From fd8c367304fe62a107332db19880c88f9ac0d082 Mon Sep 17 00:00:00 2001 From: Fede85 Date: Wed, 3 Jul 2013 22:00:02 +0200 Subject: SPI library to the new format and moved Robot_Motor and Robot_Control libraries --- libraries/Robot_Control/Fat16.h | 378 ---------------------------------------- 1 file changed, 378 deletions(-) delete mode 100644 libraries/Robot_Control/Fat16.h (limited to 'libraries/Robot_Control/Fat16.h') 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 - * . - */ -#ifndef Fat16_h -#define Fat16_h -/** - * \file - * Fat16 class - */ -#include -#include -#include -#include -#include -#include -//------------------------------------------------------------------------------ -/** 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 -- cgit v1.2.3-18-g5258