19200 |
|
463 |
|
|
464 |
atmega8.bootloader.low_fuses=0xdf |
|
465 |
atmega8.bootloader.high_fuses=0xca |
|
466 |
atmega8.bootloader.path=atmega8 |
|
467 |
atmega8.bootloader.file=ATmegaBOOT.hex |
|
468 |
atmega8.bootloader.unlock_bits=0x3F |
|
469 |
atmega8.bootloader.lock_bits=0x0F |
|
470 |
|
|
471 |
atmega8.build.mcu=atmega8 |
|
472 |
atmega8.build.f_cpu=16000000L |
|
473 |
atmega8.build.core=arduino |
|
474 |
atmega8.build.variant=standard |
arduino-1.0/hardware/arduino/bootloaders/atmega/ATmegaBOOT_168.c | ||
---|---|---|
1 |
/**********************************************************/ |
|
2 |
/* Serial Bootloader for Atmel megaAVR Controllers */ |
|
3 |
/* */ |
|
4 |
/* tested with ATmega8, ATmega128 and ATmega168 */ |
|
5 |
/* should work with other mega's, see code for details */ |
|
6 |
/* */ |
|
7 |
/* ATmegaBOOT.c */ |
|
8 |
/* */ |
|
9 |
/* */ |
|
10 |
/* 20090308: integrated Mega changes into main bootloader */ |
|
11 |
/* source by D. Mellis */ |
|
12 |
/* 20080930: hacked for Arduino Mega (with the 1280 */ |
|
13 |
/* processor, backwards compatible) */ |
|
14 |
/* by D. Cuartielles */ |
|
15 |
/* 20070626: hacked for Arduino Diecimila (which auto- */ |
|
16 |
/* resets when a USB connection is made to it) */ |
|
17 |
/* by D. Mellis */ |
|
18 |
/* 20060802: hacked for Arduino by D. Cuartielles */ |
|
19 |
/* based on a previous hack by D. Mellis */ |
|
20 |
/* and D. Cuartielles */ |
|
21 |
/* */ |
|
22 |
/* Monitor and debug functions were added to the original */ |
|
23 |
/* code by Dr. Erik Lins, chip45.com. (See below) */ |
|
24 |
/* */ |
|
25 |
/* Thanks to Karl Pitrich for fixing a bootloader pin */ |
|
26 |
/* problem and more informative LED blinking! */ |
|
27 |
/* */ |
|
28 |
/* For the latest version see: */ |
|
29 |
/* http://www.chip45.com/ */ |
|
30 |
/* */ |
|
31 |
/* ------------------------------------------------------ */ |
|
32 |
/* */ |
|
33 |
/* based on stk500boot.c */ |
|
34 |
/* Copyright (c) 2003, Jason P. Kyle */ |
|
35 |
/* All rights reserved. */ |
|
36 |
/* see avr1.org for original file and information */ |
|
37 |
/* */ |
|
38 |
/* This program is free software; you can redistribute it */ |
|
39 |
/* and/or modify it under the terms of the GNU General */ |
|
40 |
/* Public License as published by the Free Software */ |
|
41 |
/* Foundation; either version 2 of the License, or */ |
|
42 |
/* (at your option) any later version. */ |
|
43 |
/* */ |
|
44 |
/* This program is distributed in the hope that it will */ |
|
45 |
/* be useful, but WITHOUT ANY WARRANTY; without even the */ |
|
46 |
/* implied warranty of MERCHANTABILITY or FITNESS FOR A */ |
|
47 |
/* PARTICULAR PURPOSE. See the GNU General Public */ |
|
48 |
/* License for more details. */ |
|
49 |
/* */ |
|
50 |
/* You should have received a copy of the GNU General */ |
|
51 |
/* Public License along with this program; if not, write */ |
|
52 |
/* to the Free Software Foundation, Inc., */ |
|
53 |
/* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ |
|
54 |
/* */ |
|
55 |
/* Licence can be viewed at */ |
|
56 |
/* http://www.fsf.org/licenses/gpl.txt */ |
|
57 |
/* */ |
|
58 |
/* Target = Atmel AVR m128,m64,m32,m16,m8,m162,m163,m169, */ |
|
59 |
/* m8515,m8535. ATmega161 has a very small boot block so */ |
|
60 |
/* isn't supported. */ |
|
61 |
/* */ |
|
62 |
/* Tested with m168 */ |
|
63 |
/**********************************************************/ |
|
64 |
|
|
65 |
/* $Id$ */ |
|
66 |
|
|
67 |
|
|
68 |
/* some includes */ |
|
69 |
#include <inttypes.h> |
|
70 |
#include <avr/io.h> |
|
71 |
#include <avr/pgmspace.h> |
|
72 |
#include <avr/interrupt.h> |
|
73 |
#include <avr/wdt.h> |
|
74 |
#include <util/delay.h> |
|
75 |
|
|
76 |
/* the current avr-libc eeprom functions do not support the ATmega168 */ |
|
77 |
/* own eeprom write/read functions are used instead */ |
|
78 |
#if !defined(__AVR_ATmega168__) || !defined(__AVR_ATmega328P__) |
|
79 |
#include <avr/eeprom.h> |
|
80 |
#endif |
|
81 |
|
|
82 |
/* Use the F_CPU defined in Makefile */ |
|
83 |
|
|
84 |
/* 20060803: hacked by DojoCorp */ |
|
85 |
/* 20070626: hacked by David A. Mellis to decrease waiting time for auto-reset */ |
|
86 |
/* set the waiting time for the bootloader */ |
|
87 |
/* get this from the Makefile instead */ |
|
88 |
/* #define MAX_TIME_COUNT (F_CPU>>4) */ |
|
89 |
|
|
90 |
/* 20070707: hacked by David A. Mellis - after this many errors give up and launch application */ |
|
91 |
#define MAX_ERROR_COUNT 5 |
|
92 |
|
|
93 |
/* set the UART baud rate */ |
|
94 |
/* 20060803: hacked by DojoCorp */ |
|
95 |
//#define BAUD_RATE 115200 |
|
96 |
#ifndef BAUD_RATE |
|
97 |
#define BAUD_RATE 19200 |
|
98 |
#endif |
|
99 |
|
|
100 |
|
|
101 |
/* SW_MAJOR and MINOR needs to be updated from time to time to avoid warning message from AVR Studio */ |
|
102 |
/* never allow AVR Studio to do an update !!!! */ |
|
103 |
#define HW_VER 0x02 |
|
104 |
#define SW_MAJOR 0x01 |
|
105 |
#define SW_MINOR 0x10 |
|
106 |
|
|
107 |
|
|
108 |
/* Adjust to suit whatever pin your hardware uses to enter the bootloader */ |
|
109 |
/* ATmega128 has two UARTS so two pins are used to enter bootloader and select UART */ |
|
110 |
/* ATmega1280 has four UARTS, but for Arduino Mega, we will only use RXD0 to get code */ |
|
111 |
/* BL0... means UART0, BL1... means UART1 */ |
|
112 |
#ifdef __AVR_ATmega128__ |
|
113 |
#define BL_DDR DDRF |
|
114 |
#define BL_PORT PORTF |
|
115 |
#define BL_PIN PINF |
|
116 |
#define BL0 PINF7 |
|
117 |
#define BL1 PINF6 |
|
118 |
#elif defined __AVR_ATmega1280__ |
|
119 |
/* we just don't do anything for the MEGA and enter bootloader on reset anyway*/ |
|
120 |
#else |
|
121 |
/* other ATmegas have only one UART, so only one pin is defined to enter bootloader */ |
|
122 |
#define BL_DDR DDRD |
|
123 |
#define BL_PORT PORTD |
|
124 |
#define BL_PIN PIND |
|
125 |
#define BL PIND6 |
|
126 |
#endif |
|
127 |
|
|
128 |
|
|
129 |
/* onboard LED is used to indicate, that the bootloader was entered (3x flashing) */ |
|
130 |
/* if monitor functions are included, LED goes on after monitor was entered */ |
|
131 |
#if defined __AVR_ATmega128__ || defined __AVR_ATmega1280__ |
|
132 |
/* Onboard LED is connected to pin PB7 (e.g. Crumb128, PROBOmega128, Savvy128, Arduino Mega) */ |
|
133 |
#define LED_DDR DDRB |
|
134 |
#define LED_PORT PORTB |
|
135 |
#define LED_PIN PINB |
|
136 |
#define LED PINB7 |
|
137 |
#else |
|
138 |
/* Onboard LED is connected to pin PB5 in Arduino NG, Diecimila, and Duomilanuove */ |
|
139 |
/* other boards like e.g. Crumb8, Crumb168 are using PB2 */ |
|
140 |
#define LED_DDR DDRB |
|
141 |
#define LED_PORT PORTB |
|
142 |
#define LED_PIN PINB |
|
143 |
#define LED PINB5 |
|
144 |
#endif |
|
145 |
|
|
146 |
|
|
147 |
/* monitor functions will only be compiled when using ATmega128, due to bootblock size constraints */ |
|
148 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
149 |
#define MONITOR 1 |
|
150 |
#endif |
|
151 |
|
|
152 |
|
|
153 |
/* define various device id's */ |
|
154 |
/* manufacturer byte is always the same */ |
|
155 |
#define SIG1 0x1E // Yep, Atmel is the only manufacturer of AVR micros. Single source :( |
|
156 |
|
|
157 |
#if defined __AVR_ATmega1280__ |
|
158 |
#define SIG2 0x97 |
|
159 |
#define SIG3 0x03 |
|
160 |
#define PAGE_SIZE 0x80U //128 words |
|
161 |
|
|
162 |
#elif defined __AVR_ATmega1281__ |
|
163 |
#define SIG2 0x97 |
|
164 |
#define SIG3 0x04 |
|
165 |
#define PAGE_SIZE 0x80U //128 words |
|
166 |
|
|
167 |
#elif defined __AVR_ATmega128__ |
|
168 |
#define SIG2 0x97 |
|
169 |
#define SIG3 0x02 |
|
170 |
#define PAGE_SIZE 0x80U //128 words |
|
171 |
|
|
172 |
#elif defined __AVR_ATmega64__ |
|
173 |
#define SIG2 0x96 |
|
174 |
#define SIG3 0x02 |
|
175 |
#define PAGE_SIZE 0x80U //128 words |
|
176 |
|
|
177 |
#elif defined __AVR_ATmega32__ |
|
178 |
#define SIG2 0x95 |
|
179 |
#define SIG3 0x02 |
|
180 |
#define PAGE_SIZE 0x40U //64 words |
|
181 |
|
|
182 |
#elif defined __AVR_ATmega16__ |
|
183 |
#define SIG2 0x94 |
|
184 |
#define SIG3 0x03 |
|
185 |
#define PAGE_SIZE 0x40U //64 words |
|
186 |
|
|
187 |
#elif defined __AVR_ATmega8__ |
|
188 |
#define SIG2 0x93 |
|
189 |
#define SIG3 0x07 |
|
190 |
#define PAGE_SIZE 0x20U //32 words |
|
191 |
|
|
192 |
#elif defined __AVR_ATmega88__ |
|
193 |
#define SIG2 0x93 |
|
194 |
#define SIG3 0x0a |
|
195 |
#define PAGE_SIZE 0x20U //32 words |
|
196 |
|
|
197 |
#elif defined __AVR_ATmega168__ |
|
198 |
#define SIG2 0x94 |
|
199 |
#define SIG3 0x06 |
|
200 |
#define PAGE_SIZE 0x40U //64 words |
|
201 |
|
|
202 |
#elif defined __AVR_ATmega328P__ |
|
203 |
#define SIG2 0x95 |
|
204 |
#define SIG3 0x0F |
|
205 |
#define PAGE_SIZE 0x40U //64 words |
|
206 |
|
|
207 |
#elif defined __AVR_ATmega162__ |
|
208 |
#define SIG2 0x94 |
|
209 |
#define SIG3 0x04 |
|
210 |
#define PAGE_SIZE 0x40U //64 words |
|
211 |
|
|
212 |
#elif defined __AVR_ATmega163__ |
|
213 |
#define SIG2 0x94 |
|
214 |
#define SIG3 0x02 |
|
215 |
#define PAGE_SIZE 0x40U //64 words |
|
216 |
|
|
217 |
#elif defined __AVR_ATmega169__ |
|
218 |
#define SIG2 0x94 |
|
219 |
#define SIG3 0x05 |
|
220 |
#define PAGE_SIZE 0x40U //64 words |
|
221 |
|
|
222 |
#elif defined __AVR_ATmega8515__ |
|
223 |
#define SIG2 0x93 |
|
224 |
#define SIG3 0x06 |
|
225 |
#define PAGE_SIZE 0x20U //32 words |
|
226 |
|
|
227 |
#elif defined __AVR_ATmega8535__ |
|
228 |
#define SIG2 0x93 |
|
229 |
#define SIG3 0x08 |
|
230 |
#define PAGE_SIZE 0x20U //32 words |
|
231 |
#endif |
|
232 |
|
|
233 |
|
|
234 |
/* function prototypes */ |
|
235 |
void putch(char); |
|
236 |
char getch(void); |
|
237 |
void getNch(uint8_t); |
|
238 |
void byte_response(uint8_t); |
|
239 |
void nothing_response(void); |
|
240 |
char gethex(void); |
|
241 |
void puthex(char); |
|
242 |
void flash_led(uint8_t); |
|
243 |
|
|
244 |
/* some variables */ |
|
245 |
union address_union { |
|
246 |
uint16_t word; |
|
247 |
uint8_t byte[2]; |
|
248 |
} address; |
|
249 |
|
|
250 |
union length_union { |
|
251 |
uint16_t word; |
|
252 |
uint8_t byte[2]; |
|
253 |
} length; |
|
254 |
|
|
255 |
struct flags_struct { |
|
256 |
unsigned eeprom : 1; |
|
257 |
unsigned rampz : 1; |
|
258 |
} flags; |
|
259 |
|
|
260 |
uint8_t buff[256]; |
|
261 |
uint8_t address_high; |
|
262 |
|
|
263 |
uint8_t pagesz=0x80; |
|
264 |
|
|
265 |
uint8_t i; |
|
266 |
uint8_t bootuart = 0; |
|
267 |
|
|
268 |
uint8_t error_count = 0; |
|
269 |
|
|
270 |
void (*app_start)(void) = 0x0000; |
|
271 |
|
|
272 |
|
|
273 |
/* main program starts here */ |
|
274 |
int main(void) |
|
275 |
{ |
|
276 |
uint8_t ch,ch2; |
|
277 |
uint16_t w; |
|
278 |
|
|
279 |
#ifdef WATCHDOG_MODS |
|
280 |
ch = MCUSR; |
|
281 |
MCUSR = 0; |
|
282 |
|
|
283 |
WDTCSR |= _BV(WDCE) | _BV(WDE); |
|
284 |
WDTCSR = 0; |
|
285 |
|
|
286 |
// Check if the WDT was used to reset, in which case we dont bootload and skip straight to the code. woot. |
|
287 |
if (! (ch & _BV(EXTRF))) // if its a not an external reset... |
|
288 |
app_start(); // skip bootloader |
|
289 |
#else |
|
290 |
asm volatile("nop\n\t"); |
|
291 |
#endif |
|
292 |
|
|
293 |
/* set pin direction for bootloader pin and enable pullup */ |
|
294 |
/* for ATmega128, two pins need to be initialized */ |
|
295 |
#ifdef __AVR_ATmega128__ |
|
296 |
BL_DDR &= ~_BV(BL0); |
|
297 |
BL_DDR &= ~_BV(BL1); |
|
298 |
BL_PORT |= _BV(BL0); |
|
299 |
BL_PORT |= _BV(BL1); |
|
300 |
#else |
|
301 |
/* We run the bootloader regardless of the state of this pin. Thus, don't |
|
302 |
put it in a different state than the other pins. --DAM, 070709 |
|
303 |
This also applies to Arduino Mega -- DC, 080930 |
|
304 |
BL_DDR &= ~_BV(BL); |
|
305 |
BL_PORT |= _BV(BL); |
|
306 |
*/ |
|
307 |
#endif |
|
308 |
|
|
309 |
|
|
310 |
#ifdef __AVR_ATmega128__ |
|
311 |
/* check which UART should be used for booting */ |
|
312 |
if(bit_is_clear(BL_PIN, BL0)) { |
|
313 |
bootuart = 1; |
|
314 |
} |
|
315 |
else if(bit_is_clear(BL_PIN, BL1)) { |
|
316 |
bootuart = 2; |
|
317 |
} |
|
318 |
#endif |
|
319 |
|
|
320 |
#if defined __AVR_ATmega1280__ |
|
321 |
/* the mega1280 chip has four serial ports ... we could eventually use any of them, or not? */ |
|
322 |
/* however, we don't wanna confuse people, to avoid making a mess, we will stick to RXD0, TXD0 */ |
|
323 |
bootuart = 1; |
|
324 |
#endif |
|
325 |
|
|
326 |
/* check if flash is programmed already, if not start bootloader anyway */ |
|
327 |
if(pgm_read_byte_near(0x0000) != 0xFF) { |
|
328 |
|
|
329 |
#ifdef __AVR_ATmega128__ |
|
330 |
/* no UART was selected, start application */ |
|
331 |
if(!bootuart) { |
|
332 |
app_start(); |
|
333 |
} |
|
334 |
#else |
|
335 |
/* check if bootloader pin is set low */ |
|
336 |
/* we don't start this part neither for the m8, nor m168 */ |
|
337 |
//if(bit_is_set(BL_PIN, BL)) { |
|
338 |
// app_start(); |
|
339 |
// } |
|
340 |
#endif |
|
341 |
} |
|
342 |
|
|
343 |
#ifdef __AVR_ATmega128__ |
|
344 |
/* no bootuart was selected, default to uart 0 */ |
|
345 |
if(!bootuart) { |
|
346 |
bootuart = 1; |
|
347 |
} |
|
348 |
#endif |
|
349 |
|
|
350 |
|
|
351 |
/* initialize UART(s) depending on CPU defined */ |
|
352 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
353 |
if(bootuart == 1) { |
|
354 |
UBRR0L = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1); |
|
355 |
UBRR0H = (F_CPU/(BAUD_RATE*16L)-1) >> 8; |
|
356 |
UCSR0A = 0x00; |
|
357 |
UCSR0C = 0x06; |
|
358 |
UCSR0B = _BV(TXEN0)|_BV(RXEN0); |
|
359 |
} |
|
360 |
if(bootuart == 2) { |
|
361 |
UBRR1L = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1); |
|
362 |
UBRR1H = (F_CPU/(BAUD_RATE*16L)-1) >> 8; |
|
363 |
UCSR1A = 0x00; |
|
364 |
UCSR1C = 0x06; |
|
365 |
UCSR1B = _BV(TXEN1)|_BV(RXEN1); |
|
366 |
} |
|
367 |
#elif defined __AVR_ATmega163__ |
|
368 |
UBRR = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1); |
|
369 |
UBRRHI = (F_CPU/(BAUD_RATE*16L)-1) >> 8; |
|
370 |
UCSRA = 0x00; |
|
371 |
UCSRB = _BV(TXEN)|_BV(RXEN); |
|
372 |
#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) |
|
373 |
|
|
374 |
#ifdef DOUBLE_SPEED |
|
375 |
UCSR0A = (1<<U2X0); //Double speed mode USART0 |
|
376 |
UBRR0L = (uint8_t)(F_CPU/(BAUD_RATE*8L)-1); |
|
377 |
UBRR0H = (F_CPU/(BAUD_RATE*8L)-1) >> 8; |
|
378 |
#else |
|
379 |
UBRR0L = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1); |
|
380 |
UBRR0H = (F_CPU/(BAUD_RATE*16L)-1) >> 8; |
|
381 |
#endif |
|
382 |
|
|
383 |
UCSR0B = (1<<RXEN0) | (1<<TXEN0); |
|
384 |
UCSR0C = (1<<UCSZ00) | (1<<UCSZ01); |
|
385 |
|
|
386 |
/* Enable internal pull-up resistor on pin D0 (RX), in order |
|
387 |
to supress line noise that prevents the bootloader from |
|
388 |
timing out (DAM: 20070509) */ |
|
389 |
DDRD &= ~_BV(PIND0); |
|
390 |
PORTD |= _BV(PIND0); |
|
391 |
#elif defined __AVR_ATmega8__ |
|
392 |
/* m8 */ |
|
393 |
UBRRH = (((F_CPU/BAUD_RATE)/16)-1)>>8; // set baud rate |
|
394 |
UBRRL = (((F_CPU/BAUD_RATE)/16)-1); |
|
395 |
UCSRB = (1<<RXEN)|(1<<TXEN); // enable Rx & Tx |
|
396 |
UCSRC = (1<<URSEL)|(1<<UCSZ1)|(1<<UCSZ0); // config USART; 8N1 |
|
397 |
#else |
|
398 |
/* m16,m32,m169,m8515,m8535 */ |
|
399 |
UBRRL = (uint8_t)(F_CPU/(BAUD_RATE*16L)-1); |
|
400 |
UBRRH = (F_CPU/(BAUD_RATE*16L)-1) >> 8; |
|
401 |
UCSRA = 0x00; |
|
402 |
UCSRC = 0x06; |
|
403 |
UCSRB = _BV(TXEN)|_BV(RXEN); |
|
404 |
#endif |
|
405 |
|
|
406 |
#if defined __AVR_ATmega1280__ |
|
407 |
/* Enable internal pull-up resistor on pin D0 (RX), in order |
|
408 |
to supress line noise that prevents the bootloader from |
|
409 |
timing out (DAM: 20070509) */ |
|
410 |
/* feature added to the Arduino Mega --DC: 080930 */ |
|
411 |
DDRE &= ~_BV(PINE0); |
|
412 |
PORTE |= _BV(PINE0); |
|
413 |
#endif |
|
414 |
|
|
415 |
|
|
416 |
/* set LED pin as output */ |
|
417 |
LED_DDR |= _BV(LED); |
|
418 |
|
|
419 |
|
|
420 |
/* flash onboard LED to signal entering of bootloader */ |
|
421 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
422 |
// 4x for UART0, 5x for UART1 |
|
423 |
flash_led(NUM_LED_FLASHES + bootuart); |
|
424 |
#else |
|
425 |
flash_led(NUM_LED_FLASHES); |
|
426 |
#endif |
|
427 |
|
|
428 |
/* 20050803: by DojoCorp, this is one of the parts provoking the |
|
429 |
system to stop listening, cancelled from the original */ |
|
430 |
//putch('\0'); |
|
431 |
|
|
432 |
/* forever loop */ |
|
433 |
for (;;) { |
|
434 |
|
|
435 |
/* get character from UART */ |
|
436 |
ch = getch(); |
|
437 |
|
|
438 |
/* A bunch of if...else if... gives smaller code than switch...case ! */ |
|
439 |
|
|
440 |
/* Hello is anyone home ? */ |
|
441 |
if(ch=='0') { |
|
442 |
nothing_response(); |
|
443 |
} |
|
444 |
|
|
445 |
|
|
446 |
/* Request programmer ID */ |
|
447 |
/* Not using PROGMEM string due to boot block in m128 being beyond 64kB boundry */ |
|
448 |
/* Would need to selectively manipulate RAMPZ, and it's only 9 characters anyway so who cares. */ |
|
449 |
else if(ch=='1') { |
|
450 |
if (getch() == ' ') { |
|
451 |
putch(0x14); |
|
452 |
putch('A'); |
|
453 |
putch('V'); |
|
454 |
putch('R'); |
|
455 |
putch(' '); |
|
456 |
putch('I'); |
|
457 |
putch('S'); |
|
458 |
putch('P'); |
|
459 |
putch(0x10); |
|
460 |
} else { |
|
461 |
if (++error_count == MAX_ERROR_COUNT) |
|
462 |
app_start(); |
|
463 |
} |
|
464 |
} |
|
465 |
|
|
466 |
|
|
467 |
/* AVR ISP/STK500 board commands DON'T CARE so default nothing_response */ |
|
468 |
else if(ch=='@') { |
|
469 |
ch2 = getch(); |
|
470 |
if (ch2>0x85) getch(); |
|
471 |
nothing_response(); |
|
472 |
} |
|
473 |
|
|
474 |
|
|
475 |
/* AVR ISP/STK500 board requests */ |
|
476 |
else if(ch=='A') { |
|
477 |
ch2 = getch(); |
|
478 |
if(ch2==0x80) byte_response(HW_VER); // Hardware version |
|
479 |
else if(ch2==0x81) byte_response(SW_MAJOR); // Software major version |
|
480 |
else if(ch2==0x82) byte_response(SW_MINOR); // Software minor version |
|
481 |
else if(ch2==0x98) byte_response(0x03); // Unknown but seems to be required by avr studio 3.56 |
|
482 |
else byte_response(0x00); // Covers various unnecessary responses we don't care about |
|
483 |
} |
|
484 |
|
|
485 |
|
|
486 |
/* Device Parameters DON'T CARE, DEVICE IS FIXED */ |
|
487 |
else if(ch=='B') { |
|
488 |
getNch(20); |
|
489 |
nothing_response(); |
|
490 |
} |
|
491 |
|
|
492 |
|
|
493 |
/* Parallel programming stuff DON'T CARE */ |
|
494 |
else if(ch=='E') { |
|
495 |
getNch(5); |
|
496 |
nothing_response(); |
|
497 |
} |
|
498 |
|
|
499 |
|
|
500 |
/* P: Enter programming mode */ |
|
501 |
/* R: Erase device, don't care as we will erase one page at a time anyway. */ |
|
502 |
else if(ch=='P' || ch=='R') { |
|
503 |
nothing_response(); |
|
504 |
} |
|
505 |
|
|
506 |
|
|
507 |
/* Leave programming mode */ |
|
508 |
else if(ch=='Q') { |
|
509 |
nothing_response(); |
|
510 |
#ifdef WATCHDOG_MODS |
|
511 |
// autoreset via watchdog (sneaky!) |
|
512 |
WDTCSR = _BV(WDE); |
|
513 |
while (1); // 16 ms |
|
514 |
#endif |
|
515 |
} |
|
516 |
|
|
517 |
|
|
518 |
/* Set address, little endian. EEPROM in bytes, FLASH in words */ |
|
519 |
/* Perhaps extra address bytes may be added in future to support > 128kB FLASH. */ |
|
520 |
/* This might explain why little endian was used here, big endian used everywhere else. */ |
|
521 |
else if(ch=='U') { |
|
522 |
address.byte[0] = getch(); |
|
523 |
address.byte[1] = getch(); |
|
524 |
nothing_response(); |
|
525 |
} |
|
526 |
|
|
527 |
|
|
528 |
/* Universal SPI programming command, disabled. Would be used for fuses and lock bits. */ |
|
529 |
else if(ch=='V') { |
|
530 |
if (getch() == 0x30) { |
|
531 |
getch(); |
|
532 |
ch = getch(); |
|
533 |
getch(); |
|
534 |
if (ch == 0) { |
|
535 |
byte_response(SIG1); |
|
536 |
} else if (ch == 1) { |
|
537 |
byte_response(SIG2); |
|
538 |
} else { |
|
539 |
byte_response(SIG3); |
|
540 |
} |
|
541 |
} else { |
|
542 |
getNch(3); |
|
543 |
byte_response(0x00); |
|
544 |
} |
|
545 |
} |
|
546 |
|
|
547 |
|
|
548 |
/* Write memory, length is big endian and is in bytes */ |
|
549 |
else if(ch=='d') { |
|
550 |
length.byte[1] = getch(); |
|
551 |
length.byte[0] = getch(); |
|
552 |
flags.eeprom = 0; |
|
553 |
if (getch() == 'E') flags.eeprom = 1; |
|
554 |
for (w=0;w<length.word;w++) { |
|
555 |
buff[w] = getch(); // Store data in buffer, can't keep up with serial data stream whilst programming pages |
|
556 |
} |
|
557 |
if (getch() == ' ') { |
|
558 |
if (flags.eeprom) { //Write to EEPROM one byte at a time |
|
559 |
address.word <<= 1; |
|
560 |
for(w=0;w<length.word;w++) { |
|
561 |
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) |
|
562 |
while(EECR & (1<<EEPE)); |
|
563 |
EEAR = (uint16_t)(void *)address.word; |
|
564 |
EEDR = buff[w]; |
|
565 |
EECR |= (1<<EEMPE); |
|
566 |
EECR |= (1<<EEPE); |
|
567 |
#else |
|
568 |
eeprom_write_byte((void *)address.word,buff[w]); |
|
569 |
#endif |
|
570 |
address.word++; |
|
571 |
} |
|
572 |
} |
|
573 |
else { //Write to FLASH one page at a time |
|
574 |
if (address.byte[1]>127) address_high = 0x01; //Only possible with m128, m256 will need 3rd address byte. FIXME |
|
575 |
else address_high = 0x00; |
|
576 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) |
|
577 |
RAMPZ = address_high; |
|
578 |
#endif |
|
579 |
address.word = address.word << 1; //address * 2 -> byte location |
|
580 |
/* if ((length.byte[0] & 0x01) == 0x01) length.word++; //Even up an odd number of bytes */ |
|
581 |
if ((length.byte[0] & 0x01)) length.word++; //Even up an odd number of bytes |
|
582 |
cli(); //Disable interrupts, just to be sure |
|
583 |
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega1281__) |
|
584 |
while(bit_is_set(EECR,EEPE)); //Wait for previous EEPROM writes to complete |
|
585 |
#else |
|
586 |
while(bit_is_set(EECR,EEWE)); //Wait for previous EEPROM writes to complete |
|
587 |
#endif |
|
588 |
asm volatile( |
|
589 |
"clr r17 \n\t" //page_word_count |
|
590 |
"lds r30,address \n\t" //Address of FLASH location (in bytes) |
|
591 |
"lds r31,address+1 \n\t" |
|
592 |
"ldi r28,lo8(buff) \n\t" //Start of buffer array in RAM |
|
593 |
"ldi r29,hi8(buff) \n\t" |
|
594 |
"lds r24,length \n\t" //Length of data to be written (in bytes) |
|
595 |
"lds r25,length+1 \n\t" |
|
596 |
"length_loop: \n\t" //Main loop, repeat for number of words in block |
|
597 |
"cpi r17,0x00 \n\t" //If page_word_count=0 then erase page |
|
598 |
"brne no_page_erase \n\t" |
|
599 |
"wait_spm1: \n\t" |
|
600 |
"lds r16,%0 \n\t" //Wait for previous spm to complete |
|
601 |
"andi r16,1 \n\t" |
|
602 |
"cpi r16,1 \n\t" |
|
603 |
"breq wait_spm1 \n\t" |
|
604 |
"ldi r16,0x03 \n\t" //Erase page pointed to by Z |
|
605 |
"sts %0,r16 \n\t" |
|
606 |
"spm \n\t" |
|
607 |
#ifdef __AVR_ATmega163__ |
|
608 |
".word 0xFFFF \n\t" |
|
609 |
"nop \n\t" |
|
610 |
#endif |
|
611 |
"wait_spm2: \n\t" |
|
612 |
"lds r16,%0 \n\t" //Wait for previous spm to complete |
|
613 |
"andi r16,1 \n\t" |
|
614 |
"cpi r16,1 \n\t" |
|
615 |
"breq wait_spm2 \n\t" |
|
616 |
|
|
617 |
"ldi r16,0x11 \n\t" //Re-enable RWW section |
|
618 |
"sts %0,r16 \n\t" |
|
619 |
"spm \n\t" |
|
620 |
#ifdef __AVR_ATmega163__ |
|
621 |
".word 0xFFFF \n\t" |
|
622 |
"nop \n\t" |
|
623 |
#endif |
|
624 |
"no_page_erase: \n\t" |
|
625 |
"ld r0,Y+ \n\t" //Write 2 bytes into page buffer |
|
626 |
"ld r1,Y+ \n\t" |
|
627 |
|
|
628 |
"wait_spm3: \n\t" |
|
629 |
"lds r16,%0 \n\t" //Wait for previous spm to complete |
|
630 |
"andi r16,1 \n\t" |
|
631 |
"cpi r16,1 \n\t" |
|
632 |
"breq wait_spm3 \n\t" |
|
633 |
"ldi r16,0x01 \n\t" //Load r0,r1 into FLASH page buffer |
|
634 |
"sts %0,r16 \n\t" |
|
635 |
"spm \n\t" |
|
636 |
|
|
637 |
"inc r17 \n\t" //page_word_count++ |
|
638 |
"cpi r17,%1 \n\t" |
|
639 |
"brlo same_page \n\t" //Still same page in FLASH |
|
640 |
"write_page: \n\t" |
|
641 |
"clr r17 \n\t" //New page, write current one first |
|
642 |
"wait_spm4: \n\t" |
|
643 |
"lds r16,%0 \n\t" //Wait for previous spm to complete |
|
644 |
"andi r16,1 \n\t" |
|
645 |
"cpi r16,1 \n\t" |
|
646 |
"breq wait_spm4 \n\t" |
|
647 |
#ifdef __AVR_ATmega163__ |
|
648 |
"andi r30,0x80 \n\t" // m163 requires Z6:Z1 to be zero during page write |
|
649 |
#endif |
|
650 |
"ldi r16,0x05 \n\t" //Write page pointed to by Z |
|
651 |
"sts %0,r16 \n\t" |
|
652 |
"spm \n\t" |
|
653 |
#ifdef __AVR_ATmega163__ |
|
654 |
".word 0xFFFF \n\t" |
|
655 |
"nop \n\t" |
|
656 |
"ori r30,0x7E \n\t" // recover Z6:Z1 state after page write (had to be zero during write) |
|
657 |
#endif |
|
658 |
"wait_spm5: \n\t" |
|
659 |
"lds r16,%0 \n\t" //Wait for previous spm to complete |
|
660 |
"andi r16,1 \n\t" |
|
661 |
"cpi r16,1 \n\t" |
|
662 |
"breq wait_spm5 \n\t" |
|
663 |
"ldi r16,0x11 \n\t" //Re-enable RWW section |
|
664 |
"sts %0,r16 \n\t" |
|
665 |
"spm \n\t" |
|
666 |
#ifdef __AVR_ATmega163__ |
|
667 |
".word 0xFFFF \n\t" |
|
668 |
"nop \n\t" |
|
669 |
#endif |
|
670 |
"same_page: \n\t" |
|
671 |
"adiw r30,2 \n\t" //Next word in FLASH |
|
672 |
"sbiw r24,2 \n\t" //length-2 |
|
673 |
"breq final_write \n\t" //Finished |
|
674 |
"rjmp length_loop \n\t" |
|
675 |
"final_write: \n\t" |
|
676 |
"cpi r17,0 \n\t" |
|
677 |
"breq block_done \n\t" |
|
678 |
"adiw r24,2 \n\t" //length+2, fool above check on length after short page write |
|
679 |
"rjmp write_page \n\t" |
|
680 |
"block_done: \n\t" |
|
681 |
"clr __zero_reg__ \n\t" //restore zero register |
|
682 |
#if defined __AVR_ATmega168__ || __AVR_ATmega328P__ || __AVR_ATmega128__ || __AVR_ATmega1280__ || __AVR_ATmega1281__ |
|
683 |
: "=m" (SPMCSR) : "M" (PAGE_SIZE) : "r0","r16","r17","r24","r25","r28","r29","r30","r31" |
|
684 |
#else |
|
685 |
: "=m" (SPMCR) : "M" (PAGE_SIZE) : "r0","r16","r17","r24","r25","r28","r29","r30","r31" |
|
686 |
#endif |
|
687 |
); |
|
688 |
/* Should really add a wait for RWW section to be enabled, don't actually need it since we never */ |
|
689 |
/* exit the bootloader without a power cycle anyhow */ |
|
690 |
} |
|
691 |
putch(0x14); |
|
692 |
putch(0x10); |
|
693 |
} else { |
|
694 |
if (++error_count == MAX_ERROR_COUNT) |
|
695 |
app_start(); |
|
696 |
} |
|
697 |
} |
|
698 |
|
|
699 |
|
|
700 |
/* Read memory block mode, length is big endian. */ |
|
701 |
else if(ch=='t') { |
|
702 |
length.byte[1] = getch(); |
|
703 |
length.byte[0] = getch(); |
|
704 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
705 |
if (address.word>0x7FFF) flags.rampz = 1; // No go with m256, FIXME |
|
706 |
else flags.rampz = 0; |
|
707 |
#endif |
|
708 |
address.word = address.word << 1; // address * 2 -> byte location |
|
709 |
if (getch() == 'E') flags.eeprom = 1; |
|
710 |
else flags.eeprom = 0; |
|
711 |
if (getch() == ' ') { // Command terminator |
|
712 |
putch(0x14); |
|
713 |
for (w=0;w < length.word;w++) { // Can handle odd and even lengths okay |
|
714 |
if (flags.eeprom) { // Byte access EEPROM read |
|
715 |
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) |
|
716 |
while(EECR & (1<<EEPE)); |
|
717 |
EEAR = (uint16_t)(void *)address.word; |
|
718 |
EECR |= (1<<EERE); |
|
719 |
putch(EEDR); |
|
720 |
#else |
|
721 |
putch(eeprom_read_byte((void *)address.word)); |
|
722 |
#endif |
|
723 |
address.word++; |
|
724 |
} |
|
725 |
else { |
|
726 |
|
|
727 |
if (!flags.rampz) putch(pgm_read_byte_near(address.word)); |
|
728 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
729 |
else putch(pgm_read_byte_far(address.word + 0x10000)); |
|
730 |
// Hmmmm, yuck FIXME when m256 arrvies |
|
731 |
#endif |
|
732 |
address.word++; |
|
733 |
} |
|
734 |
} |
|
735 |
putch(0x10); |
|
736 |
} |
|
737 |
} |
|
738 |
|
|
739 |
|
|
740 |
/* Get device signature bytes */ |
|
741 |
else if(ch=='u') { |
|
742 |
if (getch() == ' ') { |
|
743 |
putch(0x14); |
|
744 |
putch(SIG1); |
|
745 |
putch(SIG2); |
|
746 |
putch(SIG3); |
|
747 |
putch(0x10); |
|
748 |
} else { |
|
749 |
if (++error_count == MAX_ERROR_COUNT) |
|
750 |
app_start(); |
|
751 |
} |
|
752 |
} |
|
753 |
|
|
754 |
|
|
755 |
/* Read oscillator calibration byte */ |
|
756 |
else if(ch=='v') { |
|
757 |
byte_response(0x00); |
|
758 |
} |
|
759 |
|
|
760 |
|
|
761 |
#if defined MONITOR |
|
762 |
|
|
763 |
/* here come the extended monitor commands by Erik Lins */ |
|
764 |
|
|
765 |
/* check for three times exclamation mark pressed */ |
|
766 |
else if(ch=='!') { |
|
767 |
ch = getch(); |
|
768 |
if(ch=='!') { |
|
769 |
ch = getch(); |
|
770 |
if(ch=='!') { |
|
771 |
PGM_P welcome = ""; |
|
772 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
773 |
uint16_t extaddr; |
|
774 |
#endif |
|
775 |
uint8_t addrl, addrh; |
|
776 |
|
|
777 |
#ifdef CRUMB128 |
|
778 |
welcome = "ATmegaBOOT / Crumb128 - (C) J.P.Kyle, E.Lins - 050815\n\r"; |
|
779 |
#elif defined PROBOMEGA128 |
|
780 |
welcome = "ATmegaBOOT / PROBOmega128 - (C) J.P.Kyle, E.Lins - 050815\n\r"; |
|
781 |
#elif defined SAVVY128 |
|
782 |
welcome = "ATmegaBOOT / Savvy128 - (C) J.P.Kyle, E.Lins - 050815\n\r"; |
|
783 |
#elif defined __AVR_ATmega1280__ |
|
784 |
welcome = "ATmegaBOOT / Arduino Mega - (C) Arduino LLC - 090930\n\r"; |
|
785 |
#endif |
|
786 |
|
|
787 |
/* turn on LED */ |
|
788 |
LED_DDR |= _BV(LED); |
|
789 |
LED_PORT &= ~_BV(LED); |
|
790 |
|
|
791 |
/* print a welcome message and command overview */ |
|
792 |
for(i=0; welcome[i] != '\0'; ++i) { |
|
793 |
putch(welcome[i]); |
|
794 |
} |
|
795 |
|
|
796 |
/* test for valid commands */ |
|
797 |
for(;;) { |
|
798 |
putch('\n'); |
|
799 |
putch('\r'); |
|
800 |
putch(':'); |
|
801 |
putch(' '); |
|
802 |
|
|
803 |
ch = getch(); |
|
804 |
putch(ch); |
|
805 |
|
|
806 |
/* toggle LED */ |
|
807 |
if(ch == 't') { |
|
808 |
if(bit_is_set(LED_PIN,LED)) { |
|
809 |
LED_PORT &= ~_BV(LED); |
|
810 |
putch('1'); |
|
811 |
} else { |
|
812 |
LED_PORT |= _BV(LED); |
|
813 |
putch('0'); |
|
814 |
} |
|
815 |
} |
|
816 |
|
|
817 |
/* read byte from address */ |
|
818 |
else if(ch == 'r') { |
|
819 |
ch = getch(); putch(ch); |
|
820 |
addrh = gethex(); |
|
821 |
addrl = gethex(); |
|
822 |
putch('='); |
|
823 |
ch = *(uint8_t *)((addrh << 8) + addrl); |
|
824 |
puthex(ch); |
|
825 |
} |
|
826 |
|
|
827 |
/* write a byte to address */ |
|
828 |
else if(ch == 'w') { |
|
829 |
ch = getch(); putch(ch); |
|
830 |
addrh = gethex(); |
|
831 |
addrl = gethex(); |
|
832 |
ch = getch(); putch(ch); |
|
833 |
ch = gethex(); |
|
834 |
*(uint8_t *)((addrh << 8) + addrl) = ch; |
|
835 |
} |
|
836 |
|
|
837 |
/* read from uart and echo back */ |
|
838 |
else if(ch == 'u') { |
|
839 |
for(;;) { |
|
840 |
putch(getch()); |
|
841 |
} |
|
842 |
} |
|
843 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
844 |
/* external bus loop */ |
|
845 |
else if(ch == 'b') { |
|
846 |
putch('b'); |
|
847 |
putch('u'); |
|
848 |
putch('s'); |
|
849 |
MCUCR = 0x80; |
|
850 |
XMCRA = 0; |
|
851 |
XMCRB = 0; |
|
852 |
extaddr = 0x1100; |
|
853 |
for(;;) { |
|
854 |
ch = *(volatile uint8_t *)extaddr; |
|
855 |
if(++extaddr == 0) { |
|
856 |
extaddr = 0x1100; |
|
857 |
} |
|
858 |
} |
|
859 |
} |
|
860 |
#endif |
|
861 |
|
|
862 |
else if(ch == 'j') { |
|
863 |
app_start(); |
|
864 |
} |
|
865 |
|
|
866 |
} /* end of monitor functions */ |
|
867 |
|
|
868 |
} |
|
869 |
} |
|
870 |
} |
|
871 |
/* end of monitor */ |
|
872 |
#endif |
|
873 |
else if (++error_count == MAX_ERROR_COUNT) { |
|
874 |
app_start(); |
|
875 |
} |
|
876 |
} /* end of forever loop */ |
|
877 |
|
|
878 |
} |
|
879 |
|
|
880 |
|
|
881 |
char gethexnib(void) { |
|
882 |
char a; |
|
883 |
a = getch(); putch(a); |
|
884 |
if(a >= 'a') { |
|
885 |
return (a - 'a' + 0x0a); |
|
886 |
} else if(a >= '0') { |
|
887 |
return(a - '0'); |
|
888 |
} |
|
889 |
return a; |
|
890 |
} |
|
891 |
|
|
892 |
|
|
893 |
char gethex(void) { |
|
894 |
return (gethexnib() << 4) + gethexnib(); |
|
895 |
} |
|
896 |
|
|
897 |
|
|
898 |
void puthex(char ch) { |
|
899 |
char ah; |
|
900 |
|
|
901 |
ah = ch >> 4; |
|
902 |
if(ah >= 0x0a) { |
|
903 |
ah = ah - 0x0a + 'a'; |
|
904 |
} else { |
|
905 |
ah += '0'; |
|
906 |
} |
|
907 |
|
|
908 |
ch &= 0x0f; |
|
909 |
if(ch >= 0x0a) { |
|
910 |
ch = ch - 0x0a + 'a'; |
|
911 |
} else { |
|
912 |
ch += '0'; |
|
913 |
} |
|
914 |
|
|
915 |
putch(ah); |
|
916 |
putch(ch); |
|
917 |
} |
|
918 |
|
|
919 |
|
|
920 |
void putch(char ch) |
|
921 |
{ |
|
922 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
923 |
if(bootuart == 1) { |
|
924 |
while (!(UCSR0A & _BV(UDRE0))); |
|
925 |
UDR0 = ch; |
|
926 |
} |
|
927 |
else if (bootuart == 2) { |
|
928 |
while (!(UCSR1A & _BV(UDRE1))); |
|
929 |
UDR1 = ch; |
|
930 |
} |
|
931 |
#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) |
|
932 |
while (!(UCSR0A & _BV(UDRE0))); |
|
933 |
UDR0 = ch; |
|
934 |
#else |
|
935 |
/* m8,16,32,169,8515,8535,163 */ |
|
936 |
while (!(UCSRA & _BV(UDRE))); |
|
937 |
UDR = ch; |
|
938 |
#endif |
|
939 |
} |
|
940 |
|
|
941 |
|
|
942 |
char getch(void) |
|
943 |
{ |
|
944 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
945 |
uint32_t count = 0; |
|
946 |
if(bootuart == 1) { |
|
947 |
while(!(UCSR0A & _BV(RXC0))) { |
|
948 |
/* 20060803 DojoCorp:: Addon coming from the previous Bootloader*/ |
|
949 |
/* HACKME:: here is a good place to count times*/ |
|
950 |
count++; |
|
951 |
if (count > MAX_TIME_COUNT) |
|
952 |
app_start(); |
|
953 |
} |
|
954 |
|
|
955 |
return UDR0; |
|
956 |
} |
|
957 |
else if(bootuart == 2) { |
|
958 |
while(!(UCSR1A & _BV(RXC1))) { |
|
959 |
/* 20060803 DojoCorp:: Addon coming from the previous Bootloader*/ |
|
960 |
/* HACKME:: here is a good place to count times*/ |
|
961 |
count++; |
|
962 |
if (count > MAX_TIME_COUNT) |
|
963 |
app_start(); |
|
964 |
} |
|
965 |
|
|
966 |
return UDR1; |
|
967 |
} |
|
968 |
return 0; |
|
969 |
#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__) |
|
970 |
uint32_t count = 0; |
|
971 |
while(!(UCSR0A & _BV(RXC0))){ |
|
972 |
/* 20060803 DojoCorp:: Addon coming from the previous Bootloader*/ |
|
973 |
/* HACKME:: here is a good place to count times*/ |
|
974 |
count++; |
|
975 |
if (count > MAX_TIME_COUNT) |
|
976 |
app_start(); |
|
977 |
} |
|
978 |
return UDR0; |
|
979 |
#else |
|
980 |
/* m8,16,32,169,8515,8535,163 */ |
|
981 |
uint32_t count = 0; |
|
982 |
while(!(UCSRA & _BV(RXC))){ |
|
983 |
/* 20060803 DojoCorp:: Addon coming from the previous Bootloader*/ |
|
984 |
/* HACKME:: here is a good place to count times*/ |
|
985 |
count++; |
|
986 |
if (count > MAX_TIME_COUNT) |
|
987 |
app_start(); |
|
988 |
} |
|
989 |
return UDR; |
|
990 |
#endif |
|
991 |
} |
|
992 |
|
|
993 |
|
|
994 |
void getNch(uint8_t count) |
|
995 |
{ |
|
996 |
while(count--) { |
|
997 |
#if defined(__AVR_ATmega128__) || defined(__AVR_ATmega1280__) |
|
998 |
if(bootuart == 1) { |
|
999 |
while(!(UCSR0A & _BV(RXC0))); |
|
1000 |
UDR0; |
|
1001 |
} |
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