1 files changed, 0 insertions, 279 deletions
diff --git a/libraries/Robot_Control/SdCard.cpp b/libraries/Robot_Control/SdCard.cpp
deleted file mode 100644
index fbbd8bc..0000000
--- a/libraries/Robot_Control/SdCard.cpp
+++ /dev/null
@@ -1,279 +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/>.
- */
-#include <avr/pgmspace.h>
-#if ARDUINO < 100
-#include <WProgram.h>
-#else  // ARDUINO
-#include <Arduino.h>
-#endif  // ARDUINO
-#include <Fat16Config.h>
-#include <SdCard.h>
-//------------------------------------------------------------------------------
-// r1 status values
-uint8_t const R1_READY_STATE = 0;
-uint8_t const R1_IDLE_STATE  = 1;
-// start data token for read or write
-uint8_t const DATA_START_BLOCK = 0XFE;
-// data response tokens for write block
-uint8_t const DATA_RES_MASK        = 0X1F;
-uint8_t const DATA_RES_ACCEPTED    = 0X05;
-uint8_t const DATA_RES_CRC_ERROR   = 0X0B;
-uint8_t const DATA_RES_WRITE_ERROR = 0X0D;
-//
-// stop compiler from inlining where speed optimization is not required
-#define STATIC_NOINLINE static __attribute__((noinline))
-//------------------------------------------------------------------------------
-// SPI static functions
-//
-// clock byte in
-STATIC_NOINLINE uint8_t spiRec(void) {
-  SPDR = 0xff;
-  while (!(SPSR & (1 << SPIF)));
-  return SPDR;
-}
-// clock byte out
-STATIC_NOINLINE void spiSend(uint8_t b) {
-  SPDR = b;
-  while (!(SPSR & (1 << SPIF)));
-}
-//------------------------------------------------------------------------------
-// wait for card to go not busy
-// return false if timeout
-static uint8_t waitForToken(uint8_t token, uint16_t timeoutMillis) {
-  uint16_t t0 = millis();
-  while (spiRec() != token) {
-    if (((uint16_t)millis() - t0) > timeoutMillis) return false;
-  }
-  return true;
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::cardCommand(uint8_t cmd, uint32_t arg) {
-  uint8_t r1;
-
-  // select card
-  chipSelectLow();
-
-  // wait if busy
-  waitForToken(0XFF, SD_COMMAND_TIMEOUT);
-
-  // send command
-  spiSend(cmd | 0x40);
-
-  // send argument
-  for (int8_t s = 24; s >= 0; s -= 8) spiSend(arg >> s);
-
-  // send CRC - must send valid CRC for CMD0
-  spiSend(cmd == CMD0 ? 0x95 : 0XFF);
-
-  // wait for not busy
-  for (uint8_t retry = 0; (0X80 & (r1 = spiRec())) && retry != 0XFF; retry++);
-  return r1;
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::cardAcmd(uint8_t cmd, uint32_t arg) {
-  cardCommand(CMD55, 0);
-  return cardCommand(cmd, arg);
-}
-//==============================================================================
-// SdCard member functions
-//------------------------------------------------------------------------------
-/**
- * Determine the size of a standard SD flash memory card
- * \return The number of 512 byte data blocks in the card
- */
-uint32_t SdCard::cardSize(void) {
-  uint16_t c_size;
-  csd_t csd;
-  if (!readReg(CMD9, &csd)) return 0;
-  uint8_t read_bl_len = csd.read_bl_len;
-  c_size = (csd.c_size_high << 10) | (csd.c_size_mid << 2) | csd.c_size_low;
-  uint8_t c_size_mult = (csd.c_size_mult_high << 1) | csd.c_size_mult_low;
-  return (uint32_t)(c_size+1) << (c_size_mult + read_bl_len - 7);
-}
-//------------------------------------------------------------------------------
-void SdCard::chipSelectHigh(void) {
-  digitalWrite(chipSelectPin_, HIGH);
-  // make sure MISO goes high impedance
-  spiSend(0XFF);
-}
-//------------------------------------------------------------------------------
-void SdCard::chipSelectLow(void) {
-  // Enable SPI, Master, clock rate F_CPU/4
-  SPCR = (1 << SPE) | (1 << MSTR);
-
-  // Doubled Clock Frequency to F_CPU/2 unless speed_ is nonzero
-  if (!speed_) SPSR |= (1 << SPI2X);
-
-  digitalWrite(chipSelectPin_, LOW);
-}
-//------------------------------------------------------------------------------
-void SdCard::error(uint8_t code, uint8_t data) {
-  errorData = data;
-  error(code);
-}
-//------------------------------------------------------------------------------
-void SdCard::error(uint8_t code) {
-  errorCode = code;
-  chipSelectHigh();
-}
-//------------------------------------------------------------------------------
-/**
- * Initialize a SD flash memory card.
- *
- * \param[in] speed Set SPI Frequency to F_CPU/2 if speed = 0 or F_CPU/4
- *  if speed = 1.
- * \param[in] chipSelectPin SD chip select pin number.
- *
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- *
- */
-uint8_t SdCard::init(uint8_t speed, uint8_t chipSelectPin) {
-  if (speed > 1) {
-    error(SD_ERROR_SPI_SPEED);
-    return false;
-  }
-  speed_ = speed;
-  chipSelectPin_ = chipSelectPin;
-  errorCode = 0;
-  uint8_t r;
-  // 16-bit init start time allows over a minute
-  uint16_t t0 = (uint16_t)millis();
-
-  pinMode(chipSelectPin_, OUTPUT);
-  digitalWrite(chipSelectPin_, HIGH);
-  pinMode(SPI_MISO_PIN, INPUT);
-  pinMode(SPI_SS_PIN, OUTPUT);
-  pinMode(SPI_MOSI_PIN, OUTPUT);
-  pinMode(SPI_SCK_PIN, OUTPUT);
-
-  // Enable SPI, Master, clock rate F_CPU/128
-  SPCR = (1 << SPE) | (1 << MSTR) | (1 << SPR1) | (1 << SPR0);
-
-  // must supply min of 74 clock cycles with CS high.
-  for (uint8_t i = 0; i < 10; i++) spiSend(0XFF);
-  digitalWrite(chipSelectPin_, LOW);
-
-  // command to go idle in SPI mode
-  while ((r = cardCommand(CMD0, 0)) != R1_IDLE_STATE) {
-    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
-      error(SD_ERROR_CMD0, r);
-      return false;
-    }
-  }
-  // start initialization and wait for completed initialization
-  while ((r = cardAcmd(ACMD41, 0)) != R1_READY_STATE) {
-    if (((uint16_t)millis() - t0) > SD_INIT_TIMEOUT) {
-      error(SD_ERROR_ACMD41, r);
-      return false;
-    }
-  }
-  chipSelectHigh();
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- * Reads a 512 byte block from a storage device.
- *
- * \param[in] blockNumber Logical block to be read.
- * \param[out] dst Pointer to the location that will receive the data.
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t SdCard::readBlock(uint32_t blockNumber, uint8_t* dst) {
-  if (cardCommand(CMD17, blockNumber << 9)) {
-    error(SD_ERROR_CMD17);
-    return false;
-  }
-  return readTransfer(dst, 512);
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::readReg(uint8_t cmd, void* buf) {
-  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
-  if (cardCommand(cmd, 0)) {
-    chipSelectHigh();
-    return false;
-  }
-  return readTransfer(dst, 16);
-}
-//------------------------------------------------------------------------------
-uint8_t SdCard::readTransfer(uint8_t* dst, uint16_t count) {
-  // wait for start of data
-  if (!waitForToken(DATA_START_BLOCK, SD_READ_TIMEOUT)) {
-    error(SD_ERROR_READ_TIMEOUT);
-  }
-  // start first spi transfer
-  SPDR = 0XFF;
-  for (uint16_t i = 0; i < count; i++) {
-    while (!(SPSR & (1 << SPIF)));
-    dst[i] = SPDR;
-    SPDR = 0XFF;
-  }
-  // wait for first CRC byte
-  while (!(SPSR & (1 << SPIF)));
-  spiRec();  // second CRC byte
-  chipSelectHigh();
-  return true;
-}
-//------------------------------------------------------------------------------
-/**
- * Writes a 512 byte block to a storage device.
- *
- * \param[in] blockNumber Logical block to be written.
- * \param[in] src Pointer to the location of the data to be written.
- * \return The value one, true, is returned for success and
- * the value zero, false, is returned for failure.
- */
-uint8_t SdCard::writeBlock(uint32_t blockNumber, const uint8_t* src) {
-  uint32_t address = blockNumber << 9;
-#if SD_PROTECT_BLOCK_ZERO
-  // don't allow write to first block
-  if (address == 0) {
-    error(SD_ERROR_BLOCK_ZERO_WRITE);
-    return false;
-  }
-#endif  // SD_PROTECT_BLOCK_ZERO
-  if (cardCommand(CMD24, address)) {
-    error(SD_ERROR_CMD24);
-    return false;
-  }
-  // optimize write loop
-  SPDR = DATA_START_BLOCK;
-  for (uint16_t i = 0; i < 512; i++) {
-    while (!(SPSR & (1 << SPIF)));
-    SPDR = src[i];
-  }
-  while (!(SPSR & (1 << SPIF)));  // wait for last data byte
-  spiSend(0xFF);  // dummy crc
-  spiSend(0xFF);  // dummy crc
-
-  // get write response
-  uint8_t r1 = spiRec();
-  if ((r1 & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
-    error(SD_ERROR_WRITE_RESPONSE, r1);
-    return false;
-  }
-  // wait for card to complete write programming
-  if (!waitForToken(0XFF, SD_WRITE_TIMEOUT)) {
-      error(SD_ERROR_WRITE_TIMEOUT);
-  }
-  chipSelectHigh();
-  return true;
-}