SPI library to the new format and moved Robot_Motor and Robot_Control libraries

1 files changed, 0 insertions, 378 deletions

diff --git a/libraries/Robot_Control/Fat16.h b/libraries/Robot_Control/Fat16.h
deleted file mode 100644
index 935b9b0..0000000
--- a/libraries/Robot_Control/Fat16.h
+++ /dev/null
@@ -1,378 +0,0 @@
-/* Arduino FAT16 Library
- * Copyright (C) 2008 by William Greiman
- *
- * This file is part of the Arduino FAT16 Library
- *
- * This Library is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 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 General Public License for more details.
-
- * You should have received a copy of the GNU General Public License
- * along with the Arduino Fat16 Library.  If not, see
- * <http://www.gnu.org/licenses/>.
- */
-#ifndef Fat16_h
-#define Fat16_h
-/**
- * \file
- * Fat16 class
- */
-#include <string.h>
-#include <avr/pgmspace.h>
-#include <Print.h>
-#include <SdCard.h>
-#include <FatStructs.h>
-#include <Fat16Config.h>
-//------------------------------------------------------------------------------
-/** Fat16 version YYYYMMDD */
-#define FAT16_VERSION 20111205
-//------------------------------------------------------------------------------
-// flags for ls()
-/** ls() flag to print modify date */
-uint8_t const LS_DATE = 1;
-/** ls() flag to print file size */
-uint8_t const LS_SIZE = 2;
-
-// use the gnu style oflags
-/** open for reading */
-uint8_t const O_READ    = 0X01;
-/** same as O_READ */
-uint8_t const O_RDONLY  = O_READ;
-/** open for write */
-uint8_t const O_WRITE   = 0X02;
-/** same as O_WRITE */
-uint8_t const O_WRONLY  = O_WRITE;
-/** open for reading and writing */
-uint8_t const O_RDWR    = O_READ | O_WRITE;
-/** mask for access modes */
-uint8_t const O_ACCMODE = O_READ | O_WRITE;
-/** The file offset shall be set to the end of the file prior to each write. */
-uint8_t const O_APPEND  = 0X04;
-/** synchronous writes - call sync() after each write */
-uint8_t const O_SYNC    = 0X08;
-/** create the file if nonexistent */
-uint8_t const O_CREAT   = 0X10;
-/** If O_CREAT and O_EXCL are set, open() shall fail if the file exists */
-uint8_t const O_EXCL    = 0X20;
-/** truncate the file to zero length */
-uint8_t const O_TRUNC   = 0X40;
-
-// flags for timestamp
-/** set the file's last access date */
-uint8_t const T_ACCESS = 1;
-/** set the file's creation date and time */
-uint8_t const T_CREATE = 2;
-/** Set the file's write date and time */
-uint8_t const T_WRITE  = 4;
-
-/** date field for FAT directory entry */
-static inline uint16_t FAT_DATE(uint16_t year, uint8_t month, uint8_t day) {
-  return (year - 1980) << 9 | month << 5 | day;
-}
-/** year part of FAT directory date field */
-static inline uint16_t FAT_YEAR(uint16_t fatDate) {
-  return 1980 + (fatDate >> 9);
-}
-/** month part of FAT directory date field */
-static inline uint8_t FAT_MONTH(uint16_t fatDate) {
-  return (fatDate >> 5) & 0XF;
-}
-/** day part of FAT directory date field */
-static inline uint8_t FAT_DAY(uint16_t fatDate) {
-  return fatDate & 0X1F;
-}
-/** time field for FAT directory entry */
-static inline uint16_t FAT_TIME(uint8_t hour, uint8_t minute, uint8_t second) {
-  return hour << 11 | minute << 5 | second >> 1;
-}
-/** hour part of FAT directory time field */
-static inline uint8_t FAT_HOUR(uint16_t fatTime) {
-  return fatTime >> 11;
-}
-/** minute part of FAT directory time field */
-static inline uint8_t FAT_MINUTE(uint16_t fatTime) {
-  return(fatTime >> 5) & 0X3F;
-}
-/** second part of FAT directory time field */
-static inline uint8_t FAT_SECOND(uint16_t fatTime) {
-  return 2*(fatTime & 0X1F);
-}
-/** Default date for file timestamps is 1 Jan 2000 */
-uint16_t const FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
-/** Default time for file timestamp is 1 am */
-uint16_t const FAT_DEFAULT_TIME = (1 << 11);
-//------------------------------------------------------------------------------
-/**
- * \typedef fat_t
- *
- * \brief Type for FAT16 entry
- */
-typedef uint16_t fat_t;
-/**
- * \union cache16_t
- *
- * \brief Cache buffer data type
- *
- */
-union cache16_t {
-          /** Used to access cached file data blocks. */
-  uint8_t data[512];
-          /** Used to access cached FAT entries. */
-  fat_t   fat[256];
-          /** Used to access cached directory entries. */
-  dir_t   dir[16];
-          /** Used to access a cached Master Boot Record. */
-  mbr_t   mbr;
-          /** Used to access to a cached FAT16 boot sector. */
-  fbs_t   fbs;
-};
-//------------------------------------------------------------------------------
-/** \class Fat16
- * \brief Fat16 implements a minimal Arduino FAT16 Library
- *
- * Fat16 does not support subdirectories or long file names.
- */
-class Fat16 : public Print {
- public:
-  /*
-   * Public functions
-   */
-  /** create with file closed */
-  Fat16(void) : flags_(0) {}
-  /** \return The current cluster number. */
-  fat_t curCluster(void) const {return curCluster_;}
-  uint8_t close(void);
-  /** \return The count of clusters in the FAT16 volume. */
-  static fat_t clusterCount(void) {return clusterCount_;}
-  /** \return The number of 512 byte blocks in a cluster */
-  static uint8_t clusterSize(void) {return blocksPerCluster_;}
-  /** \return The current file position. */
-  uint32_t curPosition(void) const {return curPosition_;}
-  /**
-   * Set the date/time callback function
-   *
-   * \param[in] dateTime The user's callback function.  The callback
-   * function is of the form:
-   *
-   * \code
-   * void dateTime(uint16_t* date, uint16_t* time) {
-   *   uint16_t year;
-   *   uint8_t month, day, hour, minute, second;
-   *
-   *   // User gets date and time from GPS or real-time clock here
-   *
-   *   // return date using FAT_DATE macro to format fields
-   *   *date = FAT_DATE(year, month, day);
-   *
-   *   // return time using FAT_TIME macro to format fields
-   *   *time = FAT_TIME(hour, minute, second);
-   * }
-   * \endcode
-   *
-   * Sets the function that is called when a file is created or when
-   * a file's directory entry is modified by sync(). All timestamps,
-   * access, creation, and modify, are set when a file is created.
-   * sync() maintains the last access date and last modify date/time.
-   *
-   * See the timestamp() function.
-   */
-  static void dateTimeCallback(
-    void (*dateTime)(uint16_t* date, uint16_t* time)) {
-    dateTime_ = dateTime;
-  }
-  /**
-   * Cancel the date/time callback function.
-   */
-  static void dateTimeCallbackCancel(void) {dateTime_ = NULL;}
-  uint8_t dirEntry(dir_t* dir);
-
-  /** \return The file's size in bytes. */
-  uint32_t fileSize(void) const {return fileSize_;}
-  static uint8_t init(SdCard* dev, uint8_t part);
-  /**
-   *  Initialize a FAT16 volume.
-   *
-   *  First try partition 1 then try super floppy format.
-   *
-   * \param[in] dev The SdCard where the volume is located.
-   *
-   * \return The value one, true, is returned for success and
-   * the value zero, false, is returned for failure.  reasons for
-   * failure include not finding a valid FAT16 file system, a call
-   * to init() after a volume has been successful initialized or
-   * an I/O error.
-   *
-   */
-  static uint8_t init(SdCard* dev) {
-    return init(dev, 1) ? true : init(dev, 0);
-  }
-  /**
-   * Checks the file's open/closed status for this instance of Fat16.
-   * \return The value true if a file is open otherwise false;
-   */
-  uint8_t isOpen(void) const {return (flags_ & O_ACCMODE) != 0;}
-  static void ls(uint8_t flags = 0);
-  uint8_t open(const char* fileName, uint8_t oflag);
-  uint8_t open(uint16_t entry, uint8_t oflag);
-  static void printDirName(const dir_t& dir, uint8_t width);
-  static void printFatDate(uint16_t fatDate);
-  static void printFatTime(uint16_t fatTime);
-  static void printTwoDigits(uint8_t v);
-  int16_t read(void);
-  int16_t read(void* buf, uint16_t nbyte);
-  static uint8_t readDir(dir_t* dir, uint16_t* index,
-                    uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY));
-
-  uint8_t remove(void);
-  static uint8_t remove(const char* fileName);
-  /** Sets the file's current position to zero. */
-  void rewind(void) {curPosition_ = curCluster_ = 0;}
-  /** \return The number of entries in the root directory. */
-  static uint16_t rootDirEntryCount(void) {return rootDirEntryCount_;}
-  /**  Seek to current position plus \a pos bytes. See Fat16::seekSet(). */
-  uint8_t seekCur(uint32_t pos) {return seekSet(curPosition_ + pos);}
-  /** Seek to end of file.  See Fat16::seekSet(). */
-  uint8_t seekEnd(void) {return seekSet(fileSize_);}
-  uint8_t seekSet(uint32_t pos);
-  uint8_t sync(void);
-  uint8_t timestamp(uint8_t flag, uint16_t year, uint8_t month, uint8_t day,
-          uint8_t hour, uint8_t minute, uint8_t second);
-  uint8_t truncate(uint32_t size);
-  /** Fat16::writeError is set to true if an error occurs during a write().
-   * Set Fat16::writeError to false before calling print() and/or write() and check
-   * for true after calls to write() and/or print().
-   */
-  bool writeError;
-  int16_t write(const void *buf, uint16_t nbyte);
-#if ARDUINO < 100
-  void write(uint8_t b);
-  void write(const char* str);
-#else  // ARDUINO < 100
-  size_t write(uint8_t b);
-  int16_t write(const char* str);
-#endif  // ARDUINO < 100
-  void write_P(PGM_P str);
-  void writeln_P(PGM_P str);
-//------------------------------------------------------------------------------
-#if FAT16_DEBUG_SUPPORT
-  /** For debug only.  Do not use in applications. */
-  static cache16_t* dbgBufAdd(void) {return &cacheBuffer_;}
-  /** For debug only.  Do not use in applications. */
-  static void dbgSetDev(SdCard* dev) {rawDev_ = dev;}
-  /** For debug only.  Do not use in applications. */
-  static uint8_t* dbgCacheBlock(uint32_t blockNumber) {
-    return cacheRawBlock(blockNumber) ? cacheBuffer_.data : 0; }
-  /** For debug only.  Do not use in applications. */
-  static dir_t* dbgCacheDir(uint16_t index) {
-    return cacheDirEntry(index);}
-#endif  // FAT16_DEBUG_SUPPORT
-//------------------------------------------------------------------------------
-#if ALLOW_DEPRECATED_FUNCTIONS
-// Deprecated functions - suppress cpplint messages with NOLINT comment
- public:
-  /**
-   * Deprecated - Use:
-   * static void Fat16::dateTimeCallback(
-   *        void (*dateTime)(uint16_t* date, uint16_t* time));
-   */
-  static void dateTimeCallback(
-    void (*dateTime)(uint16_t& date, uint16_t& time)) {  // NOLINT
-    oldDateTime_ = dateTime;
-    dateTime_ = dateTime ? oldToNew : 0;
-  }
-  /** Deprecated - Use: uint8_t Fat16::dirEntry(dir_t* dir); */
-  uint8_t dirEntry(dir_t& dir) {  // NOLINT
-    return dirEntry(&dir);
-  }
-  /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev); */
-  static uint8_t init(SdCard& dev) {return init(&dev);}  // NOLINT
-
-  /** Deprecated - Use: static uint8_t Fat16::init(SdCard *dev, uint8_t part) */
-  static uint8_t init(SdCard& dev, uint8_t part) {  // NOLINT
-    return init(&dev, part);
-  }
-  /**
-   * Deprecated - Use:
-   * uint8_t Fat16::readDir(dir_t* dir, uint16_t* index, uint8_t skip);
-   */
-  static uint8_t readDir(dir_t& dir, uint16_t& index,  // NOLINT
-         uint8_t skip = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY)) {
-    return readDir(&dir, &index, skip);
-  }
-//------------------------------------------------------------------------------
- private:
-  static void (*oldDateTime_)(uint16_t& date, uint16_t& time);  // NOLINT
-  static void oldToNew(uint16_t *date, uint16_t *time) {
-    uint16_t d;
-    uint16_t t;
-    oldDateTime_(d, t);
-    *date = d;
-    *time = t;
-  }
-#endif  // ALLOW_DEPRECATED_FUNCTIONS
-//------------------------------------------------------------------------------
- private:
-  // Volume info
-  static uint8_t  volumeInitialized_;  // true if volume has been initialized
-  static uint8_t  fatCount_;           // number of FATs
-  static uint8_t  blocksPerCluster_;   // must be power of 2
-  static uint16_t rootDirEntryCount_;  // should be 512 for FAT16
-  static fat_t    blocksPerFat_;       // number of blocks in one FAT
-  static fat_t    clusterCount_;       // total clusters in volume
-  static uint32_t fatStartBlock_;      // start of first FAT
-  static uint32_t rootDirStartBlock_;  // start of root dir
-  static uint32_t dataStartBlock_;     // start of data clusters
-
-  // block cache
-  static uint8_t const CACHE_FOR_READ  = 0;    // cache a block for read
-  static uint8_t const CACHE_FOR_WRITE = 1;    // cache a block and set dirty
-  static SdCard *rawDev_;             // Device
-  static cache16_t cacheBuffer_;      // 512 byte cache for raw blocks
-  static uint32_t cacheBlockNumber_;  // Logical number of block in the cache
-  static uint8_t cacheDirty_;         // cacheFlush() will write block if true
-  static uint32_t cacheMirrorBlock_;  // mirror block for second FAT
-
-  // callback function for date/time
-  static void (*dateTime_)(uint16_t* date, uint16_t* time);
-
-  // define fields in flags_
-  static uint8_t const F_OFLAG = O_ACCMODE | O_APPEND | O_SYNC;
-  static uint8_t const F_FILE_DIR_DIRTY = 0X80;  // require sync directory entry
-
-  uint8_t flags_;          // see above for bit definitions
-  int16_t dirEntryIndex_;  // index of directory entry for open file
-  fat_t firstCluster_;     // first cluster of file
-  uint32_t fileSize_;      // fileSize
-  fat_t curCluster_;       // current cluster
-  uint32_t curPosition_;   // current byte offset
-
-  // private functions for cache
-  static uint8_t blockOfCluster(uint32_t position) {
-    // depends on blocks per cluster being power of two
-    return (position >> 9) & (blocksPerCluster_ - 1);
-  }
-  static uint16_t cacheDataOffset(uint32_t position) {return position & 0X1FF;}
-  static dir_t* cacheDirEntry(uint16_t index, uint8_t action = 0);
-  static uint8_t cacheRawBlock(uint32_t blockNumber, uint8_t action = 0);
-  static uint8_t cacheFlush(void);
-  static void cacheSetDirty(void) {cacheDirty_ |= CACHE_FOR_WRITE;}
-  static uint32_t dataBlockLba(fat_t cluster, uint8_t blockOfCluster) {
-    return dataStartBlock_ + (uint32_t)(cluster - 2) * blocksPerCluster_
-      + blockOfCluster;
-  }
-  static uint8_t fatGet(fat_t cluster, fat_t* value);
-  static uint8_t fatPut(fat_t cluster, fat_t value);
-  // end of chain test
-  static uint8_t isEOC(fat_t cluster) {return cluster >= 0XFFF8;}
-  // allocate a cluster to a file
-  uint8_t addCluster(void);
-  // free a cluster chain
-  uint8_t freeChain(fat_t cluster);
-};
-#endif  // Fat16_h