Quadrotor

#ifndef Arduino_h

#define Arduino_h

#include <stdlib.h>

#include <string.h>

#include <math.h>

#include <avr/pgmspace.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include "binary.h"

#ifdef __cplusplus

extern "C"{

#endif

#define HIGH 0x1

#define LOW  0x0

#define INPUT 0x0

#define OUTPUT 0x1

#define true 0x1

#define false 0x0

#define PI 3.1415926535897932384626433832795

#define HALF_PI 1.5707963267948966192313216916398

#define TWO_PI 6.283185307179586476925286766559

#define DEG_TO_RAD 0.017453292519943295769236907684886

#define RAD_TO_DEG 57.295779513082320876798154814105

#define SERIAL  0x0

#define DISPLAY 0x1

#define LSBFIRST 0

#define MSBFIRST 1

#define CHANGE 1

#define FALLING 2

#define RISING 3

#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__) || defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)

#define DEFAULT 0

#define EXTERNAL 1

#define INTERNAL 2

#else  

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

#define INTERNAL1V1 2

#define INTERNAL2V56 3

#else

#define INTERNAL 3

#endif

#define DEFAULT 1

#define EXTERNAL 0

#endif

// undefine stdlib's abs if encountered

#ifdef abs

#undef abs

#endif

#define min(a,b) ((a)<(b)?(a):(b))

#define max(a,b) ((a)>(b)?(a):(b))

#define abs(x) ((x)>0?(x):-(x))

#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))

#define round(x)     ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

#define radians(deg) ((deg)*DEG_TO_RAD)

#define degrees(rad) ((rad)*RAD_TO_DEG)

#define sq(x) ((x)*(x))

#define interrupts() sei()

#define noInterrupts() cli()

#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )

#define clockCyclesToMicroseconds(a) ( ((a) * 1000L) / (F_CPU / 1000L) )

#define microsecondsToClockCycles(a) ( ((a) * (F_CPU / 1000L)) / 1000L )

#define lowByte(w) ((uint8_t) ((w) & 0xff))

#define highByte(w) ((uint8_t) ((w) >> 8))

#define bitRead(value, bit) (((value) >> (bit)) & 0x01)

#define bitSet(value, bit) ((value) |= (1UL << (bit)))

#define bitClear(value, bit) ((value) &= ~(1UL << (bit)))

#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))

typedef unsigned int word;

#define bit(b) (1UL << (b))

typedef uint8_t boolean;

typedef uint8_t byte;

void init(void);

void pinMode(uint8_t, uint8_t);

void digitalWrite(uint8_t, uint8_t);

int digitalRead(uint8_t);

int analogRead(uint8_t);

void analogReference(uint8_t mode);

void analogWrite(uint8_t, int);

unsigned long millis(void);

unsigned long micros(void);

void delay(unsigned long);

void delayMicroseconds(unsigned int us);

unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);

void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);

uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);

void attachInterrupt(uint8_t, void (*)(void), int mode);

void detachInterrupt(uint8_t);

void setup(void);

void loop(void);

// Get the bit location within the hardware port of the given virtual pin.

// This comes from the pins_*.c file for the active board configuration.

#define analogInPinToBit(P) (P)

// On the ATmega1280, the addresses of some of the port registers are

// greater than 255, so we can't store them in uint8_t's.

extern const uint16_t PROGMEM port_to_mode_PGM[];

extern const uint16_t PROGMEM port_to_input_PGM[];

extern const uint16_t PROGMEM port_to_output_PGM[];

extern const uint8_t PROGMEM digital_pin_to_port_PGM[];

// extern const uint8_t PROGMEM digital_pin_to_bit_PGM[];

extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[];

extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];

// Get the bit location within the hardware port of the given virtual pin.

// This comes from the pins_*.c file for the active board configuration.

// 

// These perform slightly better as macros compared to inline functions

//

#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )

#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )

#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )

#define analogInPinToBit(P) (P)

#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )

#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )

#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )

#define NOT_A_PIN 0

#define NOT_A_PORT 0

#ifdef ARDUINO_MAIN

#define PA 1

#define PB 2

#define PC 3

#define PD 4

#define PE 5

#define PF 6

#define PG 7

#define PH 8

#define PJ 10

#define PK 11

#define PL 12

#endif

#define NOT_ON_TIMER 0

#define TIMER0A 1

#define TIMER0B 2

#define TIMER1A 3

#define TIMER1B 4

#define TIMER2  5

#define TIMER2A 6

#define TIMER2B 7

#define TIMER3A 8

#define TIMER3B 9

#define TIMER3C 10

#define TIMER4A 11

#define TIMER4B 12

#define TIMER4C 13

#define TIMER4D 14        

#define TIMER5A 15

#define TIMER5B 16

#define TIMER5C 17

#ifdef __cplusplus

} // extern "C"

#endif

#ifdef __cplusplus

#include "WCharacter.h"

#include "WString.h"

#include "HardwareSerial.h"

uint16_t makeWord(uint16_t w);

uint16_t makeWord(byte h, byte l);

#define word(...) makeWord(__VA_ARGS__)

unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout = 1000000L);

void tone(uint8_t _pin, unsigned int frequency, unsigned long duration = 0);

void noTone(uint8_t _pin);

// WMath prototypes

long random(long);

long random(long, long);

void randomSeed(unsigned int);

long map(long, long, long, long, long);

#endif

#include "pins_arduino.h"

#endif