diff options
| -rw-r--r-- | Sprinter/Makefile | 12 | ||||
| -rw-r--r-- | Sprinter/Sprinter.h | 68 | ||||
| -rw-r--r-- | Sprinter/Sprinter.pde | 531 | ||||
| -rw-r--r-- | Sprinter/fastio.h | 2558 |
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 */ |