Merged 1.0.5

1 files changed, 378 insertions, 0 deletions

diff --git a/libraries/Robot_Control/Fat16.h b/libraries/Robot_Control/Fat16.h
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+/* 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