/* pins_arduino.h - Pin definition functions for Arduino Robot Control Board Part of Arduino - http://www.arduino.cc/ Copyright (c) 2913 D. Cuartielles, X. Yang (Arduino Verkstad) Copyright (c) 2012 D. Cuartielles, N. de la Riva, I. Gallego, E. Gallego This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #ifndef Pins_Arduino_h #define Pins_Arduino_h #include #define ARDUINO_MODEL_USB_PID 0x0039 #define TX_RX_LED_INIT DDRD |= (1<<5), DDRB |= (1<<0) #define TXLED0 PORTD |= (1<<5) #define TXLED1 PORTD &= ~(1<<5) #define RXLED0 PORTB |= (1<<0) #define RXLED1 PORTB &= ~(1<<0) #define D10 TK1 #define D9 TK2 #define D8 TK4 #define D7 TK3 #define PIN_SERIAL_RX (0) #define PIN_SERIAL_TX (1) static const uint8_t RX = PIN_SERIAL_RX; static const uint8_t TX = PIN_SERIAL_TX; #define PIN_WIRE_SDA (2) #define PIN_WIRE_SCL (3) static const uint8_t SDA = PIN_WIRE_SDA; static const uint8_t SCL = PIN_WIRE_SCL; // Map SPI port to 'new' pins D14..D17 #define PIN_SPI_SS (17) #define PIN_SPI_MOSI (16) #define PIN_SPI_MISO (14) #define PIN_SPI_SCK (15) static const uint8_t SS = PIN_SPI_SS; static const uint8_t MOSI = PIN_SPI_MOSI; static const uint8_t MISO = PIN_SPI_MISO; static const uint8_t SCK = PIN_SPI_SCK; // Mapping of analog pins as digital I/O // A6-A11 share with digital pins #define PIN_A0 (18) #define PIN_A1 (19) #define PIN_A2 (20) #define PIN_A3 (21) #define PIN_A4 (22) #define PIN_A5 (23) #define PIN_A6 (24) #define PIN_A7 (25) #define PIN_A8 (26) #define PIN_A9 (27) #define PIN_A10 (28) #define PIN_A11 (29) static const uint8_t A0 = PIN_A0; static const uint8_t A1 = PIN_A1; static const uint8_t A2 = PIN_A2; static const uint8_t A3 = PIN_A3; static const uint8_t A4 = PIN_A4; static const uint8_t A5 = PIN_A5; static const uint8_t A6 = PIN_A6; // D4 static const uint8_t A7 = PIN_A7; // D6 static const uint8_t A8 = PIN_A8; // D8 static const uint8_t A9 = PIN_A9; // D9 static const uint8_t A10 = PIN_A10; // D10 static const uint8_t A11 = PIN_A11; // D12 // Specific Mapping for the Motor Board static const uint8_t MUX_IN = 20; // A2 static const uint8_t MUXA = 7; // D7 static const uint8_t MUXB = 8; // D8 static const uint8_t MUXC = 11; // D11 static const uint8_t MUXI = 13; // D13 static const uint8_t TRIM = 21; // A3 static const uint8_t SENSE_A = 22; // A4 static const uint8_t SENSE_B = 23; // A5 static const uint8_t IN_A1 = 6; // D6 - A7 static const uint8_t IN_A2 = 5; // D5 static const uint8_t IN_B1 = 10; // D10 static const uint8_t IN_B2 = 9; // D9 static const uint8_t TK1 = 18; // A0 static const uint8_t TK2 = 19; // A1 static const uint8_t TK3 = 4; // A6 static const uint8_t TK4 = 12; // A11 // __AVR_ATmega32U4__ has an unusual mapping of pins to channels extern const uint8_t PROGMEM analog_pin_to_channel_PGM[]; #define analogPinToChannel(P) ( pgm_read_byte( analog_pin_to_channel_PGM + (P) ) ) #define digitalPinToInterrupt(p) ((p) == 0 ? 2 : ((p) == 1 ? 3 : ((p) == 2 ? 1 : ((p) == 3 ? 0 : ((p) == 7 ? 4 : NOT_AN_INTERRUPT))))) #ifdef ARDUINO_MAIN // On the Arduino board, digital pins are also used // for the analog output (software PWM). Analog input // pins are a separate set. // ARDUINO LEONARDO / ARDUINO ROBOT CONTROL / ATMEGA 32U4 / FUNCTION / REGISTER // // D0 RX PD2 RX RXD1/INT2 // D1 TX PD3 TX TXD1/INT3 // D2 SDA PD1 SDA SDA/INT1 // D3# SCL PD0 PWM8/SCL OC0B/SCL/INT0 // D4 TK3 A6 PD4 ADC8 // D5# INA2 PC6 ??? OC3A/#OC4A // D6# INA1 A7 PD7 FastPWM #OC4D/ADC10 // D7 MUXA PE6 INT6/AIN0 // // D8 MUXB A8 PB4 ADC11/PCINT4 // D9# INB2 A9 PB5 PWM16 OC1A/#OC4B/ADC12/PCINT5 // D10# INB1 A10 PB6 PWM16 OC1B/0c4B/ADC13/PCINT6 // D11# MUXC PB7 PWM8/16 0C0A/OC1C/#RTS/PCINT7 // D12 TK4 A11 PD6 T1/#OC4D/ADC9 // D13# MUXI PC7 PWM10 CLK0/OC4A // // A0 TK1 D18 PF7 ADC7 // A1 TK2 D19 PF6 ADC6 // A2 MUX_IN D20 PF5 ADC5 // A3 TRIM D21 PF4 ADC4 // A4 SENSE_A D22 PF1 ADC1 // A5 SENSE_B D23 PF0 ADC0 // // MISO MISO D14 PB3 MISO,PCINT3 // SCK SCK D15 PB1 SCK,PCINT1 // MOSI MOSI D16 PB2 MOSI,PCINT2 // SS RX_LED D17 PB0 RXLED,SS/PCINT0 // // TXLED TX_LED PD5 // HWB PE2 HWB // these arrays map port names (e.g. port B) to the // appropriate addresses for various functions (e.g. reading // and writing) const uint16_t PROGMEM port_to_mode_PGM[] = { NOT_A_PORT, NOT_A_PORT, (uint16_t) &DDRB, (uint16_t) &DDRC, (uint16_t) &DDRD, (uint16_t) &DDRE, (uint16_t) &DDRF, }; const uint16_t PROGMEM port_to_output_PGM[] = { NOT_A_PORT, NOT_A_PORT, (uint16_t) &PORTB, (uint16_t) &PORTC, (uint16_t) &PORTD, (uint16_t) &PORTE, (uint16_t) &PORTF, }; const uint16_t PROGMEM port_to_input_PGM[] = { NOT_A_PORT, NOT_A_PORT, (uint16_t) &PINB, (uint16_t) &PINC, (uint16_t) &PIND, (uint16_t) &PINE, (uint16_t) &PINF, }; const uint8_t PROGMEM digital_pin_to_port_PGM[30] = { PD, // D0 - PD2 PD, // D1 - PD3 PD, // D2 - PD1 PD, // D3 - PD0 PD, // D4 - PD4 PC, // D5 - PC6 PD, // D6 - PD7 PE, // D7 - PE6 PB, // D8 - PB4 PB, // D9 - PB5 PB, // D10 - PB6 PB, // D11 - PB7 PD, // D12 - PD6 PC, // D13 - PC7 PB, // D14 - MISO - PB3 PB, // D15 - SCK - PB1 PB, // D16 - MOSI - PB2 PB, // D17 - SS - PB0 PF, // D18 - A0 - PF7 PF, // D19 - A1 - PF6 PF, // D20 - A2 - PF5 PF, // D21 - A3 - PF4 PF, // D22 - A4 - PF1 PF, // D23 - A5 - PF0 PD, // D24 / D4 - A6 - PD4 PD, // D25 / D6 - A7 - PD7 PB, // D26 / D8 - A8 - PB4 PB, // D27 / D9 - A9 - PB5 PB, // D28 / D10 - A10 - PB6 PD, // D29 / D12 - A11 - PD6 }; const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[30] = { _BV(2), // D0 - PD2 _BV(3), // D1 - PD3 _BV(1), // D2 - PD1 _BV(0), // D3 - PD0 _BV(4), // D4 - PD4 _BV(6), // D5 - PC6 _BV(7), // D6 - PD7 _BV(6), // D7 - PE6 _BV(4), // D8 - PB4 _BV(5), // D9 - PB5 _BV(6), // D10 - PB6 _BV(7), // D11 - PB7 _BV(6), // D12 - PD6 _BV(7), // D13 - PC7 _BV(3), // D14 - MISO - PB3 _BV(1), // D15 - SCK - PB1 _BV(2), // D16 - MOSI - PB2 _BV(0), // D17 - SS - PB0 _BV(7), // D18 - A0 - PF7 _BV(6), // D19 - A1 - PF6 _BV(5), // D20 - A2 - PF5 _BV(4), // D21 - A3 - PF4 _BV(1), // D22 - A4 - PF1 _BV(0), // D23 - A5 - PF0 _BV(4), // D24 / D4 - A6 - PD4 _BV(7), // D25 / D6 - A7 - PD7 _BV(4), // D26 / D8 - A8 - PB4 _BV(5), // D27 / D9 - A9 - PB5 _BV(6), // D28 / D10 - A10 - PB6 _BV(6), // D29 / D12 - A11 - PD6 }; const uint8_t PROGMEM digital_pin_to_timer_PGM[18] = { NOT_ON_TIMER, NOT_ON_TIMER, NOT_ON_TIMER, TIMER0B, /* 3 */ NOT_ON_TIMER, TIMER3A, /* 5 */ TIMER4D, /* 6 */ NOT_ON_TIMER, NOT_ON_TIMER, TIMER1A, /* 9 */ TIMER1B, /* 10 */ TIMER0A, /* 11 */ NOT_ON_TIMER, TIMER4A, /* 13 */ NOT_ON_TIMER, NOT_ON_TIMER, }; const uint8_t PROGMEM analog_pin_to_channel_PGM[12] = { 7, // A0 PF7 ADC7 6, // A1 PF6 ADC6 5, // A2 PF5 ADC5 4, // A3 PF4 ADC4 1, // A4 PF1 ADC1 0, // A5 PF0 ADC0 8, // A6 D4 PD4 ADC8 10, // A7 D6 PD7 ADC10 11, // A8 D8 PB4 ADC11 12, // A9 D9 PB5 ADC12 13, // A10 D10 PB6 ADC13 9 // A11 D12 PD6 ADC9 }; #endif /* ARDUINO_MAIN */ // These serial port names are intended to allow libraries and architecture-neutral // sketches to automatically default to the correct port name for a particular type // of use. For example, a GPS module would normally connect to SERIAL_PORT_HARDWARE_OPEN, // the first hardware serial port whose RX/TX pins are not dedicated to another use. // // SERIAL_PORT_MONITOR Port which normally prints to the Arduino Serial Monitor // // SERIAL_PORT_USBVIRTUAL Port which is USB virtual serial // // SERIAL_PORT_LINUXBRIDGE Port which connects to a Linux system via Bridge library // // SERIAL_PORT_HARDWARE Hardware serial port, physical RX & TX pins. // // SERIAL_PORT_HARDWARE_OPEN Hardware serial ports which are open for use. Their RX & TX // pins are NOT connected to anything by default. #define SERIAL_PORT_MONITOR Serial #define SERIAL_PORT_USBVIRTUAL Serial #define SERIAL_PORT_HARDWARE Serial1 #endif /* Pins_Arduino_h */