diff --git a/libraries/AP_RC_Channel/AP_RC_Channel.cpp b/libraries/AP_RC_Channel/AP_RC_Channel.cpp deleted file mode 100644 index 0e18cbca7d..0000000000 --- a/libraries/AP_RC_Channel/AP_RC_Channel.cpp +++ /dev/null @@ -1,332 +0,0 @@ -/* - AP_RC_Channel.cpp - Radio library for Arduino Legacy Hardware - Code by Jason Short. DIYDrones.com - Improvements to implement channel curves by Ron Curry, 2012 - - 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. - -*/ - -#include -#include -#if defined(ARDUINO) && ARDUINO >= 100 - #include "Arduino.h" -#else - #include "WProgram.h" -#endif -#include "AP_RC_Channel.h" - -#define ANGLE 0 -#define RANGE 1 - -// setup the control preferences -void -AP_RC_Channel::set_range(int low, int high) -{ - _type = RANGE; - _high = high; - _low = low; -} - -void -AP_RC_Channel::set_angle(int angle) -{ - _type = ANGLE; - _high = angle; -} - -void -AP_RC_Channel::set_reverse(bool reverse) -{ - if (reverse) _reverse = -1; - else _reverse = 1; -} - -bool -AP_RC_Channel::get_reverse(void) -{ - if (_reverse==-1) return 1; - else return 0; -} - -void -AP_RC_Channel::set_filter(bool filter) -{ - _filter = filter; -} - -// call after first read -void -AP_RC_Channel::trim() -{ - radio_trim = radio_in; -} - -//------------------------------------------------------------------------------- -// Support for PWM translation (i.e. curves or "expo") -// -// Translation of the input PWM is done via a pointer "channel_curve" to an array that defines the PWM output value -// for any given input value. The array is structured with element 0 equal to the number of elements -// in the curve. If the length is zero then the array defines no curve. If the "channel_curve" pointer -// is NULL that is interpretted as no curve defined and is the default state. -// -// Elements 1 to n of the array contain the values for the curve. These are defined in terms of the actual -// PWM output pulsewidth desired for a given point on the curve with curve element 1 containing the value -// for the lowest input value from the RC RX and element "n" containing the value for the highest input value -// from the RX. -// -// Input PWM values are expected to be in the range of the radio calibration values "radio_min" to "radio_max". The -// user must have already completed the radio calibration otherwise output will be inaccurage. Input PWM values -// generate an index that falls between curve elements will cause the output to be interpolated in a linear fashion -// between the curve elements. For example: A curve defined as element 0 = 2 (length), element 1 = 900, and -// element 2 = 2100 would define a linear straight line output between 900 and 2100 for valid input values. -// Additional elements could be inserted between element 1 and element 2 to define more complex -// curves. - R. Curry 06-14-12 - - - -// Sets curve for channel output to user defined curve -// Input: curve - A pointer to a user defined output curve for this channel -void -AP_RC_Channel::set_channel_curve(int *curve) -{ - _channel_curve = curve; // Channel_curve points to array containing curve info -} - -// Unsets the curve for this channel - i.e. no curve translation -void -AP_RC_Channel::unset_channel_curve() -{ - _channel_curve = NULL; -} - - -// Apply the current curve to a PWM value -// Input: PWM value in range of radio_min to radio_max -// Output: Translated PWM value -int -AP_RC_Channel::apply_curve(int pwm) -{ - float scale; - int index1, index2; - - if (_channel_curve != NULL) - { - if (_channel_curve[0] > 0) // If the length of the curve isn't zero then use it - { - // Calculate the index into the channel curve table - scale = ((float)(pwm - radio_min) / - (float)(radio_max - radio_min)) * - ((float)_channel_curve[0]-1); - index1 = (int)scale; // get the index - scale -= (float)index1; // scale now has the remainder for later - - if (index1 < 0) { // If the PWM value below our range then clamp to lowest table entry - index1 = 0; - scale = 0.0; - } - - index2 = index1 + 1; // Point to the next entry beyond our current for interpolation - if (index2 >= _channel_curve[0]) { // If we are beyond the end then clamp to highest entry - index2 = _channel_curve[0] - 1; - if (index1 >= _channel_curve[0]) { // Also check index 1 and clamp if necessary - index1 = _channel_curve[0] -1; - } - } - - // Do the lookup and interpolation - index1++; // curve values start at entry 1 - index2++; - pwm = ((_channel_curve[index1] * - (1 - scale)) + (_channel_curve[index2] * - scale)); // Get the pwm value from the curve and interpolate - done - } - } - - return pwm; // -} - - -//------------------------------------------------------------------------------- - - -// read input from APM_RC - create a control_in value -void -AP_RC_Channel::set_pwm(int pwm) -{ - // Serial.print(pwm,DEC); - - // Apply the curve - if any - pwm = apply_curve(pwm); - - if(_filter){ - if(radio_in == 0) - radio_in = pwm; - else - radio_in = ((pwm + radio_in) >> 1); // Small filtering - }else{ - radio_in = pwm; - } - - if(_type == RANGE){ - //Serial.print("range "); - control_in = pwm_to_range(); - control_in = (control_in < dead_zone) ? 0 : control_in; - - }else{ - control_in = pwm_to_angle(); - control_in = (abs(control_in) < dead_zone) ? 0 : control_in; - - } -} - - -int -AP_RC_Channel::control_mix(float value) -{ - return (1 - abs(control_in / _high)) * value + control_in; -} - -// are we below a threshold? -bool -AP_RC_Channel::get_failsafe(void) -{ - return (radio_in < (radio_min - 50)); -} - -// returns just the PWM without the offset from radio_min -void -AP_RC_Channel::calc_pwm(void) -{ - - if(_type == RANGE){ - pwm_out = range_to_pwm(); - radio_out = pwm_out + radio_min; - }else{ - pwm_out = angle_to_pwm(); - radio_out = pwm_out + radio_trim; - } - // radio_out = constrain(radio_out, radio_min, radio_max); -} - -// ------------------------------------------ - -void -AP_RC_Channel::load_eeprom(void) -{ - radio_min = eeprom_read_word((uint16_t *) _address); - radio_max = eeprom_read_word((uint16_t *) (_address + 2)); - load_trim(); -} - -void -AP_RC_Channel::save_eeprom(void) -{ - eeprom_write_word((uint16_t *) _address, radio_min); - eeprom_write_word((uint16_t *) (_address + 2), radio_max); - save_trim(); -} - -// ------------------------------------------ -void -AP_RC_Channel::save_trim(void) -{ - eeprom_write_word((uint16_t *) (_address + 4), radio_trim); - //_ee.write_int((_address + 4), radio_trim); -} - -void -AP_RC_Channel::load_trim(void) -{ - radio_trim = eeprom_read_word((uint16_t *) (_address + 4)); - //_ee.write_int((_address + 4), radio_trim); -} - -// ------------------------------------------ - -void -AP_RC_Channel::zero_min_max() -{ - radio_min = radio_max = radio_in; -} - -void -AP_RC_Channel::update_min_max() -{ - radio_min = min(radio_min, radio_in); - radio_max = max(radio_max, radio_in); -} - -// ------------------------------------------ - -int16_t -AP_RC_Channel::pwm_to_angle() -{ - if(radio_in < radio_trim) - return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_trim - radio_min); - else - return _reverse * ((long)_high * (long)(radio_in - radio_trim)) / (long)(radio_max - radio_trim); - - //return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_max - radio_trim)); - //return _reverse * _high * ((float)(radio_in - radio_trim) / (float)(radio_trim - radio_min)); -} - - -int16_t -AP_RC_Channel::angle_to_pwm() -{ - if(_reverse == -1) - { - if(servo_out < 0) - return ( -1 * ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high); - else - return ( -1 * ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high); - } else { - if(servo_out > 0) - return ((long)servo_out * (long)(radio_max - radio_trim)) / (long)_high; - else - return ((long)servo_out * (long)(radio_trim - radio_min)) / (long)_high; - } - - //return (((float)servo_out / (float)_high) * (float)(radio_max - radio_trim)); - //return (((float)servo_out / (float)_high) * (float)(radio_trim - radio_min)); -} - -// ------------------------------------------ - -int16_t -AP_RC_Channel::pwm_to_range() -{ - //return (_low + ((_high - _low) * ((float)(radio_in - radio_min) / (float)(radio_max - radio_min)))); - return (_low + ((long)(_high - _low) * (long)(radio_in - radio_min)) / (long)(radio_max - radio_min)); -} - -int16_t -AP_RC_Channel::range_to_pwm() -{ - //return (((float)(servo_out - _low) / (float)(_high - _low)) * (float)(radio_max - radio_min)); - return ((long)(servo_out - _low) * (long)(radio_max - radio_min)) / (long)(_high - _low); -} - -// ------------------------------------------ - -float -AP_RC_Channel::norm_input() -{ - if(radio_in < radio_trim) - return _reverse * (float)(radio_in - radio_trim) / (float)(radio_trim - radio_min); - else - return _reverse * (float)(radio_in - radio_trim) / (float)(radio_max - radio_trim); -} - -float -AP_RC_Channel::norm_output() -{ - if(radio_out < radio_trim) - return (float)(radio_out - radio_trim) / (float)(radio_trim - radio_min); - else - return (float)(radio_out - radio_trim) / (float)(radio_max - radio_trim); -} diff --git a/libraries/AP_RC_Channel/AP_RC_Channel.h b/libraries/AP_RC_Channel/AP_RC_Channel.h deleted file mode 100644 index db5dc68cd3..0000000000 --- a/libraries/AP_RC_Channel/AP_RC_Channel.h +++ /dev/null @@ -1,106 +0,0 @@ -// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- - -/// @file AP_RC_Channel.h -/// @brief AP_RC_Channel manager, with EEPROM-backed storage of constants. - -#ifndef AP_RC_Channel_h -#define AP_RC_Channel_h - -//#include -#include - -/// @class AP_RC_Channel -/// @brief Object managing one RC channel -class AP_RC_Channel{ - public: - /// Constructor - /// - /// @param key EEPROM storage key for the channel trim parameters. - /// @param name Optional name for the group. - /// - AP_RC_Channel(uint16_t address) : - _address(address), - _high(1), - _filter(true), - _reverse(1), - dead_zone(0){} - - AP_RC_Channel() : - _high(1), - _filter(true), - _reverse(1), - dead_zone(0){} - - // setup min and max radio values in CLI - void update_min_max(); - void zero_min_max(); - - // startup - void load_eeprom(void); - void save_eeprom(void); - void save_trim(void); - void load_trim(void); - void set_filter(bool filter); - - // setup the control preferences - void set_range(int low, int high); - void set_angle(int angle); - void set_reverse(bool reverse); - bool get_reverse(void); - - // read input from APM_RC - create a control_in value - void set_pwm(int pwm); - - // pwm is stored here - int16_t radio_in; - - // call after first set_pwm - void trim(); - - // did our read come in 50µs below the min? - bool get_failsafe(void); - - // value generated from PWM - int16_t control_in; - int16_t dead_zone; // used to keep noise down and create a dead zone. - - int control_mix(float value); - - // current values to the servos - degrees * 100 (approx assuming servo is -45 to 45 degrees except [3] is 0 to 100 - int16_t servo_out; - - // generate PWM from servo_out value - void calc_pwm(void); - - // PWM is without the offset from radio_min - int16_t pwm_out; - int16_t radio_out; - - int16_t radio_min; - int16_t radio_trim; - int16_t radio_max; - - // includes offset from PWM - //int16_t get_radio_out(void); - - int16_t pwm_to_angle(); - float norm_input(); - float norm_output(); - int16_t angle_to_pwm(); - int16_t pwm_to_range(); - int16_t range_to_pwm(); - - private: - bool _filter; - int8_t _reverse; - int16_t _address; - bool _type; - int16_t _high; - int16_t _low; -}; - -#endif - - - - diff --git a/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde b/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde deleted file mode 100644 index 990d929ef9..0000000000 --- a/libraries/AP_RC_Channel/examples/AP_RC_Channel/AP_RC_Channel.pde +++ /dev/null @@ -1,353 +0,0 @@ -/* - Example of AP_RC_Channel library. - Original Code by Jason Short. 2010 - Updates to support 2.6+ and channel curves by Ron Curry, 2012 - DIYDrones.com - -*/ - -#include // ArduPilot RC Library -#include -#include // ArduPilot Mega RC Library - -Arduino_Mega_ISR_Registry isr_registry; -APM_RC_APM2 APM_RC; -/* -#define EE_RADIO_1 0x00 // all gains stored from here -#define EE_RADIO_2 0x06 // all gains stored from here -#define EE_RADIO_3 0x0C // all gains stored from here -#define EE_RADIO_4 0x12 // all gains stored from here - -AP_RC_Channel rc_1(EE_RADIO_1); -AP_RC_Channel rc_2(EE_RADIO_2); -AP_RC_Channel rc_3(EE_RADIO_3); -AP_RC_Channel rc_4(EE_RADIO_4); -*/ -AP_RC_Channel rc_1; -AP_RC_Channel rc_2; -AP_RC_Channel rc_3; -AP_RC_Channel rc_4; -AP_RC_Channel rc_5; -AP_RC_Channel rc_6; -AP_RC_Channel rc_7; -AP_RC_Channel rc_8; - -// curve1 demonstrates how the full range of the RC input is scaled to span only a range of 200 with increased resolution -// Output is not clipped but rather scaled -static int curve1[] = { 3, 1400, 1500, 1600}; - -// curve2 demonstrates quick ramp with short throw from 1100 to 1400, then flat, high-res section from 1400 - 1600, then quick -// ramp short throw from 1600 to 1950 - classic expo function as seen in most TX's -static int curve2[] = {5, 1100, 1400, 1500, 1600, 1950}; - -// curve 3 demonstrats quick ramp/short thrown to 1300 then relative flat, high-rese section from 1300 to 1950 with a more -// detailed definition -static int curve3[] = {10, 1100, 1300, 1400, 1450, 1500, 1550, 1600, 1700, 1825, 1950}; - -// curve 4 demonstrates scaling to a larger PWM range in this case 900-2100 (from approx 1100-1900) -// with other modifications this could be used to support output devices that require a different range of PWM values than normal -static int curve4[] = {3, 100, 500, 900}; - - -void setup() -{ - isr_registry.init(); - APM_RC.Init(&isr_registry); // APM Radio initialization - - APM_RC.enable_out(CH_1); - APM_RC.enable_out(CH_2); - APM_RC.enable_out(CH_3); - APM_RC.enable_out(CH_4); - APM_RC.enable_out(CH_5); - APM_RC.enable_out(CH_6); - APM_RC.enable_out(CH_7); - APM_RC.enable_out(CH_8); - - - Serial.begin(115200); - Serial.println("ArduPilot RC Channel test"); - delay(500); - - // setup radio - - // read eepom or set manually -/* - rc_1.radio_min = 1100; - rc_1.radio_max = 1900; - - rc_2.radio_min = 1100; - rc_2.radio_max = 1900; - - rc_3.radio_min = 1100; - rc_3.radio_max = 1900; - - rc_4.radio_min = 1100; - rc_4.radio_max = 1900; - - // or - - rc_1.load_eeprom(); - rc_2.load_eeprom(); - rc_3.load_eeprom(); - rc_4.load_eeprom(); - - */ - - // interactive setup - setup_radio(); - - print_radio_values(); - - // set type of output, symmetrical angles or a number range; - rc_1.set_range(0,1000); - rc_2.set_range(0,1000); - rc_3.set_range(0,1000); - rc_4.set_range(0,1000); - rc_5.set_range(0,1000); - rc_6.set_angle(4500); - rc_7.set_angle(4500); - rc_8.set_angle(4500); -/* - rc_1.dead_zone = 85; - rc_2.dead_zone = 85; - rc_3.dead_zone = 85; - rc_4.dead_zone = 85; - rc_5.dead_zone = 85; - rc_6.dead_zone = 85; - rc_7.dead_zone = 85; - rc_8.dead_zone = 85; -*/ - for (byte i = 0; i < 30; i++){ - read_radio(); - } - rc_1.trim(); - rc_2.trim(); - rc_4.trim(); - rc_5.trim(); - rc_6.trim(); - rc_7.trim(); - rc_8.trim(); - - // Setup test curves - rc_1.set_channel_curve(curve1); - rc_2.set_channel_curve(curve2); - rc_3.set_channel_curve(curve3); - rc_4.set_channel_curve(curve4); - rc_5.unset_channel_curve(); - rc_6.unset_channel_curve(); - rc_7.unset_channel_curve(); - rc_8.unset_channel_curve(); - -} - -void loop() -{ - - if (APM_RC.GetState() == 1) - { - read_radio(); - rc_1.servo_out = rc_1.control_in; - rc_2.servo_out = rc_2.control_in; - rc_3.servo_out = rc_3.control_in; - rc_4.servo_out = rc_4.control_in; - rc_5.servo_out = rc_5.control_in; - rc_6.servo_out = rc_6.control_in; - rc_7.servo_out = rc_7.control_in; - rc_8.servo_out = rc_8.control_in; - - - rc_1.calc_pwm(); - rc_2.calc_pwm(); - rc_3.calc_pwm(); - rc_4.calc_pwm(); - rc_5.calc_pwm(); - rc_6.calc_pwm(); - rc_7.calc_pwm(); - rc_8.calc_pwm(); - - print_pwm(); - print_control_in(); - - // send values to the PWM timers for output - // ---------------------------------------- - APM_RC.OutputCh(CH_1, rc_1.radio_out); // send to Servos - APM_RC.OutputCh(CH_2, rc_2.radio_out); // send to Servos - APM_RC.OutputCh(CH_3, rc_3.radio_out); // send to Servos - APM_RC.OutputCh(CH_4, rc_4.radio_out); // send to Servos - APM_RC.OutputCh(CH_5, rc_5.radio_out); // send to Servos - APM_RC.OutputCh(CH_6, rc_6.radio_out); // send to Servos - APM_RC.OutputCh(CH_7, rc_7.radio_out); // send to Servos - APM_RC.OutputCh(CH_8, rc_8.radio_out); // send to Servos - } -} - - -void read_radio() -{ - rc_1.set_pwm(APM_RC.InputCh(CH_1)); - rc_2.set_pwm(APM_RC.InputCh(CH_2)); - rc_3.set_pwm(APM_RC.InputCh(CH_3)); - rc_4.set_pwm(APM_RC.InputCh(CH_4)); - rc_5.set_pwm(APM_RC.InputCh(CH_5)); - rc_6.set_pwm(APM_RC.InputCh(CH_6)); - rc_7.set_pwm(APM_RC.InputCh(CH_7)); - rc_8.set_pwm(APM_RC.InputCh(CH_8)); - //Serial.printf_P(PSTR("OUT 1: %d\t2: %d\t3: %d\t4: %d \n"), rc_1.control_in, rc_2.control_in, rc_3.control_in, rc_4.control_in, - // rc_5.control_in, rc_6.control_in, rc_7.control_in, rc_8.control_in); -} - -void print_pwm() -{ - Serial.print("\t1: "); - Serial.print(rc_1.radio_out, DEC); - Serial.print("\t2: "); - Serial.print(rc_2.radio_out, DEC); - Serial.print("\t3:"); - Serial.print(rc_3.radio_out, DEC); - Serial.print("\t4:"); - Serial.print(rc_4.radio_in , DEC); -/* Serial.print("\t5"); - Serial.print(rc_5.radio_out, DEC); - Serial.print("\t6: "); - Serial.print(rc_6.radio_out, DEC); - Serial.print("\t7:"); - Serial.print(rc_7.radio_out, DEC); - Serial.print("\t8:"); - Serial.print(rc_8.radio_out , DEC); - */ -} - -// 1280 -// 1536 -// 1795 -void print_control_in() -{ - Serial.print("\t1: "); - Serial.print(rc_1.control_in, DEC); - Serial.print("\t2: "); - Serial.print(rc_2.control_in, DEC); - Serial.print("\t3:"); - Serial.print(rc_3.control_in, DEC); - Serial.print("\t4:"); - Serial.println(rc_4.control_in, DEC); -/* Serial.print("\t5: "); - Serial.print(rc_5.control_in, DEC); - Serial.print("\t6: "); - Serial.print(rc_6.control_in, DEC); - Serial.print("\t7:"); - Serial.print(rc_7.control_in, DEC); - Serial.print("\t8:"); - Serial.println(rc_8.control_in, DEC); - */ -} - -void -print_radio_values() -{ - Serial.print("CH1: "); - Serial.print(rc_1.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_1.radio_max, DEC); - - Serial.print("CH2: "); - Serial.print(rc_2.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_2.radio_max, DEC); - - Serial.print("CH3: "); - Serial.print(rc_3.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_3.radio_max, DEC); - - Serial.print("CH4: "); - Serial.print(rc_4.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_4.radio_max, DEC); -/* - Serial.print("CH5: "); - Serial.print(rc_5.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_5.radio_max, DEC); - - Serial.print("CH6: "); - Serial.print(rc_6.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_6.radio_max, DEC); - - Serial.print("CH7: "); - Serial.print(rc_7.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_7.radio_max, DEC); - - Serial.print("CH8: "); - Serial.print(rc_8.radio_min, DEC); - Serial.print(" | "); - Serial.println(rc_8.radio_max, DEC); - */ -} - - -void -setup_radio() -{ - Serial.println("\n\nRadio Setup:"); - uint8_t i; - - for(i = 0; i < 100;i++){ - delay(20); - read_radio(); - } - - rc_1.radio_min = rc_1.radio_in; - rc_2.radio_min = rc_2.radio_in; - rc_3.radio_min = rc_3.radio_in; - rc_4.radio_min = rc_4.radio_in; - rc_5.radio_min = rc_5.radio_in; - rc_6.radio_min = rc_6.radio_in; - rc_7.radio_min = rc_7.radio_in; - rc_8.radio_min = rc_8.radio_in; - - rc_1.radio_max = rc_1.radio_in; - rc_2.radio_max = rc_2.radio_in; - rc_3.radio_max = rc_3.radio_in; - rc_4.radio_max = rc_4.radio_in; - rc_5.radio_max = rc_5.radio_in; - rc_6.radio_max = rc_6.radio_in; - rc_7.radio_max = rc_7.radio_in; - rc_8.radio_max = rc_8.radio_in; - - rc_1.radio_trim = rc_1.radio_in; - rc_2.radio_trim = rc_2.radio_in; - rc_4.radio_trim = rc_4.radio_in; - rc_5.radio_trim = rc_5.radio_in; - rc_6.radio_trim = rc_6.radio_in; - rc_7.radio_trim = rc_7.radio_in; - rc_8.radio_trim = rc_8.radio_in; - - Serial.println("\nMove all controls to each extreme. Hit Enter to save:"); - while(1){ - - delay(20); - // Filters radio input - adjust filters in the radio.pde file - // ---------------------------------------------------------- - read_radio(); - - rc_1.update_min_max(); - rc_2.update_min_max(); - rc_3.update_min_max(); - rc_4.update_min_max(); - rc_5.update_min_max(); - rc_6.update_min_max(); - rc_7.update_min_max(); - rc_8.update_min_max(); - - if(Serial.available() > 0){ - //rc_3.radio_max += 250; - Serial.flush(); - - Serial.println("Radio calibrated, Showing control values:"); - break; - } - } - return; -} \ No newline at end of file diff --git a/libraries/AP_RC_Channel/examples/AP_RC_Channel/Makefile b/libraries/AP_RC_Channel/examples/AP_RC_Channel/Makefile deleted file mode 100644 index 85b4d8856b..0000000000 --- a/libraries/AP_RC_Channel/examples/AP_RC_Channel/Makefile +++ /dev/null @@ -1,2 +0,0 @@ -BOARD = mega -include ../../../AP_Common/Arduino.mk