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

1 files changed, 0 insertions, 418 deletions

diff --git a/libraries/Robot_Control/FatStructs.h b/libraries/Robot_Control/FatStructs.h
deleted file mode 100644
index 431bf30..0000000
--- a/libraries/Robot_Control/FatStructs.h
+++ /dev/null
@@ -1,418 +0,0 @@
-/* Arduino Fat16 Library
- * Copyright (C) 2009 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 FatStructs_h
-#define FatStructs_h
-/**
- * \file
- * FAT file structures
- */
-/*
- * mostly from Microsoft document fatgen103.doc
- * http://www.microsoft.com/whdc/system/platform/firmware/fatgen.mspx
- */
-//------------------------------------------------------------------------------
-/** Value for byte 510 of boot block or MBR */
-uint8_t const BOOTSIG0 = 0X55;
-/** Value for byte 511 of boot block or MBR */
-uint8_t const BOOTSIG1 = 0XAA;
-//------------------------------------------------------------------------------
-/**
- * \struct partitionTable
- * \brief MBR partition table entry
- *
- * A partition table entry for a MBR formatted storage device.
- * The MBR partition table has four entries.
- */
-struct partitionTable {
-          /**
-           * Boot Indicator . Indicates whether the volume is the active
-           * partition.  Legal values include: 0X00. Do not use for booting.
-           * 0X80 Active partition.
-           */
-  uint8_t  boot;
-          /**
-            * Head part of Cylinder-head-sector address of the first block in
-            * the partition. Legal values are 0-255. Only used in old PC BIOS.
-            */
-  uint8_t  beginHead;
-          /**
-           * Sector part of Cylinder-head-sector address of the first block in
-           * the partition. Legal values are 1-63. Only used in old PC BIOS.
-           */
-  unsigned beginSector : 6;
-           /** High bits cylinder for first block in partition. */
-  unsigned beginCylinderHigh : 2;
-          /**
-           * Combine beginCylinderLow with beginCylinderHigh. Legal values
-           * are 0-1023.  Only used in old PC BIOS.
-           */
-  uint8_t  beginCylinderLow;
-          /**
-           * Partition type. See defines that begin with PART_TYPE_ for
-           * some Microsoft partition types.
-           */
-  uint8_t  type;
-          /**
-           * head part of cylinder-head-sector address of the last sector in the
-           * partition.  Legal values are 0-255. Only used in old PC BIOS.
-           */
-  uint8_t  endHead;
-          /**
-           * Sector part of cylinder-head-sector address of the last sector in
-           * the partition.  Legal values are 1-63. Only used in old PC BIOS.
-           */
-  unsigned endSector : 6;
-           /** High bits of end cylinder */
-  unsigned endCylinderHigh : 2;
-          /**
-           * Combine endCylinderLow with endCylinderHigh. Legal values
-           * are 0-1023.  Only used in old PC BIOS.
-           */
-  uint8_t  endCylinderLow;
-           /** Logical block address of the first block in the partition. */
-  uint32_t firstSector;
-           /** Length of the partition, in blocks. */
-  uint32_t totalSectors;
-};
-/** Type name for partitionTable */
-typedef struct partitionTable part_t;
-//------------------------------------------------------------------------------
-/**
- * \struct masterBootRecord
- *
- * \brief Master Boot Record
- *
- * The first block of a storage device that is formatted with a MBR.
- */
-struct masterBootRecord {
-           /** Code Area for master boot program. */
-  uint8_t  codeArea[440];
-           /** Optional WindowsNT disk signature. May contain more boot code. */
-  uint32_t diskSignature;
-           /** Usually zero but may be more boot code. */
-  uint16_t usuallyZero;
-           /** Partition tables. */
-  part_t   part[4];
-           /** First MBR signature byte. Must be 0X55 */
-  uint8_t  mbrSig0;
-           /** Second MBR signature byte. Must be 0XAA */
-  uint8_t  mbrSig1;
-};
-/** Type name for masterBootRecord */
-typedef struct masterBootRecord mbr_t;
-//------------------------------------------------------------------------------
-/** 
- * \struct biosParmBlock
- *
- * \brief BIOS parameter block
- * 
- *  The BIOS parameter block describes the physical layout of a FAT volume.
- */
-struct biosParmBlock {
-          /**
-           * Count of bytes per sector. This value may take on only the
-           * following values: 512, 1024, 2048 or 4096
-           */
-  uint16_t bytesPerSector;
-          /**
-           * Number of sectors per allocation unit. This value must be a
-           * power of 2 that is greater than 0. The legal values are
-           * 1, 2, 4, 8, 16, 32, 64, and 128.
-           */
-  uint8_t  sectorsPerCluster;
-          /**
-           * Number of sectors before the first FAT.
-           * This value must not be zero.
-           */
-  uint16_t reservedSectorCount;
-          /** The count of FAT data structures on the volume. This field should
-           *  always contain the value 2 for any FAT volume of any type.
-           */
-  uint8_t  fatCount;
-          /**
-          * For FAT12 and FAT16 volumes, this field contains the count of
-          * 32-byte directory entries in the root directory. For FAT32 volumes,
-          * this field must be set to 0. For FAT12 and FAT16 volumes, this
-          * value should always specify a count that when multiplied by 32
-          * results in a multiple of bytesPerSector.  FAT16 volumes should
-          * use the value 512.
-          */
-  uint16_t rootDirEntryCount;
-          /**
-           * This field is the old 16-bit total count of sectors on the volume.
-           * This count includes the count of all sectors in all four regions
-           * of the volume. This field can be 0; if it is 0, then totalSectors32
-           * must be non-zero.  For FAT32 volumes, this field must be 0. For
-           * FAT12 and FAT16 volumes, this field contains the sector count, and
-           * totalSectors32 is 0 if the total sector count fits
-           * (is less than 0x10000).
-           */
-  uint16_t totalSectors16;
-          /**
-           * This dates back to the old MS-DOS 1.x media determination and is
-           * no longer usually used for anything.  0xF8 is the standard value
-           * for fixed (non-removable) media. For removable media, 0xF0 is
-           * frequently used. Legal values are 0xF0 or 0xF8-0xFF.
-           */
-  uint8_t  mediaType;
-          /**
-           * Count of sectors occupied by one FAT on FAT12/FAT16 volumes.
-           * On FAT32 volumes this field must be 0, and sectorsPerFat32
-           * contains the FAT size count.
-           */
-  uint16_t sectorsPerFat16;
-           /** Sectors per track for interrupt 0x13. Not used otherwise. */
-  uint16_t sectorsPerTrtack;
-           /** Number of heads for interrupt 0x13.  Not used otherwise. */
-  uint16_t headCount;
-          /**
-           * Count of hidden sectors preceding the partition that contains this
-           * FAT volume. This field is generally only relevant for media
-           *  visible on interrupt 0x13.
-           */
-  uint32_t hidddenSectors;
-          /**
-           * This field is the new 32-bit total count of sectors on the volume.
-           * This count includes the count of all sectors in all four regions
-           * of the volume.  This field can be 0; if it is 0, then
-           * totalSectors16 must be non-zero.
-           */
-  uint32_t totalSectors32;
-          /**
-           * Count of sectors occupied by one FAT on FAT32 volumes.
-           */
-  uint32_t sectorsPerFat32;
-          /**
-           * This field is only defined for FAT32 media and does not exist on
-           * FAT12 and FAT16 media.
-           * Bits 0-3 -- Zero-based number of active FAT.
-           *             Only valid if mirroring is disabled.
-           * Bits 4-6 -- Reserved.
-           * Bit 7	-- 0 means the FAT is mirrored at runtime into all FATs.
-	         *        -- 1 means only one FAT is active; it is the one referenced in bits 0-3.
-           * Bits 8-15 	-- Reserved.
-           */
-  uint16_t fat32Flags;
-          /**
-           * FAT32 version. High byte is major revision number.
-           * Low byte is minor revision number. Only 0.0 define.
-           */
-  uint16_t fat32Version;
-          /**
-           * Cluster number of the first cluster of the root directory for FAT32.
-           * This usually 2 but not required to be 2.
-           */
-  uint32_t fat32RootCluster;
-          /**
-           * Sector number of FSINFO structure in the reserved area of the
-           * FAT32 volume. Usually 1.
-           */
-  uint16_t fat32FSInfo;
-          /**
-           * If non-zero, indicates the sector number in the reserved area
-           * of the volume of a copy of the boot record. Usually 6.
-           * No value other than 6 is recommended.
-           */
-  uint16_t fat32BackBootBlock;
-          /**
-           * Reserved for future expansion. Code that formats FAT32 volumes
-           * should always set all of the bytes of this field to 0.
-           */
-  uint8_t  fat32Reserved[12];
-};
-/** Type name for biosParmBlock */
-typedef struct biosParmBlock bpb_t;
-//------------------------------------------------------------------------------
-/**
- * \struct fat32BootSector
- *
- * \brief Boot sector for a FAT16 or FAT32 volume.
- * 
- */  
-struct fat32BootSector {
-           /** X86 jmp to boot program */
-  uint8_t  jmpToBootCode[3];
-           /** informational only - don't depend on it */
-  char     oemName[8];
-           /** BIOS Parameter Block */
-  bpb_t    bpb;
-           /** for int0x13 use value 0X80 for hard drive */
-  uint8_t  driveNumber;
-           /** used by Windows NT - should be zero for FAT */
-  uint8_t  reserved1;
-           /** 0X29 if next three fields are valid */
-  uint8_t  bootSignature;
-           /** usually generated by combining date and time */
-  uint32_t volumeSerialNumber;
-           /** should match volume label in root dir */
-  char     volumeLabel[11];
-           /** informational only - don't depend on it */
-  char     fileSystemType[8];
-           /** X86 boot code */
-  uint8_t  bootCode[420];
-           /** must be 0X55 */
-  uint8_t  bootSectorSig0;
-           /** must be 0XAA */
-  uint8_t  bootSectorSig1;
-};
-//------------------------------------------------------------------------------
-// End Of Chain values for FAT entries
-/** FAT16 end of chain value used by Microsoft. */
-uint16_t const FAT16EOC = 0XFFFF;
-/** Minimum value for FAT16 EOC.  Use to test for EOC. */
-uint16_t const FAT16EOC_MIN = 0XFFF8;
-/** FAT32 end of chain value used by Microsoft. */
-uint32_t const FAT32EOC = 0X0FFFFFFF;
-/** Minimum value for FAT32 EOC.  Use to test for EOC. */
-uint32_t const FAT32EOC_MIN = 0X0FFFFFF8;
-/** Mask a for FAT32 entry. Entries are 28 bits. */
-uint32_t const FAT32MASK = 0X0FFFFFFF;
-
-/** Type name for fat32BootSector */
-typedef struct fat32BootSector fbs_t;
-//------------------------------------------------------------------------------
-/**
- * \struct directoryEntry
- * \brief FAT short directory entry
- *
- * Short means short 8.3 name, not the entry size.
- *  
- * Date Format. A FAT directory entry date stamp is a 16-bit field that is 
- * basically a date relative to the MS-DOS epoch of 01/01/1980. Here is the
- * format (bit 0 is the LSB of the 16-bit word, bit 15 is the MSB of the 
- * 16-bit word):
- *   
- * Bits 9-15: Count of years from 1980, valid value range 0-127 
- * inclusive (1980-2107).
- *   
- * Bits 5-8: Month of year, 1 = January, valid value range 1-12 inclusive.
- *
- * Bits 0-4: Day of month, valid value range 1-31 inclusive.
- *
- * Time Format. A FAT directory entry time stamp is a 16-bit field that has
- * a granularity of 2 seconds. Here is the format (bit 0 is the LSB of the 
- * 16-bit word, bit 15 is the MSB of the 16-bit word).
- *   
- * Bits 11-15: Hours, valid value range 0-23 inclusive.
- * 
- * Bits 5-10: Minutes, valid value range 0-59 inclusive.
- *      
- * Bits 0-4: 2-second count, valid value range 0-29 inclusive (0 - 58 seconds).
- *   
- * The valid time range is from Midnight 00:00:00 to 23:59:58.
- */
-struct directoryEntry {
-           /**
-            * Short 8.3 name.
-            * The first eight bytes contain the file name with blank fill.
-            * The last three bytes contain the file extension with blank fill.
-            */
-  uint8_t  name[11];
-          /** Entry attributes.
-           *
-           * The upper two bits of the attribute byte are reserved and should
-           * always be set to 0 when a file is created and never modified or
-           * looked at after that.  See defines that begin with DIR_ATT_.
-           */
-  uint8_t  attributes;
-          /**
-           * Reserved for use by Windows NT. Set value to 0 when a file is
-           * created and never modify or look at it after that.
-           */
-  uint8_t  reservedNT;
-          /**
-           * The granularity of the seconds part of creationTime is 2 seconds
-           * so this field is a count of tenths of a second and its valid
-           * value range is 0-199 inclusive. (WHG note - seems to be hundredths)
-           */
-  uint8_t  creationTimeTenths;
-           /** Time file was created. */
-  uint16_t creationTime;
-           /** Date file was created. */
-  uint16_t creationDate;
-          /**
-           * Last access date. Note that there is no last access time, only
-           * a date.  This is the date of last read or write. In the case of
-           * a write, this should be set to the same date as lastWriteDate.
-           */
-  uint16_t lastAccessDate;
-          /**
-           * High word of this entry's first cluster number (always 0 for a
-           * FAT12 or FAT16 volume).
-           */
-  uint16_t firstClusterHigh;
-           /** Time of last write. File creation is considered a write. */
-  uint16_t lastWriteTime;
-           /** Date of last write. File creation is considered a write. */
-  uint16_t lastWriteDate;
-           /** Low word of this entry's first cluster number. */
-  uint16_t firstClusterLow;
-           /** 32-bit unsigned holding this file's size in bytes. */
-  uint32_t fileSize;
-};
-//------------------------------------------------------------------------------
-// Definitions for directory entries
-//
-/** Type name for directoryEntry */
-typedef struct directoryEntry dir_t;
-/** escape for name[0] = 0XE5 */
-uint8_t const DIR_NAME_0XE5 = 0X05;
-/** name[0] value for entry that is free after being "deleted" */
-uint8_t const DIR_NAME_DELETED = 0XE5;
-/** name[0] value for entry that is free and no allocated entries follow */
-uint8_t const DIR_NAME_FREE = 0X00;
-/** file is read-only */
-uint8_t const DIR_ATT_READ_ONLY = 0X01;
-/** File should hidden in directory listings */
-uint8_t const DIR_ATT_HIDDEN = 0X02;
-/** Entry is for a system file */
-uint8_t const DIR_ATT_SYSTEM = 0X04;
-/** Directory entry contains the volume label */
-uint8_t const DIR_ATT_VOLUME_ID = 0X08;
-/** Entry is for a directory */
-uint8_t const DIR_ATT_DIRECTORY = 0X10;
-/** Old DOS archive bit for backup support */
-uint8_t const DIR_ATT_ARCHIVE = 0X20;
-/** Test value for long name entry.  Test is
-  (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */
-uint8_t const DIR_ATT_LONG_NAME = 0X0F;
-/** Test mask for long name entry */
-uint8_t const DIR_ATT_LONG_NAME_MASK = 0X3F;
-/** defined attribute bits */
-uint8_t const DIR_ATT_DEFINED_BITS = 0X3F;
-/** Directory entry is part of a long name */
-static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME;
-}
-/** Mask for file/subdirectory tests */
-uint8_t const DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY);
-/** Directory entry is for a file */
-static inline uint8_t DIR_IS_FILE(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == 0;
-}
-/** Directory entry is for a subdirectory */
-static inline uint8_t DIR_IS_SUBDIR(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_FILE_TYPE_MASK) == DIR_ATT_DIRECTORY;
-}
-/** Directory entry is for a file or subdirectory */
-static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
-  return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
-}
-#endif  // FatStructs_h