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-rw-r--r--Sprinter/Makefile12
-rw-r--r--Sprinter/Sprinter.h68
-rw-r--r--Sprinter/Sprinter.pde531
-rw-r--r--Sprinter/fastio.h2558
4 files changed, 2917 insertions, 252 deletions
diff --git a/Sprinter/Makefile b/Sprinter/Makefile
index 0f9b5b7..7e888b0 100644
--- a/Sprinter/Makefile
+++ b/Sprinter/Makefile
@@ -54,7 +54,7 @@ SRC = $(ARDUINO)/pins_arduino.c $(ARDUINO)/wiring.c \
$(ARDUINO)/wiring_analog.c $(ARDUINO)/wiring_digital.c \
$(ARDUINO)/wiring_pulse.c \
$(ARDUINO)/wiring_shift.c $(ARDUINO)/WInterrupts.c
-CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp \
+CXXSRC = $(ARDUINO)/HardwareSerial.cpp $(ARDUINO)/WMath.cpp $(ARDUINO)/WString.cpp\
$(ARDUINO)/Print.cpp ./SdFile.cpp ./SdVolume.cpp ./Sd2Card.cpp
FORMAT = ihex
@@ -82,14 +82,14 @@ CXXINCS = -I$(ARDUINO)
# gnu89 - c89 plus GCC extensions
# c99 - ISO C99 standard (not yet fully implemented)
# gnu99 - c99 plus GCC extensions
-CSTANDARD = -std=gnu99
+#CSTANDARD = -std=gnu99
CDEBUG = -g$(DEBUG)
CWARN = -Wall -Wstrict-prototypes
-CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -w -ffunction-sections -fdata-sections -DARDUINO=22
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
-CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CSTANDARD) $(CEXTRA)
-CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT)
+CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CWARN) $(CEXTRA) $(CTUNING)
+CXXFLAGS = $(CDEFS) $(CINCS) -O$(OPT) -Wall $(CEXTRA) $(CTUNING)
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
LDFLAGS = -lm
@@ -200,7 +200,7 @@ extcoff: $(TARGET).elf
# Link: create ELF output file from library.
applet/$(TARGET).elf: $(TARGET).pde applet/core.a
- $(CC) $(ALL_CFLAGS) -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
+ $(CC) $(ALL_CFLAGS) -Wl,--gc-sections -o $@ applet/$(TARGET).cpp -L. applet/core.a $(LDFLAGS)
applet/core.a: $(OBJ)
@for i in $(OBJ); do echo $(AR) rcs applet/core.a $$i; $(AR) rcs applet/core.a $$i; done
diff --git a/Sprinter/Sprinter.h b/Sprinter/Sprinter.h
index 7a4b8a9..d612b5d 100644
--- a/Sprinter/Sprinter.h
+++ b/Sprinter/Sprinter.h
@@ -1,6 +1,7 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
#include <WProgram.h>
+#include "fastio.h"
extern "C" void __cxa_pure_virtual();
void __cxa_pure_virtual(){};
void get_command();
@@ -9,10 +10,59 @@ void process_commands();
void manage_inactivity(byte debug);
void manage_heater();
-float temp2analog(int celsius);
-float temp2analogBed(int celsius);
-float analog2temp(int raw);
-float analog2tempBed(int raw);
+int temp2analogu(int celsius, const short table[][2], int numtemps, int source);
+int analog2tempu(int raw, const short table[][2], int numtemps, int source);
+#ifdef HEATER_USES_THERMISTOR
+ #define HEATERSOURCE 1
+#endif
+#ifdef HEATER_USES_AD595
+ #define HEATERSOURCE 2
+#endif
+#ifdef HEATER_USES_MAX6675
+ #define HEATERSOURCE 3
+#endif
+#ifdef BED_USES_THERMISTOR
+ #define BEDSOURCE 1
+#endif
+#ifdef BED_USES_AD595
+ #define BEDSOURCE 2
+#endif
+#ifdef BED_USES_MAX6675
+ #define BEDSOURCE 3
+#endif
+
+#define temp2analogh( c ) temp2analogu((c),temptable,NUMTEMPS,HEATERSOURCE)
+#define temp2analogBed( c ) temp2analogu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
+#define analog2temp( c ) analog2tempu((c),temptable,NUMTEMPS,HEATERSOURCE)
+#define analog2tempBed( c ) analog2tempu((c),bedtemptable,BNUMTEMPS,BEDSOURCE)
+#if X_ENABLE_PIN > -1
+#define enable_x() WRITE(X_ENABLE_PIN, X_ENABLE_ON)
+#define disable_x() WRITE(X_ENABLE_PIN,!X_ENABLE_ON)
+#else
+#define enable_x() ;
+#define disable_x() ;
+#endif
+#if Y_ENABLE_PIN > -1
+#define enable_y() WRITE(Y_ENABLE_PIN, Y_ENABLE_ON)
+#define disable_y() WRITE(Y_ENABLE_PIN,!Y_ENABLE_ON)
+#else
+#define enable_y() ;
+#define disable_y() ;
+#endif
+#if Z_ENABLE_PIN > -1
+#define enable_z() WRITE(Z_ENABLE_PIN, Z_ENABLE_ON)
+#define disable_z() WRITE(Z_ENABLE_PIN,!Z_ENABLE_ON)
+#else
+#define enable_z() ;
+#define disable_z() ;
+#endif
+#if E_ENABLE_PIN > -1
+#define enable_e() WRITE(E_ENABLE_PIN, E_ENABLE_ON)
+#define disable_e() WRITE(E_ENABLE_PIN,!E_ENABLE_ON)
+#else
+#define enable_e() ;
+#define disable_e() ;
+#endif
void FlushSerialRequestResend();
void ClearToSend();
@@ -20,16 +70,6 @@ void ClearToSend();
void get_coordinates();
void prepare_move();
void linear_move(unsigned long steps_remaining[]);
-void do_step_update_micros(int axis);
-void disable_x();
-void disable_y();
-void disable_z();
-void disable_e();
-void enable_x();
-void enable_y();
-void enable_z();
-void enable_e();
void do_step(int axis);
-
void kill(byte debug);
diff --git a/Sprinter/Sprinter.pde b/Sprinter/Sprinter.pde
index 975f8fd..2310bb8 100644
--- a/Sprinter/Sprinter.pde
+++ b/Sprinter/Sprinter.pde
@@ -1,9 +1,10 @@
// Tonokip RepRap firmware rewrite based off of Hydra-mmm firmware.
// Licence: GPL
-#include "Sprinter.h"
+#include "fastio.h"
#include "Configuration.h"
#include "pins.h"
+#include "Sprinter.h"
#ifdef SDSUPPORT
#include "SdFat.h"
@@ -57,34 +58,27 @@
//Stepper Movement Variables
+
char axis_codes[NUM_AXIS] = {'X', 'Y', 'Z', 'E'};
bool move_direction[NUM_AXIS];
-const int STEP_PIN[NUM_AXIS] = {X_STEP_PIN, Y_STEP_PIN, Z_STEP_PIN, E_STEP_PIN};
unsigned long axis_previous_micros[NUM_AXIS];
unsigned long previous_micros = 0, previous_millis_heater, previous_millis_bed_heater;
unsigned long move_steps_to_take[NUM_AXIS];
#ifdef RAMP_ACCELERATION
- unsigned long axis_max_interval[] = {100000000.0 / (max_start_speed_units_per_second[0] * axis_steps_per_unit[0]),
- 100000000.0 / (max_start_speed_units_per_second[1] * axis_steps_per_unit[1]),
- 100000000.0 / (max_start_speed_units_per_second[2] * axis_steps_per_unit[2]),
- 100000000.0 / (max_start_speed_units_per_second[3] * axis_steps_per_unit[3])}; //TODO: refactor all things like this in a function, or move to setup()
- // in a for loop
- unsigned long max_interval;
- unsigned long axis_steps_per_sqr_second[] = {max_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0],
- max_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2],
- max_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]};
- unsigned long axis_travel_steps_per_sqr_second[] = {max_travel_acceleration_units_per_sq_second[0] * axis_steps_per_unit[0],
- max_travel_acceleration_units_per_sq_second[1] * axis_steps_per_unit[1], max_travel_acceleration_units_per_sq_second[2] * axis_steps_per_unit[2],
- max_travel_acceleration_units_per_sq_second[3] * axis_steps_per_unit[3]};
- unsigned long steps_per_sqr_second, plateau_steps;
+unsigned long axis_max_interval[NUM_AXIS];
+unsigned long axis_steps_per_sqr_second[NUM_AXIS];
+unsigned long axis_travel_steps_per_sqr_second[NUM_AXIS];
+unsigned long max_interval;
+unsigned long steps_per_sqr_second, plateau_steps;
#endif
boolean acceleration_enabled = false, accelerating = false;
unsigned long interval;
float destination[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
float current_position[NUM_AXIS] = {0.0, 0.0, 0.0, 0.0};
+unsigned long steps_taken[NUM_AXIS];
long axis_interval[NUM_AXIS]; // for speed delay
bool home_all_axis = true;
-float feedrate = 1500, next_feedrate, saved_feedrate;
+int feedrate = 1500, next_feedrate, saved_feedrate;
float time_for_move;
long gcode_N, gcode_LastN;
bool relative_mode = false; //Determines Absolute or Relative Coordinates
@@ -120,7 +114,7 @@ int target_raw = 0;
int current_raw = 0;
int target_bed_raw = 0;
int current_bed_raw = 0;
-float tt = 0, bt = 0;
+int tt = 0, bt = 0;
#ifdef PIDTEMP
int temp_iState = 0;
int temp_dState = 0;
@@ -140,10 +134,10 @@ float tt = 0, bt = 0;
unsigned long watchmillis = 0;
#endif
#ifdef MINTEMP
- int minttemp = temp2analog(MINTEMP);
+ int minttemp = temp2analogh(MINTEMP);
#endif
#ifdef MAXTEMP
-int maxttemp = temp2analog(MAXTEMP);
+int maxttemp = temp2analogh(MAXTEMP);
#endif
//Inactivity shutdown variables
@@ -211,59 +205,135 @@ void setup()
fromsd[i] = false;
}
- //Initialize Step Pins
- for(int i=0; i < NUM_AXIS; i++) if(STEP_PIN[i] > -1) pinMode(STEP_PIN[i],OUTPUT);
//Initialize Dir Pins
- if(X_DIR_PIN > -1) pinMode(X_DIR_PIN,OUTPUT);
- if(Y_DIR_PIN > -1) pinMode(Y_DIR_PIN,OUTPUT);
- if(Z_DIR_PIN > -1) pinMode(Z_DIR_PIN,OUTPUT);
- if(E_DIR_PIN > -1) pinMode(E_DIR_PIN,OUTPUT);
-
- //Steppers default to disabled.
- if(X_ENABLE_PIN > -1) if(!X_ENABLE_ON) digitalWrite(X_ENABLE_PIN,HIGH);
- if(Y_ENABLE_PIN > -1) if(!Y_ENABLE_ON) digitalWrite(Y_ENABLE_PIN,HIGH);
- if(Z_ENABLE_PIN > -1) if(!Z_ENABLE_ON) digitalWrite(Z_ENABLE_PIN,HIGH);
- if(E_ENABLE_PIN > -1) if(!E_ENABLE_ON) digitalWrite(E_ENABLE_PIN,HIGH);
-
- //endstop pullups
+ #if X_DIR_PIN > -1
+ SET_OUTPUT(X_DIR_PIN);
+ #endif
+ #if Y_DIR_PIN > -1
+ SET_OUTPUT(Y_DIR_PIN);
+ #endif
+ #if Z_DIR_PIN > -1
+ SET_OUTPUT(Z_DIR_PIN);
+ #endif
+ #if E_DIR_PIN > -1
+ SET_OUTPUT(E_DIR_PIN);
+ #endif
+
+ //Initialize Enable Pins - steppers default to disabled.
+
+ #if (X_ENABLE_PIN > -1)
+ SET_OUTPUT(X_ENABLE_PIN);
+ if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
+ #endif
+ #if (Y_ENABLE_PIN > -1)
+ SET_OUTPUT(Y_ENABLE_PIN);
+ if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
+ #endif
+ #if (Z_ENABLE_PIN > -1)
+ SET_OUTPUT(Z_ENABLE_PIN);
+ if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
+ #endif
+ #if (E_ENABLE_PIN > -1)
+ SET_OUTPUT(E_ENABLE_PIN);
+ if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
+ #endif
+
+ //endstops and pullups
#ifdef ENDSTOPPULLUPS
- if(X_MIN_PIN > -1) { pinMode(X_MIN_PIN,INPUT); digitalWrite(X_MIN_PIN,HIGH);}
- if(Y_MIN_PIN > -1) { pinMode(Y_MIN_PIN,INPUT); digitalWrite(Y_MIN_PIN,HIGH);}
- if(Z_MIN_PIN > -1) { pinMode(Z_MIN_PIN,INPUT); digitalWrite(Z_MIN_PIN,HIGH);}
- if(X_MAX_PIN > -1) { pinMode(X_MAX_PIN,INPUT); digitalWrite(X_MAX_PIN,HIGH);}
- if(Y_MAX_PIN > -1) { pinMode(Y_MAX_PIN,INPUT); digitalWrite(Y_MAX_PIN,HIGH);}
- if(Z_MAX_PIN > -1) { pinMode(Z_MAX_PIN,INPUT); digitalWrite(Z_MAX_PIN,HIGH);}
+ #if X_MIN_PIN > -1
+ SET_INPUT(X_MIN_PIN);
+ WRITE(X_MIN_PIN,HIGH);
+ #endif
+ #if X_MAX_PIN > -1
+ SET_INPUT(X_MAX_PIN);
+ WRITE(X_MAX_PIN,HIGH);
+ #endif
+ #if Y_MIN_PIN > -1
+ SET_INPUT(Y_MIN_PIN);
+ WRITE(Y_MIN_PIN,HIGH);
+ #endif
+ #if Y_MAX_PIN > -1
+ SET_INPUT(Y_MAX_PIN);
+ WRITE(Y_MAX_PIN,HIGH);
+ #endif
+ #if Z_MIN_PIN > -1
+ SET_INPUT(Z_MIN_PIN);
+ WRITE(Z_MIN_PIN,HIGH);
+ #endif
+ #if Z_MAX_PIN > -1
+ SET_INPUT(Z_MAX_PIN);
+ WRITE(Z_MAX_PIN,HIGH);
+ #endif
+ #else
+ #if X_MIN_PIN > -1
+ SET_INPUT(X_MIN_PIN);
+ #endif
+ #if X_MAX_PIN > -1
+ SET_INPUT(X_MAX_PIN);
+ #endif
+ #if Y_MIN_PIN > -1
+ SET_INPUT(Y_MIN_PIN);
+ #endif
+ #if Y_MAX_PIN > -1
+ SET_INPUT(Y_MAX_PIN);
+ #endif
+ #if Z_MIN_PIN > -1
+ SET_INPUT(Z_MIN_PIN);
+ #endif
+ #if Z_MAX_PIN > -1
+ SET_INPUT(Z_MAX_PIN);
+ #endif
#endif
- //Initialize Enable Pins
- if(X_ENABLE_PIN > -1) pinMode(X_ENABLE_PIN,OUTPUT);
- if(Y_ENABLE_PIN > -1) pinMode(Y_ENABLE_PIN,OUTPUT);
- if(Z_ENABLE_PIN > -1) pinMode(Z_ENABLE_PIN,OUTPUT);
- if(E_ENABLE_PIN > -1) pinMode(E_ENABLE_PIN,OUTPUT);
-
- if(HEATER_0_PIN > -1) pinMode(HEATER_0_PIN,OUTPUT);
- if(HEATER_1_PIN > -1) pinMode(HEATER_1_PIN,OUTPUT);
+ #if (HEATER_0_PIN > -1)
+ SET_OUTPUT(HEATER_0_PIN);
+ #endif
+ #if (HEATER_1_PIN > -1)
+ SET_OUTPUT(HEATER_1_PIN);
+ #endif
+
+//Initialize Step Pins
+ #if (X_STEP_PIN > -1)
+ SET_OUTPUT(X_STEP_PIN);
+ #endif
+ #if (Y_STEP_PIN > -1)
+ SET_OUTPUT(Y_STEP_PIN);
+ #endif
+ #if (Z_STEP_PIN > -1)
+ SET_OUTPUT(Z_STEP_PIN);
+ #endif
+ #if (E_STEP_PIN > -1)
+ SET_OUTPUT(E_STEP_PIN);
+ #endif
+ #ifdef RAMP_ACCELERATION
+ for(int i=0; i < NUM_AXIS; i++){
+ axis_max_interval[i] = 100000000.0 / (max_start_speed_units_per_second[i] * axis_steps_per_unit[i]);
+ axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+ axis_travel_steps_per_sqr_second[i] = max_travel_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
+ }
+ #endif
+
#ifdef HEATER_USES_MAX6675
- digitalWrite(SCK_PIN,0);
- pinMode(SCK_PIN,OUTPUT);
-
- digitalWrite(MOSI_PIN,1);
- pinMode(MOSI_PIN,OUTPUT);
-
- digitalWrite(MISO_PIN,1);
- pinMode(MISO_PIN,INPUT);
-
- digitalWrite(MAX6675_SS,1);
- pinMode(MAX6675_SS,OUTPUT);
+ SET_OUTPUT(SCK_PIN);
+ WRITE(SCK_PIN,0);
+
+ SET_OUTPUT(MOSI_PIN);
+ WRITE(MOSI_PIN,1);
+
+ SET_INPUT(MISO_PIN);
+ WRITE(MISO_PIN,1);
+
+ SET_OUTPUT(MAX6675_SS);
+ WRITE(MAX6675_SS,1);
#endif
#ifdef SDSUPPORT
//power to SD reader
#if SDPOWER > -1
- pinMode(SDPOWER,OUTPUT);
- digitalWrite(SDPOWER,HIGH);
+ SET_OUTPUT(SDPOWER);
+ WRITE(SDPOWER,HIGH);
#endif
initsd();
@@ -652,7 +722,7 @@ inline void process_commands()
break;
#endif
case 104: // M104
- if (code_seen('S')) target_raw = temp2analog(code_value());
+ if (code_seen('S')) target_raw = temp2analogh(code_value());
#ifdef WATCHPERIOD
if(target_raw > current_raw){
watchmillis = max(1,millis());
@@ -682,12 +752,12 @@ inline void process_commands()
Serial.println();
#endif
#else
- Serial.println("No thermistors - no temp");
+ #error No temperature source available
#endif
return;
//break;
case 109: // M109 - Wait for extruder heater to reach target.
- if (code_seen('S')) target_raw = temp2analog(code_value());
+ if (code_seen('S')) target_raw = temp2analogh(code_value());
#ifdef WATCHPERIOD
if(target_raw>current_raw){
watchmillis = max(1,millis());
@@ -709,7 +779,7 @@ inline void process_commands()
break;
case 190: // M190 - Wait bed for heater to reach target.
#if TEMP_1_PIN > -1
- if (code_seen('S')) target_bed_raw = temp2analog(code_value());
+ if (code_seen('S')) target_bed_raw = temp2analogh(code_value());
codenum = millis();
while(current_bed_raw < target_bed_raw) {
if( (millis()-codenum) > 1000 ) //Print Temp Reading every 1 second while heating up.
@@ -725,25 +795,29 @@ inline void process_commands()
}
#endif
break;
+ #if FAN_PIN > -1
case 106: //M106 Fan On
if (code_seen('S')){
- digitalWrite(FAN_PIN, HIGH);
+ WRITE(FAN_PIN, HIGH);
analogWrite(FAN_PIN, constrain(code_value(),0,255) );
}
else
- digitalWrite(FAN_PIN, HIGH);
+ WRITE(FAN_PIN, HIGH);
break;
case 107: //M107 Fan Off
analogWrite(FAN_PIN, 0);
- digitalWrite(FAN_PIN, LOW);
+ WRITE(FAN_PIN, LOW);
break;
+ #endif
+ #if (PS_ON_PIN > -1)
case 80: // M81 - ATX Power On
- if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,OUTPUT); //GND
+ SET_OUTPUT(PS_ON_PIN); //GND
break;
case 81: // M81 - ATX Power Off
- if(PS_ON_PIN > -1) pinMode(PS_ON_PIN,INPUT); //Floating
+ SET_INPUT(PS_ON_PIN); //Floating
break;
+ #endif
case 82:
axis_relative_modes[3] = false;
break;
@@ -899,17 +973,29 @@ inline void prepare_move()
//Feedrate calc based on XYZ travel distance
float xy_d;
- if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0 || abs(axis_diff[2])) {
+ //Check for cases where only one axis is moving - handle those without float sqrt
+ if(abs(axis_diff[0]) > 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])==0)
+ d=abs(axis_diff[0]);
+ else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) > 0 && abs(axis_diff[2])==0)
+ d=abs(axis_diff[1]);
+ else if(abs(axis_diff[0]) == 0 && abs(axis_diff[1]) == 0 && abs(axis_diff[2])>0)
+ d=abs(axis_diff[2]);
+ //two or three XYZ axes moving
+ else if(abs(axis_diff[0]) > 0 || abs(axis_diff[1]) > 0) { //X or Y or both
xy_d = sqrt(axis_diff[0] * axis_diff[0] + axis_diff[1] * axis_diff[1]);
- d = sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]);
+ //check if Z involved - if so interpolate that too
+ d = (abs(axis_diff[2]>0))?sqrt(xy_d * xy_d + axis_diff[2] * axis_diff[2]):xy_d;
}
else if(abs(axis_diff[3]) > 0)
d = abs(axis_diff[3]);
+ else{ //zero length move
#ifdef DEBUG_PREPARE_MOVE
- else {
+
log_message("_PREPARE_MOVE - No steps to take!");
- }
+
#endif
+ return;
+ }
time_for_move = (d / (feedrate / 60000000.0) );
//Check max feedrate for each axis is not violated, update time_for_move if necessary
for(int i = 0; i < NUM_AXIS; i++) {
@@ -925,7 +1011,7 @@ inline void prepare_move()
#ifdef DEBUG_PREPARE_MOVE
log_float("_PREPARE_MOVE - Move distance on the XY plane", xy_d);
log_float("_PREPARE_MOVE - Move distance on the XYZ space", d);
- log_float("_PREPARE_MOVE - Commanded feedrate", feedrate);
+ log_int("_PREPARE_MOVE - Commanded feedrate", feedrate);
log_float("_PREPARE_MOVE - Constant full speed move time", time_for_move);
log_float_array("_PREPARE_MOVE - Destination", destination, NUM_AXIS);
log_float_array("_PREPARE_MOVE - Current position", current_position, NUM_AXIS);
@@ -942,21 +1028,33 @@ inline void prepare_move()
void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1
{
//Determine direction of movement
- if (destination[0] > current_position[0]) digitalWrite(X_DIR_PIN,!INVERT_X_DIR);
- else digitalWrite(X_DIR_PIN,INVERT_X_DIR);
- if (destination[1] > current_position[1]) digitalWrite(Y_DIR_PIN,!INVERT_Y_DIR);
- else digitalWrite(Y_DIR_PIN,INVERT_Y_DIR);
- if (destination[2] > current_position[2]) digitalWrite(Z_DIR_PIN,!INVERT_Z_DIR);
- else digitalWrite(Z_DIR_PIN,INVERT_Z_DIR);
- if (destination[3] > current_position[3]) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
- else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
-
- if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
- if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
- if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
- if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
- if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
- if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+ if (destination[0] > current_position[0]) WRITE(X_DIR_PIN,!INVERT_X_DIR);
+ else WRITE(X_DIR_PIN,INVERT_X_DIR);
+ if (destination[1] > current_position[1]) WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
+ else WRITE(Y_DIR_PIN,INVERT_Y_DIR);
+ if (destination[2] > current_position[2]) WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
+ else WRITE(Z_DIR_PIN,INVERT_Z_DIR);
+ if (destination[3] > current_position[3]) WRITE(E_DIR_PIN,!INVERT_E_DIR);
+ else WRITE(E_DIR_PIN,INVERT_E_DIR);
+ movereset:
+ #if (X_MIN_PIN > -1)
+ if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MIN_PIN > -1)
+ if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
+ #endif
+ #if (Z_MIN_PIN > -1)
+ if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+ #endif
+ #if (X_MAX_PIN > -1)
+ if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MAX_PIN > -1)
+ if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
+ #endif
+ # if(Z_MAX_PIN > -1)
+ if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
+ #endif
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
@@ -970,14 +1068,17 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned long delta[] = {axis_steps_remaining[0], axis_steps_remaining[1], axis_steps_remaining[2], axis_steps_remaining[3]}; //TODO: implement a "for" to support N axes
long axis_error[NUM_AXIS];
- unsigned int primary_axis;
+ int primary_axis;
if(delta[1] > delta[0] && delta[1] > delta[2] && delta[1] > delta[3]) primary_axis = 1;
else if (delta[0] >= delta[1] && delta[0] > delta[2] && delta[0] > delta[3]) primary_axis = 0;
else if (delta[2] >= delta[0] && delta[2] >= delta[1] && delta[2] > delta[3]) primary_axis = 2;
else primary_axis = 3;
unsigned long steps_remaining = delta[primary_axis];
unsigned long steps_to_take = steps_remaining;
- for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
+ for(int i=0; i < NUM_AXIS; i++){
+ if(i != primary_axis) axis_error[i] = delta[primary_axis] / 2;
+ steps_taken[i]=0;
+ }
interval = axis_interval[primary_axis];
bool is_print_move = delta[3] > 0;
#ifdef DEBUG_BRESENHAM
@@ -1002,8 +1103,9 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
int slowest_start_axis = primary_axis;
unsigned long slowest_start_axis_max_interval = max_interval;
for(int i = 0; i < NUM_AXIS; i++)
- if (axis_steps_remaining[i] >0 && i != primary_axis && axis_max_interval[i] * axis_steps_remaining[i]
- / axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
+ if (axis_steps_remaining[i] >0 &&
+ i != primary_axis &&
+ axis_max_interval[i] * axis_steps_remaining[i]/ axis_steps_remaining[slowest_start_axis] > slowest_start_axis_max_interval) {
slowest_start_axis = i;
slowest_start_axis_max_interval = axis_max_interval[i];
}
@@ -1039,7 +1141,7 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
#ifdef RAMP_ACCELERATION
plateau_steps *= 1.01; // This is to compensate we use discrete intervals
acceleration_enabled = true;
- long full_interval = interval;
+ unsigned long full_interval = interval;
if(interval > max_interval) acceleration_enabled = false;
boolean decelerating = false;
#endif
@@ -1122,18 +1224,35 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
//If there are x or y steps remaining, perform Bresenham algorithm
if(axis_steps_remaining[primary_axis]) {
- if(X_MIN_PIN > -1) if(!move_direction[0]) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
- if(Y_MIN_PIN > -1) if(!move_direction[1]) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
- if(X_MAX_PIN > -1) if(move_direction[0]) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
- if(Y_MAX_PIN > -1) if(move_direction[1]) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
- if(Z_MIN_PIN > -1) if(!move_direction[2]) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
- if(Z_MAX_PIN > -1) if(move_direction[2]) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
+ #if (X_MIN_PIN > -1)
+ if(!move_direction[0]) if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
+ #endif
+ #if (Y_MIN_PIN > -1)
+ if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
+ #endif
+ #if (X_MAX_PIN > -1)
+ if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
+ #endif
+ #if (Y_MAX_PIN > -1)
+ if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
+ #endif
+ #if (Z_MIN_PIN > -1)
+ if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
+ #endif
+ #if (Z_MAX_PIN > -1)
+ if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
+ #endif
timediff = micros() * 100 - axis_previous_micros[primary_axis];
- while(timediff >= interval && axis_steps_remaining[primary_axis] > 0) {
+ if(timediff<0){//check for overflow
+ axis_previous_micros[primary_axis]=micros()*100;
+ timediff=interval/2; //approximation
+ }
+ while(((unsigned long)timediff) >= interval && axis_steps_remaining[primary_axis] > 0) {
steps_done++;
steps_remaining--;
axis_steps_remaining[primary_axis]--; timediff -= interval;
- do_step_update_micros(primary_axis);
+ do_step(primary_axis);
+ axis_previous_micros[primary_axis] += interval;
for(int i=0; i < NUM_AXIS; i++) if(i != primary_axis && axis_steps_remaining[i] > 0) {
axis_error[i] = axis_error[i] - delta[i];
if(axis_error[i] < 0) {
@@ -1161,37 +1280,39 @@ void linear_move(unsigned long axis_steps_remaining[]) // make linear move with
// Update current position partly based on direction, we probably can combine this with the direction code above...
for(int i=0; i < NUM_AXIS; i++) {
- if (destination[i] > current_position[i]) current_position[i] = current_position[i] + move_steps_to_take[i] / axis_steps_per_unit[i];
- else current_position[i] = current_position[i] - move_steps_to_take[i] / axis_steps_per_unit[i];
+ if (destination[i] > current_position[i]) current_position[i] = current_position[i] + steps_taken[i] / axis_steps_per_unit[i];
+ else current_position[i] = current_position[i] - steps_taken[i] / axis_steps_per_unit[i];
}
}
-inline void do_step_update_micros(int axis) {
- digitalWrite(STEP_PIN[axis], HIGH);
- axis_previous_micros[axis] += interval;
- digitalWrite(STEP_PIN[axis], LOW);
-}
-
-inline void do_step(int axis) {
- digitalWrite(STEP_PIN[axis], HIGH);
- digitalWrite(STEP_PIN[axis], LOW);
+void do_step(int axis) {
+ switch(axis){
+ case 0:
+ WRITE(X_STEP_PIN, HIGH);
+ break;
+ case 1:
+ WRITE(Y_STEP_PIN, HIGH);
+ break;
+ case 2:
+ WRITE(Z_STEP_PIN, HIGH);
+ break;
+ case 3:
+ WRITE(E_STEP_PIN, HIGH);
+ break;
+ }
+ steps_taken[axis]+=1;
+ WRITE(X_STEP_PIN, LOW);
+ WRITE(Y_STEP_PIN, LOW);
+ WRITE(Z_STEP_PIN, LOW);
+ WRITE(E_STEP_PIN, LOW);
}
-inline void disable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN,!X_ENABLE_ON); }
-inline void disable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN,!Y_ENABLE_ON); }
-inline void disable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN,!Z_ENABLE_ON); }
-inline void disable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN,!E_ENABLE_ON); }
-inline void enable_x() { if(X_ENABLE_PIN > -1) digitalWrite(X_ENABLE_PIN, X_ENABLE_ON); }
-inline void enable_y() { if(Y_ENABLE_PIN > -1) digitalWrite(Y_ENABLE_PIN, Y_ENABLE_ON); }
-inline void enable_z() { if(Z_ENABLE_PIN > -1) digitalWrite(Z_ENABLE_PIN, Z_ENABLE_ON); }
-inline void enable_e() { if(E_ENABLE_PIN > -1) digitalWrite(E_ENABLE_PIN, E_ENABLE_ON); }
-
#define HEAT_INTERVAL 250
#ifdef HEATER_USES_MAX6675
unsigned long max6675_previous_millis = 0;
int max6675_temp = 2000;
-inline int read_max6675()
+int read_max6675()
{
if (millis() - max6675_previous_millis < HEAT_INTERVAL)
return max6675_temp;
@@ -1209,7 +1330,7 @@ inline int read_max6675()
SPCR = (1<<MSTR) | (1<<SPE) | (1<<SPR0);
// enable TT_MAX6675
- digitalWrite(MAX6675_SS, 0);
+ WRITE(MAX6675_SS, 0);
// ensure 100ns delay - a bit extra is fine
delay(1);
@@ -1226,7 +1347,7 @@ inline int read_max6675()
max6675_temp |= SPDR;
// disable TT_MAX6675
- digitalWrite(MAX6675_SS, 1);
+ WRITE(MAX6675_SS, 1);
if (max6675_temp & 4)
{
@@ -1243,7 +1364,7 @@ inline int read_max6675()
#endif
-inline void manage_heater()
+void manage_heater()
{
if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
return;
@@ -1270,8 +1391,8 @@ inline void manage_heater()
if(watchmillis && millis() - watchmillis > WATCHPERIOD){
if(watch_raw + 1 >= current_raw){
target_raw = 0;
- digitalWrite(HEATER_0_PIN,LOW);
- digitalWrite(LED_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
+ WRITE(LED_PIN,LOW);
}else{
watchmillis = 0;
}
@@ -1299,13 +1420,13 @@ inline void manage_heater()
#else
if(current_raw >= target_raw)
{
- digitalWrite(HEATER_0_PIN,LOW);
- digitalWrite(LED_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
+ WRITE(LED_PIN,LOW);
}
else
{
- digitalWrite(HEATER_0_PIN,HIGH);
- digitalWrite(LED_PIN,HIGH);
+ WRITE(HEATER_0_PIN,HIGH);
+ WRITE(LED_PIN,HIGH);
}
#endif
#endif
@@ -1313,6 +1434,12 @@ inline void manage_heater()
if(millis() - previous_millis_bed_heater < BED_CHECK_INTERVAL)
return;
previous_millis_bed_heater = millis();
+ #ifndef TEMP_1_PIN
+ return;
+ #endif
+ #if TEMP_1_PIN == -1
+ return;
+ #endif
#ifdef BED_USES_THERMISTOR
@@ -1331,157 +1458,97 @@ inline void manage_heater()
#endif
- #if TEMP_1_PIN > -1
if(current_bed_raw >= target_bed_raw)
{
- digitalWrite(HEATER_1_PIN,LOW);
+ WRITE(HEATER_1_PIN,LOW);
}
else
{
- digitalWrite(HEATER_1_PIN,HIGH);
+ WRITE(HEATER_1_PIN,HIGH);
}
- #endif
}
-// Takes hot end temperature value as input and returns corresponding raw value.
-// For a thermistor, it uses the RepRap thermistor temp table.
-// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
-// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
-float temp2analog(int celsius) {
- #ifdef HEATER_USES_THERMISTOR
- int raw = 0;
- byte i;
-
- for (i=1; i<NUMTEMPS; i++)
- {
- if (temptable[i][1] < celsius)
- {
- raw = temptable[i-1][0] +
- (celsius - temptable[i-1][1]) *
- (temptable[i][0] - temptable[i-1][0]) /
- (temptable[i][1] - temptable[i-1][1]);
-
- break;
- }
- }
-
- // Overflow: Set to last value in the table
- if (i == NUMTEMPS) raw = temptable[i-1][0];
-
- return 1023 - raw;
- #elif defined HEATER_USES_AD595
- return celsius * (1024.0 / (5.0 * 100.0) );
- #elif defined HEATER_USES_MAX6675
- return celsius * 4.0;
- #endif
-}
-
-// Takes bed temperature value as input and returns corresponding raw value.
-// For a thermistor, it uses the RepRap thermistor temp table.
-// This is needed because PID in hydra firmware hovers around a given analog value, not a temp value.
-// This function is derived from inversing the logic from a portion of getTemperature() in FiveD RepRap firmware.
-float temp2analogBed(int celsius) {
- #ifdef BED_USES_THERMISTOR
+int temp2analogu(int celsius, const short table[][2], int numtemps, int source) {
+ #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+ if(source==1){
int raw = 0;
byte i;
- for (i=1; i<BNUMTEMPS; i++)
+ for (i=1; i<numtemps; i++)
{
- if (bedtemptable[i][1] < celsius)
+ if (table[i][1] < celsius)
{
- raw = bedtemptable[i-1][0] +
- (celsius - bedtemptable[i-1][1]) *
- (bedtemptable[i][0] - bedtemptable[i-1][0]) /
- (bedtemptable[i][1] - bedtemptable[i-1][1]);
+ raw = table[i-1][0] +
+ (celsius - table[i-1][1]) *
+ (table[i][0] - table[i-1][0]) /
+ (table[i][1] - table[i-1][1]);
break;
}
}
// Overflow: Set to last value in the table
- if (i == BNUMTEMPS) raw = bedtemptable[i-1][0];
+ if (i == numtemps) raw = table[i-1][0];
return 1023 - raw;
- #elif defined BED_USES_AD595
- return celsius * (1024.0 / (5.0 * 100.0) );
+ }
+ #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
+ if(source==2)
+ return celsius * 1024 / (500);
+ #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
+ if(source==3)
+ return celsius * 4;
#endif
+ return -1;
}
-// Derived from RepRap FiveD extruder::getTemperature()
-// For hot end temperature measurement.
-float analog2temp(int raw) {
- #ifdef HEATER_USES_THERMISTOR
+int analog2tempu(int raw,const short table[][2], int numtemps, int source) {
+ #if defined (HEATER_USES_THERMISTOR) || defined (BED_USES_THERMISTOR)
+ if(source==1){
int celsius = 0;
byte i;
raw = 1023 - raw;
- for (i=1; i<NUMTEMPS; i++)
+ for (i=1; i<numtemps; i++)
{
- if (temptable[i][0] > raw)
+ if (table[i][0] > raw)
{
- celsius = temptable[i-1][1] +
- (raw - temptable[i-1][0]) *
- (temptable[i][1] - temptable[i-1][1]) /
- (temptable[i][0] - temptable[i-1][0]);
+ celsius = table[i-1][1] +
+ (raw - table[i-1][0]) *
+ (table[i][1] - table[i-1][1]) /
+ (table[i][0] - table[i-1][0]);
break;
}
}
// Overflow: Set to last value in the table
- if (i == NUMTEMPS) celsius = temptable[i-1][1];
+ if (i == numtemps) celsius = table[i-1][1];
return celsius;
- #elif defined HEATER_USES_AD595
- return raw * ((5.0 * 100.0) / 1024.0);
- #elif defined HEATER_USES_MAX6675
- return raw * 0.25;
- #endif
-}
-
-// Derived from RepRap FiveD extruder::getTemperature()
-// For bed temperature measurement.
-float analog2tempBed(int raw) {
- #ifdef BED_USES_THERMISTOR
- int celsius = 0;
- byte i;
-
- raw = 1023 - raw;
-
- for (i=1; i<NUMTEMPS; i++)
- {
- if (bedtemptable[i][0] > raw)
- {
- celsius = bedtemptable[i-1][1] +
- (raw - bedtemptable[i-1][0]) *
- (bedtemptable[i][1] - bedtemptable[i-1][1]) /
- (bedtemptable[i][0] - bedtemptable[i-1][0]);
-
- break;
- }
}
-
- // Overflow: Set to last value in the table
- if (i == NUMTEMPS) celsius = bedtemptable[i-1][1];
-
- return celsius;
-
- #elif defined BED_USES_AD595
- return raw * ((5.0 * 100.0) / 1024.0);
+ #elif defined (HEATER_USES_AD595) || defined (BED_USES_AD595)
+ if(source==2)
+ return raw * 500 / 1024;
+ #elif defined (HEATER_USES_MAX6675) || defined (BED_USES_MAX6675)
+ if(source==3)
+ return raw / 4;
#endif
+ return -1;
}
+
inline void kill()
{
#if TEMP_0_PIN > -1
target_raw=0;
- digitalWrite(HEATER_0_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
#endif
#if TEMP_1_PIN > -1
target_bed_raw=0;
- if(HEATER_1_PIN > -1) digitalWrite(HEATER_1_PIN,LOW);
+ if(HEATER_1_PIN > -1) WRITE(HEATER_1_PIN,LOW);
#endif
disable_x();
disable_y();
diff --git a/Sprinter/fastio.h b/Sprinter/fastio.h
new file mode 100644
index 0000000..0ba2546
--- /dev/null
+++ b/Sprinter/fastio.h
@@ -0,0 +1,2558 @@
+/*
+ This code contibuted by Triffid_Hunter and modified by Kliment
+ why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+*/
+
+#ifndef _ARDUINO_H
+#define _ARDUINO_H
+
+#include <avr/io.h>
+
+/*
+ utility functions
+*/
+
+#ifndef MASK
+/// MASKING- returns \f$2^PIN\f$
+ #define MASK(PIN) (1 << PIN)
+#endif
+
+/*
+ magic I/O routines
+
+ now you can simply SET_OUTPUT(STEP); WRITE(STEP, 1); WRITE(STEP, 0);
+*/
+
+/// Read a pin
+#define _READ(IO) (DIO ## IO ## _RPORT & MASK(DIO ## IO ## _PIN))
+/// write to a pin
+#define _WRITE(IO, v) do { if (v) {DIO ## IO ## _WPORT |= MASK(DIO ## IO ## _PIN); } else {DIO ## IO ## _WPORT &= ~MASK(DIO ## IO ## _PIN); }; } while (0)
+/// toggle a pin
+#define _TOGGLE(IO) do {DIO ## IO ## _RPORT = MASK(DIO ## IO ## _PIN); } while (0)
+
+/// set pin as input
+#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~MASK(DIO ## IO ## _PIN); } while (0)
+/// set pin as output
+#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= MASK(DIO ## IO ## _PIN); } while (0)
+
+/// check if pin is an input
+#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) == 0)
+/// check if pin is an output
+#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & MASK(DIO ## IO ## _PIN)) != 0)
+
+// why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
+
+/// Read a pin wrapper
+#define READ(IO) _READ(IO)
+/// Write to a pin wrapper
+#define WRITE(IO, v) _WRITE(IO, v)
+/// toggle a pin wrapper
+#define TOGGLE(IO) _TOGGLE(IO)
+
+/// set pin as input wrapper
+#define SET_INPUT(IO) _SET_INPUT(IO)
+/// set pin as output wrapper
+#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
+
+/// check if pin is an input wrapper
+#define GET_INPUT(IO) _GET_INPUT(IO)
+/// check if pin is an output wrapper
+#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
+
+/*
+ ports and functions
+
+ added as necessary or if I feel like it- not a comprehensive list!
+*/
+
+#if defined (__AVR_ATmega168__) || defined (__AVR_ATmega328__) || defined (__AVR_ATmega328P__)
+// UART
+#define RXD DIO0
+#define TXD DIO1
+
+// SPI
+#define SCK DIO13
+#define MISO DIO12
+#define MOSI DIO11
+#define SS DIO10
+
+// TWI (I2C)
+#define SCL AIO5
+#define SDA AIO4
+
+// timers and PWM
+#define OC0A DIO6
+#define OC0B DIO5
+#define OC1A DIO9
+#define OC1B DIO10
+#define OC2A DIO11
+#define OC2B DIO3
+
+#define DEBUG_LED AIO5
+
+/*
+pins
+*/
+
+#define DIO0_PIN PIND0
+#define DIO0_RPORT PIND
+#define DIO0_WPORT PORTD
+#define DIO0_DDR DDRD
+#define DIO0_PWM NULL
+
+#define DIO1_PIN PIND1
+#define DIO1_RPORT PIND
+#define DIO1_WPORT PORTD
+#define DIO1_DDR DDRD
+#define DIO1_PWM NULL
+
+#define DIO2_PIN PIND2
+#define DIO2_RPORT PIND
+#define DIO2_WPORT PORTD
+#define DIO2_DDR DDRD
+#define DIO2_PWM NULL
+
+#define DIO3_PIN PIND3
+#define DIO3_RPORT PIND
+#define DIO3_WPORT PORTD
+#define DIO3_DDR DDRD
+#define DIO3_PWM &OCR2B
+
+#define DIO4_PIN PIND4
+#define DIO4_RPORT PIND
+#define DIO4_WPORT PORTD
+#define DIO4_DDR DDRD
+#define DIO4_PWM NULL
+
+#define DIO5_PIN PIND5
+#define DIO5_RPORT PIND
+#define DIO5_WPORT PORTD
+#define DIO5_DDR DDRD
+#define DIO5_PWM &OCR0B
+
+#define DIO6_PIN PIND6
+#define DIO6_RPORT PIND
+#define DIO6_WPORT PORTD
+#define DIO6_DDR DDRD
+#define DIO6_PWM &OCR0A
+
+#define DIO7_PIN PIND7
+#define DIO7_RPORT PIND
+#define DIO7_WPORT PORTD
+#define DIO7_DDR DDRD
+#define DIO7_PWM NULL
+
+#define DIO8_PIN PINB0
+#define DIO8_RPORT PINB
+#define DIO8_WPORT PORTB
+#define DIO8_DDR DDRB
+#define DIO8_PWM NULL
+
+#define DIO9_PIN PINB1
+#define DIO9_RPORT PINB
+#define DIO9_WPORT PORTB
+#define DIO9_DDR DDRB
+#define DIO9_PWM NULL
+
+#define DIO10_PIN PINB2
+#define DIO10_RPORT PINB
+#define DIO10_WPORT PORTB
+#define DIO10_DDR DDRB
+#define DIO10_PWM NULL
+
+#define DIO11_PIN PINB3
+#define DIO11_RPORT PINB
+#define DIO11_WPORT PORTB
+#define DIO11_DDR DDRB
+#define DIO11_PWM &OCR2A
+
+#define DIO12_PIN PINB4
+#define DIO12_RPORT PINB
+#define DIO12_WPORT PORTB
+#define DIO12_DDR DDRB
+#define DIO12_PWM NULL
+
+#define DIO13_PIN PINB5
+#define DIO13_RPORT PINB
+#define DIO13_WPORT PORTB
+#define DIO13_DDR DDRB
+#define DIO13_PWM NULL
+
+
+#define AIO0_PIN PINC0
+#define AIO0_RPORT PINC
+#define AIO0_WPORT PORTC
+#define AIO0_DDR DDRC
+#define AIO0_PWM NULL
+
+#define AIO1_PIN PINC1
+#define AIO1_RPORT PINC
+#define AIO1_WPORT PORTC
+#define AIO1_DDR DDRC
+#define AIO1_PWM NULL
+
+#define AIO2_PIN PINC2
+#define AIO2_RPORT PINC
+#define AIO2_WPORT PORTC
+#define AIO2_DDR DDRC
+#define AIO2_PWM NULL
+
+#define AIO3_PIN PINC3
+#define AIO3_RPORT PINC
+#define AIO3_WPORT PORTC
+#define AIO3_DDR DDRC
+#define AIO3_PWM NULL
+
+#define AIO4_PIN PINC4
+#define AIO4_RPORT PINC
+#define AIO4_WPORT PORTC
+#define AIO4_DDR DDRC
+#define AIO4_PWM NULL
+
+#define AIO5_PIN PINC5
+#define AIO5_RPORT PINC
+#define AIO5_WPORT PORTC
+#define AIO5_DDR DDRC
+#define AIO5_PWM NULL
+
+#define AIO6_PIN PINC6
+#define AIO6_RPORT PINC
+#define AIO6_WPORT PORTC
+#define AIO6_DDR DDRC
+#define AIO6_PWM NULL
+
+#define AIO7_PIN PINC7
+#define AIO7_RPORT PINC
+#define AIO7_WPORT PORTC
+#define AIO7_DDR DDRC
+#define AIO7_PWM NULL
+
+
+
+#undef PB0
+#define PB0_PIN PINB0
+#define PB0_RPORT PINB
+#define PB0_WPORT PORTB
+#define PB0_DDR DDRB
+#define PB0_PWM NULL
+
+#undef PB1
+#define PB1_PIN PINB1
+#define PB1_RPORT PINB
+#define PB1_WPORT PORTB
+#define PB1_DDR DDRB
+#define PB1_PWM NULL
+
+#undef PB2
+#define PB2_PIN PINB2
+#define PB2_RPORT PINB
+#define PB2_WPORT PORTB
+#define PB2_DDR DDRB
+#define PB2_PWM NULL
+
+#undef PB3
+#define PB3_PIN PINB3
+#define PB3_RPORT PINB
+#define PB3_WPORT PORTB
+#define PB3_DDR DDRB
+#define PB3_PWM &OCR2A
+
+#undef PB4
+#define PB4_PIN PINB4
+#define PB4_RPORT PINB
+#define PB4_WPORT PORTB
+#define PB4_DDR DDRB
+#define PB4_PWM NULL
+
+#undef PB5
+#define PB5_PIN PINB5
+#define PB5_RPORT PINB
+#define PB5_WPORT PORTB
+#define PB5_DDR DDRB
+#define PB5_PWM NULL
+
+#undef PB6
+#define PB6_PIN PINB6
+#define PB6_RPORT PINB
+#define PB6_WPORT PORTB
+#define PB6_DDR DDRB
+#define PB6_PWM NULL
+
+#undef PB7
+#define PB7_PIN PINB7
+#define PB7_RPORT PINB
+#define PB7_WPORT PORTB
+#define PB7_DDR DDRB
+#define PB7_PWM NULL
+
+
+#undef PC0
+#define PC0_PIN PINC0
+#define PC0_RPORT PINC
+#define PC0_WPORT PORTC
+#define PC0_DDR DDRC
+#define PC0_PWM NULL
+
+#undef PC1
+#define PC1_PIN PINC1
+#define PC1_RPORT PINC
+#define PC1_WPORT PORTC
+#define PC1_DDR DDRC
+#define PC1_PWM NULL
+
+#undef PC2
+#define PC2_PIN PINC2
+#define PC2_RPORT PINC
+#define PC2_WPORT PORTC
+#define PC2_DDR DDRC
+#define PC2_PWM NULL
+
+#undef PC3
+#define PC3_PIN PINC3
+#define PC3_RPORT PINC
+#define PC3_WPORT PORTC
+#define PC3_DDR DDRC
+#define PC3_PWM NULL
+
+#undef PC4
+#define PC4_PIN PINC4
+#define PC4_RPORT PINC
+#define PC4_WPORT PORTC
+#define PC4_DDR DDRC
+#define PC4_PWM NULL
+
+#undef PC5
+#define PC5_PIN PINC5
+#define PC5_RPORT PINC
+#define PC5_WPORT PORTC
+#define PC5_DDR DDRC
+#define PC5_PWM NULL
+
+#undef PC6
+#define PC6_PIN PINC6
+#define PC6_RPORT PINC
+#define PC6_WPORT PORTC
+#define PC6_DDR DDRC
+#define PC6_PWM NULL
+
+#undef PC7
+#define PC7_PIN PINC7
+#define PC7_RPORT PINC
+#define PC7_WPORT PORTC
+#define PC7_DDR DDRC
+#define PC7_PWM NULL
+
+
+#undef PD0
+#define PD0_PIN PIND0
+#define PD0_RPORT PIND
+#define PD0_WPORT PORTD
+#define PD0_DDR DDRD
+#define PD0_PWM NULL
+
+#undef PD1
+#define PD1_PIN PIND1
+#define PD1_RPORT PIND
+#define PD1_WPORT PORTD
+#define PD1_DDR DDRD
+#define PD1_PWM NULL
+
+#undef PD2
+#define PD2_PIN PIND2
+#define PD2_RPORT PIND
+#define PD2_WPORT PORTD
+#define PD2_DDR DDRD
+#define PD2_PWM NULL
+
+#undef PD3
+#define PD3_PIN PIND3
+#define PD3_RPORT PIND
+#define PD3_WPORT PORTD
+#define PD3_DDR DDRD
+#define PD3_PWM &OCR2B
+
+#undef PD4
+#define PD4_PIN PIND4
+#define PD4_RPORT PIND
+#define PD4_WPORT PORTD
+#define PD4_DDR DDRD
+#define PD4_PWM NULL
+
+#undef PD5
+#define PD5_PIN PIND5
+#define PD5_RPORT PIND
+#define PD5_WPORT PORTD
+#define PD5_DDR DDRD
+#define PD5_PWM &OCR0B
+
+#undef PD6
+#define PD6_PIN PIND6
+#define PD6_RPORT PIND
+#define PD6_WPORT PORTD
+#define PD6_DDR DDRD
+#define PD6_PWM &OCR0A
+
+#undef PD7
+#define PD7_PIN PIND7
+#define PD7_RPORT PIND
+#define PD7_WPORT PORTD
+#define PD7_DDR DDRD
+#define PD7_PWM NULL
+#endif /* _AVR_ATmega{168,328,328P}__ */
+
+#if defined (__AVR_ATmega644__) || defined (__AVR_ATmega644P__) || defined (__AVR_ATmega644PA__)
+// UART
+#define RXD DIO8
+#define TXD DIO9
+#define RXD0 DIO8
+#define TXD0 DIO9
+
+#define RXD1 DIO10
+#define TXD1 DIO11
+
+// SPI
+#define SCK DIO7
+#define MISO DIO6
+#define MOSI DIO5
+#define SS DIO4
+
+// TWI (I2C)
+#define SCL DIO16
+#define SDA DIO17
+
+// timers and PWM
+#define OC0A DIO3
+#define OC0B DIO4
+#define OC1A DIO13
+#define OC1B DIO12
+#define OC2A DIO15
+#define OC2B DIO14
+
+#define DEBUG_LED DIO0
+/*
+pins
+*/
+
+#define DIO0_PIN PINB0
+#define DIO0_RPORT PINB
+#define DIO0_WPORT PORTB
+#define DIO0_DDR DDRB
+#define DIO0_PWM NULL
+
+#define DIO1_PIN PINB1
+#define DIO1_RPORT PINB
+#define DIO1_WPORT PORTB
+#define DIO1_DDR DDRB
+#define DIO1_PWM NULL
+
+#define DIO2_PIN PINB2
+#define DIO2_RPORT PINB
+#define DIO2_WPORT PORTB
+#define DIO2_DDR DDRB
+#define DIO2_PWM NULL
+
+#define DIO3_PIN PINB3
+#define DIO3_RPORT PINB
+#define DIO3_WPORT PORTB
+#define DIO3_DDR DDRB
+#define DIO3_PWM &OCR0A
+
+#define DIO4_PIN PINB4
+#define DIO4_RPORT PINB
+#define DIO4_WPORT PORTB
+#define DIO4_DDR DDRB
+#define DIO4_PWM &OCR0B
+
+#define DIO5_PIN PINB5
+#define DIO5_RPORT PINB
+#define DIO5_WPORT PORTB
+#define DIO5_DDR DDRB
+#define DIO5_PWM NULL
+
+#define DIO6_PIN PINB6
+#define DIO6_RPORT PINB
+#define DIO6_WPORT PORTB
+#define DIO6_DDR DDRB
+#define DIO6_PWM NULL
+
+#define DIO7_PIN PINB7
+#define DIO7_RPORT PINB
+#define DIO7_WPORT PORTB
+#define DIO7_DDR DDRB
+#define DIO7_PWM NULL
+
+#define DIO8_PIN PIND0
+#define DIO8_RPORT PIND
+#define DIO8_WPORT PORTD
+#define DIO8_DDR DDRD
+#define DIO8_PWM NULL
+
+#define DIO9_PIN PIND1
+#define DIO9_RPORT PIND
+#define DIO9_WPORT PORTD
+#define DIO9_DDR DDRD
+#define DIO9_PWM NULL
+
+#define DIO10_PIN PIND2
+#define DIO10_RPORT PIND
+#define DIO10_WPORT PORTD
+#define DIO10_DDR DDRD
+#define DIO10_PWM NULL
+
+#define DIO11_PIN PIND3
+#define DIO11_RPORT PIND
+#define DIO11_WPORT PORTD
+#define DIO11_DDR DDRD
+#define DIO11_PWM NULL
+
+#define DIO12_PIN PIND4
+#define DIO12_RPORT PIND
+#define DIO12_WPORT PORTD
+#define DIO12_DDR DDRD
+#define DIO12_PWM NULL
+
+#define DIO13_PIN PIND5
+#define DIO13_RPORT PIND
+#define DIO13_WPORT PORTD
+#define DIO13_DDR DDRD
+#define DIO13_PWM NULL
+
+#define DIO14_PIN PIND6
+#define DIO14_RPORT PIND
+#define DIO14_WPORT PORTD
+#define DIO14_DDR DDRD
+#define DIO14_PWM &OCR2B
+
+#define DIO15_PIN PIND7
+#define DIO15_RPORT PIND
+#define DIO15_WPORT PORTD
+#define DIO15_DDR DDRD
+#define DIO15_PWM &OCR2A
+
+#define DIO16_PIN PINC0
+#define DIO16_RPORT PINC
+#define DIO16_WPORT PORTC
+#define DIO16_DDR DDRC
+#define DIO16_PWM NULL
+
+#define DIO17_PIN PINC1
+#define DIO17_RPORT PINC
+#define DIO17_WPORT PORTC
+#define DIO17_DDR DDRC
+#define DIO17_PWM NULL
+
+#define DIO18_PIN PINC2
+#define DIO18_RPORT PINC
+#define DIO18_WPORT PORTC
+#define DIO18_DDR DDRC
+#define DIO18_PWM NULL
+
+#define DIO19_PIN PINC3
+#define DIO19_RPORT PINC
+#define DIO19_WPORT PORTC
+#define DIO19_DDR DDRC
+#define DIO19_PWM NULL
+
+#define DIO20_PIN PINC4
+#define DIO20_RPORT PINC
+#define DIO20_WPORT PORTC
+#define DIO20_DDR DDRC
+#define DIO20_PWM NULL
+
+#define DIO21_PIN PINC5
+#define DIO21_RPORT PINC
+#define DIO21_WPORT PORTC
+#define DIO21_DDR DDRC
+#define DIO21_PWM NULL
+
+#define DIO22_PIN PINC6
+#define DIO22_RPORT PINC
+#define DIO22_WPORT PORTC
+#define DIO22_DDR DDRC
+#define DIO22_PWM NULL
+
+#define DIO23_PIN PINC7
+#define DIO23_RPORT PINC
+#define DIO23_WPORT PORTC
+#define DIO23_DDR DDRC
+#define DIO23_PWM NULL
+
+#define DIO24_PIN PINA7
+#define DIO24_RPORT PINA
+#define DIO24_WPORT PORTA
+#define DIO24_DDR DDRA
+#define DIO24_PWM NULL
+
+#define DIO25_PIN PINA6
+#define DIO25_RPORT PINA
+#define DIO25_WPORT PORTA
+#define DIO25_DDR DDRA
+#define DIO25_PWM NULL
+
+#define DIO26_PIN PINA5
+#define DIO26_RPORT PINA
+#define DIO26_WPORT PORTA
+#define DIO26_DDR DDRA
+#define DIO26_PWM NULL
+
+#define DIO27_PIN PINA4
+#define DIO27_RPORT PINA
+#define DIO27_WPORT PORTA
+#define DIO27_DDR DDRA
+#define DIO27_PWM NULL
+
+#define DIO28_PIN PINA3
+#define DIO28_RPORT PINA
+#define DIO28_WPORT PORTA
+#define DIO28_DDR DDRA
+#define DIO28_PWM NULL
+
+#define DIO29_PIN PINA2
+#define DIO29_RPORT PINA
+#define DIO29_WPORT PORTA
+#define DIO29_DDR DDRA
+#define DIO29_PWM NULL
+
+#define DIO30_PIN PINA1
+#define DIO30_RPORT PINA
+#define DIO30_WPORT PORTA
+#define DIO30_DDR DDRA
+#define DIO30_PWM NULL
+
+#define DIO31_PIN PINA0
+#define DIO31_RPORT PINA
+#define DIO31_WPORT PORTA
+#define DIO31_DDR DDRA
+#define DIO31_PWM NULL
+
+#define AIO0_PIN PINA0
+#define AIO0_RPORT PINA
+#define AIO0_WPORT PORTA
+#define AIO0_DDR DDRA
+#define AIO0_PWM NULL
+
+#define AIO1_PIN PINA1
+#define AIO1_RPORT PINA
+#define AIO1_WPORT PORTA
+#define AIO1_DDR DDRA
+#define AIO1_PWM NULL
+
+#define AIO2_PIN PINA2
+#define AIO2_RPORT PINA
+#define AIO2_WPORT PORTA
+#define AIO2_DDR DDRA
+#define AIO2_PWM NULL
+
+#define AIO3_PIN PINA3
+#define AIO3_RPORT PINA
+#define AIO3_WPORT PORTA
+#define AIO3_DDR DDRA
+#define AIO3_PWM NULL
+
+#define AIO4_PIN PINA4
+#define AIO4_RPORT PINA
+#define AIO4_WPORT PORTA
+#define AIO4_DDR DDRA
+#define AIO4_PWM NULL
+
+#define AIO5_PIN PINA5
+#define AIO5_RPORT PINA
+#define AIO5_WPORT PORTA
+#define AIO5_DDR DDRA
+#define AIO5_PWM NULL
+
+#define AIO6_PIN PINA6
+#define AIO6_RPORT PINA
+#define AIO6_WPORT PORTA
+#define AIO6_DDR DDRA
+#define AIO6_PWM NULL
+
+#define AIO7_PIN PINA7
+#define AIO7_RPORT PINA
+#define AIO7_WPORT PORTA
+#define AIO7_DDR DDRA
+#define AIO7_PWM NULL
+
+
+
+#undef PA0
+#define PA0_PIN PINA0
+#define PA0_RPORT PINA
+#define PA0_WPORT PORTA
+#define PA0_DDR DDRA
+#define PA0_PWM NULL
+
+#undef PA1
+#define PA1_PIN PINA1
+#define PA1_RPORT PINA
+#define PA1_WPORT PORTA
+#define PA1_DDR DDRA
+#define PA1_PWM NULL
+
+#undef PA2
+#define PA2_PIN PINA2
+#define PA2_RPORT PINA
+#define PA2_WPORT PORTA
+#define PA2_DDR DDRA
+#define PA2_PWM NULL
+
+#undef PA3
+#define PA3_PIN PINA3
+#define PA3_RPORT PINA
+#define PA3_WPORT PORTA
+#define PA3_DDR DDRA
+#define PA3_PWM NULL
+
+#undef PA4
+#define PA4_PIN PINA4
+#define PA4_RPORT PINA
+#define PA4_WPORT PORTA
+#define PA4_DDR DDRA
+#define PA4_PWM NULL
+
+#undef PA5
+#define PA5_PIN PINA5
+#define PA5_RPORT PINA
+#define PA5_WPORT PORTA
+#define PA5_DDR DDRA
+#define PA5_PWM NULL
+
+#undef PA6
+#define PA6_PIN PINA6
+#define PA6_RPORT PINA
+#define PA6_WPORT PORTA
+#define PA6_DDR DDRA
+#define PA6_PWM NULL
+
+#undef PA7
+#define PA7_PIN PINA7
+#define PA7_RPORT PINA
+#define PA7_WPORT PORTA
+#define PA7_DDR DDRA
+#define PA7_PWM NULL
+
+
+#undef PB0
+#define PB0_PIN PINB0
+#define PB0_RPORT PINB
+#define PB0_WPORT PORTB
+#define PB0_DDR DDRB
+#define PB0_PWM NULL
+
+#undef PB1
+#define PB1_PIN PINB1
+#define PB1_RPORT PINB
+#define PB1_WPORT PORTB
+#define PB1_DDR DDRB
+#define PB1_PWM NULL
+
+#undef PB2
+#define PB2_PIN PINB2
+#define PB2_RPORT PINB
+#define PB2_WPORT PORTB
+#define PB2_DDR DDRB
+#define PB2_PWM NULL
+
+#undef PB3
+#define PB3_PIN PINB3
+#define PB3_RPORT PINB
+#define PB3_WPORT PORTB
+#define PB3_DDR DDRB
+#define PB3_PWM &OCR0A
+
+#undef PB4
+#define PB4_PIN PINB4
+#define PB4_RPORT PINB
+#define PB4_WPORT PORTB
+#define PB4_DDR DDRB
+#define PB4_PWM &OCR0B
+
+#undef PB5
+#define PB5_PIN PINB5
+#define PB5_RPORT PINB
+#define PB5_WPORT PORTB
+#define PB5_DDR DDRB
+#define PB5_PWM NULL
+
+#undef PB6
+#define PB6_PIN PINB6
+#define PB6_RPORT PINB
+#define PB6_WPORT PORTB
+#define PB6_DDR DDRB
+#define PB6_PWM NULL
+
+#undef PB7
+#define PB7_PIN PINB7
+#define PB7_RPORT PINB
+#define PB7_WPORT PORTB
+#define PB7_DDR DDRB
+#define PB7_PWM NULL
+
+
+#undef PC0
+#define PC0_PIN PINC0
+#define PC0_RPORT PINC
+#define PC0_WPORT PORTC
+#define PC0_DDR DDRC
+#define PC0_PWM NULL
+
+#undef PC1
+#define PC1_PIN PINC1
+#define PC1_RPORT PINC
+#define PC1_WPORT PORTC
+#define PC1_DDR DDRC
+#define PC1_PWM NULL
+
+#undef PC2
+#define PC2_PIN PINC2
+#define PC2_RPORT PINC
+#define PC2_WPORT PORTC
+#define PC2_DDR DDRC
+#define PC2_PWM NULL
+
+#undef PC3
+#define PC3_PIN PINC3
+#define PC3_RPORT PINC
+#define PC3_WPORT PORTC
+#define PC3_DDR DDRC
+#define PC3_PWM NULL
+
+#undef PC4
+#define PC4_PIN PINC4
+#define PC4_RPORT PINC
+#define PC4_WPORT PORTC
+#define PC4_DDR DDRC
+#define PC4_PWM NULL
+
+#undef PC5
+#define PC5_PIN PINC5
+#define PC5_RPORT PINC
+#define PC5_WPORT PORTC
+#define PC5_DDR DDRC
+#define PC5_PWM NULL
+
+#undef PC6
+#define PC6_PIN PINC6
+#define PC6_RPORT PINC
+#define PC6_WPORT PORTC
+#define PC6_DDR DDRC
+#define PC6_PWM NULL
+
+#undef PC7
+#define PC7_PIN PINC7
+#define PC7_RPORT PINC
+#define PC7_WPORT PORTC
+#define PC7_DDR DDRC
+#define PC7_PWM NULL
+
+
+#undef PD0
+#define PD0_PIN PIND0
+#define PD0_RPORT PIND
+#define PD0_WPORT PORTD
+#define PD0_DDR DDRD
+#define PD0_PWM NULL
+
+#undef PD1
+#define PD1_PIN PIND1
+#define PD1_RPORT PIND
+#define PD1_WPORT PORTD
+#define PD1_DDR DDRD
+#define PD1_PWM NULL
+
+#undef PD2
+#define PD2_PIN PIND2
+#define PD2_RPORT PIND
+#define PD2_WPORT PORTD
+#define PD2_DDR DDRD
+#define PD2_PWM NULL
+
+#undef PD3
+#define PD3_PIN PIND3
+#define PD3_RPORT PIND
+#define PD3_WPORT PORTD
+#define PD3_DDR DDRD
+#define PD3_PWM NULL
+
+#undef PD4
+#define PD4_PIN PIND4
+#define PD4_RPORT PIND
+#define PD4_WPORT PORTD
+#define PD4_DDR DDRD
+#define PD4_PWM NULL
+
+#undef PD5
+#define PD5_PIN PIND5
+#define PD5_RPORT PIND
+#define PD5_WPORT PORTD
+#define PD5_DDR DDRD
+#define PD5_PWM NULL
+
+#undef PD6
+#define PD6_PIN PIND6
+#define PD6_RPORT PIND
+#define PD6_WPORT PORTD
+#define PD6_DDR DDRD
+#define PD6_PWM &OCR2B
+
+#undef PD7
+#define PD7_PIN PIND7
+#define PD7_RPORT PIND
+#define PD7_WPORT PORTD
+#define PD7_DDR DDRD
+#define PD7_PWM &OCR2A
+#endif /* _AVR_ATmega{644,644P,644PA}__ */
+
+#if defined (__AVR_ATmega1280__) || defined (__AVR_ATmega2560__)
+// UART
+#define RXD DIO0
+#define TXD DIO1
+
+// SPI
+#define SCK DIO52
+#define MISO DIO50
+#define MOSI DIO51
+#define SS DIO53
+
+// TWI (I2C)
+#define SCL DIO21
+#define SDA DIO20
+
+// timers and PWM
+#define OC0A DIO13
+#define OC0B DIO4
+#define OC1A DIO11
+#define OC1B DIO12
+#define OC2A DIO10
+#define OC2B DIO9
+#define OC3A DIO5
+#define OC3B DIO2
+#define OC3C DIO3
+#define OC4A DIO6
+#define OC4B DIO7
+#define OC4C DIO8
+#define OC5A DIO46
+#define OC5B DIO45
+#define OC5C DIO44
+
+// change for your board
+#define DEBUG_LED DIO21
+
+/*
+pins
+*/
+#define DIO0_PIN PINE0
+#define DIO0_RPORT PINE
+#define DIO0_WPORT PORTE
+#define DIO0_DDR DDRE
+#define DIO0_PWM NULL
+
+#define DIO1_PIN PINE1
+#define DIO1_RPORT PINE
+#define DIO1_WPORT PORTE
+#define DIO1_DDR DDRE
+#define DIO1_PWM NULL
+
+#define DIO2_PIN PINE4
+#define DIO2_RPORT PINE
+#define DIO2_WPORT PORTE
+#define DIO2_DDR DDRE
+#define DIO2_PWM &OCR3BL
+
+#define DIO3_PIN PINE5
+#define DIO3_RPORT PINE
+#define DIO3_WPORT PORTE
+#define DIO3_DDR DDRE
+#define DIO3_PWM &OCR3CL
+
+#define DIO4_PIN PING5
+#define DIO4_RPORT PING
+#define DIO4_WPORT PORTG
+#define DIO4_DDR DDRG
+#define DIO4_PWM &OCR0B
+
+#define DIO5_PIN PINE3
+#define DIO5_RPORT PINE
+#define DIO5_WPORT PORTE
+#define DIO5_DDR DDRE
+#define DIO5_PWM &OCR3AL
+
+#define DIO6_PIN PINH3
+#define DIO6_RPORT PINH
+#define DIO6_WPORT PORTH
+#define DIO6_DDR DDRH
+#define DIO6_PWM &OCR4AL
+
+#define DIO7_PIN PINH4
+#define DIO7_RPORT PINH
+#define DIO7_WPORT PORTH
+#define DIO7_DDR DDRH
+#define DIO7_PWM &OCR4BL
+
+#define DIO8_PIN PINH5
+#define DIO8_RPORT PINH
+#define DIO8_WPORT PORTH
+#define DIO8_DDR DDRH
+#define DIO8_PWM &OCR4CL
+
+#define DIO9_PIN PINH6
+#define DIO9_RPORT PINH
+#define DIO9_WPORT PORTH
+#define DIO9_DDR DDRH
+#define DIO9_PWM &OCR2B
+
+#define DIO10_PIN PINB4
+#define DIO10_RPORT PINB
+#define DIO10_WPORT PORTB
+#define DIO10_DDR DDRB
+#define DIO10_PWM &OCR2A
+
+#define DIO11_PIN PINB5
+#define DIO11_RPORT PINB
+#define DIO11_WPORT PORTB
+#define DIO11_DDR DDRB
+#define DIO11_PWM NULL
+
+#define DIO12_PIN PINB6
+#define DIO12_RPORT PINB
+#define DIO12_WPORT PORTB
+#define DIO12_DDR DDRB
+#define DIO12_PWM NULL
+
+#define DIO13_PIN PINB7
+#define DIO13_RPORT PINB
+#define DIO13_WPORT PORTB
+#define DIO13_DDR DDRB
+#define DIO13_PWM &OCR0A
+
+#define DIO14_PIN PINJ1
+#define DIO14_RPORT PINJ
+#define DIO14_WPORT PORTJ
+#define DIO14_DDR DDRJ
+#define DIO14_PWM NULL
+
+#define DIO15_PIN PINJ0
+#define DIO15_RPORT PINJ
+#define DIO15_WPORT PORTJ
+#define DIO15_DDR DDRJ
+#define DIO15_PWM NULL
+
+#define DIO16_PIN PINH1
+#define DIO16_RPORT PINH
+#define DIO16_WPORT PORTH
+#define DIO16_DDR DDRH
+#define DIO16_PWM NULL
+
+#define DIO17_PIN PINH0
+#define DIO17_RPORT PINH
+#define DIO17_WPORT PORTH
+#define DIO17_DDR DDRH
+#define DIO17_PWM NULL
+
+#define DIO18_PIN PIND3
+#define DIO18_RPORT PIND
+#define DIO18_WPORT PORTD
+#define DIO18_DDR DDRD
+#define DIO18_PWM NULL
+
+#define DIO19_PIN PIND2
+#define DIO19_RPORT PIND
+#define DIO19_WPORT PORTD
+#define DIO19_DDR DDRD
+#define DIO19_PWM NULL
+
+#define DIO20_PIN PIND1
+#define DIO20_RPORT PIND
+#define DIO20_WPORT PORTD
+#define DIO20_DDR DDRD
+#define DIO20_PWM NULL
+
+#define DIO21_PIN PIND0
+#define DIO21_RPORT PIND
+#define DIO21_WPORT PORTD
+#define DIO21_DDR DDRD
+#define DIO21_PWM NULL
+
+#define DIO22_PIN PINA0
+#define DIO22_RPORT PINA
+#define DIO22_WPORT PORTA
+#define DIO22_DDR DDRA
+#define DIO22_PWM NULL
+
+#define DIO23_PIN PINA1
+#define DIO23_RPORT PINA
+#define DIO23_WPORT PORTA
+#define DIO23_DDR DDRA
+#define DIO23_PWM NULL
+
+#define DIO24_PIN PINA2
+#define DIO24_RPORT PINA
+#define DIO24_WPORT PORTA
+#define DIO24_DDR DDRA
+#define DIO24_PWM NULL
+
+#define DIO25_PIN PINA3
+#define DIO25_RPORT PINA
+#define DIO25_WPORT PORTA
+#define DIO25_DDR DDRA
+#define DIO25_PWM NULL
+
+#define DIO26_PIN PINA4
+#define DIO26_RPORT PINA
+#define DIO26_WPORT PORTA
+#define DIO26_DDR DDRA
+#define DIO26_PWM NULL
+
+#define DIO27_PIN PINA5
+#define DIO27_RPORT PINA
+#define DIO27_WPORT PORTA
+#define DIO27_DDR DDRA
+#define DIO27_PWM NULL
+
+#define DIO28_PIN PINA6
+#define DIO28_RPORT PINA
+#define DIO28_WPORT PORTA
+#define DIO28_DDR DDRA
+#define DIO28_PWM NULL
+
+#define DIO29_PIN PINA7
+#define DIO29_RPORT PINA
+#define DIO29_WPORT PORTA
+#define DIO29_DDR DDRA
+#define DIO29_PWM NULL
+
+#define DIO30_PIN PINC7
+#define DIO30_RPORT PINC
+#define DIO30_WPORT PORTC
+#define DIO30_DDR DDRC
+#define DIO30_PWM NULL
+
+#define DIO31_PIN PINC6
+#define DIO31_RPORT PINC
+#define DIO31_WPORT PORTC
+#define DIO31_DDR DDRC
+#define DIO31_PWM NULL
+
+#define DIO32_PIN PINC5
+#define DIO32_RPORT PINC
+#define DIO32_WPORT PORTC
+#define DIO32_DDR DDRC
+#define DIO32_PWM NULL
+
+#define DIO33_PIN PINC4
+#define DIO33_RPORT PINC
+#define DIO33_WPORT PORTC
+#define DIO33_DDR DDRC
+#define DIO33_PWM NULL
+
+#define DIO34_PIN PINC3
+#define DIO34_RPORT PINC
+#define DIO34_WPORT PORTC
+#define DIO34_DDR DDRC
+#define DIO34_PWM NULL
+
+#define DIO35_PIN PINC2
+#define DIO35_RPORT PINC
+#define DIO35_WPORT PORTC
+#define DIO35_DDR DDRC
+#define DIO35_PWM NULL
+
+#define DIO36_PIN PINC1
+#define DIO36_RPORT PINC
+#define DIO36_WPORT PORTC
+#define DIO36_DDR DDRC
+#define DIO36_PWM NULL
+
+#define DIO37_PIN PINC0
+#define DIO37_RPORT PINC
+#define DIO37_WPORT PORTC
+#define DIO37_DDR DDRC
+#define DIO37_PWM NULL
+
+#define DIO38_PIN PIND7
+#define DIO38_RPORT PIND
+#define DIO38_WPORT PORTD
+#define DIO38_DDR DDRD
+#define DIO38_PWM NULL
+
+#define DIO39_PIN PING2
+#define DIO39_RPORT PING
+#define DIO39_WPORT PORTG
+#define DIO39_DDR DDRG
+#define DIO39_PWM NULL
+
+#define DIO40_PIN PING1
+#define DIO40_RPORT PING
+#define DIO40_WPORT PORTG
+#define DIO40_DDR DDRG
+#define DIO40_PWM NULL
+
+#define DIO41_PIN PING0
+#define DIO41_RPORT PING
+#define DIO41_WPORT PORTG
+#define DIO41_DDR DDRG
+#define DIO41_PWM NULL
+
+#define DIO42_PIN PINL7
+#define DIO42_RPORT PINL
+#define DIO42_WPORT PORTL
+#define DIO42_DDR DDRL
+#define DIO42_PWM NULL
+
+#define DIO43_PIN PINL6
+#define DIO43_RPORT PINL
+#define DIO43_WPORT PORTL
+#define DIO43_DDR DDRL
+#define DIO43_PWM NULL
+
+#define DIO44_PIN PINL5
+#define DIO44_RPORT PINL
+#define DIO44_WPORT PORTL
+#define DIO44_DDR DDRL
+#define DIO44_PWM &OCR5CL
+
+#define DIO45_PIN PINL4
+#define DIO45_RPORT PINL
+#define DIO45_WPORT PORTL
+#define DIO45_DDR DDRL
+#define DIO45_PWM &OCR5BL
+
+#define DIO46_PIN PINL3
+#define DIO46_RPORT PINL
+#define DIO46_WPORT PORTL
+#define DIO46_DDR DDRL
+#define DIO46_PWM &OCR5AL
+
+#define DIO47_PIN PINL2
+#define DIO47_RPORT PINL
+#define DIO47_WPORT PORTL
+#define DIO47_DDR DDRL
+#define DIO47_PWM NULL
+
+#define DIO48_PIN PINL1
+#define DIO48_RPORT PINL
+#define DIO48_WPORT PORTL
+#define DIO48_DDR DDRL
+#define DIO48_PWM NULL
+
+#define DIO49_PIN PINL0
+#define DIO49_RPORT PINL
+#define DIO49_WPORT PORTL
+#define DIO49_DDR DDRL
+#define DIO49_PWM NULL
+
+#define DIO50_PIN PINB3
+#define DIO50_RPORT PINB
+#define DIO50_WPORT PORTB
+#define DIO50_DDR DDRB
+#define DIO50_PWM NULL
+
+#define DIO51_PIN PINB2
+#define DIO51_RPORT PINB
+#define DIO51_WPORT PORTB
+#define DIO51_DDR DDRB
+#define DIO51_PWM NULL
+
+#define DIO52_PIN PINB1
+#define DIO52_RPORT PINB
+#define DIO52_WPORT PORTB
+#define DIO52_DDR DDRB
+#define DIO52_PWM NULL
+
+#define DIO53_PIN PINB0
+#define DIO53_RPORT PINB
+#define DIO53_WPORT PORTB
+#define DIO53_DDR DDRB
+#define DIO53_PWM NULL
+
+#define AIO0_PIN PINF0
+#define AIO0_RPORT PINF
+#define AIO0_WPORT PORTF
+#define AIO0_DDR DDRF
+#define AIO0_PWM NULL
+
+#define AIO1_PIN PINF1
+#define AIO1_RPORT PINF
+#define AIO1_WPORT PORTF
+#define AIO1_DDR DDRF
+#define AIO1_PWM NULL
+
+#define AIO2_PIN PINF2
+#define AIO2_RPORT PINF
+#define AIO2_WPORT PORTF
+#define AIO2_DDR DDRF
+#define AIO2_PWM NULL
+
+#define AIO3_PIN PINF3
+#define AIO3_RPORT PINF
+#define AIO3_WPORT PORTF
+#define AIO3_DDR DDRF
+#define AIO3_PWM NULL
+
+#define AIO4_PIN PINF4
+#define AIO4_RPORT PINF
+#define AIO4_WPORT PORTF
+#define AIO4_DDR DDRF
+#define AIO4_PWM NULL
+
+#define AIO5_PIN PINF5
+#define AIO5_RPORT PINF
+#define AIO5_WPORT PORTF
+#define AIO5_DDR DDRF
+#define AIO5_PWM NULL
+
+#define AIO6_PIN PINF6
+#define AIO6_RPORT PINF
+#define AIO6_WPORT PORTF
+#define AIO6_DDR DDRF
+#define AIO6_PWM NULL
+
+#define AIO7_PIN PINF7
+#define AIO7_RPORT PINF
+#define AIO7_WPORT PORTF
+#define AIO7_DDR DDRF
+#define AIO7_PWM NULL
+
+#define AIO8_PIN PINK0
+#define AIO8_RPORT PINK
+#define AIO8_WPORT PORTK
+#define AIO8_DDR DDRK
+#define AIO8_PWM NULL
+
+#define AIO9_PIN PINK1
+#define AIO9_RPORT PINK
+#define AIO9_WPORT PORTK
+#define AIO9_DDR DDRK
+#define AIO9_PWM NULL
+
+#define AIO10_PIN PINK2
+#define AIO10_RPORT PINK
+#define AIO10_WPORT PORTK
+#define AIO10_DDR DDRK
+#define AIO10_PWM NULL
+
+#define AIO11_PIN PINK3
+#define AIO11_RPORT PINK
+#define AIO11_WPORT PORTK
+#define AIO11_DDR DDRK
+#define AIO11_PWM NULL
+
+#define AIO12_PIN PINK4
+#define AIO12_RPORT PINK
+#define AIO12_WPORT PORTK
+#define AIO12_DDR DDRK
+#define AIO12_PWM NULL
+
+#define AIO13_PIN PINK5
+#define AIO13_RPORT PINK
+#define AIO13_WPORT PORTK
+#define AIO13_DDR DDRK
+#define AIO13_PWM NULL
+
+#define AIO14_PIN PINK6
+#define AIO14_RPORT PINK
+#define AIO14_WPORT PORTK
+#define AIO14_DDR DDRK
+#define AIO14_PWM NULL
+
+#define AIO15_PIN PINK7
+#define AIO15_RPORT PINK
+#define AIO15_WPORT PORTK
+#define AIO15_DDR DDRK
+#define AIO15_PWM NULL
+
+
+
+#undef PA0
+#define PA0_PIN PINA0
+#define PA0_RPORT PINA
+#define PA0_WPORT PORTA
+#define PA0_DDR DDRA
+#define PA0_PWM NULL
+#undef PA1
+#define PA1_PIN PINA1
+#define PA1_RPORT PINA
+#define PA1_WPORT PORTA
+#define PA1_DDR DDRA
+#define PA1_PWM NULL
+#undef PA2
+#define PA2_PIN PINA2
+#define PA2_RPORT PINA
+#define PA2_WPORT PORTA
+#define PA2_DDR DDRA
+#define PA2_PWM NULL
+#undef PA3
+#define PA3_PIN PINA3
+#define PA3_RPORT PINA
+#define PA3_WPORT PORTA
+#define PA3_DDR DDRA
+#define PA3_PWM NULL
+#undef PA4
+#define PA4_PIN PINA4
+#define PA4_RPORT PINA
+#define PA4_WPORT PORTA
+#define PA4_DDR DDRA
+#define PA4_PWM NULL
+#undef PA5
+#define PA5_PIN PINA5
+#define PA5_RPORT PINA
+#define PA5_WPORT PORTA
+#define PA5_DDR DDRA
+#define PA5_PWM NULL
+#undef PA6
+#define PA6_PIN PINA6
+#define PA6_RPORT PINA
+#define PA6_WPORT PORTA
+#define PA6_DDR DDRA
+#define PA6_PWM NULL
+#undef PA7
+#define PA7_PIN PINA7
+#define PA7_RPORT PINA
+#define PA7_WPORT PORTA
+#define PA7_DDR DDRA
+#define PA7_PWM NULL
+
+#undef PB0
+#define PB0_PIN PINB0
+#define PB0_RPORT PINB
+#define PB0_WPORT PORTB
+#define PB0_DDR DDRB
+#define PB0_PWM NULL
+#undef PB1
+#define PB1_PIN PINB1
+#define PB1_RPORT PINB
+#define PB1_WPORT PORTB
+#define PB1_DDR DDRB
+#define PB1_PWM NULL
+#undef PB2
+#define PB2_PIN PINB2
+#define PB2_RPORT PINB
+#define PB2_WPORT PORTB
+#define PB2_DDR DDRB
+#define PB2_PWM NULL
+#undef PB3
+#define PB3_PIN PINB3
+#define PB3_RPORT PINB
+#define PB3_WPORT PORTB
+#define PB3_DDR DDRB
+#define PB3_PWM NULL
+#undef PB4
+#define PB4_PIN PINB4
+#define PB4_RPORT PINB
+#define PB4_WPORT PORTB
+#define PB4_DDR DDRB
+#define PB4_PWM &OCR2A
+#undef PB5
+#define PB5_PIN PINB5
+#define PB5_RPORT PINB
+#define PB5_WPORT PORTB
+#define PB5_DDR DDRB
+#define PB5_PWM NULL
+#undef PB6
+#define PB6_PIN PINB6
+#define PB6_RPORT PINB
+#define PB6_WPORT PORTB
+#define PB6_DDR DDRB
+#define PB6_PWM NULL
+#undef PB7
+#define PB7_PIN PINB7
+#define PB7_RPORT PINB
+#define PB7_WPORT PORTB
+#define PB7_DDR DDRB
+#define PB7_PWM &OCR0A
+
+#undef PC0
+#define PC0_PIN PINC0
+#define PC0_RPORT PINC
+#define PC0_WPORT PORTC
+#define PC0_DDR DDRC
+#define PC0_PWM NULL
+#undef PC1
+#define PC1_PIN PINC1
+#define PC1_RPORT PINC
+#define PC1_WPORT PORTC
+#define PC1_DDR DDRC
+#define PC1_PWM NULL
+#undef PC2
+#define PC2_PIN PINC2
+#define PC2_RPORT PINC
+#define PC2_WPORT PORTC
+#define PC2_DDR DDRC
+#define PC2_PWM NULL
+#undef PC3
+#define PC3_PIN PINC3
+#define PC3_RPORT PINC
+#define PC3_WPORT PORTC
+#define PC3_DDR DDRC
+#define PC3_PWM NULL
+#undef PC4
+#define PC4_PIN PINC4
+#define PC4_RPORT PINC
+#define PC4_WPORT PORTC
+#define PC4_DDR DDRC
+#define PC4_PWM NULL
+#undef PC5
+#define PC5_PIN PINC5
+#define PC5_RPORT PINC
+#define PC5_WPORT PORTC
+#define PC5_DDR DDRC
+#define PC5_PWM NULL
+#undef PC6
+#define PC6_PIN PINC6
+#define PC6_RPORT PINC
+#define PC6_WPORT PORTC
+#define PC6_DDR DDRC
+#define PC6_PWM NULL
+#undef PC7
+#define PC7_PIN PINC7
+#define PC7_RPORT PINC
+#define PC7_WPORT PORTC
+#define PC7_DDR DDRC
+#define PC7_PWM NULL
+
+#undef PD0
+#define PD0_PIN PIND0
+#define PD0_RPORT PIND
+#define PD0_WPORT PORTD
+#define PD0_DDR DDRD
+#define PD0_PWM NULL
+#undef PD1
+#define PD1_PIN PIND1
+#define PD1_RPORT PIND
+#define PD1_WPORT PORTD
+#define PD1_DDR DDRD
+#define PD1_PWM NULL
+#undef PD2
+#define PD2_PIN PIND2
+#define PD2_RPORT PIND
+#define PD2_WPORT PORTD
+#define PD2_DDR DDRD
+#define PD2_PWM NULL
+#undef PD3
+#define PD3_PIN PIND3
+#define PD3_RPORT PIND
+#define PD3_WPORT PORTD
+#define PD3_DDR DDRD
+#define PD3_PWM NULL
+#undef PD4
+#define PD4_PIN PIND4
+#define PD4_RPORT PIND
+#define PD4_WPORT PORTD
+#define PD4_DDR DDRD
+#define PD4_PWM NULL
+#undef PD5
+#define PD5_PIN PIND5
+#define PD5_RPORT PIND
+#define PD5_WPORT PORTD
+#define PD5_DDR DDRD
+#define PD5_PWM NULL
+#undef PD6
+#define PD6_PIN PIND6
+#define PD6_RPORT PIND
+#define PD6_WPORT PORTD
+#define PD6_DDR DDRD
+#define PD6_PWM NULL
+#undef PD7
+#define PD7_PIN PIND7
+#define PD7_RPORT PIND
+#define PD7_WPORT PORTD
+#define PD7_DDR DDRD
+#define PD7_PWM NULL
+
+#undef PE0
+#define PE0_PIN PINE0
+#define PE0_RPORT PINE
+#define PE0_WPORT PORTE
+#define PE0_DDR DDRE
+#define PE0_PWM NULL
+#undef PE1
+#define PE1_PIN PINE1
+#define PE1_RPORT PINE
+#define PE1_WPORT PORTE
+#define PE1_DDR DDRE
+#define PE1_PWM NULL
+#undef PE2
+#define PE2_PIN PINE2
+#define PE2_RPORT PINE
+#define PE2_WPORT PORTE
+#define PE2_DDR DDRE
+#define PE2_PWM NULL
+#undef PE3
+#define PE3_PIN PINE3
+#define PE3_RPORT PINE
+#define PE3_WPORT PORTE
+#define PE3_DDR DDRE
+#define PE3_PWM &OCR3AL
+#undef PE4
+#define PE4_PIN PINE4
+#define PE4_RPORT PINE
+#define PE4_WPORT PORTE
+#define PE4_DDR DDRE
+#define PE4_PWM &OCR3BL
+#undef PE5
+#define PE5_PIN PINE5
+#define PE5_RPORT PINE
+#define PE5_WPORT PORTE
+#define PE5_DDR DDRE
+#define PE5_PWM &OCR3CL
+#undef PE6
+#define PE6_PIN PINE6
+#define PE6_RPORT PINE
+#define PE6_WPORT PORTE
+#define PE6_DDR DDRE
+#define PE6_PWM NULL
+#undef PE7
+#define PE7_PIN PINE7
+#define PE7_RPORT PINE
+#define PE7_WPORT PORTE
+#define PE7_DDR DDRE
+#define PE7_PWM NULL
+
+#undef PF0
+#define PF0_PIN PINF0
+#define PF0_RPORT PINF
+#define PF0_WPORT PORTF
+#define PF0_DDR DDRF
+#define PF0_PWM NULL
+#undef PF1
+#define PF1_PIN PINF1
+#define PF1_RPORT PINF
+#define PF1_WPORT PORTF
+#define PF1_DDR DDRF
+#define PF1_PWM NULL
+#undef PF2
+#define PF2_PIN PINF2
+#define PF2_RPORT PINF
+#define PF2_WPORT PORTF
+#define PF2_DDR DDRF
+#define PF2_PWM NULL
+#undef PF3
+#define PF3_PIN PINF3
+#define PF3_RPORT PINF
+#define PF3_WPORT PORTF
+#define PF3_DDR DDRF
+#define PF3_PWM NULL
+#undef PF4
+#define PF4_PIN PINF4
+#define PF4_RPORT PINF
+#define PF4_WPORT PORTF
+#define PF4_DDR DDRF
+#define PF4_PWM NULL
+#undef PF5
+#define PF5_PIN PINF5
+#define PF5_RPORT PINF
+#define PF5_WPORT PORTF
+#define PF5_DDR DDRF
+#define PF5_PWM NULL
+#undef PF6
+#define PF6_PIN PINF6
+#define PF6_RPORT PINF
+#define PF6_WPORT PORTF
+#define PF6_DDR DDRF
+#define PF6_PWM NULL
+#undef PF7
+#define PF7_PIN PINF7
+#define PF7_RPORT PINF
+#define PF7_WPORT PORTF
+#define PF7_DDR DDRF
+#define PF7_PWM NULL
+
+#undef PG0
+#define PG0_PIN PING0
+#define PG0_RPORT PING
+#define PG0_WPORT PORTG
+#define PG0_DDR DDRG
+#define PG0_PWM NULL
+#undef PG1
+#define PG1_PIN PING1
+#define PG1_RPORT PING
+#define PG1_WPORT PORTG
+#define PG1_DDR DDRG
+#define PG1_PWM NULL
+#undef PG2
+#define PG2_PIN PING2
+#define PG2_RPORT PING
+#define PG2_WPORT PORTG
+#define PG2_DDR DDRG
+#define PG2_PWM NULL
+#undef PG3
+#define PG3_PIN PING3
+#define PG3_RPORT PING
+#define PG3_WPORT PORTG
+#define PG3_DDR DDRG
+#define PG3_PWM NULL
+#undef PG4
+#define PG4_PIN PING4
+#define PG4_RPORT PING
+#define PG4_WPORT PORTG
+#define PG4_DDR DDRG
+#define PG4_PWM NULL
+#undef PG5
+#define PG5_PIN PING5
+#define PG5_RPORT PING
+#define PG5_WPORT PORTG
+#define PG5_DDR DDRG
+#define PG5_PWM &OCR0B
+#undef PG6
+#define PG6_PIN PING6
+#define PG6_RPORT PING
+#define PG6_WPORT PORTG
+#define PG6_DDR DDRG
+#define PG6_PWM NULL
+#undef PG7
+#define PG7_PIN PING7
+#define PG7_RPORT PING
+#define PG7_WPORT PORTG
+#define PG7_DDR DDRG
+#define PG7_PWM NULL
+
+#undef PH0
+#define PH0_PIN PINH0
+#define PH0_RPORT PINH
+#define PH0_WPORT PORTH
+#define PH0_DDR DDRH
+#define PH0_PWM NULL
+#undef PH1
+#define PH1_PIN PINH1
+#define PH1_RPORT PINH
+#define PH1_WPORT PORTH
+#define PH1_DDR DDRH
+#define PH1_PWM NULL
+#undef PH2
+#define PH2_PIN PINH2
+#define PH2_RPORT PINH
+#define PH2_WPORT PORTH
+#define PH2_DDR DDRH
+#define PH2_PWM NULL
+#undef PH3
+#define PH3_PIN PINH3
+#define PH3_RPORT PINH
+#define PH3_WPORT PORTH
+#define PH3_DDR DDRH
+#define PH3_PWM &OCR4AL
+#undef PH4
+#define PH4_PIN PINH4
+#define PH4_RPORT PINH
+#define PH4_WPORT PORTH
+#define PH4_DDR DDRH
+#define PH4_PWM &OCR4BL
+#undef PH5
+#define PH5_PIN PINH5
+#define PH5_RPORT PINH
+#define PH5_WPORT PORTH
+#define PH5_DDR DDRH
+#define PH5_PWM &OCR4CL
+#undef PH6
+#define PH6_PIN PINH6
+#define PH6_RPORT PINH
+#define PH6_WPORT PORTH
+#define PH6_DDR DDRH
+#define PH6_PWM &OCR2B
+#undef PH7
+#define PH7_PIN PINH7
+#define PH7_RPORT PINH
+#define PH7_WPORT PORTH
+#define PH7_DDR DDRH
+#define PH7_PWM NULL
+
+#undef PJ0
+#define PJ0_PIN PINJ0
+#define PJ0_RPORT PINJ
+#define PJ0_WPORT PORTJ
+#define PJ0_DDR DDRJ
+#define PJ0_PWM NULL
+#undef PJ1
+#define PJ1_PIN PINJ1
+#define PJ1_RPORT PINJ
+#define PJ1_WPORT PORTJ
+#define PJ1_DDR DDRJ
+#define PJ1_PWM NULL
+#undef PJ2
+#define PJ2_PIN PINJ2
+#define PJ2_RPORT PINJ
+#define PJ2_WPORT PORTJ
+#define PJ2_DDR DDRJ
+#define PJ2_PWM NULL
+#undef PJ3
+#define PJ3_PIN PINJ3
+#define PJ3_RPORT PINJ
+#define PJ3_WPORT PORTJ
+#define PJ3_DDR DDRJ
+#define PJ3_PWM NULL
+#undef PJ4
+#define PJ4_PIN PINJ4
+#define PJ4_RPORT PINJ
+#define PJ4_WPORT PORTJ
+#define PJ4_DDR DDRJ
+#define PJ4_PWM NULL
+#undef PJ5
+#define PJ5_PIN PINJ5
+#define PJ5_RPORT PINJ
+#define PJ5_WPORT PORTJ
+#define PJ5_DDR DDRJ
+#define PJ5_PWM NULL
+#undef PJ6
+#define PJ6_PIN PINJ6
+#define PJ6_RPORT PINJ
+#define PJ6_WPORT PORTJ
+#define PJ6_DDR DDRJ
+#define PJ6_PWM NULL
+#undef PJ7
+#define PJ7_PIN PINJ7
+#define PJ7_RPORT PINJ
+#define PJ7_WPORT PORTJ
+#define PJ7_DDR DDRJ
+#define PJ7_PWM NULL
+
+#undef PK0
+#define PK0_PIN PINK0
+#define PK0_RPORT PINK
+#define PK0_WPORT PORTK
+#define PK0_DDR DDRK
+#define PK0_PWM NULL
+#undef PK1
+#define PK1_PIN PINK1
+#define PK1_RPORT PINK
+#define PK1_WPORT PORTK
+#define PK1_DDR DDRK
+#define PK1_PWM NULL
+#undef PK2
+#define PK2_PIN PINK2
+#define PK2_RPORT PINK
+#define PK2_WPORT PORTK
+#define PK2_DDR DDRK
+#define PK2_PWM NULL
+#undef PK3
+#define PK3_PIN PINK3
+#define PK3_RPORT PINK
+#define PK3_WPORT PORTK
+#define PK3_DDR DDRK
+#define PK3_PWM NULL
+#undef PK4
+#define PK4_PIN PINK4
+#define PK4_RPORT PINK
+#define PK4_WPORT PORTK
+#define PK4_DDR DDRK
+#define PK4_PWM NULL
+#undef PK5
+#define PK5_PIN PINK5
+#define PK5_RPORT PINK
+#define PK5_WPORT PORTK
+#define PK5_DDR DDRK
+#define PK5_PWM NULL
+#undef PK6
+#define PK6_PIN PINK6
+#define PK6_RPORT PINK
+#define PK6_WPORT PORTK
+#define PK6_DDR DDRK
+#define PK6_PWM NULL
+#undef PK7
+#define PK7_PIN PINK7
+#define PK7_RPORT PINK
+#define PK7_WPORT PORTK
+#define PK7_DDR DDRK
+#define PK7_PWM NULL
+
+#undef PL0
+#define PL0_PIN PINL0
+#define PL0_RPORT PINL
+#define PL0_WPORT PORTL
+#define PL0_DDR DDRL
+#define PL0_PWM NULL
+#undef PL1
+#define PL1_PIN PINL1
+#define PL1_RPORT PINL
+#define PL1_WPORT PORTL
+#define PL1_DDR DDRL
+#define PL1_PWM NULL
+#undef PL2
+#define PL2_PIN PINL2
+#define PL2_RPORT PINL
+#define PL2_WPORT PORTL
+#define PL2_DDR DDRL
+#define PL2_PWM NULL
+#undef PL3
+#define PL3_PIN PINL3
+#define PL3_RPORT PINL
+#define PL3_WPORT PORTL
+#define PL3_DDR DDRL
+#define PL3_PWM &OCR5AL
+#undef PL4
+#define PL4_PIN PINL4
+#define PL4_RPORT PINL
+#define PL4_WPORT PORTL
+#define PL4_DDR DDRL
+#define PL4_PWM &OCR5BL
+#undef PL5
+#define PL5_PIN PINL5
+#define PL5_RPORT PINL
+#define PL5_WPORT PORTL
+#define PL5_DDR DDRL
+#define PL5_PWM &OCR5CL
+#undef PL6
+#define PL6_PIN PINL6
+#define PL6_RPORT PINL
+#define PL6_WPORT PORTL
+#define PL6_DDR DDRL
+#define PL6_PWM NULL
+#undef PL7
+#define PL7_PIN PINL7
+#define PL7_RPORT PINL
+#define PL7_WPORT PORTL
+#define PL7_DDR DDRL
+#define PL7_PWM NULL
+
+#endif
+
+#if defined (__AVR_AT90USB1287__)
+// SPI
+#define SCK DIO9
+#define MISO DIO11
+#define MOSI DIO10
+#define SS DIO8
+
+// change for your board
+#define DEBUG_LED DIO31 /* led D5 red */
+
+/*
+pins
+*/
+#define DIO0_PIN PINA0
+#define DIO0_RPORT PINA
+#define DIO0_WPORT PORTA
+#define DIO0_PWM NULL
+#define DIO0_DDR DDRA
+
+#define DIO1_PIN PINA1
+#define DIO1_RPORT PINA
+#define DIO1_WPORT PORTA
+#define DIO1_PWM NULL
+#define DIO1_DDR DDRA
+
+#define DIO2_PIN PINA2
+#define DIO2_RPORT PINA
+#define DIO2_WPORT PORTA
+#define DIO2_PWM NULL
+#define DIO2_DDR DDRA
+
+#define DIO3_PIN PINA3
+#define DIO3_RPORT PINA
+#define DIO3_WPORT PORTA
+#define DIO3_PWM NULL
+#define DIO3_DDR DDRA
+
+#define DIO4_PIN PINA4
+#define DIO4_RPORT PINA
+#define DIO4_WPORT PORTA
+#define DIO4_PWM NULL
+#define DIO4_DDR DDRA
+
+#define DIO5_PIN PINA5
+#define DIO5_RPORT PINA
+#define DIO5_WPORT PORTA
+#define DIO5_PWM NULL
+#define DIO5_DDR DDRA
+
+#define DIO6_PIN PINA6
+#define DIO6_RPORT PINA
+#define DIO6_WPORT PORTA
+#define DIO6_PWM NULL
+#define DIO6_DDR DDRA
+
+#define DIO7_PIN PINA7
+#define DIO7_RPORT PINA
+#define DIO7_WPORT PORTA
+#define DIO7_PWM NULL
+#define DIO7_DDR DDRA
+
+#define DIO8_PIN PINB0
+#define DIO8_RPORT PINB
+#define DIO8_WPORT PORTB
+#define DIO8_PWM NULL
+#define DIO8_DDR DDRB
+
+#define DIO9_PIN PINB1
+#define DIO9_RPORT PINB
+#define DIO9_WPORT PORTB
+#define DIO9_PWM NULL
+#define DIO9_DDR DDRB
+
+#define DIO10_PIN PINB2
+#define DIO10_RPORT PINB
+#define DIO10_WPORT PORTB
+#define DIO10_PWM NULL
+#define DIO10_DDR DDRB
+
+#define DIO11_PIN PINB3
+#define DIO11_RPORT PINB
+#define DIO11_WPORT PORTB
+#define DIO11_PWM NULL
+#define DIO11_DDR DDRB
+
+#define DIO12_PIN PINB4
+#define DIO12_RPORT PINB
+#define DIO12_WPORT PORTB
+#define DIO12_PWM NULL
+#define DIO12_DDR DDRB
+
+#define DIO13_PIN PINB5
+#define DIO13_RPORT PINB
+#define DIO13_WPORT PORTB
+#define DIO13_PWM NULL
+#define DIO13_DDR DDRB
+
+#define DIO14_PIN PINB6
+#define DIO14_RPORT PINB
+#define DIO14_WPORT PORTB
+#define DIO14_PWM NULL
+#define DIO14_DDR DDRB
+
+#define DIO15_PIN PINB7
+#define DIO15_RPORT PINB
+#define DIO15_WPORT PORTB
+#define DIO15_PWM NULL
+#define DIO15_DDR DDRB
+
+#define DIO16_PIN PINC0
+#define DIO16_RPORT PINC
+#define DIO16_WPORT PORTC
+#define DIO16_PWM NULL
+#define DIO16_DDR DDRC
+
+#define DIO17_PIN PINC1
+#define DIO17_RPORT PINC
+#define DIO17_WPORT PORTC
+#define DIO17_PWM NULL
+#define DIO17_DDR DDRC
+
+#define DIO18_PIN PINC2
+#define DIO18_RPORT PINC
+#define DIO18_WPORT PORTC
+#define DIO18_PWM NULL
+#define DIO18_DDR DDRC
+
+#define DIO19_PIN PINC3
+#define DIO19_RPORT PINC
+#define DIO19_WPORT PORTC
+#define DIO19_PWM NULL
+#define DIO19_DDR DDRC
+
+#define DIO20_PIN PINC4
+#define DIO20_RPORT PINC
+#define DIO20_WPORT PORTC
+#define DIO20_PWM NULL
+#define DIO20_DDR DDRC
+
+#define DIO21_PIN PINC5
+#define DIO21_RPORT PINC
+#define DIO21_WPORT PORTC
+#define DIO21_PWM NULL
+#define DIO21_DDR DDRC
+
+#define DIO22_PIN PINC6
+#define DIO22_RPORT PINC
+#define DIO22_WPORT PORTC
+#define DIO22_PWM NULL
+#define DIO22_DDR DDRC
+
+#define DIO23_PIN PINC7
+#define DIO23_RPORT PINC
+#define DIO23_WPORT PORTC
+#define DIO23_PWM NULL
+#define DIO23_DDR DDRC
+
+#define DIO24_PIN PIND0
+#define DIO24_RPORT PIND
+#define DIO24_WPORT PORTD
+#define DIO24_PWM NULL
+#define DIO24_DDR DDRD
+
+#define DIO25_PIN PIND1
+#define DIO25_RPORT PIND
+#define DIO25_WPORT PORTD
+#define DIO25_PWM NULL
+#define DIO25_DDR DDRD
+
+#define DIO26_PIN PIND2
+#define DIO26_RPORT PIND
+#define DIO26_WPORT PORTD
+#define DIO26_PWM NULL
+#define DIO26_DDR DDRD
+
+#define DIO27_PIN PIND3
+#define DIO27_RPORT PIND
+#define DIO27_WPORT PORTD
+#define DIO27_PWM NULL
+#define DIO27_DDR DDRD
+
+#define DIO28_PIN PIND4
+#define DIO28_RPORT PIND
+#define DIO28_WPORT PORTD
+#define DIO28_PWM NULL
+#define DIO28_DDR DDRD
+
+#define DIO29_PIN PIND5
+#define DIO29_RPORT PIND
+#define DIO29_WPORT PORTD
+#define DIO29_PWM NULL
+#define DIO29_DDR DDRD
+
+#define DIO30_PIN PIND6
+#define DIO30_RPORT PIND
+#define DIO30_WPORT PORTD
+#define DIO30_PWM NULL
+#define DIO30_DDR DDRD
+
+#define DIO31_PIN PIND7
+#define DIO31_RPORT PIND
+#define DIO31_WPORT PORTD
+#define DIO31_PWM NULL
+#define DIO31_DDR DDRD
+
+
+#define DIO32_PIN PINE0
+#define DIO32_RPORT PINE
+#define DIO32_WPORT PORTE
+#define DIO32_PWM NULL
+#define DIO32_DDR DDRE
+
+#define DIO33_PIN PINE1
+#define DIO33_RPORT PINE
+#define DIO33_WPORT PORTE
+#define DIO33_PWM NULL
+#define DIO33_DDR DDRE
+
+#define DIO34_PIN PINE2
+#define DIO34_RPORT PINE
+#define DIO34_WPORT PORTE
+#define DIO34_PWM NULL
+#define DIO34_DDR DDRE
+
+#define DIO35_PIN PINE3
+#define DIO35_RPORT PINE
+#define DIO35_WPORT PORTE
+#define DIO35_PWM NULL
+#define DIO35_DDR DDRE
+
+#define DIO36_PIN PINE4
+#define DIO36_RPORT PINE
+#define DIO36_WPORT PORTE
+#define DIO36_PWM NULL
+#define DIO36_DDR DDRE
+
+#define DIO37_PIN PINE5
+#define DIO37_RPORT PINE
+#define DIO37_WPORT PORTE
+#define DIO37_PWM NULL
+#define DIO37_DDR DDRE
+
+#define DIO38_PIN PINE6
+#define DIO38_RPORT PINE
+#define DIO38_WPORT PORTE
+#define DIO38_PWM NULL
+#define DIO38_DDR DDRE
+
+#define DIO39_PIN PINE7
+#define DIO39_RPORT PINE
+#define DIO39_WPORT PORTE
+#define DIO39_PWM NULL
+#define DIO39_DDR DDRE
+
+#define AIO0_PIN PINF0
+#define AIO0_RPORT PINF
+#define AIO0_WPORT PORTF
+#define AIO0_PWM NULL
+#define AIO0_DDR DDRF
+
+#define AIO1_PIN PINF1
+#define AIO1_RPORT PINF
+#define AIO1_WPORT PORTF
+#define AIO1_PWM NULL
+#define AIO1_DDR DDRF
+
+#define AIO2_PIN PINF2
+#define AIO2_RPORT PINF
+#define AIO2_WPORT PORTF
+#define AIO2_PWM NULL
+#define AIO2_DDR DDRF
+
+#define AIO3_PIN PINF3
+#define AIO3_RPORT PINF
+#define AIO3_WPORT PORTF
+#define AIO3_PWM NULL
+#define AIO3_DDR DDRF
+
+#define AIO4_PIN PINF4
+#define AIO4_RPORT PINF
+#define AIO4_WPORT PORTF
+#define AIO4_PWM NULL
+#define AIO4_DDR DDRF
+
+#define AIO5_PIN PINF5
+#define AIO5_RPORT PINF
+#define AIO5_WPORT PORTF
+#define AIO5_PWM NULL
+#define AIO5_DDR DDRF
+
+#define AIO6_PIN PINF6
+#define AIO6_RPORT PINF
+#define AIO6_WPORT PORTF
+#define AIO6_PWM NULL
+#define AIO6_DDR DDRF
+
+#define AIO7_PIN PINF7
+#define AIO7_RPORT PINF
+#define AIO7_WPORT PORTF
+#define AIO7_PWM NULL
+#define AIO7_DDR DDRF
+
+#define DIO40_PIN PINF0
+#define DIO40_RPORT PINF
+#define DIO40_WPORT PORTF
+#define DIO40_PWM NULL
+#define DIO40_DDR DDRF
+
+#define DIO41_PIN PINF1
+#define DIO41_RPORT PINF
+#define DIO41_WPORT PORTF
+#define DIO41_PWM NULL
+#define DIO41_DDR DDRF
+
+#define DIO42_PIN PINF2
+#define DIO42_RPORT PINF
+#define DIO42_WPORT PORTF
+#define DIO42_PWM NULL
+#define DIO42_DDR DDRF
+
+#define DIO43_PIN PINF3
+#define DIO43_RPORT PINF
+#define DIO43_WPORT PORTF
+#define DIO43_PWM NULL
+#define DIO43_DDR DDRF
+
+#define DIO44_PIN PINF4
+#define DIO44_RPORT PINF
+#define DIO44_WPORT PORTF
+#define DIO44_PWM NULL
+#define DIO44_DDR DDRF
+
+#define DIO45_PIN PINF5
+#define DIO45_RPORT PINF
+#define DIO45_WPORT PORTF
+#define DIO45_PWM NULL
+#define DIO45_DDR DDRF
+
+#define DIO46_PIN PINF6
+#define DIO46_RPORT PINF
+#define DIO46_WPORT PORTF
+#define DIO46_PWM NULL
+#define DIO46_DDR DDRF
+
+#define DIO47_PIN PINF7
+#define DIO47_RPORT PINF
+#define DIO47_WPORT PORTF
+#define DIO47_PWM NULL
+#define DIO47_DDR DDRF
+
+
+
+#undef PA0
+#define PA0_PIN PINA0
+#define PA0_RPORT PINA
+#define PA0_WPORT PORTA
+#define PA0_PWM NULL
+#define PA0_DDR DDRA
+#undef PA1
+#define PA1_PIN PINA1
+#define PA1_RPORT PINA
+#define PA1_WPORT PORTA
+#define PA1_PWM NULL
+#define PA1_DDR DDRA
+#undef PA2
+#define PA2_PIN PINA2
+#define PA2_RPORT PINA
+#define PA2_WPORT PORTA
+#define PA2_PWM NULL
+#define PA2_DDR DDRA
+#undef PA3
+#define PA3_PIN PINA3
+#define PA3_RPORT PINA
+#define PA3_WPORT PORTA
+#define PA3_PWM NULL
+#define PA3_DDR DDRA
+#undef PA4
+#define PA4_PIN PINA4
+#define PA4_RPORT PINA
+#define PA4_WPORT PORTA
+#define PA4_PWM NULL
+#define PA4_DDR DDRA
+#undef PA5
+#define PA5_PIN PINA5
+#define PA5_RPORT PINA
+#define PA5_WPORT PORTA
+#define PA5_PWM NULL
+#define PA5_DDR DDRA
+#undef PA6
+#define PA6_PIN PINA6
+#define PA6_RPORT PINA
+#define PA6_WPORT PORTA
+#define PA6_PWM NULL
+#define PA6_DDR DDRA
+#undef PA7
+#define PA7_PIN PINA7
+#define PA7_RPORT PINA
+#define PA7_WPORT PORTA
+#define PA7_PWM NULL
+#define PA7_DDR DDRA
+
+#undef PB0
+#define PB0_PIN PINB0
+#define PB0_RPORT PINB
+#define PB0_WPORT PORTB
+#define PB0_PWM NULL
+#define PB0_DDR DDRB
+#undef PB1
+#define PB1_PIN PINB1
+#define PB1_RPORT PINB
+#define PB1_WPORT PORTB
+#define PB1_PWM NULL
+#define PB1_DDR DDRB
+#undef PB2
+#define PB2_PIN PINB2
+#define PB2_RPORT PINB
+#define PB2_WPORT PORTB
+#define PB2_PWM NULL
+#define PB2_DDR DDRB
+#undef PB3
+#define PB3_PIN PINB3
+#define PB3_RPORT PINB
+#define PB3_WPORT PORTB
+#define PB3_PWM NULL
+#define PB3_DDR DDRB
+#undef PB4
+#define PB4_PIN PINB4
+#define PB4_RPORT PINB
+#define PB4_WPORT PORTB
+#define PB4_PWM NULL
+#define PB4_DDR DDRB
+#undef PB5
+#define PB5_PIN PINB5
+#define PB5_RPORT PINB
+#define PB5_WPORT PORTB
+#define PB5_PWM NULL
+#define PB5_DDR DDRB
+#undef PB6
+#define PB6_PIN PINB6
+#define PB6_RPORT PINB
+#define PB6_WPORT PORTB
+#define PB6_PWM NULL
+#define PB6_DDR DDRB
+#undef PB7
+#define PB7_PIN PINB7
+#define PB7_RPORT PINB
+#define PB7_WPORT PORTB
+#define PB7_PWM NULL
+#define PB7_DDR DDRB
+
+#undef PC0
+#define PC0_PIN PINC0
+#define PC0_RPORT PINC
+#define PC0_WPORT PORTC
+#define PC0_PWM NULL
+#define PC0_DDR DDRC
+#undef PC1
+#define PC1_PIN PINC1
+#define PC1_RPORT PINC
+#define PC1_WPORT PORTC
+#define PC1_PWM NULL
+#define PC1_DDR DDRC
+#undef PC2
+#define PC2_PIN PINC2
+#define PC2_RPORT PINC
+#define PC2_WPORT PORTC
+#define PC2_PWM NULL
+#define PC2_DDR DDRC
+#undef PC3
+#define PC3_PIN PINC3
+#define PC3_RPORT PINC
+#define PC3_WPORT PORTC
+#define PC3_PWM NULL
+#define PC3_DDR DDRC
+#undef PC4
+#define PC4_PIN PINC4
+#define PC4_RPORT PINC
+#define PC4_WPORT PORTC
+#define PC4_PWM NULL
+#define PC4_DDR DDRC
+#undef PC5
+#define PC5_PIN PINC5
+#define PC5_RPORT PINC
+#define PC5_WPORT PORTC
+#define PC5_PWM NULL
+#define PC5_DDR DDRC
+#undef PC6
+#define PC6_PIN PINC6
+#define PC6_RPORT PINC
+#define PC6_WPORT PORTC
+#define PC6_PWM NULL
+#define PC6_DDR DDRC
+#undef PC7
+#define PC7_PIN PINC7
+#define PC7_RPORT PINC
+#define PC7_WPORT PORTC
+#define PC7_PWM NULL
+#define PC7_DDR DDRC
+
+#undef PD0
+#define PD0_PIN PIND0
+#define PD0_RPORT PIND
+#define PD0_WPORT PORTD
+#define PD0_PWM NULL
+#define PD0_DDR DDRD
+#undef PD1
+#define PD1_PIN PIND1
+#define PD1_RPORT PIND
+#define PD1_WPORT PORTD
+#define PD1_PWM NULL
+#define PD1_DDR DDRD
+#undef PD2
+#define PD2_PIN PIND2
+#define PD2_RPORT PIND
+#define PD2_WPORT PORTD
+#define PD2_PWM NULL
+#define PD2_DDR DDRD
+#undef PD3
+#define PD3_PIN PIND3
+#define PD3_RPORT PIND
+#define PD3_WPORT PORTD
+#define PD3_PWM NULL
+#define PD3_DDR DDRD
+#undef PD4
+#define PD4_PIN PIND4
+#define PD4_RPORT PIND
+#define PD4_WPORT PORTD
+#define PD4_PWM NULL
+#define PD4_DDR DDRD
+#undef PD5
+#define PD5_PIN PIND5
+#define PD5_RPORT PIND
+#define PD5_WPORT PORTD
+#define PD5_PWM NULL
+#define PD5_DDR DDRD
+#undef PD6
+#define PD6_PIN PIND6
+#define PD6_RPORT PIND
+#define PD6_WPORT PORTD
+#define PD6_PWM NULL
+#define PD6_DDR DDRD
+#undef PD7
+#define PD7_PIN PIND7
+#define PD7_RPORT PIND
+#define PD7_WPORT PORTD
+#define PD7_PWM NULL
+#define PD7_DDR DDRD
+
+#undef PE0
+#define PE0_PIN PINE0
+#define PE0_RPORT PINE
+#define PE0_WPORT PORTE
+#define PE0_PWM NULL
+#define PE0_DDR DDRE
+#undef PE1
+#define PE1_PIN PINE1
+#define PE1_RPORT PINE
+#define PE1_WPORT PORTE
+#define PE1_PWM NULL
+#define PE1_DDR DDRE
+#undef PE2
+#define PE2_PIN PINE2
+#define PE2_RPORT PINE
+#define PE2_WPORT PORTE
+#define PE2_PWM NULL
+#define PE2_DDR DDRE
+#undef PE3
+#define PE3_PIN PINE3
+#define PE3_RPORT PINE
+#define PE3_WPORT PORTE
+#define PE3_PWM NULL
+#define PE3_DDR DDRE
+#undef PE4
+#define PE4_PIN PINE4
+#define PE4_RPORT PINE
+#define PE4_WPORT PORTE
+#define PE4_PWM NULL
+#define PE4_DDR DDRE
+#undef PE5
+#define PE5_PIN PINE5
+#define PE5_RPORT PINE
+#define PE5_WPORT PORTE
+#define PE5_PWM NULL
+#define PE5_DDR DDRE
+#undef PE6
+#define PE6_PIN PINE6
+#define PE6_RPORT PINE
+#define PE6_WPORT PORTE
+#define PE6_PWM NULL
+#define PE6_DDR DDRE
+#undef PE7
+#define PE7_PIN PINE7
+#define PE7_RPORT PINE
+#define PE7_WPORT PORTE
+#define PE7_PWM NULL
+#define PE7_DDR DDRE
+
+#undef PF0
+#define PF0_PIN PINF0
+#define PF0_RPORT PINF
+#define PF0_WPORT PORTF
+#define PF0_PWM NULL
+#define PF0_DDR DDRF
+#undef PF1
+#define PF1_PIN PINF1
+#define PF1_RPORT PINF
+#define PF1_WPORT PORTF
+#define PF1_PWM NULL
+#define PF1_DDR DDRF
+#undef PF2
+#define PF2_PIN PINF2
+#define PF2_RPORT PINF
+#define PF2_WPORT PORTF
+#define PF2_PWM NULL
+#define PF2_DDR DDRF
+#undef PF3
+#define PF3_PIN PINF3
+#define PF3_RPORT PINF
+#define PF3_WPORT PORTF
+#define PF3_PWM NULL
+#define PF3_DDR DDRF
+#undef PF4
+#define PF4_PIN PINF4
+#define PF4_RPORT PINF
+#define PF4_WPORT PORTF
+#define PF4_PWM NULL
+#define PF4_DDR DDRF
+#undef PF5
+#define PF5_PIN PINF5
+#define PF5_RPORT PINF
+#define PF5_WPORT PORTF
+#define PF5_PWM NULL
+#define PF5_DDR DDRF
+#undef PF6
+#define PF6_PIN PINF6
+#define PF6_RPORT PINF
+#define PF6_WPORT PORTF
+#define PF6_PWM NULL
+#define PF6_DDR DDRF
+#undef PF7
+#define PF7_PIN PINF7
+#define PF7_RPORT PINF
+#define PF7_WPORT PORTF
+#define PF7_PWM NULL
+#define PF7_DDR DDRF
+#endif
+
+#ifndef DIO0_PIN
+#error pins for this chip not defined in arduino.h! If you write an appropriate pin definition and have this firmware work on your chip, please submit a pull request
+#endif
+
+#endif /* _ARDUINO_H */