Zumo32U4.h

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// Copyright Pololu Corporation.  For more information, see http://www.pololu.com/
 
#pragma once
 
#ifndef __AVR_ATmega32U4__
#error "This library only supports the ATmega32U4.  Try selecting A-Star 32U4 in the Boards menu."
#endif
 
#include <FastGPIO.h>
#include <LSM303.h>
#include <L3G.h>
#include <Zumo32U4Buttons.h>
#include <Zumo32U4Buzzer.h>
#include <Zumo32U4Encoders.h>
#include <Zumo32U4IMU.h>
#include <Zumo32U4IRPulses.h>
#include <Zumo32U4LCD.h>
#include <Zumo32U4LineSensors.h>
#include <Zumo32U4Motors.h>
#include <Zumo32U4ProximitySensors.h>
 
// TODO: servo support
 
inline void ledRed(bool on)
{
    FastGPIO::Pin<17>::setOutput(!on);
}
 
inline void ledYellow(bool on)
{
    FastGPIO::Pin<13>::setOutput(on);
}
 
inline void ledGreen(bool on)
{
    FastGPIO::Pin<IO_D5>::setOutput(!on);
}
 
inline bool usbPowerPresent()
{
    return USBSTA >> VBUS & 1;
}
 
inline uint16_t readBatteryMillivolts()
{
    const uint8_t sampleCount = 8;
    uint16_t sum = 0;
    for (uint8_t i = 0; i < sampleCount; i++)
    {
        sum += analogRead(A1);
    }
 
    // VBAT = 2 * millivolt reading = 2 * raw * 5000/1024
    //      = raw * 625 / 64
    // The correction term below makes it so that we round to the
    // nearest whole number instead of always rounding down.
    const uint32_t correction = 32 * sampleCount - 1;
    return ((uint32_t)sum * 625 + correction) / (64 * sampleCount);
}