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-rw-r--r--README82
-rw-r--r--Sprinter/Makefile12
-rw-r--r--Sprinter/Sprinter.h68
-rw-r--r--Sprinter/Sprinter.pde558
-rw-r--r--Sprinter/fastio.h2558
5 files changed, 3016 insertions, 262 deletions
diff --git a/README b/README
index 5c22a5d..34fc7a6 100644
--- a/README
+++ b/README
@@ -22,3 +22,85 @@ Then add a line pointing to your second thermistor table, for example:
Finally, make sure that the nozzle thermistor table, inside ThermistorTable.h in this case, is defined as "temptable" and that the bed thermistor table is defined as "bedtemptable", and that the number of temps is defined as NUMTEMPS for the heater and BNUMTEMPS for the bed.
There are examples of all these configurations in the configuration.h file. Please look at them before you change anything.
+
+
+Complete beginners guide
+=======================
+
+From a fresh Ubuntu install how to update the firmware of your Prusa Mendel ?
+(the specifics are for the Prusa Mendel built at the Bath RepRap masterclass.
+This version uses the http://reprap.org/wiki/Sanguinololu.
+Some details may not fit your hardware, be sure to check what you are doing)
+
+Software installation
+----------------------
+
+1. Install the required packages (gcc-avr, avr-libc, etc.)
+ sudo apt-get install arduino-core
+
+2. Get the arduino software version 0018, uncompress it in a directory
+ http://www.arduino.cc/en/Main/Software
+
+3. Get the sanguino software, version 0018
+ http://sanguino.cc/softwareforlinux
+
+follow the sanguino's readme so that your arduino hardware folder looks like
+ arduino-0018/hardware/arduino
+ arduino-0018/hardware/sanguino
+ arduino-0018/hardware/tools
+
+4. Clone the Sprinter git repository.
+ git clone https://github.com/kliment/Sprinter.git
+Optionally, switch to the desired branch
+ git branch -a
+ git checkout THE_BRANCH_YOU_WANT
+
+Firmware compilation and upload
+-------------------------------
+
+5. Edit INSTALL_DIR inside Sprinter/Makefile (do not mind the default reference to arduino 0022)
+
+6. Run make. If everything goes well Sprinter/applet/Sprinter.cpp should have been created.
+You can safely ignore the error message mentioning arduino-0018/hardware/arduino/cores/arduino/WString.o
+
+7. Connect your Sanguinololu to your computer
+ http://reprap.org/wiki/Sanguinololu
+
+8. Launch arduino-0018/arduino, open Sprinter/Sprinter.pde
+
+9. Go to Tools -> Serial Port, and select the relevant option
+
+10. Go to Tools -> Board, select Sanguino
+
+11. Go to the Configuration.h file and edit the following lines:
+ #define MOTHERBOARD 62
+62 indicates Sanguino 1.2 or superior
+
+ float axis_steps_per_unit[]
+
+set values that match your hardware. For the special cast gears of the Bath Masterclass Prusa Mendel, these values are
+ float axis_steps_per_unit[] = {91.42857, 91.42857, 3200/1.25,700};
+
+also for the mentioned hardware setup
+ const bool ENDSTOPS_INVERTING = false; //set to true to invert the logic of the endstops
+ // false because the switch SIG signal is linked to the ground
+ // "no touch == closed circuit == SIG connects to GND"
+ // see http://reprap.org/wiki/Sanguinololu#Endstops
+
+12. Click on the "play" button to compile. If everything goes well you should see a "Binary sketch size: " message.
+
+13. Click on "the arrow going to the right" button to upload (you had done steps 7,8,9 before, right ?).
+If everything goes well you should see the message "Done uploading".
+
+Congratulations, you have just upgraded the firmware of your RepRap !
+
+You can use pronterface.py to do some manual verifications by moving the printer's tip along
+the axes and verifying that the physical displacements match the ones indicated on the interface.
+
+
+
+
+
+
+
+
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 79c66e6..8578359 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
- //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 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
+
+ #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();
@@ -653,7 +723,7 @@ 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());
@@ -683,12 +753,12 @@ 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());
@@ -710,7 +780,7 @@ 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.
@@ -726,25 +796,29 @@ 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;
@@ -790,27 +864,27 @@ inline void process_commands()
case 119: // M119
#if (X_MIN_PIN > -1)
Serial.print("x_min:");
- Serial.print((digitalRead(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(X_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (X_MAX_PIN > -1)
Serial.print("x_max:");
- Serial.print((digitalRead(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(X_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MIN_PIN > -1)
Serial.print("y_min:");
- Serial.print((digitalRead(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Y_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Y_MAX_PIN > -1)
Serial.print("y_max:");
- Serial.print((digitalRead(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Y_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MIN_PIN > -1)
Serial.print("z_min:");
- Serial.print((digitalRead(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Z_MIN_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
#if (Z_MAX_PIN > -1)
Serial.print("z_max:");
- Serial.print((digitalRead(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
+ Serial.print((READ(Z_MAX_PIN)^ENDSTOPS_INVERTING)?"H ":"L ");
#endif
Serial.println("");
break;
@@ -839,7 +913,7 @@ inline void process_commands()
}
-inline void FlushSerialRequestResend()
+void FlushSerialRequestResend()
{
//char cmdbuffer[bufindr][100]="Resend:";
Serial.flush();
@@ -848,7 +922,7 @@ inline void FlushSerialRequestResend()
ClearToSend();
}
-inline void ClearToSend()
+void ClearToSend()
{
previous_millis_cmd = millis();
#ifdef SDSUPPORT
@@ -870,7 +944,7 @@ inline void get_coordinates()
}
}
-inline void prepare_move()
+void prepare_move()
{
//Find direction
for(int i=0; i < NUM_AXIS; i++) {
@@ -900,17 +974,29 @@ 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++) {
@@ -926,7 +1012,7 @@ 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);
@@ -940,24 +1026,36 @@ inline void prepare_move()
linear_move(move_steps); // make the move
}
-void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1
+inline 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.
@@ -971,14 +1069,17 @@ 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
@@ -1003,8 +1104,9 @@ 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];
}
@@ -1044,7 +1146,7 @@ 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
@@ -1127,18 +1229,35 @@ 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) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MIN_PIN > -1)
+ if(!move_direction[1]) if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+ #endif
+ #if (X_MAX_PIN > -1)
+ if(move_direction[0]) if(READ(X_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==0) break; else if(axis_steps_remaining[0]) axis_steps_remaining[0]=0;
+ #endif
+ #if (Y_MAX_PIN > -1)
+ if(move_direction[1]) if(READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==1) break; else if(axis_steps_remaining[1]) axis_steps_remaining[1]=0;
+ #endif
+ #if (Z_MIN_PIN > -1)
+ if(!move_direction[2]) if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+ #endif
+ #if (Z_MAX_PIN > -1)
+ if(move_direction[2]) if(READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) if(primary_axis==2) break; else if(axis_steps_remaining[2]) axis_steps_remaining[2]=0;
+ #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) {
@@ -1166,37 +1285,39 @@ 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;
@@ -1214,7 +1335,7 @@ 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);
@@ -1231,7 +1352,7 @@ inline int read_max6675()
max6675_temp |= SPDR;
// disable TT_MAX6675
- digitalWrite(MAX6675_SS, 1);
+ WRITE(MAX6675_SS, 1);
if (max6675_temp & 4)
{
@@ -1248,7 +1369,7 @@ inline int read_max6675()
#endif
-inline void manage_heater()
+void manage_heater()
{
if((millis() - previous_millis_heater) < HEATER_CHECK_INTERVAL )
return;
@@ -1276,8 +1397,10 @@ 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);
+ #if LED_PIN>-1
+ WRITE(LED_PIN,LOW);
+ #endif
}else{
watchmillis = 0;
}
@@ -1305,13 +1428,17 @@ inline void manage_heater()
#else
if(current_raw >= target_raw)
{
- digitalWrite(HEATER_0_PIN,LOW);
- digitalWrite(LED_PIN,LOW);
+ WRITE(HEATER_0_PIN,LOW);
+ #if LED_PIN>-1
+ WRITE(LED_PIN,LOW);
+ #endif
}
else
{
- digitalWrite(HEATER_0_PIN,HIGH);
- digitalWrite(LED_PIN,HIGH);
+ WRITE(HEATER_0_PIN,HIGH);
+ #if LED_PIN > -1
+ WRITE(LED_PIN,HIGH);
+ #endif
}
#endif
#endif
@@ -1319,6 +1446,12 @@ 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;
+ #else
#ifdef BED_USES_THERMISTOR
@@ -1337,157 +1470,98 @@ 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
+ #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..1d28d05
--- /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) ((bool)(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 DIO14_PIN PINC0
+#define DIO14_RPORT PINC
+#define DIO14_WPORT PORTC
+#define DIO14_DDR DDRC
+#define DIO14_PWM NULL
+
+#define DIO15_PIN PINC1
+#define DIO15_RPORT PINC
+#define DIO15_WPORT PORTC
+#define DIO15_DDR DDRC
+#define DIO15_PWM NULL
+
+#define DIO16_PIN PINC2
+#define DIO16_RPORT PINC
+#define DIO16_WPORT PORTC
+#define DIO16_DDR DDRC
+#define DIO16_PWM NULL
+
+#define DIO17_PIN PINC3
+#define DIO17_RPORT PINC
+#define DIO17_WPORT PORTC
+#define DIO17_DDR DDRC
+#define DIO17_PWM NULL
+
+#define DIO18_PIN PINC4
+#define DIO18_RPORT PINC
+#define DIO18_WPORT PORTC
+#define DIO18_DDR DDRC
+#define DIO18_PWM NULL
+
+#define DIO19_PIN PINC5
+#define DIO19_RPORT PINC
+#define DIO19_WPORT PORTC
+#define DIO19_DDR DDRC
+#define DIO19_PWM NULL
+
+#define DIO20_PIN PINC6
+#define DIO20_RPORT PINC
+#define DIO20_WPORT PORTC
+#define DIO20_DDR DDRC
+#define DIO20_PWM NULL
+
+#define DIO21_PIN PINC7
+#define DIO21_RPORT PINC
+#define DIO21_WPORT PORTC
+#define DIO21_DDR DDRC
+#define DIO21_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 DIO54_PIN PINF0
+#define DIO54_RPORT PINF
+#define DIO54_WPORT PORTF
+#define DIO54_DDR DDRF
+#define DIO54_PWM NULL
+
+#define DIO55_PIN PINF1
+#define DIO55_RPORT PINF
+#define DIO55_WPORT PORTF
+#define DIO55_DDR DDRF
+#define DIO55_PWM NULL
+
+#define DIO56_PIN PINF2
+#define DIO56_RPORT PINF
+#define DIO56_WPORT PORTF
+#define DIO56_DDR DDRF
+#define DIO56_PWM NULL
+
+#define DIO57_PIN PINF3
+#define DIO57_RPORT PINF
+#define DIO57_WPORT PORTF
+#define DIO57_DDR DDRF
+#define DIO57_PWM NULL
+
+#define DIO58_PIN PINF4
+#define DIO58_RPORT PINF
+#define DIO58_WPORT PORTF
+#define DIO58_DDR DDRF
+#define DIO58_PWM NULL
+
+#define DIO59_PIN PINF5
+#define DIO59_RPORT PINF
+#define DIO59_WPORT PORTF
+#define DIO59_DDR DDRF
+#define DIO59_PWM NULL
+
+#define DIO60_PIN PINF6
+#define DIO60_RPORT PINF
+#define DIO60_WPORT PORTF
+#define DIO60_DDR DDRF
+#define DIO60_PWM NULL
+
+#define DIO61_PIN PINF7
+#define DIO61_RPORT PINF
+#define DIO61_WPORT PORTF
+#define DIO61_DDR DDRF
+#define DIO61_PWM NULL
+
+#define DIO62_PIN PINK0
+#define DIO62_RPORT PINK
+#define DIO62_WPORT PORTK
+#define DIO62_DDR DDRK
+#define DIO62_PWM NULL
+
+#define DIO63_PIN PINK1
+#define DIO63_RPORT PINK
+#define DIO63_WPORT PORTK
+#define DIO63_DDR DDRK
+#define DIO63_PWM NULL
+
+#define DIO64_PIN PINK2
+#define DIO64_RPORT PINK
+#define DIO64_WPORT PORTK
+#define DIO64_DDR DDRK
+#define DIO64_PWM NULL
+
+#define DIO65_PIN PINK3
+#define DIO65_RPORT PINK
+#define DIO65_WPORT PORTK
+#define DIO65_DDR DDRK
+#define DIO65_PWM NULL
+
+#define DIO66_PIN PINK4
+#define DIO66_RPORT PINK
+#define DIO66_WPORT PORTK
+#define DIO66_DDR DDRK
+#define DIO66_PWM NULL
+
+#define DIO67_PIN PINK5
+#define DIO67_RPORT PINK
+#define DIO67_WPORT PORTK
+#define DIO67_DDR DDRK
+#define DIO67_PWM NULL
+
+#define DIO68_PIN PINK6
+#define DIO68_RPORT PINK
+#define DIO68_WPORT PORTK
+#define DIO68_DDR DDRK
+#define DIO68_PWM NULL
+
+#define DIO69_PIN PINK7
+#define DIO69_RPORT PINK
+#define DIO69_WPORT PORTK
+#define DIO69_DDR DDRK
+#define DIO69_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 */
generated by cgit v1.2.1 (git 2.18.0) at 2024-07-03 20:48:04 +0000