sorta working, control needs to be improved

CMakeLists.txt

@@ -3,8 +3,8 @@ project(battletank)
 
 cmake_minimum_required(VERSION 2.6)
 
-set(REMOTE_PORT "/dev/ttyUSB0")
+set(REMOTE_PORT "/dev/ttyUSB1")
-set(DOZER_PORT "/dev/ttyUSB1")
+set(DOZER_PORT "/dev/ttyUSB0")
 
 set(MCU "atmega328p" )
 set(CPU_SPEED "16000000" )
@@ -49,8 +49,8 @@ set(CMAKE_LINKER avr-ld)
 
 # Compiler flags
 add_definitions(-DBAUD=9600UL -DARDUINO -DROLE=1)
-add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED})
+add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED}) #-DARDUINO_AVR_NANO)
-add_definitions(-c -g -Os -Wall)
+add_definitions(-c -g -Os -Wall --std=c++11)
 add_definitions(-fpack-struct -fno-exceptions -ffunction-sections -fdata-sections -funsigned-char -funsigned-bitfields -fshort-enums)
 
 # Linker flags

arduino/hardware/arduino/avr/boards.txt

@@ -46,7 +46,7 @@ yun.build.extra_flags={build.usb_flags}
 
 ##############################################################
 
-uno.name=Arduino/Genuino Uno
+uno.name=Arduino Uno
 
 uno.vid.0=0x2341
 uno.pid.0=0x0043
@@ -185,7 +185,7 @@ nano.menu.cpu.atmega168.build.mcu=atmega168
 
 ##############################################################
 
-mega.name=Arduino/Genuino Mega or Mega 2560
+mega.name=Arduino Mega or Mega 2560
 
 mega.vid.0=0x2341
 mega.pid.0=0x0010
@@ -214,7 +214,7 @@ mega.build.variant=mega
 # default board may be overridden by the cpu menu
 mega.build.board=AVR_MEGA2560
 
-## Arduino/Genuino Mega w/ ATmega2560
+## Arduino Mega w/ ATmega2560
 ## -------------------------
 mega.menu.cpu.atmega2560=ATmega2560 (Mega 2560)
 
@@ -353,7 +353,7 @@ leonardoeth.build.extra_flags={build.usb_flags}
 
 ##############################################################
 
-micro.name=Arduino/Genuino Micro
+micro.name=Arduino Micro
 
 micro.vid.0=0x2341
 micro.pid.0=0x0037
@@ -363,24 +363,10 @@ micro.vid.2=0x2A03
 micro.pid.2=0x0037
 micro.vid.3=0x2A03
 micro.pid.3=0x8037
-
 micro.vid.4=0x2341
 micro.pid.4=0x0237
-# If the board is a 2341:0237 use 2341:8237 for build and set
-# other parameters as well
-micro.vid.4.build.vid=0x2341
-micro.vid.4.build.pid=0x8237
-micro.vid.4.build.usb_product="Genuino Micro"
-micro.vid.4.bootloader.file=caterina/Caterina-Genuino-Micro.hex
-
 micro.vid.5=0x2341
 micro.pid.5=0x8237
-# If the board is a 2341:8237 use 2341:8237 for build and set
-# other paramters as well
-micro.vid.5.build.vid=0x2341
-micro.vid.5.build.pid=0x8237
-micro.vid.5.build.usb_product="Genuino Micro"
-micro.vid.5.bootloader.file=caterina/Caterina-Genuino-Micro.hex
 
 micro.upload.tool=avrdude
 micro.upload.protocol=avr109
@@ -946,7 +932,7 @@ yunmini.bootloader.tool=avrdude
 yunmini.bootloader.low_fuses=0xff
 yunmini.bootloader.high_fuses=0xd8
 yunmini.bootloader.extended_fuses=0xfb
-yunmini.bootloader.file=caterina/Caterina-Yunmini.hex
+yunmini.bootloader.file=caterina/Caterina-YunMini.hex
 yunmini.bootloader.unlock_bits=0x3F
 yunmini.bootloader.lock_bits=0x2F
 

arduino/hardware/arduino/avr/bootloaders/caterina/Caterina-Genuino-Micro.hex

@@ -1,257 +0,0 @@
-:1070000055C000006EC000006CC000006AC00000E7
-:1070100068C0000066C0000064C0000062C00000DC
-:1070200060C000005EC00000F2C400005AC0000052
-:1070300058C0000056C0000054C0000052C00000FC
-:1070400050C0000078C000004CC000004AC00000E2
-:1070500048C0000046C0000044C0000042C000001C
-:1070600040C000003EC000003CC000003AC000002C
-:1070700038C0000036C0000034C0000032C000003C
-:1070800030C000002EC000002CC000002AC000004C
-:1070900028C0000026C0000024C0000022C000005C
-:1070A00020C000001EC000001CC0000011241FBE34
-:1070B000CFEFDAE0DEBFCDBF11E0A0E0B1E0E2E368
-:1070C000FFE702C005900D92A83AB107D9F711E089
-:1070D000A8EAB1E001C01D92AE3BB107E1F78FD342
-:1070E00026C78ECFF89410926F00109281001092F4
-:1070F00085001092840081E085BF15BE47985D9899
-:1071000028980C94000008952091B2013091B301A9
-:107110002F5F3F4F3093B3012093B201932F37FF7E
-:1071200003C08EEF831B982F990F921710F4479886
-:107130000895479A08951F920F920FB60F92112447
-:107140002F938F939F93EF93FF931092850010924C
-:1071500084008091A8019091A901009741F00197C6
-:107160009093A9018093A801892B09F45D988091DF
-:10717000AA019091AB01009741F001979093AB0168
-:107180008093AA01892B09F42898E0E0F0E085912A
-:1071900094918F5F9F4F49F08091AC019091AD0128
-:1071A00001969093AD018093AC01FF91EF919F9177
-:1071B0008F912F910F900FBE0F901F90189584E024
-:1071C0008093E9000DC08091E8008B778093E80000
-:1071D00003C08EB3882351F08091E80082FFF9CF7D
-:1071E0008091E80085FFEFCF8091F1000895982FFE
-:1071F00083E08093E9008091E80085FD0DC08091D7
-:10720000E8008E778093E80003C08EB3882369F08E
-:107210008091E80080FFF9CF9093F1005D9A84E6B9
-:1072200090E09093A9018093A80108954F925F92F6
-:107230006F927F928F929F92AF92BF92CF92DF9286
-:10724000EF92FF920F931F93CF93DF9384E080938D
-:10725000E9008091E80082FF57C2289A84E690E016
-:107260009093AB018093AA01AADF182F853481F493
-:107270008CE49DE19093AD018093AC0107B600FCD6
-:10728000FDCFF999FECF81E180935700E89503C0C7
-:10729000843519F494DF8DE00DC28C34E1F3803530
-:1072A000D1F3843721F484E4A2DF80E003C2813685
-:1072B00011F489E5FFC18134B1F481DF182F7FDF3C
-:1072C00090E0880F991FAA2797FDA095BA2F312F1C
-:1072D000330F20E0442737FD4095542F822B932B0A
-:1072E000A42BB52BB8C1803711F483E5E3C18335F6
-:1072F00049F4C0E0D1E089917ADF21E0C730D207BC
-:10730000D1F7D9C1863521F481E371DF80E3D2C1A1
-:10731000833731F487E86BDF85E969DF8EE1CAC125
-:107320008536B9F4E0E0F0E093E085E09093570013
-:10733000E89507B600FCFDCF80935700E89507B6A7
-:1073400000FCFDCFE058FF4FA0E7E030FA0771F7EF
-:10735000A2CF823739F4E1E0F0E089E08093570072
-:107360008491A8C1863439F4E0E0F0E089E08093AC
-:10737000570084919FC18E3439F4E3E0F0E089E056
-:1073800080935700849196C1813539F4E2E0F0E0B2
-:1073900089E08093570084918DC1823631F489E56C
-:1073A00026DF80E024DF80E885C1823419F087364B
-:1073B00009F0E5C01092AD011092AC0100DF082F7A
-:1073C000FEDEF82EFCDE682E8554823008F071C196
-:1073D000902F80E0CF2DD0E0C82BD92B10926F00DA
-:1073E000173609F04BC081E180935700E895DD2402
-:1073F000CC24C3943FC0E090AE01F090AF01009167
-:10740000B0011091B101B6E46B16D9F4ED2DF0E0A6
-:10741000EE29FF29E4918E2FEADEDD2081F082E063
-:1074200090E0A0E0B0E0E80EF91E0A1F1B1FE092FA
-:10743000AE01F092AF010093B0011093B101DC24D2
-:1074400018C0D801C701B695A7959795879559D5C6
-:10745000CEDE82E090E0A0E0B0E0E80EF91E0A1F68
-:107460001B1FE092AE01F092AF010093B0011093A8
-:10747000B1012197209709F0BECF7DC08090AE0169
-:107480009090AF01A090B001B090B10196E4691660
-:1074900009F05DC083E0F40180935700E89507B6DA
-:1074A00000FCFDCF54C0F6E46F1661F5772031F192
-:1074B000E090AE01F090AF010091B0011091B101E8
-:1074C0007EDED82ECC24852D90E08C299D29F701D5
-:1074D0000C0140925700E895112482E090E0A0E072
-:1074E000B0E0E80EF91E0A1F1B1FE092AE01F092F9
-:1074F000AF010093B0011093B10102C060DE582EBD
-:10750000742423C0E090AE01F090AF010091B0016F
-:107510001091B10116950795F794E79450DE682F06
-:10752000C701F7D48091AE019091AF01A091B00155
-:10753000B091B1010296A11DB11D8093AE0190934F
-:10754000AF01A093B001B093B101219704C05524BD
-:10755000772444244394209709F0A5CF96E4691634
-:1075600041F485E0F40180935700E89507B600FCEC
-:10757000FDCF8DE03CDE82E080936F009CC08334C1
-:1075800071F40091AE011091AF0119DE90E021E09D
-:10759000F8010C0120935700E89511247CCE833626
-:1075A00019F5E090AE01F090AF010091B00110919B
-:1075B000B10105DEF701E16090E021E00C012093CC
-:1075C0005700E895112482E090E0A0E0B0E0E80EDA
-:1075D000F91E0A1F1B1FE092AE01F092AF0100934B
-:1075E000B0011093B10157CE8D3661F4E091AE0138
-:1075F000F091AF0185E080935700E89507B600FC55
-:10760000FDCF49CE823551F4E091AE01F091AF014A
-:1076100005911491812FEBDD802F4CC0843421F52E
-:10762000E090AE01F090AF010091B0011091B10176
-:1076300016950795F794E794C2DD682FC70169D4C2
-:107640008091AE019091AF01A091B001B091B101D4
-:107650000296A11DB11D8093AE019093AF01A0933E
-:10766000B001B093B10117CE843609F5E090AE01B8
-:10767000F090AF010091B0011091B101D801C701A4
-:10768000B695A795979587953CD4B1DD82E090E0BB
-:10769000A0E0B0E0E80EF91E0A1F1B1FE092AE0149
-:1076A000F092AF010093B0011093B10104C08B318F
-:1076B00011F08FE39CDD83E08093E9009091E80076
-:1076C0008091E8008E778093E80095FF04C010C099
-:1076D0008EB38823C9F08091E80080FFF9CF8091B4
-:1076E000E8008E778093E80003C08EB3882361F0B2
-:1076F0008091E80080FFF9CF84E08093E9008091D9
-:10770000E8008B778093E800DF91CF911F910F9174
-:10771000FF90EF90DF90CF90BF90AF909F908F90B1
-:107720007F906F905F904F9008959091B601892F50
-:107730008F77813249F58091B7018032A1F0813293
-:1077400019F5913A09F58091E800877F8093E80068
-:107750008DE091E067E070E00BD28091E8008B77DC
-:107760008093E8000895913279F48091E800877F52
-:107770008093E8008DE091E067E070E05DD2809159
-:10778000E8008E778093E800089582E061EC42E0A3
-:10779000B5D083E061E842E1B1D084E060E842E145
-:1077A000ADC084B7877F84BF88E10FB6F89480931B
-:1077B0006000109260000FBE20E880E090E00FB6FD
-:1077C000F89420936100809361000FBE81E085BF33
-:1077D00092E095BF3F9A209A559AE1E6F0E0208327
-:1077E000108247985D982898109289008AEF8093BC
-:1077F000880090936F0083E080938100F0C04091F7
-:10780000000850910108109201081092000894B7E6
-:1078100014BE88E10FB6F894809360001092600067
-:107820000FBE292F30E0F901E270F07091FD18C011
-:1078300090FF05C0859194918F5F9F4F81F423FF46
-:107840000FC08091090190910A014817590741F032
-:10785000E0E0F0E0859194918F5F9F4F09F042DC6A
-:10786000A0DF78941092AD011092AC010CC0DEDC68
-:1078700036D38091AC019091AD0181549F4110F0BD
-:107880001092140141DC80911401882381F78091CA
-:10789000E00081608093E00025DC80E090E00895C6
-:1078A000FA01923049F0933061F09130F9F485E1BA
-:1078B00091E022E130E01EC087E291E02EE330E06B
-:1078C00019C0882329F485E691E024E030E012C055
-:1078D000813029F489E691E022E230E00BC0823069
-:1078E00029F48DE891E028E130E004C080E090E0E8
-:1078F00020E030E091838083C90108958093E900FE
-:107900008091EB0081608093EB001092ED0060931A
-:10791000EC004093ED008091EE00881F8827881FBF
-:1079200008958091B60188238CF403C08EB3882318
-:10793000B1F08091E80082FFF9CF8091E8008B7769
-:107940008093E80008958EB3882349F08091E80081
-:1079500080FFF9CF8091E8008E778093E80008954A
-:10796000EF92FF920F931F9345D04CD008ED10E09B
-:10797000F80180818F778083808180688083808117
-:107980008F7D808319BC1EBA1092B40180EEE82E60
-:10799000F12CF70180818B7F8083F80180818160E9
-:1079A000808380E060E042E0A9DFE1EEF0E08081EA
-:1079B0008E7F8083E2EEF0E0808181608083808131
-:1079C00088608083F70180818E7F8083F8018081C9
-:1079D000806180831F910F91FF90EF900895E7EDF4
-:1079E000F0E08081816080838AE482BF81E08093BF
-:1079F000B501B6CFE8EDF0E080818E7F80831092F4
-:107A0000E20008951092DA001092E10008951F92AA
-:107A10000F920FB60F9211242F933F934F935F93C2
-:107A20006F937F938F939F93AF93BF93EF93FF9346
-:107A30008091DA0080FF1BC08091D80080FF17C0C2
-:107A40008091DA008E7F8093DA008091D90080FFE8
-:107A50000BC080E189BD82E189BD09B400FEFDCF84
-:107A600081E08EBB3BD203C019BC1EBA37D28091D5
-:107A7000E10080FF17C08091E20080FF13C0809179
-:107A8000E2008E7F8093E2008091E200806180932B
-:107A9000E2008091D80080628093D80019BC85E014
-:107AA0008EBB1CD28091E10084FF2CC08091E2004B
-:107AB00084FF28C080E189BD82E189BD09B400FE50
-:107AC000FDCF8091D8008F7D8093D8008091E10018
-:107AD0008F7E8093E1008091E2008F7E8093E200B0
-:107AE0008091E20081608093E2008091B40188235C
-:107AF00031F48091E30087FD02C081E001C084E0A1
-:107B00008EBBECD18091E10083FF21C08091E20027
-:107B100083FF1DC08091E100877F8093E10082E0B8
-:107B20008EBB1092B4018091E1008E7F8093E100C2
-:107B30008091E2008E7F8093E2008091E20080617C
-:107B40008093E20080E060E042E0D8DEC7D1FF91A0
-:107B5000EF91BF91AF919F918F917F916F915F91C5
-:107B60004F913F912F910F900FBE0F901F9018953E
-:107B70009C014091BC015091BD014617570718F474
-:107B8000F90190E044C06115710511F0AB01F8CF27
-:107B90008091E8008E778093E80040E050E0F0CFDD
-:107BA0008EB3882309F444C0853009F443C0809122
-:107BB000E80083FF02C081E008958091E80082FD23
-:107BC00031C08091E80080FF22C08091F300909145
-:107BD000F200782F60E0292F30E0262B372B07C0EA
-:107BE00081918093F100415050402F5F3F4F4115EC
-:107BF000510519F02830310598F390E0283031050F
-:107C000009F491E08091E8008E778093E8004115B7
-:107C1000510531F6992321F605C08EB3882341F032
-:107C2000853041F08091E80082FFF7CF80E0089531
-:107C300082E0089583E008959C016115710529F49F
-:107C40008091E8008B778093E800F90126C08EB31D
-:107C5000882391F1853091F18091E80083FF02C083
-:107C600081E008958091E80082FFF1CF06C0809105
-:107C7000F10081936150704059F02091F3008091A0
-:107C8000F200322F20E090E0822B932B892B79F7A2
-:107C90008091E8008B778093E80061157105B9F653
-:107CA00005C08EB3882341F0853041F08091E80013
-:107CB00080FFF7CF80E0089582E0089583E0089583
-:107CC0000F931F93DF93CF9300D0CDB7DEB7E6EBD2
-:107CD000F1E08091F100819381E0EE3BF807C9F774
-:107CE00024DD8091E80083FFE4C08091B60190918B
-:107CF000B701953009F46DC0963040F4913081F1B0
-:107D0000913070F0933009F0D4C02AC0983009F453
-:107D1000A3C0993009F4B2C0963009F0CAC07CC043
-:107D2000803809F4C6C0823809F0C3C08091BA0116
-:107D300087708093E9008091EB001092E900209118
-:107D4000E800277F2093E80090E025E0969587954E
-:107D50002A95E1F781708093F1001092F10087C0BD
-:107D6000882319F0823009F0A4C08F71823009F0A5
-:107D7000A0C08091B801882331F52091BA01277005
-:107D800009F497C02093E9008091EB0080FF1BC0AD
-:107D9000933021F48091EB00806213C08091EB005E
-:107DA00080618093EB0081E090E002C0880F991F12
-:107DB0002A95E2F78093EA001092EA008091EB00A6
-:107DC00088608093EB001092E9008091E800877F43
-:107DD00051C0882309F06DC01091B8011F770FB70B
-:107DE000F8948091E800877F8093E8009ADD809185
-:107DF000E80080FFFCCF8091E3008078812B8093A6
-:107E0000E30080688093E300112311F482E001C055
-:107E100083E08EBB0FBF4DC08058823008F049C050
-:107E20008091B8019091B9016091BA01AE014F5FA4
-:107E30005F4F36DDBC01009709F43BC08091E8003C
-:107E4000877F8093E80089819A8192DE8091E800A3
-:107E50008B778093E8002DC0803859F58091E80039
-:107E6000877F8093E8008091B4018093F100809136
-:107E7000E8008E778093E80054DD1BC08823C9F4A6
-:107E80009091B8019230A8F48091E800877F8093A8
-:107E9000E8009093B40145DD8091B401882331F46A
-:107EA0008091E30087FD02C081E001C084E08EBBC9
-:107EB0006CDC8091E80083FF0AC08091EB00806257
-:107EC0008093EB008091E800877F8093E8000F901B
-:107ED0000F90CF91DF911F910F91089508951F93F7
-:107EE0008EB3882361F01091E9001092E90080912F
-:107EF000E80083FF01C0E4DE17701093E9001F91D2
-:107F00000895F999FECF92BD81BDF89A992780B561
-:107F10000895262FF999FECF1FBA92BD81BD20BDCD
-:107F20000FB6F894FA9AF99A0FBE01960895F8944C
-:027F3000FFCF81
-:107F32004341544552494E41007777000800000002
-:107F4200000000080112011001020000084123375D
-:107F52000201000201000109023E0002010080321A
-:107F6200090400000102020100052400100104249A
-:107F720002040524060001070582030800FF090424
-:107F82000100020A000000070504021000010705B3
-:107F92008302100001040309042203470065006EF6
-:107FA20000750069006E006F0020004D00690063DB
-:107FB2000072006F00200020002000000018034122
-:107FC2000072006400750069006E006F0020004CB2
-:087FD200004C00430000000018
-:040000030000700089
-:00000001FF

arduino/hardware/arduino/avr/bootloaders/caterina/Caterina-Genuino-Micro.txt

@@ -1,19 +0,0 @@
-GENUINO MICRO PRODUCTION FIRMWARES
-==================================
-
-Bootloader:
------------
-
-Name: Caterina-Genuino-Micro.hex
-
-Notes:
-Builds against LUFA version 111009
-make version 3.81
-avrdude version 5.11
-
-All AVR tools except avrdude were installed by CrossPack 20100115:
-avr-gcc version 4.3.3 (GCC)
-Thread model: single
-Configured with: ../configure —prefix=/usr/local/CrossPack-AVR-20100115 —disable-dependency-tracking —disable-nls —disable-werror —target=avr —enable-languages=c,c++ —disable-nls —disable-libssp —with-dwarf2
-avr-libc version 1.6.7
-binutils version 2.19

arduino/hardware/arduino/avr/cores/arduino/Arduino.h

@@ -111,7 +111,8 @@ void yield(void);
 #define bitRead(value, bit) (((value) >> (bit)) & 0x01)
 #define bitSet(value, bit) ((value) |= (1UL << (bit)))
 #define bitClear(value, bit) ((value) &= ~(1UL << (bit)))
-#define bitWrite(value, bit, bitvalue) (bitvalue ? bitSet(value, bit) : bitClear(value, bit))
+#define bitToggle(value, bit) ((value) ^= (1UL << (bit)))
+#define bitWrite(value, bit, bitvalue) ((bitvalue) ? bitSet(value, bit) : bitClear(value, bit))
 
 // avr-libc defines _NOP() since 1.6.2
 #ifndef _NOP
@@ -130,16 +131,16 @@ void initVariant(void);
 
 int atexit(void (*func)()) __attribute__((weak));
 
-void pinMode(uint8_t, uint8_t);
+void pinMode(uint8_t pin, uint8_t mode);
-void digitalWrite(uint8_t, uint8_t);
+void digitalWrite(uint8_t pin, uint8_t val);
-int digitalRead(uint8_t);
+int digitalRead(uint8_t pin);
-int analogRead(uint8_t);
+int analogRead(uint8_t pin);
 void analogReference(uint8_t mode);
-void analogWrite(uint8_t, int);
+void analogWrite(uint8_t pin, int val);
 
 unsigned long millis(void);
 unsigned long micros(void);
-void delay(unsigned long);
+void delay(unsigned long ms);
 void delayMicroseconds(unsigned int us);
 unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
 unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout);
@@ -147,8 +148,8 @@ unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout);
 void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
 uint8_t shiftIn(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder);
 
-void attachInterrupt(uint8_t, void (*)(void), int mode);
+void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode);
-void detachInterrupt(uint8_t);
+void detachInterrupt(uint8_t interruptNum);
 
 void setup(void);
 void loop(void);

arduino/hardware/arduino/avr/cores/arduino/CDC.cpp

@@ -41,7 +41,7 @@ static u8 wdtcsr_save;
 extern const CDCDescriptor _cdcInterface PROGMEM;
 const CDCDescriptor _cdcInterface =
 {
-	D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,1),
+	D_IAD(0,2,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),
 
 	//	CDC communication interface
 	D_INTERFACE(CDC_ACM_INTERFACE,1,CDC_COMMUNICATION_INTERFACE_CLASS,CDC_ABSTRACT_CONTROL_MODEL,0),

arduino/hardware/arduino/avr/cores/arduino/HardwareSerial0.cpp

@@ -26,7 +26,7 @@
 #include "HardwareSerial.h"
 #include "HardwareSerial_private.h"
 
-// Each HardwareSerial is defined in its own file, sine the linker pulls
+// Each HardwareSerial is defined in its own file, since the linker pulls
 // in the entire file when any element inside is used. --gc-sections can
 // additionally cause unused symbols to be dropped, but ISRs have the
 // "used" attribute so are never dropped and they keep the

arduino/hardware/arduino/avr/cores/arduino/HardwareSerial1.cpp

@@ -26,7 +26,7 @@
 #include "HardwareSerial.h"
 #include "HardwareSerial_private.h"
 
-// Each HardwareSerial is defined in its own file, sine the linker pulls
+// Each HardwareSerial is defined in its own file, since the linker pulls
 // in the entire file when any element inside is used. --gc-sections can
 // additionally cause unused symbols to be dropped, but ISRs have the
 // "used" attribute so are never dropped and they keep the

arduino/hardware/arduino/avr/cores/arduino/HardwareSerial2.cpp

@@ -26,7 +26,7 @@
 #include "HardwareSerial.h"
 #include "HardwareSerial_private.h"
 
-// Each HardwareSerial is defined in its own file, sine the linker pulls
+// Each HardwareSerial is defined in its own file, since the linker pulls
 // in the entire file when any element inside is used. --gc-sections can
 // additionally cause unused symbols to be dropped, but ISRs have the
 // "used" attribute so are never dropped and they keep the

arduino/hardware/arduino/avr/cores/arduino/HardwareSerial3.cpp

@@ -26,7 +26,7 @@
 #include "HardwareSerial.h"
 #include "HardwareSerial_private.h"
 
-// Each HardwareSerial is defined in its own file, sine the linker pulls
+// Each HardwareSerial is defined in its own file, since the linker pulls
 // in the entire file when any element inside is used. --gc-sections can
 // additionally cause unused symbols to be dropped, but ISRs have the
 // "used" attribute so are never dropped and they keep the

arduino/hardware/arduino/avr/cores/arduino/Stream.cpp

@@ -218,7 +218,6 @@ size_t Stream::readBytes(char *buffer, size_t length)
 
 size_t Stream::readBytesUntil(char terminator, char *buffer, size_t length)
 {
-  if (length < 1) return 0;
   size_t index = 0;
   while (index < length) {
     int c = timedRead();

arduino/hardware/arduino/avr/cores/arduino/Tone.cpp

@@ -180,12 +180,12 @@ static int8_t toneBegin(uint8_t _pin)
       #if defined(TCCR2A) && defined(TCCR2B)
       case 2:
         // 8 bit timer
-       // TCCR2A = 0;
+        TCCR2A = 0;
-       // TCCR2B = 0;
+        TCCR2B = 0;
-//        bitWrite(TCCR2A, WGM21, 1);
+        bitWrite(TCCR2A, WGM21, 1);
-//        bitWrite(TCCR2B, CS20, 1);
+        bitWrite(TCCR2B, CS20, 1);
-//        timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
+        timer2_pin_port = portOutputRegister(digitalPinToPort(_pin));
-//        timer2_pin_mask = digitalPinToBitMask(_pin);
+        timer2_pin_mask = digitalPinToBitMask(_pin);
         break;
       #endif
 
@@ -304,7 +304,7 @@ void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
 #endif
 #if defined(TCCR2B)
       {
-//        TCCR2B = (TCCR2B & 0b11111000) | prescalarbits;
+        TCCR2B = (TCCR2B & 0b11111000) | prescalarbits;
       }
 #else
       {
@@ -385,9 +385,9 @@ void tone(uint8_t _pin, unsigned int frequency, unsigned long duration)
 
 #if defined(OCR2A) && defined(TIMSK2) && defined(OCIE2A)
       case 2:
-//        OCR2A = ocr;
+        OCR2A = ocr;
-//        timer2_toggle_count = toggle_count;
+        timer2_toggle_count = toggle_count;
-//        bitWrite(TIMSK2, OCIE2A, 1);
+        bitWrite(TIMSK2, OCIE2A, 1);
         break;
 #endif
 
@@ -443,16 +443,16 @@ void disableTimer(uint8_t _timer)
 
     case 2:
       #if defined(TIMSK2) && defined(OCIE2A)
-//        bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
+        bitWrite(TIMSK2, OCIE2A, 0); // disable interrupt
       #endif
       #if defined(TCCR2A) && defined(WGM20)
-//        TCCR2A = (1 << WGM20);
+        TCCR2A = (1 << WGM20);
       #endif
       #if defined(TCCR2B) && defined(CS22)
-//        TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
+        TCCR2B = (TCCR2B & 0b11111000) | (1 << CS22);
       #endif
       #if defined(OCR2A)
-//        OCR2A = 0;
+        OCR2A = 0;
       #endif
       break;
 
@@ -534,7 +534,7 @@ ISR(TIMER1_COMPA_vect)
 #endif
 
 
-#ifdef NOPE //USE_TIMER2
+#ifdef USE_TIMER2
 ISR(TIMER2_COMPA_vect)
 {
 

arduino/hardware/arduino/avr/cores/arduino/USBAPI.h

@@ -65,6 +65,8 @@ public:
 	void detach();	// Serial port goes down too...
 	void poll();
 	bool wakeupHost(); // returns false, when wakeup cannot be processed
+
+	bool isSuspended();
 };
 extern USBDevice_ USBDevice;
 

arduino/hardware/arduino/avr/cores/arduino/USBCore.cpp

@@ -496,14 +496,13 @@ bool SendConfiguration(int maxlen)
 static
 bool SendDescriptor(USBSetup& setup)
 {
-	int ret;
 	u8 t = setup.wValueH;
 	if (USB_CONFIGURATION_DESCRIPTOR_TYPE == t)
 		return SendConfiguration(setup.wLength);
 
 	InitControl(setup.wLength);
 #ifdef PLUGGABLE_USB_ENABLED
-	ret = PluggableUSB().getDescriptor(setup);
+	int ret = PluggableUSB().getDescriptor(setup);
 	if (ret != 0) {
 		return (ret > 0 ? true : false);
 	}
@@ -855,4 +854,10 @@ bool USBDevice_::wakeupHost()
 	return false;
 }
 
+bool USBDevice_::isSuspended()
+{
+	return (_usbSuspendState & (1 << SUSPI));
+}
+
+
 #endif /* if defined(USBCON) */

arduino/hardware/arduino/avr/cores/arduino/USBCore.h

@@ -97,6 +97,9 @@
 
 // bMaxPower in Configuration Descriptor
 #define USB_CONFIG_POWER_MA(mA)                ((mA)/2)
+#ifndef USB_CONFIG_POWER
+ #define USB_CONFIG_POWER                      (500)
+#endif
 
 // bEndpointAddress in Endpoint Descriptor
 #define USB_ENDPOINT_DIRECTION_MASK            0x80
@@ -267,7 +270,7 @@ typedef struct
 	{ 18, 1, USB_VERSION, _class,_subClass,_proto,_packetSize0,_vid,_pid,_version,_im,_ip,_is,_configs }
 
 #define D_CONFIG(_totalLength,_interfaces) \
-	{ 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED | USB_CONFIG_REMOTE_WAKEUP, USB_CONFIG_POWER_MA(500) }
+	{ 9, 2, _totalLength,_interfaces, 1, 0, USB_CONFIG_BUS_POWERED | USB_CONFIG_REMOTE_WAKEUP, USB_CONFIG_POWER_MA(USB_CONFIG_POWER) }
 
 #define D_INTERFACE(_n,_numEndpoints,_class,_subClass,_protocol) \
 	{ 9, 4, _n, 0, _numEndpoints, _class,_subClass, _protocol, 0 }

arduino/hardware/arduino/avr/cores/arduino/WInterrupts.c

@@ -65,7 +65,6 @@ static volatile voidFuncPtr intFunc[EXTERNAL_NUM_INTERRUPTS] = {
     nothing,
 #endif
 };
-// volatile static voidFuncPtr twiIntFunc;
 
 void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
   if(interruptNum < EXTERNAL_NUM_INTERRUPTS) {
@@ -103,6 +102,39 @@ void attachInterrupt(uint8_t interruptNum, void (*userFunc)(void), int mode) {
         EICRB = (EICRB & ~((1<<ISC60) | (1<<ISC61))) | (mode << ISC60);
         EIMSK |= (1<<INT6);
         break;
+#elif defined(__AVR_AT90USB82__) || defined(__AVR_AT90USB162__) || defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__) || defined(__AVR_ATmega8U2__)
+    case 0:
+      EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
+      EIMSK |= (1 << INT0);
+      break;
+    case 1:
+      EICRA = (EICRA & ~((1 << ISC10) | (1 << ISC11))) | (mode << ISC10);
+      EIMSK |= (1 << INT1);
+      break;
+    case 2:
+      EICRA = (EICRA & ~((1 << ISC20) | (1 << ISC21))) | (mode << ISC20);
+      EIMSK |= (1 << INT2);
+      break;
+    case 3:
+      EICRA = (EICRA & ~((1 << ISC30) | (1 << ISC31))) | (mode << ISC30);
+      EIMSK |= (1 << INT3);
+      break;
+    case 4:
+      EICRB = (EICRB & ~((1 << ISC40) | (1 << ISC41))) | (mode << ISC40);
+      EIMSK |= (1 << INT4);
+      break;
+    case 5:
+      EICRB = (EICRB & ~((1 << ISC50) | (1 << ISC51))) | (mode << ISC50);
+      EIMSK |= (1 << INT5);
+      break;
+    case 6:
+      EICRB = (EICRB & ~((1 << ISC60) | (1 << ISC61))) | (mode << ISC60);
+      EIMSK |= (1 << INT6);
+      break;
+    case 7:
+      EICRB = (EICRB & ~((1 << ISC70) | (1 << ISC71))) | (mode << ISC70);
+      EIMSK |= (1 << INT7);
+      break;
 #elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
     case 2:
       EICRA = (EICRA & ~((1 << ISC00) | (1 << ISC01))) | (mode << ISC00);
@@ -206,6 +238,31 @@ void detachInterrupt(uint8_t interruptNum) {
     case 4:
         EIMSK &= ~(1<<INT6);
         break;
+#elif defined(__AVR_AT90USB82__) || defined(__AVR_AT90USB162__) || defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__) || defined(__AVR_ATmega8U2__)
+    case 0:
+      EIMSK &= ~(1 << INT0);
+      break;
+    case 1:
+      EIMSK &= ~(1 << INT1);
+      break;
+    case 2:
+      EIMSK &= ~(1 << INT2);
+      break;
+    case 3:
+      EIMSK &= ~(1 << INT3);
+      break;
+    case 4:
+      EIMSK &= ~(1 << INT4);
+      break;
+    case 5:
+      EIMSK &= ~(1 << INT5);
+      break;
+    case 6:
+      EIMSK &= ~(1 << INT6);
+      break;
+    case 7:
+      EIMSK &= ~(1 << INT7);
+      break;
 #elif defined(EICRA) && defined(EICRB) && defined(EIMSK)
     case 2:
       EIMSK &= ~(1 << INT0);
@@ -274,11 +331,6 @@ void detachInterrupt(uint8_t interruptNum) {
   }
 }
 
-/*
-void attachInterruptTwi(void (*userFunc)(void) ) {
-  twiIntFunc = userFunc;
-}
-*/
 
 #define IMPLEMENT_ISR(vect, interrupt) \
   ISR(vect) { \
@@ -293,6 +345,17 @@ IMPLEMENT_ISR(INT2_vect, EXTERNAL_INT_2)
 IMPLEMENT_ISR(INT3_vect, EXTERNAL_INT_3)
 IMPLEMENT_ISR(INT6_vect, EXTERNAL_INT_4)
 
+#elif defined(__AVR_AT90USB82__) || defined(__AVR_AT90USB162__) || defined(__AVR_ATmega32U2__) || defined(__AVR_ATmega16U2__) || defined(__AVR_ATmega8U2__)
+
+IMPLEMENT_ISR(INT0_vect, EXTERNAL_INT_0)
+IMPLEMENT_ISR(INT1_vect, EXTERNAL_INT_1)
+IMPLEMENT_ISR(INT2_vect, EXTERNAL_INT_2)
+IMPLEMENT_ISR(INT3_vect, EXTERNAL_INT_3)
+IMPLEMENT_ISR(INT4_vect, EXTERNAL_INT_4)
+IMPLEMENT_ISR(INT5_vect, EXTERNAL_INT_5)
+IMPLEMENT_ISR(INT6_vect, EXTERNAL_INT_6)
+IMPLEMENT_ISR(INT7_vect, EXTERNAL_INT_7)
+
 #elif defined(EICRA) && defined(EICRB)
 
 IMPLEMENT_ISR(INT0_vect, EXTERNAL_INT_2)
@@ -314,11 +377,3 @@ IMPLEMENT_ISR(INT2_vect, EXTERNAL_INT_2)
 #endif
 
 #endif
-
-/*
-ISR(TWI_vect) {
-  if(twiIntFunc)
-    twiIntFunc();
-}
-*/
-

arduino/hardware/arduino/avr/cores/arduino/WString.cpp

@@ -121,7 +121,7 @@ String::String(double value, unsigned char decimalPlaces)
 
 String::~String()
 {
-	free(buffer);
+	if (buffer) free(buffer);
 }
 
 /*********************************************/

arduino/hardware/arduino/avr/cores/arduino/new

@@ -0,0 +1,5 @@
+/*
+this header is for compatibility with standard c++ header names
+so that #include<new> works as expected
+*/
+#include "new.h"

arduino/hardware/arduino/avr/cores/arduino/new.cpp

@@ -26,6 +26,11 @@ void *operator new[](size_t size) {
   return malloc(size);
 }
 
+void * operator new(size_t size, void * ptr) noexcept {
+  (void)size;
+  return ptr;
+}
+
 void operator delete(void * ptr) {
   free(ptr);
 }

arduino/hardware/arduino/avr/cores/arduino/new.h

@@ -23,6 +23,7 @@
 
 void * operator new(size_t size);
 void * operator new[](size_t size);
+void * operator new(size_t size, void * ptr) noexcept;
 void operator delete(void * ptr);
 void operator delete[](void * ptr);
 

arduino/hardware/arduino/avr/cores/arduino/wiring_analog.c

@@ -164,7 +164,7 @@ void analogWrite(uint8_t pin, int val)
 
 			#if defined(TCCR1A) && defined(COM1C1)
 			case TIMER1C:
-				// connect pwm to pin on timer 1, channel B
+				// connect pwm to pin on timer 1, channel C
 				sbi(TCCR1A, COM1C1);
 				OCR1C = val; // set pwm duty
 				break;

arduino/hardware/arduino/avr/cores/arduino/wiring_pulse.c

@@ -91,27 +91,3 @@ unsigned long pulseInLong(uint8_t pin, uint8_t state, unsigned long timeout)
 	}
 	return micros() - start;
 }
-
-#include <Arduino.h>
-#include <stdlib.h>
-
-unsigned long countPulseASM(volatile uint8_t *port, uint8_t bit, uint8_t stateMask, unsigned long maxloops)
- {
-     unsigned long width = 0;
-     // wait for any previous pulse to end
-     while ((*port & bit) == stateMask)
-         if (--maxloops == 0)
-             return 0;
-
-     // wait for the pulse to start
-     while ((*port & bit) != stateMask)
-         if (--maxloops == 0)
-             return 0;
-
-      // wait for the pulse to stop
-      while ((*port & bit) == stateMask) {
-          if (++width == maxloops)
-              return 0;
-      }
-      return width;
- }

arduino/hardware/arduino/avr/cores/arduino/wiring_shift.c

@@ -42,10 +42,13 @@ void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val)
 	uint8_t i;
 
 	for (i = 0; i < 8; i++)  {
-		if (bitOrder == LSBFIRST)
+		if (bitOrder == LSBFIRST) {
-			digitalWrite(dataPin, !!(val & (1 << i)));
+			digitalWrite(dataPin, val & 1);
-		else	
+			val >>= 1;
-			digitalWrite(dataPin, !!(val & (1 << (7 - i))));
+		} else {	
+			digitalWrite(dataPin, (val & 128) != 0);
+			val <<= 1;
+		}
 			
 		digitalWrite(clockPin, HIGH);
 		digitalWrite(clockPin, LOW);		

arduino/hardware/arduino/avr/extras/pack.hourlybuild.bash

@@ -0,0 +1,51 @@
+#!/bin/bash -ex
+
+#  pack.*.bash - Bash script to help packaging avr core releases.
+#  Copyright (c) 2015 Arduino LLC.  All right reserved.
+#
+#  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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+BUILD_NUMBER=$1
+CURR_TIME=`date "+%Y-%m-%d %H:%M"`
+CURR_TIME_SED=`date "+%Y\\-%m\\-%d %H:%M"`
+VERSION=9.9.9-Hourly
+
+PWD=`pwd`
+FOLDERNAME=`basename $PWD`
+THIS_SCRIPT_NAME=`basename $0`
+FILENAME=package_avr-hourly-b${BUILD_NUMBER}.tar.bz2
+
+rm -f $FILENAME
+
+# Change name in platform.txt
+sed -i "s/name=.*/name=SAMD Hourly Build ${BUILD_NUMBER} (${CURR_TIME})/" platform.txt
+
+cd ..
+tar --transform "s|$FOLDERNAME|avr-hourly_b${BUILD_NUMBER}|g"  --exclude=extras/** --exclude=.git* --exclude=.idea -cjf $FILENAME $FOLDERNAME
+cd -
+
+mv ../$FILENAME .
+
+CHKSUM=`sha256sum $FILENAME | awk '{ print $1 }'`
+SIZE=`wc -c $FILENAME | awk '{ print $1 }'`
+
+cat extras/package_index.json.Hourly.template |
+sed "s/%%BUILD_NUMBER%%/${BUILD_NUMBER}/" |
+sed "s/%%CURR_TIME%%/${CURR_TIME_SED}/" |
+sed "s/%%VERSION%%/${VERSION}/" |
+sed "s/%%FILENAME%%/${FILENAME}/" |
+sed "s/%%CHECKSUM%%/${CHKSUM}/" |
+sed "s/%%SIZE%%/${SIZE}/" > package_avr-hourly-build_index.json
+

arduino/hardware/arduino/avr/extras/pack.pullrequest.bash

@@ -0,0 +1,50 @@
+#!/bin/bash -ex
+
+#  pack.*.bash - Bash script to help packaging avr core releases.
+#  Copyright (c) 2015 Arduino LLC.  All right reserved.
+#
+#  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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+PR_NUMBER=$1
+BUILD_NUMBER=$2
+VERSION=`grep version= platform.txt | sed 's/version=//g'`
+
+PWD=`pwd`
+FOLDERNAME=`basename $PWD`
+THIS_SCRIPT_NAME=`basename $0`
+FILENAME=package_avr-b${BUILD_NUMBER}.tar.bz2
+
+rm -f $FILENAME
+
+# Change name in platform.txt
+sed -i "s/name=.*/name=SAMD Pull request #${PR_NUMBER} (Build ${BUILD_NUMBER})/" platform.txt
+
+cd ..
+tar --transform "s|$FOLDERNAME|avr-PR${PR_NUMBER}_b${BUILD_NUMBER}|g"  --exclude=extras/** --exclude=.git* --exclude=.idea -cjf $FILENAME $FOLDERNAME
+cd -
+
+mv ../$FILENAME .
+
+CHKSUM=`sha256sum $FILENAME | awk '{ print $1 }'`
+SIZE=`wc -c $FILENAME | awk '{ print $1 }'`
+
+cat extras/package_index.json.PR.template |
+sed s/%%PR_NUMBER%%/${PR_NUMBER}/ |
+sed s/%%BUILD_NUMBER%%/${BUILD_NUMBER}/ |
+sed s/%%VERSION%%/${VERSION}-build-${BUILD_NUMBER}/ |
+sed s/%%FILENAME%%/${FILENAME}/ |
+sed s/%%CHECKSUM%%/${CHKSUM}/ |
+sed s/%%SIZE%%/${SIZE}/ > package_avr-b${BUILD_NUMBER}_index.json
+

arduino/hardware/arduino/avr/extras/pack.release.bash

@@ -0,0 +1,33 @@
+#!/bin/bash -ex
+
+#  pack.*.bash - Bash script to help packaging avr core releases.
+#  Copyright (c) 2015 Arduino LLC.  All right reserved.
+#
+#  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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+VERSION=`grep version= platform.txt | sed 's/version=//g'`
+
+PWD=`pwd`
+FOLDERNAME=`basename $PWD`
+THIS_SCRIPT_NAME=`basename $0`
+
+rm -f avr-$VERSION.tar.bz2
+
+cd ..
+tar --transform "s|$FOLDERNAME|$FOLDERNAME-$VERSION|g"  --exclude=extras/** --exclude=.git* --exclude=.idea -cjf avr-$VERSION.tar.bz2 $FOLDERNAME
+cd -
+
+mv ../avr-$VERSION.tar.bz2 .
+

arduino/hardware/arduino/avr/extras/package_index.json.Hourly.template

@@ -0,0 +1,72 @@
+{
+  "packages": [
+    {
+      "name": "arduino-beta",
+      "maintainer": "Arduino Betatesting",
+      "websiteURL": "http://www.arduino.cc/",
+      "email": "packages@arduino.cc",
+      "help": {
+        "online": "http://www.arduino.cc/en/Reference/HomePage"
+      },
+      "platforms": [
+        {
+          "name": "Arduino AVR core - Hourly build",
+          "architecture": "avr",
+          "version": "%%VERSION%%",
+          "category": "Arduino",
+          "url": "http://downloads.arduino.cc/Hourly/avr/%%FILENAME%%",
+          "archiveFileName": "%%FILENAME%%",
+          "checksum": "SHA-256:%%CHECKSUM%%",
+          "size": "%%SIZE%%",
+          "boards": [
+            {"name": "Arduino Yún"},
+            {"name": "Arduino Uno"},
+            {"name": "Arduino Uno WiFi"},
+            {"name": "Arduino Diecimila"},
+            {"name": "Arduino Nano"},
+            {"name": "Arduino Mega"},
+            {"name": "Arduino MegaADK"},
+            {"name": "Arduino Leonardo"},
+            {"name": "Arduino Leonardo Ethernet"},
+            {"name": "Arduino Micro"},
+            {"name": "Arduino Esplora"},
+            {"name": "Arduino Mini"},
+            {"name": "Arduino Ethernet"},
+            {"name": "Arduino Fio"},
+            {"name": "Arduino BT"},
+            {"name": "Arduino LilyPadUSB"},
+            {"name": "Arduino Lilypad"},
+            {"name": "Arduino Pro"},
+            {"name": "Arduino ATMegaNG"},
+            {"name": "Arduino Robot Control"},
+            {"name": "Arduino Robot Motor"},
+            {"name": "Arduino Gemma"},
+            {"name": "Adafruit Circuit Playground"},
+            {"name": "Arduino Yún Mini"},
+            {"name": "Arduino Industrial 101"},
+            {"name": "Linino One"}
+          ],
+          "toolsDependencies": [
+            {
+              "packager": "arduino",
+              "name": "avr-gcc",
+              "version": "4.9.2-atmel3.5.4-arduino2"
+            },
+            {
+              "packager": "arduino",
+              "name": "avrdude",
+              "version": "6.3.0-arduino9"
+            },
+            {
+              "packager": "arduino",
+              "name": "arduinoOTA",
+              "version": "1.1.1"
+            }
+          ]
+        }
+      ],
+      "tools": [
+      ]
+    }
+  ]
+}

arduino/hardware/arduino/avr/extras/package_index.json.PR.template

@@ -0,0 +1,72 @@
+{
+  "packages": [
+    {
+      "name": "arduino-beta",
+      "maintainer": "Arduino Betatesting",
+      "websiteURL": "http://www.arduino.cc/",
+      "email": "packages@arduino.cc",
+      "help": {
+        "online": "http://www.arduino.cc/en/Reference/HomePage"
+      },
+      "platforms": [
+        {
+          "name": "Arduino AVR core - Pull request #%%PR_NUMBER%% (build %%BUILD_NUMBER%%)",
+          "architecture": "avr",
+          "version": "%%VERSION%%",
+          "category": "Arduino",
+          "url": "http://downloads.arduino.cc/PR/a/%%FILENAME%%",
+          "archiveFileName": "%%FILENAME%%",
+          "checksum": "SHA-256:%%CHECKSUM%%",
+          "size": "%%SIZE%%",
+          "boards": [
+            {"name": "Arduino Yún"},
+            {"name": "Arduino Uno"},
+            {"name": "Arduino Uno WiFi"},
+            {"name": "Arduino Diecimila"},
+            {"name": "Arduino Nano"},
+            {"name": "Arduino Mega"},
+            {"name": "Arduino MegaADK"},
+            {"name": "Arduino Leonardo"},
+            {"name": "Arduino Leonardo Ethernet"},
+            {"name": "Arduino Micro"},
+            {"name": "Arduino Esplora"},
+            {"name": "Arduino Mini"},
+            {"name": "Arduino Ethernet"},
+            {"name": "Arduino Fio"},
+            {"name": "Arduino BT"},
+            {"name": "Arduino LilyPadUSB"},
+            {"name": "Arduino Lilypad"},
+            {"name": "Arduino Pro"},
+            {"name": "Arduino ATMegaNG"},
+            {"name": "Arduino Robot Control"},
+            {"name": "Arduino Robot Motor"},
+            {"name": "Arduino Gemma"},
+            {"name": "Adafruit Circuit Playground"},
+            {"name": "Arduino Yún Mini"},
+            {"name": "Arduino Industrial 101"},
+            {"name": "Linino One"}
+          ],
+          "toolsDependencies": [
+            {
+              "packager": "arduino",
+              "name": "avr-gcc",
+              "version": "4.9.2-atmel3.5.4-arduino2"
+            },
+            {
+              "packager": "arduino",
+              "name": "avrdude",
+              "version": "6.3.0-arduino9"
+            },
+            {
+              "packager": "arduino",
+              "name": "arduinoOTA",
+              "version": "1.1.1"
+            }
+          ]
+        }
+      ],
+      "tools": [
+      ]
+    }
+  ]
+}

arduino/hardware/arduino/avr/libraries/SoftwareSerial/src/SoftwareSerial.cpp

@@ -316,7 +316,7 @@ void SoftwareSerial::begin(long speed)
   _tx_delay = subtract_cap(bit_delay, 15 / 4);
 
   // Only setup rx when we have a valid PCINT for this pin
-  if (digitalPinToPCICR(_receivePin)) {
+  if (digitalPinToPCICR((int8_t)_receivePin)) {
     #if GCC_VERSION > 40800
     // Timings counted from gcc 4.8.2 output. This works up to 115200 on
     // 16Mhz and 57600 on 8Mhz.
@@ -357,7 +357,7 @@ void SoftwareSerial::begin(long speed)
     // Enable the PCINT for the entire port here, but never disable it
     // (others might also need it, so we disable the interrupt by using
     // the per-pin PCMSK register).
-    *digitalPinToPCICR(_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
+    *digitalPinToPCICR((int8_t)_receivePin) |= _BV(digitalPinToPCICRbit(_receivePin));
     // Precalculate the pcint mask register and value, so setRxIntMask
     // can be used inside the ISR without costing too much time.
     _pcint_maskreg = digitalPinToPCMSK(_receivePin);

arduino/hardware/arduino/avr/libraries/SoftwareSerial/src/SoftwareSerial.h

@@ -111,13 +111,4 @@ public:
   static inline void handle_interrupt() __attribute__((__always_inline__));
 };
 
-// Arduino 0012 workaround
-#undef int
-#undef char
-#undef long
-#undef byte
-#undef float
-#undef abs
-#undef round
-
 #endif

arduino/hardware/arduino/avr/libraries/Wire/examples/i2c_scanner/i2c_scanner.ino

@@ -0,0 +1,75 @@
+// --------------------------------------
+// i2c_scanner
+//
+// Version 1
+//    This program (or code that looks like it)
+//    can be found in many places.
+//    For example on the Arduino.cc forum.
+//    The original author is not know.
+// Version 2, Juni 2012, Using Arduino 1.0.1
+//     Adapted to be as simple as possible by Arduino.cc user Krodal
+// Version 3, Feb 26  2013
+//    V3 by louarnold
+// Version 4, March 3, 2013, Using Arduino 1.0.3
+//    by Arduino.cc user Krodal.
+//    Changes by louarnold removed.
+//    Scanning addresses changed from 0...127 to 1...119,
+//    according to the i2c scanner by Nick Gammon
+//    https://www.gammon.com.au/forum/?id=10896
+// Version 5, March 28, 2013
+//    As version 4, but address scans now to 127.
+//    A sensor seems to use address 120.
+// Version 6, November 27, 2015.
+//    Added waiting for the Leonardo serial communication.
+//
+//
+// This sketch tests the standard 7-bit addresses
+// Devices with higher bit address might not be seen properly.
+//
+
+#include <Wire.h>
+
+void setup() {
+  Wire.begin();
+
+  Serial.begin(9600);
+  while (!Serial); // Leonardo: wait for serial monitor
+  Serial.println("\nI2C Scanner");
+}
+
+void loop() {
+  int nDevices = 0;
+
+  Serial.println("Scanning...");
+
+  for (byte address = 1; address < 127; ++address) {
+    // The i2c_scanner uses the return value of
+    // the Write.endTransmisstion to see if
+    // a device did acknowledge to the address.
+    Wire.beginTransmission(address);
+    byte error = Wire.endTransmission();
+
+    if (error == 0) {
+      Serial.print("I2C device found at address 0x");
+      if (address < 16) {
+        Serial.print("0");
+      }
+      Serial.print(address, HEX);
+      Serial.println("  !");
+
+      ++nDevices;
+    } else if (error == 4) {
+      Serial.print("Unknown error at address 0x");
+      if (address < 16) {
+        Serial.print("0");
+      }
+      Serial.println(address, HEX);
+    }
+  }
+  if (nDevices == 0) {
+    Serial.println("No I2C devices found\n");
+  } else {
+    Serial.println("done\n");
+  }
+  delay(5000); // Wait 5 seconds for next scan
+}

arduino/hardware/arduino/avr/libraries/Wire/src/Wire.cpp

@@ -18,6 +18,7 @@
  
   Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
   Modified 2017 by Chuck Todd (ctodd@cableone.net) to correct Unconfigured Slave Mode reboot
+  Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
 */
 
 extern "C" {
@@ -86,6 +87,52 @@ void TwoWire::setClock(uint32_t clock)
   twi_setFrequency(clock);
 }
 
+/***
+ * Sets the TWI timeout.
+ *
+ * This limits the maximum time to wait for the TWI hardware. If more time passes, the bus is assumed
+ * to have locked up (e.g. due to noise-induced glitches or faulty slaves) and the transaction is aborted.
+ * Optionally, the TWI hardware is also reset, which can be required to allow subsequent transactions to
+ * succeed in some cases (in particular when noise has made the TWI hardware think there is a second
+ * master that has claimed the bus).
+ *
+ * When a timeout is triggered, a flag is set that can be queried with `getWireTimeoutFlag()` and is cleared
+ * when `clearWireTimeoutFlag()` or `setWireTimeoutUs()` is called.
+ *
+ * Note that this timeout can also trigger while waiting for clock stretching or waiting for a second master
+ * to complete its transaction. So make sure to adapt the timeout to accomodate for those cases if needed.
+ * A typical timeout would be 25ms (which is the maximum clock stretching allowed by the SMBus protocol),
+ * but (much) shorter values will usually also work.
+ *
+ * In the future, a timeout will be enabled by default, so if you require the timeout to be disabled, it is
+ * recommended you disable it by default using `setWireTimeoutUs(0)`, even though that is currently
+ * the default.
+ *
+ * @param timeout a timeout value in microseconds, if zero then timeout checking is disabled
+ * @param reset_with_timeout if true then TWI interface will be automatically reset on timeout
+ *                           if false then TWI interface will not be reset on timeout
+
+ */
+void TwoWire::setWireTimeout(uint32_t timeout, bool reset_with_timeout){
+  twi_setTimeoutInMicros(timeout, reset_with_timeout);
+}
+
+/***
+ * Returns the TWI timeout flag.
+ *
+ * @return true if timeout has occured since the flag was last cleared.
+ */
+bool TwoWire::getWireTimeoutFlag(void){
+  return(twi_manageTimeoutFlag(false));
+}
+
+/***
+ * Clears the TWI timeout flag.
+ */
+void TwoWire::clearWireTimeoutFlag(void){
+  twi_manageTimeoutFlag(true);
+}
+
 uint8_t TwoWire::requestFrom(uint8_t address, uint8_t quantity, uint32_t iaddress, uint8_t isize, uint8_t sendStop)
 {
   if (isize > 0) {

arduino/hardware/arduino/avr/libraries/Wire/src/Wire.h

@@ -17,6 +17,7 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
   Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
+  Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
 */
 
 #ifndef TwoWire_h
@@ -54,13 +55,16 @@ class TwoWire : public Stream
     void begin(int);
     void end();
     void setClock(uint32_t);
+    void setWireTimeout(uint32_t timeout = 25000, bool reset_with_timeout = false);
+    bool getWireTimeoutFlag(void);
+    void clearWireTimeoutFlag(void);
     void beginTransmission(uint8_t);
     void beginTransmission(int);
     uint8_t endTransmission(void);
     uint8_t endTransmission(uint8_t);
     uint8_t requestFrom(uint8_t, uint8_t);
     uint8_t requestFrom(uint8_t, uint8_t, uint8_t);
-	uint8_t requestFrom(uint8_t, uint8_t, uint32_t, uint8_t, uint8_t);
+    uint8_t requestFrom(uint8_t, uint8_t, uint32_t, uint8_t, uint8_t);
     uint8_t requestFrom(int, int);
     uint8_t requestFrom(int, int, int);
     virtual size_t write(uint8_t);

arduino/hardware/arduino/avr/libraries/Wire/src/utility/twi.c

@@ -17,6 +17,7 @@
   Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 
   Modified 2012 by Todd Krein (todd@krein.org) to implement repeated starts
+  Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
 */
 
 #include <math.h>
@@ -24,8 +25,9 @@
 #include <inttypes.h>
 #include <avr/io.h>
 #include <avr/interrupt.h>
+#include <util/delay.h>
 #include <compat/twi.h>
-#include "Arduino.h" // for digitalWrite
+#include "Arduino.h" // for digitalWrite and micros
 
 #ifndef cbi
 #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
@@ -43,6 +45,16 @@ static volatile uint8_t twi_slarw;
 static volatile uint8_t twi_sendStop;			// should the transaction end with a stop
 static volatile uint8_t twi_inRepStart;			// in the middle of a repeated start
 
+// twi_timeout_us > 0 prevents the code from getting stuck in various while loops here
+// if twi_timeout_us == 0 then timeout checking is disabled (the previous Wire lib behavior)
+// at some point in the future, the default twi_timeout_us value could become 25000
+// and twi_do_reset_on_timeout could become true
+// to conform to the SMBus standard
+// http://smbus.org/specs/SMBus_3_1_20180319.pdf
+static volatile uint32_t twi_timeout_us = 0ul;
+static volatile bool twi_timed_out_flag = false;  // a timeout has been seen
+static volatile bool twi_do_reset_on_timeout = false;  // reset the TWI registers on timeout
+
 static void (*twi_onSlaveTransmit)(void);
 static void (*twi_onSlaveReceive)(uint8_t*, int);
 
@@ -154,8 +166,12 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sen
   }
 
   // wait until twi is ready, become master receiver
+  uint32_t startMicros = micros();
   while(TWI_READY != twi_state){
-    continue;
+    if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
+      twi_handleTimeout(twi_do_reset_on_timeout);
+      return 0;
+    }
   }
   twi_state = TWI_MRX;
   twi_sendStop = sendStop;
@@ -183,22 +199,32 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sen
     // up. Also, don't enable the START interrupt. There may be one pending from the 
     // repeated start that we sent ourselves, and that would really confuse things.
     twi_inRepStart = false;			// remember, we're dealing with an ASYNC ISR
+    startMicros = micros();
     do {
       TWDR = twi_slarw;
+      if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
+        twi_handleTimeout(twi_do_reset_on_timeout);
+        return 0;
+      }
     } while(TWCR & _BV(TWWC));
     TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE);	// enable INTs, but not START
-  }
+  } else {
-  else
     // send start condition
     TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWEA) | _BV(TWINT) | _BV(TWSTA);
+  }
 
   // wait for read operation to complete
+  startMicros = micros();
   while(TWI_MRX == twi_state){
-    continue;
+    if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
+      twi_handleTimeout(twi_do_reset_on_timeout);
+      return 0;
+    }
   }
 
-  if (twi_masterBufferIndex < length)
+  if (twi_masterBufferIndex < length) {
     length = twi_masterBufferIndex;
+  }
 
   // copy twi buffer to data
   for(i = 0; i < length; ++i){
@@ -222,6 +248,7 @@ uint8_t twi_readFrom(uint8_t address, uint8_t* data, uint8_t length, uint8_t sen
  *          2 .. address send, NACK received
  *          3 .. data send, NACK received
  *          4 .. other twi error (lost bus arbitration, bus error, ..)
+ *          5 .. timeout
  */
 uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait, uint8_t sendStop)
 {
@@ -233,8 +260,12 @@ uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait
   }
 
   // wait until twi is ready, become master transmitter
+  uint32_t startMicros = micros();
   while(TWI_READY != twi_state){
-    continue;
+    if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
+      twi_handleTimeout(twi_do_reset_on_timeout);
+      return (5);
+    }
   }
   twi_state = TWI_MTX;
   twi_sendStop = sendStop;
@@ -265,18 +296,27 @@ uint8_t twi_writeTo(uint8_t address, uint8_t* data, uint8_t length, uint8_t wait
     // up. Also, don't enable the START interrupt. There may be one pending from the 
     // repeated start that we sent outselves, and that would really confuse things.
     twi_inRepStart = false;			// remember, we're dealing with an ASYNC ISR
+    startMicros = micros();
     do {
       TWDR = twi_slarw;
+      if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
+        twi_handleTimeout(twi_do_reset_on_timeout);
+        return (5);
+      }
     } while(TWCR & _BV(TWWC));
     TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE);	// enable INTs, but not START
-  }
+  } else {
-  else
     // send start condition
     TWCR = _BV(TWINT) | _BV(TWEA) | _BV(TWEN) | _BV(TWIE) | _BV(TWSTA);	// enable INTs
+  }
 
   // wait for write operation to complete
+  startMicros = micros();
   while(wait && (TWI_MTX == twi_state)){
-    continue;
+    if((twi_timeout_us > 0ul) && ((micros() - startMicros) > twi_timeout_us)) {
+      twi_handleTimeout(twi_do_reset_on_timeout);
+      return (5);
+    }
   }
   
   if (twi_error == 0xFF)
@@ -356,7 +396,7 @@ void twi_reply(uint8_t ack)
   if(ack){
     TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT) | _BV(TWEA);
   }else{
-	  TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
+    TWCR = _BV(TWEN) | _BV(TWIE) | _BV(TWINT);
   }
 }
 
@@ -373,8 +413,19 @@ void twi_stop(void)
 
   // wait for stop condition to be exectued on bus
   // TWINT is not set after a stop condition!
+  // We cannot use micros() from an ISR, so approximate the timeout with cycle-counted delays
+  const uint8_t us_per_loop = 8;
+  uint32_t counter = (twi_timeout_us + us_per_loop - 1)/us_per_loop; // Round up
   while(TWCR & _BV(TWSTO)){
-    continue;
+    if(twi_timeout_us > 0ul){
+      if (counter > 0ul){
+        _delay_us(us_per_loop);
+        counter--;
+      } else {
+        twi_handleTimeout(twi_do_reset_on_timeout);
+        return;
+      }
+    }
   }
 
   // update twi state
@@ -396,6 +447,59 @@ void twi_releaseBus(void)
   twi_state = TWI_READY;
 }
 
+/* 
+ * Function twi_setTimeoutInMicros
+ * Desc     set a timeout for while loops that twi might get stuck in
+ * Input    timeout value in microseconds (0 means never time out)
+ * Input    reset_with_timeout: true causes timeout events to reset twi
+ * Output   none
+ */
+void twi_setTimeoutInMicros(uint32_t timeout, bool reset_with_timeout){
+  twi_timed_out_flag = false;
+  twi_timeout_us = timeout;
+  twi_do_reset_on_timeout = reset_with_timeout;
+}
+
+/* 
+ * Function twi_handleTimeout
+ * Desc     this gets called whenever a while loop here has lasted longer than
+ *          twi_timeout_us microseconds. always sets twi_timed_out_flag
+ * Input    reset: true causes this function to reset the twi hardware interface
+ * Output   none
+ */
+void twi_handleTimeout(bool reset){
+  twi_timed_out_flag = true;
+
+  if (reset) {
+    // remember bitrate and address settings
+    uint8_t previous_TWBR = TWBR;
+    uint8_t previous_TWAR = TWAR;
+
+    // reset the interface
+    twi_disable();
+    twi_init();
+
+    // reapply the previous register values
+    TWAR = previous_TWAR;
+    TWBR = previous_TWBR;
+  }
+}
+
+/*
+ * Function twi_manageTimeoutFlag
+ * Desc     returns true if twi has seen a timeout
+ *          optionally clears the timeout flag
+ * Input    clear_flag: true if we should reset the hardware
+ * Output   none
+ */
+bool twi_manageTimeoutFlag(bool clear_flag){
+  bool flag = twi_timed_out_flag;
+  if (clear_flag){
+    twi_timed_out_flag = false;
+  }
+  return(flag);
+}
+
 ISR(TWI_vect)
 {
   switch(TW_STATUS){
@@ -416,16 +520,16 @@ ISR(TWI_vect)
         TWDR = twi_masterBuffer[twi_masterBufferIndex++];
         twi_reply(1);
       }else{
-	if (twi_sendStop)
+        if (twi_sendStop){
           twi_stop();
-	else {
+       } else {
-	  twi_inRepStart = true;	// we're gonna send the START
+         twi_inRepStart = true;	// we're gonna send the START
-	  // don't enable the interrupt. We'll generate the start, but we 
+         // don't enable the interrupt. We'll generate the start, but we
-	  // avoid handling the interrupt until we're in the next transaction,
+         // avoid handling the interrupt until we're in the next transaction,
-	  // at the point where we would normally issue the start.
+         // at the point where we would normally issue the start.
-	  TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
+         TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
-	  twi_state = TWI_READY;
+         twi_state = TWI_READY;
-	}
+        }
       }
       break;
     case TW_MT_SLA_NACK:  // address sent, nack received
@@ -445,6 +549,7 @@ ISR(TWI_vect)
     case TW_MR_DATA_ACK: // data received, ack sent
       // put byte into buffer
       twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
+      __attribute__ ((fallthrough));
     case TW_MR_SLA_ACK:  // address sent, ack received
       // ack if more bytes are expected, otherwise nack
       if(twi_masterBufferIndex < twi_masterBufferLength){
@@ -456,17 +561,17 @@ ISR(TWI_vect)
     case TW_MR_DATA_NACK: // data received, nack sent
       // put final byte into buffer
       twi_masterBuffer[twi_masterBufferIndex++] = TWDR;
-	if (twi_sendStop)
+      if (twi_sendStop){
-          twi_stop();
+        twi_stop();
-	else {
+      } else {
-	  twi_inRepStart = true;	// we're gonna send the START
+        twi_inRepStart = true;	// we're gonna send the START
-	  // don't enable the interrupt. We'll generate the start, but we 
+        // don't enable the interrupt. We'll generate the start, but we
-	  // avoid handling the interrupt until we're in the next transaction,
+        // avoid handling the interrupt until we're in the next transaction,
-	  // at the point where we would normally issue the start.
+        // at the point where we would normally issue the start.
-	  TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
+        TWCR = _BV(TWINT) | _BV(TWSTA)| _BV(TWEN) ;
-	  twi_state = TWI_READY;
+        twi_state = TWI_READY;
-	}    
+      }
-	break;
+      break;
     case TW_MR_SLA_NACK: // address sent, nack received
       twi_stop();
       break;
@@ -530,6 +635,7 @@ ISR(TWI_vect)
         twi_txBufferLength = 1;
         twi_txBuffer[0] = 0x00;
       }
+      __attribute__ ((fallthrough));		  
       // transmit first byte from buffer, fall
     case TW_ST_DATA_ACK: // byte sent, ack returned
       // copy data to output register
@@ -558,4 +664,3 @@ ISR(TWI_vect)
       break;
   }
 }
-

arduino/hardware/arduino/avr/libraries/Wire/src/utility/twi.h

@@ -15,6 +15,8 @@
   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., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+  Modified 2020 by Greyson Christoforo (grey@christoforo.net) to implement timeouts
 */
 
 #ifndef twi_h
@@ -50,6 +52,8 @@
   void twi_reply(uint8_t);
   void twi_stop(void);
   void twi_releaseBus(void);
+  void twi_setTimeoutInMicros(uint32_t, bool);
+  void twi_handleTimeout(bool);
+  bool twi_manageTimeoutFlag(bool);
 
 #endif
-

arduino/hardware/arduino/avr/platform.txt

@@ -6,7 +6,7 @@
 # https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5-3rd-party-Hardware-specification
 
 name=Arduino AVR Boards
-version=1.6.23
+version=1.8.3
 
 # AVR compile variables
 # ---------------------
@@ -33,6 +33,7 @@ compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,
 compiler.elf2hex.flags=-O ihex -R .eeprom
 compiler.elf2hex.cmd=avr-objcopy
 compiler.ldflags=
+compiler.libraries.ldflags=
 compiler.size.cmd=avr-size
 
 # This can be overridden in boards.txt
@@ -65,7 +66,7 @@ archive_file_path={build.path}/{archive_file}
 recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{archive_file_path}" "{object_file}"
 
 ## Combine gc-sections, archives, and objects
-recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} -o "{build.path}/{build.project_name}.elf" {object_files} "{build.path}/{archive_file}" "-L{build.path}" -lm
+recipe.c.combine.pattern="{compiler.path}{compiler.c.elf.cmd}" {compiler.c.elf.flags} -mmcu={build.mcu} {compiler.c.elf.extra_flags} {compiler.ldflags} -o "{build.path}/{build.project_name}.elf" {object_files} {compiler.libraries.ldflags} "{build.path}/{archive_file}" "-L{build.path}" -lm
 
 ## Create output files (.eep and .hex)
 recipe.objcopy.eep.pattern="{compiler.path}{compiler.objcopy.cmd}" {compiler.objcopy.eep.flags} {compiler.objcopy.eep.extra_flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.eep"

arduino/hardware/arduino/avr/programmers.txt

@@ -43,13 +43,22 @@ parallel.program.extra_params=-F
 
 arduinoasisp.name=Arduino as ISP
 arduinoasisp.communication=serial
-arduinoasisp.protocol=arduino
+arduinoasisp.protocol=stk500v1
 arduinoasisp.speed=19200
-arduinoasisp.program.protocol=arduino
+arduinoasisp.program.protocol=stk500v1
 arduinoasisp.program.speed=19200
 arduinoasisp.program.tool=avrdude
 arduinoasisp.program.extra_params=-P{serial.port} -b{program.speed}
 
+arduinoasispatmega32u4.name=Arduino as ISP (ATmega32U4)
+arduinoasispatmega32u4.communication=serial
+arduinoasispatmega32u4.protocol=arduino
+arduinoasispatmega32u4.speed=19200
+arduinoasispatmega32u4.program.protocol=arduino
+arduinoasispatmega32u4.program.speed=19200
+arduinoasispatmega32u4.program.tool=avrdude
+arduinoasispatmega32u4.program.extra_params=-P{serial.port} -b{program.speed}
+
 usbGemma.name=Arduino Gemma
 usbGemma.protocol=arduinogemma
 usbGemma.program.tool=avrdude

arduino/hardware/arduino/avr/variants/ethernet/pins_arduino.h

@@ -250,5 +250,6 @@ const uint8_t PROGMEM digital_pin_to_timer_PGM[] = {
 //                            pins are NOT connected to anything by default.
 #define SERIAL_PORT_HARDWARE       Serial
 #define SERIAL_PORT_HARDWARE_OPEN  Serial
+#define SERIAL_PORT_MONITOR        Serial
 
 #endif

arduino/libraries/RF24/RF24.cpp

@@ -191,6 +191,17 @@ void RF24::print_status(uint8_t status)
            ((status >> RX_P_NO) & B111),
            (status & _BV(TX_FULL))?1:0
           );
+
+  char arr1[128];
+  sprintf_P(arr1, PSTR("STATUS\t\t = 0x%02x RX_DR=%x TX_DS=%x MAX_RT=%x RX_P_NO=%x TX_FULL=%x\r\n"),
+          status,
+          (status & _BV(RX_DR))?1:0,
+          (status & _BV(TX_DS))?1:0,
+          (status & _BV(MAX_RT))?1:0,
+          ((status >> RX_P_NO) & B111),
+          (status & _BV(TX_FULL))?1:0
+          );
+  Serial.write(arr1);
 }
 
 /****************************************************************************/
@@ -210,9 +221,20 @@ void RF24::print_byte_register(const char* name, uint8_t reg, uint8_t qty)
 {
   char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
   printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
-  while (qty--)
+  char arr1[32];
-    printf_P(PSTR(" 0x%02x"),read_register(reg++));
+  sprintf_P(arr1, PSTR(PRIPSTR"\t%c ="),name,extra_tab);
+  Serial.write(arr1);
+
+    while (qty--) {
+        printf_P(PSTR(" 0x%02x"), read_register(reg++));
+        char arr2[32];
+        sprintf_P(arr2, PSTR(" 0x%02x"), read_register(reg++));
+        Serial.write(arr2);
+    }
   printf_P(PSTR("\r\n"));
+  char arr3[32];
+  sprintf_P(arr3, PSTR("\r\n"));
+  Serial.write(arr3);
 }
 
 /****************************************************************************/
@@ -222,6 +244,10 @@ void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
   char extra_tab = strlen_P(name) < 8 ? '\t' : 0;
   printf_P(PSTR(PRIPSTR"\t%c ="),name,extra_tab);
 
+  char arr1[32];
+  sprintf_P(arr1, PSTR(PRIPSTR"\t%c ="),name,extra_tab);
+  Serial.write(arr1);
+
   while (qty--)
   {
     uint8_t buffer[5];
@@ -231,9 +257,15 @@ void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
     uint8_t* bufptr = buffer + sizeof buffer;
     while( --bufptr >= buffer )
       printf_P(PSTR("%02x"),*bufptr);
+      char arr2[32];
+      sprintf_P(arr2, PSTR("%02x"),*bufptr);
+      Serial.write(arr2);
   }
 
   printf_P(PSTR("\r\n"));
+  char arr3[32];
+  sprintf_P(arr3, PSTR("\r\n"));
+  Serial.write(arr3);
 }
 
 /****************************************************************************/
@@ -308,24 +340,42 @@ static const char * const rf24_pa_dbm_e_str_P[] PROGMEM = {
 
 void RF24::printDetails(void)
 {
-  print_status(get_status());
+    print_status(get_status());
+
+    print_address_register(PSTR("RX_ADDR_P0-1"),RX_ADDR_P0,2);
+    print_byte_register(PSTR("RX_ADDR_P2-5"),RX_ADDR_P2,4);
+    print_address_register(PSTR("TX_ADDR"),TX_ADDR);
+
+    print_byte_register(PSTR("RX_PW_P0-6"),RX_PW_P0,6);
+    print_byte_register(PSTR("EN_AA"),EN_AA);
+    print_byte_register(PSTR("EN_RXADDR"),EN_RXADDR);
+    print_byte_register(PSTR("RF_CH"),RF_CH);
+    print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
+    print_byte_register(PSTR("CONFIG"),CONFIG);
+    print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
+
+    printf_P(PSTR("Data Rate\t = %S\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
+    printf_P(PSTR("Model\t\t = %S\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
+    printf_P(PSTR("CRC Length\t = %S\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
+    printf_P(PSTR("PA Power\t = %S\r\n"),pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
+
+    char arr1[32];
+    sprintf_P(arr1, PSTR("Data Rate\t = %S\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
+    Serial.write(arr1);
+
+    char arr2[32];
+    sprintf_P(arr2, PSTR("Model\t\t = %S\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
+    Serial.write(arr2);
+
+    char arr3[32];
+    sprintf_P(arr3, PSTR("CRC Length\t = %S\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
+    Serial.write(arr3);
 
-  print_address_register(PSTR("RX_ADDR_P0-1"),RX_ADDR_P0,2);
+    char arr4[32];
-  print_byte_register(PSTR("RX_ADDR_P2-5"),RX_ADDR_P2,4);
+    sprintf_P(arr4, PSTR("PA Power\t = %S\r\n"),pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
-  print_address_register(PSTR("TX_ADDR"),TX_ADDR);
+    Serial.write(arr4);
 
-  print_byte_register(PSTR("RX_PW_P0-6"),RX_PW_P0,6);
-  print_byte_register(PSTR("EN_AA"),EN_AA);
-  print_byte_register(PSTR("EN_RXADDR"),EN_RXADDR);
-  print_byte_register(PSTR("RF_CH"),RF_CH);
-  print_byte_register(PSTR("RF_SETUP"),RF_SETUP);
-  print_byte_register(PSTR("CONFIG"),CONFIG);
-  print_byte_register(PSTR("DYNPD/FEATURE"),DYNPD,2);
 
-  printf_P(PSTR("Data Rate\t = %S\r\n"),pgm_read_word(&rf24_datarate_e_str_P[getDataRate()]));
-  printf_P(PSTR("Model\t\t = %S\r\n"),pgm_read_word(&rf24_model_e_str_P[isPVariant()]));
-  printf_P(PSTR("CRC Length\t = %S\r\n"),pgm_read_word(&rf24_crclength_e_str_P[getCRCLength()]));
-  printf_P(PSTR("PA Power\t = %S\r\n"),pgm_read_word(&rf24_pa_dbm_e_str_P[getPALevel()]));
 }
 
 /****************************************************************************/

arduino/libraries/SoftPWM/SoftPWM.cpp

@@ -173,7 +173,10 @@ void SoftPWMSetPolarity(int8_t pin, uint8_t polarity) {
     }
 }
 
-
+void SoftPWMSetPercent(int8_t pin, uint8_t percent, uint8_t hardset)
+{
+    SoftPWMSet(pin, ((uint16_t)percent * 255) / 100, hardset);
+}
 
 void SoftPWMSet(uint8_t pin, uint8_t value, uint8_t hardset) {
 

arduino/libraries/SoftPWM/SoftPWM.h

@@ -49,7 +49,7 @@
 
 void SoftPWMBegin(uint8_t defaultPolarity = SOFTPWM_NORMAL);
 
-void SoftPWMSet(int8_t pin, uint8_t value, uint8_t hardset = 0);
+void SoftPWMSet(uint8_t pin, uint8_t value, uint8_t hardset = 0);
 
 void SoftPWMEnd(int8_t pin);
 

cad/IEbus/IEbus.kicad_pcb

@@ -0,0 +1 @@
+(kicad_pcb (version 4) (host kicad "dummy file") )

cad/IEbus/IEbus.pro

@@ -0,0 +1,33 @@
+update=22/05/2015 07:44:53
+version=1
+last_client=kicad
+[general]
+version=1
+RootSch=
+BoardNm=
+[pcbnew]
+version=1
+LastNetListRead=
+UseCmpFile=1
+PadDrill=0.600000000000
+PadDrillOvalY=0.600000000000
+PadSizeH=1.500000000000
+PadSizeV=1.500000000000
+PcbTextSizeV=1.500000000000
+PcbTextSizeH=1.500000000000
+PcbTextThickness=0.300000000000
+ModuleTextSizeV=1.000000000000
+ModuleTextSizeH=1.000000000000
+ModuleTextSizeThickness=0.150000000000
+SolderMaskClearance=0.000000000000
+SolderMaskMinWidth=0.000000000000
+DrawSegmentWidth=0.200000000000
+BoardOutlineThickness=0.100000000000
+ModuleOutlineThickness=0.150000000000
+[cvpcb]
+version=1
+NetIExt=net
+[eeschema]
+version=1
+LibDir=
+[eeschema/libraries]

cad/IEbus/IEbus.sch

@@ -0,0 +1,4 @@
+EESchema Schematic File Version 2
+EELAYER 25 0
+EELAYER END
+$EndSCHEMATC

cad/n/cad-B_Cu.gbr

@@ -0,0 +1,380 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Copper,L2,Bot*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,ComponentPad*%
+%ADD10O,1.800000X1.800000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD11R,1.800000X1.800000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD12C,1.524000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD13O,1.200000X2.000000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD14O,1.600000X1.600000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD15R,1.600000X1.600000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD16C,1.778000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD17C,2.286000*%
+%TD*%
+%TA.AperFunction,ViaPad*%
+%ADD18C,0.800000*%
+%TD*%
+%TA.AperFunction,Conductor*%
+%ADD19C,0.250000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+%TO.P,D1,2*%
+%TO.N,Net-(D1-Pad2)*%
+X200406000Y-113030000D03*
+D11*
+%TO.P,D1,1*%
+%TO.N,Net-(D1-Pad1)*%
+X200406000Y-125730000D03*
+%TD*%
+D12*
+%TO.P,U4,2*%
+%TO.N,Net-(D1-Pad2)*%
+X190174000Y-114300000D03*
+%TO.P,U4,1*%
+%TO.N,Net-(U2-Pad5)*%
+X117674000Y-114300000D03*
+%TD*%
+D13*
+%TO.P,U1,7*%
+%TO.N,Net-(A1-Pad15)*%
+X156210000Y-101600000D03*
+%TO.P,U1,8*%
+%TO.N,Net-(U1-Pad8)*%
+X156210000Y-99060000D03*
+%TO.P,U1,5*%
+%TO.N,Net-(A1-Pad16)*%
+X153670000Y-101600000D03*
+%TO.P,U1,6*%
+%TO.N,Net-(A1-Pad14)*%
+X153670000Y-99060000D03*
+%TO.P,U1,3*%
+%TO.N,Net-(A1-Pad10)*%
+X151130000Y-101600000D03*
+%TO.P,U1,4*%
+%TO.N,Net-(A1-Pad11)*%
+X151130000Y-99060000D03*
+%TO.P,U1,1*%
+%TO.N,Net-(A1-Pad29)*%
+X148590000Y-101600000D03*
+%TO.P,U1,2*%
+%TO.N,Net-(A1-Pad17)*%
+X148590000Y-99060000D03*
+%TD*%
+D12*
+%TO.P,U3,4*%
+%TO.N,Net-(A1-Pad29)*%
+X151120000Y-120590000D03*
+%TO.P,U3,3*%
+%TO.N,Net-(A1-Pad30)*%
+X151120000Y-113090000D03*
+%TO.P,U3,2*%
+%TO.N,Net-(U2-Pad6)*%
+X181620000Y-120590000D03*
+%TO.P,U3,1*%
+%TO.N,Net-(U2-Pad3)*%
+X181620000Y-113090000D03*
+%TD*%
+%TO.P,U2,5*%
+%TO.N,Net-(U2-Pad5)*%
+X170240000Y-98900000D03*
+%TO.P,U2,6*%
+%TO.N,Net-(U2-Pad6)*%
+X166990000Y-98900000D03*
+%TO.P,U2,4*%
+%TO.N,Net-(D1-Pad1)*%
+X177740000Y-98900000D03*
+%TO.P,U2,3*%
+%TO.N,Net-(U2-Pad3)*%
+X180990000Y-98900000D03*
+%TO.P,U2,2*%
+%TO.N,Net-(U2-Pad2)*%
+X180990000Y-76400000D03*
+%TO.P,U2,1*%
+%TO.N,Net-(U2-Pad1)*%
+X166990000Y-76400000D03*
+%TD*%
+D14*
+%TO.P,A1,16*%
+%TO.N,Net-(A1-Pad16)*%
+X125730000Y-78740000D03*
+%TO.P,A1,15*%
+%TO.N,Net-(A1-Pad15)*%
+X140970000Y-78740000D03*
+%TO.P,A1,30*%
+%TO.N,Net-(A1-Pad30)*%
+X125730000Y-114300000D03*
+%TO.P,A1,14*%
+%TO.N,Net-(A1-Pad14)*%
+X140970000Y-81280000D03*
+%TO.P,A1,29*%
+%TO.N,Net-(A1-Pad29)*%
+X125730000Y-111760000D03*
+%TO.P,A1,13*%
+%TO.N,Net-(A1-Pad13)*%
+X140970000Y-83820000D03*
+%TO.P,A1,28*%
+%TO.N,Net-(A1-Pad28)*%
+X125730000Y-109220000D03*
+%TO.P,A1,12*%
+%TO.N,Net-(A1-Pad12)*%
+X140970000Y-86360000D03*
+%TO.P,A1,27*%
+%TO.N,Net-(A1-Pad27)*%
+X125730000Y-106680000D03*
+%TO.P,A1,11*%
+%TO.N,Net-(A1-Pad11)*%
+X140970000Y-88900000D03*
+%TO.P,A1,26*%
+%TO.N,Net-(A1-Pad26)*%
+X125730000Y-104140000D03*
+%TO.P,A1,10*%
+%TO.N,Net-(A1-Pad10)*%
+X140970000Y-91440000D03*
+%TO.P,A1,25*%
+%TO.N,Net-(A1-Pad25)*%
+X125730000Y-101600000D03*
+%TO.P,A1,9*%
+%TO.N,Net-(A1-Pad9)*%
+X140970000Y-93980000D03*
+%TO.P,A1,24*%
+%TO.N,Net-(A1-Pad24)*%
+X125730000Y-99060000D03*
+%TO.P,A1,8*%
+%TO.N,Net-(A1-Pad8)*%
+X140970000Y-96520000D03*
+%TO.P,A1,23*%
+%TO.N,Net-(A1-Pad23)*%
+X125730000Y-96520000D03*
+%TO.P,A1,7*%
+%TO.N,Net-(A1-Pad7)*%
+X140970000Y-99060000D03*
+%TO.P,A1,22*%
+%TO.N,Net-(A1-Pad22)*%
+X125730000Y-93980000D03*
+%TO.P,A1,6*%
+%TO.N,Net-(A1-Pad6)*%
+X140970000Y-101600000D03*
+%TO.P,A1,21*%
+%TO.N,Net-(A1-Pad21)*%
+X125730000Y-91440000D03*
+%TO.P,A1,5*%
+%TO.N,Net-(A1-Pad5)*%
+X140970000Y-104140000D03*
+%TO.P,A1,20*%
+%TO.N,Net-(A1-Pad20)*%
+X125730000Y-88900000D03*
+%TO.P,A1,4*%
+%TO.N,Net-(A1-Pad4)*%
+X140970000Y-106680000D03*
+%TO.P,A1,19*%
+%TO.N,Net-(A1-Pad19)*%
+X125730000Y-86360000D03*
+%TO.P,A1,3*%
+%TO.N,Net-(A1-Pad3)*%
+X140970000Y-109220000D03*
+%TO.P,A1,18*%
+%TO.N,Net-(A1-Pad18)*%
+X125730000Y-83820000D03*
+%TO.P,A1,2*%
+%TO.N,Net-(A1-Pad2)*%
+X140970000Y-111760000D03*
+%TO.P,A1,17*%
+%TO.N,Net-(A1-Pad17)*%
+X125730000Y-81280000D03*
+D15*
+%TO.P,A1,1*%
+%TO.N,Net-(A1-Pad1)*%
+X140970000Y-114300000D03*
+%TD*%
+D16*
+%TO.P,J1,4*%
+%TO.N,Net-(A1-Pad29)*%
+X97950000Y-101610000D03*
+%TO.P,J1,1*%
+%TO.N,Net-(A1-Pad24)*%
+X97950000Y-99060000D03*
+%TO.P,J1,0*%
+%TO.N,Net-(A1-Pad17)*%
+X97948000Y-96510000D03*
+D17*
+%TO.P,J1,MOUN*%
+%TO.N,N/C*%
+X113005000Y-94060000D03*
+X113005000Y-104060000D03*
+%TO.P,J1,0*%
+%TO.N,Net-(A1-Pad17)*%
+X100355000Y-104060000D03*
+%TO.P,J1,MOUN*%
+%TO.N,N/C*%
+X100355000Y-94060000D03*
+D16*
+%TO.P,J1,4*%
+%TO.N,Net-(A1-Pad29)*%
+X109230000Y-107790000D03*
+%TO.P,J1,2*%
+%TO.N,Net-(A1-Pad23)*%
+X106680000Y-107790000D03*
+%TO.P,J1,0*%
+%TO.N,Net-(A1-Pad17)*%
+X104130000Y-107790000D03*
+%TO.P,J1,4*%
+%TO.N,Net-(A1-Pad29)*%
+X109930000Y-93310000D03*
+X103430000Y-93310000D03*
+%TO.P,J1,3*%
+%TO.N,Net-(A1-Pad12)*%
+X109930000Y-88810000D03*
+X103430000Y-88810000D03*
+%TD*%
+%TO.P,J2,4*%
+%TO.N,Net-(A1-Pad29)*%
+X193200000Y-101610000D03*
+%TO.P,J2,1*%
+%TO.N,Net-(A1-Pad25)*%
+X193200000Y-99060000D03*
+%TO.P,J2,0*%
+%TO.N,Net-(A1-Pad17)*%
+X193198000Y-96510000D03*
+D17*
+%TO.P,J2,MOUN*%
+%TO.N,N/C*%
+X208255000Y-94060000D03*
+X208255000Y-104060000D03*
+%TO.P,J2,0*%
+%TO.N,Net-(A1-Pad17)*%
+X195605000Y-104060000D03*
+%TO.P,J2,MOUN*%
+%TO.N,N/C*%
+X195605000Y-94060000D03*
+D16*
+%TO.P,J2,4*%
+%TO.N,Net-(A1-Pad29)*%
+X204480000Y-107790000D03*
+%TO.P,J2,2*%
+%TO.N,Net-(A1-Pad26)*%
+X201930000Y-107790000D03*
+%TO.P,J2,0*%
+%TO.N,Net-(A1-Pad17)*%
+X199380000Y-107790000D03*
+%TO.P,J2,4*%
+%TO.N,Net-(A1-Pad29)*%
+X205180000Y-93310000D03*
+X198680000Y-93310000D03*
+%TO.P,J2,3*%
+%TO.N,Net-(A1-Pad13)*%
+X205180000Y-88810000D03*
+X198680000Y-88810000D03*
+%TD*%
+D18*
+%TO.N,Net-(A1-Pad15)*%
+X157480000Y-78740000D03*
+X147320000Y-78740000D03*
+%TO.N,Net-(A1-Pad14)*%
+X153670000Y-81280000D03*
+X147320000Y-81280000D03*
+%TO.N,Net-(A1-Pad29)*%
+X190575000Y-98985000D03*
+X204480000Y-99050000D03*
+%TO.N,Net-(A1-Pad13)*%
+X158750000Y-83820000D03*
+X147320000Y-83820000D03*
+%TO.N,Net-(A1-Pad11)*%
+X147320000Y-88900000D03*
+X151130000Y-88900000D03*
+%TO.N,Net-(A1-Pad26)*%
+X121920000Y-115570000D03*
+X121920000Y-110490000D03*
+%TO.N,Net-(A1-Pad10)*%
+X147320000Y-91440000D03*
+X152400000Y-91440000D03*
+%TO.N,Net-(A1-Pad25)*%
+X123190000Y-104140000D03*
+X123190000Y-115570000D03*
+%TO.N,Net-(A1-Pad24)*%
+X120650000Y-110490000D03*
+X120650000Y-115570000D03*
+%TD*%
+D19*
+%TO.N,Net-(A1-Pad15)*%
+X157480000Y-78740000D02*
+X147320000Y-78740000D01*
+%TO.N,Net-(A1-Pad14)*%
+X147320000Y-81280000D02*
+X153670000Y-81280000D01*
+%TO.N,Net-(A1-Pad29)*%
+X203275999Y-97845999D02*
+X204480000Y-99050000D01*
+X191714001Y-97845999D02*
+X203275999Y-97845999D01*
+X190575000Y-98985000D02*
+X191714001Y-97845999D01*
+%TO.N,Net-(A1-Pad13)*%
+X158750000Y-83820000D02*
+X147320000Y-83820000D01*
+%TO.N,Net-(A1-Pad11)*%
+X151130000Y-88900000D02*
+X147320000Y-88900000D01*
+%TO.N,Net-(A1-Pad26)*%
+X121920000Y-115570000D02*
+X121920000Y-110490000D01*
+%TO.N,Net-(A1-Pad10)*%
+X147320000Y-91440000D02*
+X152400000Y-91440000D01*
+%TO.N,Net-(A1-Pad25)*%
+X123190000Y-104140000D02*
+X123190000Y-115570000D01*
+%TO.N,Net-(A1-Pad24)*%
+X120650000Y-110490000D02*
+X120650000Y-115570000D01*
+X120650000Y-115570000D02*
+X120650000Y-115570000D01*
+%TO.N,Net-(U2-Pad5)*%
+X170240000Y-113224000D02*
+X170240000Y-98900000D01*
+X117674000Y-114300000D02*
+X117674000Y-116150000D01*
+X164592000Y-118872000D02*
+X170240000Y-113224000D01*
+X120396000Y-118872000D02*
+X164592000Y-118872000D01*
+X117674000Y-116150000D02*
+X120396000Y-118872000D01*
+%TO.N,Net-(D1-Pad1)*%
+X177740000Y-98900000D02*
+X177740000Y-104842000D01*
+X198628000Y-125730000D02*
+X200406000Y-125730000D01*
+X177740000Y-104842000D02*
+X198628000Y-125730000D01*
+%TO.N,Net-(D1-Pad2)*%
+X191444000Y-113030000D02*
+X190174000Y-114300000D01*
+X200406000Y-113030000D02*
+X191444000Y-113030000D01*
+%TD*%
+M02*

cad/n/cad-B_Mask.gbr

@@ -0,0 +1,106 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Soldermask,Bot*%
+%TF.FilePolarity,Negative*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%ADD10O,1.900000X1.900000*%
+%ADD11R,1.900000X1.900000*%
+%ADD12C,1.624000*%
+%ADD13C,4.100000*%
+%ADD14O,1.300000X2.100000*%
+%ADD15O,1.700000X1.700000*%
+%ADD16R,1.700000X1.700000*%
+G04 APERTURE END LIST*
+D10*
+%TO.C,D1*%
+X200406000Y-113030000D03*
+D11*
+X200406000Y-125730000D03*
+%TD*%
+D12*
+%TO.C,U4*%
+X190174000Y-114300000D03*
+X117674000Y-114300000D03*
+%TD*%
+D13*
+%TO.C,REF\u002A\u002A*%
+X208280000Y-123444000D03*
+%TD*%
+%TO.C,REF\u002A\u002A*%
+X208280000Y-78740000D03*
+%TD*%
+%TO.C,REF\u002A\u002A*%
+X98044000Y-123444000D03*
+%TD*%
+%TO.C,REF\u002A\u002A*%
+X98044000Y-78740000D03*
+%TD*%
+D14*
+%TO.C,U1*%
+X156210000Y-101600000D03*
+X156210000Y-99060000D03*
+X153670000Y-101600000D03*
+X153670000Y-99060000D03*
+X151130000Y-101600000D03*
+X151130000Y-99060000D03*
+X148590000Y-101600000D03*
+X148590000Y-99060000D03*
+%TD*%
+D12*
+%TO.C,U3*%
+X151120000Y-120590000D03*
+X151120000Y-113090000D03*
+X181620000Y-120590000D03*
+X181620000Y-113090000D03*
+%TD*%
+%TO.C,U2*%
+X170240000Y-98900000D03*
+X166990000Y-98900000D03*
+X177740000Y-98900000D03*
+X180990000Y-98900000D03*
+X180990000Y-76400000D03*
+X166990000Y-76400000D03*
+%TD*%
+D15*
+%TO.C,A1*%
+X125730000Y-78740000D03*
+X140970000Y-78740000D03*
+X125730000Y-114300000D03*
+X140970000Y-81280000D03*
+X125730000Y-111760000D03*
+X140970000Y-83820000D03*
+X125730000Y-109220000D03*
+X140970000Y-86360000D03*
+X125730000Y-106680000D03*
+X140970000Y-88900000D03*
+X125730000Y-104140000D03*
+X140970000Y-91440000D03*
+X125730000Y-101600000D03*
+X140970000Y-93980000D03*
+X125730000Y-99060000D03*
+X140970000Y-96520000D03*
+X125730000Y-96520000D03*
+X140970000Y-99060000D03*
+X125730000Y-93980000D03*
+X140970000Y-101600000D03*
+X125730000Y-91440000D03*
+X140970000Y-104140000D03*
+X125730000Y-88900000D03*
+X140970000Y-106680000D03*
+X125730000Y-86360000D03*
+X140970000Y-109220000D03*
+X125730000Y-83820000D03*
+X140970000Y-111760000D03*
+X125730000Y-81280000D03*
+D16*
+X140970000Y-114300000D03*
+%TD*%
+M02*

cad/n/cad-B_Paste.gbr

@@ -0,0 +1,15 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Paste,Bot*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+G04 APERTURE END LIST*
+M02*

cad/n/cad-B_SilkS.gbr

@@ -0,0 +1,272 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Legend,Bot*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%ADD10C,0.120000*%
+%ADD11C,0.203200*%
+%ADD12C,0.101600*%
+%ADD13C,0.150000*%
+G04 APERTURE END LIST*
+D10*
+%TO.C,U4*%
+X192424000Y-124800000D02*
+X192424000Y-103800000D01*
+X115424000Y-124800000D02*
+X192424000Y-124800000D01*
+X115424000Y-103800000D02*
+X115424000Y-124800000D01*
+X192424000Y-103800000D02*
+X115424000Y-103800000D01*
+D11*
+%TO.C,J1*%
+X112268000Y-87060000D02*
+X101092000Y-87060000D01*
+X111506000Y-110490000D02*
+X101854000Y-110490000D01*
+X111506000Y-110490000D02*
+X111506000Y-107950000D01*
+X101854000Y-110490000D02*
+X101854000Y-107950000D01*
+X111506000Y-107950000D02*
+X114300000Y-107950000D01*
+X101854000Y-107950000D02*
+X99060000Y-107950000D01*
+X116205000Y-94996000D02*
+X116205000Y-103124000D01*
+X114300000Y-94996000D02*
+X114300000Y-92075000D01*
+X114300000Y-103124000D02*
+X114300000Y-107950000D01*
+X114300000Y-94996000D02*
+X116205000Y-94996000D01*
+X114300000Y-103124000D02*
+X116205000Y-103124000D01*
+X114300000Y-92075000D02*
+X112268000Y-92075000D01*
+X101092000Y-92075000D02*
+X99060000Y-92075000D01*
+X112268000Y-87060000D02*
+X112268000Y-92075000D01*
+X101092000Y-87060000D02*
+X101092000Y-92075000D01*
+X99060000Y-94234000D02*
+X95504000Y-94234000D01*
+X99060000Y-103886000D02*
+X95504000Y-103886000D01*
+X95504000Y-94234000D02*
+X95504000Y-103886000D01*
+X99060000Y-94234000D02*
+X99060000Y-92075000D01*
+X99060000Y-103886000D02*
+X99060000Y-107950000D01*
+D12*
+X107129013Y-99060000D02*
+G75*
+G03*
+X107129013Y-99060000I-449013J0D01*
+G01*
+D11*
+%TO.C,J2*%
+X207518000Y-87060000D02*
+X196342000Y-87060000D01*
+X206756000Y-110490000D02*
+X197104000Y-110490000D01*
+X206756000Y-110490000D02*
+X206756000Y-107950000D01*
+X197104000Y-110490000D02*
+X197104000Y-107950000D01*
+X206756000Y-107950000D02*
+X209550000Y-107950000D01*
+X197104000Y-107950000D02*
+X194310000Y-107950000D01*
+X211455000Y-94996000D02*
+X211455000Y-103124000D01*
+X209550000Y-94996000D02*
+X209550000Y-92075000D01*
+X209550000Y-103124000D02*
+X209550000Y-107950000D01*
+X209550000Y-94996000D02*
+X211455000Y-94996000D01*
+X209550000Y-103124000D02*
+X211455000Y-103124000D01*
+X209550000Y-92075000D02*
+X207518000Y-92075000D01*
+X196342000Y-92075000D02*
+X194310000Y-92075000D01*
+X207518000Y-87060000D02*
+X207518000Y-92075000D01*
+X196342000Y-87060000D02*
+X196342000Y-92075000D01*
+X194310000Y-94234000D02*
+X190754000Y-94234000D01*
+X194310000Y-103886000D02*
+X190754000Y-103886000D01*
+X190754000Y-94234000D02*
+X190754000Y-103886000D01*
+X194310000Y-94234000D02*
+X194310000Y-92075000D01*
+X194310000Y-103886000D02*
+X194310000Y-107950000D01*
+D12*
+X202379013Y-99060000D02*
+G75*
+G03*
+X202379013Y-99060000I-449013J0D01*
+G01*
+%TO.C,U4*%
+D13*
+X157638285Y-106752380D02*
+X158209714Y-106752380D01*
+X157924000Y-106752380D02*
+X157924000Y-105752380D01*
+X158019238Y-105895238D01*
+X158114476Y-105990476D01*
+X158209714Y-106038095D01*
+X157066857Y-106180952D02*
+X157162095Y-106133333D01*
+X157209714Y-106085714D01*
+X157257333Y-105990476D01*
+X157257333Y-105942857D01*
+X157209714Y-105847619D01*
+X157162095Y-105800000D01*
+X157066857Y-105752380D01*
+X156876380Y-105752380D01*
+X156781142Y-105800000D01*
+X156733523Y-105847619D01*
+X156685904Y-105942857D01*
+X156685904Y-105990476D01*
+X156733523Y-106085714D01*
+X156781142Y-106133333D01*
+X156876380Y-106180952D01*
+X157066857Y-106180952D01*
+X157162095Y-106228571D01*
+X157209714Y-106276190D01*
+X157257333Y-106371428D01*
+X157257333Y-106561904D01*
+X157209714Y-106657142D01*
+X157162095Y-106704761D01*
+X157066857Y-106752380D01*
+X156876380Y-106752380D01*
+X156781142Y-106704761D01*
+X156733523Y-106657142D01*
+X156685904Y-106561904D01*
+X156685904Y-106371428D01*
+X156733523Y-106276190D01*
+X156781142Y-106228571D01*
+X156876380Y-106180952D01*
+X155828761Y-105752380D02*
+X156019238Y-105752380D01*
+X156114476Y-105800000D01*
+X156162095Y-105847619D01*
+X156257333Y-105990476D01*
+X156304952Y-106180952D01*
+X156304952Y-106561904D01*
+X156257333Y-106657142D01*
+X156209714Y-106704761D01*
+X156114476Y-106752380D01*
+X155924000Y-106752380D01*
+X155828761Y-106704761D01*
+X155781142Y-106657142D01*
+X155733523Y-106561904D01*
+X155733523Y-106323809D01*
+X155781142Y-106228571D01*
+X155828761Y-106180952D01*
+X155924000Y-106133333D01*
+X156114476Y-106133333D01*
+X156209714Y-106180952D01*
+X156257333Y-106228571D01*
+X156304952Y-106323809D01*
+X154828761Y-105752380D02*
+X155304952Y-105752380D01*
+X155352571Y-106228571D01*
+X155304952Y-106180952D01*
+X155209714Y-106133333D01*
+X154971619Y-106133333D01*
+X154876380Y-106180952D01*
+X154828761Y-106228571D01*
+X154781142Y-106323809D01*
+X154781142Y-106561904D01*
+X154828761Y-106657142D01*
+X154876380Y-106704761D01*
+X154971619Y-106752380D01*
+X155209714Y-106752380D01*
+X155304952Y-106704761D01*
+X155352571Y-106657142D01*
+X154162095Y-105752380D02*
+X154066857Y-105752380D01*
+X153971619Y-105800000D01*
+X153924000Y-105847619D01*
+X153876380Y-105942857D01*
+X153828761Y-106133333D01*
+X153828761Y-106371428D01*
+X153876380Y-106561904D01*
+X153924000Y-106657142D01*
+X153971619Y-106704761D01*
+X154066857Y-106752380D01*
+X154162095Y-106752380D01*
+X154257333Y-106704761D01*
+X154304952Y-106657142D01*
+X154352571Y-106561904D01*
+X154400190Y-106371428D01*
+X154400190Y-106133333D01*
+X154352571Y-105942857D01*
+X154304952Y-105847619D01*
+X154257333Y-105800000D01*
+X154162095Y-105752380D01*
+X153400190Y-106371428D02*
+X152638285Y-106371428D01*
+X152162095Y-106752380D02*
+X152162095Y-105752380D01*
+X152162095Y-106133333D02*
+X152066857Y-106085714D01*
+X151876380Y-106085714D01*
+X151781142Y-106133333D01*
+X151733523Y-106180952D01*
+X151685904Y-106276190D01*
+X151685904Y-106561904D01*
+X151733523Y-106657142D01*
+X151781142Y-106704761D01*
+X151876380Y-106752380D01*
+X152066857Y-106752380D01*
+X152162095Y-106704761D01*
+X150828761Y-106752380D02*
+X150828761Y-106228571D01*
+X150876380Y-106133333D01*
+X150971619Y-106085714D01*
+X151162095Y-106085714D01*
+X151257333Y-106133333D01*
+X150828761Y-106704761D02*
+X150924000Y-106752380D01*
+X151162095Y-106752380D01*
+X151257333Y-106704761D01*
+X151304952Y-106609523D01*
+X151304952Y-106514285D01*
+X151257333Y-106419047D01*
+X151162095Y-106371428D01*
+X150924000Y-106371428D01*
+X150828761Y-106323809D01*
+X150495428Y-106085714D02*
+X150114476Y-106085714D01*
+X150352571Y-105752380D02*
+X150352571Y-106609523D01*
+X150304952Y-106704761D01*
+X150209714Y-106752380D01*
+X150114476Y-106752380D01*
+X149924000Y-106085714D02*
+X149543047Y-106085714D01*
+X149781142Y-105752380D02*
+X149781142Y-106609523D01*
+X149733523Y-106704761D01*
+X149638285Y-106752380D01*
+X149543047Y-106752380D01*
+%TD*%
+M02*

cad/n/cad-Edge_Cuts.gbr

@@ -0,0 +1,26 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Profile,NP*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,Profile*%
+%ADD10C,0.050000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+X93472000Y-128016000D02*
+X93472000Y-74168000D01*
+X212852000Y-128016000D02*
+X93472000Y-128016000D01*
+X212852000Y-74168000D02*
+X212852000Y-128016000D01*
+X93472000Y-74168000D02*
+X212852000Y-74168000D01*
+M02*

cad/n/cad-F_Cu.gbr

@@ -0,0 +1,612 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Copper,L1,Top*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%TA.AperFunction,ComponentPad*%
+%ADD10O,1.800000X1.800000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD11R,1.800000X1.800000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD12C,1.524000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD13O,1.200000X2.000000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD14O,1.600000X1.600000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD15R,1.600000X1.600000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD16C,1.778000*%
+%TD*%
+%TA.AperFunction,ComponentPad*%
+%ADD17C,2.286000*%
+%TD*%
+%TA.AperFunction,ViaPad*%
+%ADD18C,0.800000*%
+%TD*%
+%TA.AperFunction,Conductor*%
+%ADD19C,0.250000*%
+%TD*%
+G04 APERTURE END LIST*
+D10*
+%TO.P,D1,2*%
+%TO.N,Net-(D1-Pad2)*%
+X200406000Y-113030000D03*
+D11*
+%TO.P,D1,1*%
+%TO.N,Net-(D1-Pad1)*%
+X200406000Y-125730000D03*
+%TD*%
+D12*
+%TO.P,U4,2*%
+%TO.N,Net-(D1-Pad2)*%
+X190174000Y-114300000D03*
+%TO.P,U4,1*%
+%TO.N,Net-(U2-Pad5)*%
+X117674000Y-114300000D03*
+%TD*%
+D13*
+%TO.P,U1,7*%
+%TO.N,Net-(A1-Pad15)*%
+X156210000Y-101600000D03*
+%TO.P,U1,8*%
+%TO.N,Net-(U1-Pad8)*%
+X156210000Y-99060000D03*
+%TO.P,U1,5*%
+%TO.N,Net-(A1-Pad16)*%
+X153670000Y-101600000D03*
+%TO.P,U1,6*%
+%TO.N,Net-(A1-Pad14)*%
+X153670000Y-99060000D03*
+%TO.P,U1,3*%
+%TO.N,Net-(A1-Pad10)*%
+X151130000Y-101600000D03*
+%TO.P,U1,4*%
+%TO.N,Net-(A1-Pad11)*%
+X151130000Y-99060000D03*
+%TO.P,U1,1*%
+%TO.N,Net-(A1-Pad29)*%
+X148590000Y-101600000D03*
+%TO.P,U1,2*%
+%TO.N,Net-(A1-Pad17)*%
+X148590000Y-99060000D03*
+%TD*%
+D12*
+%TO.P,U3,4*%
+%TO.N,Net-(A1-Pad29)*%
+X151120000Y-120590000D03*
+%TO.P,U3,3*%
+%TO.N,Net-(A1-Pad30)*%
+X151120000Y-113090000D03*
+%TO.P,U3,2*%
+%TO.N,Net-(U2-Pad6)*%
+X181620000Y-120590000D03*
+%TO.P,U3,1*%
+%TO.N,Net-(U2-Pad3)*%
+X181620000Y-113090000D03*
+%TD*%
+%TO.P,U2,5*%
+%TO.N,Net-(U2-Pad5)*%
+X170240000Y-98900000D03*
+%TO.P,U2,6*%
+%TO.N,Net-(U2-Pad6)*%
+X166990000Y-98900000D03*
+%TO.P,U2,4*%
+%TO.N,Net-(D1-Pad1)*%
+X177740000Y-98900000D03*
+%TO.P,U2,3*%
+%TO.N,Net-(U2-Pad3)*%
+X180990000Y-98900000D03*
+%TO.P,U2,2*%
+%TO.N,Net-(U2-Pad2)*%
+X180990000Y-76400000D03*
+%TO.P,U2,1*%
+%TO.N,Net-(U2-Pad1)*%
+X166990000Y-76400000D03*
+%TD*%
+D14*
+%TO.P,A1,16*%
+%TO.N,Net-(A1-Pad16)*%
+X125730000Y-78740000D03*
+%TO.P,A1,15*%
+%TO.N,Net-(A1-Pad15)*%
+X140970000Y-78740000D03*
+%TO.P,A1,30*%
+%TO.N,Net-(A1-Pad30)*%
+X125730000Y-114300000D03*
+%TO.P,A1,14*%
+%TO.N,Net-(A1-Pad14)*%
+X140970000Y-81280000D03*
+%TO.P,A1,29*%
+%TO.N,Net-(A1-Pad29)*%
+X125730000Y-111760000D03*
+%TO.P,A1,13*%
+%TO.N,Net-(A1-Pad13)*%
+X140970000Y-83820000D03*
+%TO.P,A1,28*%
+%TO.N,Net-(A1-Pad28)*%
+X125730000Y-109220000D03*
+%TO.P,A1,12*%
+%TO.N,Net-(A1-Pad12)*%
+X140970000Y-86360000D03*
+%TO.P,A1,27*%
+%TO.N,Net-(A1-Pad27)*%
+X125730000Y-106680000D03*
+%TO.P,A1,11*%
+%TO.N,Net-(A1-Pad11)*%
+X140970000Y-88900000D03*
+%TO.P,A1,26*%
+%TO.N,Net-(A1-Pad26)*%
+X125730000Y-104140000D03*
+%TO.P,A1,10*%
+%TO.N,Net-(A1-Pad10)*%
+X140970000Y-91440000D03*
+%TO.P,A1,25*%
+%TO.N,Net-(A1-Pad25)*%
+X125730000Y-101600000D03*
+%TO.P,A1,9*%
+%TO.N,Net-(A1-Pad9)*%
+X140970000Y-93980000D03*
+%TO.P,A1,24*%
+%TO.N,Net-(A1-Pad24)*%
+X125730000Y-99060000D03*
+%TO.P,A1,8*%
+%TO.N,Net-(A1-Pad8)*%
+X140970000Y-96520000D03*
+%TO.P,A1,23*%
+%TO.N,Net-(A1-Pad23)*%
+X125730000Y-96520000D03*
+%TO.P,A1,7*%
+%TO.N,Net-(A1-Pad7)*%
+X140970000Y-99060000D03*
+%TO.P,A1,22*%
+%TO.N,Net-(A1-Pad22)*%
+X125730000Y-93980000D03*
+%TO.P,A1,6*%
+%TO.N,Net-(A1-Pad6)*%
+X140970000Y-101600000D03*
+%TO.P,A1,21*%
+%TO.N,Net-(A1-Pad21)*%
+X125730000Y-91440000D03*
+%TO.P,A1,5*%
+%TO.N,Net-(A1-Pad5)*%
+X140970000Y-104140000D03*
+%TO.P,A1,20*%
+%TO.N,Net-(A1-Pad20)*%
+X125730000Y-88900000D03*
+%TO.P,A1,4*%
+%TO.N,Net-(A1-Pad4)*%
+X140970000Y-106680000D03*
+%TO.P,A1,19*%
+%TO.N,Net-(A1-Pad19)*%
+X125730000Y-86360000D03*
+%TO.P,A1,3*%
+%TO.N,Net-(A1-Pad3)*%
+X140970000Y-109220000D03*
+%TO.P,A1,18*%
+%TO.N,Net-(A1-Pad18)*%
+X125730000Y-83820000D03*
+%TO.P,A1,2*%
+%TO.N,Net-(A1-Pad2)*%
+X140970000Y-111760000D03*
+%TO.P,A1,17*%
+%TO.N,Net-(A1-Pad17)*%
+X125730000Y-81280000D03*
+D15*
+%TO.P,A1,1*%
+%TO.N,Net-(A1-Pad1)*%
+X140970000Y-114300000D03*
+%TD*%
+D16*
+%TO.P,J1,4*%
+%TO.N,Net-(A1-Pad29)*%
+X97950000Y-101610000D03*
+%TO.P,J1,1*%
+%TO.N,Net-(A1-Pad24)*%
+X97950000Y-99060000D03*
+%TO.P,J1,0*%
+%TO.N,Net-(A1-Pad17)*%
+X97948000Y-96510000D03*
+D17*
+%TO.P,J1,MOUN*%
+%TO.N,N/C*%
+X113005000Y-94060000D03*
+X113005000Y-104060000D03*
+%TO.P,J1,0*%
+%TO.N,Net-(A1-Pad17)*%
+X100355000Y-104060000D03*
+%TO.P,J1,MOUN*%
+%TO.N,N/C*%
+X100355000Y-94060000D03*
+D16*
+%TO.P,J1,4*%
+%TO.N,Net-(A1-Pad29)*%
+X109230000Y-107790000D03*
+%TO.P,J1,2*%
+%TO.N,Net-(A1-Pad23)*%
+X106680000Y-107790000D03*
+%TO.P,J1,0*%
+%TO.N,Net-(A1-Pad17)*%
+X104130000Y-107790000D03*
+%TO.P,J1,4*%
+%TO.N,Net-(A1-Pad29)*%
+X109930000Y-93310000D03*
+X103430000Y-93310000D03*
+%TO.P,J1,3*%
+%TO.N,Net-(A1-Pad12)*%
+X109930000Y-88810000D03*
+X103430000Y-88810000D03*
+%TD*%
+%TO.P,J2,4*%
+%TO.N,Net-(A1-Pad29)*%
+X193200000Y-101610000D03*
+%TO.P,J2,1*%
+%TO.N,Net-(A1-Pad25)*%
+X193200000Y-99060000D03*
+%TO.P,J2,0*%
+%TO.N,Net-(A1-Pad17)*%
+X193198000Y-96510000D03*
+D17*
+%TO.P,J2,MOUN*%
+%TO.N,N/C*%
+X208255000Y-94060000D03*
+X208255000Y-104060000D03*
+%TO.P,J2,0*%
+%TO.N,Net-(A1-Pad17)*%
+X195605000Y-104060000D03*
+%TO.P,J2,MOUN*%
+%TO.N,N/C*%
+X195605000Y-94060000D03*
+D16*
+%TO.P,J2,4*%
+%TO.N,Net-(A1-Pad29)*%
+X204480000Y-107790000D03*
+%TO.P,J2,2*%
+%TO.N,Net-(A1-Pad26)*%
+X201930000Y-107790000D03*
+%TO.P,J2,0*%
+%TO.N,Net-(A1-Pad17)*%
+X199380000Y-107790000D03*
+%TO.P,J2,4*%
+%TO.N,Net-(A1-Pad29)*%
+X205180000Y-93310000D03*
+X198680000Y-93310000D03*
+%TO.P,J2,3*%
+%TO.N,Net-(A1-Pad13)*%
+X205180000Y-88810000D03*
+X198680000Y-88810000D03*
+%TD*%
+D18*
+%TO.N,Net-(A1-Pad15)*%
+X157480000Y-78740000D03*
+X147320000Y-78740000D03*
+%TO.N,Net-(A1-Pad14)*%
+X153670000Y-81280000D03*
+X147320000Y-81280000D03*
+%TO.N,Net-(A1-Pad29)*%
+X190575000Y-98985000D03*
+X204480000Y-99050000D03*
+%TO.N,Net-(A1-Pad13)*%
+X158750000Y-83820000D03*
+X147320000Y-83820000D03*
+%TO.N,Net-(A1-Pad11)*%
+X147320000Y-88900000D03*
+X151130000Y-88900000D03*
+%TO.N,Net-(A1-Pad26)*%
+X121920000Y-115570000D03*
+X121920000Y-110490000D03*
+%TO.N,Net-(A1-Pad10)*%
+X147320000Y-91440000D03*
+X152400000Y-91440000D03*
+%TO.N,Net-(A1-Pad25)*%
+X123190000Y-104140000D03*
+X123190000Y-115570000D03*
+%TO.N,Net-(A1-Pad24)*%
+X120650000Y-110490000D03*
+X120650000Y-115570000D03*
+%TD*%
+D19*
+%TO.N,Net-(A1-Pad16)*%
+X153670000Y-101600000D02*
+X154940000Y-100330000D01*
+X154940000Y-100330000D02*
+X154940000Y-86360000D01*
+X154940000Y-86360000D02*
+X154940000Y-78740000D01*
+X154940000Y-78740000D02*
+X154940000Y-77470000D01*
+X154940000Y-77470000D02*
+X153670000Y-76200000D01*
+X125730000Y-78740000D02*
+X127000000Y-78740000D01*
+X127000000Y-78740000D02*
+X129540000Y-76200000D01*
+X129540000Y-76200000D02*
+X153670000Y-76200000D01*
+%TO.N,Net-(A1-Pad15)*%
+X156210000Y-101600000D02*
+X157480000Y-100330000D01*
+X157480000Y-100330000D02*
+X157480000Y-95250000D01*
+X157480000Y-95250000D02*
+X157480000Y-78740000D01*
+X140970000Y-78740000D02*
+X147320000Y-78740000D01*
+X157480000Y-78740000D02*
+X157480000Y-78740000D01*
+X147320000Y-78740000D02*
+X147320000Y-78740000D01*
+%TO.N,Net-(A1-Pad30)*%
+X132080000Y-123190000D02*
+X125730000Y-116840000D01*
+X125730000Y-114300000D02*
+X125730000Y-116840000D01*
+X132080000Y-123190000D02*
+X152400000Y-123190000D01*
+X152400000Y-114370000D02*
+X151120000Y-113090000D01*
+X152400000Y-123190000D02*
+X152400000Y-114370000D01*
+%TO.N,Net-(A1-Pad14)*%
+X153670000Y-99060000D02*
+X153670000Y-81280000D01*
+X140970000Y-81280000D02*
+X147320000Y-81280000D01*
+X153670000Y-81280000D02*
+X153670000Y-81280000D01*
+X147320000Y-81280000D02*
+X147320000Y-81280000D01*
+%TO.N,Net-(A1-Pad29)*%
+X97950000Y-103827642D02*
+X103126359Y-109004001D01*
+X108015999Y-109004001D02*
+X109230000Y-107790000D01*
+X97950000Y-101610000D02*
+X97950000Y-103827642D01*
+X109930000Y-93310000D02*
+X103430000Y-93310000D01*
+X198680000Y-93310000D02*
+X205180000Y-93310000D01*
+X204480000Y-94010000D02*
+X205180000Y-93310000D01*
+X204480000Y-107790000D02*
+X204480000Y-99050000D01*
+X133350000Y-121920000D02*
+X147320000Y-121920000D01*
+X109230000Y-107790000D02*
+X112870000Y-107790000D01*
+X112870000Y-107790000D02*
+X113030000Y-107950000D01*
+X105344001Y-108854001D02*
+X105194001Y-109004001D01*
+X105344001Y-97895999D02*
+X105344001Y-108854001D01*
+X109930000Y-93310000D02*
+X105344001Y-97895999D01*
+X103126359Y-109004001D02*
+X105194001Y-109004001D01*
+X105194001Y-109004001D02*
+X108015999Y-109004001D01*
+X125730000Y-111760000D02*
+X116840000Y-111760000D01*
+X116840000Y-111760000D02*
+X113030000Y-107950000D01*
+X133350000Y-119380000D02*
+X133350000Y-121920000D01*
+X125730000Y-111760000D02*
+X133350000Y-119380000D01*
+X149040009Y-104590009D02*
+X148590000Y-104140000D01*
+X148590000Y-101600000D02*
+X148590000Y-104140000D01*
+X193200000Y-101610000D02*
+X190575000Y-98985000D01*
+X188550010Y-96960010D02*
+X165296400Y-96960010D01*
+X165296400Y-96960010D02*
+X157666401Y-104590009D01*
+X157666401Y-104590009D02*
+X149040009Y-104590009D01*
+X148590000Y-118060000D02*
+X151120000Y-120590000D01*
+X148590000Y-104140000D02*
+X148590000Y-118060000D01*
+X151120000Y-120590000D02*
+X148650000Y-120590000D01*
+X148650000Y-120590000D02*
+X147320000Y-121920000D01*
+X190575000Y-98985000D02*
+X188550010Y-96960010D01*
+X204480000Y-99050000D02*
+X204480000Y-94010000D01*
+%TO.N,Net-(A1-Pad13)*%
+X205180000Y-88810000D02*
+X198680000Y-88810000D01*
+X140970000Y-83820000D02*
+X147320000Y-83820000D01*
+X198680000Y-88810000D02*
+X163740000Y-88810000D01*
+X163740000Y-88810000D02*
+X158750000Y-83820000D01*
+X158750000Y-83820000D02*
+X158750000Y-83820000D01*
+X147320000Y-83820000D02*
+X147320000Y-83820000D01*
+%TO.N,Net-(A1-Pad12)*%
+X103430000Y-88810000D02*
+X109930000Y-88810000D01*
+X139844999Y-87485001D02*
+X140970000Y-86360000D01*
+X111254999Y-87485001D02*
+X139844999Y-87485001D01*
+X109930000Y-88810000D02*
+X111254999Y-87485001D01*
+%TO.N,Net-(A1-Pad11)*%
+X140970000Y-88900000D02*
+X147320000Y-88900000D01*
+X151130000Y-99060000D02*
+X151130000Y-88900000D01*
+X147320000Y-88900000D02*
+X147320000Y-88900000D01*
+X151130000Y-88900000D02*
+X151130000Y-88900000D01*
+%TO.N,Net-(A1-Pad26)*%
+X201930000Y-107790000D02*
+X182720000Y-127000000D01*
+X182720000Y-127000000D02*
+X129540000Y-127000000D01*
+X129540000Y-127000000D02*
+X121920000Y-119380000D01*
+X121920000Y-119380000D02*
+X121920000Y-115570000D01*
+X121920000Y-107950000D02*
+X121920000Y-110490000D01*
+X121920000Y-115570000D02*
+X121920000Y-115570000D01*
+X121920000Y-107950000D02*
+X125730000Y-104140000D01*
+%TO.N,Net-(A1-Pad10)*%
+X151130000Y-101600000D02*
+X152400000Y-100330000D01*
+X152400000Y-100330000D02*
+X152400000Y-92710000D01*
+X152400000Y-92710000D02*
+X152400000Y-91440000D01*
+X140970000Y-91440000D02*
+X147320000Y-91440000D01*
+X147320000Y-91440000D02*
+X147320000Y-91440000D01*
+X152400000Y-91440000D02*
+X152400000Y-91440000D01*
+%TO.N,Net-(A1-Pad25)*%
+X193200000Y-99060000D02*
+X194414001Y-100274001D01*
+X194414001Y-103078357D02*
+X186690000Y-110802358D01*
+X194414001Y-100274001D02*
+X194414001Y-103078357D01*
+X186690000Y-110802358D02*
+X186690000Y-119380000D01*
+X186690000Y-119380000D02*
+X184392999Y-121677001D01*
+X184392999Y-121677001D02*
+X181610000Y-124460000D01*
+X181610000Y-124460000D02*
+X180340000Y-125730000D01*
+X180340000Y-125730000D02*
+X132080000Y-125730000D01*
+X132080000Y-125730000D02*
+X125730000Y-119380000D01*
+X125730000Y-119380000D02*
+X123190000Y-116840000D01*
+X123190000Y-116840000D02*
+X123190000Y-115570000D01*
+X123190000Y-115570000D02*
+X123190000Y-115570000D01*
+X123190000Y-104140000D02*
+X125730000Y-101600000D01*
+%TO.N,Net-(A1-Pad24)*%
+X120650000Y-102870000D02*
+X120650000Y-110490000D01*
+X120650000Y-115570000D02*
+X120650000Y-115570000D01*
+X120650000Y-102870000D02*
+X124460000Y-99060000D01*
+X124460000Y-99060000D02*
+X125730000Y-99060000D01*
+X96520000Y-99060000D02*
+X97950000Y-99060000D01*
+X120650000Y-116586000D02*
+X119888000Y-117348000D01*
+X120650000Y-115570000D02*
+X120650000Y-116586000D01*
+X119888000Y-117348000D02*
+X105918000Y-117348000D01*
+X105918000Y-117348000D02*
+X95250000Y-106680000D01*
+X95250000Y-100330000D02*
+X96520000Y-99060000D01*
+X95250000Y-106680000D02*
+X95250000Y-100330000D01*
+%TO.N,Net-(A1-Pad23)*%
+X107950000Y-99060000D02*
+X106680000Y-100330000D01*
+X106680000Y-100330000D02*
+X106680000Y-107790000D01*
+X125730000Y-96520000D02*
+X110490000Y-96520000D01*
+X110490000Y-96520000D02*
+X107950000Y-99060000D01*
+%TO.N,Net-(A1-Pad17)*%
+X195605000Y-98917000D02*
+X195605000Y-104060000D01*
+X193198000Y-96510000D02*
+X195605000Y-98917000D01*
+X199335000Y-107790000D02*
+X199380000Y-107790000D01*
+X195605000Y-104060000D02*
+X199335000Y-107790000D01*
+X102870000Y-83820000D02*
+X97790000Y-88900000D01*
+X97948000Y-89058000D02*
+X97948000Y-96510000D01*
+X97790000Y-88900000D02*
+X97948000Y-89058000D01*
+X100400000Y-104060000D02*
+X100355000Y-104060000D01*
+X104130000Y-107790000D02*
+X100400000Y-104060000D01*
+X100355000Y-98917000D02*
+X100355000Y-104060000D01*
+X97948000Y-96510000D02*
+X100355000Y-98917000D01*
+X165110000Y-96510000D02*
+X193198000Y-96510000D01*
+X157480000Y-104140000D02*
+X165110000Y-96510000D01*
+X151130000Y-104140000D02*
+X157480000Y-104140000D01*
+X123190000Y-83820000D02*
+X125730000Y-81280000D01*
+X102870000Y-83820000D02*
+X123190000Y-83820000D01*
+X151130000Y-104140000D02*
+X149860000Y-102870000D01*
+X149860000Y-100330000D02*
+X148590000Y-99060000D01*
+X149860000Y-102870000D02*
+X149860000Y-100330000D01*
+X148590000Y-99060000D02*
+X148590000Y-82550000D01*
+X127000000Y-82550000D02*
+X125730000Y-81280000D01*
+X148590000Y-82550000D02*
+X127000000Y-82550000D01*
+%TO.N,Net-(U2-Pad3)*%
+X180990000Y-112460000D02*
+X181620000Y-113090000D01*
+X180990000Y-98900000D02*
+X180990000Y-112460000D01*
+%TO.N,Net-(U2-Pad6)*%
+X167430000Y-98900000D02*
+X166990000Y-98900000D01*
+X166990000Y-105960000D02*
+X181620000Y-120590000D01*
+X166990000Y-98900000D02*
+X166990000Y-105960000D01*
+%TD*%
+M02*

cad/n/cad-F_Mask.gbr

@@ -0,0 +1,145 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Soldermask,Top*%
+%TF.FilePolarity,Negative*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%ADD10O,1.900000X1.900000*%
+%ADD11R,1.900000X1.900000*%
+%ADD12C,1.624000*%
+%ADD13C,4.100000*%
+%ADD14O,1.300000X2.100000*%
+%ADD15O,1.700000X1.700000*%
+%ADD16R,1.700000X1.700000*%
+%ADD17C,1.878000*%
+%ADD18C,2.386000*%
+G04 APERTURE END LIST*
+D10*
+%TO.C,D1*%
+X200406000Y-113030000D03*
+D11*
+X200406000Y-125730000D03*
+%TD*%
+D12*
+%TO.C,U4*%
+X190174000Y-114300000D03*
+X117674000Y-114300000D03*
+%TD*%
+D13*
+%TO.C,REF\u002A\u002A*%
+X208280000Y-123444000D03*
+%TD*%
+%TO.C,REF\u002A\u002A*%
+X208280000Y-78740000D03*
+%TD*%
+%TO.C,REF\u002A\u002A*%
+X98044000Y-123444000D03*
+%TD*%
+%TO.C,REF\u002A\u002A*%
+X98044000Y-78740000D03*
+%TD*%
+D14*
+%TO.C,U1*%
+X156210000Y-101600000D03*
+X156210000Y-99060000D03*
+X153670000Y-101600000D03*
+X153670000Y-99060000D03*
+X151130000Y-101600000D03*
+X151130000Y-99060000D03*
+X148590000Y-101600000D03*
+X148590000Y-99060000D03*
+%TD*%
+D12*
+%TO.C,U3*%
+X151120000Y-120590000D03*
+X151120000Y-113090000D03*
+X181620000Y-120590000D03*
+X181620000Y-113090000D03*
+%TD*%
+%TO.C,U2*%
+X170240000Y-98900000D03*
+X166990000Y-98900000D03*
+X177740000Y-98900000D03*
+X180990000Y-98900000D03*
+X180990000Y-76400000D03*
+X166990000Y-76400000D03*
+%TD*%
+D15*
+%TO.C,A1*%
+X125730000Y-78740000D03*
+X140970000Y-78740000D03*
+X125730000Y-114300000D03*
+X140970000Y-81280000D03*
+X125730000Y-111760000D03*
+X140970000Y-83820000D03*
+X125730000Y-109220000D03*
+X140970000Y-86360000D03*
+X125730000Y-106680000D03*
+X140970000Y-88900000D03*
+X125730000Y-104140000D03*
+X140970000Y-91440000D03*
+X125730000Y-101600000D03*
+X140970000Y-93980000D03*
+X125730000Y-99060000D03*
+X140970000Y-96520000D03*
+X125730000Y-96520000D03*
+X140970000Y-99060000D03*
+X125730000Y-93980000D03*
+X140970000Y-101600000D03*
+X125730000Y-91440000D03*
+X140970000Y-104140000D03*
+X125730000Y-88900000D03*
+X140970000Y-106680000D03*
+X125730000Y-86360000D03*
+X140970000Y-109220000D03*
+X125730000Y-83820000D03*
+X140970000Y-111760000D03*
+X125730000Y-81280000D03*
+D16*
+X140970000Y-114300000D03*
+%TD*%
+D17*
+%TO.C,J1*%
+X97950000Y-101610000D03*
+X97950000Y-99060000D03*
+X97948000Y-96510000D03*
+D18*
+X113005000Y-94060000D03*
+X113005000Y-104060000D03*
+X100355000Y-104060000D03*
+X100355000Y-94060000D03*
+D17*
+X109230000Y-107790000D03*
+X106680000Y-107790000D03*
+X104130000Y-107790000D03*
+X109930000Y-93310000D03*
+X103430000Y-93310000D03*
+X109930000Y-88810000D03*
+X103430000Y-88810000D03*
+%TD*%
+%TO.C,J2*%
+X193200000Y-101610000D03*
+X193200000Y-99060000D03*
+X193198000Y-96510000D03*
+D18*
+X208255000Y-94060000D03*
+X208255000Y-104060000D03*
+X195605000Y-104060000D03*
+X195605000Y-94060000D03*
+D17*
+X204480000Y-107790000D03*
+X201930000Y-107790000D03*
+X199380000Y-107790000D03*
+X205180000Y-93310000D03*
+X198680000Y-93310000D03*
+X205180000Y-88810000D03*
+X198680000Y-88810000D03*
+%TD*%
+M02*

cad/n/cad-F_Paste.gbr

@@ -0,0 +1,54 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Paste,Top*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%ADD10C,1.778000*%
+%ADD11C,2.286000*%
+G04 APERTURE END LIST*
+D10*
+%TO.C,J1*%
+X97950000Y-101610000D03*
+X97950000Y-99060000D03*
+X97948000Y-96510000D03*
+D11*
+X113005000Y-94060000D03*
+X113005000Y-104060000D03*
+X100355000Y-104060000D03*
+X100355000Y-94060000D03*
+D10*
+X109230000Y-107790000D03*
+X106680000Y-107790000D03*
+X104130000Y-107790000D03*
+X109930000Y-93310000D03*
+X103430000Y-93310000D03*
+X109930000Y-88810000D03*
+X103430000Y-88810000D03*
+%TD*%
+%TO.C,J2*%
+X193200000Y-101610000D03*
+X193200000Y-99060000D03*
+X193198000Y-96510000D03*
+D11*
+X208255000Y-94060000D03*
+X208255000Y-104060000D03*
+X195605000Y-104060000D03*
+X195605000Y-94060000D03*
+D10*
+X204480000Y-107790000D03*
+X201930000Y-107790000D03*
+X199380000Y-107790000D03*
+X205180000Y-93310000D03*
+X198680000Y-93310000D03*
+X205180000Y-88810000D03*
+X198680000Y-88810000D03*
+%TD*%
+M02*

cad/n/cad-F_SilkS.gbr

@@ -0,0 +1,175 @@
+%TF.GenerationSoftware,KiCad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1*%
+%TF.CreationDate,2020-09-20T23:53:53-07:00*%
+%TF.ProjectId,cad,6361642e-6b69-4636-9164-5f7063625858,rev?*%
+%TF.SameCoordinates,Original*%
+%TF.FileFunction,Legend,Top*%
+%TF.FilePolarity,Positive*%
+%FSLAX46Y46*%
+G04 Gerber Fmt 4.6, Leading zero omitted, Abs format (unit mm)*
+G04 Created by KiCad (PCBNEW 5.1.6-c6e7f7d~87~ubuntu18.04.1) date 2020-09-20 23:53:53*
+%MOMM*%
+%LPD*%
+G01*
+G04 APERTURE LIST*
+%ADD10C,0.120000*%
+%ADD11C,0.203200*%
+%ADD12C,0.101600*%
+%ADD13C,0.150000*%
+G04 APERTURE END LIST*
+D10*
+%TO.C,D1*%
+X198936000Y-121320000D02*
+X201876000Y-121320000D01*
+X198936000Y-121080000D02*
+X201876000Y-121080000D01*
+X198936000Y-121200000D02*
+X201876000Y-121200000D01*
+X200406000Y-114170000D02*
+X200406000Y-116660000D01*
+X200406000Y-124590000D02*
+X200406000Y-122100000D01*
+X198936000Y-116660000D02*
+X198936000Y-122100000D01*
+X201876000Y-116660000D02*
+X198936000Y-116660000D01*
+X201876000Y-122100000D02*
+X201876000Y-116660000D01*
+X198936000Y-122100000D02*
+X201876000Y-122100000D01*
+%TO.C,U1*%
+X146900000Y-102830000D02*
+X146900000Y-103330000D01*
+X146900000Y-103330000D02*
+X160900000Y-103330000D01*
+X160900000Y-103330000D02*
+X160900000Y-75330000D01*
+X146900000Y-102830000D02*
+X146900000Y-75330000D01*
+X146900000Y-75330000D02*
+X160900000Y-75330000D01*
+%TO.C,U3*%
+X148120000Y-124840000D02*
+X184620000Y-124840000D01*
+X148120000Y-108340000D02*
+X148120000Y-124840000D01*
+X184620000Y-108340000D02*
+X184620000Y-124840000D01*
+X148120000Y-108340000D02*
+X184620000Y-108340000D01*
+%TO.C,U2*%
+X182490000Y-102900000D02*
+X165490000Y-102900000D01*
+X182490000Y-74900000D02*
+X182490000Y-102900000D01*
+X165490000Y-74900000D02*
+X165490000Y-102900000D01*
+X173990000Y-74900000D02*
+X165490000Y-74900000D01*
+X182490000Y-74900000D02*
+X173990000Y-74900000D01*
+X173990000Y-74900000D02*
+X182490000Y-74900000D01*
+%TO.C,A1*%
+X124330000Y-118240000D02*
+X142370000Y-118240000D01*
+X124330000Y-74800000D02*
+X124330000Y-118240000D01*
+X142370000Y-74800000D02*
+X124330000Y-74800000D01*
+X139700000Y-77470000D02*
+X142370000Y-77470000D01*
+X139700000Y-113030000D02*
+X139700000Y-77470000D01*
+X139700000Y-113030000D02*
+X142370000Y-113030000D01*
+X127000000Y-77470000D02*
+X124330000Y-77470000D01*
+X127000000Y-115570000D02*
+X127000000Y-77470000D01*
+X127000000Y-115570000D02*
+X124330000Y-115570000D01*
+X142370000Y-118240000D02*
+X142370000Y-115570000D01*
+X142370000Y-113030000D02*
+X142370000Y-74800000D01*
+X139700000Y-115570000D02*
+X142370000Y-115570000D01*
+X139700000Y-113030000D02*
+X139700000Y-115570000D01*
+D11*
+%TO.C,J1*%
+X104775000Y-93220000D02*
+X106045000Y-93220000D01*
+X106045000Y-93220000D02*
+X107315000Y-92585000D01*
+X107315000Y-93220000D02*
+X108585000Y-93220000D01*
+D12*
+X115660256Y-99060000D02*
+G75*
+G03*
+X115660256Y-99060000I-8980256J0D01*
+G01*
+D11*
+%TO.C,J2*%
+X200025000Y-93220000D02*
+X201295000Y-93220000D01*
+X201295000Y-93220000D02*
+X202565000Y-92585000D01*
+X202565000Y-93220000D02*
+X203835000Y-93220000D01*
+D12*
+X210910256Y-99060000D02*
+G75*
+G03*
+X210910256Y-99060000I-8980256J0D01*
+G01*
+%TO.C,D1*%
+D13*
+X198388380Y-120118095D02*
+X197388380Y-120118095D01*
+X197388380Y-119880000D01*
+X197436000Y-119737142D01*
+X197531238Y-119641904D01*
+X197626476Y-119594285D01*
+X197816952Y-119546666D01*
+X197959809Y-119546666D01*
+X198150285Y-119594285D01*
+X198245523Y-119641904D01*
+X198340761Y-119737142D01*
+X198388380Y-119880000D01*
+X198388380Y-120118095D01*
+X198388380Y-118594285D02*
+X198388380Y-119165714D01*
+X198388380Y-118880000D02*
+X197388380Y-118880000D01*
+X197531238Y-118975238D01*
+X197626476Y-119070476D01*
+X197674095Y-119165714D01*
+X198958380Y-125991904D02*
+X197958380Y-125991904D01*
+X198958380Y-125420476D02*
+X198386952Y-125849047D01*
+X197958380Y-125420476D02*
+X198529809Y-125991904D01*
+%TO.C,J2*%
+D12*
+X199601666Y-102809523D02*
+X199601666Y-103716666D01*
+X199541190Y-103898095D01*
+X199420238Y-104019047D01*
+X199238809Y-104079523D01*
+X199117857Y-104079523D01*
+X200145952Y-102930476D02*
+X200206428Y-102870000D01*
+X200327380Y-102809523D01*
+X200629761Y-102809523D01*
+X200750714Y-102870000D01*
+X200811190Y-102930476D01*
+X200871666Y-103051428D01*
+X200871666Y-103172380D01*
+X200811190Y-103353809D01*
+X200085476Y-104079523D01*
+X200871666Y-104079523D01*
+%TD*%
+M02*

cad/n/cad-NPTH.drl

@@ -0,0 +1,19 @@
+M48
+; DRILL file {KiCad 5.1.6-c6e7f7d~87~ubuntu18.04.1} date Sun Sep 20 23:52:09 2020
+; FORMAT={-:-/ absolute / inch / decimal}
+; #@! TF.CreationDate,2020-09-20T23:52:09-07:00
+; #@! TF.GenerationSoftware,Kicad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1
+; #@! TF.FileFunction,NonPlated,1,2,NPTH
+FMAT,2
+INCH
+T1C0.1575
+%
+G90
+G05
+T1
+X3.86Y-3.1
+X3.86Y-4.86
+X8.2Y-3.1
+X8.2Y-4.86
+T0
+M30

cad/n/cad-PTH.drl

@@ -0,0 +1,125 @@
+M48
+; DRILL file {KiCad 5.1.6-c6e7f7d~87~ubuntu18.04.1} date Sun Sep 20 23:52:09 2020
+; FORMAT={-:-/ absolute / inch / decimal}
+; #@! TF.CreationDate,2020-09-20T23:52:09-07:00
+; #@! TF.GenerationSoftware,Kicad,Pcbnew,5.1.6-c6e7f7d~87~ubuntu18.04.1
+; #@! TF.FileFunction,Plated,1,2,PTH
+FMAT,2
+INCH
+T1C0.0157
+T2C0.0300
+T3C0.0315
+T4C0.0354
+T5C0.0394
+T6C0.0472
+T7C0.0591
+%
+G90
+G05
+T1
+X4.75Y-4.35
+X4.75Y-4.55
+X4.8Y-4.35
+X4.8Y-4.55
+X4.85Y-4.1
+X4.85Y-4.55
+X5.8Y-3.1
+X5.8Y-3.2
+X5.8Y-3.3
+X5.8Y-3.5
+X5.8Y-3.6
+X5.95Y-3.5
+X6.0Y-3.6
+X6.05Y-3.2
+X6.2Y-3.1
+X6.25Y-3.3
+X7.503Y-3.897
+X8.0504Y-3.8996
+T2
+X6.5744Y-3.0079
+X6.5744Y-3.8937
+X6.7024Y-3.8937
+X6.9976Y-3.8937
+X7.1256Y-3.0079
+X7.1256Y-3.8937
+X5.9496Y-4.4524
+X5.9496Y-4.7476
+X7.1504Y-4.4524
+X7.1504Y-4.7476
+X4.6328Y-4.5
+X7.4872Y-4.5
+T3
+X5.85Y-3.9
+X5.85Y-4.0
+X5.95Y-3.9
+X5.95Y-4.0
+X6.05Y-3.9
+X6.05Y-4.0
+X6.15Y-3.9
+X6.15Y-4.0
+T4
+X7.89Y-4.45
+X7.89Y-4.95
+T5
+X3.8562Y-3.7996
+X3.8563Y-3.9
+X3.8563Y-4.0004
+X4.0996Y-4.2437
+X4.2Y-4.2437
+X4.3004Y-4.2437
+X4.95Y-3.1
+X4.95Y-3.2
+X4.95Y-3.3
+X4.95Y-3.4
+X4.95Y-3.5
+X4.95Y-3.6
+X4.95Y-3.7
+X4.95Y-3.8
+X4.95Y-3.9
+X4.95Y-4.0
+X4.95Y-4.1
+X4.95Y-4.2
+X4.95Y-4.3
+X4.95Y-4.4
+X4.95Y-4.5
+X5.55Y-3.1
+X5.55Y-3.2
+X5.55Y-3.3
+X5.55Y-3.4
+X5.55Y-3.5
+X5.55Y-3.6
+X5.55Y-3.7
+X5.55Y-3.8
+X5.55Y-3.9
+X5.55Y-4.0
+X5.55Y-4.1
+X5.55Y-4.2
+X5.55Y-4.3
+X5.55Y-4.4
+X5.55Y-4.5
+X7.6062Y-3.7996
+X7.6063Y-3.9
+X7.6063Y-4.0004
+X7.8496Y-4.2437
+X7.95Y-4.2437
+X8.0504Y-4.2437
+T6
+X4.072Y-3.4965
+X4.072Y-3.6736
+X4.328Y-3.4965
+X4.328Y-3.6736
+X7.822Y-3.4965
+X7.822Y-3.6736
+X8.078Y-3.4965
+X8.078Y-3.6736
+T7
+X3.951Y-3.7031
+X3.951Y-4.0969
+X4.449Y-3.7031
+X4.449Y-4.0969
+X7.701Y-3.7031
+X7.701Y-4.0969
+X8.199Y-3.7031
+X8.199Y-4.0969
+T0
+M30

cad/n/cad-job.gbrjob

@@ -0,0 +1,126 @@
+{
+  "Header":
+  {
+    "GenerationSoftware":
+    {
+      "Vendor":      "KiCad",
+      "Application": "Pcbnew",
+      "Version":     "5.1.6-c6e7f7d~87~ubuntu18.04.1"
+    },
+    "CreationDate":  "2020-09-20T23:53:53-07:00"
+  },
+  "GeneralSpecs":
+  {
+    "ProjectId":
+    {
+      "Name": "cad",
+      "GUID": "6361642e-6b69-4636-9164-5f7063625858",
+      "Revision": "rev?"
+    },
+    "Size":
+    {
+      "X": 119.430,
+      "Y": 53.898
+    },
+    "LayerNumber": 2,
+    "BoardThickness":  1.600
+  },
+  "DesignRules":
+  [
+    {
+      "Layers": "Outer",
+      "PadToPad":  0.200,
+      "PadToTrack":  0.200,
+      "TrackToTrack":  0.200,
+      "MinLineWidth":  0.250
+    }
+  ],
+  "FilesAttributes":
+  [
+    {
+      "Path":  "cad-F_Cu.gbr",
+      "FileFunction":  "Copper,L1,Top",
+      "FilePolarity":  "Positive"
+    },
+    {
+      "Path":  "cad-B_Cu.gbr",
+      "FileFunction":  "Copper,L2,Bot",
+      "FilePolarity":  "Positive"
+    },
+    {
+      "Path":  "cad-F_Paste.gbr",
+      "FileFunction":  "SolderPaste,Top",
+      "FilePolarity":  "Positive"
+    },
+    {
+      "Path":  "cad-B_Paste.gbr",
+      "FileFunction":  "SolderPaste,Bot",
+      "FilePolarity":  "Positive"
+    },
+    {
+      "Path":  "cad-F_SilkS.gbr",
+      "FileFunction":  "Legend,Top",
+      "FilePolarity":  "Positive"
+    },
+    {
+      "Path":  "cad-B_SilkS.gbr",
+      "FileFunction":  "Legend,Bot",
+      "FilePolarity":  "Positive"
+    },
+    {
+      "Path":  "cad-F_Mask.gbr",
+      "FileFunction":  "SolderMask,Top",
+      "FilePolarity":  "Negative"
+    },
+    {
+      "Path":  "cad-B_Mask.gbr",
+      "FileFunction":  "SolderMask,Bot",
+      "FilePolarity":  "Negative"
+    },
+    {
+      "Path":  "cad-Edge_Cuts.gbr",
+      "FileFunction":  "Profile",
+      "FilePolarity":  "Positive"
+    }
+  ],
+  "MaterialStackup":
+  [
+    {
+      "Type":  "Legend",
+      "Notes":  "Layer F.SilkS"
+    },
+    {
+      "Type":  "SolderPaste",
+      "Notes":  "Layer F.Paste"
+    },
+    {
+      "Type":  "SolderMask",
+      "Notes":  "Layer F.Mask"
+    },
+    {
+      "Type":  "Copper",
+      "Notes":  "Layer F.Cu"
+    },
+    {
+      "Type":  "Dielectric",
+      "Material":  "FR4",
+      "Notes":  "Layers L1/L2"
+    },
+    {
+      "Type":  "Copper",
+      "Notes":  "Layer B.Cu"
+    },
+    {
+      "Type":  "SolderMask",
+      "Notes":  "Layer B.Mask"
+    },
+    {
+      "Type":  "SolderPaste",
+      "Notes":  "Layer B.Paste"
+    },
+    {
+      "Type":  "Legend",
+      "Notes":  "Layer B.SilkS"
+    }
+  ]
+}

dozer_main.cpp

@@ -5,7 +5,7 @@
 #include <util/setbaud.h>
 #include <Arduino.h>
 #include <lib.h>
-#include "SoftPWM.h"
+#include <SoftPWM.h>
 
 #include <SPI.h>
 #include <nRF24L01.h>
@@ -33,70 +33,267 @@ public:
 const uint64_t dozer_pipe = 0xF0F0F0F0D2LL;
 const uint64_t remote_pipe = 0xF0F0F0F0E1LL;
 
+#pragma pack(8)
 struct StickValues {
-    uint32_t stick_1_a;
+    int16_t stick_1_y;
-    uint32_t stick_1_b;
+    int16_t stick_1_x;
-    uint32_t stick_2_a;
+    int16_t stick_2_y;
-    uint32_t stick_2_b;
+    int16_t stick_2_x;
 };
 
+#define R_TRK_FWD 18
+#define L_TRK_FWD 17
+#define R_TRK_BKW 19
+#define L_TRK_BKW 16
+#define BKT_FWD   14
+#define BKT_BKW   15
+
+#define	PI		    3.141592654
+#define	DEG(rad)	(rad*180.0/PI)
+
+#define FULL_SPEED_ZONE 5
+#define MAGIC_45_2_100 2.22222
+#define MAG_SCALER_H 200
+#define MAG_SCALER_L 290
+
 int main() {
+    init();
+    initVariant();
+    SPI.begin();
+    Serial.begin(9600);
 
-    pinMode(4, OUTPUT);
+    pinMode(GREEN, OUTPUT);
-    pinMode(5, OUTPUT);
+    pinMode(RED, OUTPUT);
 
-    uart_init();
     SoftPWMBegin();
 
     RF24 radio(CE_PIN, CS_PIN);
     radio.begin();
+    radio.setPALevel (RF24_PA_MAX);
+    radio.setChannel(100);
+    radio.setDataRate(RF24_1MBPS);
     radio.openWritingPipe(dozer_pipe);
     radio.openReadingPipe(1, remote_pipe);
     radio.startListening();
 
-    //digitalWrite(18, HIGH);
-    // SoftPWMSet(18, 255, 1);
-
-
-    digitalWrite(GREEN, HIGH);
-    _delay_ms(2000);
-    digitalWrite(GREEN, LOW);
-
     bool breaking = false;
     int cycles = 0;
+
     while (!breaking) {
 
-        //unsigned long start_wait = micros();
         bool timeout = false;
 
         while (!radio.available()) {
+            delay(5);
             if (cycles++ > 10) {
-                digitalWrite(RED, HIGH);
+              //  digitalWrite(RED, HIGH);
-                _delay_ms(50);
+                _delay_ms(1);
-                digitalWrite(RED, LOW);
+               // digitalWrite(RED, LOW);
-                _delay_ms(50);
+                _delay_ms(1);
                 timeout = true;
                 cycles = 0;
                 break;
             }
-
         }
 
         if (timeout) {
-//            SoftPWMSet(17, 0);
+            SoftPWMSet(14, 0); // bucket
-//            SoftPWMSet(18, 0);
+            SoftPWMSet(15, 0); // bucket
+            SoftPWMSet(16, 0); // left track backward
+            SoftPWMSet(17, 0); // left track forward
+            SoftPWMSet(19, 0); // right track backward
+            SoftPWMSet(18, 0); // right track forward
         } else {
+            cycles = 0;
+            StickValues stick_values{};
+            if (radio.read(&stick_values, sizeof(int16_t)*4)) {
+//                digitalWrite(GREEN, HIGH);
+//                _delay_ms(5);
+//                digitalWrite(GREEN, LOW);
+//                _delay_ms(5);
+                //Serial.println((int16_t)stick_values.stick_1_y);
+            }
 
-            StickValues stick_values;
-            radio.read(&stick_values, sizeof(uint32_t)*4);
             radio.flush_rx();
-            radio.flush_tx();
 
-//            SoftPWMSet(17, stick_values.stick_1_a);
+            if (stick_values.stick_1_y > 10) {
-//            SoftPWMSet(18, stick_values.stick_1_b);
+                digitalWrite(GREEN, HIGH);
-        }
+                digitalWrite(RED, LOW);
+            } else if (stick_values.stick_1_y < -10) {
+                digitalWrite(RED, HIGH);
+                digitalWrite(GREEN, LOW);
+            } else {
+                digitalWrite(RED, LOW);
+                digitalWrite(GREEN, LOW);
+            }
+
+
+            float mag = sqrt(pow(stick_values.stick_1_x, 2) + pow(stick_values.stick_1_y, 2));
+            float ang = DEG(atan2((float)stick_values.stick_1_x, (float)stick_values.stick_1_y)) + 180;
+
+            int right_track = 0;
+            int left_track = 0;
+
+            if (ang >= 0 && ang < 90 && mag > 1) { // Bottom to Left Quad. RT:F
+                if (ang < 0 + FULL_SPEED_ZONE)
+                    right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 90 - FULL_SPEED_ZONE)
+                    right_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else // split it (and mult) so it's ranged between -100, 100 then mag it
+                    right_track = ((0 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+
+                left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+            }
+            if (ang >= 90 && ang < 180 && mag > 1) { // Top to Left Quad. RT:F, LT:S
+                right_track = (int)(100.0 * (mag/MAG_SCALER_H));
+
+                if (ang < 90 + FULL_SPEED_ZONE)
+                    left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 180 - FULL_SPEED_ZONE)
+                    left_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else
+                    left_track = ((90 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+            }
+            if (ang >= 180 && ang < 270 && mag > 1) { // Top to Right Quad
+                if (ang < 180 + FULL_SPEED_ZONE)
+                    right_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 270 - FULL_SPEED_ZONE)
+                    right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+                else
+                    right_track = ((180 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
 
-        SoftPWMSet(17, 80);
+                left_track = (int)(100.0 * (mag/MAG_SCALER_H));
-        SoftPWMSet(18, 120);
+            }
+            if (ang >= 270 && ang <= 360 && mag > 1) { // Bottom to Right Quad
+                right_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
+
+                if (ang < 270 + FULL_SPEED_ZONE)
+                    left_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 360 - FULL_SPEED_ZONE)
+                    left_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
+                else
+                    left_track = ((270 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+            }
+
+//            if (ang >= 0 && ang < 90 && mag > 1) {
+//                if (ang < 0 + FULL_SPEED_ZONE)
+//                    right_track = left_track = -100;
+////                else if (ang > 90 - FULL_SPEED_ZONE)
+////                    right_track = left_track = -100;
+//                else
+//                    right_track = ((270 + 45) - ang) * 2  * (mag/290);
+//
+//                left_track = -100 * (int)(mag/290);
+//            }
+//            if (ang >= 90 && ang < 180 && mag > 1) {
+//                right_track = 100 * (mag/290);
+//                if (ang > 90 - FULL_SPEED_ZONE) {
+//                    right_track = 100;
+//                    left_track = -100;
+//                }
+//                else
+//                    left_track = (135 - ang) * -2  * (mag/290);
+//            }
+//            if (ang >= 180 && ang < 270 && mag > 1) {
+//                if (ang > 180 - FULL_SPEED_ZONE)
+//                    right_track = 100 * (mag/290);
+//                else
+//                    right_track = ((180 + 45) - ang) * 2  * (mag/290);
+//                left_track = 100 * (mag/290);
+//            }
+//            if (ang >= 270 && ang <= 360 && mag > 1) {
+//                right_track = -100 * (mag/290);
+//                if (ang > 270 - FULL_SPEED_ZONE) {
+//                    left_track = -100 * (mag/290);
+//                } else {
+//                    left_track = ((270 + 45) - ang) * 2  * (mag/290);
+//                }
+//            }
+
+            if (left_track > 0) {
+                SoftPWMSet(L_TRK_FWD, max(0, min(255, left_track)));
+            } else if (left_track < 0) {
+                SoftPWMSet(L_TRK_BKW, max(0, min(255, abs(left_track))));
+            } else if (left_track == 0) {
+                SoftPWMSet(L_TRK_BKW, 0);
+                SoftPWMSet(L_TRK_FWD, 0);
+            }
+
+            if (right_track > 0) {
+                SoftPWMSet(R_TRK_FWD, max(0, min(255, right_track)));
+            } else if (right_track < 0) {
+                SoftPWMSet(R_TRK_BKW, max(0, min(255, abs(right_track))));
+            } else if (right_track == 0) {
+                SoftPWMSet(R_TRK_FWD, 0);
+                SoftPWMSet(R_TRK_BKW, 0);
+            }
+
+
+//            int forward_delta = 0;
+//            if (stick_values.stick_1_x > 10) {
+//                forward_delta = min(max(0, stick_values.stick_1_x), 255);
+//
+//            } else if (stick_values.stick_1_x < -10) {
+//                forward_delta = min(max(-255, stick_values.stick_1_x), 0);
+//            }
+//
+//            if (stick_values.stick_1_y > 10) {
+//                int delta = min(max(0, stick_values.stick_1_y), 255);
+//                if (forward_delta > 0) {
+//                    SoftPWMSet(R_TRK_FWD, delta + forward_delta);
+//                } else if (forward_delta <= 0) {
+//                    SoftPWMSet(R_TRK_BKW, delta + forward_delta);
+//                }
+//                SoftPWMSet(L_TRK_FWD, delta);
+//            } else if (stick_values.stick_1_y < -10) {
+//                int delta = min(max(0, abs(stick_values.stick_1_y)), 255);
+//                if (forward_delta > 0) {
+//                    SoftPWMSet(L_TRK_FWD, delta + forward_delta);
+//                } else if (forward_delta <= 0) {
+//                    SoftPWMSet(L_TRK_BKW, delta + forward_delta);
+//                }
+//                SoftPWMSet(R_TRK_FWD, delta);
+//            } else {
+//
+//                if (forward_delta > 10) {
+//                    SoftPWMSet(L_TRK_FWD, forward_delta);
+//                    SoftPWMSet(R_TRK_FWD, forward_delta);
+//                } else if (forward_delta < 10) {
+//                    SoftPWMSet(L_TRK_BKW, forward_delta);
+//                    SoftPWMSet(R_TRK_BKW, forward_delta);
+//                } else {
+//                    SoftPWMSet(R_TRK_FWD, 0);
+//                    SoftPWMSet(R_TRK_BKW, 0);
+//                    SoftPWMSet(L_TRK_BKW, 0);
+//                    SoftPWMSet(L_TRK_FWD, 0);
+//                }
+//            }
+
+            if (serialEventRun) serialEventRun();
+
+        }
     }
 }
+
+
+
+
+
+
+
+
+
+
+//SoftPWMSet(14, 255); // bucket
+//SoftPWMSet(15, 10); // bucket
+//SoftPWMSet(16, 255); // left track backward
+//SoftPWMSet(17, 255); // left track forward
+//SoftPWMSet(19, 255); // right track backward
+//SoftPWMSet(18, 255); // right track forward
+
+//            SoftPWMSet(17, stick_values.stick_1_y);
+//            SoftPWMSet(18, stick_values.stick_1_x);
+//            SoftPWMSet(19, stick_values.stick_2_y);
+//            SoftPWMSet(20, stick_values.stick_2_x);
+//            SoftPWMSet(21, stick_values.stick_3_a);
+//            SoftPWMSet(22, stick_values.stick_3_b);

lib.h

@@ -1,4 +1,12 @@
 
+#define	PI		    3.141592654
+#define	DEG(rad)	(rad*180.0/PI)
+
+#define FULL_SPEED_ZONE 5
+#define MAGIC_45_2_100 2.22222
+#define MAG_SCALER_H 200
+#define MAG_SCALER_L 290
+
 void uart_init() {
     // Upper and lower bytes of the calculated prescaler value for baud.
     UBRR0H = UBRRH_VALUE;

listen-python

@@ -3,10 +3,10 @@
 import serial, string
 
 output = " "
-ser = serial.Serial('/dev/ttyUSB0', 9600, 8, 'N', 1, timeout=1)
+ser = serial.Serial('/dev/ttyUSB1', 9600, 8, 'N', 1, timeout=1)
 while True:
   while output != "":
-    output = ser.read(1)
+    output = ser.read(4)
     print len(output)
     try:
         print int(output)

remote_main.cpp

@@ -1,5 +1,5 @@
-#include <util/delay.h>
 #include <avr/io.h>
+#include <util/delay.h>
 #include <stdio.h>
 #include <stdarg.h>
 #include <util/setbaud.h>
@@ -11,10 +11,8 @@
 #include <nRF24L01.h>
 #include <RF24.h>
 
-#define CE_PIN 3
+#define CE_PIN 7
-#define CS_PIN 2
+#define CS_PIN 8
-#define RED 4
-#define GREEN 5
 
 class Radio {
 
@@ -32,44 +30,126 @@ public:
 const uint64_t dozer_pipe = 0xF0F0F0F0D2LL;
 const uint64_t remote_pipe = 0xF0F0F0F0E1LL;
 
+#pragma pack(8)
 struct StickValues {
-    uint32_t stick_1_a;
+    int16_t stick_1_y;
-    uint32_t stick_1_b;
+    int16_t stick_1_x;
-    uint32_t stick_2_a;
+    int16_t stick_2_y;
-    uint32_t stick_2_b;
+    int16_t stick_2_x;
 };
 
-int main() {
+#define	PI		    3.141592654
+#define	DEG(rad)	(rad*180.0/PI)
 
-    pinMode(4, OUTPUT);
+int main() {
-    pinMode(5, OUTPUT);
 
-    uart_init();
+    init();
+    initVariant();
+    SPI.begin();
+    Serial.begin(9600);
 
     RF24 radio(CE_PIN, CS_PIN);
     radio.begin();
+    radio.setChannel(100);
+    radio.setPALevel (RF24_PA_MAX);
+    radio.setDataRate(RF24_1MBPS);
     radio.openWritingPipe(remote_pipe);
     radio.openReadingPipe(1, dozer_pipe);
     radio.startListening();
 
-    bool breaking = false;
+    delay(1000);
-    while (!breaking) {
 
-        _delay_ms(100);
+    int16_t ref_stick_1_y = analogRead(A4); // RY
+    int16_t ref_stick_1_x = analogRead(A5); // RX
+    int16_t ref_stick_2_y = analogRead(A6); // LY
+    int16_t ref_stick_2_x = analogRead(A7); // LX
 
-        // Get input
+    while (true) {
 
         // Parse into a struct
         StickValues stick_values;
-        stick_values.stick_1_a = 100;
+        stick_values.stick_1_y = analogRead(A5); // RY
-        stick_values.stick_1_b = 50;
+        stick_values.stick_1_x = analogRead(A4); // RX
-        stick_values.stick_2_a = 0;
+        stick_values.stick_2_y = analogRead(A6); // LY
-        stick_values.stick_2_b = 0;
+        stick_values.stick_2_x = analogRead(A7); // LX
+
+        int16_t delta_1_y = stick_values.stick_1_y - ref_stick_1_y;
+        int16_t delta_1_x = ref_stick_1_x - stick_values.stick_1_x;
+        int16_t delta_2_y = stick_values.stick_2_y - ref_stick_2_y;
+        int16_t delta_2_x = stick_values.stick_2_x - ref_stick_2_x;
+
+        stick_values.stick_1_y = delta_1_y / 2;
+        stick_values.stick_1_x = delta_1_x / 2;
+        stick_values.stick_2_y = delta_2_y / 2;
+        stick_values.stick_2_x = delta_2_x / 2;
 
         // Send to dozer
         radio.stopListening();
-        radio.write(&stick_values, sizeof(uint32_t)*4);
+        delay(10);
+        if (radio.write(&stick_values, sizeof(int16_t)*4))
+        {
+            float mag = sqrt(pow(stick_values.stick_1_x, 2) + pow(stick_values.stick_1_y, 2));
+            float ang = DEG(atan2((float)stick_values.stick_1_x, (float)stick_values.stick_1_y)) + 180;
+
+            int right_track = 0;
+            int left_track = 0;
+
+            if (ang >= 0 && ang < 90 && mag > 1) { // Bottom to Left Quad. RT:F
+                if (ang < 0 + FULL_SPEED_ZONE)
+                    right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 90 - FULL_SPEED_ZONE)
+                    right_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else // split it (and mult) so it's ranged between -100, 100 then mag it
+                    right_track = ((0 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+
+                left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+            }
+            if (ang >= 90 && ang < 180 && mag > 1) { // Top to Left Quad. RT:F, LT:S
+                right_track = (int)(100.0 * (mag/MAG_SCALER_H));
+
+                if (ang < 90 + FULL_SPEED_ZONE)
+                    left_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 180 - FULL_SPEED_ZONE)
+                    left_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else
+                    left_track = ((90 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+            }
+            if (ang >= 180 && ang < 270 && mag > 1) { // Top to Right Quad
+                if (ang < 180 + FULL_SPEED_ZONE)
+                    right_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 270 - FULL_SPEED_ZONE)
+                    right_track = (int)(-100.0 * (mag/MAG_SCALER_H));
+                else
+                    right_track = ((180 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+
+                left_track = (int)(100.0 * (mag/MAG_SCALER_H));
+            }
+            if (ang >= 270 && ang <= 360 && mag > 1) { // Bottom to Right Quad
+                right_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
+
+                if (ang < 270 + FULL_SPEED_ZONE)
+                    left_track = (int)(100.0 * (mag/MAG_SCALER_H));
+                else if (ang > 360 - FULL_SPEED_ZONE)
+                    left_track = (int)(100.0 * (mag/MAG_SCALER_H)) * -1;
+                else
+                    left_track = ((270 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
+            }
+
+
+            //Serial.println(mag);
+            Serial.print(ang);
+            Serial.print("  :  ");
+            Serial.print(mag);
+            Serial.print("  :  [");
+            Serial.print(left_track);
+            Serial.print(", ");
+            Serial.print(right_track);
+            Serial.println("]");
+
+            //Serial.println("");
+        }
         radio.startListening();
+        if (serialEventRun) serialEventRun();
     }
 }