Initial commit: files copied from a-star repository and renamed to re…

…move "Prime"

AStar32U4.cpp

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+// This file is left empty intentionally.

AStar32U4.h

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+// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
+
+/*! \file AStar32U4Prime.h
+ *
+ * This is the main header file for the %AStar32U4Prime library.
+ * It includes all the other header files provided by the library.
+ */
+
+#pragma once
+
+#include <FastGPIO.h>
+#include <Pushbutton.h>
+#include <AStar32U4PrimeLCD.h>
+#include <AStar32U4PrimeBuzzer.h>
+#include <AStar32U4PrimeButtons.h>
+#include <avr/io.h>
+#include <stdint.h>
+
+/*! \brief Turns the red user LED (RX) on or off.
+
+@param on 1 to turn on the LED, 0 to turn it off.
+
+The red user LED is on pin 17, which is also known as PB0, SS, and RXLED.  The
+Arduino core code uses this LED to indicate when it receives data over USB, so
+it might be hard to control this LED when USB is connected. */
+inline void ledRed(bool on)
+{
+    FastGPIO::Pin<17>::setOutput(!on);
+}
+
+/*! \brief Turns the yellow user LED on pin 13 on or off.
+
+@param on 1 to turn on the LED, 0 to turn it off. */
+inline void ledYellow(bool on)
+{
+    FastGPIO::Pin<13>::setOutput(on);
+}
+
+/*! \brief Turns the green user LED (TX) on or off.
+
+@param on 1 to turn on the LED, 0 to turn it off.
+
+The green user LED is pin PD5, which is also known as TXLED.  The Arduino core
+code uses this LED to indicate when it receives data over USB, so it might be
+hard to control this LED when USB is connected. */
+inline void ledGreen(bool on)
+{
+    FastGPIO::Pin<IO_D5>::setOutput(!on);
+}
+
+/*! \brief Returns true if USB power is detected.
+
+This function returns true if power is detected on the board's USB port and
+returns false otherwise.  It uses the ATmega32U4's VBUS line, which is directly
+connected to the power pin of the USB connector.
+
+\sa A method for detecting whether the board's virtual COM port is open:
+  http://arduino.cc/en/Serial/IfSerial */
+inline bool usbPowerPresent()
+{
+    return USBSTA >> VBUS & 1;
+}
+
+/*! \brief Reads the battery voltage for an A-Star 32U4 Prime LV and returns it
+in millivolts.
+
+This function performs an analog reading and uses it to compute the voltage on
+the A-Star 32U4 Prime LV's VIN pin in millivolts.  This only works if the
+specified pin (A1 by default) has been connected to BATLEV.
+
+This function is only meant to be run on the A-Star 32U4 Prime LV (the blue
+board) and will give incorrect results on other versions.
+
+@param pin The pin number to read.  This argument is passed on to analogRead.
+  The default value is `A1`.
+
+\sa readBatteryMillivoltsSV() */
+inline uint16_t readBatteryMillivoltsLV(uint8_t pin = A1)
+{
+    const uint8_t sampleCount = 8;
+    uint16_t sum = 0;
+    for (uint8_t i = 0; i < sampleCount; i++)
+    {
+        sum += analogRead(pin);
+    }
+
+    // VBAT = 3 * millivolt reading = 3 * raw * 5000/1024
+    //      = raw * 1875 / 128
+    // The correction number below makes it so that we round to the nearest
+    // whole number instead of always rounding down.
+    const uint16_t correction = 64 * sampleCount - 1;
+    return ((uint32_t)sum * 1875 + correction) / (128 * sampleCount);
+}
+
+/*! \brief Reads the battery voltage for an A-Star 32U4 Prime SV and returns it
+in millivolts.
+
+This function performs an analog reading and uses it to compute the voltage on
+the A-Star 32U4 Prime SV's VIN pin in millivolts.  This only works if the
+specified pin (A1 by default) has been connected to BATLEV.
+
+This function is only meant to be run on the A-Star 32U4 Prime SV (the green
+board) and will give incorrect results on other versions.
+
+@param pin The pin number to read.  This argument is passed on to analogRead.
+  The default value is `A1`.
+
+\sa readBatteryMillivoltsLV() */
+inline uint16_t readBatteryMillivoltsSV(uint8_t pin = A1)
+{
+    const uint8_t sampleCount = 8;
+    uint16_t sum = 0;
+    for (uint8_t i = 0; i < sampleCount; i++)
+    {
+        sum += analogRead(pin);
+    }
+
+    // VBAT = 8 * millivolt reading = 8 * raw * 5000/1024
+    //      = raw * 625 / 16
+    // The correction number below makes it so that we round to the nearest
+    // whole number instead of always rounding down.
+    const uint16_t correction = 8 * sampleCount - 1;
+    return ((uint32_t)sum * 625 + correction) / (16 * sampleCount);
+}
+
+/*! \deprecated This function is deprecated and is only here for backwards
+compatibility.  We recommend using readBatteryMillivoltsLV() instead. */
+inline uint16_t readBatteryMillivolts(uint8_t pin = A1)
+{
+    return readBatteryMillivoltsLV(pin);
+}

AStar32U4Buttons.h

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+// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
+
+/** \file AStar32U4PrimeButtons.h */
+
+#pragma once
+
+#include <Pushbutton.h>
+#include <FastGPIO.h>
+#include <USBPause.h>
+#include <SPIPause.h>
+#include <util/delay.h>
+
+/*! The pin number for the pin connected to button A on the A-Star 32U4
+ *  Prime. */
+#define A_STAR_32U4_PRIME_BUTTON_A 14
+
+/*! The pin number for the pin connected to button B on the A-Star 32U4 Prime.
+ *  Note that this is not an official Arduino pin number so it cannot be used
+ *  with functions like digitalRead, but it can be used with the FastGPIO
+ *  library. */
+#define A_STAR_32U4_PRIME_BUTTON_B IO_D5
+
+/*! The pin number for the pin connected to button C on the A-Star 32U4
+ *  Prime. */
+#define A_STAR_32U4_PRIME_BUTTON_C 17
+
+/*! \brief Interfaces with button A on the A-Star 32U4 Prime.
+ *
+ * The pin used for button A is also used for reading the DO pin on the microSD
+ * card.  If the chip select (CS) pin for the microSD card is low (active), you
+ * cannot read button A because the signal from the microSD card will override
+ * the signal from the button.  Therefore, the CS pin needs to be high whenever
+ * functions in this class are called.  The CS pin is high by default and the
+ * Arduino's SD library leaves CS high when the microSD card is not being used,
+ * so most users will not need to worry about that. */
+class AStar32U4PrimeButtonA : public Pushbutton
+{
+public:
+    AStar32U4PrimeButtonA() : Pushbutton(A_STAR_32U4_PRIME_BUTTON_A)
+    {
+    }
+};
+
+/*! \brief Interfaces with button B on the A-Star 32U4 Prime.
+ *
+ * The pin used for button B is also used for the TX LED.
+ *
+ * This class temporarily disables USB interrupts because the Arduino core code
+ * has USB interrupts enabled that sometimes write to the pin this button is on.
+ *
+ * This class temporarily sets the pin to be an input without a pull-up
+ * resistor.  The pull-up resistor is not needed because of the resistors on the
+ * board. */
+class AStar32U4PrimeButtonB : public PushbuttonBase
+{
+public:
+    virtual bool isPressed()
+    {
+        // These objects take care of disabling USB interrupts temporarily
+        // and restoring the pin to its previous state at the end.
+        USBPause usbPause;
+        FastGPIO::PinLoan<A_STAR_32U4_PRIME_BUTTON_B> loan;
+
+        FastGPIO::Pin<A_STAR_32U4_PRIME_BUTTON_B>::setInput();
+        _delay_us(3);
+        return !FastGPIO::Pin<A_STAR_32U4_PRIME_BUTTON_B>::isInputHigh();
+    }
+};
+
+/*! \brief Interfaces with button C on the A-Star 32U4 Prime.
+ *
+ * The pin used for button C is also used for the RX LED.
+ *
+ * This class temporarily disables USB interrupts because the Arduino core code
+ * has USB interrupts enabled that sometimes write to the pin this button is on.
+ *
+ * This class temporarily disables the AVR's hardware SPI module because it
+ * might have been enabled by the Arduino's SD library, and the pin for button C
+ * is the SPI SS line.  If it is an input and it reads low, the state of the SPI
+ * module will be changed.
+ *
+ * This class temporarily sets the pin to be an input without a pull-up
+ * resistor.  The pull-up resistor is not needed because of the resistors on the
+ * board.
+ */
+class AStar32U4PrimeButtonC : public PushbuttonBase
+{
+public:
+    virtual bool isPressed()
+    {
+        SPIPause spiPause;
+        USBPause usbPause;
+        FastGPIO::PinLoan<A_STAR_32U4_PRIME_BUTTON_C> loan;
+
+        FastGPIO::Pin<A_STAR_32U4_PRIME_BUTTON_C>::setInput();
+        _delay_us(3);
+        return !FastGPIO::Pin<A_STAR_32U4_PRIME_BUTTON_C>::isInputHigh();
+    }
+};

AStar32U4Buzzer.h

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+// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
+
+/*! \file AStar32U4PrimeBuzzer.h */
+
+#pragma once
+
+#include <PololuBuzzer.h>
+
+/*! \brief Main class for interfacing with the A-Star 32U4 Prime Buzzer.
+ *
+ * This class uses Timer 4 and pin 6 (PD7/OC4D) to play beeps and melodies on
+ * the A-Star 32U4 Prime Buzzer.
+ *
+ * Note durations are timed using a timer overflow interrupt
+ * (`TIMER4_OVF`), which will briefly interrupt execution of your
+ * main program at the frequency of the sound being played. In most cases, the
+ * interrupt-handling routine is very short (several microseconds). However,
+ * when playing a sequence of notes in `PLAY_AUTOMATIC` mode (the default mode)
+ * with the `play()` command, this interrupt takes much longer than normal
+ * (perhaps several hundred microseconds) every time it starts a new note. It is
+ * important to take this into account when writing timing-critical code.
+ */
+class AStar32U4PrimeBuzzer : public PololuBuzzer
+{
+    // This is a trivial subclass of PololuBuzzer; it exists because we wanted
+    // the A-Star class names to be consistent and we didn't just use a typedef
+    // to define it because that would make the Doxygen documentation harder to
+    // understand.
+};

AStar32U4LCD.h

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+// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
+
+/*! \file AStar32U4PrimeLCD.h */
+
+#pragma once
+
+#include <PololuHD44780.h>
+#include <FastGPIO.h>
+#include <USBPause.h>
+#include <SPIPause.h>
+
+/*! \brief Main class for interfacing with the A-Star 32U4 Prime LCD.
+ *
+ * This class interfaces with an HD44780-compatible LCD connected to the LCD
+ * connector on the A-Star 32U4 Prime.
+ *
+ * This library is similar to the Arduino
+ * [LiquidCrystal library](http://arduino.cc/en/Reference/LiquidCrystal),
+ * but it has some extra features needed on the A-Star 32U4 Prime:
+ *
+ * * This class disables USB interrupts temporarily while writing to the LCD so
+ *   that the USB interrupts will not change the RXLED and TXLED pins, which
+ *   double as LCD data lines.
+ * * This class disables the AVR's hardware SPI module temporarily so that
+ *   it can use the PB3/MISO/DB4 pin as an output to control the LCD.
+ * * This class restores the RS, DB4, DB5, DB6, and DB7 pins to their previous
+ *   states when it is done using them so that those pins can also be used for
+ *   other purposes such as controlling LEDs.
+ *
+ * This class assumes that you are using the default pin mapping that you would
+ * get by simply connecting an LCD to the 2x7 LCD connector on the A-Star 32U4
+ * Prime:
+ *
+ * * RS = Pin 7 (PE6)
+ * * E = Pin 8 (PB4)
+ * * DB4 = Pin 14 (PB3/MISO)
+ * * DB5 = Pin 17 (PB0/SS/RXLED)
+ * * DB6 = Pin 13 (PC7)
+ * * DB7 = PD5/TXLED (which has no official pin number)
+ *
+ * If you want to control your LCD with different pins, you can edit the line
+ * labeled "Pin assignments" in AStar32U4PrimeLCD.h or you can make your own new
+ * LCD class in your sketch by copying the code for the AStar32U4PrimeLCD class,
+ * which is not very long.
+ *
+ * This class inherits from the Arduino Print class, so you can call the
+ * `print()` function on it with a variety of arguments.  See the
+ * [Arduino print() documentation](http://arduino.cc/en/Serial/Print)
+ * for more information.
+ *
+ * For detailed information about HD44780 LCD interface, including what
+ * characters can be displayed, see the
+ * [HD44780 datasheet](http://www.pololu.com/file/0J72/HD44780.pdf).
+ */
+class AStar32U4PrimeLCD : public PololuHD44780Base
+{
+    // Pin assignments.  Change this if you want to remap your pins.
+    static const uint8_t rs = 7, e = 8, db4 = 14, db5 = 17, db6 = 13, db7 = IO_D5;
+
+public:
+
+    virtual void initPins()
+    {
+        FastGPIO::Pin<e>::setOutputLow();
+    }
+
+    virtual void send(uint8_t data, bool rsValue, bool only4bits)
+    {
+        // Temporarily disable the AVR's hardware SPI module; if it is enabled
+        // then MISO is forced to be an input, and the Arduino SD library
+        // generally leaves it enabled.
+        SPIPause spiPause;
+
+        // Temporarily disable USB interrupts because they write some pins
+        // we are using as LCD pins.
+        USBPause usbPause;
+
+        // Save the state of the RS and data pins.  The state automatically
+        // gets restored before this function returns.
+        FastGPIO::PinLoan<rs> loanRS;
+        FastGPIO::PinLoan<db4> loanDB4;
+        FastGPIO::PinLoan<db5> loanDB5;
+        FastGPIO::PinLoan<db6> loanDB6;
+        FastGPIO::PinLoan<db7> loanDB7;
+
+        // Drive the RS pin high or low.
+        FastGPIO::Pin<rs>::setOutput(rsValue);
+
+        // Send the data.
+        if (!only4bits) { sendNibble(data >> 4); }
+        sendNibble(data & 0x0F);
+    }
+
+private:
+
+    void sendNibble(uint8_t data)
+    {
+        FastGPIO::Pin<db4>::setOutput(data >> 0 & 1);
+        FastGPIO::Pin<db5>::setOutput(data >> 1 & 1);
+        FastGPIO::Pin<db6>::setOutput(data >> 2 & 1);
+        FastGPIO::Pin<db7>::setOutput(data >> 3 & 1);
+
+        FastGPIO::Pin<e>::setOutputHigh();
+        _delay_us(1);   // Must be at least 450 ns.
+        FastGPIO::Pin<e>::setOutputLow();
+        _delay_us(1);   // Must be at least 550 ns.
+    }
+};
+

Doxyfile

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+
+# Doxygen configuration file for generating documentation.
+PROJECT_NAME = "AStar32U4Prime library"
+OUTPUT_DIRECTORY = docs
+INLINE_INHERITED_MEMB = YES
+INPUT = .
+USE_MDFILE_AS_MAINPAGE = README.md
+RECURSIVE = YES
+SOURCE_BROWSER = YES
+USE_MATHJAX = YES
+GENERATE_LATEX = NO