Arduino Mega 2560 LESSON:9 サーボ

Arduino Mega 2560に戻る。

概要

　サーボを使った課題です。

　接続図は以下のとおりです。

　コードは以下のようなものです。

//www.elegoo.com
//2018.12.19
#include <Servo.h>
Servo myservo;

void setup(){
  myservo.attach(9);
  myservo.write(90);// move servos to center position -> 90°
} 
void loop(){
  myservo.write(90);// move servos to center position -> 90°
  delay(500);
  myservo.write(30);// move servos to center position -> 60°
  delay(500);
  myservo.write(90);// move servos to center position -> 90°
  delay(500);
  myservo.write(150);// move servos to center position -> 120°
  delay(500);
}

　サーボライブラリを使った角度の調整です。サーボの位置を瞬時に角度を変えていくという内容のコードですね。サーボの舵の部分を自分に向けて置いた場合の表現で以後、話を進めます。左とか右とか言う表現をしますが、自分に舵を向けた状態から見て左と右とか言ってるんだなぁって思って下さい。

　サーボは赤と黒にあたる線で電源を供給します。赤は+5Vに黒にあたる茶色の線は、GNDへ接続します。サーボの信号線である橙色の線では、パルス波を受け取り角度を調整しています。ライブラリを使わずにまずはパルス波を送ってみましょう。

// SG90サーボ制御
// Servoライブラリ不使用
// タイマー割り込み処理なし

const int servoPin = 9;  // サーボ信号線：D9

void setup() {
  pinMode(servoPin, OUTPUT);
  digitalWrite(servoPin, LOW);
}

void loop() {

  // サーボ信号をHIGHにする
  digitalWrite(servoPin, HIGH);

  // 1500マイクロ秒待つ（中央位置）
  delayMicroseconds(1500);

  // サーボ信号をLOWにする
  digitalWrite(servoPin, LOW);

  // 次のパルスまで待つ
  delayMicroseconds(18500);
}

　このように1500μsecのONと18500μsecのOffを繰り返すパルス波を送ると概ね真ん中の位置でキープしますが、少し不安定であるためサーボがピクピク震えます。1000μsecのONと19000μsecだと左に振れた状態をキープします

• 1500μsecのONと18500μsecのOff：真ん中
• 1000μsecのONと19000μsecのOff：左
• 2000μsecのONと18000μsecのOff：右

　以下のようにすると、左右にサーボがうごきます。左も右も45度くらいしか動かないので、完全に横に向いた状態にはならないですね。

// SG90サーボ制御
// Servoライブラリ不使用
// タイマー割り込み処理なし
// 左右振り

const int servoPin = 9;  // サーボ信号線：D9

void setup() {
  pinMode(servoPin, OUTPUT);
  digitalWrite(servoPin, LOW);
}

void loop() {

  for(int i = 1000; i < 2000; i++){
    // サーボ信号をHIGHにする
    digitalWrite(servoPin, HIGH);

    // 1500マイクロ秒待つ（左位置から右位置へ）
    delayMicroseconds(i);

    // サーボ信号をLOWにする
    digitalWrite(servoPin, LOW);

    // 次のパルスまで待つ
    delayMicroseconds(19000 - i);
  }
  for(int i = 2000; i > 1000; i--){
    // サーボ信号をHIGHにする
    digitalWrite(servoPin, HIGH);

    // 1500マイクロ秒待つ（右位置から左位置へ）
    delayMicroseconds(i);

    // サーボ信号をLOWにする
    digitalWrite(servoPin, LOW);

    // 次のパルスまで待つ
    delayMicroseconds(19000 - i);
  }

}

　サーボライブラリを使わなくても動かすこと自体はできますが、これでは途中で処理を入れる都度、パルス幅が変わって位置が不安定になっていきます。そこで割り込みという技術を使います。

　以下のようにライブラリを使って真ん中に設定するとものすごく安定しています。舵をさわってもほとんど振動を感じません。

#include <Servo.h>

Servo myservo;

void setup() {
  myservo.attach(9);
  myservo.writeMicroseconds(1500);
}

void loop() {
}

　上記のコードは非常に安定します。

void setup() {
  pinMode(servoPin, OUTPUT);
  digitalWrite(servoPin, LOW);
}

void loop() {
  noInterrupts();

  digitalWrite(9, HIGH);
  delayMicroseconds(1500);
  digitalWrite(9, LOW);

  interrupts();

  delayMicroseconds(18500);
}

　上記のようなコードにすると少し改善されます。舵を触るとかすかに振動を感じます。チャットGPTによるとこれは、

　Arduino Mega2560の標準環境では、Timer0のオーバーフロー割り込みが代表例です。Timer0は通常、約1.024msごとにオーバーフローし、millis() や micros() などの時間管理に使われます。とのことでしたので、delayMicrosecondsだけで制御してもTime0のオーバーフローによる割り込みが入っていたのが、noInterrupts();という命令によって割り込みが禁止された期間が作られたことによって少しだけ安定したのではないかという見立てです。なんだかよくわからないことを言われているように感じるでしょうけれど、とにかく小手先の割り込み禁止という手法をもってしてもサーボライブラリの安定性に負けているコードであったということです。

　では、どうすればいいのかという解決編に近づいていきたいと思います。

#include <avr/interrupt.h>

const uint8_t servoPin = 9;

// HIGH期間：1500µs（中央位置）
const uint16_t pulseWidthUs = 1500;

// 信号周期：20000µs（50Hz）
const uint16_t periodUs = 20000;

// 次の割り込みでHIGHにするか、LOWにするか
volatile bool nextHigh = true;

void setup() {
  pinMode(servoPin, OUTPUT);
  digitalWrite(servoPin, LOW);

  noInterrupts();

  // Timer5の設定を初期化
  TCCR5A = 0;
  TCCR5B = 0;
  TCNT5 = 0;

  // 16MHz / 8 = 2MHz
  // 1カウント = 0.5µs
  OCR5A = pulseWidthUs * 2 - 1;

  // CTCモード（OCR5A一致でカウンタをクリア）
  TCCR5B |= (1 << WGM52);

  // 比較一致A割り込みを有効化
  TIMSK5 |= (1 << OCIE5A);

  // プリスケーラ8でタイマー開始
  TCCR5B |= (1 << CS51);

  interrupts();
}

// Timer5比較一致A割り込み
ISR(TIMER5_COMPA_vect) {

  if (nextHigh) {
    digitalWrite(servoPin, HIGH);

    // 次はHIGH期間の終了時に割り込み
    OCR5A = pulseWidthUs * 2 - 1;

    nextHigh = false;
  }
  else {
    digitalWrite(servoPin, LOW);

    // 次はLOW期間の終了時に割り込み
    OCR5A = (periodUs - pulseWidthUs) * 2 - 1;

    nextHigh = true;
  }
}

void loop() {
  // サーボ信号はTimer5割り込みが生成する
  // ここでは何もしない
}

■<avr/interrupt.h>

C:\Users\(UserID)\AppData\Local\Arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr

/* Copyright (c) 2002,2005,2007 Marek Michalkiewicz
   Copyright (c) 2007, Dean Camera

   All rights reserved.

   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:

   * Redistributions of source code must retain the above copyright
     notice, this list of conditions and the following disclaimer.

   * Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in
     the documentation and/or other materials provided with the
     distribution.

   * Neither the name of the copyright holders nor the names of
     contributors may be used to endorse or promote products derived
     from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  POSSIBILITY OF SUCH DAMAGE. */

/* $Id$ */

#ifndef _AVR_INTERRUPT_H_
#define _AVR_INTERRUPT_H_

#include <avr/io.h>

#if !defined(__DOXYGEN__) && !defined(__STRINGIFY)
/* Auxiliary macro for ISR_ALIAS(). */
#define __STRINGIFY(x) #x
#endif /* !defined(__DOXYGEN__) */

/** 
\file 
\@{ 
*/


/** \name Global manipulation of the interrupt flag

    The global interrupt flag is maintained in the I bit of the status
    register (SREG).

    Handling interrupts frequently requires attention regarding atomic
    access to objects that could be altered by code running within an
    interrupt context, see <util/atomic.h>.

    Frequently, interrupts are being disabled for periods of time in
    order to perform certain operations without being disturbed; see
    \ref optim_code_reorder for things to be taken into account with
    respect to compiler optimizations.
*/

#if defined(__DOXYGEN__)
/** \def sei()
    \ingroup avr_interrupts

    Enables interrupts by setting the global interrupt mask. This function
    actually compiles into a single line of assembly, so there is no function
    call overhead.  However, the macro also implies a <i>memory barrier</i>
    which can cause additional loss of optimization.

    In order to implement atomic access to multi-byte objects,
    consider using the macros from <util/atomic.h>, rather than
    implementing them manually with cli() and sei().
*/
#define sei()
#else  /* !DOXYGEN */
# define sei()  __asm__ __volatile__ ("sei" ::: "memory")
#endif /* DOXYGEN */

#if defined(__DOXYGEN__)
/** \def cli()
    \ingroup avr_interrupts

    Disables all interrupts by clearing the global interrupt mask. This function
    actually compiles into a single line of assembly, so there is no function
    call overhead.  However, the macro also implies a <i>memory barrier</i>
    which can cause additional loss of optimization.

    In order to implement atomic access to multi-byte objects,
    consider using the macros from <util/atomic.h>, rather than
    implementing them manually with cli() and sei().
*/
#define cli()
#else  /* !DOXYGEN */
# define cli()  __asm__ __volatile__ ("cli" ::: "memory")
#endif /* DOXYGEN */


/** \name Macros for writing interrupt handler functions */


#if defined(__DOXYGEN__)
/** \def ISR(vector [, attributes])
    \ingroup avr_interrupts

    Introduces an interrupt handler function (interrupt service
    routine) that runs with global interrupts initially disabled
    by default with no attributes specified.

    The attributes are optional and alter the behaviour and resultant
    generated code of the interrupt routine. Multiple attributes may
    be used for a single function, with a space seperating each
    attribute.

    Valid attributes are ISR_BLOCK, ISR_NOBLOCK, ISR_NAKED and
    ISR_ALIASOF(vect).

    \c vector must be one of the interrupt vector names that are
    valid for the particular MCU type.
*/
#  define ISR(vector, [attributes])
#else  /* real code */

#if (__GNUC__ == 4 && __GNUC_MINOR__ >= 1) || (__GNUC__ > 4)
#  define __INTR_ATTRS used, externally_visible
#else /* GCC < 4.1 */
#  define __INTR_ATTRS used
#endif

#ifdef __cplusplus
#  define ISR(vector, ...)            \
    extern "C" void vector (void) __attribute__ ((signal,__INTR_ATTRS)) __VA_ARGS__; \
    void vector (void)
#else
#  define ISR(vector, ...)            \
    void vector (void) __attribute__ ((signal,__INTR_ATTRS)) __VA_ARGS__; \
    void vector (void)
#endif

#endif /* DOXYGEN */

#if defined(__DOXYGEN__)
/** \def SIGNAL(vector)
    \ingroup avr_interrupts

    Introduces an interrupt handler function that runs with global interrupts
    initially disabled.

    This is the same as the ISR macro without optional attributes.
    \deprecated Do not use SIGNAL() in new code. Use ISR() instead.
*/
#  define SIGNAL(vector)
#else  /* real code */

#ifdef __cplusplus
#  define SIGNAL(vector)					\
    extern "C" void vector(void) __attribute__ ((signal, __INTR_ATTRS));	\
    void vector (void)
#else
#  define SIGNAL(vector)					\
    void vector (void) __attribute__ ((signal, __INTR_ATTRS));		\
    void vector (void)
#endif

#endif /* DOXYGEN */

#if defined(__DOXYGEN__)
/** \def EMPTY_INTERRUPT(vector)
    \ingroup avr_interrupts

    Defines an empty interrupt handler function. This will not generate
    any prolog or epilog code and will only return from the ISR. Do not
    define a function body as this will define it for you.
    Example:
    \code EMPTY_INTERRUPT(ADC_vect);\endcode */
#  define EMPTY_INTERRUPT(vector)
#else  /* real code */

#ifdef __cplusplus
#  define EMPTY_INTERRUPT(vector)                \
    extern "C" void vector(void) __attribute__ ((signal,naked,__INTR_ATTRS));    \
    void vector (void) {  __asm__ __volatile__ ("reti" ::); }
#else
#  define EMPTY_INTERRUPT(vector)                \
    void vector (void) __attribute__ ((signal,naked,__INTR_ATTRS));    \
    void vector (void) { __asm__ __volatile__ ("reti" ::); }
#endif

#endif /* DOXYGEN */

#if defined(__DOXYGEN__)
/** \def ISR_ALIAS(vector, target_vector)
    \ingroup avr_interrupts

    Aliases a given vector to another one in the same manner as the
    ISR_ALIASOF attribute for the ISR() macro. Unlike the ISR_ALIASOF
    attribute macro however, this is compatible for all versions of
    GCC rather than just GCC version 4.2 onwards.

    \note This macro creates a trampoline function for the aliased
    macro.  This will result in a two cycle penalty for the aliased
    vector compared to the ISR the vector is aliased to, due to the
    JMP/RJMP opcode used.

    \deprecated
    For new code, the use of ISR(..., ISR_ALIASOF(...))  is
    recommended.

    Example:
    \code
    ISR(INT0_vect)
    {
        PORTB = 42;
    }

    ISR_ALIAS(INT1_vect, INT0_vect);
    \endcode 
    
*/
#  define ISR_ALIAS(vector, target_vector)
#else /* real code */

#ifdef __cplusplus
#  if defined(__AVR_MEGA__) && __AVR_MEGA__
#    define ISR_ALIAS(vector, tgt) extern "C" void vector (void) \
	__attribute__((signal, naked, __INTR_ATTRS)); \
	void vector (void) { asm volatile ("jmp " __STRINGIFY(tgt) ::); }
#  else /* !__AVR_MEGA */
#    define ISR_ALIAS(vector, tgt) extern "C" void vector (void) \
	__attribute__((signal, naked, __INTR_ATTRS)); \
	void vector (void) { asm volatile ("rjmp " __STRINGIFY(tgt) ::); }
#  endif  /* __AVR_MEGA__ */
#else	  /* !__cplusplus */
#  if defined(__AVR_MEGA__) && __AVR_MEGA__
#  define ISR_ALIAS(vector, tgt) void vector (void) \
	__attribute__((signal, naked, __INTR_ATTRS)); \
	void vector (void) { asm volatile ("jmp " __STRINGIFY(tgt) ::); }
#  else /* !__AVR_MEGA */
#  define ISR_ALIAS(vector, tgt) void vector (void) \
	__attribute__((signal, naked, __INTR_ATTRS)); \
	void vector (void) { asm volatile ("rjmp " __STRINGIFY(tgt) ::); }
#  endif  /* __AVR_MEGA__ */
#endif	/* __cplusplus */

#endif /* DOXYGEN */

#if defined(__DOXYGEN__)
/** \def reti()
    \ingroup avr_interrupts

    Returns from an interrupt routine, enabling global interrupts. This should
    be the last command executed before leaving an ISR defined with the ISR_NAKED
    attribute.

    This macro actually compiles into a single line of assembly, so there is
    no function call overhead.
*/
#  define reti()
#else  /* !DOXYGEN */
#  define reti()  __asm__ __volatile__ ("reti" ::)
#endif /* DOXYGEN */

#if defined(__DOXYGEN__)
/** \def BADISR_vect
    \ingroup avr_interrupts

    \code #include <avr/interrupt.h> \endcode

    This is a vector which is aliased to __vector_default, the vector
    executed when an ISR fires with no accompanying ISR handler. This
    may be used along with the ISR() macro to create a catch-all for
    undefined but used ISRs for debugging purposes.
*/
#  define BADISR_vect
#else  /* !DOXYGEN */
#  define BADISR_vect __vector_default
#endif /* DOXYGEN */

/** \name ISR attributes */

#if defined(__DOXYGEN__)
/** \def ISR_BLOCK
    \ingroup avr_interrupts

    Identical to an ISR with no attributes specified. Global
    interrupts are initially disabled by the AVR hardware when
    entering the ISR, without the compiler modifying this state.

    Use this attribute in the attributes parameter of the ISR macro.
*/
#  define ISR_BLOCK

/** \def ISR_NOBLOCK
    \ingroup avr_interrupts

    ISR runs with global interrupts initially enabled.  The interrupt
    enable flag is activated by the compiler as early as possible
    within the ISR to ensure minimal processing delay for nested
    interrupts.

    This may be used to create nested ISRs, however care should be
    taken to avoid stack overflows, or to avoid infinitely entering
    the ISR for those cases where the AVR hardware does not clear the
    respective interrupt flag before entering the ISR.

    Use this attribute in the attributes parameter of the ISR macro.
*/
#  define ISR_NOBLOCK

/** \def ISR_NAKED
    \ingroup avr_interrupts

    ISR is created with no prologue or epilogue code. The user code is
    responsible for preservation of the machine state including the
    SREG register, as well as placing a reti() at the end of the
    interrupt routine.

    Use this attribute in the attributes parameter of the ISR macro.
*/
#  define ISR_NAKED

/** \def ISR_ALIASOF(target_vector)
    \ingroup avr_interrupts

    The ISR is linked to another ISR, specified by the vect parameter.
    This is compatible with GCC 4.2 and greater only.

    Use this attribute in the attributes parameter of the ISR macro.
*/
#  define ISR_ALIASOF(target_vector)
#else  /* !DOXYGEN */
#  define ISR_BLOCK
#  define ISR_NOBLOCK    __attribute__((interrupt))
#  define ISR_NAKED      __attribute__((naked))
#  define ISR_ALIASOF(v) __attribute__((alias(__STRINGIFY(v))))
#endif /* DOXYGEN */

/* \@} */

#endif

■<avr/io.h>

C:\Users\(UserID)\AppData\Local\Arduino15\packages\arduino\tools\avr-gcc\7.3.0-atmel3.6.1-arduino7\avr\include\avr

/* Copyright (c) 2002,2003,2005,2006,2007 Marek Michalkiewicz, Joerg Wunsch
   Copyright (c) 2007 Eric B. Weddington
   All rights reserved.

   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:

   * Redistributions of source code must retain the above copyright
     notice, this list of conditions and the following disclaimer.

   * Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in
     the documentation and/or other materials provided with the
     distribution.

   * Neither the name of the copyright holders nor the names of
     contributors may be used to endorse or promote products derived
     from this software without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  POSSIBILITY OF SUCH DAMAGE. */

/* $Id$ */

/** \file */
/** \defgroup avr_io <avr/io.h>: AVR device-specific IO definitions
    \code #include <avr/io.h> \endcode

    This header file includes the apropriate IO definitions for the
    device that has been specified by the <tt>-mmcu=</tt> compiler
    command-line switch.  This is done by diverting to the appropriate
    file <tt><avr/io</tt><em>XXXX</em><tt>.h></tt> which should
    never be included directly.  Some register names common to all
    AVR devices are defined directly within <tt><avr/common.h></tt>,
    which is included in <tt><avr/io.h></tt>,
    but most of the details come from the respective include file.

    Note that this file always includes the following files:
    \code 
    #include <avr/sfr_defs.h>
    #include <avr/portpins.h>
    #include <avr/common.h>
    #include <avr/version.h>
    \endcode
    See \ref avr_sfr for more details about that header file.

    Included are definitions of the IO register set and their
    respective bit values as specified in the Atmel documentation.
    Note that inconsistencies in naming conventions,
    so even identical functions sometimes get different names on
    different devices.

    Also included are the specific names useable for interrupt
    function definitions as documented
    \ref avr_signames "here".

    Finally, the following macros are defined:

    - \b RAMEND
    <br>
    The last on-chip RAM address.
    <br>
    - \b XRAMEND
    <br>
    The last possible RAM location that is addressable. This is equal to 
    RAMEND for devices that do not allow for external RAM. For devices 
    that allow external RAM, this will be larger than RAMEND.
    <br>
    - \b E2END
    <br>
    The last EEPROM address.
    <br>
    - \b FLASHEND
    <br>
    The last byte address in the Flash program space.
    <br>
    - \b SPM_PAGESIZE
    <br>
    For devices with bootloader support, the flash pagesize
    (in bytes) to be used for the \c SPM instruction. 
    - \b E2PAGESIZE
    <br>
    The size of the EEPROM page.
    
*/

#ifndef _AVR_IO_H_
#define _AVR_IO_H_

#include <avr/sfr_defs.h>

#if defined (__AVR_AT94K__)
#  include <avr/ioat94k.h>
#elif defined (__AVR_AT43USB320__)
#  include <avr/io43u32x.h>
#elif defined (__AVR_AT43USB355__)
#  include <avr/io43u35x.h>
#elif defined (__AVR_AT76C711__)
#  include <avr/io76c711.h>
#elif defined (__AVR_AT86RF401__)
#  include <avr/io86r401.h>
#elif defined (__AVR_AT90PWM1__)
#  include <avr/io90pwm1.h>
#elif defined (__AVR_AT90PWM2__)
#  include <avr/io90pwmx.h>
#elif defined (__AVR_AT90PWM2B__)
#  include <avr/io90pwm2b.h>
#elif defined (__AVR_AT90PWM3__)
#  include <avr/io90pwmx.h>
#elif defined (__AVR_AT90PWM3B__)
#  include <avr/io90pwm3b.h>
#elif defined (__AVR_AT90PWM216__)
#  include <avr/io90pwm216.h>
#elif defined (__AVR_AT90PWM316__)
#  include <avr/io90pwm316.h>
#elif defined (__AVR_AT90PWM161__)
#  include <avr/io90pwm161.h>
#elif defined (__AVR_AT90PWM81__)
#  include <avr/io90pwm81.h>
#elif defined (__AVR_ATmega8U2__)
#  include <avr/iom8u2.h>
#elif defined (__AVR_ATmega16M1__)
#  include <avr/iom16m1.h>
#elif defined (__AVR_ATmega16U2__)
#  include <avr/iom16u2.h>
#elif defined (__AVR_ATmega16U4__)
#  include <avr/iom16u4.h>
#elif defined (__AVR_ATmega32C1__)
#  include <avr/iom32c1.h>
#elif defined (__AVR_ATmega32M1__)
#  include <avr/iom32m1.h>
#elif defined (__AVR_ATmega32U2__)
#  include <avr/iom32u2.h>
#elif defined (__AVR_ATmega32U4__)
#  include <avr/iom32u4.h>
#elif defined (__AVR_ATmega32U6__)
#  include <avr/iom32u6.h>
#elif defined (__AVR_ATmega64C1__)
#  include <avr/iom64c1.h>
#elif defined (__AVR_ATmega64M1__)
#  include <avr/iom64m1.h>
#elif defined (__AVR_ATmega128__)
#  include <avr/iom128.h>
#elif defined (__AVR_ATmega128A__)
#  include <avr/iom128a.h>
#elif defined (__AVR_ATmega1280__)
#  include <avr/iom1280.h>
#elif defined (__AVR_ATmega1281__)
#  include <avr/iom1281.h>
#elif defined (__AVR_ATmega1284__)
#  include <avr/iom1284.h>
#elif defined (__AVR_ATmega1284P__)
#  include <avr/iom1284p.h>
#elif defined (__AVR_ATmega128RFA1__)
#  include <avr/iom128rfa1.h>
#elif defined (__AVR_ATmega1284RFR2__)
#  include <avr/iom1284rfr2.h>
#elif defined (__AVR_ATmega128RFR2__)
#  include <avr/iom128rfr2.h>
#elif defined (__AVR_ATmega2564RFR2__)
#  include <avr/iom2564rfr2.h>
#elif defined (__AVR_ATmega256RFR2__)
#  include <avr/iom256rfr2.h>
#elif defined (__AVR_ATmega2560__)
#  include <avr/iom2560.h>
#elif defined (__AVR_ATmega2561__)
#  include <avr/iom2561.h>
#elif defined (__AVR_AT90CAN32__)
#  include <avr/iocan32.h>
#elif defined (__AVR_AT90CAN64__)
#  include <avr/iocan64.h>
#elif defined (__AVR_AT90CAN128__)
#  include <avr/iocan128.h>
#elif defined (__AVR_AT90USB82__)
#  include <avr/iousb82.h>
#elif defined (__AVR_AT90USB162__)
#  include <avr/iousb162.h>
#elif defined (__AVR_AT90USB646__)
#  include <avr/iousb646.h>
#elif defined (__AVR_AT90USB647__)
#  include <avr/iousb647.h>
#elif defined (__AVR_AT90USB1286__)
#  include <avr/iousb1286.h>
#elif defined (__AVR_AT90USB1287__)
#  include <avr/iousb1287.h>
#elif defined (__AVR_ATmega644RFR2__)
#  include <avr/iom644rfr2.h>
#elif defined (__AVR_ATmega64RFR2__)
#  include <avr/iom64rfr2.h>
#elif defined (__AVR_ATmega64__)
#  include <avr/iom64.h>
#elif defined (__AVR_ATmega64A__)
#  include <avr/iom64a.h>
#elif defined (__AVR_ATmega640__)
#  include <avr/iom640.h>
#elif defined (__AVR_ATmega644__)
#  include <avr/iom644.h>
#elif defined (__AVR_ATmega644A__)
#  include <avr/iom644a.h>
#elif defined (__AVR_ATmega644P__)
#  include <avr/iom644p.h>
#elif defined (__AVR_ATmega644PA__)
#  include <avr/iom644pa.h>
#elif defined (__AVR_ATmega645__)
#  include <avr/iom645.h>
#elif (defined __AVR_ATmega645A__)
#include <avr/iom645a.h>
#elif (defined __AVR_ATmega645P__)
#include <avr/iom645p.h>
#elif defined (__AVR_ATmega6450__)
#  include <avr/iom6450.h>
#elif (defined __AVR_ATmega6450A__)
#include <avr/iom6450a.h>
#elif (defined __AVR_ATmega6450P__)
#include <avr/iom6450p.h>
#elif defined (__AVR_ATmega649__)
#  include <avr/iom649.h>
#elif (defined __AVR_ATmega649A__)
#include <avr/iom649a.h>
#elif defined (__AVR_ATmega6490__)
#  include <avr/iom6490.h>
#elif (defined __AVR_ATmega6490A__)
#include <avr/iom6490a.h>
#elif (defined __AVR_ATmega6490P__)
#include <avr/iom6490p.h>
#elif defined (__AVR_ATmega649P__)
#  include <avr/iom649p.h>
#elif defined (__AVR_ATmega64HVE__)
#  include <avr/iom64hve.h>
#elif defined (__AVR_ATmega64HVE2__)
#  include <avr/iom64hve2.h>
#elif defined (__AVR_ATmega103__)
#  include <avr/iom103.h>
#elif defined (__AVR_ATmega32__)
#  include <avr/iom32.h>
#elif defined (__AVR_ATmega32A__)
#  include <avr/iom32a.h>
#elif defined (__AVR_ATmega323__)
#  include <avr/iom323.h>
#elif defined (__AVR_ATmega324P__)
#  include <avr/iom324p.h>
#elif (defined __AVR_ATmega324A__)
#include <avr/iom324a.h>
#elif defined (__AVR_ATmega324PA__)
#  include <avr/iom324pa.h>
#elif defined (__AVR_ATmega325__)
#  include <avr/iom325.h>
#elif (defined __AVR_ATmega325A__)
#include <avr/iom325a.h>
#elif defined (__AVR_ATmega325P__)
#  include <avr/iom325p.h>
#elif defined (__AVR_ATmega325PA__)
#  include <avr/iom325pa.h>  
#elif defined (__AVR_ATmega3250__) 
#  include <avr/iom3250.h>
#elif (defined __AVR_ATmega3250A__)
#include <avr/iom3250a.h>
#elif defined (__AVR_ATmega3250P__)
#  include <avr/iom3250p.h>
#elif defined (__AVR_ATmega3250PA__)
#  include <avr/iom3250pa.h>  
#elif defined (__AVR_ATmega328P__)
#  include <avr/iom328p.h>
#elif (defined __AVR_ATmega328__)
#include <avr/iom328.h>
#elif defined (__AVR_ATmega329__)
#  include <avr/iom329.h>
#elif (defined __AVR_ATmega329A__)
#include <avr/iom329a.h>
#elif defined (__AVR_ATmega329P__) 
#  include <avr/iom329p.h>
#elif (defined __AVR_ATmega329PA__)
#include <avr/iom329pa.h>
#elif (defined __AVR_ATmega3290PA__)
#include <avr/iom3290pa.h>
#elif defined (__AVR_ATmega3290__)
#  include <avr/iom3290.h>
#elif (defined __AVR_ATmega3290A__)
#include <avr/iom3290a.h>
#elif defined (__AVR_ATmega3290P__)
#  include <avr/iom3290.h>
#elif defined (__AVR_ATmega32HVB__)
#  include <avr/iom32hvb.h>
#elif defined (__AVR_ATmega32HVBREVB__)
#  include <avr/iom32hvbrevb.h>
#elif defined (__AVR_ATmega406__)
#  include <avr/iom406.h>
#elif defined (__AVR_ATmega16__)
#  include <avr/iom16.h>
#elif defined (__AVR_ATmega16A__)
#  include <avr/iom16a.h>
#elif defined (__AVR_ATmega161__)
#  include <avr/iom161.h>
#elif defined (__AVR_ATmega162__)
#  include <avr/iom162.h>
#elif defined (__AVR_ATmega163__)
#  include <avr/iom163.h>
#elif defined (__AVR_ATmega164P__)
#  include <avr/iom164p.h>
#elif (defined __AVR_ATmega164A__)
#include <avr/iom164a.h>
#elif defined (__AVR_ATmega164PA__)
#  include <avr/iom164pa.h>
#elif defined (__AVR_ATmega165__)
#  include <avr/iom165.h>
#elif defined (__AVR_ATmega165A__)
#  include <avr/iom165a.h>
#elif defined (__AVR_ATmega165P__)
#  include <avr/iom165p.h>
#elif defined (__AVR_ATmega165PA__)
#  include <avr/iom165pa.h>
#elif defined (__AVR_ATmega168__)
#  include <avr/iom168.h>
#elif defined (__AVR_ATmega168A__)
#  include <avr/iom168a.h>
#elif defined (__AVR_ATmega168P__)
#  include <avr/iom168p.h>
#elif defined (__AVR_ATmega168PA__)
#  include <avr/iom168pa.h>
#elif defined (__AVR_ATmega168PB__)
#  include <avr/iom168pb.h>
#elif defined (__AVR_ATmega169__)
#  include <avr/iom169.h>
#elif (defined __AVR_ATmega169A__)
#include <avr/iom169a.h>
#elif defined (__AVR_ATmega169P__)
#  include <avr/iom169p.h>
#elif defined (__AVR_ATmega169PA__)
#  include <avr/iom169pa.h>
#elif defined (__AVR_ATmega8HVA__)
#  include <avr/iom8hva.h>
#elif defined (__AVR_ATmega16HVA__)
#  include <avr/iom16hva.h>
#elif defined (__AVR_ATmega16HVA2__)
#  include <avr/iom16hva2.h>
#elif defined (__AVR_ATmega16HVB__)
#  include <avr/iom16hvb.h>
#elif defined (__AVR_ATmega16HVBREVB__)
#  include <avr/iom16hvbrevb.h>
#elif defined (__AVR_ATmega8__)
#  include <avr/iom8.h>
#elif defined (__AVR_ATmega8A__)
#  include <avr/iom8a.h>
#elif defined (__AVR_ATmega48__)
#  include <avr/iom48.h>
#elif defined (__AVR_ATmega48A__)
#  include <avr/iom48a.h>
#elif defined (__AVR_ATmega48PA__)
#  include <avr/iom48pa.h>
#elif defined (__AVR_ATmega48PB__)
#  include <avr/iom48pb.h>
#elif defined (__AVR_ATmega48P__)
#  include <avr/iom48p.h>
#elif defined (__AVR_ATmega88__)
#  include <avr/iom88.h>
#elif defined (__AVR_ATmega88A__)
#  include <avr/iom88a.h>
#elif defined (__AVR_ATmega88P__)
#  include <avr/iom88p.h>
#elif defined (__AVR_ATmega88PA__)
#  include <avr/iom88pa.h>
#elif defined (__AVR_ATmega88PB__)
#  include <avr/iom88pb.h>
#elif defined (__AVR_ATmega8515__)
#  include <avr/iom8515.h>
#elif defined (__AVR_ATmega8535__)
#  include <avr/iom8535.h>
#elif defined (__AVR_AT90S8535__)
#  include <avr/io8535.h>
#elif defined (__AVR_AT90C8534__)
#  include <avr/io8534.h>
#elif defined (__AVR_AT90S8515__)
#  include <avr/io8515.h>
#elif defined (__AVR_AT90S4434__)
#  include <avr/io4434.h>
#elif defined (__AVR_AT90S4433__)
#  include <avr/io4433.h>
#elif defined (__AVR_AT90S4414__)
#  include <avr/io4414.h>
#elif defined (__AVR_ATtiny22__)
#  include <avr/iotn22.h>
#elif defined (__AVR_ATtiny26__)
#  include <avr/iotn26.h>
#elif defined (__AVR_AT90S2343__)
#  include <avr/io2343.h>
#elif defined (__AVR_AT90S2333__)
#  include <avr/io2333.h>
#elif defined (__AVR_AT90S2323__)
#  include <avr/io2323.h>
#elif defined (__AVR_AT90S2313__)
#  include <avr/io2313.h>
#elif defined (__AVR_ATtiny4__)
#  include <avr/iotn4.h>
#elif defined (__AVR_ATtiny5__)
#  include <avr/iotn5.h>
#elif defined (__AVR_ATtiny9__)
#  include <avr/iotn9.h>
#elif defined (__AVR_ATtiny10__)
#  include <avr/iotn10.h>
#elif defined (__AVR_ATtiny20__)
#  include <avr/iotn20.h>
#elif defined (__AVR_ATtiny40__)
#  include <avr/iotn40.h>
#elif defined (__AVR_ATtiny2313__)
#  include <avr/iotn2313.h>
#elif defined (__AVR_ATtiny2313A__)
#  include <avr/iotn2313a.h>
#elif defined (__AVR_ATtiny13__)
#  include <avr/iotn13.h>
#elif defined (__AVR_ATtiny13A__)
#  include <avr/iotn13a.h>
#elif defined (__AVR_ATtiny25__)
#  include <avr/iotn25.h>
#elif defined (__AVR_ATtiny4313__)
#  include <avr/iotn4313.h>
#elif defined (__AVR_ATtiny45__)
#  include <avr/iotn45.h>
#elif defined (__AVR_ATtiny85__)
#  include <avr/iotn85.h>
#elif defined (__AVR_ATtiny24__)
#  include <avr/iotn24.h>
#elif defined (__AVR_ATtiny24A__)
#  include <avr/iotn24a.h>
#elif defined (__AVR_ATtiny44__)
#  include <avr/iotn44.h>
#elif defined (__AVR_ATtiny44A__)
#  include <avr/iotn44a.h>
#elif defined (__AVR_ATtiny441__)
#  include <avr/iotn441.h>
#elif defined (__AVR_ATtiny84__)
#  include <avr/iotn84.h>
#elif defined (__AVR_ATtiny84A__)
#  include <avr/iotn84a.h> 
#elif defined (__AVR_ATtiny841__)
#  include <avr/iotn841.h> 
#elif defined (__AVR_ATtiny261__)
#  include <avr/iotn261.h>
#elif defined (__AVR_ATtiny261A__)
#  include <avr/iotn261a.h>
#elif defined (__AVR_ATtiny461__)
#  include <avr/iotn461.h>
#elif defined (__AVR_ATtiny461A__)
#  include <avr/iotn461a.h>
#elif defined (__AVR_ATtiny861__)
#  include <avr/iotn861.h>
#elif defined (__AVR_ATtiny861A__)
#  include <avr/iotn861a.h>
#elif defined (__AVR_ATtiny43U__)
#  include <avr/iotn43u.h>
#elif defined (__AVR_ATtiny48__)
#  include <avr/iotn48.h>
#elif defined (__AVR_ATtiny88__)
#  include <avr/iotn88.h>
#elif defined (__AVR_ATtiny828__)
#  include <avr/iotn828.h>
#elif defined (__AVR_ATtiny87__)
#  include <avr/iotn87.h>
#elif defined (__AVR_ATtiny167__)
#  include <avr/iotn167.h>
#elif defined (__AVR_ATtiny1634__)
#  include <avr/iotn1634.h>
#elif defined (__AVR_AT90SCR100__)
#  include <avr/io90scr100.h>
#elif defined (__AVR_ATxmega8E5__)
#  include <avr/iox8e5.h>
#elif defined (__AVR_ATxmega16A4__)
#  include <avr/iox16a4.h>
#elif defined (__AVR_ATxmega16A4U__)
#  include <avr/iox16a4u.h>
#elif defined (__AVR_ATxmega16C4__)
#  include <avr/iox16c4.h>
#elif defined (__AVR_ATxmega16D4__)
#  include <avr/iox16d4.h>
#elif defined (__AVR_ATxmega16E5__)
#  include <avr/iox16e5.h>
#elif defined (__AVR_ATxmega32A4__)
#  include <avr/iox32a4.h>
#elif defined (__AVR_ATxmega32A4U__)
#  include <avr/iox32a4u.h>
#elif defined (__AVR_ATxmega32C3__)
#  include <avr/iox32c3.h>
#elif defined (__AVR_ATxmega32C4__)
#  include <avr/iox32c4.h>
#elif defined (__AVR_ATxmega32D3__)
#  include <avr/iox32d3.h>
#elif defined (__AVR_ATxmega32D4__)
#  include <avr/iox32d4.h>
#elif defined (__AVR_ATxmega32E5__)
#  include <avr/iox32e5.h>
#elif defined (__AVR_ATxmega64A1__)
#  include <avr/iox64a1.h>
#elif defined (__AVR_ATxmega64A1U__)
#  include <avr/iox64a1u.h>
#elif defined (__AVR_ATxmega64A3__)
#  include <avr/iox64a3.h>
#elif defined (__AVR_ATxmega64A3U__)
#  include <avr/iox64a3u.h>
#elif defined (__AVR_ATxmega64A4U__)
#  include <avr/iox64a4u.h>
#elif defined (__AVR_ATxmega64B1__)
#  include <avr/iox64b1.h>
#elif defined (__AVR_ATxmega64B3__)
#  include <avr/iox64b3.h>
#elif defined (__AVR_ATxmega64C3__)
#  include <avr/iox64c3.h>
#elif defined (__AVR_ATxmega64D3__)
#  include <avr/iox64d3.h>
#elif defined (__AVR_ATxmega64D4__)
#  include <avr/iox64d4.h>
#elif defined (__AVR_ATxmega128A1__)
#  include <avr/iox128a1.h>
#elif defined (__AVR_ATxmega128A1U__)
#  include <avr/iox128a1u.h>
#elif defined (__AVR_ATxmega128A4U__)
#  include <avr/iox128a4u.h>
#elif defined (__AVR_ATxmega128A3__)
#  include <avr/iox128a3.h>
#elif defined (__AVR_ATxmega128A3U__)
#  include <avr/iox128a3u.h>
#elif defined (__AVR_ATxmega128B1__)
#  include <avr/iox128b1.h>
#elif defined (__AVR_ATxmega128B3__)
#  include <avr/iox128b3.h>
#elif defined (__AVR_ATxmega128C3__)
#  include <avr/iox128c3.h>
#elif defined (__AVR_ATxmega128D3__)
#  include <avr/iox128d3.h>
#elif defined (__AVR_ATxmega128D4__)
#  include <avr/iox128d4.h>
#elif defined (__AVR_ATxmega192A3__)
#  include <avr/iox192a3.h>
#elif defined (__AVR_ATxmega192A3U__)
#  include <avr/iox192a3u.h>
#elif defined (__AVR_ATxmega192C3__)
#  include <avr/iox192c3.h>
#elif defined (__AVR_ATxmega192D3__)
#  include <avr/iox192d3.h>
#elif defined (__AVR_ATxmega256A3__)
#  include <avr/iox256a3.h>
#elif defined (__AVR_ATxmega256A3U__)
#  include <avr/iox256a3u.h>
#elif defined (__AVR_ATxmega256A3B__)
#  include <avr/iox256a3b.h>
#elif defined (__AVR_ATxmega256A3BU__)
#  include <avr/iox256a3bu.h>
#elif defined (__AVR_ATxmega256C3__)
#  include <avr/iox256c3.h>
#elif defined (__AVR_ATxmega256D3__)
#  include <avr/iox256d3.h>
#elif defined (__AVR_ATxmega384C3__)
#  include <avr/iox384c3.h>
#elif defined (__AVR_ATxmega384D3__)
#  include <avr/iox384d3.h>
#elif defined (__AVR_ATA5702M322__)
#  include <avr/ioa5702m322.h>
#elif defined (__AVR_ATA5782__)
#  include <avr/ioa5782.h>
#elif defined (__AVR_ATA5790__)
#  include <avr/ioa5790.h>
#elif defined (__AVR_ATA5790N__)
#  include <avr/ioa5790n.h>
#elif defined (__AVR_ATA5791__)
#  include <avr/ioa5791.h>
#elif defined (__AVR_ATA5831__)
#  include <avr/ioa5831.h>
#elif defined (__AVR_ATA5272__)
#  include <avr/ioa5272.h>
#elif defined (__AVR_ATA5505__)
#  include <avr/ioa5505.h>
#elif defined (__AVR_ATA5795__)
#  include <avr/ioa5795.h>
#elif defined (__AVR_ATA6285__)
#  include <avr/ioa6285.h>
#elif defined (__AVR_ATA6286__)
#  include <avr/ioa6286.h>
#elif defined (__AVR_ATA6289__)
#  include <avr/ioa6289.h>
#elif defined (__AVR_ATA6612C__)
#  include <avr/ioa6612c.h>
#elif defined (__AVR_ATA6613C__)
#  include <avr/ioa6613c.h>
#elif defined (__AVR_ATA6614Q__)
#  include <avr/ioa6614q.h>
#elif defined (__AVR_ATA6616C__)
#  include <avr/ioa6616c.h>
#elif defined (__AVR_ATA6617C__)
#  include <avr/ioa6617c.h>
#elif defined (__AVR_ATA664251__)
#  include <avr/ioa664251.h>
#elif defined (__AVR_ATA8210__)
#  include <avr/ioa8210.h>
#elif defined (__AVR_ATA8510__)
#  include <avr/ioa8510.h>
/* avr1: the following only supported for assembler programs */
#elif defined (__AVR_ATtiny28__)
#  include <avr/iotn28.h>
#elif defined (__AVR_AT90S1200__)
#  include <avr/io1200.h>
#elif defined (__AVR_ATtiny15__)
#  include <avr/iotn15.h>
#elif defined (__AVR_ATtiny12__)
#  include <avr/iotn12.h>
#elif defined (__AVR_ATtiny11__)
#  include <avr/iotn11.h>
#elif defined (__AVR_M3000__)
#  include <avr/iom3000.h>
#elif defined (__AVR_AVR128DA64__)
#  include <avr/ioavr128da64.h>
#elif defined (__AVR_AVR128DA48__)
#  include <avr/ioavr128da48.h>
#elif defined (__AVR_AVR128DA32__)
#  include <avr/ioavr128da32.h>
#elif defined (__AVR_AVR128DA28__)
#  include <avr/ioavr128da28.h>
#elif defined (__AVR_ATtiny817__)
#  include <avr/iotn817.h>
#elif defined (__AVR_ATtiny816__)
#  include <avr/iotn816.h>
#elif defined (__AVR_ATtiny814__)
#  include <avr/iotn814.h>
#elif defined (__AVR_ATtiny807__)
#  include <avr/iotn807.h>
#elif defined (__AVR_ATtiny806__)
#  include <avr/iotn806.h>
#elif defined (__AVR_ATtiny804__)
#  include <avr/iotn804.h>
#elif defined (__AVR_ATtiny417__)
#  include <avr/iotn417.h>
#elif defined (__AVR_ATtiny416__)
#  include <avr/iotn416.h>
#elif defined (__AVR_ATtiny414__)
#  include <avr/iotn414.h>
#elif defined (__AVR_ATtiny412__)
#  include <avr/iotn412.h>
#elif defined (__AVR_ATtiny406__)
#  include <avr/iotn406.h>
#elif defined (__AVR_ATtiny404__)
#  include <avr/iotn404.h>
#elif defined (__AVR_ATtiny402__)
#  include <avr/iotn402.h>
#elif defined (__AVR_ATtiny3217__)
#  include <avr/iotn3217.h>
#elif defined (__AVR_ATtiny3216__)
#  include <avr/iotn3216.h>
#elif defined (__AVR_ATtiny214__)
#  include <avr/iotn214.h>
#elif defined (__AVR_ATtiny212__)
#  include <avr/iotn212.h>
#elif defined (__AVR_ATtiny204__)
#  include <avr/iotn204.h>
#elif defined (__AVR_ATtiny202__)
#  include <avr/iotn202.h>
#elif defined (__AVR_ATtiny1627__)
#  include <avr/iotn1627.h>
#elif defined (__AVR_ATtiny1626__)
#  include <avr/iotn1626.h>
#elif defined (__AVR_ATtiny1624__)
#  include <avr/iotn1624.h>
#elif defined (__AVR_ATtiny1617__)
#  include <avr/iotn1617.h>
#elif defined (__AVR_ATtiny1616__)
#  include <avr/iotn1616.h>
#elif defined (__AVR_ATtiny1614__)
#  include <avr/iotn1614.h>
#elif defined (__AVR_ATtiny1607__)
#  include <avr/iotn1607.h>
#elif defined (__AVR_ATtiny1606__)
#  include <avr/iotn1606.h>
#elif defined (__AVR_ATtiny1604__)
#  include <avr/iotn1604.h>
#elif defined (__AVR_ATtiny104__)
#  include <avr/iotn104.h>
#elif defined (__AVR_ATtiny102__)
#  include <avr/iotn102.h>
#elif defined (__AVR_ATmega809__)
#  include <avr/iom809.h>
#elif defined (__AVR_ATmega808__)
#  include <avr/iom808.h>
#elif defined (__AVR_ATmega4809__)
#  include <avr/iom4809.h>
#elif defined (__AVR_ATmega4808__)
#  include <avr/iom4808.h>
#elif defined (__AVR_ATmega328PB__)
#  include <avr/iom328pb.h>
#elif defined (__AVR_ATmega324PB__)
#  include <avr/iom324pb.h>
#elif defined (__AVR_ATmega3209__)
#  include <avr/iom3209.h>
#elif defined (__AVR_ATmega3208__)
#  include <avr/iom3208.h>
#elif defined (__AVR_ATmega1609__)
#  include <avr/iom1609.h>
#elif defined (__AVR_ATmega1608__)
#  include <avr/iom1608.h>
#elif defined (__AVR_DEV_LIB_NAME__)
#  define __concat__(a,b) a##b
#  define __header1__(a,b) __concat__(a,b)
#  define __AVR_DEVICE_HEADER__ <avr/__header1__(io,__AVR_DEV_LIB_NAME__).h>
#  include __AVR_DEVICE_HEADER__
#else
#  if !defined(__COMPILING_AVR_LIBC__)
#    warning "device type not defined"
#  endif
#endif

#include <avr/portpins.h>

#include <avr/common.h>

#include <avr/version.h>

#if __AVR_ARCH__ >= 100
#  include <avr/xmega.h>
#endif

/* Include fuse.h after individual IO header files. */
#include <avr/fuse.h>

/* Include lock.h after individual IO header files. */
#include <avr/lock.h>

#endif /* _AVR_IO_H_ */

　ながくなってしまいました。

　

Arduino Mega 2560に戻る。