Bring in SdFat lib, turn on sd config in GUI Slice

hardware/_controller/README.md

@@ -15,7 +15,8 @@ A debug console and configuration shield for serial TTL muxers. See the ```muxer
 
 These librarires are used by the project and contained in the ```src/``` folder local to the project.
 
-- [GUIslice](https://github.com/ImpulseAdventure/GUIslice)
+- [GUIslice 0.15](https://github.com/ImpulseAdventure/GUIslice)
+- [SdFat 1.1.4](https://github.com/greiman/SdFat)
 
 ### External
 

hardware/_controller/src/SdFat/BlockDriver.h

@@ -0,0 +1,40 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+ /**
+ * \file
+ * \brief Define block driver.
+ */
+#ifndef BlockDriver_h
+#define BlockDriver_h
+#include "FatLib/BaseBlockDriver.h"
+#include "SdCard/SdSpiCard.h"
+//-----------------------------------------------------------------------------
+/** typedef for BlockDriver */
+#if ENABLE_EXTENDED_TRANSFER_CLASS || ENABLE_SDIO_CLASS
+typedef BaseBlockDriver BlockDriver;
+#else  // ENABLE_EXTENDED_TRANSFER_CLASS || ENABLE_SDIO_CLASS
+typedef SdSpiCard BlockDriver;
+#endif  // ENABLE_EXTENDED_TRANSFER_CLASS || ENABLE_SDIO_CLASS
+#endif  // BlockDriver_h

hardware/_controller/src/SdFat/FatLib/ArduinoFiles.h

@@ -0,0 +1,249 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * \file
+ * \brief PrintFile class
+ */
+#ifndef ArduinoFiles_h
+#define ArduinoFiles_h
+#include "FatLibConfig.h"
+#if ENABLE_ARDUINO_FEATURES
+#include "FatFile.h"
+#include <limits.h>
+//------------------------------------------------------------------------------
+/** Arduino SD.h style flag for open for read. */
+#define FILE_READ O_RDONLY
+/** Arduino SD.h style flag for open at EOF for read/write with create. */
+#define FILE_WRITE (O_RDWR | O_CREAT | O_AT_END)
+//==============================================================================
+/**
+ * \class PrintFile
+ * \brief FatFile with Print.
+ */
+class PrintFile : public FatFile, public Print {
+ public:
+  PrintFile() {}
+  /**  Create a file object and open it in the current working directory.
+   *
+   * \param[in] path A path for a file to be opened.
+   *
+   * \param[in] oflag Values for \a oflag are constructed by a
+   * bitwise-inclusive OR of open flags. see
+   * FatFile::open(FatFile*, const char*, oflag_t).
+   */
+  PrintFile(const char* path, oflag_t oflag) : FatFile(path, oflag) {}
+#if DESTRUCTOR_CLOSES_FILE
+  ~PrintFile() {}
+#endif  // DESTRUCTOR_CLOSES_FILE
+  using FatFile::clearWriteError;
+  using FatFile::getWriteError;
+  using FatFile::read;
+  using FatFile::write;
+  /** \return number of bytes available from the current position to EOF
+   *   or INT_MAX if more than INT_MAX bytes are available.
+   */
+  int available() {
+    uint32_t n = FatFile::available();
+    return n > INT_MAX ? INT_MAX : n;
+  }
+  /** Ensure that any bytes written to the file are saved to the SD card. */
+  void flush() {
+    FatFile::sync();
+  }
+  /** Return the next available byte without consuming it.
+   *
+   * \return The byte if no error and not at eof else -1;
+   */
+  int peek() {
+    return FatFile::peek();
+  }
+  /** Read the next byte from a file.
+   *
+   * \return For success return the next byte in the file as an int.
+   * If an error occurs or end of file is reached return -1.
+   */
+//  int read() {
+//    return FatFile::read();
+//  }
+  /** Write a byte to a file. Required by the Arduino Print class.
+   * \param[in] b the byte to be written.
+   * Use getWriteError to check for errors.
+   * \return 1 for success and 0 for failure.
+   */
+  size_t write(uint8_t b) {
+    return FatFile::write(b);
+  }
+  /** Write data to an open file.  Form required by Print.
+   *
+   * \note Data is moved to the cache but may not be written to the
+   * storage device until sync() is called.
+   *
+   * \param[in] buf Pointer to the location of the data to be written.
+   *
+   * \param[in] size Number of bytes to write.
+   *
+   * \return For success write() returns the number of bytes written, always
+   * \a nbyte.  If an error occurs, write() returns -1.  Possible errors
+   * include write() is called before a file has been opened, write is called
+   * for a read-only file, device is full, a corrupt file system or an
+   * I/O error.
+   */
+  size_t write(const uint8_t *buf, size_t size) {
+    return FatFile::write(buf, size);
+  }
+};
+//==============================================================================
+/**
+ * \class File
+ * \brief Arduino SD.h style File API
+ */
+class File : public FatFile, public Stream {
+ public:
+  File() {}
+  /**  Create a file object and open it in the current working directory.
+   *
+   * \param[in] path A path with a valid 8.3 DOS name for a file to be opened.
+   *
+   * \param[in] oflag Values for \a oflag are constructed by a
+   * bitwise-inclusive OR of open flags. see
+   * FatFile::open(FatFile*, const char*, oflag_t).
+   */
+  File(const char* path, oflag_t oflag) {
+    open(path, oflag);
+  }
+  using FatFile::clearWriteError;
+  using FatFile::getWriteError;
+  using FatFile::read;
+  using FatFile::write;
+  /** The parenthesis operator.
+    *
+    * \return true if a file is open.
+    */
+  operator bool() {
+    return isOpen();
+  }
+  /** \return number of bytes available from the current position to EOF
+   *   or INT_MAX if more than INT_MAX bytes are available.
+   */
+  int available() {
+    uint32_t n = FatFile::available();
+    return n > INT_MAX ? INT_MAX : n;
+  }
+  /** Ensure that any bytes written to the file are saved to the SD card. */
+  void flush() {
+    FatFile::sync();
+  }
+  /** This function reports if the current file is a directory or not.
+  * \return true if the file is a directory.
+  */
+  bool isDirectory() {
+    return isDir();
+  }
+  /** No longer implemented due to Long File Names.
+   *
+   * Use getName(char* name, size_t size).
+   * \return a pointer to replacement suggestion.
+   */
+  const char* name() const {
+    return "use getName()";
+  }
+  /** Return the next available byte without consuming it.
+   *
+   * \return The byte if no error and not at eof else -1;
+   */
+  int peek() {
+    return FatFile::peek();
+  }
+  /** \return the current file position. */
+  uint32_t position() {
+    return curPosition();
+  }
+  /** Opens the next file or folder in a directory.
+   *
+   * \param[in] oflag open oflag flags.
+   * \return a File object.
+   */
+  File openNextFile(oflag_t oflag = O_RDONLY) {
+    File tmpFile;
+    tmpFile.openNext(this, oflag);
+    return tmpFile;
+  }
+  /** Read the next byte from a file.
+   *
+   * \return For success return the next byte in the file as an int.
+   * If an error occurs or end of file is reached return -1.
+   */
+  int read() {
+    return FatFile::read();
+  }
+  /** Rewind a file if it is a directory */
+  void rewindDirectory() {
+    if (isDir()) {
+      rewind();
+    }
+  }
+  /**
+   * Seek to a new position in the file, which must be between
+   * 0 and the size of the file (inclusive).
+   *
+   * \param[in] pos the new file position.
+   * \return true for success else false.
+   */
+  bool seek(uint32_t pos) {
+    return seekSet(pos);
+  }
+  /** \return the file's size. */
+  uint32_t size() {
+    return fileSize();
+  }
+  /** Write a byte to a file. Required by the Arduino Print class.
+   * \param[in] b the byte to be written.
+   * Use getWriteError to check for errors.
+   * \return 1 for success and 0 for failure.
+   */
+  size_t write(uint8_t b) {
+    return FatFile::write(b);
+  }
+  /** Write data to an open file.  Form required by Print.
+   *
+   * \note Data is moved to the cache but may not be written to the
+   * storage device until sync() is called.
+   *
+   * \param[in] buf Pointer to the location of the data to be written.
+   *
+   * \param[in] size Number of bytes to write.
+   *
+   * \return For success write() returns the number of bytes written, always
+   * \a nbyte.  If an error occurs, write() returns -1.  Possible errors
+   * include write() is called before a file has been opened, write is called
+   * for a read-only file, device is full, a corrupt file system or an
+   * I/O error.
+   */
+  size_t write(const uint8_t *buf, size_t size) {
+    return FatFile::write(buf, size);
+  }
+};
+#endif  // ENABLE_ARDUINO_FEATURES
+#endif  // ArduinoFiles_h

hardware/_controller/src/SdFat/FatLib/ArduinoStream.h

@@ -0,0 +1,153 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef ArduinoStream_h
+#define ArduinoStream_h
+/**
+ * \file
+ * \brief ArduinoInStream and ArduinoOutStream classes
+ */
+#include "FatLibConfig.h"
+#if ENABLE_ARDUINO_FEATURES
+#include "bufstream.h"
+//==============================================================================
+/**
+ * \class ArduinoInStream
+ * \brief Input stream for Arduino Stream objects
+ */
+class ArduinoInStream : public ibufstream {
+ public:
+  /**
+   * Constructor
+   * \param[in] hws hardware stream
+   * \param[in] buf buffer for input line
+   * \param[in] size size of input buffer
+   */
+  ArduinoInStream(Stream &hws, char* buf, size_t size) {
+    m_hw = &hws;
+    m_line = buf;
+    m_size = size;
+  }
+  /** read a line. */
+  void readline() {
+    size_t i = 0;
+    uint32_t t;
+    m_line[0] = '\0';
+    while (!m_hw->available()) {
+      yield();
+    }
+
+    while (1) {
+      t = millis();
+      while (!m_hw->available()) {
+        if ((millis() - t) > 10) {
+          goto done;
+        }
+      }
+      if (i >= (m_size - 1)) {
+        setstate(failbit);
+        return;
+      }
+      m_line[i++] = m_hw->read();
+      m_line[i] = '\0';
+    }
+done:
+    init(m_line);
+  }
+
+ protected:
+  /** Internal - do not use.
+   * \param[in] off
+   * \param[in] way
+   * \return true/false.
+   */
+  bool seekoff(off_type off, seekdir way) {
+    (void)off;
+    (void)way;
+    return false;
+  }
+  /** Internal - do not use.
+   * \param[in] pos
+   * \return true/false.
+   */
+  bool seekpos(pos_type pos) {
+    (void)pos;
+    return false;
+  }
+
+ private:
+  char *m_line;
+  size_t m_size;
+  Stream* m_hw;
+};
+//==============================================================================
+/**
+ * \class ArduinoOutStream
+ * \brief Output stream for Arduino Print objects
+ */
+class ArduinoOutStream : public ostream {
+ public:
+  /** constructor
+   *
+   * \param[in] pr Print object for this ArduinoOutStream.
+   */
+  explicit ArduinoOutStream(Print& pr) : m_pr(&pr) {}
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  /**
+   * Internal do not use
+   * \param[in] c
+   */
+  void putch(char c) {
+    if (c == '\n') {
+      m_pr->write('\r');
+    }
+    m_pr->write(c);
+  }
+  void putstr(const char* str) {
+    m_pr->write(str);
+  }
+  bool seekoff(off_type off, seekdir way) {
+    (void)off;
+    (void)way;
+    return false;
+  }
+  bool seekpos(pos_type pos) {
+    (void)pos;
+    return false;
+  }
+  bool sync() {
+    return true;
+  }
+  pos_type tellpos() {
+    return 0;
+  }
+  /// @endcond
+ private:
+  ArduinoOutStream() {}
+  Print* m_pr;
+};
+#endif  // ENABLE_ARDUINO_FEATURES
+#endif  // ArduinoStream_h

hardware/_controller/src/SdFat/FatLib/BaseBlockDriver.h

@@ -0,0 +1,80 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef BaseBlockDriver_h
+#define BaseBlockDriver_h
+#include "FatLibConfig.h"
+/**
+ * \class BaseBlockDriver
+ * \brief Base block driver.
+ */
+class BaseBlockDriver {
+ public:
+    /**
+   * Read a 512 byte block from an SD card.
+   *
+   * \param[in] block Logical block to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  virtual bool readBlock(uint32_t block, uint8_t* dst) = 0;
+  /** End multi-block transfer and go to idle state.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  virtual bool syncBlocks() = 0;
+  /**
+   * Writes a 512 byte block to an SD card.
+   *
+   * \param[in] block Logical block to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  virtual bool writeBlock(uint32_t block, const uint8_t* src) = 0;
+#if USE_MULTI_BLOCK_IO
+  /**
+   * Read multiple 512 byte blocks from an SD card.
+   *
+   * \param[in] block Logical block to be read.
+   * \param[in] nb Number of blocks to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  virtual bool readBlocks(uint32_t block, uint8_t* dst, size_t nb) = 0;
+  /**
+   * Write multiple 512 byte blocks to an SD card.
+   *
+   * \param[in] block Logical block to be written.
+   * \param[in] nb Number of blocks to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  virtual bool writeBlocks(uint32_t block, const uint8_t* src, size_t nb) = 0;
+#endif  // USE_MULTI_BLOCK_IO
+};
+#endif  // BaseBlockDriver_h

hardware/_controller/src/SdFat/FatLib/FatApiConstants.h

@@ -0,0 +1,87 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FatApiConstants_h
+#define FatApiConstants_h
+#include "../SdFatConfig.h"
+
+#if USE_FCNTL_H
+#include <fcntl.h>
+/* values for GNU Arm Embedded Toolchain.
+ * O_RDONLY:   0x0
+ * O_WRONLY:   0x1
+ * O_RDWR:     0x2
+ * O_ACCMODE:  0x3
+ * O_APPEND:   0x8
+ * O_CREAT:    0x200
+ * O_TRUNC:    0x400
+ * O_EXCL:     0x800
+ * O_SYNC:     0x2000
+ * O_NONBLOCK: 0x4000
+ */
+/** Use O_NONBLOCK for open at EOF */
+#define O_AT_END O_NONBLOCK  ///< Open at EOF.
+typedef int oflag_t;
+#else  // USE_FCNTL_H
+#define O_RDONLY  0X00  ///< Open for reading only.
+#define O_WRONLY  0X01  ///< Open for writing only.
+#define O_RDWR    0X02  ///< Open for reading and writing.
+#define O_AT_END  0X04  ///< Open at EOF.
+#define O_APPEND  0X08  ///< Set append mode.
+#define O_CREAT   0x10  ///< Create file if it does not exist.
+#define O_TRUNC   0x20  ///< Truncate file to zero length.
+#define O_EXCL    0x40  ///< Fail if the file exists.
+#define O_SYNC    0x80  ///< Synchronized write I/O operations.
+
+#define O_ACCMODE (O_RDONLY|O_WRONLY|O_RDWR)  ///< Mask for access mode.
+typedef uint8_t oflag_t;
+#endif  // USE_FCNTL_H
+
+#define O_READ    O_RDONLY
+#define O_WRITE   O_WRONLY
+
+inline bool isWriteMode(oflag_t oflag) {
+  oflag &= O_ACCMODE;
+  return oflag == O_WRONLY || oflag == O_RDWR;
+}
+
+// FatFile class static and const definitions
+// flags for ls()
+/** ls() flag for list all files including hidden. */
+#define LS_A 1
+/** ls() flag to print modify. date */
+#define LS_DATE 2
+/** ls() flag to print file size. */
+#define LS_SIZE 4
+/** ls() flag for recursive list of subdirectories */
+#define LS_R 8
+
+// flags for timestamp
+/** set the file's last access date */
+#define T_ACCESS 1
+/** set the file's creation date and time */
+#define T_CREATE 2
+/** Set the file's write date and time */
+#define T_WRITE 4
+#endif  // FatApiConstants_h

hardware/_controller/src/SdFat/FatLib/FatFileLFN.cpp

@@ -0,0 +1,685 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "FatFile.h"
+//------------------------------------------------------------------------------
+//
+uint8_t FatFile::lfnChecksum(uint8_t* name) {
+  uint8_t sum = 0;
+  for (uint8_t i = 0; i < 11; i++) {
+    sum = (((sum & 1) << 7) | ((sum & 0xfe) >> 1)) + name[i];
+  }
+  return sum;
+}
+#if USE_LONG_FILE_NAMES
+//------------------------------------------------------------------------------
+// Saves about 90 bytes of flash on 328 over tolower().
+inline char lfnToLower(char c) {
+  return 'A' <= c && c <= 'Z' ? c + 'a' - 'A' : c;
+}
+//------------------------------------------------------------------------------
+// Daniel Bernstein University of Illinois at Chicago.
+// Original had + instead of ^
+static uint16_t Bernstein(uint16_t hash, const char *str, size_t len) {
+  for (size_t i = 0; i < len; i++) {
+    // hash = hash * 33 ^ str[i];
+    hash = ((hash << 5) + hash) ^ str[i];
+  }
+  return hash;
+}
+//------------------------------------------------------------------------------
+/**
+ * Fetch a 16-bit long file name character.
+ *
+ * \param[in] ldir Pointer to long file name directory entry.
+ * \param[in] i Index of character.
+ * \return The 16-bit character.
+ */
+static uint16_t lfnGetChar(ldir_t *ldir, uint8_t i) {
+  if (i < LDIR_NAME1_DIM) {
+    return ldir->name1[i];
+  } else if (i < (LDIR_NAME1_DIM + LDIR_NAME2_DIM)) {
+    return ldir->name2[i - LDIR_NAME1_DIM];
+  } else if (i < (LDIR_NAME1_DIM + LDIR_NAME2_DIM + LDIR_NAME2_DIM)) {
+    return ldir->name3[i - LDIR_NAME1_DIM - LDIR_NAME2_DIM];
+  }
+  return 0;
+}
+//------------------------------------------------------------------------------
+static bool lfnGetName(ldir_t *ldir, char* name, size_t n) {
+  uint8_t i;
+  size_t k = 13*((ldir->ord & 0X1F) - 1);
+  for (i = 0; i < 13; i++) {
+    uint16_t c = lfnGetChar(ldir, i);
+    if (c == 0 || k >= n) {
+      break;
+    }
+    name[k++] = c >= 0X7F ? '?' : c;
+  }
+  // Terminate with zero byte if name fits.
+  if (k < n && (ldir->ord & LDIR_ORD_LAST_LONG_ENTRY)) {
+    name[k] = 0;
+  }
+  // Truncate if name is too long.
+  name[n - 1] = 0;
+  return true;
+}
+//------------------------------------------------------------------------------
+inline bool lfnLegalChar(char c) {
+  if (c == '/' || c == '\\' || c == '"' || c == '*' ||
+      c == ':' || c == '<' || c == '>' || c == '?' || c == '|') {
+    return false;
+  }
+  return 0X1F < c && c < 0X7F;
+}
+//------------------------------------------------------------------------------
+/**
+ * Store a 16-bit long file name character.
+ *
+ * \param[in] ldir Pointer to long file name directory entry.
+ * \param[in] i Index of character.
+ * \param[in] c  The 16-bit character.
+ */
+static void lfnPutChar(ldir_t *ldir, uint8_t i, uint16_t c) {
+  if (i < LDIR_NAME1_DIM) {
+    ldir->name1[i] = c;
+  } else if (i < (LDIR_NAME1_DIM + LDIR_NAME2_DIM)) {
+    ldir->name2[i - LDIR_NAME1_DIM] = c;
+  } else if (i < (LDIR_NAME1_DIM + LDIR_NAME2_DIM + LDIR_NAME2_DIM)) {
+    ldir->name3[i - LDIR_NAME1_DIM - LDIR_NAME2_DIM] = c;
+  }
+}
+//------------------------------------------------------------------------------
+static void lfnPutName(ldir_t *ldir, const char* name, size_t n) {
+  size_t k = 13*((ldir->ord & 0X1F) - 1);
+  for (uint8_t i = 0; i < 13; i++, k++) {
+    uint16_t c = k < n ? name[k] : k == n ? 0 : 0XFFFF;
+    lfnPutChar(ldir, i, c);
+  }
+}
+//==============================================================================
+bool FatFile::getName(char* name, size_t size) {
+  FatFile dirFile;
+  ldir_t* ldir;
+  if (!isOpen() || size < 13) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (!isLFN()) {
+    return getSFN(name);
+  }
+  if (!dirFile.openCluster(this)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  for (uint8_t ord = 1; ord <= m_lfnOrd; ord++) {
+    if (!dirFile.seekSet(32UL*(m_dirIndex - ord))) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    ldir = reinterpret_cast<ldir_t*>(dirFile.readDirCache());
+    if (!ldir) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (ldir->attr != DIR_ATT_LONG_NAME) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (ord != (ldir->ord & 0X1F)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (!lfnGetName(ldir, name, size)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (ldir->ord & LDIR_ORD_LAST_LONG_ENTRY) {
+      return true;
+    }
+  }
+  // Fall into fail.
+  DBG_FAIL_MACRO;
+
+fail:
+  name[0] = 0;
+  return false;
+}
+//------------------------------------------------------------------------------
+bool FatFile::openCluster(FatFile* file) {
+  if (file->m_dirCluster == 0) {
+    return openRoot(file->m_vol);
+  }
+  memset(this, 0, sizeof(FatFile));
+  m_attr = FILE_ATTR_SUBDIR;
+  m_flags = F_READ;
+  m_vol = file->m_vol;
+  m_firstCluster = file->m_dirCluster;
+  return true;
+}
+//------------------------------------------------------------------------------
+bool FatFile::parsePathName(const char* path,
+                            fname_t* fname, const char** ptr) {
+  char c;
+  bool is83;
+  uint8_t bit = DIR_NT_LC_BASE;
+  uint8_t lc = 0;
+  uint8_t uc = 0;
+  uint8_t i = 0;
+  uint8_t in = 7;
+  int end;
+  int len = 0;
+  int si;
+  int dot;
+
+  // Skip leading spaces.
+  while (*path == ' ') {
+    path++;
+  }
+  fname->lfn = path;
+
+  for (len = 0; ; len++) {
+    c = path[len];
+    if (c == 0 || isDirSeparator(c)) {
+      break;
+    }
+    if (!lfnLegalChar(c)) {
+      return false;
+    }
+  }
+  // Advance to next path component.
+  for (end = len; path[end] ==  ' ' || isDirSeparator(path[end]); end++) {}
+  *ptr = &path[end];
+
+  // Back over spaces and dots.
+  while (len) {
+    c = path[len - 1];
+    if (c != '.' && c != ' ') {
+      break;
+    }
+    len--;
+  }
+  // Max length of LFN is 255.
+  if (len > 255) {
+    return false;
+  }
+  fname->len = len;
+  // Blank file short name.
+  for (uint8_t k = 0; k < 11; k++) {
+    fname->sfn[k] = ' ';
+  }
+  // skip leading spaces and dots.
+  for (si = 0; path[si] == '.' || path[si] == ' '; si++) {}
+  // Not 8.3 if leading dot or space.
+  is83 = !si;
+
+  // find last dot.
+  for (dot = len - 1; dot >= 0 && path[dot] != '.'; dot--) {}
+  for (; si < len; si++) {
+    c = path[si];
+    if (c == ' ' || (c == '.' && dot != si)) {
+      is83 = false;
+      continue;
+    }
+    if (!legal83Char(c) && si != dot) {
+      is83 = false;
+      c = '_';
+    }
+    if (si == dot || i > in) {
+      if (in == 10) {
+        // Done - extension longer than three characters.
+        is83 = false;
+        break;
+      }
+      if (si != dot) {
+        is83 = false;
+      }
+      // Break if no dot and base-name is longer than eight characters.
+      if (si > dot) {
+        break;
+      }
+      si = dot;
+      in = 10;  // Max index for full 8.3 name.
+      i = 8;    // Place for extension.
+      bit = DIR_NT_LC_EXT;  // bit for extension.
+    } else {
+      if ('a' <= c && c <= 'z') {
+        c += 'A' - 'a';
+        lc |= bit;
+      } else if ('A' <= c && c <= 'Z') {
+        uc |= bit;
+      }
+      fname->sfn[i++] = c;
+      if (i < 7) {
+        fname->seqPos = i;
+      }
+    }
+  }
+  if (fname->sfn[0] == ' ') {
+    return false;
+  }
+
+  if (is83) {
+    fname->flags = lc & uc ? FNAME_FLAG_MIXED_CASE : lc;
+  } else {
+    fname->flags = FNAME_FLAG_LOST_CHARS;
+    fname->sfn[fname->seqPos] = '~';
+    fname->sfn[fname->seqPos + 1] = '1';
+  }
+  return true;
+}
+//------------------------------------------------------------------------------
+bool FatFile::open(FatFile* dirFile, fname_t* fname, oflag_t oflag) {
+  bool fnameFound = false;
+  uint8_t lfnOrd = 0;
+  uint8_t freeNeed;
+  uint8_t freeFound = 0;
+  uint8_t ord = 0;
+  uint8_t chksum = 0;
+  uint16_t freeIndex = 0;
+  uint16_t curIndex;
+  dir_t* dir;
+  ldir_t* ldir;
+  size_t len = fname->len;
+
+  if (!dirFile || !dirFile->isDir() || isOpen()) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Number of directory entries needed.
+  freeNeed = fname->flags & FNAME_FLAG_NEED_LFN ? 1 + (len + 12)/13 : 1;
+
+  dirFile->rewind();
+  while (1) {
+    curIndex = dirFile->m_curPosition/32;
+    dir = dirFile->readDirCache(true);
+    if (!dir) {
+      if (dirFile->getError()) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      // At EOF
+      goto create;
+    }
+    if (dir->name[0] == DIR_NAME_DELETED || dir->name[0] == DIR_NAME_FREE) {
+      if (freeFound == 0) {
+        freeIndex = curIndex;
+      }
+      if (freeFound < freeNeed) {
+        freeFound++;
+      }
+      if (dir->name[0] == DIR_NAME_FREE) {
+        goto create;
+      }
+    } else {
+      if (freeFound < freeNeed) {
+        freeFound = 0;
+      }
+    }
+    // skip empty slot or '.' or '..'
+    if (dir->name[0] == DIR_NAME_DELETED || dir->name[0] == '.') {
+      lfnOrd = 0;
+    } else if (DIR_IS_LONG_NAME(dir)) {
+      ldir_t *ldir = reinterpret_cast<ldir_t*>(dir);
+      if (!lfnOrd) {
+        if ((ldir->ord & LDIR_ORD_LAST_LONG_ENTRY) == 0) {
+          continue;
+        }
+        lfnOrd = ord = ldir->ord & 0X1F;
+        chksum = ldir->chksum;
+      } else if (ldir->ord != --ord || chksum != ldir->chksum) {
+        lfnOrd = 0;
+        continue;
+      }
+      size_t k = 13*(ord - 1);
+      if (k >= len) {
+        // Not found.
+        lfnOrd = 0;
+        continue;
+      }
+      for (uint8_t i = 0; i < 13; i++) {
+        uint16_t u = lfnGetChar(ldir, i);
+        if (k == len) {
+          if (u != 0) {
+            // Not found.
+            lfnOrd = 0;
+          }
+          break;
+        }
+        if (u > 255 || lfnToLower(u) != lfnToLower(fname->lfn[k++])) {
+          // Not found.
+          lfnOrd = 0;
+          break;
+        }
+      }
+    } else if (DIR_IS_FILE_OR_SUBDIR(dir)) {
+      if (lfnOrd) {
+        if (1 == ord && lfnChecksum(dir->name) == chksum) {
+          goto found;
+        }
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      if (!memcmp(dir->name, fname->sfn, sizeof(fname->sfn))) {
+        if (!(fname->flags & FNAME_FLAG_LOST_CHARS)) {
+          goto found;
+        }
+        fnameFound = true;
+      }
+    } else {
+      lfnOrd = 0;
+    }
+  }
+
+found:
+  // Don't open if create only.
+  if (oflag & O_EXCL) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  goto open;
+
+create:
+  // don't create unless O_CREAT and write mode.
+  if (!(oflag & O_CREAT) || !isWriteMode(oflag)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // If at EOF start in next cluster.
+  if (freeFound == 0) {
+    freeIndex = curIndex;
+  }
+
+  while (freeFound < freeNeed) {
+    dir = dirFile->readDirCache();
+    if (!dir) {
+      if (dirFile->getError()) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      // EOF if no error.
+      break;
+    }
+    freeFound++;
+  }
+  while (freeFound < freeNeed) {
+    // Will fail if FAT16 root.
+    if (!dirFile->addDirCluster()) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    // Done if more than one block per cluster.  Max freeNeed is 21.
+    if (dirFile->m_vol->blocksPerCluster() > 1) {
+      break;
+    }
+    freeFound += 16;
+  }
+  if (fnameFound) {
+    if (!dirFile->lfnUniqueSfn(fname)) {
+      goto fail;
+    }
+  }
+  if (!dirFile->seekSet(32UL*freeIndex)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  lfnOrd = freeNeed - 1;
+  for (uint8_t ord = lfnOrd ; ord ; ord--) {
+    ldir = reinterpret_cast<ldir_t*>(dirFile->readDirCache());
+    if (!ldir) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    dirFile->m_vol->cacheDirty();
+    ldir->ord = ord == lfnOrd ? LDIR_ORD_LAST_LONG_ENTRY | ord : ord;
+    ldir->attr = DIR_ATT_LONG_NAME;
+    ldir->type = 0;
+    ldir->chksum = lfnChecksum(fname->sfn);
+    ldir->mustBeZero = 0;
+    lfnPutName(ldir, fname->lfn, len);
+  }
+  curIndex = dirFile->m_curPosition/32;
+  dir = dirFile->readDirCache();
+  if (!dir) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // initialize as empty file
+  memset(dir, 0, sizeof(dir_t));
+  memcpy(dir->name, fname->sfn, 11);
+
+  // Set base-name and extension lower case bits.
+  dir->reservedNT =  (DIR_NT_LC_BASE | DIR_NT_LC_EXT) & fname->flags;
+
+  // set timestamps
+  if (m_dateTime) {
+    // call user date/time function
+    m_dateTime(&dir->creationDate, &dir->creationTime);
+  } else {
+    // use default date/time
+    dir->creationDate = FAT_DEFAULT_DATE;
+    dir->creationTime = FAT_DEFAULT_TIME;
+  }
+  dir->lastAccessDate = dir->creationDate;
+  dir->lastWriteDate = dir->creationDate;
+  dir->lastWriteTime = dir->creationTime;
+
+  // Force write of entry to device.
+  dirFile->m_vol->cacheDirty();
+
+open:
+  // open entry in cache.
+  if (!openCachedEntry(dirFile, curIndex, oflag, lfnOrd)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+size_t FatFile::printName(print_t* pr) {
+  FatFile dirFile;
+  ldir_t* ldir;
+  size_t n = 0;
+  uint16_t u;
+  uint8_t buf[13];
+  uint8_t i;
+
+  if (!isLFN()) {
+    return printSFN(pr);
+  }
+  if (!dirFile.openCluster(this)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  for (uint8_t ord = 1; ord <= m_lfnOrd; ord++) {
+    if (!dirFile.seekSet(32UL*(m_dirIndex - ord))) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    ldir = reinterpret_cast<ldir_t*>(dirFile.readDirCache());
+    if (!ldir) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+
+    if (ldir->attr != DIR_ATT_LONG_NAME ||
+        ord != (ldir->ord & 0X1F)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    for (i = 0; i < 13; i++) {
+      u = lfnGetChar(ldir, i);
+      if (u == 0) {
+        // End of name.
+        break;
+      }
+      buf[i] = u < 0X7F ? u : '?';
+      n++;
+    }
+    pr->write(buf, i);
+  }
+  return n;
+
+fail:
+  return 0;
+}
+//------------------------------------------------------------------------------
+bool FatFile::remove() {
+  bool last;
+  uint8_t chksum;
+  uint8_t ord;
+  FatFile dirFile;
+  dir_t* dir;
+  ldir_t* ldir;
+
+  // Cant' remove not open for write.
+  if (!isFile() || !(m_flags & F_WRITE)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Free any clusters.
+  if (m_firstCluster && !m_vol->freeChain(m_firstCluster)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Cache directory entry.
+  dir = cacheDirEntry(FatCache::CACHE_FOR_WRITE);
+  if (!dir) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  chksum = lfnChecksum(dir->name);
+
+  // Mark entry deleted.
+  dir->name[0] = DIR_NAME_DELETED;
+
+  // Set this file closed.
+  m_attr = FILE_ATTR_CLOSED;
+
+  // Write entry to device.
+  if (!m_vol->cacheSync()) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (!isLFN()) {
+    // Done, no LFN entries.
+    return true;
+  }
+  if (!dirFile.openCluster(this)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  for (ord = 1; ord <= m_lfnOrd; ord++) {
+    if (!dirFile.seekSet(32UL*(m_dirIndex - ord))) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    ldir = reinterpret_cast<ldir_t*>(dirFile.readDirCache());
+    if (!ldir) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (ldir->attr != DIR_ATT_LONG_NAME ||
+        ord != (ldir->ord & 0X1F) ||
+        chksum != ldir->chksum) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    last = ldir->ord & LDIR_ORD_LAST_LONG_ENTRY;
+    ldir->ord = DIR_NAME_DELETED;
+    m_vol->cacheDirty();
+    if (last) {
+      if (!m_vol->cacheSync()) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      return true;
+    }
+  }
+  // Fall into fail.
+  DBG_FAIL_MACRO;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+bool FatFile::lfnUniqueSfn(fname_t* fname) {
+  const uint8_t FIRST_HASH_SEQ = 2;  // min value is 2
+  uint8_t pos = fname->seqPos;;
+  dir_t *dir;
+  uint16_t hex;
+
+  DBG_HALT_IF(!(fname->flags & FNAME_FLAG_LOST_CHARS));
+  DBG_HALT_IF(fname->sfn[pos] != '~' && fname->sfn[pos + 1] != '1');
+
+  for (uint8_t seq = 2; seq < 100; seq++) {
+    if (seq < FIRST_HASH_SEQ) {
+      fname->sfn[pos + 1] = '0' + seq;
+    } else {
+      DBG_PRINT_IF(seq > FIRST_HASH_SEQ);
+      hex = Bernstein(seq + fname->len, fname->lfn, fname->len);
+      if (pos > 3) {
+        // Make space in name for ~HHHH.
+        pos = 3;
+      }
+      for (uint8_t i = pos + 4 ; i > pos; i--) {
+        uint8_t h = hex & 0XF;
+        fname->sfn[i] = h < 10 ? h + '0' : h + 'A' - 10;
+        hex >>= 4;
+      }
+    }
+    fname->sfn[pos] = '~';
+    rewind();
+    while (1) {
+      dir = readDirCache(true);
+      if (!dir) {
+        if (!getError()) {
+          // At EOF and name not found if no error.
+          goto done;
+        }
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      if (dir->name[0] == DIR_NAME_FREE) {
+        goto done;
+      }
+      if (DIR_IS_FILE_OR_SUBDIR(dir) && !memcmp(fname->sfn, dir->name, 11)) {
+        // Name found - try another.
+        break;
+      }
+    }
+  }
+  // fall inti fail - too many tries.
+  DBG_FAIL_MACRO;
+
+fail:
+  return false;
+
+done:
+  return true;
+}
+#endif  // #if USE_LONG_FILE_NAMES

hardware/_controller/src/SdFat/FatLib/FatFilePrint.cpp

@@ -0,0 +1,267 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include <math.h>
+#include "FatFile.h"
+#include "FmtNumber.h"
+//------------------------------------------------------------------------------
+// print uint8_t with width 2
+static void print2u(print_t* pr, uint8_t v) {
+  char c0 = '?';
+  char c1 = '?';
+  if (v < 100) {
+    c1 = v/10;
+    c0 = v - 10*c1 + '0';
+    c1 += '0';
+  }
+  pr->write(c1);
+  pr->write(c0);
+}
+//------------------------------------------------------------------------------
+static void printU32(print_t* pr, uint32_t v) {
+  char buf[11];
+  char* ptr = buf + sizeof(buf);
+  *--ptr = 0;
+  pr->write(fmtDec(v, ptr));
+}
+//------------------------------------------------------------------------------
+static void printHex(print_t* pr, uint8_t w, uint16_t h) {
+  char buf[5];
+  char* ptr = buf + sizeof(buf);
+  *--ptr = 0;
+  for (uint8_t i = 0; i < w; i++) {
+    char c = h & 0XF;
+    *--ptr = c < 10 ? c + '0' : c + 'A' - 10;
+    h >>= 4;
+  }
+  pr->write(ptr);
+}
+//------------------------------------------------------------------------------
+void FatFile::dmpFile(print_t* pr, uint32_t pos, size_t n) {
+  char text[17];
+  text[16] = 0;
+  if (n >= 0XFFF0) {
+    n = 0XFFF0;
+  }
+  if (!seekSet(pos)) {
+    return;
+  }
+  for (size_t i = 0; i <= n; i++) {
+    if ((i & 15) == 0) {
+      if (i) {
+        pr->write(' ');
+        pr->write(text);
+        if (i == n) {
+          break;
+        }
+      }
+      pr->write('\r');
+      pr->write('\n');
+      if (i >= n) {
+        break;
+      }
+      printHex(pr, 4, i);
+      pr->write(' ');
+    }
+    int16_t h = read();
+    if (h < 0) {
+      break;
+    }
+    pr->write(' ');
+    printHex(pr, 2, h);
+    text[i&15] = ' ' <= h && h < 0X7F ? h : '.';
+  }
+  pr->write('\r');
+  pr->write('\n');
+}
+//------------------------------------------------------------------------------
+bool FatFile::ls(print_t* pr, uint8_t flags, uint8_t indent) {
+  FatFile file;
+  if (!isDir() || getError()) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  rewind();
+  while (file.openNext(this, O_RDONLY)) {
+    if (!file.isHidden() || (flags & LS_A)) {
+    // indent for dir level
+      for (uint8_t i = 0; i < indent; i++) {
+        pr->write(' ');
+      }
+      if (flags & LS_DATE) {
+        file.printModifyDateTime(pr);
+        pr->write(' ');
+      }
+      if (flags & LS_SIZE) {
+        file.printFileSize(pr);
+        pr->write(' ');
+      }
+      file.printName(pr);
+      if (file.isDir()) {
+        pr->write('/');
+      }
+      pr->write('\r');
+      pr->write('\n');
+      if ((flags & LS_R) && file.isDir()) {
+        if (!file.ls(pr, flags, indent + 2)) {
+          DBG_FAIL_MACRO;
+          goto fail;
+        }
+      }
+    }
+    file.close();
+  }
+  if (getError()) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  return true;
+
+ fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+bool FatFile::printCreateDateTime(print_t* pr) {
+  dir_t dir;
+  if (!dirEntry(&dir)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  printFatDate(pr, dir.creationDate);
+  pr->write(' ');
+  printFatTime(pr, dir.creationTime);
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+void FatFile::printFatDate(print_t* pr, uint16_t fatDate) {
+  printU32(pr, FAT_YEAR(fatDate));
+  pr->write('-');
+  print2u(pr, FAT_MONTH(fatDate));
+  pr->write('-');
+  print2u(pr, FAT_DAY(fatDate));
+}
+//------------------------------------------------------------------------------
+void FatFile::printFatTime(print_t* pr, uint16_t fatTime) {
+  print2u(pr, FAT_HOUR(fatTime));
+  pr->write(':');
+  print2u(pr, FAT_MINUTE(fatTime));
+  pr->write(':');
+  print2u(pr, FAT_SECOND(fatTime));
+}
+//------------------------------------------------------------------------------
+/** Template for FatFile::printField() */
+template <typename Type>
+static int printFieldT(FatFile* file, char sign, Type value, char term) {
+  char buf[3*sizeof(Type) + 3];
+  char* str = &buf[sizeof(buf)];
+
+  if (term) {
+    *--str = term;
+    if (term == '\n') {
+      *--str = '\r';
+    }
+  }
+#ifdef OLD_FMT
+  do {
+    Type m = value;
+    value /= 10;
+    *--str = '0' + m - 10*value;
+  } while (value);
+#else  // OLD_FMT
+  str = fmtDec(value, str);
+#endif  // OLD_FMT
+  if (sign) {
+    *--str = sign;
+  }
+  return file->write(str, &buf[sizeof(buf)] - str);
+}
+//------------------------------------------------------------------------------
+
+int FatFile::printField(float value, char term, uint8_t prec) {
+  char buf[24];
+  char* str = &buf[sizeof(buf)];
+  if (term) {
+    *--str = term;
+    if (term == '\n') {
+      *--str = '\r';
+    }
+  }
+  str = fmtFloat(value, str, prec);
+  return write(str, buf + sizeof(buf) - str);
+}
+//------------------------------------------------------------------------------
+int FatFile::printField(uint16_t value, char term) {
+  return printFieldT(this, 0, value, term);
+}
+//------------------------------------------------------------------------------
+int FatFile::printField(int16_t value, char term) {
+  char sign = 0;
+  if (value < 0) {
+    sign = '-';
+    value = -value;
+  }
+  return printFieldT(this, sign, (uint16_t)value, term);
+}
+//------------------------------------------------------------------------------
+int FatFile::printField(uint32_t value, char term) {
+  return printFieldT(this, 0, value, term);
+}
+//------------------------------------------------------------------------------
+int FatFile::printField(int32_t value, char term) {
+  char sign = 0;
+  if (value < 0) {
+    sign = '-';
+    value = -value;
+  }
+  return printFieldT(this, sign, (uint32_t)value, term);
+}
+//------------------------------------------------------------------------------
+bool FatFile::printModifyDateTime(print_t* pr) {
+  dir_t dir;
+  if (!dirEntry(&dir)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  printFatDate(pr, dir.lastWriteDate);
+  pr->write(' ');
+  printFatTime(pr, dir.lastWriteTime);
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+size_t FatFile::printFileSize(print_t* pr) {
+  char buf[11];
+  char *ptr = buf + sizeof(buf);
+  *--ptr = 0;
+  ptr = fmtDec(fileSize(), ptr);
+  while (ptr > buf) {
+    *--ptr = ' ';
+  }
+  return pr->write(buf);
+}

hardware/_controller/src/SdFat/FatLib/FatFileSFN.cpp

@@ -0,0 +1,278 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "FatFile.h"
+#include "FatFileSystem.h"
+//------------------------------------------------------------------------------
+bool FatFile::getSFN(char* name) {
+  dir_t* dir;
+  if (!isOpen()) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (isRoot()) {
+    name[0] = '/';
+    name[1] = '\0';
+    return true;
+  }
+  // cache entry
+  dir = cacheDirEntry(FatCache::CACHE_FOR_READ);
+  if (!dir) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // format name
+  dirName(dir, name);
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+size_t FatFile::printSFN(print_t* pr) {
+  char name[13];
+  if (!getSFN(name)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  return pr->write(name);
+
+fail:
+  return 0;
+}
+#if !USE_LONG_FILE_NAMES
+//------------------------------------------------------------------------------
+bool FatFile::getName(char* name, size_t size) {
+  return size < 13 ? 0 : getSFN(name);
+}
+//------------------------------------------------------------------------------
+// format directory name field from a 8.3 name string
+bool FatFile::parsePathName(const char* path, fname_t* fname,
+                            const char** ptr) {
+  uint8_t uc = 0;
+  uint8_t lc = 0;
+  uint8_t bit = FNAME_FLAG_LC_BASE;
+  // blank fill name and extension
+  for (uint8_t i = 0; i < 11; i++) {
+    fname->sfn[i] = ' ';
+  }
+
+  for (uint8_t i = 0, n = 7;; path++) {
+    uint8_t c = *path;
+    if (c == 0 || isDirSeparator(c)) {
+      // Done.
+      break;
+    }
+    if (c == '.' && n == 7) {
+      n = 10;  // max index for full 8.3 name
+      i = 8;   // place for extension
+
+      // bit for extension.
+      bit = FNAME_FLAG_LC_EXT;
+    } else {
+      if (!legal83Char(c) || i > n) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      if ('a' <= c && c <= 'z') {
+        c += 'A' - 'a';
+        lc |= bit;
+      } else if ('A' <= c && c <= 'Z') {
+        uc |= bit;
+      }
+      fname->sfn[i++] = c;
+    }
+  }
+  // must have a file name, extension is optional
+  if (fname->sfn[0] == ' ') {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Set base-name and extension bits.
+  fname->flags = lc & uc ? 0 : lc;
+  while (isDirSeparator(*path)) {
+    path++;
+  }
+  *ptr = path;
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// open with filename in fname
+#define SFN_OPEN_USES_CHKSUM 0
+bool FatFile::open(FatFile* dirFile, fname_t* fname, oflag_t oflag) {
+  bool emptyFound = false;
+#if SFN_OPEN_USES_CHKSUM
+  uint8_t chksum;
+#endif
+  uint8_t lfnOrd = 0;
+  uint16_t emptyIndex;
+  uint16_t index = 0;
+  dir_t* dir;
+  ldir_t* ldir;
+
+  dirFile->rewind();
+  while (1) {
+    if (!emptyFound) {
+      emptyIndex = index;
+    }
+    dir = dirFile->readDirCache(true);
+    if (!dir) {
+      if (dirFile->getError())  {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      // At EOF if no error.
+      break;
+    }
+    if (dir->name[0] == DIR_NAME_FREE) {
+      emptyFound = true;
+      break;
+    }
+    if (dir->name[0] == DIR_NAME_DELETED) {
+      lfnOrd = 0;
+      emptyFound = true;
+    } else if (DIR_IS_FILE_OR_SUBDIR(dir)) {
+      if (!memcmp(fname->sfn, dir->name, 11)) {
+        // don't open existing file if O_EXCL
+        if (oflag & O_EXCL) {
+          DBG_FAIL_MACRO;
+          goto fail;
+        }
+#if SFN_OPEN_USES_CHKSUM
+        if (lfnOrd && chksum != lfnChecksum(dir->name)) {
+          DBG_FAIL_MACRO;
+          goto fail;
+        }
+#endif  // SFN_OPEN_USES_CHKSUM
+        if (!openCachedEntry(dirFile, index, oflag, lfnOrd)) {
+          DBG_FAIL_MACRO;
+          goto fail;
+        }
+        return true;
+      } else {
+        lfnOrd = 0;
+      }
+    } else if (DIR_IS_LONG_NAME(dir)) {
+      ldir = reinterpret_cast<ldir_t*>(dir);
+      if (ldir->ord & LDIR_ORD_LAST_LONG_ENTRY) {
+        lfnOrd = ldir->ord & 0X1F;
+#if SFN_OPEN_USES_CHKSUM
+        chksum = ldir->chksum;
+#endif  // SFN_OPEN_USES_CHKSUM
+      }
+    } else {
+      lfnOrd = 0;
+    }
+    index++;
+  }
+  // don't create unless O_CREAT and write mode
+  if (!(oflag & O_CREAT) || !isWriteMode(oflag)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (emptyFound) {
+    index = emptyIndex;
+  } else {
+    if (!dirFile->addDirCluster()) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  }
+  if (!dirFile->seekSet(32UL*index)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  dir = dirFile->readDirCache();
+  if (!dir) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // initialize as empty file
+  memset(dir, 0, sizeof(dir_t));
+  memcpy(dir->name, fname->sfn, 11);
+
+  // Set base-name and extension lower case bits.
+  dir->reservedNT =  (DIR_NT_LC_BASE | DIR_NT_LC_EXT) & fname->flags;
+
+  // set timestamps
+  if (m_dateTime) {
+    // call user date/time function
+    m_dateTime(&dir->creationDate, &dir->creationTime);
+  } else {
+    // use default date/time
+    dir->creationDate = FAT_DEFAULT_DATE;
+    dir->creationTime = FAT_DEFAULT_TIME;
+  }
+  dir->lastAccessDate = dir->creationDate;
+  dir->lastWriteDate = dir->creationDate;
+  dir->lastWriteTime = dir->creationTime;
+
+  // Force write of entry to device.
+  dirFile->m_vol->cacheDirty();
+
+  // open entry in cache.
+  return openCachedEntry(dirFile, index, oflag, 0);
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+size_t FatFile::printName(print_t* pr) {
+  return printSFN(pr);
+}
+//------------------------------------------------------------------------------
+bool FatFile::remove() {
+  dir_t* dir;
+  // Can't remove if LFN or not open for write.
+  if (!isFile() || isLFN() || !(m_flags & F_WRITE)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Free any clusters.
+  if (m_firstCluster && !m_vol->freeChain(m_firstCluster)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Cache directory entry.
+  dir = cacheDirEntry(FatCache::CACHE_FOR_WRITE);
+  if (!dir) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // Mark entry deleted.
+  dir->name[0] = DIR_NAME_DELETED;
+
+  // Set this file closed.
+  m_attr = FILE_ATTR_CLOSED;
+
+  // Write entry to device.
+  return m_vol->cacheSync();
+
+fail:
+  return false;
+}
+#endif  // !USE_LONG_FILE_NAMES

hardware/_controller/src/SdFat/FatLib/FatFileSystem.h

@@ -0,0 +1,332 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FatFileSystem_h
+#define FatFileSystem_h
+#include "FatVolume.h"
+#include "FatFile.h"
+#include "ArduinoFiles.h"
+/**
+ * \file
+ * \brief FatFileSystem class
+ */
+//------------------------------------------------------------------------------
+/**
+ * \class FatFileSystem
+ * \brief Integration class for the FatLib library.
+ */
+class FatFileSystem : public  FatVolume {
+ public:
+  /**
+   * Initialize an FatFileSystem object.
+   * \param[in] blockDev Device block driver.
+   * \param[in] part partition to initialize.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool begin(BlockDriver* blockDev, uint8_t part = 0) {
+    m_blockDev = blockDev;
+    vwd()->close();
+    return (part ? init(part) : init(1) || init(0))
+            && vwd()->openRoot(this) && FatFile::setCwd(vwd());
+  }
+#if ENABLE_ARDUINO_FEATURES
+   /** List the directory contents of the volume working directory to Serial.
+   *
+   * \param[in] flags The inclusive OR of
+   *
+   * LS_DATE - %Print file modification date
+   *
+   * LS_SIZE - %Print file size.
+   *
+   * LS_R - Recursive list of subdirectories.
+   *
+   * \return true for success or false if an error occurred.
+   */
+  bool ls(uint8_t flags = 0) {
+    return ls(&Serial, flags);
+  }
+  /** List the directory contents of a directory to Serial.
+   *
+   * \param[in] path directory to list.
+   *
+   * \param[in] flags The inclusive OR of
+   *
+   * LS_DATE - %Print file modification date
+   *
+   * LS_SIZE - %Print file size.
+   *
+   * LS_R - Recursive list of subdirectories.
+   *
+   * \return true for success or false if an error occurred.
+   */
+  bool ls(const char* path, uint8_t flags = 0) {
+    return ls(&Serial, path, flags);
+  }
+  /** open a file
+   *
+   * \param[in] path location of file to be opened.
+   * \param[in] oflag open flags.
+   * \return a File object.
+   */
+  File open(const char *path, oflag_t oflag = FILE_READ) {
+    File tmpFile;
+    tmpFile.open(vwd(), path, oflag);
+    return tmpFile;
+  }
+  /** open a file
+   *
+   * \param[in] path location of file to be opened.
+   * \param[in] oflag open flags.
+   * \return a File object.
+   */
+  File open(const String &path, oflag_t oflag = FILE_READ) {
+    return open(path.c_str(), oflag );
+  }
+#endif  // ENABLE_ARDUINO_FEATURES
+  /** Change a volume's working directory to root
+   *
+   * Changes the volume's working directory to the SD's root directory.
+   * Optionally set the current working directory to the volume's
+   * working directory.
+   *
+   * \param[in] set_cwd Set the current working directory to this volume's
+   *  working directory if true.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool chdir(bool set_cwd = false) {
+    vwd()->close();
+    return vwd()->openRoot(this) && (set_cwd ? FatFile::setCwd(vwd()) : true);
+  }
+  /** Change a volume's working directory
+   *
+   * Changes the volume working directory to the \a path subdirectory.
+   * Optionally set the current working directory to the volume's
+   * working directory.
+   *
+   * Example: If the volume's working directory is "/DIR", chdir("SUB")
+   * will change the volume's working directory from "/DIR" to "/DIR/SUB".
+   *
+   * If path is "/", the volume's working directory will be changed to the
+   * root directory
+   *
+   * \param[in] path The name of the subdirectory.
+   *
+   * \param[in] set_cwd Set the current working directory to this volume's
+   *  working directory if true.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  //----------------------------------------------------------------------------
+  bool chdir(const char *path, bool set_cwd = false) {
+    FatFile dir;
+    if (path[0] == '/' && path[1] == '\0') {
+      return chdir(set_cwd);
+    }
+    if (!dir.open(vwd(), path, O_RDONLY)) {
+      goto fail;
+    }
+    if (!dir.isDir()) {
+      goto fail;
+    }
+    m_vwd = dir;
+    if (set_cwd) {
+      FatFile::setCwd(vwd());
+    }
+    return true;
+
+fail:
+    return false;
+  }
+  //----------------------------------------------------------------------------
+  /** Set the current working directory to a volume's working directory.
+   *
+   * This is useful with multiple SD cards.
+   *
+   * The current working directory is changed to this
+   * volume's working directory.
+   *
+   * This is like the Windows/DOS \<drive letter>: command.
+   */
+  void chvol() {
+    FatFile::setCwd(vwd());
+  }
+  //----------------------------------------------------------------------------
+  /**
+   * Test for the existence of a file.
+   *
+   * \param[in] path Path of the file to be tested for.
+   *
+   * \return true if the file exists else false.
+   */
+  bool exists(const char* path) {
+    return vwd()->exists(path);
+  }
+  //----------------------------------------------------------------------------
+  /** List the directory contents of the volume working directory.
+   *
+   * \param[in] pr Print stream for list.
+   *
+   * \param[in] flags The inclusive OR of
+   *
+   * LS_DATE - %Print file modification date
+   *
+   * LS_SIZE - %Print file size.
+   *
+   * LS_R - Recursive list of subdirectories.
+   *
+   * \return true for success or false if an error occurred.
+   */
+  bool ls(print_t* pr, uint8_t flags = 0) {
+    return vwd()->ls(pr, flags);
+  }
+  //----------------------------------------------------------------------------
+  /** List the directory contents of a directory.
+   *
+   * \param[in] pr Print stream for list.
+   *
+   * \param[in] path directory to list.
+   *
+   * \param[in] flags The inclusive OR of
+   *
+   * LS_DATE - %Print file modification date
+   *
+   * LS_SIZE - %Print file size.
+   *
+   * LS_R - Recursive list of subdirectories.
+   *
+   * \return true for success or false if an error occurred.
+   */
+  bool ls(print_t* pr, const char* path, uint8_t flags) {
+    FatFile dir;
+    return dir.open(vwd(), path, O_RDONLY) && dir.ls(pr, flags);
+  }
+  //----------------------------------------------------------------------------
+  /** Make a subdirectory in the volume working directory.
+   *
+   * \param[in] path A path with a valid 8.3 DOS name for the subdirectory.
+   *
+   * \param[in] pFlag Create missing parent directories if true.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool mkdir(const char* path, bool pFlag = true) {
+    FatFile sub;
+    return sub.mkdir(vwd(), path, pFlag);
+  }
+  //----------------------------------------------------------------------------
+  /** Remove a file from the volume working directory.
+  *
+  * \param[in] path A path with a valid 8.3 DOS name for the file.
+  *
+  * \return The value true is returned for success and
+  * the value false is returned for failure.
+  */
+  bool remove(const char* path) {
+    return FatFile::remove(vwd(), path);
+  }
+  //----------------------------------------------------------------------------
+  /** Rename a file or subdirectory.
+   *
+   * \param[in] oldPath Path name to the file or subdirectory to be renamed.
+   *
+   * \param[in] newPath New path name of the file or subdirectory.
+   *
+   * The \a newPath object must not exist before the rename call.
+   *
+   * The file to be renamed must not be open.  The directory entry may be
+   * moved and file system corruption could occur if the file is accessed by
+   * a file object that was opened before the rename() call.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool rename(const char *oldPath, const char *newPath) {
+    FatFile file;
+    if (!file.open(vwd(), oldPath, O_RDONLY)) {
+      return false;
+    }
+    return file.rename(vwd(), newPath);
+  }
+  //----------------------------------------------------------------------------
+  /** Remove a subdirectory from the volume's working directory.
+   *
+   * \param[in] path A path with a valid 8.3 DOS name for the subdirectory.
+   *
+   * The subdirectory file will be removed only if it is empty.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool rmdir(const char* path) {
+    FatFile sub;
+    if (!sub.open(vwd(), path, O_RDONLY)) {
+      return false;
+    }
+    return sub.rmdir();
+  }
+  //----------------------------------------------------------------------------
+  /** Truncate a file to a specified length.  The current file position
+   * will be maintained if it is less than or equal to \a length otherwise
+   * it will be set to end of file.
+   *
+   * \param[in] path A path with a valid 8.3 DOS name for the file.
+   * \param[in] length The desired length for the file.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool truncate(const char* path, uint32_t length) {
+    FatFile file;
+    if (!file.open(vwd(), path, O_WRONLY)) {
+      return false;
+    }
+    return file.truncate(length);
+  }
+  /** \return a pointer to the FatVolume object. */
+  FatVolume* vol() {
+    return this;
+  }
+  /** \return a pointer to the volume working directory. */
+  FatFile* vwd() {
+    return &m_vwd;
+  }
+  /** Wipe all data from the volume. You must reinitialize the volume before
+   *  accessing it again.
+   * \param[in] pr print stream for status dots.
+   * \return true for success else false.
+   */
+  bool wipe(print_t* pr = 0) {
+    vwd()->close();
+    return FatVolume::wipe(pr);
+  }
+
+ private:
+  FatFile m_vwd;
+};
+#endif  // FatFileSystem_h

hardware/_controller/src/SdFat/FatLib/FatLib.h

@@ -0,0 +1,36 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FatLib_h
+#define FatLib_h
+#include "ArduinoFiles.h"
+#include "FatFileSystem.h"
+#include "FatLibConfig.h"
+#include "FatVolume.h"
+#include "FatFile.h"
+#include "StdioStream.h"
+//------------------------------------------------------------------------------
+/** FatFileSystem version YYYYMMDD */
+#define FAT_LIB_VERSION 20150131
+#endif  // FatLib_h

hardware/_controller/src/SdFat/FatLib/FatLibConfig.h

@@ -0,0 +1,146 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * \file
+ * \brief configuration definitions
+ */
+#ifndef FatLibConfig_h
+#define FatLibConfig_h
+#include <stdint.h>
+// Allow this file to override defaults.
+#include "../SdFatConfig.h"
+
+#ifdef __AVR__
+#include <avr/io.h>
+#endif  // __AVR__
+//------------------------------------------------------------------------------
+/**
+ * Set USE_LONG_FILE_NAMES nonzero to use long file names (LFN).
+ * Long File Name are limited to a maximum length of 255 characters.
+ *
+ * This implementation allows 7-bit characters in the range
+ * 0X20 to 0X7E.  The following characters are not allowed:
+ *
+ *  < (less than)
+ *  > (greater than)
+ *  : (colon)
+ *  " (double quote)
+ *  / (forward slash)
+ *  \ (backslash)
+ *  | (vertical bar or pipe)
+ *  ? (question mark)
+ *  * (asterisk)
+ *
+ */
+#ifndef USE_LONG_FILE_NAMES
+#define USE_LONG_FILE_NAMES 1
+#endif  // USE_LONG_FILE_NAMES
+//------------------------------------------------------------------------------
+/**
+ * Set USE_SEPARATE_FAT_CACHE non-zero to use a second 512 byte cache
+ * for FAT table entries.  Improves performance for large writes that
+ * are not a multiple of 512 bytes.
+ */
+#ifndef USE_SEPARATE_FAT_CACHE
+#ifdef __arm__
+#define USE_SEPARATE_FAT_CACHE 1
+#else  // __arm__
+#define USE_SEPARATE_FAT_CACHE 0
+#endif  // __arm__
+#endif  // USE_SEPARATE_FAT_CACHE
+//------------------------------------------------------------------------------
+/**
+ * Set USE_MULTI_BLOCK_IO non-zero to use multi-block SD read/write.
+ *
+ * Don't use mult-block read/write on small AVR boards.
+ */
+#ifndef USE_MULTI_BLOCK_IO
+#if defined(RAMEND) && RAMEND < 3000
+#define USE_MULTI_BLOCK_IO 0
+#else  // RAMEND
+#define USE_MULTI_BLOCK_IO 1
+#endif  // RAMEND
+#endif  // USE_MULTI_BLOCK_IO
+//------------------------------------------------------------------------------
+/**
+ * Set MAINTAIN_FREE_CLUSTER_COUNT nonzero to keep the count of free clusters
+ * updated.  This will increase the speed of the freeClusterCount() call
+ * after the first call.  Extra flash will be required.
+ */
+#ifndef MAINTAIN_FREE_CLUSTER_COUNT
+#define MAINTAIN_FREE_CLUSTER_COUNT 0
+#endif  // MAINTAIN_FREE_CLUSTER_COUNT
+//------------------------------------------------------------------------------
+/**
+ * Set DESTRUCTOR_CLOSES_FILE non-zero to close a file in its destructor.
+ *
+ * Causes use of lots of heap in ARM.
+ */
+#ifndef DESTRUCTOR_CLOSES_FILE
+#define DESTRUCTOR_CLOSES_FILE 0
+#endif  // DESTRUCTOR_CLOSES_FILE
+//------------------------------------------------------------------------------
+/**
+ * Call flush for endl if ENDL_CALLS_FLUSH is non-zero
+ *
+ * The standard for iostreams is to call flush.  This is very costly for
+ * SdFat.  Each call to flush causes 2048 bytes of I/O to the SD.
+ *
+ * SdFat has a single 512 byte buffer for I/O so it must write the current
+ * data block to the SD, read the directory block from the SD, update the
+ * directory entry, write the directory block to the SD and read the data
+ * block back into the buffer.
+ *
+ * The SD flash memory controller is not designed for this many rewrites
+ * so performance may be reduced by more than a factor of 100.
+ *
+ * If ENDL_CALLS_FLUSH is zero, you must call flush and/or close to force
+ * all data to be written to the SD.
+ */
+#ifndef  ENDL_CALLS_FLUSH
+#define ENDL_CALLS_FLUSH 0
+#endif  // ENDL_CALLS_FLUSH
+//------------------------------------------------------------------------------
+/**
+ * Allow FAT12 volumes if FAT12_SUPPORT is non-zero.
+ * FAT12 has not been well tested.
+ */
+#ifndef FAT12_SUPPORT
+#define FAT12_SUPPORT 0
+#endif  // FAT12_SUPPORT
+//------------------------------------------------------------------------------
+/**
+ *  Enable Extra features for Arduino.
+ */
+// #define ENABLE_ARDUINO_FEATURES 0  ////////////////////////FIX THIS /////////////////
+#ifndef ENABLE_ARDUINO_FEATURES
+#include <Arduino.h>
+#if defined(ARDUINO) || defined(PLATFORM_ID) || defined(DOXYGEN)
+#define ENABLE_ARDUINO_FEATURES 1
+#else  //  #if defined(ARDUINO) || defined(DOXYGEN)
+#define ENABLE_ARDUINO_FEATURES 0
+#endif  //  defined(ARDUINO) || defined(DOXYGEN)
+#endif  // ENABLE_ARDUINO_FEATURES
+#endif  // FatLibConfig_h

hardware/_controller/src/SdFat/FatLib/FatStructs.h

@@ -0,0 +1,882 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FatStructs_h
+#define FatStructs_h
+/**
+ * \file
+ * \brief 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 */
+const uint8_t BOOTSIG0 = 0X55;
+/** Value for byte 511 of boot block or MBR */
+const uint8_t BOOTSIG1 = 0XAA;
+/** Value for bootSignature field int FAT/FAT32 boot sector */
+const uint8_t EXTENDED_BOOT_SIG = 0X29;
+//------------------------------------------------------------------------------
+/**
+ * \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;
+} __attribute__((packed));
+/** 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 Windows NT disk signature. May contain 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;
+} __attribute__((packed));
+/** 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 nonzero.  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 (nonremovable) 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 nonzero.
+           */
+  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 nonzero, 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];
+} __attribute__((packed));
+/** Type name for biosParmBlock */
+typedef struct biosParmBlock bpb_t;
+//------------------------------------------------------------------------------
+/**
+ * \struct fat_boot
+ *
+ * \brief Boot sector for a FAT12/FAT16 volume.
+ *
+ */
+struct fat_boot {
+  /**
+   * The first three bytes of the boot sector must be valid,
+   * executable x 86-based CPU instructions. This includes a
+   * jump instruction that skips the next non-executable bytes.
+   */
+  uint8_t jump[3];
+  /**
+   * This is typically a string of characters that identifies
+   * the operating system that formatted the volume.
+   */
+  char    oemId[8];
+  /**
+   * The size of a hardware sector. Valid decimal values for this
+   * field are 512, 1024, 2048, and 4096. For most disks used in
+   * the United States, the value of this field is 512.
+   */
+  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.  128 should be avoided.
+   */
+  uint8_t  sectorsPerCluster;
+  /**
+   * The number of sectors preceding the start of the first FAT,
+   * including the boot sector. The value of this field is always 1.
+   */
+  uint16_t reservedSectorCount;
+  /**
+   * The number of copies of the FAT on the volume.
+   * The value of this field is always 2.
+   */
+  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 sectorsPerTrack;
+  /** 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;
+  /**
+   * Related to the BIOS physical drive number. Floppy drives are
+   * identified as 0x00 and physical hard disks are identified as
+   * 0x80, regardless of the number of physical disk drives.
+   * Typically, this value is set prior to issuing an INT 13h BIOS
+   * call to specify the device to access. The value is only
+   * relevant if the device is a boot device.
+   */
+  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;
+  /**
+   * A random serial number created when formatting a disk,
+   * which helps to distinguish between disks.
+   * Usually generated by combining date and time.
+   */
+  uint32_t volumeSerialNumber;
+  /**
+   * A field once used to store the volume label. The volume label
+   * is now stored as a special file in the root directory.
+   */
+  char     volumeLabel[11];
+  /**
+   * A field with a value of either FAT, FAT12 or FAT16,
+   * depending on the disk format.
+   */
+  char     fileSystemType[8];
+  /** X86 boot code */
+  uint8_t  bootCode[448];
+  /** must be 0X55 */
+  uint8_t  bootSectorSig0;
+  /** must be 0XAA */
+  uint8_t  bootSectorSig1;
+} __attribute__((packed));
+/** Type name for FAT Boot Sector */
+typedef struct fat_boot fat_boot_t;
+//------------------------------------------------------------------------------
+/**
+ * \struct fat32_boot
+ *
+ * \brief Boot sector for a FAT32 volume.
+ *
+ */
+struct fat32_boot {
+  /**
+   * The first three bytes of the boot sector must be valid,
+   * executable x 86-based CPU instructions. This includes a
+   * jump instruction that skips the next non-executable bytes.
+   */
+  uint8_t jump[3];
+  /**
+   * This is typically a string of characters that identifies
+   * the operating system that formatted the volume.
+   */
+  char    oemId[8];
+  /**
+   * The size of a hardware sector. Valid decimal values for this
+   * field are 512, 1024, 2048, and 4096. For most disks used in
+   * the United States, the value of this field is 512.
+   */
+  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.  128 should be avoided.
+   */
+  uint8_t  sectorsPerCluster;
+  /**
+   * The number of sectors preceding the start of the first FAT,
+   * including the boot sector. Must not be zero
+   */
+  uint16_t reservedSectorCount;
+  /**
+   * The number of copies of the FAT on the volume.
+   * The value of this field is always 2.
+   */
+  uint8_t  fatCount;
+  /**
+   * FAT12/FAT16 only. For FAT32 volumes, this field must be set to 0.
+   */
+  uint16_t rootDirEntryCount;
+  /**
+   * For FAT32 volumes, this field must be 0.
+   */
+  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;
+  /**
+   * 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 sectorsPerTrack;
+  /** 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;
+  /**
+   * Contains the total number of sectors in the FAT32 volume.
+   */
+  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];
+  /**
+   * Related to the BIOS physical drive number. Floppy drives are
+   * identified as 0x00 and physical hard disks are identified as
+   * 0x80, regardless of the number of physical disk drives.
+   * Typically, this value is set prior to issuing an INT 13h BIOS
+   * call to specify the device to access. The value is only
+   * relevant if the device is a boot device.
+   */
+  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;
+  /**
+   * A random serial number created when formatting a disk,
+   * which helps to distinguish between disks.
+   * Usually generated by combining date and time.
+   */
+  uint32_t volumeSerialNumber;
+  /**
+   * A field once used to store the volume label. The volume label
+   * is now stored as a special file in the root directory.
+   */
+  char     volumeLabel[11];
+  /**
+   * A text field with a value of FAT32.
+   */
+  char     fileSystemType[8];
+  /** X86 boot code */
+  uint8_t  bootCode[420];
+  /** must be 0X55 */
+  uint8_t  bootSectorSig0;
+  /** must be 0XAA */
+  uint8_t  bootSectorSig1;
+} __attribute__((packed));
+/** Type name for FAT32 Boot Sector */
+typedef struct fat32_boot fat32_boot_t;
+//------------------------------------------------------------------------------
+/** Lead signature for a FSINFO sector */
+const uint32_t FSINFO_LEAD_SIG = 0x41615252;
+/** Struct signature for a FSINFO sector */
+const uint32_t FSINFO_STRUCT_SIG = 0x61417272;
+/**
+ * \struct fat32_fsinfo
+ *
+ * \brief FSINFO sector for a FAT32 volume.
+ *
+ */
+struct fat32_fsinfo {
+  /** must be 0X52, 0X52, 0X61, 0X41 */
+  uint32_t  leadSignature;
+  /** must be zero */
+  uint8_t  reserved1[480];
+  /** must be 0X72, 0X72, 0X41, 0X61 */
+  uint32_t  structSignature;
+  /**
+   * Contains the last known free cluster count on the volume.
+   * If the value is 0xFFFFFFFF, then the free count is unknown
+   * and must be computed. Any other value can be used, but is
+   * not necessarily correct. It should be range checked at least
+   * to make sure it is <= volume cluster count.
+   */
+  uint32_t freeCount;
+  /**
+   * This is a hint for the FAT driver. It indicates the cluster
+   * number at which the driver should start looking for free clusters.
+   * If the value is 0xFFFFFFFF, then there is no hint and the driver
+   * should start looking at cluster 2.
+   */
+  uint32_t nextFree;
+  /** must be zero */
+  uint8_t  reserved2[12];
+  /** must be 0X00, 0X00, 0X55, 0XAA */
+  uint8_t  tailSignature[4];
+} __attribute__((packed));
+/** Type name for FAT32 FSINFO Sector */
+typedef struct fat32_fsinfo fat32_fsinfo_t;
+//------------------------------------------------------------------------------
+// End Of Chain values for FAT entries
+/** FAT12 end of chain value used by Microsoft. */
+const uint16_t FAT12EOC = 0XFFF;
+/** Minimum value for FAT12 EOC.  Use to test for EOC. */
+const uint16_t FAT12EOC_MIN = 0XFF8;
+/** FAT16 end of chain value used by Microsoft. */
+const uint16_t FAT16EOC = 0XFFFF;
+/** Minimum value for FAT16 EOC.  Use to test for EOC. */
+const uint16_t FAT16EOC_MIN = 0XFFF8;
+/** FAT32 end of chain value used by Microsoft. */
+const uint32_t FAT32EOC = 0X0FFFFFFF;
+/** Minimum value for FAT32 EOC.  Use to test for EOC. */
+const uint32_t FAT32EOC_MIN = 0X0FFFFFF8;
+/** Mask a for FAT32 entry. Entries are 28 bits. */
+const uint32_t FAT32MASK = 0X0FFFFFFF;
+//------------------------------------------------------------------------------
+/**
+ * \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;
+} __attribute__((packed));
+/** Type name for directoryEntry */
+typedef struct directoryEntry dir_t;
+//------------------------------------------------------------------------------
+// Definitions for directory entries
+//
+/** escape for name[0] = 0XE5 */
+const uint8_t DIR_NAME_0XE5 = 0X05;
+/** name[0] value for entry that is free after being "deleted" */
+const uint8_t DIR_NAME_DELETED = 0XE5;
+/** name[0] value for entry that is free and no allocated entries follow */
+const uint8_t DIR_NAME_FREE = 0X00;
+/** file is read-only */
+const uint8_t DIR_ATT_READ_ONLY = 0X01;
+/** File should e hidden in directory listings */
+const uint8_t DIR_ATT_HIDDEN = 0X02;
+/** Entry is for a system file */
+const uint8_t DIR_ATT_SYSTEM = 0X04;
+/** Directory entry contains the volume label */
+const uint8_t DIR_ATT_VOLUME_ID = 0X08;
+/** Entry is for a directory */
+const uint8_t DIR_ATT_DIRECTORY = 0X10;
+/** Old DOS archive bit for backup support */
+const uint8_t DIR_ATT_ARCHIVE = 0X20;
+/** Test value for long name entry.  Test is
+  (d->attributes & DIR_ATT_LONG_NAME_MASK) == DIR_ATT_LONG_NAME. */
+const uint8_t DIR_ATT_LONG_NAME = 0X0F;
+/** Test mask for long name entry */
+const uint8_t DIR_ATT_LONG_NAME_MASK = 0X3F;
+/** defined attribute bits */
+const uint8_t DIR_ATT_DEFINED_BITS = 0X3F;
+
+/** Mask for file/subdirectory tests */
+const uint8_t DIR_ATT_FILE_TYPE_MASK = (DIR_ATT_VOLUME_ID | DIR_ATT_DIRECTORY);
+
+/** Filename base-name is all lower case */
+const uint8_t DIR_NT_LC_BASE = 0X08;
+/** Filename extension is all lower case.*/
+const uint8_t DIR_NT_LC_EXT = 0X10;
+
+
+/** Directory entry is for a file
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for a normal file else false.
+ */
+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 file or subdirectory
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for a normal file or subdirectory else false.
+ */
+static inline uint8_t DIR_IS_FILE_OR_SUBDIR(const dir_t* dir) {
+  return (dir->attributes & DIR_ATT_VOLUME_ID) == 0;
+}
+/** Directory entry is part of a long name
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for part of a long name else false.
+ */
+static inline uint8_t DIR_IS_LONG_NAME(const dir_t* dir) {
+  return dir->attributes == DIR_ATT_LONG_NAME;
+}
+/** Directory entry is hidden
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is hidden else false.
+ */
+static inline uint8_t DIR_IS_HIDDEN(const dir_t* dir) {
+  return dir->attributes & DIR_ATT_HIDDEN;
+}
+/** Directory entry is for a subdirectory
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is for a subdirectory else false.
+ */
+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 system type
+ * \param[in] dir Pointer to a directory entry.
+ *
+ * \return true if the entry is system else false.
+ */
+static inline uint8_t DIR_IS_SYSTEM(const dir_t* dir) {
+  return dir->attributes & DIR_ATT_SYSTEM;
+}
+/** date field for FAT directory entry
+ * \param[in] year [1980,2107]
+ * \param[in] month [1,12]
+ * \param[in] day [1,31]
+ *
+ * \return Packed date for dir_t 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
+ * \param[in] fatDate Date in packed dir format.
+ *
+ * \return Extracted year [1980,2107]
+ */
+static inline uint16_t FAT_YEAR(uint16_t fatDate) {
+  return 1980 + (fatDate >> 9);
+}
+/** month part of FAT directory date field
+ * \param[in] fatDate Date in packed dir format.
+ *
+ * \return Extracted month [1,12]
+ */
+static inline uint8_t FAT_MONTH(uint16_t fatDate) {
+  return (fatDate >> 5) & 0XF;
+}
+/** day part of FAT directory date field
+ * \param[in] fatDate Date in packed dir format.
+ *
+ * \return Extracted day [1,31]
+ */
+static inline uint8_t FAT_DAY(uint16_t fatDate) {
+  return fatDate & 0X1F;
+}
+/** time field for FAT directory entry
+ * \param[in] hour [0,23]
+ * \param[in] minute [0,59]
+ * \param[in] second [0,59]
+ *
+ * \return Packed time for dir_t 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
+ * \param[in] fatTime Time in packed dir format.
+ *
+ * \return Extracted hour [0,23]
+ */
+static inline uint8_t FAT_HOUR(uint16_t fatTime) {
+  return fatTime >> 11;
+}
+/** minute part of FAT directory time field
+ * \param[in] fatTime Time in packed dir format.
+ *
+ * \return Extracted minute [0,59]
+ */
+static inline uint8_t FAT_MINUTE(uint16_t fatTime) {
+  return (fatTime >> 5) & 0X3F;
+}
+/** second part of FAT directory time field
+ * \note second/2 is stored in packed time.
+ *
+ * \param[in] fatTime Time in packed dir format.
+ *
+ * \return Extracted second [0,58]
+ */
+static inline uint8_t FAT_SECOND(uint16_t fatTime) {
+  return 2*(fatTime & 0X1F);
+}
+/** Default date for file timestamps is 1 Jan 2000 */
+const uint16_t FAT_DEFAULT_DATE = ((2000 - 1980) << 9) | (1 << 5) | 1;
+/** Default time for file timestamp is 1 am */
+const uint16_t FAT_DEFAULT_TIME = (1 << 11);
+//------------------------------------------------------------------------------
+/** Dimension of first name field in long directory entry */
+const uint8_t LDIR_NAME1_DIM = 5;
+/** Dimension of first name field in long directory entry */
+const uint8_t LDIR_NAME2_DIM = 6;
+/** Dimension of first name field in long directory entry */
+const uint8_t LDIR_NAME3_DIM = 2;
+/**
+ * \struct longDirectoryEntry
+ * \brief FAT long directory entry
+ */
+struct longDirectoryEntry {
+  /**
+   * The order of this entry in the sequence of long dir entries
+   * associated with the short dir entry at the end of the long dir set.
+   *
+   * If masked with 0X40 (LAST_LONG_ENTRY), this indicates the
+   * entry is the last long dir entry in a set of long dir entries.
+   * All valid sets of long dir entries must begin with an entry having
+   * this mask.
+   */
+  uint8_t ord;
+  /** Characters 1-5 of the long-name sub-component in this entry. */
+  uint16_t name1[LDIR_NAME1_DIM];
+  /** Attributes - must be ATTR_LONG_NAME */
+  uint8_t attr;
+  /**
+   * If zero, indicates a directory entry that is a sub-component of a
+   * long name. NOTE: Other values reserved for future extensions.
+   *
+   * Non-zero implies other directory entry types.
+   */
+  uint8_t type;
+  /**
+   * Checksum of name in the short dir entry at the end of the
+   * long dir set.
+   */
+  uint8_t chksum;
+  /** Characters 6-11 of the long-name sub-component in this entry. */
+  uint16_t name2[LDIR_NAME2_DIM];
+  /** Must be ZERO. This is an artifact of the FAT "first cluster" */
+  uint16_t mustBeZero;
+  /** Characters 12 and 13 of the long-name sub-component in this entry. */
+  uint16_t name3[LDIR_NAME3_DIM];
+} __attribute__((packed));
+/** Type name for longDirectoryEntry */
+typedef struct longDirectoryEntry ldir_t;
+/**
+ * Ord mast that indicates the entry is the last long dir entry in a
+ * set of long dir entries. All valid sets of long dir entries must
+ * begin with an entry having this mask.
+ */
+const uint8_t LDIR_ORD_LAST_LONG_ENTRY = 0X40;
+#endif  // FatStructs_h

hardware/_controller/src/SdFat/FatLib/FatVolume.cpp

@@ -0,0 +1,625 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include <string.h>
+#include "FatVolume.h"
+//------------------------------------------------------------------------------
+cache_t* FatCache::read(uint32_t lbn, uint8_t option) {
+  if (m_lbn != lbn) {
+    if (!sync()) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (!(option & CACHE_OPTION_NO_READ)) {
+      if (!m_vol->readBlock(lbn, m_block.data)) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+    }
+    m_status = 0;
+    m_lbn = lbn;
+  }
+  m_status |= option & CACHE_STATUS_MASK;
+  return &m_block;
+
+fail:
+
+  return 0;
+}
+//------------------------------------------------------------------------------
+bool FatCache::sync() {
+  if (m_status & CACHE_STATUS_DIRTY) {
+    if (!m_vol->writeBlock(m_lbn, m_block.data)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    // mirror second FAT
+    if (m_status & CACHE_STATUS_MIRROR_FAT) {
+      uint32_t lbn = m_lbn + m_vol->blocksPerFat();
+      if (!m_vol->writeBlock(lbn, m_block.data)) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+    }
+    m_status &= ~CACHE_STATUS_DIRTY;
+  }
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+bool FatVolume::allocateCluster(uint32_t current, uint32_t* next) {
+  uint32_t find;
+  bool setStart;
+  if (m_allocSearchStart < current) {
+    // Try to keep file contiguous. Start just after current cluster.
+    find = current;
+    setStart = false;
+  } else {
+    find = m_allocSearchStart;
+    setStart = true;
+  }
+  while (1) {
+    find++;
+    if (find > m_lastCluster) {
+      if (setStart) {
+        // Can't find space, checked all clusters.
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      find = m_allocSearchStart;
+      setStart = true;
+      continue;
+    }
+    if (find == current) {
+      // Can't find space, already searched clusters after current.
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    uint32_t f;
+    int8_t fg = fatGet(find, &f);
+    if (fg < 0) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (fg && f == 0) {
+      break;
+    }
+  }
+  if (setStart) {
+    m_allocSearchStart = find;
+  }
+  // Mark end of chain.
+  if (!fatPutEOC(find)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (current) {
+    // Link clusters.
+    if (!fatPut(current, find)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  }
+  updateFreeClusterCount(-1);
+  *next = find;
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// find a contiguous group of clusters
+bool FatVolume::allocContiguous(uint32_t count,
+                                uint32_t* firstCluster, uint32_t startCluster) {
+  // flag to save place to start next search
+  bool setStart;
+  // start of group
+  uint32_t bgnCluster;
+  // end of group
+  uint32_t endCluster;
+  if (startCluster != 0) {
+    bgnCluster = startCluster;
+    setStart = false;
+  } else {
+    // Start at cluster after last allocated cluster.
+    bgnCluster = m_allocSearchStart + 1;
+    setStart = true;
+  }
+  endCluster = bgnCluster;
+  // search the FAT for free clusters
+  while (1) {
+    if (endCluster > m_lastCluster) {
+      // Can't find space.
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    uint32_t f;
+    int8_t fg = fatGet(endCluster, &f);
+    if (fg < 0) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    if (f || fg == 0) {
+      if (startCluster) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      // don't update search start if unallocated clusters before endCluster.
+      if (bgnCluster != endCluster) {
+        setStart = false;
+      }
+      // cluster in use try next cluster as bgnCluster
+      bgnCluster = endCluster + 1;
+    } else if ((endCluster - bgnCluster + 1) == count) {
+      // done - found space
+      break;
+    }
+    endCluster++;
+  }
+  // Remember possible next free cluster.
+  if (setStart) {
+    m_allocSearchStart = endCluster;
+  }
+  // mark end of chain
+  if (!fatPutEOC(endCluster)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  // link clusters
+  while (endCluster > bgnCluster) {
+    if (!fatPut(endCluster - 1, endCluster)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    endCluster--;
+  }
+  // Maintain count of free clusters.
+  updateFreeClusterCount(-count);
+
+  // return first cluster number to caller
+  *firstCluster = bgnCluster;
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+uint32_t FatVolume::clusterFirstBlock(uint32_t cluster) const {
+  return m_dataStartBlock + ((cluster - 2) << m_clusterSizeShift);
+}
+//------------------------------------------------------------------------------
+// Fetch a FAT entry - return -1 error, 0 EOC, else 1.
+int8_t FatVolume::fatGet(uint32_t cluster, uint32_t* value) {
+  uint32_t lba;
+  uint32_t next;
+  cache_t* pc;
+
+  // error if reserved cluster of beyond FAT
+  if (cluster < 2 || cluster > m_lastCluster) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+
+  if (fatType() == 32) {
+    lba = m_fatStartBlock + (cluster >> 7);
+    pc = cacheFetchFat(lba, FatCache::CACHE_FOR_READ);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    next = pc->fat32[cluster & 0X7F] & FAT32MASK;
+    goto done;
+  }
+  if (fatType() == 16) {
+    lba = m_fatStartBlock + ((cluster >> 8) & 0XFF);
+    pc = cacheFetchFat(lba, FatCache::CACHE_FOR_READ);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    next = pc->fat16[cluster & 0XFF];
+    goto done;
+  }
+  if (FAT12_SUPPORT && fatType() == 12) {
+    uint16_t index = cluster;
+    index += index >> 1;
+    lba = m_fatStartBlock + (index >> 9);
+    pc = cacheFetchFat(lba, FatCache::CACHE_FOR_READ);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    index &= 0X1FF;
+    uint16_t tmp = pc->data[index];
+    index++;
+    if (index == 512) {
+      pc = cacheFetchFat(lba + 1, FatCache::CACHE_FOR_READ);
+      if (!pc) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      index = 0;
+    }
+    tmp |= pc->data[index] << 8;
+    next = cluster & 1 ? tmp >> 4 : tmp & 0XFFF;
+    goto done;
+  } else {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+done:
+  if (isEOC(next)) {
+    return 0;
+  }
+  *value = next;
+  return 1;
+
+fail:
+  return -1;
+}
+//------------------------------------------------------------------------------
+// Store a FAT entry
+bool FatVolume::fatPut(uint32_t cluster, uint32_t value) {
+  uint32_t lba;
+  cache_t* pc;
+
+  // error if reserved cluster of beyond FAT
+  if (cluster < 2 || cluster > m_lastCluster) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+
+  if (fatType() == 32) {
+    lba = m_fatStartBlock + (cluster >> 7);
+    pc = cacheFetchFat(lba, FatCache::CACHE_FOR_WRITE);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    pc->fat32[cluster & 0X7F] = value;
+    return true;
+  }
+
+  if (fatType() == 16) {
+    lba = m_fatStartBlock + ((cluster >> 8) & 0XFF);
+    pc = cacheFetchFat(lba, FatCache::CACHE_FOR_WRITE);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    pc->fat16[cluster & 0XFF] = value;
+    return true;
+  }
+
+  if (FAT12_SUPPORT && fatType() == 12) {
+    uint16_t index = cluster;
+    index += index >> 1;
+    lba = m_fatStartBlock + (index >> 9);
+    pc = cacheFetchFat(lba, FatCache::CACHE_FOR_WRITE);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    index &= 0X1FF;
+    uint8_t tmp = value;
+    if (cluster & 1) {
+      tmp = (pc->data[index] & 0XF) | tmp << 4;
+    }
+    pc->data[index] = tmp;
+
+    index++;
+    if (index == 512) {
+      lba++;
+      index = 0;
+      pc = cacheFetchFat(lba, FatCache::CACHE_FOR_WRITE);
+      if (!pc) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+    }
+    tmp = value >> 4;
+    if (!(cluster & 1)) {
+      tmp = ((pc->data[index] & 0XF0)) | tmp >> 4;
+    }
+    pc->data[index] = tmp;
+    return true;
+  } else {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+// free a cluster chain
+bool FatVolume::freeChain(uint32_t cluster) {
+  uint32_t next = 0;
+  int8_t fg;
+  do {
+    fg = fatGet(cluster, &next);
+    if (fg < 0) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    // free cluster
+    if (!fatPut(cluster, 0)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    // Add one to count of free clusters.
+    updateFreeClusterCount(1);
+
+    if (cluster <= m_allocSearchStart) {
+      m_allocSearchStart = cluster - 1;
+    }
+    cluster = next;
+  } while (fg);
+
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+int32_t FatVolume::freeClusterCount() {
+#if MAINTAIN_FREE_CLUSTER_COUNT
+  if (m_freeClusterCount >= 0) {
+    return m_freeClusterCount;
+  }
+#endif  // MAINTAIN_FREE_CLUSTER_COUNT
+  uint32_t free = 0;
+  uint32_t lba;
+  uint32_t todo = m_lastCluster + 1;
+  uint16_t n;
+
+  if (FAT12_SUPPORT && fatType() == 12) {
+    for (unsigned i = 2; i < todo; i++) {
+      uint32_t c;
+      int8_t fg = fatGet(i, &c);
+      if (fg < 0) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      if (fg && c == 0) {
+        free++;
+      }
+    }
+  } else if (fatType() == 16 || fatType() == 32) {
+    lba = m_fatStartBlock;
+    while (todo) {
+      cache_t* pc = cacheFetchFat(lba++, FatCache::CACHE_FOR_READ);
+      if (!pc) {
+        DBG_FAIL_MACRO;
+        goto fail;
+      }
+      n = fatType() == 16 ? 256 : 128;
+      if (todo < n) {
+        n = todo;
+      }
+      if (fatType() == 16) {
+        for (uint16_t i = 0; i < n; i++) {
+          if (pc->fat16[i] == 0) {
+            free++;
+          }
+        }
+      } else {
+        for (uint16_t i = 0; i < n; i++) {
+          if (pc->fat32[i] == 0) {
+            free++;
+          }
+        }
+      }
+      todo -= n;
+    }
+  } else {
+    // invalid FAT type
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  setFreeClusterCount(free);
+  return free;
+
+fail:
+  return -1;
+}
+//------------------------------------------------------------------------------
+bool FatVolume::init(uint8_t part) {
+  uint32_t clusterCount;
+  uint32_t totalBlocks;
+  uint32_t volumeStartBlock = 0;
+  fat32_boot_t* fbs;
+  cache_t* pc;
+  uint8_t tmp;
+  m_fatType = 0;
+  m_allocSearchStart = 1;
+  m_cache.init(this);
+#if USE_SEPARATE_FAT_CACHE
+  m_fatCache.init(this);
+#endif  // USE_SEPARATE_FAT_CACHE
+  // if part == 0 assume super floppy with FAT boot sector in block zero
+  // if part > 0 assume mbr volume with partition table
+  if (part) {
+    if (part > 4) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    pc = cacheFetchData(0, FatCache::CACHE_FOR_READ);
+    if (!pc) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    part_t* p = &pc->mbr.part[part - 1];
+    if ((p->boot & 0X7F) != 0 || p->firstSector == 0) {
+      // not a valid partition
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+    volumeStartBlock = p->firstSector;
+  }
+  pc = cacheFetchData(volumeStartBlock, FatCache::CACHE_FOR_READ);
+  if (!pc) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  fbs = &(pc->fbs32);
+  if (fbs->bytesPerSector != 512 ||
+      fbs->fatCount != 2 ||
+      fbs->reservedSectorCount == 0) {
+    // not valid FAT volume
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  m_blocksPerCluster = fbs->sectorsPerCluster;
+  m_clusterBlockMask = m_blocksPerCluster - 1;
+  // determine shift that is same as multiply by m_blocksPerCluster
+  m_clusterSizeShift = 0;
+  for (tmp = 1; m_blocksPerCluster != tmp; tmp <<= 1, m_clusterSizeShift++) {
+    if (tmp == 0) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  }
+  m_blocksPerFat = fbs->sectorsPerFat16 ?
+                   fbs->sectorsPerFat16 : fbs->sectorsPerFat32;
+
+  m_fatStartBlock = volumeStartBlock + fbs->reservedSectorCount;
+
+  // count for FAT16 zero for FAT32
+  m_rootDirEntryCount = fbs->rootDirEntryCount;
+
+  // directory start for FAT16 dataStart for FAT32
+  m_rootDirStart = m_fatStartBlock + 2 * m_blocksPerFat;
+  // data start for FAT16 and FAT32
+  m_dataStartBlock = m_rootDirStart + ((32 * fbs->rootDirEntryCount + 511)/512);
+
+  // total blocks for FAT16 or FAT32
+  totalBlocks = fbs->totalSectors16 ?
+                fbs->totalSectors16 : fbs->totalSectors32;
+  // total data blocks
+  clusterCount = totalBlocks - (m_dataStartBlock - volumeStartBlock);
+
+  // divide by cluster size to get cluster count
+  clusterCount >>= m_clusterSizeShift;
+  m_lastCluster = clusterCount + 1;
+
+  // Indicate unknown number of free clusters.
+  setFreeClusterCount(-1);
+  // FAT type is determined by cluster count
+  if (clusterCount < 4085) {
+    m_fatType = 12;
+    if (!FAT12_SUPPORT) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  } else if (clusterCount < 65525) {
+    m_fatType = 16;
+  } else {
+    m_rootDirStart = fbs->fat32RootCluster;
+    m_fatType = 32;
+  }
+  return true;
+
+fail:
+  return false;
+}
+//------------------------------------------------------------------------------
+bool FatVolume::wipe(print_t* pr) {
+  cache_t* cache;
+  uint16_t count;
+  uint32_t lbn;
+  if (!fatType()) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  cache = cacheClear();
+  if (!cache) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  memset(cache->data, 0, 512);
+  // Zero root.
+  if (fatType() == 32) {
+    lbn = clusterFirstBlock(m_rootDirStart);
+    count = m_blocksPerCluster;
+  } else {
+    lbn = m_rootDirStart;
+    count = m_rootDirEntryCount/16;
+  }
+  for (uint32_t n = 0; n < count; n++) {
+    if (!writeBlock(lbn + n, cache->data)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  }
+  // Clear FATs.
+  count = 2*m_blocksPerFat;
+  lbn = m_fatStartBlock;
+  for (uint32_t nb = 0; nb < count; nb++) {
+    if (pr && (nb & 0XFF) == 0) {
+      pr->write('.');
+    }
+    if (!writeBlock(lbn + nb, cache->data)) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  }
+  // Reserve first two clusters.
+  if (fatType() == 32) {
+    cache->fat32[0] = 0x0FFFFFF8;
+    cache->fat32[1] = 0x0FFFFFFF;
+  } else if (fatType() == 16) {
+    cache->fat16[0] = 0XFFF8;
+    cache->fat16[1] = 0XFFFF;
+  } else if (FAT12_SUPPORT && fatType() == 12) {
+    cache->fat32[0] = 0XFFFFF8;
+  } else {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (!writeBlock(m_fatStartBlock, cache->data) ||
+      !writeBlock(m_fatStartBlock + m_blocksPerFat, cache->data)) {
+    DBG_FAIL_MACRO;
+    goto fail;
+  }
+  if (fatType() == 32) {
+    // Reserve root cluster.
+    if (!fatPutEOC(m_rootDirStart) || !cacheSync()) {
+      DBG_FAIL_MACRO;
+      goto fail;
+    }
+  }
+  if (pr) {
+    pr->write('\r');
+    pr->write('\n');
+  }
+  m_fatType = 0;
+  return true;
+
+fail:
+  m_fatType = 0;
+  return false;
+}

hardware/_controller/src/SdFat/FatLib/FatVolume.h

@@ -0,0 +1,396 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FatVolume_h
+#define FatVolume_h
+/**
+ * \file
+ * \brief FatVolume class
+ */
+#include <stddef.h>
+#include "FatLibConfig.h"
+#include "FatStructs.h"
+#include "../BlockDriver.h"
+//------------------------------------------------------------------------------
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+/** Macro for debug. */
+#define DEBUG_MODE 0
+#if DEBUG_MODE
+#define DBG_FAIL_MACRO Serial.print(F(__FILE__)); Serial.println(__LINE__);
+#define DBG_PRINT_IF(b) if (b) {Serial.println(F(#b)); DBG_FAIL_MACRO;}
+#define DBG_HALT_IF(b) if (b) {Serial.println(F(#b));\
+                               DBG_FAIL_MACRO; while (1);}
+#else  // DEBUG_MODE
+#define DBG_FAIL_MACRO
+#define DBG_PRINT_IF(b)
+#define DBG_HALT_IF(b)
+#endif  // DEBUG_MODE
+#endif  // DOXYGEN_SHOULD_SKIP_THIS
+//------------------------------------------------------------------------------
+#if ENABLE_ARDUINO_FEATURES
+/** Use Print for Arduino */
+typedef Print print_t;
+#else  // ENABLE_ARDUINO_FEATURES
+/**
+ * \class CharWriter
+ * \brief Character output - often serial port.
+ */
+class CharWriter {
+ public:
+  virtual size_t write(char c) = 0;
+  virtual size_t write(const char* s) = 0;
+};
+typedef CharWriter print_t;
+#endif  // ENABLE_ARDUINO_FEATURES
+//------------------------------------------------------------------------------
+// Forward declaration of FatVolume.
+class FatVolume;
+//------------------------------------------------------------------------------
+/**
+ * \brief Cache for an raw data block.
+ */
+union cache_t {
+  /** Used to access cached file data blocks. */
+  uint8_t  data[512];
+  /** Used to access cached FAT16 entries. */
+  uint16_t fat16[256];
+  /** Used to access cached FAT32 entries. */
+  uint32_t fat32[128];
+  /** 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 FAT boot sector. */
+  fat_boot_t fbs;
+  /** Used to access to a cached FAT32 boot sector. */
+  fat32_boot_t fbs32;
+  /** Used to access to a cached FAT32 FSINFO sector. */
+  fat32_fsinfo_t fsinfo;
+};
+//==============================================================================
+/**
+ * \class FatCache
+ * \brief Block cache.
+ */
+class FatCache {
+ public:
+  /** Cached block is dirty */
+  static const uint8_t CACHE_STATUS_DIRTY = 1;
+  /** Cashed block is FAT entry and must be mirrored in second FAT. */
+  static const uint8_t CACHE_STATUS_MIRROR_FAT = 2;
+  /** Cache block status bits */
+  static const uint8_t CACHE_STATUS_MASK
+    = CACHE_STATUS_DIRTY | CACHE_STATUS_MIRROR_FAT;
+  /** Sync existing block but do not read new block. */
+  static const uint8_t CACHE_OPTION_NO_READ = 4;
+  /** Cache block for read. */
+  static const uint8_t CACHE_FOR_READ = 0;
+  /** Cache block for write. */
+  static const uint8_t CACHE_FOR_WRITE = CACHE_STATUS_DIRTY;
+  /** Reserve cache block for write - do not read from block device. */
+  static const uint8_t CACHE_RESERVE_FOR_WRITE
+    = CACHE_STATUS_DIRTY | CACHE_OPTION_NO_READ;
+  /** \return Cache block address. */
+  cache_t* block() {
+    return &m_block;
+  }
+  /** Set current block dirty. */
+  void dirty() {
+    m_status |= CACHE_STATUS_DIRTY;
+  }
+  /** Initialize the cache.
+   * \param[in] vol FatVolume that owns this FatCache.
+   */
+  void init(FatVolume *vol) {
+    m_vol = vol;
+    invalidate();
+  }
+  /** Invalidate current cache block. */
+  void invalidate() {
+    m_status = 0;
+    m_lbn = 0XFFFFFFFF;
+  }
+  /** \return dirty status */
+  bool isDirty() {
+    return m_status & CACHE_STATUS_DIRTY;
+  }
+  /** \return Logical block number for cached block. */
+  uint32_t lbn() {
+    return m_lbn;
+  }
+  /** Read a block into the cache.
+   * \param[in] lbn Block to read.
+   * \param[in] option mode for cached block.
+   * \return Address of cached block. */
+  cache_t* read(uint32_t lbn, uint8_t option);
+  /** Write current block if dirty.
+   * \return true for success else false.
+   */
+  bool sync();
+
+ private:
+  uint8_t m_status;
+  FatVolume* m_vol;
+  uint32_t m_lbn;
+  cache_t m_block;
+};
+//==============================================================================
+/**
+ * \class FatVolume
+ * \brief Access FAT16 and FAT32 volumes on raw file devices.
+ */
+class FatVolume {
+ public:
+  /** Create an instance of FatVolume
+   */
+  FatVolume() : m_fatType(0) {}
+
+  /** \return The volume's cluster size in blocks. */
+  uint8_t blocksPerCluster() const {
+    return m_blocksPerCluster;
+  }
+  /** \return The number of blocks in one FAT. */
+  uint32_t blocksPerFat()  const {
+    return m_blocksPerFat;
+  }
+  /** Clear the cache and returns a pointer to the cache.  Not for normal apps.
+   * \return A pointer to the cache buffer or zero if an error occurs.
+   */
+  cache_t* cacheClear() {
+    if (!cacheSync()) {
+      return 0;
+    }
+    m_cache.invalidate();
+    return m_cache.block();
+  }
+  /** \return The total number of clusters in the volume. */
+  uint32_t clusterCount() const {
+    return m_lastCluster - 1;
+  }
+  /** \return The shift count required to multiply by blocksPerCluster. */
+  uint8_t clusterSizeShift() const {
+    return m_clusterSizeShift;
+  }
+  /** \return The logical block number for the start of file data. */
+  uint32_t dataStartBlock() const {
+    return m_dataStartBlock;
+  }
+  /** \return The sector number for the start of file data. */
+  uint32_t dataStartSector() const {
+    return m_dataStartBlock;
+  }
+  /** \return The number of File Allocation Tables. */
+  uint8_t fatCount() {
+    return 2;
+  }
+  /** \return The logical block number for the start of the first FAT. */
+  uint32_t fatStartBlock() const {
+    return m_fatStartBlock;
+  }
+  /** \return The sector number for the start of the first FAT. */
+  uint32_t fatStartSector() const {
+    return m_fatStartBlock;
+  }
+  /** \return The FAT type of the volume. Values are 12, 16 or 32. */
+  uint8_t fatType() const {
+    return m_fatType;
+  }
+  /** Volume free space in clusters.
+   *
+   * \return Count of free clusters for success or -1 if an error occurs.
+   */
+  int32_t freeClusterCount();
+  /** Initialize a FAT volume.  Try partition one first then try super
+   * floppy format.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool init() {
+    return init(1) || init(0);
+  }
+  /** Initialize a FAT volume.
+
+   * \param[in] part The partition to be used.  Legal values for \a part are
+   * 1-4 to use the corresponding partition on a device formatted with
+   * a MBR, Master Boot Record, or zero if the device is formatted as
+   * a super floppy with the FAT boot sector in block zero.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool init(uint8_t part);
+  /** \return The cluster number of last cluster in the volume. */
+  uint32_t lastCluster() const {
+    return m_lastCluster;
+  }
+  /** \return The number of entries in the root directory for FAT16 volumes. */
+  uint16_t rootDirEntryCount() const {
+    return m_rootDirEntryCount;
+  }
+  /** \return The logical block number for the start of the root directory
+       on FAT16 volumes or the first cluster number on FAT32 volumes. */
+  uint32_t rootDirStart() const {
+    return m_rootDirStart;
+  }
+  /** \return The volume's cluster size in sectors. */
+  uint8_t sectorsPerCluster() const {
+    return m_blocksPerCluster;
+  }
+  /** \return The number of blocks in the volume */
+  uint32_t volumeBlockCount() const {
+    return blocksPerCluster()*clusterCount();
+  }
+  /** \return The number of sectors in the volume */
+  uint32_t volumeSectorCount() const {
+    return sectorsPerCluster()*clusterCount();
+  }
+  /** Wipe all data from the volume.
+   * \param[in] pr print stream for status dots.
+   * \return true for success else false.
+   */
+  bool wipe(print_t* pr = 0);
+  /** Debug access to FAT table
+   *
+   * \param[in] n cluster number.
+   * \param[out] v value of entry
+   * \return -1 error, 0 EOC, else 1.
+   */
+  int8_t dbgFat(uint32_t n, uint32_t* v) {
+    return fatGet(n, v);
+  }
+//------------------------------------------------------------------------------
+ private:
+  // Allow FatFile and FatCache access to FatVolume private functions.
+  friend class FatCache;       ///< Allow access to FatVolume.
+  friend class FatFile;        ///< Allow access to FatVolume.
+  friend class FatFileSystem;  ///< Allow access to FatVolume.
+//------------------------------------------------------------------------------
+  BlockDriver* m_blockDev;      // block device
+  uint8_t  m_blocksPerCluster;     // Cluster size in blocks.
+  uint8_t  m_clusterBlockMask;     // Mask to extract block of cluster.
+  uint8_t  m_clusterSizeShift;     // Cluster count to block count shift.
+  uint8_t  m_fatType;              // Volume type (12, 16, OR 32).
+  uint16_t m_rootDirEntryCount;    // Number of entries in FAT16 root dir.
+  uint32_t m_allocSearchStart;     // Start cluster for alloc search.
+  uint32_t m_blocksPerFat;         // FAT size in blocks
+  uint32_t m_dataStartBlock;       // First data block number.
+  uint32_t m_fatStartBlock;        // Start block for first FAT.
+  uint32_t m_lastCluster;          // Last cluster number in FAT.
+  uint32_t m_rootDirStart;         // Start block for FAT16, cluster for FAT32.
+//------------------------------------------------------------------------------
+  // block I/O functions.
+  bool readBlock(uint32_t block, uint8_t* dst) {
+    return m_blockDev->readBlock(block, dst);
+  }
+  bool syncBlocks() {
+    return m_blockDev->syncBlocks();
+  }
+  bool writeBlock(uint32_t block, const uint8_t* src) {
+    return m_blockDev->writeBlock(block, src);
+  }
+#if USE_MULTI_BLOCK_IO
+  bool readBlocks(uint32_t block, uint8_t* dst, size_t nb) {
+    return m_blockDev->readBlocks(block, dst, nb);
+  }
+  bool writeBlocks(uint32_t block, const uint8_t* src, size_t nb) {
+    return m_blockDev->writeBlocks(block, src, nb);
+  }
+#endif  // USE_MULTI_BLOCK_IO
+#if MAINTAIN_FREE_CLUSTER_COUNT
+  int32_t  m_freeClusterCount;     // Count of free clusters in volume.
+  void setFreeClusterCount(int32_t value) {
+    m_freeClusterCount = value;
+  }
+  void updateFreeClusterCount(int32_t change) {
+    if (m_freeClusterCount >= 0) {
+      m_freeClusterCount += change;
+    }
+  }
+#else  // MAINTAIN_FREE_CLUSTER_COUNT
+  void setFreeClusterCount(int32_t value) {
+    (void)value;
+  }
+  void updateFreeClusterCount(int32_t change) {
+    (void)change;
+  }
+#endif  // MAINTAIN_FREE_CLUSTER_COUNT
+
+// block caches
+  FatCache m_cache;
+#if USE_SEPARATE_FAT_CACHE
+  FatCache m_fatCache;
+  cache_t* cacheFetchFat(uint32_t blockNumber, uint8_t options) {
+    return m_fatCache.read(blockNumber,
+                           options | FatCache::CACHE_STATUS_MIRROR_FAT);
+  }
+  bool cacheSync() {
+    return m_cache.sync() && m_fatCache.sync() && syncBlocks();
+  }
+#else  //
+  cache_t* cacheFetchFat(uint32_t blockNumber, uint8_t options) {
+    return cacheFetchData(blockNumber,
+                          options | FatCache::CACHE_STATUS_MIRROR_FAT);
+  }
+  bool cacheSync() {
+    return m_cache.sync() && syncBlocks();
+  }
+#endif  // USE_SEPARATE_FAT_CACHE
+  cache_t* cacheFetchData(uint32_t blockNumber, uint8_t options) {
+    return m_cache.read(blockNumber, options);
+  }
+  void cacheInvalidate() {
+    m_cache.invalidate();
+  }
+  bool cacheSyncData() {
+    return m_cache.sync();
+  }
+  cache_t *cacheAddress() {
+    return m_cache.block();
+  }
+  uint32_t cacheBlockNumber() {
+    return m_cache.lbn();
+  }
+  void cacheDirty() {
+    m_cache.dirty();
+  }
+//------------------------------------------------------------------------------
+  bool allocateCluster(uint32_t current, uint32_t* next);
+  bool allocContiguous(uint32_t count,
+                       uint32_t* firstCluster, uint32_t startCluster = 0);
+  uint8_t blockOfCluster(uint32_t position) const {
+    return (position >> 9) & m_clusterBlockMask;
+  }
+  uint32_t clusterFirstBlock(uint32_t cluster) const;
+  int8_t fatGet(uint32_t cluster, uint32_t* value);
+  bool fatPut(uint32_t cluster, uint32_t value);
+  bool fatPutEOC(uint32_t cluster) {
+    return fatPut(cluster, 0x0FFFFFFF);
+  }
+  bool freeChain(uint32_t cluster);
+  bool isEOC(uint32_t cluster) const {
+    return cluster > m_lastCluster;
+  }
+};
+#endif  // FatVolume

hardware/_controller/src/SdFat/FatLib/FmtNumber.cpp

@@ -0,0 +1,460 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "FmtNumber.h"
+// Use Stimmer div/mod 10 on avr
+#ifdef __AVR__
+#include <avr/pgmspace.h>
+#define USE_STIMMER
+#endif  // __AVR__
+//------------------------------------------------------------------------------
+// Stimmer div/mod 10 for AVR
+// this code fragment works out i/10 and i%10 by calculating
+// i*(51/256)*(256/255)/2 == i*51/510 == i/10
+// by "j.k" I mean 32.8 fixed point, j is integer part, k is fractional part
+// j.k = ((j+1.0)*51.0)/256.0
+// (we add 1 because we will be using the floor of the result later)
+// divmod10_asm16 and divmod10_asm32 are public domain code by Stimmer.
+// http://forum.arduino.cc/index.php?topic=167414.msg1293679#msg1293679
+#define divmod10_asm16(in32, mod8, tmp8)    \
+asm volatile(          \
+      " ldi %2,51     \n\t"     \
+      " mul %A0,%2    \n\t"     \
+      " clr %A0       \n\t"     \
+      " add r0,%2     \n\t"     \
+      " adc %A0,r1    \n\t"     \
+      " mov %1,r0     \n\t"     \
+      " mul %B0,%2    \n\t"     \
+      " clr %B0       \n\t"     \
+      " add %A0,r0    \n\t"     \
+      " adc %B0,r1    \n\t"     \
+      " clr r1        \n\t"     \
+      " add %1,%A0    \n\t"     \
+      " adc %A0,%B0   \n\t"     \
+      " adc %B0,r1   \n\t"      \
+      " add %1,%B0    \n\t"     \
+      " adc %A0,r1   \n\t"      \
+      " adc %B0,r1    \n\t"     \
+      " lsr %B0       \n\t"     \
+      " ror %A0       \n\t"     \
+      " ror %1        \n\t"     \
+      " ldi %2,10     \n\t"     \
+      " mul %1,%2     \n\t"     \
+      " mov %1,r1     \n\t"     \
+      " clr r1        \n\t"     \
+      :"+r"(in32), "=d"(mod8), "=d"(tmp8) : : "r0")
+
+#define divmod10_asm32(in32, mod8, tmp8)    \
+asm volatile(          \
+      " ldi %2,51     \n\t"     \
+      " mul %A0,%2    \n\t"     \
+      " clr %A0       \n\t"     \
+      " add r0,%2     \n\t"     \
+      " adc %A0,r1    \n\t"     \
+      " mov %1,r0     \n\t"     \
+      " mul %B0,%2    \n\t"     \
+      " clr %B0       \n\t"     \
+      " add %A0,r0    \n\t"     \
+      " adc %B0,r1    \n\t"     \
+      " mul %C0,%2    \n\t"     \
+      " clr %C0       \n\t"     \
+      " add %B0,r0    \n\t"     \
+      " adc %C0,r1    \n\t"     \
+      " mul %D0,%2    \n\t"     \
+      " clr %D0       \n\t"     \
+      " add %C0,r0    \n\t"     \
+      " adc %D0,r1    \n\t"     \
+      " clr r1        \n\t"     \
+      " add %1,%A0    \n\t"     \
+      " adc %A0,%B0   \n\t"     \
+      " adc %B0,%C0   \n\t"     \
+      " adc %C0,%D0   \n\t"     \
+      " adc %D0,r1    \n\t"     \
+      " add %1,%B0    \n\t"     \
+      " adc %A0,%C0   \n\t"     \
+      " adc %B0,%D0   \n\t"     \
+      " adc %C0,r1    \n\t"     \
+      " adc %D0,r1    \n\t"     \
+      " add %1,%D0    \n\t"     \
+      " adc %A0,r1    \n\t"     \
+      " adc %B0,r1    \n\t"     \
+      " adc %C0,r1    \n\t"     \
+      " adc %D0,r1    \n\t"     \
+      " lsr %D0       \n\t"     \
+      " ror %C0       \n\t"     \
+      " ror %B0       \n\t"     \
+      " ror %A0       \n\t"     \
+      " ror %1        \n\t"     \
+      " ldi %2,10     \n\t"     \
+      " mul %1,%2     \n\t"     \
+      " mov %1,r1     \n\t"     \
+      " clr r1        \n\t"     \
+      :"+r"(in32), "=d"(mod8), "=d"(tmp8) : : "r0")
+//------------------------------------------------------------------------------
+/*
+// C++ code is based on this version of divmod10 by robtillaart.
+// http://forum.arduino.cc/index.php?topic=167414.msg1246851#msg1246851
+// from robtillaart post:
+// The code is based upon the divu10() code from the book Hackers Delight1.
+// My insight was that the error formula in divu10() was in fact modulo 10
+// but not always. Sometimes it was 10 more.
+void divmod10(uint32_t in, uint32_t &div, uint32_t &mod)
+{
+  // q = in * 0.8;
+  uint32_t q = (in >> 1) + (in >> 2);
+  q = q + (q >> 4);
+  q = q + (q >> 8);
+  q = q + (q >> 16);  // not needed for 16 bit version
+
+  // q = q / 8;  ==> q =  in *0.1;
+  q = q >> 3;
+
+  // determine error
+  uint32_t  r = in - ((q << 3) + (q << 1));   // r = in - q*10;
+  div = q + (r > 9);
+  if (r > 9) mod = r - 10;
+  else mod = r;
+}
+// Hackers delight function is here:
+// http://www.hackersdelight.org/hdcodetxt/divuc.c.txt
+// Code below uses 8/10 = 0.1100 1100 1100 1100 1100 1100 1100 1100.
+// 15 ops including the multiply, or 17 elementary ops.
+unsigned divu10(unsigned n) {
+   unsigned q, r;
+
+   q = (n >> 1) + (n >> 2);
+   q = q + (q >> 4);
+   q = q + (q >> 8);
+   q = q + (q >> 16);
+   q = q >> 3;
+   r = n - q*10;
+   return q + ((r + 6) >> 4);
+// return q + (r > 9);
+}
+*/
+//------------------------------------------------------------------------------
+#ifndef DOXYGEN_SHOULD_SKIP_THIS
+#ifdef __AVR__
+static const float m[] PROGMEM = {1e-1, 1e-2, 1e-4, 1e-8, 1e-16, 1e-32};
+static const float p[] PROGMEM = {1e+1, 1e+2, 1e+4, 1e+8, 1e+16, 1e+32};
+#else  // __AVR__
+static const float m[] = {1e-1, 1e-2, 1e-4, 1e-8, 1e-16, 1e-32};
+static const float p[] = {1e+1, 1e+2, 1e+4, 1e+8, 1e+16, 1e+32};
+#endif  // __AVR__
+#endif  // DOXYGEN_SHOULD_SKIP_THIS
+// scale float v by power of ten. return v*10^n
+float scale10(float v, int8_t n) {
+  const float *s;
+  if (n < 0) {
+    n = -n;
+    s = m;
+  } else {
+    s = p;
+  }
+  n &= 63;
+  for (uint8_t i = 0; n; n >>= 1, i++) {
+#ifdef __AVR__
+    if (n & 1) {
+      v *= pgm_read_float(&s[i]);
+    }
+#else  // __AVR__
+    if (n & 1) {
+      v *= s[i];
+    }
+#endif  // __AVR__
+  }
+  return v;
+}
+//------------------------------------------------------------------------------
+// Format 16-bit unsigned
+char* fmtDec(uint16_t n, char* p) {
+  while (n > 9) {
+#ifdef USE_STIMMER
+    uint8_t tmp8, r;
+    divmod10_asm16(n, r, tmp8);
+#else  // USE_STIMMER
+    uint16_t t = n;
+    n = (n >> 1) + (n >> 2);
+    n = n + (n >> 4);
+    n = n + (n >> 8);
+    // n = n + (n >> 16);  // no code for 16-bit n
+    n = n >> 3;
+    uint8_t r = t - (((n << 2) + n) << 1);
+    if (r > 9) {
+      n++;
+      r -= 10;
+    }
+#endif  // USE_STIMMER
+    *--p = r + '0';
+  }
+  *--p = n + '0';
+  return p;
+}
+//------------------------------------------------------------------------------
+// format 32-bit unsigned
+char* fmtDec(uint32_t n, char* p) {
+  while (n >> 16) {
+#ifdef USE_STIMMER
+    uint8_t tmp8, r;
+    divmod10_asm32(n, r, tmp8);
+#else  //  USE_STIMMER
+    uint32_t t = n;
+    n = (n >> 1) + (n >> 2);
+    n = n + (n >> 4);
+    n = n + (n >> 8);
+    n = n + (n >> 16);
+    n = n >> 3;
+    uint8_t r = t - (((n << 2) + n) << 1);
+    if (r > 9) {
+      n++;
+      r -= 10;
+    }
+#endif  // USE_STIMMER
+    *--p = r + '0';
+  }
+  return fmtDec((uint16_t)n, p);
+}
+//------------------------------------------------------------------------------
+char* fmtFloat(float value, char* p, uint8_t prec) {
+  char sign = value < 0 ? '-' : 0;
+  if (sign) {
+    value = -value;
+  }
+
+  if (isnan(value)) {
+    *--p = 'n';
+    *--p = 'a';
+    *--p = 'n';
+    return p;
+  }
+  if (isinf(value)) {
+    *--p = 'f';
+    *--p = 'n';
+    *--p = 'i';
+    return p;
+  }
+  if (value > 4294967040.0) {
+    *--p = 'f';
+    *--p = 'v';
+    *--p = 'o';
+    return p;
+  }
+  if (prec > 9) {
+    prec = 9;
+  }
+  value += scale10(0.5, -prec);
+
+  uint32_t whole = value;
+  if (prec) {
+    char* tmp = p - prec;
+    uint32_t fraction = scale10(value - whole, prec);
+    p = fmtDec(fraction, p);
+    while (p > tmp) {
+      *--p = '0';
+    }
+    *--p = '.';
+  }
+  p = fmtDec(whole, p);
+  if (sign) {
+    *--p = sign;
+  }
+  return p;
+}
+//------------------------------------------------------------------------------
+/** Print a number followed by a field terminator.
+ * \param[in] value The number to be printed.
+ * \param[in] ptr Pointer to last char in buffer.
+ * \param[in] prec Number of digits after decimal point.
+ * \param[in] expChar Use exp format if non zero.
+ * \return Pointer to first character of result.
+ */
+char* fmtFloat(float value, char* ptr, uint8_t prec, char expChar) {
+  bool neg = value < 0;
+  if (neg) {
+    value = -value;
+  }
+
+  // check for nan inf ovf
+  if (isnan(value)) {
+    *--ptr = 'n';
+    *--ptr = 'a';
+    *--ptr = 'n';
+    return ptr;
+  }
+  if (isinf(value)) {
+    *--ptr = 'f';
+    *--ptr = 'n';
+    *--ptr = 'i';
+    return ptr;
+  }
+  if (!expChar && value > 4294967040.0) {
+    *--ptr = 'f';
+    *--ptr = 'v';
+    *--ptr = 'o';
+    return ptr;
+  }
+  if (prec > 9) {
+    prec = 9;
+  }
+  float round = scale10(0.5, -prec);
+  if (expChar) {
+    int8_t exp = 0;
+    bool expNeg = false;
+    if (value) {
+      while (value > 10.0) {
+        value *= 0.1;
+        exp++;
+      }
+      while (value < 1.0) {
+        value *= 10.0;
+        exp--;
+      }
+      value += round;
+      if (value > 10.0) {
+        value *= 0.1;
+        exp++;
+      }
+      expNeg = exp < 0;
+      if (expNeg) {
+        exp = -exp;
+      }
+    }
+    ptr = fmtDec((uint16_t)exp, ptr);
+    if (exp < 10) {
+      *--ptr = '0';
+    }
+    *--ptr = expNeg ? '-' : '+';
+    *--ptr = expChar;
+  } else {
+    // round value
+    value += round;
+  }
+  uint32_t whole = value;
+  if (prec) {
+    char* tmp = ptr - prec;
+    uint32_t fraction = scale10(value - whole, prec);
+    ptr = fmtDec(fraction, ptr);
+    while (ptr > tmp) {
+      *--ptr = '0';
+    }
+    *--ptr = '.';
+  }
+  ptr = fmtDec(whole, ptr);
+  if (neg) {
+    *--ptr = '-';
+  }
+  return ptr;
+}
+//------------------------------------------------------------------------------
+char* fmtHex(uint32_t n, char* p) {
+  do {
+    uint8_t h = n & 0XF;
+    *--p = h + (h < 10 ? '0' : 'A' - 10);
+    n >>= 4;
+  } while (n);
+  return p;
+}
+//------------------------------------------------------------------------------
+float scanFloat(const char* str, char** ptr) {
+  int16_t const EXP_LIMIT = 100;
+  bool digit = false;
+  bool dot = false;
+  uint32_t fract = 0;
+  int fracExp = 0;
+  uint8_t nd = 0;
+  bool neg;
+  int c;
+  float v;
+  const char* successPtr = str;
+
+  if (ptr) {
+    *ptr = const_cast<char*>(str);
+  }
+
+  while (isSpace((c = *str++))) {}
+  neg = c == '-';
+  if (c == '-' || c == '+') {
+    c = *str++;
+  }
+  // Skip leading zeros
+  while (c == '0') {
+    c = *str++;
+    digit = true;
+  }
+  for (;;) {
+    if (isDigit(c)) {
+      digit = true;
+      if (nd < 9) {
+        fract = 10*fract + c - '0';
+        nd++;
+        if (dot) {
+          fracExp--;
+        }
+      } else {
+        if (!dot) {
+          fracExp++;
+        }
+      }
+    } else if (c == '.') {
+      if (dot) {
+        goto fail;
+      }
+      dot = true;
+    } else {
+      if (!digit) {
+        goto fail;
+      }
+      break;
+    }
+    successPtr = str;
+    c = *str++;
+  }
+  if (c == 'e' || c == 'E') {
+    int exp = 0;
+    c = *str++;
+    bool expNeg = c == '-';
+    if (c == '-' || c == '+') {
+      c = *str++;
+    }
+    while (isDigit(c)) {
+      if (exp > EXP_LIMIT) {
+        goto fail;
+      }
+      exp = 10*exp + c - '0';
+      successPtr = str;
+      c = *str++;
+    }
+    fracExp += expNeg ? -exp : exp;
+  }
+  if (ptr) {
+    *ptr = const_cast<char*>(successPtr);
+  }
+  v = scale10(static_cast<float>(fract), fracExp);
+  return neg ? -v : v;
+
+fail:
+  return 0;
+}
+
+

hardware/_controller/src/SdFat/FatLib/FmtNumber.h

@@ -0,0 +1,43 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FmtNumber_h
+#define FmtNumber_h
+//  #include <ctype.h>
+inline bool isDigit(char c) {
+  return '0' <= c && c <= '9';
+}
+inline bool isSpace(char c) {
+  return c == ' ' || (0X9 <= c && c <= 0XD);
+}
+#include <math.h>
+#include <stdint.h>
+char* fmtDec(uint16_t n, char* p);
+char* fmtDec(uint32_t n, char* p);
+char* fmtFloat(float value, char* p, uint8_t prec);
+char* fmtFloat(float value, char* ptr, uint8_t prec, char expChar);
+char* fmtHex(uint32_t n, char* p);
+float scale10(float v, int8_t n);
+float scanFloat(const char* str, char** ptr);
+#endif  // FmtNumber_h

hardware/_controller/src/SdFat/FatLib/StdioStream.cpp

@@ -0,0 +1,508 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "StdioStream.h"
+#include "FmtNumber.h"
+//------------------------------------------------------------------------------
+int StdioStream::fclose() {
+  int rtn = 0;
+  if (!m_status) {
+    return EOF;
+  }
+  if (m_status & S_SWR) {
+    if (!flushBuf()) {
+      rtn = EOF;
+    }
+  }
+  if (!FatFile::close()) {
+    rtn = EOF;
+  }
+  m_r = 0;
+  m_w = 0;
+  m_status = 0;
+  return rtn;
+}
+//------------------------------------------------------------------------------
+int StdioStream::fflush() {
+  if ((m_status & (S_SWR | S_SRW)) && !(m_status & S_SRD)) {
+    if (flushBuf() && FatFile::sync()) {
+      return 0;
+    }
+  }
+  return EOF;
+}
+//------------------------------------------------------------------------------
+char* StdioStream::fgets(char* str, size_t num, size_t* len) {
+  char* s = str;
+  size_t n;
+  if (num-- == 0) {
+    return 0;
+  }
+  while (num) {
+    if ((n = m_r) == 0) {
+      if (!fillBuf()) {
+        if (s == str) {
+          return 0;
+        }
+        break;
+      }
+      n = m_r;
+    }
+    if (n > num) {
+      n = num;
+    }
+    uint8_t* end = reinterpret_cast<uint8_t*>(memchr(m_p, '\n', n));
+    if (end != 0) {
+      n = ++end - m_p;
+      memcpy(s, m_p, n);
+      m_r -= n;
+      m_p = end;
+      s += n;
+      break;
+    }
+    memcpy(s, m_p, n);
+    m_r -= n;
+    m_p += n;
+    s += n;
+    num -= n;
+  }
+  *s = 0;
+  if (len) {
+    *len = s - str;
+  }
+  return str;
+}
+//------------------------------------------------------------------------------
+bool StdioStream::fopen(const char* path, const char* mode) {
+  oflag_t oflag;
+  uint8_t m;
+  switch (*mode++) {
+  case 'a':
+    m = O_WRONLY;
+    oflag = O_CREAT | O_APPEND;
+    m_status = S_SWR;
+    break;
+
+  case 'r':
+    m = O_RDONLY;
+    oflag = 0;
+    m_status = S_SRD;
+    break;
+
+  case 'w':
+    m = O_WRONLY;
+    oflag = O_CREAT | O_TRUNC;
+    m_status = S_SWR;
+    break;
+
+  default:
+    goto fail;
+  }
+  while (*mode) {
+    switch (*mode++) {
+    case '+':
+      m_status = S_SRW;
+      m = O_RDWR;
+      break;
+
+    case 'b':
+      break;
+
+    case 'x':
+      oflag |= O_EXCL;
+      break;
+
+    default:
+      goto fail;
+    }
+  }
+  oflag |= m;
+
+  if (!FatFile::open(path, oflag)) {
+    goto fail;
+  }
+  m_r = 0;
+  m_w = 0;
+  m_p = m_buf;
+  return true;
+
+fail:
+  m_status = 0;
+  return false;
+}
+//------------------------------------------------------------------------------
+int StdioStream::fputs(const char* str) {
+  size_t len = strlen(str);
+  return fwrite(str, 1, len) == len ? len : EOF;
+}
+//------------------------------------------------------------------------------
+size_t StdioStream::fread(void* ptr, size_t size, size_t count) {
+  uint8_t* dst = reinterpret_cast<uint8_t*>(ptr);
+  size_t total = size*count;
+  if (total == 0) {
+    return 0;
+  }
+  size_t need = total;
+  while (need > m_r) {
+    memcpy(dst, m_p, m_r);
+    dst += m_r;
+    m_p += m_r;
+    need -= m_r;
+    if (!fillBuf()) {
+      return (total - need)/size;
+    }
+  }
+  memcpy(dst, m_p, need);
+  m_r -= need;
+  m_p += need;
+  return count;
+}
+//------------------------------------------------------------------------------
+int StdioStream::fseek(int32_t offset, int origin) {
+  int32_t pos;
+  if (m_status & S_SWR) {
+    if (!flushBuf()) {
+      goto fail;
+    }
+  }
+  switch (origin) {
+  case SEEK_CUR:
+    pos = ftell();
+    if (pos < 0) {
+      goto fail;
+    }
+    pos += offset;
+    if (!FatFile::seekCur(pos)) {
+      goto fail;
+    }
+    break;
+
+  case SEEK_SET:
+    if (!FatFile::seekSet(offset)) {
+      goto fail;
+    }
+    break;
+
+  case SEEK_END:
+    if (!FatFile::seekEnd(offset)) {
+      goto fail;
+    }
+    break;
+
+  default:
+    goto fail;
+  }
+  m_r = 0;
+  m_p = m_buf;
+  return 0;
+
+fail:
+  return EOF;
+}
+//------------------------------------------------------------------------------
+int32_t StdioStream::ftell() {
+  uint32_t pos = FatFile::curPosition();
+  if (m_status & S_SRD) {
+    if (m_r > pos) {
+      return -1L;
+    }
+    pos -= m_r;
+  } else if (m_status & S_SWR) {
+    pos += m_p - m_buf;
+  }
+  return pos;
+}
+//------------------------------------------------------------------------------
+size_t StdioStream::fwrite(const void* ptr, size_t size, size_t count) {
+  return write(ptr, count*size) < 0 ? EOF : count;
+}
+//------------------------------------------------------------------------------
+int StdioStream::write(const void* buf, size_t count) {
+  const uint8_t* src = static_cast<const uint8_t*>(buf);
+  size_t todo = count;
+
+  while (todo > m_w) {
+    memcpy(m_p, src, m_w);
+    m_p += m_w;
+    src += m_w;
+    todo -= m_w;
+    if (!flushBuf()) {
+      return EOF;
+    }
+  }
+  memcpy(m_p, src, todo);
+  m_p += todo;
+  m_w -= todo;
+  return count;
+}
+//------------------------------------------------------------------------------
+#if (defined(ARDUINO) && ENABLE_ARDUINO_FEATURES) || defined(DOXYGEN)
+size_t StdioStream::print(const __FlashStringHelper *str) {
+  const char *p = (const char*)str;
+  uint8_t c;
+  while ((c = pgm_read_byte(p))) {
+    if (putc(c) < 0) {
+      return 0;
+    }
+    p++;
+  }
+  return p - (const char*)str;
+}
+#endif  // (defined(ARDUINO) && ENABLE_ARDUINO_FEATURES) || defined(DOXYGEN)
+//------------------------------------------------------------------------------
+int StdioStream::printDec(float value, uint8_t prec) {
+  char buf[24];
+  char *ptr = fmtFloat(value, buf + sizeof(buf), prec);
+  return write(ptr, buf + sizeof(buf) - ptr);
+}
+//------------------------------------------------------------------------------
+int StdioStream::printDec(signed char n) {
+  if (n < 0) {
+    if (fputc('-') < 0) {
+      return -1;
+    }
+    n = -n;
+  }
+  return printDec((unsigned char)n);
+}
+//------------------------------------------------------------------------------
+int StdioStream::printDec(int16_t n) {
+  int s;
+  uint8_t rtn = 0;
+  if (n < 0) {
+    if (fputc('-') < 0) {
+      return -1;
+    }
+    n = -n;
+    rtn++;
+  }
+  if ((s = printDec((uint16_t)n)) < 0) {
+    return s;
+  }
+  return rtn;
+}
+//------------------------------------------------------------------------------
+int StdioStream::printDec(uint16_t n) {
+#define NEW_WAY
+#ifdef NEW_WAY
+  char buf[5];
+  char *ptr = fmtDec(n, buf + sizeof(buf));
+  uint8_t len = buf + sizeof(buf) - ptr;
+  return write(ptr, len);
+#else
+  uint8_t len;
+  if (n < 100) {
+    len = n < 10 ? 1 : 2;
+  } else {
+    len = n < 1000 ? 3 : n < 10000 ? 4 : 5;
+  }
+  char* str = fmtSpace(len);
+  if (!str) {
+    return -1;
+  }
+  fmtDec(n, str);
+  return len;
+#endif
+}
+//------------------------------------------------------------------------------
+int StdioStream::printDec(int32_t n) {
+  uint8_t s = 0;
+  if (n < 0) {
+    if (fputc('-') < 0) {
+      return -1;
+    }
+    n = -n;
+    s = 1;
+  }
+  int rtn = printDec((uint32_t)n);
+  return rtn > 0 ? rtn + s : -1;
+}
+//------------------------------------------------------------------------------
+int StdioStream::printDec(uint32_t n) {
+#ifdef NEW_WAY
+  char buf[10];
+  char *ptr = fmtDec(n, buf + sizeof(buf));
+  uint8_t len = buf + sizeof(buf) - ptr;
+  return write(ptr, len);
+#else
+  uint8_t len;
+  if (n < 0X10000) {
+    return printDec((uint16_t)n);
+  }
+  if (n < 10000000) {
+    len = n < 100000 ? 5 : n < 1000000 ? 6 : 7;
+  } else {
+    len = n < 100000000 ? 8 : n < 1000000000 ? 9 : 10;
+  }
+
+  char* str = fmtSpace(len);
+  if (!str) {
+    return -1;
+  }
+  fmtDec(n, str);
+  return len;
+#endif
+}
+//------------------------------------------------------------------------------
+int StdioStream::printHex(uint32_t n) {
+#ifdef NEW_WAY
+  char buf[8];
+  char *ptr = fmtHex(n, buf + sizeof(buf));
+  uint8_t len = buf + sizeof(buf) - ptr;
+  return write(ptr, len);
+#else
+  size_t len;
+  if (n < 0X10000) {
+    len = n < 0X10 ? 1 : n < 0X100 ? 2 : n < 0X1000 ? 3 : 4;
+  } else {
+    len = n < 0X100000 ? 5 : n < 0X1000000 ? 6 : n < 0X10000000 ? 7 : 8;
+  }
+  char* str = fmtSpace(len);
+  if (!str) {
+    return -1;
+  }
+
+  do {
+    uint8_t h = n & 0XF;
+    *str-- = h + (h < 10 ? '0' : 'A' - 10);
+    n >>= 4;
+  } while (n);
+  return len;
+#endif
+}
+//------------------------------------------------------------------------------
+bool StdioStream::rewind() {
+  if (m_status & S_SWR) {
+    if (!flushBuf()) {
+      return false;
+    }
+  }
+  FatFile::seekSet(0);
+  m_r = 0;
+  return true;
+}
+//------------------------------------------------------------------------------
+int StdioStream::ungetc(int c) {
+  // error if EOF.
+  if (c == EOF) {
+    return EOF;
+  }
+  // error if not reading.
+  if ((m_status & S_SRD) == 0) {
+    return EOF;
+  }
+  // error if no space.
+  if (m_p == m_buf) {
+    return EOF;
+  }
+  m_r++;
+  m_status &= ~S_EOF;
+  return *--m_p = (uint8_t)c;
+}
+//==============================================================================
+// private
+//------------------------------------------------------------------------------
+int StdioStream::fillGet() {
+  if (!fillBuf()) {
+    return EOF;
+  }
+  m_r--;
+  return *m_p++;
+}
+//------------------------------------------------------------------------------
+// private
+bool StdioStream::fillBuf() {
+  if (!(m_status &
+        S_SRD)) {  // check for S_ERR and S_EOF ??/////////////////
+    if (!(m_status & S_SRW)) {
+      m_status |= S_ERR;
+      return false;
+    }
+    if (m_status & S_SWR) {
+      if (!flushBuf()) {
+        return false;
+      }
+      m_status &= ~S_SWR;
+      m_status |= S_SRD;
+      m_w = 0;
+    }
+  }
+  m_p = m_buf + UNGETC_BUF_SIZE;
+  int nr = FatFile::read(m_p, sizeof(m_buf) - UNGETC_BUF_SIZE);
+  if (nr <= 0) {
+    m_status |= nr < 0 ? S_ERR : S_EOF;
+    m_r = 0;
+    return false;
+  }
+  m_r = nr;
+  return true;
+}
+//------------------------------------------------------------------------------
+// private
+bool StdioStream::flushBuf() {
+  if (!(m_status &
+        S_SWR)) {  // check for S_ERR ??////////////////////////
+    if (!(m_status & S_SRW)) {
+      m_status |= S_ERR;
+      return false;
+    }
+    m_status &= ~S_SRD;
+    m_status |= S_SWR;
+    m_r = 0;
+    m_w = sizeof(m_buf);
+    m_p = m_buf;
+    return true;
+  }
+  uint8_t n = m_p - m_buf;
+  m_p = m_buf;
+  m_w = sizeof(m_buf);
+  if (FatFile::write(m_buf, n) == n) {
+    return true;
+  }
+  m_status |= S_ERR;
+  return false;
+}
+//------------------------------------------------------------------------------
+int StdioStream::flushPut(uint8_t c) {
+  if (!flushBuf()) {
+    return EOF;
+  }
+  m_w--;
+  return *m_p++ = c;
+}
+//------------------------------------------------------------------------------
+char* StdioStream::fmtSpace(uint8_t len) {
+  if (m_w < len) {
+    if (!flushBuf() || m_w < len) {
+      return 0;
+    }
+  }
+  if (len > m_w) {
+    return 0;
+  }
+  m_p += len;
+  m_w -= len;
+  return reinterpret_cast<char*>(m_p);
+}
+

hardware/_controller/src/SdFat/FatLib/StdioStream.h

@@ -0,0 +1,667 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef StdioStream_h
+#define StdioStream_h
+/**
+ * \file
+ * \brief StdioStream class
+ */
+#include <limits.h>
+#include "FatFile.h"
+//------------------------------------------------------------------------------
+/** Total size of stream buffer. The entire buffer is used for output.
+  * During input UNGETC_BUF_SIZE of this space is reserved for ungetc.
+  */
+const uint8_t STREAM_BUF_SIZE = 64;
+/** Amount of buffer allocated for ungetc during input. */
+const uint8_t UNGETC_BUF_SIZE = 2;
+//------------------------------------------------------------------------------
+// Get rid of any macros defined in <stdio.h>.
+#include <stdio.h>
+#undef clearerr
+#undef fclose
+#undef feof
+#undef ferror
+#undef fflush
+#undef fgetc
+#undef fgetpos
+#undef fgets
+#undef fopen
+#undef fprintf
+#undef fputc
+#undef fputs
+#undef fread
+#undef freopen
+#undef fscanf
+#undef fseek
+#undef fsetpos
+#undef ftell
+#undef fwrite
+#undef getc
+#undef getchar
+#undef gets
+#undef perror
+//#undef printf  // NOLINT
+#undef putc
+#undef putchar
+#undef puts
+#undef remove
+#undef rename
+#undef rewind
+#undef scanf
+#undef setbuf
+#undef setvbuf
+//#undef sprintf  // NOLINT
+#undef sscanf
+#undef tmpfile
+#undef tmpnam
+#undef ungetc
+#undef vfprintf
+#undef vprintf
+#undef vsprintf
+
+// make sure needed macros are defined
+#ifndef EOF
+/** End-of-file return value. */
+#define EOF (-1)
+#endif  // EOF
+#ifndef NULL
+/** Null pointer */
+#define NULL 0
+#endif  // NULL
+#ifndef SEEK_CUR
+/** Seek relative to current position. */
+#define SEEK_CUR 1
+#endif  // SEEK_CUR
+#ifndef  SEEK_END
+/** Seek relative to end-of-file. */
+#define SEEK_END 2
+#endif  // SEEK_END
+#ifndef SEEK_SET
+/** Seek relative to start-of-file. */
+#define SEEK_SET 0
+#endif  // SEEK_SET
+//------------------------------------------------------------------------------
+/** \class StdioStream
+ * \brief StdioStream implements a minimal stdio stream.
+ *
+ * StdioStream does not support subdirectories or long file names.
+ */
+class StdioStream : private FatFile {
+ public:
+  /** Constructor
+   *
+   */
+  StdioStream() {
+    m_w = m_r = 0;
+    m_p = m_buf;
+    m_status = 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Clear the stream's end-of-file and error indicators. */
+  void clearerr() {
+    m_status &= ~(S_ERR | S_EOF);
+  }
+  //----------------------------------------------------------------------------
+  /** Close a stream.
+   *
+   * A successful call to the fclose function causes the stream  to be
+   * flushed and the associated file to be closed. Any unwritten buffered
+   * data is written to the file; any unread buffered data is discarded.
+   * Whether or not the call succeeds, the stream is disassociated from
+   * the file.
+   *
+   * \return zero if the stream was successfully closed, or EOF if any any
+   * errors are detected.
+   */
+  int fclose();
+  //----------------------------------------------------------------------------
+  /** Test the stream's end-of-file indicator.
+   * \return non-zero if and only if the end-of-file indicator is set.
+   */
+  int feof() {
+    return (m_status & S_EOF) != 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Test the stream's error indicator.
+   * \return return non-zero if and only if the error indicator is set.
+   */
+  int ferror() {
+    return (m_status & S_ERR) != 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Flush the stream.
+   *
+   * If stream is an output stream or an update stream in which the most
+   * recent operation was not input, any unwritten data is written to the
+   * file; otherwise the call is an error since any buffered input data
+   * would be lost.
+   *
+   * \return sets the error indicator for the stream and returns EOF if an
+   * error occurs, otherwise it returns zero.
+   */
+  int fflush();
+  //----------------------------------------------------------------------------
+  /** Get a byte from the stream.
+   *
+   * \return If the end-of-file indicator for the stream is set, or if the
+   * stream is at end-of-file, the end-of-file indicator for the stream is
+   * set and the fgetc function returns EOF. Otherwise, the fgetc function
+   * returns the next character from the input stream.
+   */
+  int fgetc() {
+    return m_r-- == 0 ? fillGet() : *m_p++;
+  }
+  //----------------------------------------------------------------------------
+  /** Get a string from a stream.
+   *
+   * The fgets function reads at most one less than the number of
+   * characters specified by num from the stream into the array pointed
+   * to by str. No additional characters are read after a new-line
+   * character (which is retained) or after end-of-file. A null character
+   * is written immediately after the last character read into the array.
+   *
+   * \param[out] str Pointer to an array of where the string is copied.
+   *
+   * \param[in] num Maximum number of characters including the null
+   * character.
+   *
+   * \param[out] len If len is not null and fgets is successful, the
+   * length of the string is returned.
+   *
+   * \return str if successful. If end-of-file is encountered and no
+   * characters have been read into the array, the contents of the array
+   * remain unchanged and a null pointer is returned. If a read error
+   * occurs during the operation, the array contents are indeterminate
+   * and a null pointer is returned.
+   */
+  char* fgets(char* str, size_t num, size_t* len = 0);
+  //----------------------------------------------------------------------------
+  /** Open a stream.
+   *
+   * Open a file and associates the stream with it.
+   *
+   * \param[in] path file to be opened.
+   *
+   * \param[in] mode a string that indicates the open mode.
+   *
+   * <table>
+   * <tr>
+   * <td>"r" or "rb"</td>
+   * <td>Open a file for reading. The file must exist.</td>
+   * </tr>
+   * <tr>
+   * <td>"w" or "wb"</td>
+   * <td>Truncate an existing to zero length or create an empty file
+   * for writing.</td>
+   * </tr>
+   * <tr>
+   * <td>"wx" or "wbx"</td>
+   * <td>Create a file for writing. Fails if the file already exists.</td>
+   * </tr>
+   * <tr>
+   * <td>"a" or "ab"</td>
+   * <td>Append; open or create file for writing at end-of-file.</td>
+   * </tr>
+   * <tr>
+   * <td>"r+" or "rb+" or "r+b"</td>
+   * <td>Open a file for update (reading and writing).</td>
+   * </tr>
+   * <tr>
+   * <td>"w+" or "w+b" or "wb+"</td>
+   * <td>Truncate an existing to zero length or create a file for update.</td>
+   * </tr>
+   * <tr>
+   * <td>"w+x" or "w+bx" or "wb+x"</td>
+   * <td>Create a file for update. Fails if the file already exists.</td>
+   * </tr>
+   * <tr>
+   * <td>"a+" or "a+b" or "ab+"</td>
+   * <td>Append; open or create a file for update, writing at end-of-file.</td>
+   * </tr>
+   * </table>
+   * The character 'b' shall have no effect, but is allowed for ISO C
+   * standard conformance.
+   *
+   * Opening a file with append mode causes all subsequent writes to the
+   * file to be forced to the then current end-of-file, regardless of
+   * intervening calls to the fseek function.
+   *
+   * When a file is opened with update mode, both input and output may be
+   * performed on the associated stream. However, output shall not be
+   * directly followed by input without an intervening call to the fflush
+   * function or to a file positioning function (fseek, or rewind), and
+   * input shall not be directly followed by output without an intervening
+   * call to a file positioning function, unless the input operation
+   * encounters end-of-file.
+   *
+   * \return true for success or false for failure.
+   */
+  bool fopen(const char* path, const char * mode);
+  //----------------------------------------------------------------------------
+  /** Write a byte to a stream.
+   *
+   * \param[in] c the byte to be written  (converted to an unsigned char).
+   *
+   * \return Upon successful completion, fputc() returns the value it
+   * has written. Otherwise, it returns EOF and sets the error indicator for
+   * the stream.
+   */
+  int fputc(int c) {
+    return m_w-- == 0 ? flushPut(c) : *m_p++ = c;
+  }
+  //----------------------------------------------------------------------------
+  /** Write a string to a stream.
+   *
+   * \param[in] str a pointer to the string to be written.
+   *
+   * \return for success, fputs() returns a non-negative
+   * number. Otherwise, it returns EOF and sets the error indicator for
+   * the stream.
+   */
+  int fputs(const char* str);
+  //----------------------------------------------------------------------------
+  /** Binary input.
+   *
+   * Reads an array of up to count elements, each one with a size of size
+   * bytes.
+   * \param[out] ptr pointer to area of at least (size*count) bytes where
+   * the data will be stored.
+   *
+   * \param[in] size the size, in bytes, of each element to be read.
+   *
+   * \param[in] count the number of elements to be read.
+   *
+   * \return number of elements successfully read, which may be less than
+   * count if a read error or end-of-file is encountered. If size or count
+   * is zero, fread returns zero and the contents of the array and the
+   * state of the stream remain unchanged.
+   */
+  size_t fread(void* ptr, size_t size, size_t count);
+  //----------------------------------------------------------------------------
+  /** Set the file position for the stream.
+   *
+   * \param[in] offset number of offset from the origin.
+   *
+   * \param[in] origin position used as reference for the offset. It is
+   * specified by one of the following constants.
+   *
+   * SEEK_SET	- Beginning of file.
+   *
+   * SEEK_CUR	- Current position of the file pointer.
+   *
+   * SEEK_END	- End of file.
+   *
+   * \return zero for success. Otherwise, it returns non-zero and sets the
+   * error indicator for the stream.
+   */
+  int fseek(int32_t offset, int origin);
+  //----------------------------------------------------------------------------
+  /** Get the current position in a stream.
+   *
+   * \return If successful, ftell return the current value of the position
+   * indicator. On failure, ftell returns −1L.
+   */
+  int32_t ftell();
+  //----------------------------------------------------------------------------
+  /** Binary output.
+   *
+   * Writes an array of up to count elements, each one with a size of size
+   * bytes.
+   * \param[in] ptr pointer to (size*count) bytes of data to be written.
+   *
+   * \param[in] size the size, in bytes, of each element to be written.
+   *
+   * \param[in] count the number of elements to be written.
+   *
+   * \return number of elements successfully written. if this number is
+   * less than count, an error has occurred.  If size or count is zero,
+   * fwrite returns zero.
+   */
+  size_t fwrite(const void * ptr, size_t size, size_t count);
+  //----------------------------------------------------------------------------
+  /** Get a byte from the stream.
+   *
+   * getc and fgetc are equivalent but getc is in-line so it is faster but
+   * require more flash memory.
+   *
+   * \return If the end-of-file indicator for the stream is set, or if the
+   * stream is at end-of-file, the end-of-file indicator for the stream is
+   * set and the fgetc function returns EOF. Otherwise, the fgetc function
+   * returns the next character from the input stream.
+   */
+  inline __attribute__((always_inline))
+  int getc() {
+    return m_r-- == 0 ? fillGet() : *m_p++;
+  }
+  //----------------------------------------------------------------------------
+  /** Write a byte to a stream.
+   *
+   * putc and fputc are equivalent but putc is in-line so it is faster but
+   * require more flash memory.
+   *
+   * \param[in] c the byte to be written  (converted to an unsigned char).
+   *
+   * \return Upon successful completion, fputc() returns the value it
+   * has written. Otherwise, it returns EOF and sets the error indicator for
+   * the stream.
+   */
+  inline __attribute__((always_inline))
+  int putc(int c) {
+    return m_w-- == 0 ? flushPut(c) : *m_p++ = c;
+  }
+  //----------------------------------------------------------------------------
+  /** Write a CR/LF.
+   *
+   * \return two, the number of bytes written, for success or -1 for failure.
+   */
+  inline __attribute__((always_inline))
+  int putCRLF() {
+    if (m_w < 2) {
+      if (!flushBuf()) {
+        return -1;
+      }
+    }
+    *m_p++ = '\r';
+    *m_p++ = '\n';
+    m_w -= 2;
+    return 2;
+  }
+  //----------------------------------------------------------------------------
+  /** Write a character.
+   * \param[in] c the character to write.
+   * \return the number of bytes written.
+   */
+  size_t print(char c) {
+    return putc(c) < 0 ? 0 : 1;
+  }
+  //----------------------------------------------------------------------------
+  /** Write a string.
+   *
+   * \param[in] str the string to be written.
+   *
+   * \return the number of bytes written.
+   */
+  size_t print(const char* str) {
+    int n = fputs(str);
+    return n < 0 ? 0 : n;
+  }
+  //----------------------------------------------------------------------------
+#if (defined(ARDUINO) && ENABLE_ARDUINO_FEATURES) || defined(DOXYGEN)
+  /** Print a string stored in flash memory.
+   *
+   * \param[in] str the string to print.
+   *
+   * \return the number of bytes written.
+   */
+  size_t print(const __FlashStringHelper *str);
+#endif  // (defined(ARDUINO) && ENABLE_ARDUINO_FEATURES) || defined(DOXYGEN)
+  //----------------------------------------------------------------------------
+  /** Print a floating point number.
+   *
+   * \param[in] prec Number of digits after decimal point.
+   *
+   * \param[in] val the number to be printed.
+   *
+   * \return the number of bytes written.
+   */
+  size_t print(double val, uint8_t prec = 2) {
+    return print(static_cast<float>(val), prec);
+  }
+  //----------------------------------------------------------------------------
+  /** Print a floating point number.
+   *
+   * \param[in] prec Number of digits after decimal point.
+   *
+   * \param[in] val the number to be printed.
+   *
+   * \return the number of bytes written.
+   */
+  size_t print(float val, uint8_t prec = 2) {
+    int n = printDec(val, prec);
+    return n > 0 ? n : 0;
+  }
+  //----------------------------------------------------------------------------
+  /**  Print a number.
+   *
+   * \param[in] val the number to be printed.
+   *
+   * \return the number of bytes written.
+   */
+  template <typename T>
+  size_t print(T val) {
+    int n = printDec(val);
+    return n > 0 ? n : 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Write a CR/LF.
+   *
+   * \return two, the number of bytes written, for success or zero for failure.
+   */
+  size_t println() {
+    return putCRLF() > 0 ? 2 : 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Print a floating point number followed by CR/LF.
+   *
+   * \param[in] val the number to be printed.
+   *
+   * \param[in] prec Number of digits after decimal point.
+   *
+   * \return the number of bytes written.
+   */
+  size_t println(double val, uint8_t prec = 2) {
+    return println(static_cast<float>(val), prec);
+  }
+  //----------------------------------------------------------------------------
+  /** Print a floating point number followed by CR/LF.
+   *
+   * \param[in] val the number to be printed.
+   *
+   * \param[in] prec Number of digits after decimal point.
+   *
+   * \return the number of bytes written.
+   */
+  size_t println(float val, uint8_t prec = 2) {
+    int n = printDec(val, prec);
+    return n > 0 && putCRLF() > 0 ? n + 2 : 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Print an item followed by CR/LF
+   *
+   * \param[in] val the item to be printed.
+   *
+   * \return the number of bytes written.
+   */
+  template <typename T>
+  size_t println(T val) {
+    int n = print(val);
+    return putCRLF() > 0 ? n + 2 : 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Print a char as a number.
+   * \param[in] n number to be printed.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(char n) {
+    if (CHAR_MIN == 0) {
+      return printDec((unsigned char)n);
+    } else {
+      return printDec((signed char)n);
+    }
+  }
+  //----------------------------------------------------------------------------
+  /** print a signed 8-bit integer
+   * \param[in] n number to be printed.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(signed char n);
+  //----------------------------------------------------------------------------
+  /** Print an unsigned 8-bit number.
+   * \param[in] n number to be print.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(unsigned char n) {
+    return printDec((uint16_t)n);
+  }
+  //----------------------------------------------------------------------------
+  /** Print a int16_t
+   * \param[in] n number to be printed.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(int16_t n);
+  //----------------------------------------------------------------------------
+  /** print a uint16_t.
+   * \param[in] n number to be printed.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(uint16_t n);
+  //----------------------------------------------------------------------------
+  /** Print a signed 32-bit integer.
+   * \param[in] n number to be printed.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(int32_t n);
+  //----------------------------------------------------------------------------
+  /** Write an unsigned 32-bit number.
+   * \param[in] n number to be printed.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(uint32_t n);
+  //----------------------------------------------------------------------------
+  /** Print a double.
+   * \param[in] value The number to be printed.
+   * \param[in] prec Number of digits after decimal point.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(double value, uint8_t prec) {
+    return printDec(static_cast<float>(value), prec);
+  }
+  //----------------------------------------------------------------------------
+  /** Print a float.
+   * \param[in] value The number to be printed.
+   * \param[in] prec Number of digits after decimal point.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printDec(float value, uint8_t prec);
+  //----------------------------------------------------------------------------
+  /** Print a number followed by a field terminator.
+   * \param[in] value The number to be printed.
+   * \param[in] term The field terminator.
+   * \param[in] prec Number of digits after decimal point.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printField(double value, char term, uint8_t prec = 2) {
+    return printField(static_cast<float>(value), term, prec) > 0;
+  }
+  //----------------------------------------------------------------------------
+  /** Print a number followed by a field terminator.
+   * \param[in] value The number to be printed.
+   * \param[in] term The field terminator.
+   * \param[in] prec Number of digits after decimal point.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printField(float value, char term, uint8_t prec = 2) {
+    int rtn = printDec(value, prec);
+    return rtn < 0 || putc(term) < 0 ? -1 : rtn + 1;
+  }
+  //----------------------------------------------------------------------------
+  /** Print a number followed by a field terminator.
+   * \param[in] value The number to be printed.
+   * \param[in] term The field terminator.
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  template <typename T>
+  int printField(T value, char term) {
+    int rtn = printDec(value);
+    return rtn < 0 || putc(term) < 0 ? -1 : rtn + 1;
+  }
+  //----------------------------------------------------------------------------
+  /** Print HEX
+   * \param[in] n number to be printed as HEX.
+   *
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printHex(uint32_t n);
+  //----------------------------------------------------------------------------
+  /** Print HEX with CRLF
+   * \param[in] n number to be printed as HEX.
+   *
+   * \return The number of bytes written or -1 if an error occurs.
+   */
+  int printHexln(uint32_t n) {
+    int rtn = printHex(n);
+    return  rtn < 0 || putCRLF() != 2 ? -1 : rtn + 2;
+  }
+  //----------------------------------------------------------------------------
+  /** Set position of a stream to the beginning.
+   *
+   * The rewind function sets the file position to the beginning of the
+   * file. It is equivalent to fseek(0L, SEEK_SET) except that the error
+   * indicator for the stream is also cleared.
+   *
+   * \return true for success or false for failure.
+   */
+  bool rewind();
+  //----------------------------------------------------------------------------
+  /** Push a byte back into an input stream.
+   *
+   * \param[in] c the byte (converted to an unsigned char) to be pushed back.
+   *
+   * One character of push-back is guaranteed. If the ungetc function is
+   * called too many times without an intervening read or file positioning
+   * operation on that stream, the operation may fail.
+   *
+   * A successful intervening call to a file positioning function (fseek,
+   * fsetpos, or rewind) discards any pushed-back characters for the stream.
+   *
+   * \return Upon successful completion, ungetc() returns the byte pushed
+   * back after conversion. Otherwise it returns EOF.
+   */
+  int ungetc(int c);
+  //============================================================================
+ private:
+  bool fillBuf();
+  int fillGet();
+  bool flushBuf();
+  int flushPut(uint8_t c);
+  char* fmtSpace(uint8_t len);
+  int write(const void* buf, size_t count);
+  //----------------------------------------------------------------------------
+  // S_SRD and S_WR are never simultaneously asserted
+  static const uint8_t S_SRD = 0x01;  // OK to read
+  static const uint8_t S_SWR = 0x02;  // OK to write
+  static const uint8_t S_SRW = 0x04;  // open for reading & writing
+  static const uint8_t S_EOF = 0x10;  // found EOF
+  static const uint8_t S_ERR = 0x20;  // found error
+  //----------------------------------------------------------------------------
+  uint8_t  m_status;
+  uint8_t* m_p;
+  uint8_t  m_r;
+  uint8_t  m_w;
+  uint8_t  m_buf[STREAM_BUF_SIZE];
+};
+//------------------------------------------------------------------------------
+#endif  // StdioStream_h

hardware/_controller/src/SdFat/FatLib/bufstream.h

@@ -0,0 +1,172 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef bufstream_h
+#define bufstream_h
+/**
+ * \file
+ * \brief \ref ibufstream and \ref obufstream classes
+ */
+#include <string.h>
+#include "iostream.h"
+//==============================================================================
+/**
+ * \class ibufstream
+ * \brief parse a char string
+ */
+class ibufstream : public istream {
+ public:
+  /** Constructor */
+  ibufstream() : m_buf(0), m_len(0) {}
+  /** Constructor
+   * \param[in] str pointer to string to be parsed
+   * Warning: The string will not be copied so must stay in scope.
+   */
+  explicit ibufstream(const char* str) {
+    init(str);
+  }
+  /** Initialize an ibufstream
+   * \param[in] str pointer to string to be parsed
+   * Warning: The string will not be copied so must stay in scope.
+   */
+  void init(const char* str) {
+    m_buf = str;
+    m_len = strlen(m_buf);
+    m_pos = 0;
+    clear();
+  }
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  int16_t getch() {
+    if (m_pos < m_len) {
+      return m_buf[m_pos++];
+    }
+    setstate(eofbit);
+    return -1;
+  }
+  void getpos(FatPos_t *pos) {
+    pos->position = m_pos;
+  }
+  bool seekoff(off_type off, seekdir way) {
+    (void)off;
+    (void)way;
+    return false;
+  }
+  bool seekpos(pos_type pos) {
+    if (pos < m_len) {
+      m_pos = pos;
+      return true;
+    }
+    return false;
+  }
+  void setpos(FatPos_t *pos) {
+    m_pos = pos->position;
+  }
+  pos_type tellpos() {
+    return m_pos;
+  }
+  /// @endcond
+ private:
+  const char* m_buf;
+  size_t m_len;
+  size_t m_pos;
+};
+//==============================================================================
+/**
+ * \class obufstream
+ * \brief format a char string
+ */
+class obufstream : public ostream {
+ public:
+  /** constructor */
+  obufstream() : m_in(0) {}
+  /** Constructor
+   * \param[in] buf buffer for formatted string
+   * \param[in] size buffer size
+   */
+  obufstream(char *buf, size_t size) {
+    init(buf, size);
+  }
+  /** Initialize an obufstream
+   * \param[in] buf buffer for formatted string
+   * \param[in] size buffer size
+   */
+  void init(char *buf, size_t size) {
+    m_buf = buf;
+    buf[0] = '\0';
+    m_size = size;
+    m_in = 0;
+  }
+  /** \return a pointer to the buffer */
+  char* buf() {
+    return m_buf;
+  }
+  /** \return the length of the formatted string */
+  size_t length() {
+    return m_in;
+  }
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  void putch(char c) {
+    if (m_in >= (m_size - 1)) {
+      setstate(badbit);
+      return;
+    }
+    m_buf[m_in++] = c;
+    m_buf[m_in] = '\0';
+  }
+  void putstr(const char *str) {
+    while (*str) {
+      putch(*str++);
+    }
+  }
+  bool seekoff(off_type off, seekdir way) {
+    (void)off;
+    (void)way;
+    return false;
+  }
+  bool seekpos(pos_type pos) {
+    if (pos > m_in) {
+      return false;
+    }
+    m_in = pos;
+    m_buf[m_in] = '\0';
+    return true;
+  }
+  bool sync() {
+    return true;
+  }
+
+  pos_type tellpos() {
+    return m_in;
+  }
+  /// @endcond
+ private:
+  char *m_buf;
+  size_t m_size;
+  size_t m_in;
+};
+#endif  // bufstream_h

hardware/_controller/src/SdFat/FatLib/fstream.cpp

@@ -0,0 +1,172 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "fstream.h"
+//==============================================================================
+/// @cond SHOW_PROTECTED
+int16_t FatStreamBase::getch() {
+  uint8_t c;
+  int8_t s = read(&c, 1);
+  if (s != 1) {
+    if (s < 0) {
+      setstate(badbit);
+    } else {
+      setstate(eofbit);
+    }
+    return -1;
+  }
+  if (c != '\r' || (getmode() & ios::binary)) {
+    return c;
+  }
+  s = read(&c, 1);
+  if (s == 1 && c == '\n') {
+    return c;
+  }
+  if (s == 1) {
+    seekCur(-1);
+  }
+  return '\r';
+}
+//------------------------------------------------------------------------------
+void FatStreamBase::open(const char* path, ios::openmode mode) {
+  oflag_t oflag;
+  switch (mode & (app | in | out | trunc)) {
+  case app | in:
+  case app | in | out:
+    oflag = O_RDWR | O_APPEND | O_CREAT;
+    break;
+
+  case app:
+  case app | out:
+    oflag = O_WRONLY | O_APPEND | O_CREAT;
+    break;
+
+  case in:
+    oflag = O_RDONLY;
+    break;
+
+  case in | out:
+    oflag = O_RDWR;
+    break;
+
+  case in | out | trunc:
+    oflag = O_RDWR | O_TRUNC | O_CREAT;
+    break;
+
+  case out:
+  case out | trunc:
+    oflag = O_WRONLY | O_TRUNC | O_CREAT;
+    break;
+
+  default:
+    goto fail;
+  }
+  if (mode & ios::ate) {
+    oflag |= O_AT_END;
+  }
+  if (!FatFile::open(path, oflag)) {
+    goto fail;
+  }
+  setmode(mode);
+  clear();
+  return;
+
+fail:
+  FatFile::close();
+  setstate(failbit);
+  return;
+}
+//------------------------------------------------------------------------------
+void FatStreamBase::putch(char c) {
+  if (c == '\n' && !(getmode() & ios::binary)) {
+    write('\r');
+  }
+  write(c);
+  if (getWriteError()) {
+    setstate(badbit);
+  }
+}
+//------------------------------------------------------------------------------
+void FatStreamBase::putstr(const char* str) {
+  size_t n = 0;
+  while (1) {
+    char c = str[n];
+    if (c == '\0' || (c == '\n' && !(getmode() & ios::binary))) {
+      if (n > 0) {
+        write(str, n);
+      }
+      if (c == '\0') {
+        break;
+      }
+      write('\r');
+      str += n;
+      n = 0;
+    }
+    n++;
+  }
+  if (getWriteError()) {
+    setstate(badbit);
+  }
+}
+//------------------------------------------------------------------------------
+/** Internal do not use
+ * \param[in] off
+ * \param[in] way
+ */
+bool FatStreamBase::seekoff(off_type off, seekdir way) {
+  pos_type pos;
+  switch (way) {
+  case beg:
+    pos = off;
+    break;
+
+  case cur:
+    pos = curPosition() + off;
+    break;
+
+  case end:
+    pos = fileSize() + off;
+    break;
+
+  default:
+    return false;
+  }
+  return seekpos(pos);
+}
+//------------------------------------------------------------------------------
+/** Internal do not use
+ * \param[in] pos
+ */
+bool FatStreamBase::seekpos(pos_type pos) {
+  return seekSet(pos);
+}
+//------------------------------------------------------------------------------
+int FatStreamBase::write(const void* buf, size_t n) {
+  return FatFile::write(buf, n);
+}
+//------------------------------------------------------------------------------
+void FatStreamBase::write(char c) {
+  write(&c, 1);
+}
+/// @endcond

hardware/_controller/src/SdFat/FatLib/fstream.h

@@ -0,0 +1,320 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef fstream_h
+#define fstream_h
+/**
+ * \file
+ * \brief \ref fstream, \ref ifstream, and \ref ofstream classes
+ */
+#include "FatFile.h"
+#include "iostream.h"
+//==============================================================================
+/**
+ * \class FatStreamBase
+ * \brief Base class for C++ style streams
+ */
+class FatStreamBase : protected FatFile, virtual public ios {
+ protected:
+  /// @cond SHOW_PROTECTED
+  int16_t getch();
+  void putch(char c);
+  void putstr(const char *str);
+  void open(const char* path, ios::openmode mode);
+  /** Internal do not use
+   * \return mode
+   */
+  ios::openmode getmode() {
+    return m_mode;
+  }
+  /** Internal do not use
+   * \param[in] mode
+   */
+  void setmode(ios::openmode mode) {
+    m_mode = mode;
+  }
+  bool seekoff(off_type off, seekdir way);
+  bool seekpos(pos_type pos);
+  int write(const void* buf, size_t n);
+  void write(char c);
+  /// @endcond
+ private:
+  ios::openmode m_mode;
+};
+//==============================================================================
+/**
+ * \class fstream
+ * \brief file input/output stream.
+ */
+class fstream : public iostream, FatStreamBase {
+ public:
+  using iostream::peek;
+  fstream() {}
+  /** Constructor with open
+   *
+   * \param[in] path path to open
+   * \param[in] mode open mode
+   */
+  explicit fstream(const char* path, openmode mode = in | out) {
+    open(path, mode);
+  }
+#if DESTRUCTOR_CLOSES_FILE
+  ~fstream() {}
+#endif  // DESTRUCTOR_CLOSES_FILE
+  /** Clear state and writeError
+   * \param[in] state new state for stream
+   */
+  void clear(iostate state = goodbit) {
+    ios::clear(state);
+    FatFile::clearWriteError();
+  }
+  /**  Close a file and force cached data and directory information
+   *  to be written to the storage device.
+   */
+  void close() {
+    FatFile::close();
+  }
+  /** Open a fstream
+   * \param[in] path file to open
+   * \param[in] mode open mode
+   *
+   * Valid open modes are (at end, ios::ate, and/or ios::binary may be added):
+   *
+   * ios::in - Open file for reading.
+   *
+   * ios::out or ios::out | ios::trunc - Truncate to 0 length, if existent,
+   * or create a file for writing only.
+   *
+   * ios::app or ios::out | ios::app - Append; open or create file for
+   * writing at end-of-file.
+   *
+   * ios::in | ios::out - Open file for update (reading and writing).
+   *
+   * ios::in | ios::out | ios::trunc - Truncate to zero length, if existent,
+   * or create file for update.
+   *
+   * ios::in | ios::app or ios::in | ios::out | ios::app - Append; open or
+   * create text file for update, writing at end of file.
+   */
+  void open(const char* path, openmode mode = in | out) {
+    FatStreamBase::open(path, mode);
+  }
+  /** \return True if stream is open else false. */
+  bool is_open() {
+    return FatFile::isOpen();
+  }
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  /** Internal - do not use
+   * \return
+   */
+  int16_t getch() {
+    return FatStreamBase::getch();
+  }
+  /** Internal - do not use
+  * \param[out] pos
+  */
+  void getpos(FatPos_t* pos) {
+    FatFile::getpos(pos);
+  }
+  /** Internal - do not use
+   * \param[in] c
+   */
+  void putch(char c) {
+    FatStreamBase::putch(c);
+  }
+  /** Internal - do not use
+   * \param[in] str
+   */
+  void putstr(const char *str) {
+    FatStreamBase::putstr(str);
+  }
+  /** Internal - do not use
+   * \param[in] pos
+   */
+  bool seekoff(off_type off, seekdir way) {
+    return FatStreamBase::seekoff(off, way);
+  }
+  bool seekpos(pos_type pos) {
+    return FatStreamBase::seekpos(pos);
+  }
+  void setpos(FatPos_t* pos) {
+    FatFile::setpos(pos);
+  }
+  bool sync() {
+    return FatStreamBase::sync();
+  }
+  pos_type tellpos() {
+    return FatStreamBase::curPosition();
+  }
+  /// @endcond
+};
+//==============================================================================
+/**
+ * \class ifstream
+ * \brief file input stream.
+ */
+class ifstream : public istream, FatStreamBase {
+ public:
+  using istream::peek;
+  ifstream() {}
+  /** Constructor with open
+   * \param[in] path file to open
+   * \param[in] mode open mode
+   */
+  explicit ifstream(const char* path, openmode mode = in) {
+    open(path, mode);
+  }
+#if DESTRUCTOR_CLOSES_FILE
+  ~ifstream() {}
+#endif  // DESTRUCTOR_CLOSES_FILE
+  /**  Close a file and force cached data and directory information
+   *  to be written to the storage device.
+   */
+  void close() {
+    FatFile::close();
+  }
+  /** \return True if stream is open else false. */
+  bool is_open() {
+    return FatFile::isOpen();
+  }
+  /** Open an ifstream
+   * \param[in] path file to open
+   * \param[in] mode open mode
+   *
+   * \a mode See fstream::open() for valid modes.
+   */
+  void open(const char* path, openmode mode = in) {
+    FatStreamBase::open(path, mode | in);
+  }
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  /** Internal - do not use
+   * \return
+   */
+  int16_t getch() {
+    return FatStreamBase::getch();
+  }
+  /** Internal - do not use
+   * \param[out] pos
+   */
+  void getpos(FatPos_t* pos) {
+    FatFile::getpos(pos);
+  }
+  /** Internal - do not use
+   * \param[in] pos
+   */
+  bool seekoff(off_type off, seekdir way) {
+    return FatStreamBase::seekoff(off, way);
+  }
+  bool seekpos(pos_type pos) {
+    return FatStreamBase::seekpos(pos);
+  }
+  void setpos(FatPos_t* pos) {
+    FatFile::setpos(pos);
+  }
+  pos_type tellpos() {
+    return FatStreamBase::curPosition();
+  }
+  /// @endcond
+};
+//==============================================================================
+/**
+ * \class ofstream
+ * \brief file output stream.
+ */
+class ofstream : public ostream, FatStreamBase {
+ public:
+  ofstream() {}
+  /** Constructor with open
+   * \param[in] path file to open
+   * \param[in] mode open mode
+   */
+  explicit ofstream(const char* path, ios::openmode mode = out) {
+    open(path, mode);
+  }
+#if DESTRUCTOR_CLOSES_FILE
+  ~ofstream() {}
+#endif  // DESTRUCTOR_CLOSES_FILE
+  /** Clear state and writeError
+   * \param[in] state new state for stream
+   */
+  void clear(iostate state = goodbit) {
+    ios::clear(state);
+    FatFile::clearWriteError();
+  }
+  /**  Close a file and force cached data and directory information
+   *  to be written to the storage device.
+   */
+  void close() {
+    FatFile::close();
+  }
+  /** Open an ofstream
+   * \param[in] path file to open
+   * \param[in] mode open mode
+   *
+   * \a mode See fstream::open() for valid modes.
+   */
+  void open(const char* path, openmode mode = out) {
+    FatStreamBase::open(path, mode | out);
+  }
+  /** \return True if stream is open else false. */
+  bool is_open() {
+    return FatFile::isOpen();
+  }
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  /**
+   * Internal do not use
+   * \param[in] c
+   */
+  void putch(char c) {
+    FatStreamBase::putch(c);
+  }
+  void putstr(const char* str) {
+    FatStreamBase::putstr(str);
+  }
+  bool seekoff(off_type off, seekdir way) {
+    return FatStreamBase::seekoff(off, way);
+  }
+  bool seekpos(pos_type pos) {
+    return FatStreamBase::seekpos(pos);
+  }
+  /**
+   * Internal do not use
+   * \param[in] b
+   */
+  bool sync() {
+    return FatStreamBase::sync();
+  }
+  pos_type tellpos() {
+    return FatStreamBase::curPosition();
+  }
+  /// @endcond
+};
+//------------------------------------------------------------------------------
+#endif  // fstream_h

hardware/_controller/src/SdFat/FatLib/ios.h

@@ -0,0 +1,423 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef ios_h
+#define ios_h
+#include "FatFile.h"
+/**
+ * \file
+ * \brief \ref ios_base and \ref ios classes
+ */
+//==============================================================================
+/**
+ * \class ios_base
+ * \brief Base class for all streams
+ */
+class ios_base {
+ public:
+  /** typedef for iostate bitmask */
+  typedef unsigned char iostate;
+  // State flags.
+  /** iostate for no flags */
+  static const iostate goodbit = 0x00;
+  /** iostate bad bit for a nonrecoverable error. */
+  static const iostate badbit = 0X01;
+  /** iostate bit for end of file reached */
+  static const iostate eofbit = 0x02;
+  /** iostate fail bit for nonfatal error */
+  static const iostate failbit = 0X04;
+  /**
+   * unsigned size that can represent maximum file size.
+   *  (violates spec - should be signed)
+   */
+  typedef uint32_t streamsize;
+  /** type for absolute seek position */
+  typedef uint32_t pos_type;
+  /** type for relative seek offset */
+  typedef int32_t off_type;
+
+  /** enumerated type for the direction of relative seeks */
+  enum seekdir {
+    /** seek relative to the beginning of the stream */
+    beg,
+    /** seek relative to the current stream position */
+    cur,
+    /** seek relative to the end of the stream */
+    end
+  };
+  /** type for format flags */
+  typedef unsigned int fmtflags;
+  /** left adjust fields */
+  static const fmtflags left       = 0x0001;
+  /** right adjust fields */
+  static const fmtflags right      = 0x0002;
+  /** fill between sign/base prefix and number */
+  static const fmtflags internal   = 0x0004;
+  /** base 10 flag*/
+  static const fmtflags dec        = 0x0008;
+  /** base 16 flag */
+  static const fmtflags hex        = 0x0010;
+  /** base 8 flag */
+  static const fmtflags oct        = 0x0020;
+  // static const fmtflags fixed      = 0x0040;
+  // static const fmtflags scientific = 0x0080;
+  /** use strings true/false for bool */
+  static const fmtflags boolalpha  = 0x0100;
+  /** use prefix 0X for hex and 0 for oct */
+  static const fmtflags showbase   = 0x0200;
+  /** always show '.' for floating numbers */
+  static const fmtflags showpoint  = 0x0400;
+  /** show + sign for nonnegative numbers */
+  static const fmtflags showpos    = 0x0800;
+  /** skip initial white space */
+  static const fmtflags skipws     = 0x1000;
+  // static const fmtflags unitbuf    = 0x2000;
+  /** use uppercase letters in number representations */
+  static const fmtflags uppercase  = 0x4000;
+  /** mask for adjustfield */
+  static const fmtflags adjustfield = left | right | internal;
+  /** mask for basefield */
+  static const fmtflags basefield   = dec | hex | oct;
+  // static const fmtflags floatfield  = scientific | fixed;
+  //----------------------------------------------------------------------------
+  /** typedef for iostream open mode */
+  typedef uint8_t openmode;
+
+  // Openmode flags.
+  /** seek to end before each write */
+  static const openmode app    = 0X4;
+  /** open and seek to end immediately after opening */
+  static const openmode ate    = 0X8;
+  /** perform input and output in binary mode (as opposed to text mode) */
+  static const openmode binary = 0X10;
+  /** open for input */
+  static const openmode in     = 0X20;
+  /** open for output */
+  static const openmode out    = 0X40;
+  /** truncate an existing stream when opening */
+  static const openmode trunc  = 0X80;
+  //----------------------------------------------------------------------------
+  ios_base() : m_fill(' '), m_fmtflags(dec | right | skipws)
+    , m_precision(2), m_width(0) {}
+  /** \return fill character */
+  char fill() {
+    return m_fill;
+  }
+  /** Set fill character
+   * \param[in] c new fill character
+   * \return old fill character
+   */
+  char fill(char c) {
+    char r = m_fill;
+    m_fill = c;
+    return r;
+  }
+  /** \return format flags */
+  fmtflags flags() const {
+    return m_fmtflags;
+  }
+  /** set format flags
+   * \param[in] fl new flag
+   * \return old flags
+   */
+  fmtflags flags(fmtflags fl) {
+    fmtflags tmp = m_fmtflags;
+    m_fmtflags = fl;
+    return tmp;
+  }
+  /** \return precision */
+  int precision() const {
+    return m_precision;
+  }
+  /** set precision
+   * \param[in] n new precision
+   * \return old precision
+   */
+  int precision(unsigned int n) {
+    int r = m_precision;
+    m_precision = n;
+    return r;
+  }
+  /** set format flags
+   * \param[in] fl new flags to be or'ed in
+   * \return old flags
+   */
+  fmtflags setf(fmtflags fl) {
+    fmtflags r = m_fmtflags;
+    m_fmtflags |= fl;
+    return r;
+  }
+  /** modify format flags
+   * \param[in] mask flags to be removed
+   * \param[in] fl flags to be set after mask bits have been cleared
+   * \return old flags
+   */
+  fmtflags setf(fmtflags fl, fmtflags mask) {
+    fmtflags r = m_fmtflags;
+    m_fmtflags &= ~mask;
+    m_fmtflags |= fl;
+    return r;
+  }
+  /** clear format flags
+   * \param[in] fl flags to be cleared
+   * \return old flags
+   */
+  void unsetf(fmtflags fl) {
+    m_fmtflags &= ~fl;
+  }
+  /** \return width */
+  unsigned width() {
+    return m_width;
+  }
+  /** set width
+   * \param[in] n new width
+   * \return old width
+   */
+  unsigned width(unsigned n) {
+    unsigned r = m_width;
+    m_width = n;
+    return r;
+  }
+
+ protected:
+  /** \return current number base */
+  uint8_t flagsToBase() {
+    uint8_t f = flags() & basefield;
+    return f == oct ? 8 : f != hex ? 10 : 16;
+  }
+
+ private:
+  char m_fill;
+  fmtflags m_fmtflags;
+  unsigned char m_precision;
+  unsigned int m_width;
+};
+//------------------------------------------------------------------------------
+/** function for boolalpha manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& boolalpha(ios_base& str) {
+  str.setf(ios_base::boolalpha);
+  return str;
+}
+/** function for dec manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& dec(ios_base& str) {
+  str.setf(ios_base::dec, ios_base::basefield);
+  return str;
+}
+/** function for hex manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& hex(ios_base& str) {
+  str.setf(ios_base::hex, ios_base::basefield);
+  return str;
+}
+/** function for internal manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& internal(ios_base& str) {
+  str.setf(ios_base::internal, ios_base::adjustfield);
+  return str;
+}
+/** function for left manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& left(ios_base& str) {
+  str.setf(ios_base::left, ios_base::adjustfield);
+  return str;
+}
+/** function for noboolalpha manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& noboolalpha(ios_base& str) {
+  str.unsetf(ios_base::boolalpha);
+  return str;
+}
+/** function for noshowbase manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& noshowbase(ios_base& str) {
+  str.unsetf(ios_base::showbase);
+  return str;
+}
+/** function for noshowpoint manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& noshowpoint(ios_base& str) {
+  str.unsetf(ios_base::showpoint);
+  return str;
+}
+/** function for noshowpos manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& noshowpos(ios_base& str) {
+  str.unsetf(ios_base::showpos);
+  return str;
+}
+/** function for noskipws manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& noskipws(ios_base& str) {
+  str.unsetf(ios_base::skipws);
+  return str;
+}
+/** function for nouppercase manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& nouppercase(ios_base& str) {
+  str.unsetf(ios_base::uppercase);
+  return str;
+}
+/** function for oct manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& oct(ios_base& str) {
+  str.setf(ios_base::oct, ios_base::basefield);
+  return str;
+}
+/** function for right manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& right(ios_base& str) {
+  str.setf(ios_base::right, ios_base::adjustfield);
+  return str;
+}
+/** function for showbase manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& showbase(ios_base& str) {
+  str.setf(ios_base::showbase);
+  return str;
+}
+/** function for showpos manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& showpos(ios_base& str) {
+  str.setf(ios_base::showpos);
+  return str;
+}
+/** function for showpoint manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& showpoint(ios_base& str) {
+  str.setf(ios_base::showpoint);
+  return str;
+}
+/** function for skipws manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& skipws(ios_base& str) {
+  str.setf(ios_base::skipws);
+  return str;
+}
+/** function for uppercase manipulator
+ * \param[in] str The stream
+ * \return The stream
+ */
+inline ios_base& uppercase(ios_base& str) {
+  str.setf(ios_base::uppercase);
+  return str;
+}
+//==============================================================================
+/**
+ * \class ios
+ * \brief Error and state information for all streams
+ */
+class ios : public ios_base {
+ public:
+  /** Create ios with no error flags set */
+  ios() : m_iostate(0) {}
+
+  /** \return null pointer if fail() is true. */
+  operator const void*() const {
+    return !fail() ? reinterpret_cast<const void*>(this) : 0;
+  }
+  /** \return true if fail() else false.  */
+  bool operator!() const {
+    return fail();
+  }
+  /** \return The iostate flags for this file. */
+  iostate rdstate() const {
+    return m_iostate;
+  }
+  /** \return True if no iostate flags are set else false. */
+  bool good() const {
+    return m_iostate == goodbit;
+  }
+  /** \return true if end of file has been reached else false.
+   *
+   * Warning: An empty file returns false before the first read.
+   *
+   * Moral: eof() is only useful in combination with fail(), to find out
+   * whether EOF was the cause for failure
+   */
+  bool eof() const {
+    return m_iostate & eofbit;
+  }
+  /** \return true if any iostate bit other than eof are set else false. */
+  bool fail() const {
+    return m_iostate & (failbit | badbit);
+  }
+  /** \return true if bad bit is set else false. */
+  bool bad() const {
+    return m_iostate & badbit;
+  }
+  /** Clear iostate bits.
+   *
+   * \param[in] state The flags you want to set after clearing all flags.
+   **/
+  void clear(iostate state = goodbit) {
+    m_iostate = state;
+  }
+  /** Set iostate bits.
+   *
+   * \param[in] state Bitts to set.
+   **/
+  void setstate(iostate state) {
+    m_iostate |= state;
+  }
+
+ private:
+  iostate m_iostate;
+};
+#endif  // ios_h

hardware/_controller/src/SdFat/FatLib/iostream.h

@@ -0,0 +1,158 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef iostream_h
+#define iostream_h
+/**
+ * \file
+ * \brief \ref iostream class
+ */
+#include "istream.h"
+#include "ostream.h"
+/** Skip white space
+ * \param[in] is the Stream
+ * \return The stream
+ */
+inline istream& ws(istream& is) {
+  is.skipWhite();
+  return is;
+}
+/** insert endline
+ * \param[in] os The Stream
+ * \return The stream
+ */
+inline ostream& endl(ostream& os) {
+  os.put('\n');
+#if ENDL_CALLS_FLUSH
+  os.flush();
+#endif  // ENDL_CALLS_FLUSH
+  return os;
+}
+/** flush manipulator
+ * \param[in] os The stream
+ * \return The stream
+ */
+inline ostream& flush(ostream& os) {
+  os.flush();
+  return os;
+}
+/**
+ * \struct setfill
+ * \brief type for setfill manipulator
+ */
+struct setfill {
+  /** fill character */
+  char c;
+  /** constructor
+   *
+   * \param[in] arg new fill character
+   */
+  explicit setfill(char arg) : c(arg) {}
+};
+/** setfill manipulator
+ * \param[in] os the stream
+ * \param[in] arg set setfill object
+ * \return the stream
+ */
+inline ostream &operator<< (ostream &os, const setfill &arg) {
+  os.fill(arg.c);
+  return os;
+}
+/** setfill manipulator
+ * \param[in] obj the stream
+ * \param[in] arg set setfill object
+ * \return the stream
+ */
+inline istream &operator>>(istream &obj, const setfill &arg) {
+  obj.fill(arg.c);
+  return obj;
+}
+//------------------------------------------------------------------------------
+/** \struct setprecision
+ * \brief type for setprecision manipulator
+ */
+struct setprecision {
+  /** precision */
+  unsigned int p;
+  /** constructor
+   * \param[in] arg new precision
+   */
+  explicit setprecision(unsigned int arg) : p(arg) {}
+};
+/** setprecision manipulator
+ * \param[in] os the stream
+ * \param[in] arg set setprecision object
+ * \return the stream
+ */
+inline ostream &operator<< (ostream &os, const setprecision &arg) {
+  os.precision(arg.p);
+  return os;
+}
+/** setprecision manipulator
+ * \param[in] is the stream
+ * \param[in] arg set setprecision object
+ * \return the stream
+ */
+inline istream &operator>>(istream &is, const setprecision &arg) {
+  is.precision(arg.p);
+  return is;
+}
+//------------------------------------------------------------------------------
+/** \struct setw
+ * \brief type for setw manipulator
+ */
+struct setw {
+  /** width */
+  unsigned w;
+  /** constructor
+   * \param[in] arg new width
+   */
+  explicit setw(unsigned arg) : w(arg) {}
+};
+/** setw manipulator
+ * \param[in] os the stream
+ * \param[in] arg set setw object
+ * \return the stream
+ */
+inline ostream &operator<< (ostream &os, const setw &arg) {
+  os.width(arg.w);
+  return os;
+}
+/** setw manipulator
+ * \param[in] is the stream
+ * \param[in] arg set setw object
+ * \return the stream
+ */
+inline istream &operator>>(istream &is, const setw &arg) {
+  is.width(arg.w);
+  return is;
+}
+//==============================================================================
+/**
+ * \class iostream
+ * \brief Input/Output stream
+ */
+class iostream : public istream, public ostream {
+};
+#endif  // iostream_h

hardware/_controller/src/SdFat/FatLib/istream.cpp

@@ -0,0 +1,396 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+//  #include <ctype.h>
+#include <float.h>
+#include <ctype.h>
+#include "istream.h"
+//------------------------------------------------------------------------------
+int istream::get() {
+  int c;
+  m_gcount = 0;
+  c = getch();
+  if (c < 0) {
+    setstate(failbit);
+  } else {
+    m_gcount = 1;
+  }
+  return c;
+}
+//------------------------------------------------------------------------------
+istream& istream::get(char& c) {
+  int tmp = get();
+  if (tmp >= 0) {
+    c = tmp;
+  }
+  return *this;
+}
+//------------------------------------------------------------------------------
+istream& istream::get(char *str, streamsize n, char delim) {
+  int c;
+  FatPos_t pos;
+  m_gcount = 0;
+  while ((m_gcount + 1)  < n) {
+    c = getch(&pos);
+    if (c < 0) {
+      break;
+    }
+    if (c == delim) {
+      setpos(&pos);
+      break;
+    }
+    str[m_gcount++] = c;
+  }
+  if (n > 0) {
+    str[m_gcount] = '\0';
+  }
+  if (m_gcount == 0) {
+    setstate(failbit);
+  }
+  return *this;
+}
+//------------------------------------------------------------------------------
+void istream::getBool(bool *b) {
+  if ((flags() & boolalpha) == 0) {
+    getNumber(b);
+    return;
+  }
+#ifdef __AVR__
+  PGM_P truePtr = PSTR("true");
+  PGM_P falsePtr = PSTR("false");
+#else  // __AVR__
+  const char* truePtr = "true";
+  const char* falsePtr = "false";
+#endif  // __AVR
+  const uint8_t true_len = 4;
+  const uint8_t false_len = 5;
+  bool trueOk = true;
+  bool falseOk = true;
+  uint8_t i = 0;
+  int c = readSkip();
+  while (1) {
+#ifdef __AVR__
+    falseOk = falseOk && c == pgm_read_byte(falsePtr + i);
+    trueOk = trueOk && c == pgm_read_byte(truePtr + i);
+#else  // __AVR__
+    falseOk = falseOk && c == falsePtr[i];
+    trueOk = trueOk && c == truePtr[i];
+#endif  // __AVR__
+    if (trueOk == false && falseOk == false) {
+      break;
+    }
+    i++;
+    if (trueOk && i == true_len) {
+      *b = true;
+      return;
+    }
+    if (falseOk && i == false_len) {
+      *b = false;
+      return;
+    }
+    c = getch();
+  }
+  setstate(failbit);
+}
+//------------------------------------------------------------------------------
+void istream::getChar(char* ch) {
+  int16_t c = readSkip();
+  if (c < 0) {
+    setstate(failbit);
+  } else {
+    *ch = c;
+  }
+}
+//------------------------------------------------------------------------------
+//
+// http://www.exploringbinary.com/category/numbers-in-computers/
+//
+int16_t const EXP_LIMIT = 100;
+static const uint32_t uint32_max = (uint32_t)-1;
+bool istream::getDouble(double* value) {
+  bool got_digit = false;
+  bool got_dot = false;
+  bool neg;
+  int16_t c;
+  bool expNeg = false;
+  int16_t exp = 0;
+  int16_t fracExp = 0;
+  uint32_t frac = 0;
+  FatPos_t endPos;
+  double pow10;
+  double v;
+
+  getpos(&endPos);
+  c = readSkip();
+  neg = c == '-';
+  if (c == '-' || c == '+') {
+    c = getch();
+  }
+  while (1) {
+    if (isdigit(c)) {
+      got_digit = true;
+      if (frac < uint32_max/10) {
+        frac = frac * 10 + (c  - '0');
+        if (got_dot) {
+          fracExp--;
+        }
+      } else {
+        if (!got_dot) {
+          fracExp++;
+        }
+      }
+    } else if (!got_dot && c == '.') {
+      got_dot = true;
+    } else {
+      break;
+    }
+    if (fracExp < -EXP_LIMIT || fracExp > EXP_LIMIT) {
+      goto fail;
+    }
+    c = getch(&endPos);
+  }
+  if (!got_digit) {
+    goto fail;
+  }
+  if (c == 'e' || c == 'E') {
+    c = getch();
+    expNeg = c == '-';
+    if (c == '-' || c == '+') {
+      c = getch();
+    }
+    while (isdigit(c)) {
+      if (exp > EXP_LIMIT) {
+        goto fail;
+      }
+      exp = exp * 10 + (c - '0');
+      c = getch(&endPos);
+    }
+  }
+  v = static_cast<double>(frac);
+  exp = expNeg ? fracExp - exp : fracExp + exp;
+  expNeg = exp < 0;
+  if (expNeg) {
+    exp = -exp;
+  }
+  pow10 = 10.0;
+  while (exp) {
+    if (exp & 1) {
+      if (expNeg) {
+        // check for underflow
+        if (v < FLT_MIN * pow10  && frac != 0) {
+          goto fail;
+        }
+        v /= pow10;
+      } else {
+        // check for overflow
+        if (v > FLT_MAX / pow10) {
+          goto fail;
+        }
+        v *= pow10;
+      }
+    }
+    pow10 *= pow10;
+    exp >>= 1;
+  }
+  setpos(&endPos);
+  *value = neg ? -v : v;
+  return true;
+
+fail:
+  // error restore position to last good place
+  setpos(&endPos);
+  setstate(failbit);
+  return false;
+}
+//------------------------------------------------------------------------------
+
+istream& istream::getline(char *str, streamsize n, char delim) {
+  FatPos_t pos;
+  int c;
+  m_gcount = 0;
+  if (n > 0) {
+    str[0] = '\0';
+  }
+  while (1) {
+    c = getch(&pos);
+    if (c < 0) {
+      break;
+    }
+    if (c == delim) {
+      m_gcount++;
+      break;
+    }
+    if ((m_gcount + 1)  >=  n) {
+      setpos(&pos);
+      setstate(failbit);
+      break;
+    }
+    str[m_gcount++] = c;
+    str[m_gcount] = '\0';
+  }
+  if (m_gcount == 0) {
+    setstate(failbit);
+  }
+  return *this;
+}
+//------------------------------------------------------------------------------
+bool istream::getNumber(uint32_t posMax, uint32_t negMax, uint32_t* num) {
+  int16_t c;
+  int8_t any = 0;
+  int8_t have_zero = 0;
+  uint8_t neg;
+  uint32_t val = 0;
+  uint32_t cutoff;
+  uint8_t cutlim;
+  FatPos_t endPos;
+  uint8_t f = flags() & basefield;
+  uint8_t base = f == oct ? 8 : f != hex ? 10 : 16;
+  getpos(&endPos);
+  c = readSkip();
+
+  neg = c == '-' ? 1 : 0;
+  if (c == '-' || c == '+') {
+    c = getch();
+  }
+
+  if (base == 16 && c == '0') {  // TESTSUITE
+    c = getch(&endPos);
+    if (c == 'X' || c == 'x') {
+      c = getch();
+      // remember zero in case no hex digits follow x/X
+      have_zero = 1;
+    } else {
+      any = 1;
+    }
+  }
+  // set values for overflow test
+  cutoff = neg ? negMax : posMax;
+  cutlim = cutoff % base;
+  cutoff /= base;
+
+  while (1) {
+    if (isdigit(c)) {
+      c -= '0';
+    } else if (isalpha(c)) {
+      c -= isupper(c) ? 'A' - 10 : 'a' - 10;
+    } else {
+      break;
+    }
+    if (c >= base) {
+      break;
+    }
+    if (val > cutoff || (val == cutoff && c > cutlim)) {
+      // indicate overflow error
+      any = -1;
+      break;
+    }
+    val = val * base + c;
+    c = getch(&endPos);
+    any = 1;
+  }
+  setpos(&endPos);
+  if (any > 0 || (have_zero && any >= 0)) {
+    *num =  neg ? -val : val;
+    return true;
+  }
+  setstate(failbit);
+  return false;
+}
+//------------------------------------------------------------------------------
+void istream::getStr(char *str) {
+  FatPos_t pos;
+  uint16_t i = 0;
+  uint16_t m = width() ? width() - 1 : 0XFFFE;
+  if (m != 0) {
+    getpos(&pos);
+    int c = readSkip();
+
+    while (i < m) {
+      if (c < 0) {
+        break;
+      }
+      if (isspace(c)) {
+        setpos(&pos);
+        break;
+      }
+      str[i++] = c;
+      c = getch(&pos);
+    }
+  }
+  str[i] = '\0';
+  if (i == 0) {
+    setstate(failbit);
+  }
+  width(0);
+}
+//------------------------------------------------------------------------------
+istream& istream::ignore(streamsize n, int delim) {
+  int c;
+  m_gcount = 0;
+  while (m_gcount < n) {
+    c = getch();
+    if (c < 0) {
+      break;
+    }
+    m_gcount++;
+    if (c == delim) {
+      break;
+    }
+  }
+  return *this;
+}
+//------------------------------------------------------------------------------
+int istream::peek() {
+  int16_t c;
+  FatPos_t pos;
+  m_gcount = 0;
+  getpos(&pos);
+  c = getch();
+  if (c < 0) {
+    if (!bad()) {
+      setstate(eofbit);
+    }
+  } else {
+    setpos(&pos);
+  }
+  return c;
+}
+//------------------------------------------------------------------------------
+int16_t istream::readSkip() {
+  int16_t c;
+  do {
+    c = getch();
+  } while (isspace(c) && (flags() & skipws));
+  return c;
+}
+//------------------------------------------------------------------------------
+/** used to implement ws() */
+void istream::skipWhite() {
+  int c;
+  FatPos_t pos;
+  do {
+    c = getch(&pos);
+  } while (isspace(c));
+  setpos(&pos);
+}

hardware/_controller/src/SdFat/FatLib/istream.h

@@ -0,0 +1,384 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef istream_h
+#define istream_h
+/**
+ * \file
+ * \brief \ref istream class
+ */
+#include "ios.h"
+
+/**
+ * \class istream
+ * \brief Input Stream
+ */
+class istream : public virtual ios {
+ public:
+  istream() {}
+  /** call manipulator
+   * \param[in] pf function to call
+   * \return the stream
+   */
+  istream& operator>>(istream& (*pf)(istream& str)) {
+    return pf(*this);
+  }
+  /** call manipulator
+   * \param[in] pf function to call
+   * \return the stream
+   */
+  istream& operator>>(ios_base& (*pf)(ios_base& str)) {
+    pf(*this);
+    return *this;
+  }
+  /** call manipulator
+   * \param[in] pf function to call
+   * \return the stream
+   */
+  istream& operator>>(ios& (*pf)(ios& str)) {
+    pf(*this);
+    return *this;
+  }
+  /**
+   * Extract a character string
+   * \param[out] str location to store the string.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(char *str) {
+    getStr(str);
+    return *this;
+  }
+  /**
+   * Extract a character
+   * \param[out] ch location to store the character.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(char& ch) {
+    getChar(&ch);
+    return *this;
+  }
+  /**
+   * Extract a character string
+   * \param[out] str location to store the string.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(signed char *str) {
+    getStr(reinterpret_cast<char*>(str));
+    return *this;
+  }
+  /**
+   * Extract a character
+   * \param[out] ch location to store the character.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(signed char& ch) {
+    getChar(reinterpret_cast<char*>(&ch));
+    return *this;
+  }
+  /**
+   * Extract a character string
+   * \param[out] str location to store the string.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(unsigned char *str) {
+    getStr(reinterpret_cast<char*>(str));
+    return *this;
+  }
+  /**
+   * Extract a character
+   * \param[out] ch location to store the character.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(unsigned char& ch) {
+    getChar(reinterpret_cast<char*>(&ch));
+    return *this;
+  }
+  /**
+   * Extract a value of type bool.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>>(bool& arg) {
+    getBool(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type short.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>>(short& arg) {  // NOLINT
+    getNumber(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type unsigned short.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>>(unsigned short& arg) {  // NOLINT
+    getNumber(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type int.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>>(int& arg) {
+    getNumber(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type unsigned int.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>>(unsigned int& arg) {
+    getNumber(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type long.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>>(long& arg) {  // NOLINT
+    getNumber(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type unsigned long.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>>(unsigned long& arg) {  // NOLINT
+    getNumber(&arg);
+    return *this;
+  }
+  /**
+  * Extract a value of type double.
+  * \param[out] arg location to store the value.
+  * \return Is always *this.  Failure is indicated by the state of *this.
+  */
+  istream &operator>> (double& arg) {
+    getDouble(&arg);
+    return *this;
+  }
+  /**
+   * Extract a value of type float.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream &operator>> (float& arg) {
+    double v;
+    getDouble(&v);
+    arg = v;
+    return *this;
+  }
+  /**
+   * Extract a value of type void*.
+   * \param[out] arg location to store the value.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& operator>> (void*& arg) {
+    uint32_t val;
+    getNumber(&val);
+    arg = reinterpret_cast<void*>(val);
+    return *this;
+  }
+  /**
+   * \return The number of characters extracted by the last unformatted
+   * input function.
+   */
+  streamsize gcount() const {
+    return m_gcount;
+  }
+  /**
+   * Extract a character if one is available.
+   *
+   * \return The character or -1 if a failure occurs.  A failure is indicated
+   * by the stream state.
+   */
+  int get();
+  /**
+   * Extract a character if one is available.
+   *
+   * \param[out] ch location to receive the extracted character.
+   *
+   * \return always returns *this. A failure is indicated by the stream state.
+   */
+  istream& get(char& ch);
+  /**
+   * Extract characters.
+   *
+   * \param[out] str Location to receive extracted characters.
+   * \param[in] n Size of str.
+   * \param[in] delim Delimiter
+   *
+   * Characters are extracted until extraction fails, n is less than 1,
+   * n-1 characters are extracted, or the next character equals
+   * \a delim (delim is not extracted). If no characters are extracted
+   * failbit is set.  If end-of-file occurs the eofbit is set.
+   *
+   * \return always returns *this. A failure is indicated by the stream state.
+   */
+  istream& get(char *str, streamsize n, char delim = '\n');
+  /**
+   * Extract characters
+   *
+   * \param[out] str Location to receive extracted characters.
+   * \param[in] n Size of str.
+   * \param[in] delim Delimiter
+   *
+   * Characters are extracted until extraction fails,
+   * the next character equals \a delim (delim is extracted), or n-1
+   * characters are extracted.
+   *
+   * The failbit is set if no characters are extracted or n-1 characters
+   * are extracted.  If end-of-file occurs the eofbit is set.
+   *
+   * \return always returns *this. A failure is indicated by the stream state.
+   */
+  istream& getline(char *str, streamsize n, char delim = '\n');
+  /**
+   * Extract characters and discard them.
+   *
+   * \param[in] n maximum number of characters to ignore.
+   * \param[in] delim Delimiter.
+   *
+   * Characters are extracted until extraction fails, \a n characters
+   * are extracted, or the next input character equals \a delim
+   * (the delimiter is extracted).  If end-of-file occurs the eofbit is set.
+   *
+   * Failures are indicated by the state of the stream.
+   *
+   * \return *this
+   *
+   */
+  istream& ignore(streamsize n = 1, int delim = -1);
+  /**
+   * Return the next available character without consuming it.
+   *
+   * \return The character if the stream state is good else -1;
+   *
+   */
+  int peek();
+// istream& read(char *str, streamsize count);
+// streamsize readsome(char *str, streamsize count);
+  /**
+   * \return the stream position
+   */
+  pos_type tellg() {
+    return tellpos();
+  }
+  /**
+   * Set the stream position
+   * \param[in] pos The absolute position in which to move the read pointer.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& seekg(pos_type pos) {
+    if (!seekpos(pos)) {
+      setstate(failbit);
+    }
+    return *this;
+  }
+  /**
+   * Set the stream position.
+   *
+   * \param[in] off An offset to move the read pointer relative to way.
+   * \a off is a signed 32-bit int so the offset is limited to +- 2GB.
+   * \param[in] way One of ios::beg, ios::cur, or ios::end.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  istream& seekg(off_type off, seekdir way) {
+    if (!seekoff(off, way)) {
+      setstate(failbit);
+    }
+    return *this;
+  }
+  void skipWhite();
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  /**
+  * Internal - do not use
+  * \return
+  */
+  virtual int16_t getch() = 0;
+  /**
+   * Internal - do not use
+   * \param[out] pos
+   * \return
+   */
+  int16_t getch(FatPos_t* pos) {
+    getpos(pos);
+    return getch();
+  }
+  /**
+   * Internal - do not use
+   * \param[out] pos
+   */
+  virtual void getpos(FatPos_t* pos) = 0;
+  /**
+   * Internal - do not use
+   * \param[in] pos
+   */
+  virtual bool seekoff(off_type off, seekdir way) = 0;
+  virtual bool seekpos(pos_type pos) = 0;
+  virtual void setpos(FatPos_t* pos) = 0;
+  virtual pos_type tellpos() = 0;
+
+  /// @endcond
+ private:
+  void getBool(bool *b);
+  void getChar(char* ch);
+  bool getDouble(double* value);
+  template <typename T>  void getNumber(T* value);
+  bool getNumber(uint32_t posMax, uint32_t negMax, uint32_t* num);
+  void getStr(char *str);
+  int16_t readSkip();
+
+  size_t m_gcount;
+};
+//------------------------------------------------------------------------------
+template <typename T>
+void istream::getNumber(T* value) {
+  uint32_t tmp;
+  if ((T)-1 < 0) {
+    // number is signed, max positive value
+    uint32_t const m = ((uint32_t)-1) >> (33 - sizeof(T) * 8);
+    // max absolute value of negative number is m + 1.
+    if (getNumber(m, m + 1, &tmp)) {
+      *value = (T)tmp;
+    }
+  } else {
+    // max unsigned value for T
+    uint32_t const m = (T)-1;
+    if (getNumber(m, m, &tmp)) {
+      *value = (T)tmp;
+    }
+  }
+}
+#endif  // istream_h

hardware/_controller/src/SdFat/FatLib/ostream.cpp

@@ -0,0 +1,196 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include <string.h>
+#include "ostream.h"
+#ifndef PSTR
+#define PSTR(x) x
+#endif
+//------------------------------------------------------------------------------
+void ostream::do_fill(unsigned len) {
+  for (; len < width(); len++) {
+    putch(fill());
+  }
+  width(0);
+}
+//------------------------------------------------------------------------------
+void ostream::fill_not_left(unsigned len) {
+  if ((flags() & adjustfield) != left) {
+    do_fill(len);
+  }
+}
+//------------------------------------------------------------------------------
+char* ostream::fmtNum(uint32_t n, char *ptr, uint8_t base) {
+  char a = flags() & uppercase ? 'A' - 10 : 'a' - 10;
+  do {
+    uint32_t m = n;
+    n /= base;
+    char c = m - base * n;
+    *--ptr = c < 10 ? c + '0' : c + a;
+  } while (n);
+  return ptr;
+}
+//------------------------------------------------------------------------------
+void ostream::putBool(bool b) {
+  if (flags() & boolalpha) {
+    if (b) {
+      putPgm(PSTR("true"));
+    } else {
+      putPgm(PSTR("false"));
+    }
+  } else {
+    putChar(b ? '1' : '0');
+  }
+}
+//------------------------------------------------------------------------------
+void ostream::putChar(char c) {
+  fill_not_left(1);
+  putch(c);
+  do_fill(1);
+}
+//------------------------------------------------------------------------------
+void ostream::putDouble(double n) {
+  uint8_t nd = precision();
+  double round = 0.5;
+  char sign;
+  char buf[13];  // room for sign, 10 digits, '.', and zero byte
+  char *end = buf + sizeof(buf) - 1;
+  char *str = end;
+  // terminate string
+  *end = '\0';
+
+  // get sign and make nonnegative
+  if (n < 0.0) {
+    sign = '-';
+    n = -n;
+  } else {
+    sign = flags() & showpos ? '+' : '\0';
+  }
+  // check for larger than uint32_t
+  if (n > 4.0E9) {
+    putPgm(PSTR("BIG FLT"));
+    return;
+  }
+  // round up and separate int and fraction parts
+  for (uint8_t i = 0; i < nd; ++i) {
+    round *= 0.1;
+  }
+  n += round;
+  uint32_t intPart = n;
+  double fractionPart = n - intPart;
+
+  // format intPart and decimal point
+  if (nd || (flags() & showpoint)) {
+    *--str = '.';
+  }
+  str = fmtNum(intPart, str, 10);
+
+  // calculate length for fill
+  uint8_t len = sign ? 1 : 0;
+  len += nd + end - str;
+
+  // extract adjust field
+  fmtflags adj = flags() & adjustfield;
+  if (adj == internal) {
+    if (sign) {
+      putch(sign);
+    }
+    do_fill(len);
+  } else {
+    // do fill for internal or right
+    fill_not_left(len);
+    if (sign) {
+      *--str = sign;
+    }
+  }
+  putstr(str);
+  // output fraction
+  while (nd-- > 0) {
+    fractionPart *= 10.0;
+    int digit = static_cast<int>(fractionPart);
+    putch(digit + '0');
+    fractionPart -= digit;
+  }
+  // do fill if not done above
+  do_fill(len);
+}
+//------------------------------------------------------------------------------
+void ostream::putNum(int32_t n) {
+  bool neg = n < 0 && flagsToBase() == 10;
+  if (neg) {
+    n = -n;
+  }
+  putNum(n, neg);
+}
+//------------------------------------------------------------------------------
+void ostream::putNum(uint32_t n, bool neg) {
+  char buf[13];
+  char* end = buf + sizeof(buf) - 1;
+  char* num;
+  char* str;
+  uint8_t base = flagsToBase();
+  *end = '\0';
+  str = num = fmtNum(n, end, base);
+  if (base == 10) {
+    if (neg) {
+      *--str = '-';
+    } else if (flags() & showpos) {
+      *--str = '+';
+    }
+  } else if (flags() & showbase) {
+    if (flags() & hex) {
+      *--str = flags() & uppercase ? 'X' : 'x';
+    }
+    *--str = '0';
+  }
+  uint8_t len = end - str;
+  fmtflags adj = flags() & adjustfield;
+  if (adj == internal) {
+    while (str < num) {
+      putch(*str++);
+    }
+  }
+  if (adj != left) {
+    do_fill(len);
+  }
+  putstr(str);
+  do_fill(len);
+}
+//------------------------------------------------------------------------------
+void ostream::putPgm(const char* str) {
+  int n;
+  for (n = 0; pgm_read_byte(&str[n]); n++) {}
+  fill_not_left(n);
+  for (uint8_t c; (c = pgm_read_byte(str)); str++) {
+    putch(c);
+  }
+  do_fill(n);
+}
+//------------------------------------------------------------------------------
+void ostream::putStr(const char *str) {
+  unsigned n = strlen(str);
+  fill_not_left(n);
+  putstr(str);
+  do_fill(n);
+}

hardware/_controller/src/SdFat/FatLib/ostream.h

@@ -0,0 +1,276 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef ostream_h
+#define ostream_h
+/**
+ * \file
+ * \brief \ref ostream class
+ */
+#include "ios.h"
+//==============================================================================
+/**
+ * \class ostream
+ * \brief Output Stream
+ */
+class ostream : public virtual ios {
+ public:
+  ostream() {}
+
+  /** call manipulator
+   * \param[in] pf function to call
+   * \return the stream
+   */
+  ostream& operator<< (ostream& (*pf)(ostream& str)) {
+    return pf(*this);
+  }
+  /** call manipulator
+   * \param[in] pf function to call
+   * \return the stream
+   */
+  ostream& operator<< (ios_base& (*pf)(ios_base& str)) {
+    pf(*this);
+    return *this;
+  }
+  /** Output bool
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (bool arg) {
+    putBool(arg);
+    return *this;
+  }
+  /** Output string
+   * \param[in] arg string to output
+   * \return the stream
+   */
+  ostream &operator<< (const char *arg) {
+    putStr(arg);
+    return *this;
+  }
+  /** Output string
+   * \param[in] arg string to output
+   * \return the stream
+   */
+  ostream &operator<< (const signed char *arg) {
+    putStr((const char*)arg);
+    return *this;
+  }
+  /** Output string
+   * \param[in] arg string to output
+   * \return the stream
+   */
+  ostream &operator<< (const unsigned char *arg) {
+    putStr((const char*)arg);
+    return *this;
+  }
+  /** Output character
+   * \param[in] arg character to output
+   * \return the stream
+   */
+  ostream &operator<< (char arg) {
+    putChar(arg);
+    return *this;
+  }
+  /** Output character
+   * \param[in] arg character to output
+   * \return the stream
+   */
+  ostream &operator<< (signed char arg) {
+    putChar(static_cast<char>(arg));
+    return *this;
+  }
+  /** Output character
+   * \param[in] arg character to output
+   * \return the stream
+   */
+  ostream &operator<< (unsigned char arg) {
+    putChar(static_cast<char>(arg));
+    return *this;
+  }
+  /** Output double
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (double arg) {
+    putDouble(arg);
+    return *this;
+  }
+  /** Output float
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (float arg) {
+    putDouble(arg);
+    return *this;
+  }
+  /** Output signed short
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (short arg) {  // NOLINT
+    putNum((int32_t)arg);
+    return *this;
+  }
+  /** Output unsigned short
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (unsigned short arg) {  // NOLINT
+    putNum((uint32_t)arg);
+    return *this;
+  }
+  /** Output signed int
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (int arg) {
+    putNum((int32_t)arg);
+    return *this;
+  }
+  /** Output unsigned int
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (unsigned int arg) {
+    putNum((uint32_t)arg);
+    return *this;
+  }
+  /** Output signed long
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (long arg) {  // NOLINT
+    putNum((int32_t)arg);
+    return *this;
+  }
+  /** Output unsigned long
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream &operator<< (unsigned long arg) {  // NOLINT
+    putNum((uint32_t)arg);
+    return *this;
+  }
+  /** Output pointer
+   * \param[in] arg value to output
+   * \return the stream
+   */
+  ostream& operator<< (const void* arg) {
+    putNum(reinterpret_cast<uint32_t>(arg));
+    return *this;
+  }
+#if (defined(ARDUINO) && ENABLE_ARDUINO_FEATURES) || defined(DOXYGEN)
+  /** Output a string from flash using the Arduino F() macro.
+   * \param[in] arg pointing to flash string
+   * \return the stream
+   */
+  ostream &operator<< (const __FlashStringHelper *arg) {
+    putPgm(reinterpret_cast<const char*>(arg));
+    return *this;
+  }
+#endif  // (defined(ARDUINO) && ENABLE_ARDUINO_FEATURES) || defined(DOXYGEN)
+  /**
+   * Puts a character in a stream.
+   *
+   * The unformatted output function inserts the element \a ch.
+   * It returns *this.
+   *
+   * \param[in] ch The character
+   * \return A reference to the ostream object.
+   */
+  ostream& put(char ch) {
+    putch(ch);
+    return *this;
+  }
+//  ostream& write(char *str, streamsize count);
+  /**
+   * Flushes the buffer associated with this stream. The flush function
+   * calls the sync function of the associated file.
+   * \return A reference to the ostream object.
+   */
+  ostream& flush() {
+    if (!sync()) {
+      setstate(badbit);
+    }
+    return *this;
+  }
+  /**
+   * \return the stream position
+   */
+  pos_type tellp() {
+    return tellpos();
+  }
+  /**
+   * Set the stream position
+   * \param[in] pos The absolute position in which to move the write pointer.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  ostream& seekp(pos_type pos) {
+    if (!seekpos(pos)) {
+      setstate(failbit);
+    }
+    return *this;
+  }
+  /**
+   * Set the stream position.
+   *
+   * \param[in] off An offset to move the write pointer relative to way.
+   * \a off is a signed 32-bit int so the offset is limited to +- 2GB.
+   * \param[in] way One of ios::beg, ios::cur, or ios::end.
+   * \return Is always *this.  Failure is indicated by the state of *this.
+   */
+  ostream& seekp(off_type off, seekdir way) {
+    if (!seekoff(off, way)) {
+      setstate(failbit);
+    }
+    return *this;
+  }
+
+ protected:
+  /// @cond SHOW_PROTECTED
+  /** Put character with binary/text conversion
+   * \param[in] ch character to write
+   */
+  virtual void putch(char ch) = 0;
+  virtual void putstr(const char *str) = 0;
+  virtual bool seekoff(off_type pos, seekdir way) = 0;
+  virtual bool seekpos(pos_type pos) = 0;
+  virtual bool sync() = 0;
+
+  virtual pos_type tellpos() = 0;
+  /// @endcond
+ private:
+  void do_fill(unsigned len);
+  void fill_not_left(unsigned len);
+  char* fmtNum(uint32_t n, char *ptr, uint8_t base);
+  void putBool(bool b);
+  void putChar(char c);
+  void putDouble(double n);
+  void putNum(uint32_t n, bool neg = false);
+  void putNum(int32_t n);
+  void putPgm(const char* str);
+  void putStr(const char* str);
+};
+#endif  // ostream_h

hardware/_controller/src/SdFat/FreeStack.h

@@ -0,0 +1,61 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef FreeStack_h
+#define FreeStack_h
+/**
+ * \file
+ * \brief FreeStack() function.
+ */
+#if defined(__AVR__) || defined(DOXYGEN)
+/** boundary between stack and heap. */
+extern char *__brkval;
+/** End of bss section.*/
+extern char __bss_end;
+/** Amount of free stack space.
+ * \return The number of free bytes.
+ */
+static int FreeStack() {
+  char* sp = reinterpret_cast<char*>(SP);
+  return __brkval ? sp - __brkval : sp - &__bss_end;
+//  char top;
+//  return __brkval ? &top - __brkval : &top - &__bss_end;
+}
+#elif defined(PLATFORM_ID)  // Particle board
+static int FreeStack() {
+  return System.freeMemory();
+}
+#elif defined(__arm__)
+extern "C" char* sbrk(int incr);
+static int FreeStack() {
+  char top = 't';
+  return &top - reinterpret_cast<char*>(sbrk(0));
+}
+#else
+#warning FreeStack is not defined for this system.
+static int FreeStack() {
+  return 0;
+}
+#endif
+#endif  // FreeStack_h

hardware/_controller/src/SdFat/MinimumSerial.cpp

@@ -0,0 +1,71 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "SysCall.h"
+#if defined(UDR0) || defined(DOXYGEN)
+#include "MinimumSerial.h"
+const uint16_t MIN_2X_BAUD = F_CPU/(4*(2*0XFFF + 1)) + 1;
+//------------------------------------------------------------------------------
+int MinimumSerial::available() {
+  return UCSR0A & (1 << RXC0) ? 1 : 0;
+}
+//------------------------------------------------------------------------------
+void MinimumSerial::begin(uint32_t baud) {
+  uint16_t baud_setting;
+  // don't worry, the compiler will squeeze out F_CPU != 16000000UL
+  if ((F_CPU != 16000000UL || baud != 57600) && baud > MIN_2X_BAUD) {
+    // Double the USART Transmission Speed
+    UCSR0A = 1 << U2X0;
+    baud_setting = (F_CPU / 4 / baud - 1) / 2;
+  } else {
+    // hardcoded exception for compatibility with the bootloader shipped
+    // with the Duemilanove and previous boards and the firmware on the 8U2
+    // on the Uno and Mega 2560.
+    UCSR0A = 0;
+    baud_setting = (F_CPU / 8 / baud - 1) / 2;
+  }
+  // assign the baud_setting
+  UBRR0H = baud_setting >> 8;
+  UBRR0L = baud_setting;
+  // enable transmit and receive
+  UCSR0B |= (1 << TXEN0) | (1 << RXEN0);
+}
+//------------------------------------------------------------------------------
+void MinimumSerial::flush() {
+  while (((1 << UDRIE0) & UCSR0B) || !(UCSR0A & (1 << UDRE0))) {}
+}
+//------------------------------------------------------------------------------
+int MinimumSerial::read() {
+  if (UCSR0A & (1 << RXC0)) {
+    return UDR0;
+  }
+  return -1;
+}
+//------------------------------------------------------------------------------
+size_t MinimumSerial::write(uint8_t b) {
+  while (((1 << UDRIE0) & UCSR0B) || !(UCSR0A & (1 << UDRE0))) {}
+  UDR0 = b;
+  return 1;
+}
+#endif  //  defined(UDR0) || defined(DOXYGEN)

hardware/_controller/src/SdFat/MinimumSerial.h

@@ -0,0 +1,67 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+ /**
+ * \file
+ * \brief Minimal AVR Serial driver.
+ */
+#ifndef MinimumSerial_h
+#define MinimumSerial_h
+#include "SysCall.h"
+//==============================================================================
+/**
+ * \class MinimumSerial
+ * \brief mini serial class for the %SdFat library.
+ */
+class MinimumSerial : public Print {
+ public:
+  /** \return true for hardware serial */
+  operator bool() { return true; }
+  /**
+   * \return one if data is available.
+   */
+  int available();
+  /**
+   * Set baud rate for serial port zero and enable in non interrupt mode.
+   * Do not call this function if you use another serial library.
+   * \param[in] baud rate
+   */
+  void begin(uint32_t baud);
+  /** Wait for write done. */
+  void flush();
+  /**
+   *  Unbuffered read
+   *  \return -1 if no character is available or an available character.
+   */
+  int read();
+  /**
+   * Unbuffered write
+   *
+   * \param[in] b byte to write.
+   * \return 1
+   */
+  size_t write(uint8_t b);
+  using Print::write;
+};
+#endif  // MinimumSerial_h

hardware/_controller/src/SdFat/SdCard/SdInfo.h

@@ -0,0 +1,485 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SdInfo_h
+#define SdInfo_h
+#include <stdint.h>
+// Based on the document:
+//
+// SD Specifications
+// Part 1
+// Physical Layer
+// Simplified Specification
+// Version 5.00
+// Aug 10, 2016
+//
+// https://www.sdcard.org/downloads/pls/
+//------------------------------------------------------------------------------
+// SD card errors
+// See the SD Specification for command info.
+typedef enum {
+  SD_CARD_ERROR_NONE = 0,
+
+  // Basic commands and switch command.
+  SD_CARD_ERROR_CMD0 = 0X20,
+  SD_CARD_ERROR_CMD2,
+  SD_CARD_ERROR_CMD3,
+  SD_CARD_ERROR_CMD6,
+  SD_CARD_ERROR_CMD7,
+  SD_CARD_ERROR_CMD8,
+  SD_CARD_ERROR_CMD9,
+  SD_CARD_ERROR_CMD10,
+  SD_CARD_ERROR_CMD12,
+  SD_CARD_ERROR_CMD13,
+
+  // Read, write, erase, and extension commands.
+  SD_CARD_ERROR_CMD17 = 0X30,
+  SD_CARD_ERROR_CMD18,
+  SD_CARD_ERROR_CMD24,
+  SD_CARD_ERROR_CMD25,
+  SD_CARD_ERROR_CMD32,
+  SD_CARD_ERROR_CMD33,
+  SD_CARD_ERROR_CMD38,
+  SD_CARD_ERROR_CMD58,
+  SD_CARD_ERROR_CMD59,
+
+  // Application specific commands.
+  SD_CARD_ERROR_ACMD6 = 0X40,
+  SD_CARD_ERROR_ACMD13,
+  SD_CARD_ERROR_ACMD23,
+  SD_CARD_ERROR_ACMD41,
+
+  // Read/write errors
+  SD_CARD_ERROR_READ = 0X50,
+  SD_CARD_ERROR_READ_CRC,
+  SD_CARD_ERROR_READ_FIFO,
+  SD_CARD_ERROR_READ_REG,
+  SD_CARD_ERROR_READ_START,
+  SD_CARD_ERROR_READ_TIMEOUT,
+  SD_CARD_ERROR_STOP_TRAN,
+  SD_CARD_ERROR_WRITE,
+  SD_CARD_ERROR_WRITE_FIFO,
+  SD_CARD_ERROR_WRITE_START,
+  SD_CARD_ERROR_FLASH_PROGRAMMING,
+  SD_CARD_ERROR_WRITE_TIMEOUT,
+
+    // Misc errors.
+  SD_CARD_ERROR_DMA = 0X60,
+  SD_CARD_ERROR_ERASE,
+  SD_CARD_ERROR_ERASE_SINGLE_BLOCK,
+  SD_CARD_ERROR_ERASE_TIMEOUT,
+  SD_CARD_ERROR_INIT_NOT_CALLED,
+  SD_CARD_ERROR_FUNCTION_NOT_SUPPORTED
+} sd_error_code_t;
+//------------------------------------------------------------------------------
+// card types
+/** Standard capacity V1 SD card */
+const uint8_t SD_CARD_TYPE_SD1  = 1;
+/** Standard capacity V2 SD card */
+const uint8_t SD_CARD_TYPE_SD2  = 2;
+/** High Capacity SD card */
+const uint8_t SD_CARD_TYPE_SDHC = 3;
+//------------------------------------------------------------------------------
+#define SD_SCK_HZ(maxSpeed) SPISettings(maxSpeed, MSBFIRST, SPI_MODE0)
+#define SD_SCK_MHZ(maxMhz) SPISettings(1000000UL*maxMhz, MSBFIRST, SPI_MODE0)
+// SPI divisor constants
+/** Set SCK to max rate of F_CPU/2. */
+#define SPI_FULL_SPEED SD_SCK_MHZ(50)
+/** Set SCK rate to F_CPU/3 for Due */
+#define SPI_DIV3_SPEED SD_SCK_HZ(F_CPU/3)
+/** Set SCK rate to F_CPU/4. */
+#define SPI_HALF_SPEED SD_SCK_HZ(F_CPU/4)
+/** Set SCK rate to F_CPU/6 for Due */
+#define SPI_DIV6_SPEED SD_SCK_HZ(F_CPU/6)
+/** Set SCK rate to F_CPU/8. */
+#define SPI_QUARTER_SPEED SD_SCK_HZ(F_CPU/8)
+/** Set SCK rate to F_CPU/16. */
+#define SPI_EIGHTH_SPEED SD_SCK_HZ(F_CPU/16)
+/** Set SCK rate to F_CPU/32. */
+#define SPI_SIXTEENTH_SPEED SD_SCK_HZ(F_CPU/32)
+//------------------------------------------------------------------------------
+// SD operation timeouts
+/** CMD0 retry count */
+const uint8_t SD_CMD0_RETRY = 10;
+/** command timeout ms */
+const uint16_t SD_CMD_TIMEOUT = 300;
+/** init timeout ms */
+const uint16_t SD_INIT_TIMEOUT = 2000;
+/** erase timeout ms */
+const uint16_t SD_ERASE_TIMEOUT = 10000;
+/** read timeout ms */
+const uint16_t SD_READ_TIMEOUT = 1000;
+/** write time out ms */
+const uint16_t SD_WRITE_TIMEOUT = 2000;
+//------------------------------------------------------------------------------
+// SD card commands
+/** GO_IDLE_STATE - init card in spi mode if CS low */
+const uint8_t CMD0 = 0X00;
+/** ALL_SEND_CID - Asks any card to send the CID. */
+const uint8_t CMD2 = 0X02;
+/** SEND_RELATIVE_ADDR - Ask the card to publish a new RCA. */
+const uint8_t CMD3 = 0X03;
+/** SWITCH_FUNC - Switch Function Command */
+const uint8_t CMD6 = 0X06;
+/** SELECT/DESELECT_CARD - toggles between the stand-by and transfer states. */
+const uint8_t CMD7 = 0X07;
+/** SEND_IF_COND - verify SD Memory Card interface operating condition.*/
+const uint8_t CMD8 = 0X08;
+/** SEND_CSD - read the Card Specific Data (CSD register) */
+const uint8_t CMD9 = 0X09;
+/** SEND_CID - read the card identification information (CID register) */
+const uint8_t CMD10 = 0X0A;
+/** STOP_TRANSMISSION - end multiple block read sequence */
+const uint8_t CMD12 = 0X0C;
+/** SEND_STATUS - read the card status register */
+const uint8_t CMD13 = 0X0D;
+/** READ_SINGLE_BLOCK - read a single data block from the card */
+const uint8_t CMD17 = 0X11;
+/** READ_MULTIPLE_BLOCK - read a multiple data blocks from the card */
+const uint8_t CMD18 = 0X12;
+/** WRITE_BLOCK - write a single data block to the card */
+const uint8_t CMD24 = 0X18;
+/** WRITE_MULTIPLE_BLOCK - write blocks of data until a STOP_TRANSMISSION */
+const uint8_t CMD25 = 0X19;
+/** ERASE_WR_BLK_START - sets the address of the first block to be erased */
+const uint8_t CMD32 = 0X20;
+/** ERASE_WR_BLK_END - sets the address of the last block of the continuous
+    range to be erased*/
+const uint8_t CMD33 = 0X21;
+/** ERASE - erase all previously selected blocks */
+const uint8_t CMD38 = 0X26;
+/** APP_CMD - escape for application specific command */
+const uint8_t CMD55 = 0X37;
+/** READ_OCR - read the OCR register of a card */
+const uint8_t CMD58 = 0X3A;
+/** CRC_ON_OFF - enable or disable CRC checking */
+const uint8_t CMD59 = 0X3B;
+/** SET_BUS_WIDTH - Defines the data bus width for data transfer. */
+const uint8_t ACMD6 = 0X06;
+/** SD_STATUS - Send the SD Status. */
+const uint8_t ACMD13 = 0X0D;
+/** SET_WR_BLK_ERASE_COUNT - Set the number of write blocks to be
+     pre-erased before writing */
+const uint8_t ACMD23 = 0X17;
+/** SD_SEND_OP_COMD - Sends host capacity support information and
+    activates the card's initialization process */
+const uint8_t ACMD41 = 0X29;
+//==============================================================================
+// CARD_STATUS
+/** The command's argument was out of the allowed range for this card. */
+const uint32_t CARD_STATUS_OUT_OF_RANGE = 1UL << 31;
+/** A misaligned address which did not match the block length. */
+const uint32_t CARD_STATUS_ADDRESS_ERROR = 1UL << 30;
+/** The transferred block length is not allowed for this card. */
+const uint32_t CARD_STATUS_BLOCK_LEN_ERROR = 1UL << 29;
+/** An error in the sequence of erase commands occurred. */
+const uint32_t CARD_STATUS_ERASE_SEQ_ERROR = 1UL <<28;
+/** An invalid selection of write-blocks for erase occurred. */
+const uint32_t CARD_STATUS_ERASE_PARAM = 1UL << 27;
+/** Set when the host attempts to write to a protected block. */
+const uint32_t CARD_STATUS_WP_VIOLATION = 1UL << 26;
+/** When set, signals that the card is locked by the host. */
+const uint32_t CARD_STATUS_CARD_IS_LOCKED = 1UL << 25;
+/** Set when a sequence or password error has been detected. */
+const uint32_t CARD_STATUS_LOCK_UNLOCK_FAILED = 1UL << 24;
+/** The CRC check of the previous command failed. */
+const uint32_t CARD_STATUS_COM_CRC_ERROR = 1UL << 23;
+/** Command not legal for the card state. */
+const uint32_t CARD_STATUS_ILLEGAL_COMMAND = 1UL << 22;
+/** Card internal ECC was applied but failed to correct the data. */
+const uint32_t CARD_STATUS_CARD_ECC_FAILED = 1UL << 21;
+/** Internal card controller error */
+const uint32_t CARD_STATUS_CC_ERROR = 1UL << 20;
+/** A general or an unknown error occurred during the operation. */
+const uint32_t CARD_STATUS_ERROR = 1UL << 19;
+// bits 19, 18, and 17 reserved.
+/** Permanent WP set or attempt to change read only values of  CSD. */
+const uint32_t CARD_STATUS_CSD_OVERWRITE = 1UL <<16;
+/** partial address space was erased due to write protect. */
+const uint32_t CARD_STATUS_WP_ERASE_SKIP = 1UL << 15;
+/** The command has been executed without using the internal ECC. */
+const uint32_t CARD_STATUS_CARD_ECC_DISABLED = 1UL << 14;
+/** out of erase sequence command was received. */
+const uint32_t CARD_STATUS_ERASE_RESET = 1UL << 13;
+/** The state of the card when receiving the command.
+ * 0 = idle
+ * 1 = ready
+ * 2 = ident
+ * 3 = stby
+ * 4 = tran
+ * 5 = data
+ * 6 = rcv
+ * 7 = prg
+ * 8 = dis
+ * 9-14 = reserved
+ * 15 = reserved for I/O mode
+ */
+const uint32_t CARD_STATUS_CURRENT_STATE = 0XF << 9;
+/** Shift for current state. */
+const uint32_t CARD_STATUS_CURRENT_STATE_SHIFT = 9;
+/** Corresponds to buffer empty signaling on the bus. */
+const uint32_t CARD_STATUS_READY_FOR_DATA = 1UL << 8;
+// bit 7 reserved.
+/** Extension Functions may set this bit to get host to deal with events. */
+const uint32_t CARD_STATUS_FX_EVENT = 1UL << 6;
+/** The card will expect ACMD, or the command has been interpreted as ACMD */
+const uint32_t CARD_STATUS_APP_CMD = 1UL << 5;
+// bit 4 reserved.
+/** Error in the sequence of the authentication process. */
+const uint32_t CARD_STATUS_AKE_SEQ_ERROR = 1UL << 3;
+// bits 2,1, and 0 reserved for manufacturer test mode.
+//==============================================================================
+/** status for card in the ready state */
+const uint8_t R1_READY_STATE = 0X00;
+/** status for card in the idle state */
+const uint8_t R1_IDLE_STATE = 0X01;
+/** status bit for illegal command */
+const uint8_t R1_ILLEGAL_COMMAND = 0X04;
+/** start data token for read or write single block*/
+const uint8_t DATA_START_BLOCK = 0XFE;
+/** stop token for write multiple blocks*/
+const uint8_t STOP_TRAN_TOKEN = 0XFD;
+/** start data token for write multiple blocks*/
+const uint8_t WRITE_MULTIPLE_TOKEN = 0XFC;
+/** mask for data response tokens after a write block operation */
+const uint8_t DATA_RES_MASK = 0X1F;
+/** write data accepted token */
+const uint8_t DATA_RES_ACCEPTED = 0X05;
+//==============================================================================
+/**
+ * \class CID
+ * \brief Card IDentification (CID) register.
+ */
+typedef struct CID {
+  // byte 0
+  /** Manufacturer ID */
+  unsigned char mid;
+  // byte 1-2
+  /** OEM/Application ID */
+  char oid[2];
+  // byte 3-7
+  /** Product name */
+  char pnm[5];
+  // byte 8
+  /** Product revision least significant digit */
+  unsigned char prv_m : 4;
+  /** Product revision most significant digit */
+  unsigned char prv_n : 4;
+  // byte 9-12
+  /** Product serial number */
+  uint32_t psn;
+  // byte 13
+  /** Manufacturing date year low digit */
+  unsigned char mdt_year_high : 4;
+  /** not used */
+  unsigned char reserved : 4;
+  // byte 14
+  /** Manufacturing date month */
+  unsigned char mdt_month : 4;
+  /** Manufacturing date year low digit */
+  unsigned char mdt_year_low : 4;
+  // byte 15
+  /** not used always 1 */
+  unsigned char always1 : 1;
+  /** CRC7 checksum */
+  unsigned char crc : 7;
+} __attribute__((packed)) cid_t;
+
+//==============================================================================
+/**
+ * \class CSDV1
+ * \brief CSD register for version 1.00 cards .
+ */
+typedef struct CSDV1 {
+  // byte 0
+  unsigned char reserved1 : 6;
+  unsigned char csd_ver : 2;
+  // byte 1
+  unsigned char taac;
+  // byte 2
+  unsigned char nsac;
+  // byte 3
+  unsigned char tran_speed;
+  // byte 4
+  unsigned char ccc_high;
+  // byte 5
+  unsigned char read_bl_len : 4;
+  unsigned char ccc_low : 4;
+  // byte 6
+  unsigned char c_size_high : 2;
+  unsigned char reserved2 : 2;
+  unsigned char dsr_imp : 1;
+  unsigned char read_blk_misalign : 1;
+  unsigned char write_blk_misalign : 1;
+  unsigned char read_bl_partial : 1;
+  // byte 7
+  unsigned char c_size_mid;
+  // byte 8
+  unsigned char vdd_r_curr_max : 3;
+  unsigned char vdd_r_curr_min : 3;
+  unsigned char c_size_low : 2;
+  // byte 9
+  unsigned char c_size_mult_high : 2;
+  unsigned char vdd_w_cur_max : 3;
+  unsigned char vdd_w_curr_min : 3;
+  // byte 10
+  unsigned char sector_size_high : 6;
+  unsigned char erase_blk_en : 1;
+  unsigned char c_size_mult_low : 1;
+  // byte 11
+  unsigned char wp_grp_size : 7;
+  unsigned char sector_size_low : 1;
+  // byte 12
+  unsigned char write_bl_len_high : 2;
+  unsigned char r2w_factor : 3;
+  unsigned char reserved3 : 2;
+  unsigned char wp_grp_enable : 1;
+  // byte 13
+  unsigned char reserved4 : 5;
+  unsigned char write_partial : 1;
+  unsigned char write_bl_len_low : 2;
+  // byte 14
+  unsigned char reserved5: 2;
+  unsigned char file_format : 2;
+  unsigned char tmp_write_protect : 1;
+  unsigned char perm_write_protect : 1;
+  unsigned char copy : 1;
+  /** Indicates the file format on the card */
+  unsigned char file_format_grp : 1;
+  // byte 15
+  unsigned char always1 : 1;
+  unsigned char crc : 7;
+} __attribute__((packed)) csd1_t;
+//==============================================================================
+/**
+ * \class CSDV2
+ * \brief CSD register for version 2.00 cards.
+ */
+typedef struct CSDV2 {
+  // byte 0
+  unsigned char reserved1 : 6;
+  unsigned char csd_ver : 2;
+  // byte 1
+  /** fixed to 0X0E */
+  unsigned char taac;
+  // byte 2
+  /** fixed to 0 */
+  unsigned char nsac;
+  // byte 3
+  unsigned char tran_speed;
+  // byte 4
+  unsigned char ccc_high;
+  // byte 5
+  /** This field is fixed to 9h, which indicates READ_BL_LEN=512 Byte */
+  unsigned char read_bl_len : 4;
+  unsigned char ccc_low : 4;
+  // byte 6
+  /** not used */
+  unsigned char reserved2 : 4;
+  unsigned char dsr_imp : 1;
+  /** fixed to 0 */
+  unsigned char read_blk_misalign : 1;
+  /** fixed to 0 */
+  unsigned char write_blk_misalign : 1;
+  /** fixed to 0 - no partial read */
+  unsigned char read_bl_partial : 1;
+  // byte 7
+  /** high part of card size */
+  unsigned char c_size_high : 6;
+  /** not used */
+  unsigned char reserved3 : 2;
+  // byte 8
+  /** middle part of card size */
+  unsigned char c_size_mid;
+  // byte 9
+  /** low part of card size */
+  unsigned char c_size_low;
+  // byte 10
+  /** sector size is fixed at 64 KB */
+  unsigned char sector_size_high : 6;
+  /** fixed to 1 - erase single is supported */
+  unsigned char erase_blk_en : 1;
+  /** not used */
+  unsigned char reserved4 : 1;
+  // byte 11
+  unsigned char wp_grp_size : 7;
+  /** sector size is fixed at 64 KB */
+  unsigned char sector_size_low : 1;
+  // byte 12
+  /** write_bl_len fixed for 512 byte blocks */
+  unsigned char write_bl_len_high : 2;
+  /** fixed value of 2 */
+  unsigned char r2w_factor : 3;
+  /** not used */
+  unsigned char reserved5 : 2;
+  /** fixed value of 0 - no write protect groups */
+  unsigned char wp_grp_enable : 1;
+  // byte 13
+  unsigned char reserved6 : 5;
+  /** always zero - no partial block read*/
+  unsigned char write_partial : 1;
+  /** write_bl_len fixed for 512 byte blocks */
+  unsigned char write_bl_len_low : 2;
+  // byte 14
+  unsigned char reserved7: 2;
+  /** Do not use always 0 */
+  unsigned char file_format : 2;
+  unsigned char tmp_write_protect : 1;
+  unsigned char perm_write_protect : 1;
+  unsigned char copy : 1;
+  /** Do not use always 0 */
+  unsigned char file_format_grp : 1;
+  // byte 15
+  /** not used always 1 */
+  unsigned char always1 : 1;
+  /** checksum */
+  unsigned char crc : 7;
+} __attribute__((packed)) csd2_t;
+//==============================================================================
+/**
+ * \class csd_t
+ * \brief Union of old and new style CSD register.
+ */
+union csd_t {
+  csd1_t v1;
+  csd2_t v2;
+};
+//-----------------------------------------------------------------------------
+inline uint32_t sdCardCapacity(csd_t* csd) {
+  if (csd->v1.csd_ver == 0) {
+    uint8_t read_bl_len = csd->v1.read_bl_len;
+    uint16_t c_size = (csd->v1.c_size_high << 10)
+                      | (csd->v1.c_size_mid << 2) | csd->v1.c_size_low;
+    uint8_t c_size_mult = (csd->v1.c_size_mult_high << 1)
+                          | csd->v1.c_size_mult_low;
+    return (uint32_t)(c_size + 1) << (c_size_mult + read_bl_len - 7);
+  } else if (csd->v2.csd_ver == 1) {
+    uint32_t c_size = 0X10000L * csd->v2.c_size_high + 0X100L
+                      * (uint32_t)csd->v2.c_size_mid + csd->v2.c_size_low;
+    return (c_size + 1) << 10;
+  } else {
+    return 0;
+  }
+}
+#endif  // SdInfo_h

hardware/_controller/src/SdFat/SdCard/SdSpiCard.cpp

@@ -0,0 +1,802 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "SdSpiCard.h"
+//==============================================================================
+// debug trace macro
+#define SD_TRACE(m, b)
+// #define SD_TRACE(m, b) Serial.print(m);Serial.println(b);
+#define SD_CS_DBG(m)
+// #define SD_CS_DBG(m) Serial.println(F(m));
+
+#define DBG_PROFILE_STATS 0
+#if DBG_PROFILE_STATS
+
+#define DBG_TAG_LIST\
+  DBG_TAG(DBG_CMD0_TIME, "CMD0 time")\
+  DBG_TAG(DBG_ACMD41_TIME, "ACMD41 time")\
+  DBG_TAG(DBG_CMD_BUSY, "cmd busy")\
+  DBG_TAG(DBG_ERASE_BUSY, "erase busy")\
+  DBG_TAG(DBG_WAIT_READ, "wait read")\
+  DBG_TAG(DBG_WRITE_FLASH, "write flash")\
+  DBG_TAG(DBG_WRITE_BUSY, "write busy")\
+  DBG_TAG(DBG_WRITE_STOP, "write stop")\
+  DBG_TAG(DBG_ACMD41_COUNT, "ACMD41 count")\
+  DBG_TAG(DBG_CMD0_COUNT, "CMD0 count")
+
+#define DBG_TIME_DIM DBG_ACMD41_COUNT
+
+enum DbgTag {
+  #define DBG_TAG(tag, str) tag,
+  DBG_TAG_LIST
+  DBG_COUNT_DIM
+  #undef DBG_TAG
+};
+
+static uint32_t dbgCount[DBG_COUNT_DIM];
+static uint32_t dbgBgnTime[DBG_TIME_DIM];
+static uint32_t dbgMaxTime[DBG_TIME_DIM];
+static uint32_t dbgMinTime[DBG_TIME_DIM];
+static uint32_t dbgTotalTime[DBG_TIME_DIM];
+//------------------------------------------------------------------------------
+static void dbgBeginTime(DbgTag tag) {
+  dbgBgnTime[tag] = micros();
+}
+//------------------------------------------------------------------------------
+static void dbgClearStats() {
+  for (int i = 0; i < DBG_COUNT_DIM; i++) {
+    dbgCount[i] = 0;
+    if (i < DBG_TIME_DIM) {
+      dbgMaxTime[i] = 0;
+      dbgMinTime[i] = 9999999;
+      dbgTotalTime[i] = 0;
+    }
+  }
+}
+//------------------------------------------------------------------------------
+static void dbgEndTime(DbgTag tag) {
+  uint32_t m = micros() - dbgBgnTime[tag];
+  dbgTotalTime[tag] += m;
+  if (m > dbgMaxTime[tag]) {
+    dbgMaxTime[tag] = m;
+  }
+  if (m < dbgMinTime[tag]) {
+    dbgMinTime[tag] = m;
+  }
+  dbgCount[tag]++;
+}
+//------------------------------------------------------------------------------
+static void dbgEventCount(DbgTag tag) {
+  dbgCount[tag]++;
+}
+//------------------------------------------------------------------------------
+static void dbgPrintTagText(uint8_t tag) {
+  #define DBG_TAG(e, m) case e: Serial.print(F(m)); break;
+  switch (tag) {
+    DBG_TAG_LIST
+  }
+  #undef DBG_TAG
+}
+//------------------------------------------------------------------------------
+static void dbgPrintStats() {
+  Serial.println();
+  Serial.println(F("======================="));
+  Serial.println(F("item,event,min,max,avg"));
+  Serial.println(F("tag,count,usec,usec,usec"));
+  for (int i = 0; i < DBG_COUNT_DIM; i++) {
+    if (dbgCount[i]) {
+      dbgPrintTagText(i);
+      Serial.print(',');
+      Serial.print(dbgCount[i]);
+      if (i < DBG_TIME_DIM) {
+        Serial.print(',');
+        Serial.print(dbgMinTime[i]);
+        Serial.print(',');
+        Serial.print(dbgMaxTime[i]);
+        Serial.print(',');
+        Serial.print(dbgTotalTime[i]/dbgCount[i]);
+      }
+      Serial.println();
+    }
+  }
+  Serial.println(F("======================="));
+  Serial.println();
+}
+#undef DBG_TAG_LIST
+#define DBG_BEGIN_TIME(tag) dbgBeginTime(tag)
+#define DBG_END_TIME(tag) dbgEndTime(tag)
+#define DBG_EVENT_COUNT(tag) dbgEventCount(tag)
+#else  // DBG_PROFILE_STATS
+#define DBG_BEGIN_TIME(tag)
+#define DBG_END_TIME(tag)
+#define DBG_EVENT_COUNT(tag)
+static void dbgClearStats() {}
+static void dbgPrintStats() {}
+#endif  // DBG_PROFILE_STATS
+//==============================================================================
+#if USE_SD_CRC
+// CRC functions
+//------------------------------------------------------------------------------
+static uint8_t CRC7(const uint8_t* data, uint8_t n) {
+  uint8_t crc = 0;
+  for (uint8_t i = 0; i < n; i++) {
+    uint8_t d = data[i];
+    for (uint8_t j = 0; j < 8; j++) {
+      crc <<= 1;
+      if ((d & 0x80) ^ (crc & 0x80)) {
+        crc ^= 0x09;
+      }
+      d <<= 1;
+    }
+  }
+  return (crc << 1) | 1;
+}
+//------------------------------------------------------------------------------
+#if USE_SD_CRC == 1
+// Shift based CRC-CCITT
+// uses the x^16,x^12,x^5,x^1 polynomial.
+static uint16_t CRC_CCITT(const uint8_t *data, size_t n) {
+  uint16_t crc = 0;
+  for (size_t i = 0; i < n; i++) {
+    crc = (uint8_t)(crc >> 8) | (crc << 8);
+    crc ^= data[i];
+    crc ^= (uint8_t)(crc & 0xff) >> 4;
+    crc ^= crc << 12;
+    crc ^= (crc & 0xff) << 5;
+  }
+  return crc;
+}
+#elif USE_SD_CRC > 1  // CRC_CCITT
+//------------------------------------------------------------------------------
+// Table based CRC-CCITT
+// uses the x^16,x^12,x^5,x^1 polynomial.
+#ifdef __AVR__
+static const uint16_t crctab[] PROGMEM = {
+#else  // __AVR__
+static const uint16_t crctab[] = {
+#endif  // __AVR__
+  0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+  0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+  0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+  0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+  0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+  0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+  0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+  0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+  0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+  0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+  0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+  0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+  0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+  0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+  0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+  0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+  0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+  0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+  0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+  0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+  0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+  0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+  0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+  0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+  0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+  0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+  0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+  0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+  0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+  0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+  0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+  0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+};
+static uint16_t CRC_CCITT(const uint8_t* data, size_t n) {
+  uint16_t crc = 0;
+  for (size_t i = 0; i < n; i++) {
+#ifdef __AVR__
+    crc = pgm_read_word(&crctab[(crc >> 8 ^ data[i]) & 0XFF]) ^ (crc << 8);
+#else  // __AVR__
+    crc = crctab[(crc >> 8 ^ data[i]) & 0XFF] ^ (crc << 8);
+#endif  // __AVR__
+  }
+  return crc;
+}
+#endif  // CRC_CCITT
+#endif  // USE_SD_CRC
+//==============================================================================
+// SdSpiCard member functions
+//------------------------------------------------------------------------------
+bool SdSpiCard::begin(SdSpiDriver* spi, uint8_t csPin, SPISettings settings) {
+  m_spiActive = false;
+  m_errorCode = SD_CARD_ERROR_NONE;
+  m_type = 0;
+  m_spiDriver = spi;
+  uint16_t t0 = curTimeMS();
+  uint32_t arg;
+
+  m_spiDriver->begin(csPin);
+  m_spiDriver->setSpiSettings(SD_SCK_HZ(250000));
+  spiStart();
+
+  // must supply min of 74 clock cycles with CS high.
+  spiUnselect();
+  for (uint8_t i = 0; i < 10; i++) {
+    spiSend(0XFF);
+  }
+  spiSelect();
+
+  DBG_BEGIN_TIME(DBG_CMD0_TIME);
+  // command to go idle in SPI mode
+  for (uint8_t i = 1;; i++) {
+    DBG_EVENT_COUNT(DBG_CMD0_COUNT);
+    if (cardCommand(CMD0, 0) == R1_IDLE_STATE) {
+      break;
+    }
+    if (i == SD_CMD0_RETRY) {
+      error(SD_CARD_ERROR_CMD0);
+      goto fail;
+    }
+    // stop multi-block write
+    spiSend(STOP_TRAN_TOKEN);
+    // finish block transfer
+    for (int i = 0; i < 520; i++) {
+      spiReceive();
+    }
+  }
+  DBG_END_TIME(DBG_CMD0_TIME);
+#if USE_SD_CRC
+  if (cardCommand(CMD59, 1) != R1_IDLE_STATE) {
+    error(SD_CARD_ERROR_CMD59);
+    goto fail;
+  }
+#endif  // USE_SD_CRC
+  // check SD version
+  if (cardCommand(CMD8, 0x1AA) == (R1_ILLEGAL_COMMAND | R1_IDLE_STATE)) {
+    type(SD_CARD_TYPE_SD1);
+  } else {
+    for (uint8_t i = 0; i < 4; i++) {
+      m_status = spiReceive();
+    }
+    if (m_status == 0XAA) {
+      type(SD_CARD_TYPE_SD2);
+    } else {
+      error(SD_CARD_ERROR_CMD8);
+      goto fail;
+    }
+  }
+  // initialize card and send host supports SDHC if SD2
+  arg = type() == SD_CARD_TYPE_SD2 ? 0X40000000 : 0;
+  DBG_BEGIN_TIME(DBG_ACMD41_TIME);
+  while (cardAcmd(ACMD41, arg) != R1_READY_STATE) {
+    DBG_EVENT_COUNT(DBG_ACMD41_COUNT);
+    // check for timeout
+    if (isTimedOut(t0, SD_INIT_TIMEOUT)) {
+      error(SD_CARD_ERROR_ACMD41);
+      goto fail;
+    }
+  }
+  DBG_END_TIME(DBG_ACMD41_TIME);
+  // if SD2 read OCR register to check for SDHC card
+  if (type() == SD_CARD_TYPE_SD2) {
+    if (cardCommand(CMD58, 0)) {
+      error(SD_CARD_ERROR_CMD58);
+      goto fail;
+    }
+    if ((spiReceive() & 0XC0) == 0XC0) {
+      type(SD_CARD_TYPE_SDHC);
+    }
+    // Discard rest of ocr - contains allowed voltage range.
+    for (uint8_t i = 0; i < 3; i++) {
+      spiReceive();
+    }
+  }
+  spiStop();
+  m_spiDriver->setSpiSettings(settings);
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+// send command and return error code.  Return zero for OK
+uint8_t SdSpiCard::cardCommand(uint8_t cmd, uint32_t arg) {
+  // select card
+  if (!m_spiActive) {
+    spiStart();
+  }
+  // wait if busy unless CMD0
+  if (cmd != CMD0) {
+    DBG_BEGIN_TIME(DBG_CMD_BUSY);
+    waitNotBusy(SD_CMD_TIMEOUT);
+    DBG_END_TIME(DBG_CMD_BUSY);
+  }
+
+#if USE_SD_CRC
+  // form message
+  uint8_t buf[6];
+  buf[0] = (uint8_t)0x40U | cmd;
+  buf[1] = (uint8_t)(arg >> 24U);
+  buf[2] = (uint8_t)(arg >> 16U);
+  buf[3] = (uint8_t)(arg >> 8U);
+  buf[4] = (uint8_t)arg;
+
+  // add CRC
+  buf[5] = CRC7(buf, 5);
+
+  // send message
+  spiSend(buf, 6);
+#else  // USE_SD_CRC
+  // send command
+  spiSend(cmd | 0x40);
+
+  // send argument
+  uint8_t *pa = reinterpret_cast<uint8_t *>(&arg);
+  for (int8_t i = 3; i >= 0; i--) {
+    spiSend(pa[i]);
+  }
+  // send CRC - correct for CMD0 with arg zero or CMD8 with arg 0X1AA
+  spiSend(cmd == CMD0 ? 0X95 : 0X87);
+#endif  // USE_SD_CRC
+
+  // discard first fill byte to avoid MISO pull-up problem.
+  spiReceive();
+
+  // there are 1-8 fill bytes before response.  fill bytes should be 0XFF.
+  for (uint8_t i = 0; ((m_status = spiReceive()) & 0X80) && i < 10; i++) {
+  }
+  return m_status;
+}
+//------------------------------------------------------------------------------
+uint32_t SdSpiCard::cardCapacity() {
+  csd_t csd;
+  return readCSD(&csd) ? sdCardCapacity(&csd) : 0;
+}
+//------------------------------------------------------------------------------
+void SdSpiCard::dbgClearStats() {::dbgClearStats();}
+//------------------------------------------------------------------------------
+void SdSpiCard::dbgPrintStats() {::dbgPrintStats();}
+//------------------------------------------------------------------------------
+bool SdSpiCard::erase(uint32_t firstBlock, uint32_t lastBlock) {
+  csd_t csd;
+  if (!readCSD(&csd)) {
+    goto fail;
+  }
+  // check for single block erase
+  if (!csd.v1.erase_blk_en) {
+    // erase size mask
+    uint8_t m = (csd.v1.sector_size_high << 1) | csd.v1.sector_size_low;
+    if ((firstBlock & m) != 0 || ((lastBlock + 1) & m) != 0) {
+      // error card can't erase specified area
+      error(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
+      goto fail;
+    }
+  }
+  if (m_type != SD_CARD_TYPE_SDHC) {
+    firstBlock <<= 9;
+    lastBlock <<= 9;
+  }
+  if (cardCommand(CMD32, firstBlock)
+      || cardCommand(CMD33, lastBlock)
+      || cardCommand(CMD38, 0)) {
+    error(SD_CARD_ERROR_ERASE);
+    goto fail;
+  }
+  DBG_BEGIN_TIME(DBG_ERASE_BUSY);
+  if (!waitNotBusy(SD_ERASE_TIMEOUT)) {
+    error(SD_CARD_ERROR_ERASE_TIMEOUT);
+    goto fail;
+  }
+  DBG_END_TIME(DBG_ERASE_BUSY);
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::eraseSingleBlockEnable() {
+  csd_t csd;
+  return readCSD(&csd) ? csd.v1.erase_blk_en : false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::isBusy() {
+  bool rtn = true;
+  bool spiActive = m_spiActive;
+  if (!spiActive) {
+    spiStart();
+  }
+  for (uint8_t i = 0; i < 8; i++) {
+    if (0XFF == spiReceive()) {
+      rtn = false;
+      break;
+    }
+  }
+  if (!spiActive) {
+    spiStop();
+  }
+  return rtn;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::isTimedOut(uint16_t startMS, uint16_t timeoutMS) {
+#if WDT_YIELD_TIME_MICROS
+  static uint32_t last;
+  if ((micros() - last) > WDT_YIELD_TIME_MICROS) {
+    SysCall::yield();
+    last = micros();
+  }
+#endif  // WDT_YIELD_TIME_MICROS
+  return (curTimeMS() - startMS) > timeoutMS;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readBlock(uint32_t blockNumber, uint8_t* dst) {
+  SD_TRACE("RB", blockNumber);
+  // use address if not SDHC card
+  if (type() != SD_CARD_TYPE_SDHC) {
+    blockNumber <<= 9;
+  }
+  if (cardCommand(CMD17, blockNumber)) {
+    error(SD_CARD_ERROR_CMD17);
+    goto fail;
+  }
+  if (!readData(dst, 512)) {
+    goto fail;
+  }
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readBlocks(uint32_t block, uint8_t* dst, size_t count) {
+  if (!readStart(block)) {
+    return false;
+  }
+  for (uint16_t b = 0; b < count; b++, dst += 512) {
+    if (!readData(dst, 512)) {
+      return false;
+    }
+  }
+  return readStop();
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readData(uint8_t *dst) {
+  return readData(dst, 512);
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readData(uint8_t* dst, size_t count) {
+#if USE_SD_CRC
+  uint16_t crc;
+#endif  // USE_SD_CRC
+  DBG_BEGIN_TIME(DBG_WAIT_READ);
+  // wait for start block token
+  uint16_t t0 = curTimeMS();
+  while ((m_status = spiReceive()) == 0XFF) {
+    if (isTimedOut(t0, SD_READ_TIMEOUT)) {
+      error(SD_CARD_ERROR_READ_TIMEOUT);
+      goto fail;
+    }
+  }
+  DBG_END_TIME(DBG_WAIT_READ);
+  if (m_status != DATA_START_BLOCK) {
+    error(SD_CARD_ERROR_READ);
+    goto fail;
+  }
+  // transfer data
+  if ((m_status = spiReceive(dst, count))) {
+    error(SD_CARD_ERROR_DMA);
+    goto fail;
+  }
+
+#if USE_SD_CRC
+  // get crc
+  crc = (spiReceive() << 8) | spiReceive();
+  if (crc != CRC_CCITT(dst, count)) {
+    error(SD_CARD_ERROR_READ_CRC);
+    goto fail;
+  }
+#else
+  // discard crc
+  spiReceive();
+  spiReceive();
+#endif  // USE_SD_CRC
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readOCR(uint32_t* ocr) {
+  uint8_t *p = reinterpret_cast<uint8_t*>(ocr);
+  if (cardCommand(CMD58, 0)) {
+    error(SD_CARD_ERROR_CMD58);
+    goto fail;
+  }
+  for (uint8_t i = 0; i < 4; i++) {
+    p[3 - i] = spiReceive();
+  }
+
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+/** read CID or CSR register */
+bool SdSpiCard::readRegister(uint8_t cmd, void* buf) {
+  uint8_t* dst = reinterpret_cast<uint8_t*>(buf);
+  if (cardCommand(cmd, 0)) {
+    error(SD_CARD_ERROR_READ_REG);
+    goto fail;
+  }
+  if (!readData(dst, 16)) {
+    goto fail;
+  }
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readStart(uint32_t blockNumber) {
+  SD_TRACE("RS", blockNumber);
+  if (type() != SD_CARD_TYPE_SDHC) {
+    blockNumber <<= 9;
+  }
+  if (cardCommand(CMD18, blockNumber)) {
+    error(SD_CARD_ERROR_CMD18);
+    goto fail;
+  }
+//  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//-----------------------------------------------------------------------------
+bool SdSpiCard::readStatus(uint8_t* status) {
+  // retrun is R2 so read extra status byte.
+  if (cardAcmd(ACMD13, 0) || spiReceive()) {
+    error(SD_CARD_ERROR_ACMD13);
+    goto fail;
+  }
+  if (!readData(status, 64)) {
+    goto fail;
+  }
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//-----------------------------------------------------------------------------
+void SdSpiCard::spiStart() {
+  if (!m_spiActive) {
+    spiActivate();
+    spiSelect();
+    m_spiActive = true;
+  }
+}
+//-----------------------------------------------------------------------------
+void SdSpiCard::spiStop() {
+  if (m_spiActive) {
+    spiUnselect();
+    spiSend(0XFF);
+    spiDeactivate();
+    m_spiActive = false;
+  }
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::readStop() {
+  if (cardCommand(CMD12, 0)) {
+    error(SD_CARD_ERROR_CMD12);
+    goto fail;
+  }
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+// wait for card to go not busy
+bool SdSpiCard::waitNotBusy(uint16_t timeoutMS) {
+  uint16_t t0 = curTimeMS();
+#if WDT_YIELD_TIME_MICROS
+  // Call isTimedOut first to insure yield is called.
+  while (!isTimedOut(t0, timeoutMS)) {
+    if (spiReceive() == 0XFF) {
+      return true;
+    }
+  }
+  return false;
+#else  // WDT_YIELD_TIME_MICROS
+  // Check not busy first since yield is not called in isTimedOut.
+  while (spiReceive() != 0XFF) {
+    if (isTimedOut(t0, timeoutMS)) {
+      return false;
+    }
+  }
+  return true;
+#endif  // WDT_YIELD_TIME_MICROS
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::writeBlock(uint32_t blockNumber, const uint8_t* src) {
+  SD_TRACE("WB", blockNumber);
+  // use address if not SDHC card
+  if (type() != SD_CARD_TYPE_SDHC) {
+    blockNumber <<= 9;
+  }
+  if (cardCommand(CMD24, blockNumber)) {
+    error(SD_CARD_ERROR_CMD24);
+    goto fail;
+  }
+  if (!writeData(DATA_START_BLOCK, src)) {
+    goto fail;
+  }
+
+
+#if CHECK_FLASH_PROGRAMMING
+  // wait for flash programming to complete
+  DBG_BEGIN_TIME(DBG_WRITE_FLASH);
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
+    error(SD_CARD_ERROR_FLASH_PROGRAMMING);
+    goto fail;
+  }
+  DBG_END_TIME(DBG_WRITE_FLASH);
+  // response is r2 so get and check two bytes for nonzero
+  if (cardCommand(CMD13, 0) || spiReceive()) {
+    error(SD_CARD_ERROR_CMD13);
+    goto fail;
+  }
+#endif  // CHECK_PROGRAMMING
+
+  spiStop();
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::writeBlocks(uint32_t block, const uint8_t* src, size_t count) {
+  if (!writeStart(block)) {
+    goto fail;
+  }
+  for (size_t b = 0; b < count; b++, src += 512) {
+    if (!writeData(src)) {
+      goto fail;
+    }
+  }
+  return writeStop();
+
+ fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::writeData(const uint8_t* src) {
+  // wait for previous write to finish
+  DBG_BEGIN_TIME(DBG_WRITE_BUSY);
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
+    error(SD_CARD_ERROR_WRITE_TIMEOUT);
+    goto fail;
+  }
+  DBG_END_TIME(DBG_WRITE_BUSY);
+  if (!writeData(WRITE_MULTIPLE_TOKEN, src)) {
+    goto fail;
+  }
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+// send one block of data for write block or write multiple blocks
+bool SdSpiCard::writeData(uint8_t token, const uint8_t* src) {
+#if USE_SD_CRC
+  uint16_t crc = CRC_CCITT(src, 512);
+#else  // USE_SD_CRC
+  uint16_t crc = 0XFFFF;
+#endif  // USE_SD_CRC
+  spiSend(token);
+  spiSend(src, 512);
+  spiSend(crc >> 8);
+  spiSend(crc & 0XFF);
+
+  m_status = spiReceive();
+  if ((m_status & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
+    error(SD_CARD_ERROR_WRITE);
+    goto fail;
+  }
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::writeStart(uint32_t blockNumber) {
+  // use address if not SDHC card
+  if (type() != SD_CARD_TYPE_SDHC) {
+    blockNumber <<= 9;
+  }
+  if (cardCommand(CMD25, blockNumber)) {
+    error(SD_CARD_ERROR_CMD25);
+    goto fail;
+  }
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::writeStart(uint32_t blockNumber, uint32_t eraseCount) {
+  SD_TRACE("WS", blockNumber);
+  // send pre-erase count
+  if (cardAcmd(ACMD23, eraseCount)) {
+    error(SD_CARD_ERROR_ACMD23);
+    goto fail;
+  }
+  // use address if not SDHC card
+  if (type() != SD_CARD_TYPE_SDHC) {
+    blockNumber <<= 9;
+  }
+  if (cardCommand(CMD25, blockNumber)) {
+    error(SD_CARD_ERROR_CMD25);
+    goto fail;
+  }
+  return true;
+
+fail:
+  spiStop();
+  return false;
+}
+//------------------------------------------------------------------------------
+bool SdSpiCard::writeStop() {
+  DBG_BEGIN_TIME(DBG_WRITE_STOP);
+  if (!waitNotBusy(SD_WRITE_TIMEOUT)) {
+    goto fail;
+  }
+  DBG_END_TIME(DBG_WRITE_STOP);
+  spiSend(STOP_TRAN_TOKEN);
+  spiStop();
+  return true;
+
+fail:
+  error(SD_CARD_ERROR_STOP_TRAN);
+  spiStop();
+  return false;
+}

hardware/_controller/src/SdFat/SdCard/SdSpiCard.h

@@ -0,0 +1,379 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SdSpiCard_h
+#define SdSpiCard_h
+/**
+ * \file
+ * \brief SdSpiCard class for V2 SD/SDHC cards
+ */
+#include <stddef.h>
+#include "../SysCall.h"
+#include "SdInfo.h"
+#include "../FatLib/BaseBlockDriver.h"
+#include "../SpiDriver/SdSpiDriver.h"
+//==============================================================================
+/**
+ * \class SdSpiCard
+ * \brief Raw access to SD and SDHC flash memory cards via SPI protocol.
+ */
+#if ENABLE_EXTENDED_TRANSFER_CLASS || ENABLE_SDIO_CLASS
+class SdSpiCard : public BaseBlockDriver {
+#else  // ENABLE_EXTENDED_TRANSFER_CLASS || ENABLE_SDIO_CLASS
+class SdSpiCard {
+#endif  // ENABLE_EXTENDED_TRANSFER_CLASS || ENABLE_SDIO_CLASS
+ public:
+  /** Construct an instance of SdSpiCard. */
+  SdSpiCard() : m_errorCode(SD_CARD_ERROR_INIT_NOT_CALLED), m_type(0) {}
+  /** Initialize the SD card.
+   * \param[in] spi SPI driver for card.
+   * \param[in] csPin card chip select pin.
+   * \param[in] spiSettings SPI speed, mode, and bit order.
+   * \return true for success else false.
+   */
+  bool begin(SdSpiDriver* spi, uint8_t csPin, SPISettings spiSettings);
+  /**
+   * Determine the size of an SD flash memory card.
+   *
+   * \return The number of 512 byte sectors in the card
+   *         or zero if an error occurs.
+   */
+  uint32_t cardCapacity();
+  /** \return Card size in sectors or zero if an error occurs. */
+  uint32_t cardSize() {return cardCapacity();}
+  /** Clear debug stats. */
+  void dbgClearStats();
+  /** Print debug stats. */
+  void dbgPrintStats();
+  /** Erase a range of blocks.
+   *
+   * \param[in] firstBlock The address of the first block in the range.
+   * \param[in] lastBlock The address of the last block in the range.
+   *
+   * \note This function requests the SD card to do a flash erase for a
+   * range of blocks.  The data on the card after an erase operation is
+   * either 0 or 1, depends on the card vendor.  The card must support
+   * single block erase.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool erase(uint32_t firstBlock, uint32_t lastBlock);
+  /** Determine if card supports single block erase.
+   *
+   * \return true is returned if single block erase is supported.
+   * false is returned if single block erase is not supported.
+   */
+  bool eraseSingleBlockEnable();
+  /**
+   *  Set SD error code.
+   *  \param[in] code value for error code.
+   */
+  void error(uint8_t code) {
+    m_errorCode = code;
+  }
+  /**
+   * \return code for the last error. See SdInfo.h for a list of error codes.
+   */
+  int errorCode() const {
+    return m_errorCode;
+  }
+  /** \return error data for last error. */
+  int errorData() const {
+    return m_status;
+  }
+  /**
+   * Check for busy.  MISO low indicates the card is busy.
+   *
+   * \return true if busy else false.
+   */
+  bool isBusy();
+  /**
+   * Read a 512 byte block from an SD card.
+   *
+   * \param[in] lba Logical block to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlock(uint32_t lba, uint8_t* dst);
+  /**
+   * Read multiple 512 byte blocks from an SD card.
+   *
+   * \param[in] lba Logical block to be read.
+   * \param[in] nb Number of blocks to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlocks(uint32_t lba, uint8_t* dst, size_t nb);
+  /**
+   * Read a card's CID register. The CID contains card identification
+   * information such as Manufacturer ID, Product name, Product serial
+   * number and Manufacturing date.
+   *
+   * \param[out] cid pointer to area for returned data.
+   *
+   * \return true for success or false for failure.
+   */
+  bool readCID(cid_t* cid) {
+    return readRegister(CMD10, cid);
+  }
+  /**
+   * Read a card's CSD register. The CSD contains Card-Specific Data that
+   * provides information regarding access to the card's contents.
+   *
+   * \param[out] csd pointer to area for returned data.
+   *
+   * \return true for success or false for failure.
+   */
+  bool readCSD(csd_t* csd) {
+    return readRegister(CMD9, csd);
+  }
+  /** Read one data block in a multiple block read sequence
+   *
+   * \param[out] dst Pointer to the location for the data to be read.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readData(uint8_t *dst);
+  /** Read OCR register.
+   *
+   * \param[out] ocr Value of OCR register.
+   * \return true for success else false.
+   */
+  bool readOCR(uint32_t* ocr);
+  /** Start a read multiple blocks sequence.
+   *
+   * \param[in] blockNumber Address of first block in sequence.
+   *
+   * \note This function is used with readData() and readStop() for optimized
+   * multiple block reads.  SPI chipSelect must be low for the entire sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readStart(uint32_t blockNumber);
+  /** Return the 64 byte card status
+   * \param[out] status location for 64 status bytes.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readStatus(uint8_t* status);
+  /** End a read multiple blocks sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readStop();
+  /** \return success if sync successful. Not for user apps. */
+  bool syncBlocks() {return true;}
+  /** Return the card type: SD V1, SD V2 or SDHC
+   * \return 0 - SD V1, 1 - SD V2, or 3 - SDHC.
+   */
+  int type() const {
+    return m_type;
+  }
+  /**
+   * Writes a 512 byte block to an SD card.
+   *
+   * \param[in] lba Logical block to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlock(uint32_t lba, const uint8_t* src);
+  /**
+   * Write multiple 512 byte blocks to an SD card.
+   *
+   * \param[in] lba Logical block to be written.
+   * \param[in] nb Number of blocks to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlocks(uint32_t lba, const uint8_t* src, size_t nb);
+  /** Write one data block in a multiple block write sequence.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeData(const uint8_t* src);
+  /** Start a write multiple blocks sequence.
+   *
+   * \param[in] blockNumber Address of first block in sequence.
+   *
+   * \note This function is used with writeData() and writeStop()
+   * for optimized multiple block writes.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeStart(uint32_t blockNumber);
+
+  /** Start a write multiple blocks sequence with pre-erase.
+   *
+   * \param[in] blockNumber Address of first block in sequence.
+   * \param[in] eraseCount The number of blocks to be pre-erased.
+   *
+   * \note This function is used with writeData() and writeStop()
+   * for optimized multiple block writes.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeStart(uint32_t blockNumber, uint32_t eraseCount);
+  /** End a write multiple blocks sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeStop();
+  /** Set CS low and activate the card. */
+  void spiStart();
+  /** Set CS high and deactivate the card. */
+  void spiStop();
+
+ private:
+  // private functions
+  uint8_t cardAcmd(uint8_t cmd, uint32_t arg) {
+    cardCommand(CMD55, 0);
+    return cardCommand(cmd, arg);
+  }
+  uint8_t cardCommand(uint8_t cmd, uint32_t arg);
+  bool isTimedOut(uint16_t startMS, uint16_t timeoutMS);
+  bool readData(uint8_t* dst, size_t count);
+  bool readRegister(uint8_t cmd, void* buf);
+
+  void type(uint8_t value) {
+    m_type = value;
+  }
+
+  bool waitNotBusy(uint16_t timeoutMS);
+  bool writeData(uint8_t token, const uint8_t* src);
+
+  //---------------------------------------------------------------------------
+  // functions defined in SdSpiDriver.h
+  void spiActivate() {
+    m_spiDriver->activate();
+  }
+  void spiDeactivate() {
+    m_spiDriver->deactivate();
+  }
+  uint8_t spiReceive() {
+    return m_spiDriver->receive();
+  }
+  uint8_t spiReceive(uint8_t* buf, size_t n) {
+    return  m_spiDriver->receive(buf, n);
+  }
+  void spiSend(uint8_t data) {
+     m_spiDriver->send(data);
+  }
+  void spiSend(const uint8_t* buf, size_t n) {
+    m_spiDriver->send(buf, n);
+  }
+  void spiSelect() {
+    m_spiDriver->select();
+  }
+  void spiUnselect() {
+    m_spiDriver->unselect();
+  }
+  uint8_t m_errorCode;
+  SdSpiDriver *m_spiDriver;
+  bool    m_spiActive;
+  uint8_t m_status;
+  uint8_t m_type;
+};
+//==============================================================================
+/**
+ * \class SdSpiCardEX
+ * \brief Extended SD I/O block driver.
+ */
+class SdSpiCardEX : public SdSpiCard {
+ public:
+  /** Initialize the SD card
+   *
+   * \param[in] spi SPI driver.
+   * \param[in] csPin Card chip select pin number.
+   * \param[in] spiSettings SPI speed, mode, and bit order.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool begin(SdSpiDriver* spi, uint8_t csPin, SPISettings spiSettings) {
+    m_curState = IDLE_STATE;
+    return SdSpiCard::begin(spi, csPin, spiSettings);
+  }
+  /**
+   * Read a 512 byte block from an SD card.
+   *
+   * \param[in] block Logical block to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlock(uint32_t block, uint8_t* dst);
+  /** End multi-block transfer and go to idle state.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool syncBlocks();
+  /**
+   * Writes a 512 byte block to an SD card.
+   *
+   * \param[in] block Logical block to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlock(uint32_t block, const uint8_t* src);
+  /**
+   * Read multiple 512 byte blocks from an SD card.
+   *
+   * \param[in] block Logical block to be read.
+   * \param[in] nb Number of blocks to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlocks(uint32_t block, uint8_t* dst, size_t nb);
+  /**
+   * Write multiple 512 byte blocks to an SD card.
+   *
+   * \param[in] block Logical block to be written.
+   * \param[in] nb Number of blocks to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlocks(uint32_t block, const uint8_t* src, size_t nb);
+
+ private:
+  static const uint32_t IDLE_STATE = 0;
+  static const uint32_t READ_STATE = 1;
+  static const uint32_t WRITE_STATE = 2;
+  uint32_t m_curBlock;
+  uint8_t m_curState;
+};
+#endif  // SdSpiCard_h

hardware/_controller/src/SdFat/SdCard/SdSpiCardEX.cpp

@@ -0,0 +1,94 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "SdSpiCard.h"
+bool SdSpiCardEX::readBlock(uint32_t block, uint8_t* dst) {
+  if (m_curState != READ_STATE || block != m_curBlock) {
+    if (!syncBlocks()) {
+      return false;
+    }
+    if (!SdSpiCard::readStart(block)) {
+      return false;
+    }
+    m_curBlock = block;
+    m_curState = READ_STATE;
+  }
+  if (!SdSpiCard::readData(dst)) {
+    return false;
+  }
+  m_curBlock++;
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdSpiCardEX::readBlocks(uint32_t block, uint8_t* dst, size_t nb) {
+  for (size_t i = 0; i < nb; i++) {
+    if (!readBlock(block + i, dst + i*512UL)) {
+      return false;
+    }
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdSpiCardEX::syncBlocks() {
+  if (m_curState == READ_STATE) {
+    m_curState = IDLE_STATE;
+    if (!SdSpiCard::readStop()) {
+      return false;
+    }
+  } else if (m_curState == WRITE_STATE) {
+    m_curState = IDLE_STATE;
+    if (!SdSpiCard::writeStop()) {
+      return false;
+    }
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdSpiCardEX::writeBlock(uint32_t block, const uint8_t* src) {
+  if (m_curState != WRITE_STATE || m_curBlock != block) {
+    if (!syncBlocks()) {
+      return false;
+    }
+    if (!SdSpiCard::writeStart(block)) {
+      return false;
+    }
+    m_curBlock = block;
+    m_curState = WRITE_STATE;
+  }
+  if (!SdSpiCard::writeData(src)) {
+    return false;
+  }
+  m_curBlock++;
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdSpiCardEX::writeBlocks(uint32_t block,
+                                  const uint8_t* src, size_t nb) {
+  for (size_t i = 0; i < nb; i++) {
+    if (!writeBlock(block + i, src + i*512UL)) {
+      return false;
+    }
+  }
+  return true;
+}

hardware/_controller/src/SdFat/SdCard/SdioCard.h

@@ -0,0 +1,303 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SdioCard_h
+#define SdioCard_h
+#include "../SysCall.h"
+#include "../BlockDriver.h"
+/**
+ * \class SdioCard
+ * \brief Raw SDIO access to SD and SDHC flash memory cards.
+ */
+class SdioCard : public BaseBlockDriver {
+ public:
+  /** Initialize the SD card.
+   * \return true for success else false.
+   */
+  bool begin();
+  /**
+   * Determine the size of an SD flash memory card.
+   *
+   * \return The number of 512 byte sectors in the card
+   *         or zero if an error occurs.
+   */
+  uint32_t cardCapacity();
+  /** \return Card size in sectors or zero if an error occurs. */
+  uint32_t cardSize() {return cardCapacity();}
+  /** Erase a range of blocks.
+   *
+   * \param[in] firstBlock The address of the first block in the range.
+   * \param[in] lastBlock The address of the last block in the range.
+   *
+   * \note This function requests the SD card to do a flash erase for a
+   * range of blocks.  The data on the card after an erase operation is
+   * either 0 or 1, depends on the card vendor.  The card must support
+   * single block erase.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool erase(uint32_t firstBlock, uint32_t lastBlock);
+  /**
+   * \return code for the last error. See SdInfo.h for a list of error codes.
+   */
+  uint8_t errorCode();
+  /** \return error data for last error. */
+  uint32_t errorData();
+  /** \return error line for last error. Tmp function for debug. */
+  uint32_t errorLine();
+  /**
+   * Check for busy with CMD13.
+   *
+   * \return true if busy else false.
+   */
+  bool isBusy();
+  /** \return the SD clock frequency in kHz. */
+  uint32_t kHzSdClk();
+  /**
+   * Read a 512 byte block from an SD card.
+   *
+   * \param[in] lba Logical block to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlock(uint32_t lba, uint8_t* dst);
+  /**
+   * Read multiple 512 byte blocks from an SD card.
+   *
+   * \param[in] lba Logical block to be read.
+   * \param[in] nb Number of blocks to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlocks(uint32_t lba, uint8_t* dst, size_t nb);
+  /**
+   * Read a card's CID register. The CID contains card identification
+   * information such as Manufacturer ID, Product name, Product serial
+   * number and Manufacturing date.
+   *
+   * \param[out] cid pointer to area for returned data.
+   *
+   * \return true for success or false for failure.
+   */
+  bool readCID(void* cid);
+  /**
+   * Read a card's CSD register. The CSD contains Card-Specific Data that
+   * provides information regarding access to the card's contents.
+   *
+   * \param[out] csd pointer to area for returned data.
+   *
+   * \return true for success or false for failure.
+   */
+  bool readCSD(void* csd);
+  /** Read one data block in a multiple block read sequence
+   *
+   * \param[out] dst Pointer to the location for the data to be read.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readData(uint8_t *dst);
+  /** Read OCR register.
+   *
+   * \param[out] ocr Value of OCR register.
+   * \return true for success else false.
+   */
+  bool readOCR(uint32_t* ocr);
+  /** Start a read multiple blocks sequence.
+   *
+   * \param[in] lba Address of first block in sequence.
+   *
+   * \note This function is used with readData() and readStop() for optimized
+   * multiple block reads.  SPI chipSelect must be low for the entire sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readStart(uint32_t lba);
+  /** Start a read multiple blocks sequence.
+   *
+   * \param[in] lba Address of first block in sequence.
+   * \param[in] count Maximum block count.
+   * \note This function is used with readData() and readStop() for optimized
+   * multiple block reads.  SPI chipSelect must be low for the entire sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readStart(uint32_t lba, uint32_t count);
+  /** End a read multiple blocks sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readStop();
+  /** \return success if sync successful. Not for user apps. */
+  bool syncBlocks();
+  /** Return the card type: SD V1, SD V2 or SDHC
+   * \return 0 - SD V1, 1 - SD V2, or 3 - SDHC.
+   */
+  uint8_t type();
+  /**
+   * Writes a 512 byte block to an SD card.
+   *
+   * \param[in] lba Logical block to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlock(uint32_t lba, const uint8_t* src);
+  /**
+   * Write multiple 512 byte blocks to an SD card.
+   *
+   * \param[in] lba Logical block to be written.
+   * \param[in] nb Number of blocks to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlocks(uint32_t lba, const uint8_t* src, size_t nb);
+  /** Write one data block in a multiple block write sequence.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeData(const uint8_t* src);
+  /** Start a write multiple blocks sequence.
+   *
+   * \param[in] lba Address of first block in sequence.
+   *
+   * \note This function is used with writeData() and writeStop()
+   * for optimized multiple block writes.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeStart(uint32_t lba);
+  /** Start a write multiple blocks sequence.
+   *
+   * \param[in] lba Address of first block in sequence.
+   * \param[in] count Maximum block count.
+   * \note This function is used with writeData() and writeStop()
+   * for optimized multiple block writes.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeStart(uint32_t lba, uint32_t count);
+
+  /** End a write multiple blocks sequence.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeStop();
+};
+//==============================================================================
+/**
+ * \class SdioCardEX
+ * \brief Extended SD I/O block driver.
+ */
+class SdioCardEX : public SdioCard {
+ public:
+  /** Initialize the SD card
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool begin() {
+    m_curState = IDLE_STATE;
+    return SdioCard::begin();
+  }
+  /** Erase a range of blocks.
+   *
+   * \param[in] firstBlock The address of the first block in the range.
+   * \param[in] lastBlock The address of the last block in the range.
+   *
+   * \note This function requests the SD card to do a flash erase for a
+   * range of blocks.  The data on the card after an erase operation is
+   * either 0 or 1, depends on the card vendor.  The card must support
+   * single block erase.
+   *
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool erase(uint32_t firstBlock, uint32_t lastBlock) {
+    return syncBlocks() && SdioCard::erase(firstBlock, lastBlock);
+  }
+  /**
+   * Read a 512 byte block from an SD card.
+   *
+   * \param[in] block Logical block to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlock(uint32_t block, uint8_t* dst);
+  /** End multi-block transfer and go to idle state.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool syncBlocks();
+  /**
+   * Writes a 512 byte block to an SD card.
+   *
+   * \param[in] block Logical block to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlock(uint32_t block, const uint8_t* src);
+  /**
+   * Read multiple 512 byte blocks from an SD card.
+   *
+   * \param[in] block Logical block to be read.
+   * \param[in] nb Number of blocks to be read.
+   * \param[out] dst Pointer to the location that will receive the data.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool readBlocks(uint32_t block, uint8_t* dst, size_t nb);
+  /**
+   * Write multiple 512 byte blocks to an SD card.
+   *
+   * \param[in] block Logical block to be written.
+   * \param[in] nb Number of blocks to be written.
+   * \param[in] src Pointer to the location of the data to be written.
+   * \return The value true is returned for success and
+   * the value false is returned for failure.
+   */
+  bool writeBlocks(uint32_t block, const uint8_t* src, size_t nb);
+
+ private:
+  static const uint32_t IDLE_STATE = 0;
+  static const uint32_t READ_STATE = 1;
+  static const uint32_t WRITE_STATE = 2;
+  uint32_t m_curLba;
+  uint32_t m_limitLba;
+  uint8_t m_curState;
+};
+#endif  // SdioCard_h

hardware/_controller/src/SdFat/SdCard/SdioCardEX.cpp

@@ -0,0 +1,108 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "SdioCard.h"
+
+// limit of K66 due to errata KINETIS_K_0N65N.
+const uint32_t MAX_SDHC_COUNT = 0XFFFF;
+
+// Max RU is 1024 blocks.
+const uint32_t RU_MASK = 0X03FF;
+
+bool SdioCardEX::readBlock(uint32_t lba, uint8_t* dst) {
+  if (m_curState != READ_STATE || lba != m_curLba) {
+    if (!syncBlocks()) {
+      return false;
+    }
+    m_limitLba = (lba + MAX_SDHC_COUNT) & ~RU_MASK;
+    if (!SdioCard::readStart(lba, m_limitLba - lba)) {
+      return false;
+    }
+    m_curLba = lba;
+    m_curState = READ_STATE;
+  }
+  if (!SdioCard::readData(dst)) {
+    return false;
+  }
+  m_curLba++;
+  if (m_curLba >= m_limitLba) {
+    m_curState = IDLE_STATE;
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCardEX::readBlocks(uint32_t lba, uint8_t* dst, size_t nb) {
+  for (size_t i = 0; i < nb; i++) {
+    if (!readBlock(lba + i, dst + i*512UL)) {
+      return false;
+    }
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCardEX::syncBlocks() {
+  if (m_curState == READ_STATE) {
+    m_curState = IDLE_STATE;
+    if (!SdioCard::readStop()) {
+      return false;
+    }
+  } else if (m_curState == WRITE_STATE) {
+    m_curState = IDLE_STATE;
+    if (!SdioCard::writeStop()) {
+      return false;
+    }
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCardEX::writeBlock(uint32_t lba, const uint8_t* src) {
+  if (m_curState != WRITE_STATE || m_curLba != lba) {
+    if (!syncBlocks()) {
+      return false;
+    }
+    m_limitLba = (lba + MAX_SDHC_COUNT) & ~RU_MASK;
+    if (!SdioCard::writeStart(lba , m_limitLba - lba)) {
+      return false;
+    }
+    m_curLba = lba;
+    m_curState = WRITE_STATE;
+  }
+  if (!SdioCard::writeData(src)) {
+    return false;
+  }
+  m_curLba++;
+  if (m_curLba >= m_limitLba) {
+    m_curState = IDLE_STATE;
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCardEX::writeBlocks(uint32_t lba, const uint8_t* src, size_t nb) {
+  for (size_t i = 0; i < nb; i++) {
+    if (!writeBlock(lba + i, src + i*512UL)) {
+      return false;
+    }
+  }
+  return true;
+}

hardware/_controller/src/SdFat/SdCard/SdioTeensy.cpp

@@ -0,0 +1,800 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+#include "SdioCard.h"
+//==============================================================================
+#define SDHC_PROCTL_DTW_4BIT 0x01
+const uint32_t FIFO_WML = 16;
+const uint32_t CMD8_RETRIES = 10;
+const uint32_t BUSY_TIMEOUT_MICROS = 500000;
+//==============================================================================
+const uint32_t SDHC_IRQSTATEN_MASK =
+               SDHC_IRQSTATEN_DMAESEN | SDHC_IRQSTATEN_AC12ESEN |
+               SDHC_IRQSTATEN_DEBESEN | SDHC_IRQSTATEN_DCESEN |
+               SDHC_IRQSTATEN_DTOESEN | SDHC_IRQSTATEN_CIESEN |
+               SDHC_IRQSTATEN_CEBESEN | SDHC_IRQSTATEN_CCESEN |
+               SDHC_IRQSTATEN_CTOESEN | SDHC_IRQSTATEN_DINTSEN |
+               SDHC_IRQSTATEN_TCSEN | SDHC_IRQSTATEN_CCSEN;
+
+const uint32_t SDHC_IRQSTAT_CMD_ERROR =
+               SDHC_IRQSTAT_CIE | SDHC_IRQSTAT_CEBE |
+               SDHC_IRQSTAT_CCE | SDHC_IRQSTAT_CTOE;
+
+const uint32_t SDHC_IRQSTAT_DATA_ERROR =
+               SDHC_IRQSTAT_AC12E | SDHC_IRQSTAT_DEBE |
+               SDHC_IRQSTAT_DCE | SDHC_IRQSTAT_DTOE;
+
+const uint32_t SDHC_IRQSTAT_ERROR =
+               SDHC_IRQSTAT_DMAE | SDHC_IRQSTAT_CMD_ERROR |
+               SDHC_IRQSTAT_DATA_ERROR;
+
+const uint32_t SDHC_IRQSIGEN_MASK =
+               SDHC_IRQSIGEN_DMAEIEN | SDHC_IRQSIGEN_AC12EIEN |
+               SDHC_IRQSIGEN_DEBEIEN | SDHC_IRQSIGEN_DCEIEN |
+               SDHC_IRQSIGEN_DTOEIEN | SDHC_IRQSIGEN_CIEIEN |
+               SDHC_IRQSIGEN_CEBEIEN | SDHC_IRQSIGEN_CCEIEN |
+               SDHC_IRQSIGEN_CTOEIEN | SDHC_IRQSIGEN_TCIEN;
+//=============================================================================
+const uint32_t CMD_RESP_NONE = SDHC_XFERTYP_RSPTYP(0);
+
+const uint32_t CMD_RESP_R1 = SDHC_XFERTYP_CICEN | SDHC_XFERTYP_CCCEN |
+                             SDHC_XFERTYP_RSPTYP(2);
+
+const uint32_t CMD_RESP_R1b = SDHC_XFERTYP_CICEN | SDHC_XFERTYP_CCCEN |
+                              SDHC_XFERTYP_RSPTYP(3);
+
+const uint32_t CMD_RESP_R2 = SDHC_XFERTYP_CCCEN | SDHC_XFERTYP_RSPTYP(1);
+
+const uint32_t CMD_RESP_R3 = SDHC_XFERTYP_RSPTYP(2);
+
+const uint32_t CMD_RESP_R6 = CMD_RESP_R1;
+
+const uint32_t CMD_RESP_R7 = CMD_RESP_R1;
+
+const uint32_t DATA_READ = SDHC_XFERTYP_DTDSEL | SDHC_XFERTYP_DPSEL;
+
+const uint32_t DATA_READ_DMA = DATA_READ | SDHC_XFERTYP_DMAEN;
+
+const uint32_t DATA_READ_MULTI_DMA = DATA_READ_DMA | SDHC_XFERTYP_MSBSEL |
+                                     SDHC_XFERTYP_AC12EN | SDHC_XFERTYP_BCEN;
+
+const uint32_t DATA_READ_MULTI_PGM = DATA_READ | SDHC_XFERTYP_MSBSEL |
+                                     SDHC_XFERTYP_BCEN | SDHC_XFERTYP_AC12EN;
+
+const uint32_t DATA_WRITE_DMA = SDHC_XFERTYP_DPSEL | SDHC_XFERTYP_DMAEN;
+
+const uint32_t DATA_WRITE_MULTI_DMA = DATA_WRITE_DMA | SDHC_XFERTYP_MSBSEL |
+                                      SDHC_XFERTYP_AC12EN | SDHC_XFERTYP_BCEN;
+
+const uint32_t DATA_WRITE_MULTI_PGM = SDHC_XFERTYP_DPSEL |
+                                      SDHC_XFERTYP_MSBSEL |
+                                      SDHC_XFERTYP_BCEN | SDHC_XFERTYP_AC12EN;
+
+const uint32_t ACMD6_XFERTYP = SDHC_XFERTYP_CMDINX(ACMD6) | CMD_RESP_R1;
+
+const uint32_t ACMD41_XFERTYP = SDHC_XFERTYP_CMDINX(ACMD41) | CMD_RESP_R3;
+
+const uint32_t CMD0_XFERTYP = SDHC_XFERTYP_CMDINX(CMD0) | CMD_RESP_NONE;
+
+const uint32_t CMD2_XFERTYP = SDHC_XFERTYP_CMDINX(CMD2) | CMD_RESP_R2;
+
+const uint32_t CMD3_XFERTYP = SDHC_XFERTYP_CMDINX(CMD3) | CMD_RESP_R6;
+
+const uint32_t CMD6_XFERTYP = SDHC_XFERTYP_CMDINX(CMD6) | CMD_RESP_R1 |
+                              DATA_READ_DMA;
+
+const uint32_t CMD7_XFERTYP = SDHC_XFERTYP_CMDINX(CMD7) | CMD_RESP_R1b;
+
+const uint32_t CMD8_XFERTYP = SDHC_XFERTYP_CMDINX(CMD8) | CMD_RESP_R7;
+
+const uint32_t CMD9_XFERTYP = SDHC_XFERTYP_CMDINX(CMD9) | CMD_RESP_R2;
+
+const uint32_t CMD10_XFERTYP = SDHC_XFERTYP_CMDINX(CMD10) | CMD_RESP_R2;
+
+const uint32_t CMD12_XFERTYP = SDHC_XFERTYP_CMDINX(CMD12) | CMD_RESP_R1b |
+                               SDHC_XFERTYP_CMDTYP(3);
+
+const uint32_t CMD13_XFERTYP = SDHC_XFERTYP_CMDINX(CMD13) | CMD_RESP_R1;
+
+const uint32_t CMD17_DMA_XFERTYP = SDHC_XFERTYP_CMDINX(CMD17) | CMD_RESP_R1 |
+                                   DATA_READ_DMA;
+
+const uint32_t CMD18_DMA_XFERTYP = SDHC_XFERTYP_CMDINX(CMD18) | CMD_RESP_R1 |
+                                   DATA_READ_MULTI_DMA;
+
+const uint32_t CMD18_PGM_XFERTYP = SDHC_XFERTYP_CMDINX(CMD18) | CMD_RESP_R1 |
+                                   DATA_READ_MULTI_PGM;
+
+const uint32_t CMD24_DMA_XFERTYP = SDHC_XFERTYP_CMDINX(CMD24) | CMD_RESP_R1 |
+                                   DATA_WRITE_DMA;
+
+const uint32_t CMD25_DMA_XFERTYP = SDHC_XFERTYP_CMDINX(CMD25) | CMD_RESP_R1 |
+                                   DATA_WRITE_MULTI_DMA;
+
+const uint32_t CMD25_PGM_XFERTYP = SDHC_XFERTYP_CMDINX(CMD25) | CMD_RESP_R1 |
+                                   DATA_WRITE_MULTI_PGM;
+
+const uint32_t CMD32_XFERTYP = SDHC_XFERTYP_CMDINX(CMD32) | CMD_RESP_R1;
+
+const uint32_t CMD33_XFERTYP = SDHC_XFERTYP_CMDINX(CMD33) | CMD_RESP_R1;
+
+const uint32_t CMD38_XFERTYP = SDHC_XFERTYP_CMDINX(CMD38) | CMD_RESP_R1b;
+
+const uint32_t CMD55_XFERTYP = SDHC_XFERTYP_CMDINX(CMD55) | CMD_RESP_R1;
+
+//=============================================================================
+static bool cardCommand(uint32_t xfertyp, uint32_t arg);
+static void enableGPIO(bool enable);
+static void enableDmaIrs();
+static void initSDHC();
+static bool isBusyCMD13();
+static bool isBusyCommandComplete();
+static bool isBusyCommandInhibit();
+static bool readReg16(uint32_t xfertyp, void* data);
+static void setSdclk(uint32_t kHzMax);
+static bool yieldTimeout(bool (*fcn)());
+static bool waitDmaStatus();
+static bool waitTimeout(bool (*fcn)());
+//-----------------------------------------------------------------------------
+static bool (*m_busyFcn)() = 0;
+static bool m_initDone = false;
+static bool m_version2;
+static bool m_highCapacity;
+static uint8_t m_errorCode = SD_CARD_ERROR_INIT_NOT_CALLED;
+static uint32_t m_errorLine = 0;
+static uint32_t m_rca;
+static volatile bool m_dmaBusy = false;
+static volatile uint32_t m_irqstat;
+static uint32_t m_sdClkKhz = 0;
+static uint32_t m_ocr;
+static cid_t m_cid;
+static csd_t m_csd;
+//=============================================================================
+#define USE_DEBUG_MODE 0
+#if USE_DEBUG_MODE
+#define DBG_IRQSTAT() if (SDHC_IRQSTAT) {Serial.print(__LINE__);\
+        Serial.print(" IRQSTAT "); Serial.println(SDHC_IRQSTAT, HEX);}
+
+static void printRegs(uint32_t line) {
+  Serial.print(line);
+  Serial.print(" PRSSTAT ");
+  Serial.print(SDHC_PRSSTAT, HEX);
+  Serial.print(" PROCTL ");
+  Serial.print(SDHC_PROCTL, HEX);
+  Serial.print(" IRQSTAT ");
+  Serial.print(SDHC_IRQSTAT, HEX);
+  Serial.print(" m_irqstat ");
+  Serial.println(m_irqstat, HEX);
+}
+#else  // USE_DEBUG_MODE
+#define DBG_IRQSTAT()
+#endif  // USE_DEBUG_MODE
+//=============================================================================
+// Error function and macro.
+#define sdError(code) setSdErrorCode(code, __LINE__)
+inline bool setSdErrorCode(uint8_t code, uint32_t line) {
+  m_errorCode = code;
+  m_errorLine = line;
+  return false;  // setSdErrorCode
+}
+//=============================================================================
+// ISR
+void sdhc_isr() {
+  SDHC_IRQSIGEN = 0;
+  m_irqstat = SDHC_IRQSTAT;
+  SDHC_IRQSTAT = m_irqstat;
+  m_dmaBusy = false;
+}
+//=============================================================================
+// Static functions.
+static bool cardAcmd(uint32_t rca, uint32_t xfertyp, uint32_t arg) {
+  return cardCommand(CMD55_XFERTYP, rca) && cardCommand (xfertyp, arg);
+}
+//-----------------------------------------------------------------------------
+static bool cardCommand(uint32_t xfertyp, uint32_t arg) {
+  DBG_IRQSTAT();
+  if (waitTimeout(isBusyCommandInhibit)) {
+    return false;  // Caller will set errorCode.
+  }
+  SDHC_CMDARG = arg;
+  SDHC_XFERTYP = xfertyp;
+  if (waitTimeout(isBusyCommandComplete)) {
+    return false;  // Caller will set errorCode.
+  }
+  m_irqstat = SDHC_IRQSTAT;
+  SDHC_IRQSTAT = m_irqstat;
+
+  return (m_irqstat & SDHC_IRQSTAT_CC) &&
+         !(m_irqstat & SDHC_IRQSTAT_CMD_ERROR);
+}
+//-----------------------------------------------------------------------------
+static bool cardCMD6(uint32_t arg, uint8_t* status) {
+  // CMD6 returns 64 bytes.
+  if (waitTimeout(isBusyCMD13)) {
+    return sdError(SD_CARD_ERROR_CMD13);
+  }
+  enableDmaIrs();
+  SDHC_DSADDR  = (uint32_t)status;
+  SDHC_CMDARG = arg;
+  SDHC_BLKATTR = SDHC_BLKATTR_BLKCNT(1) | SDHC_BLKATTR_BLKSIZE(64);
+  SDHC_IRQSIGEN = SDHC_IRQSIGEN_MASK;
+  SDHC_XFERTYP = CMD6_XFERTYP;
+
+  if (!waitDmaStatus()) {
+    return sdError(SD_CARD_ERROR_CMD6);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+static void enableGPIO(bool enable) {
+  const uint32_t PORT_CLK = PORT_PCR_MUX(4) | PORT_PCR_DSE;
+  const uint32_t PORT_CMD_DATA = PORT_CLK | PORT_PCR_PS | PORT_PCR_PE;
+
+  PORTE_PCR0 = enable ? PORT_CMD_DATA : 0;  // SDHC_D1
+  PORTE_PCR1 = enable ? PORT_CMD_DATA : 0;  // SDHC_D0
+  PORTE_PCR2 = enable ? PORT_CLK : 0;       // SDHC_CLK
+  PORTE_PCR3 = enable ? PORT_CMD_DATA : 0;  // SDHC_CMD
+  PORTE_PCR4 = enable ? PORT_CMD_DATA : 0;  // SDHC_D3
+  PORTE_PCR5 = enable ? PORT_CMD_DATA : 0;  // SDHC_D2
+}
+//-----------------------------------------------------------------------------
+static void enableDmaIrs() {
+  m_dmaBusy = true;
+  m_irqstat = 0;
+}
+//-----------------------------------------------------------------------------
+static void initSDHC() {
+#ifdef HAS_KINETIS_MPU
+  // Allow SDHC Bus Master access.
+  MPU_RGDAAC0 |= 0x0C000000;
+#endif
+  // Enable SDHC clock.
+  SIM_SCGC3 |= SIM_SCGC3_SDHC;
+
+  // Disable GPIO clock.
+  enableGPIO(false);
+
+  // Reset SDHC. Use default Water Mark Level of 16.
+  SDHC_SYSCTL = SDHC_SYSCTL_RSTA;
+  while (SDHC_SYSCTL & SDHC_SYSCTL_RSTA) {
+  }
+  // Set initial SCK rate.
+  setSdclk(400);
+
+  enableGPIO(true);
+
+  // Enable desired IRQSTAT bits.
+  SDHC_IRQSTATEN = SDHC_IRQSTATEN_MASK;
+
+  NVIC_SET_PRIORITY(IRQ_SDHC, 6*16);
+  NVIC_ENABLE_IRQ(IRQ_SDHC);
+
+  // Send 80 clocks to card.
+  SDHC_SYSCTL |= SDHC_SYSCTL_INITA;
+  while (SDHC_SYSCTL & SDHC_SYSCTL_INITA) {
+  }
+}
+//-----------------------------------------------------------------------------
+static bool isBusyCMD13() {
+  if (!cardCommand(CMD13_XFERTYP, m_rca)) {
+    // Caller will timeout.
+    return true;
+  }
+  return !(SDHC_CMDRSP0 & CARD_STATUS_READY_FOR_DATA);
+}
+//-----------------------------------------------------------------------------
+static bool isBusyCommandComplete() {
+  return !(SDHC_IRQSTAT &(SDHC_IRQSTAT_CC | SDHC_IRQSTAT_CMD_ERROR));
+}
+//-----------------------------------------------------------------------------
+static bool isBusyCommandInhibit() {
+  return SDHC_PRSSTAT & SDHC_PRSSTAT_CIHB;
+}
+//-----------------------------------------------------------------------------
+static bool isBusyDMA() {
+  return m_dmaBusy;
+}
+//-----------------------------------------------------------------------------
+static bool isBusyFifoRead() {
+  return !(SDHC_PRSSTAT & SDHC_PRSSTAT_BREN);
+}
+//-----------------------------------------------------------------------------
+static bool isBusyFifoWrite() {
+  return !(SDHC_PRSSTAT & SDHC_PRSSTAT_BWEN);
+}
+//-----------------------------------------------------------------------------
+static bool isBusyTransferComplete() {
+  return !(SDHC_IRQSTAT & (SDHC_IRQSTAT_TC | SDHC_IRQSTAT_ERROR));
+}
+//-----------------------------------------------------------------------------
+static bool rdWrBlocks(uint32_t xfertyp,
+                       uint32_t lba, uint8_t* buf, size_t n) {
+  if ((3 & (uint32_t)buf) || n == 0) {
+    return sdError(SD_CARD_ERROR_DMA);
+  }
+  if (yieldTimeout(isBusyCMD13)) {
+    return sdError(SD_CARD_ERROR_CMD13);
+  }
+  enableDmaIrs();
+  SDHC_DSADDR  = (uint32_t)buf;
+  SDHC_CMDARG = m_highCapacity ? lba : 512*lba;
+  SDHC_BLKATTR = SDHC_BLKATTR_BLKCNT(n) | SDHC_BLKATTR_BLKSIZE(512);
+  SDHC_IRQSIGEN = SDHC_IRQSIGEN_MASK;
+  SDHC_XFERTYP = xfertyp;
+
+  return waitDmaStatus();
+}
+//-----------------------------------------------------------------------------
+// Read 16 byte CID or CSD register.
+static bool readReg16(uint32_t xfertyp, void* data) {
+  uint8_t* d = reinterpret_cast<uint8_t*>(data);
+  if (!cardCommand(xfertyp, m_rca)) {
+    return false;  // Caller will set errorCode.
+  }
+  uint32_t sr[] = {SDHC_CMDRSP0, SDHC_CMDRSP1, SDHC_CMDRSP2, SDHC_CMDRSP3};
+  for (int i = 0; i < 15; i++) {
+    d[14 - i] = sr[i/4] >> 8*(i%4);
+  }
+  d[15] = 0;
+  return true;
+}
+//-----------------------------------------------------------------------------
+static void setSdclk(uint32_t kHzMax) {
+  const uint32_t DVS_LIMIT = 0X10;
+  const uint32_t SDCLKFS_LIMIT = 0X100;
+  uint32_t dvs = 1;
+  uint32_t sdclkfs = 1;
+  uint32_t maxSdclk = 1000*kHzMax;
+
+  while ((F_CPU/(sdclkfs*DVS_LIMIT) > maxSdclk) && (sdclkfs < SDCLKFS_LIMIT)) {
+    sdclkfs <<= 1;
+  }
+  while ((F_CPU/(sdclkfs*dvs) > maxSdclk) && (dvs < DVS_LIMIT)) {
+    dvs++;
+  }
+  m_sdClkKhz = F_CPU/(1000*sdclkfs*dvs);
+  sdclkfs >>= 1;
+  dvs--;
+
+  // Disable SDHC clock.
+  SDHC_SYSCTL &= ~SDHC_SYSCTL_SDCLKEN;
+
+  // Change dividers.
+  uint32_t sysctl = SDHC_SYSCTL & ~(SDHC_SYSCTL_DTOCV_MASK
+                    | SDHC_SYSCTL_DVS_MASK | SDHC_SYSCTL_SDCLKFS_MASK);
+
+  SDHC_SYSCTL = sysctl | SDHC_SYSCTL_DTOCV(0x0E) | SDHC_SYSCTL_DVS(dvs)
+                | SDHC_SYSCTL_SDCLKFS(sdclkfs);
+
+  // Wait until the SDHC clock is stable.
+  while (!(SDHC_PRSSTAT & SDHC_PRSSTAT_SDSTB)) {
+  }
+  // Enable the SDHC clock.
+  SDHC_SYSCTL |= SDHC_SYSCTL_SDCLKEN;
+}
+//-----------------------------------------------------------------------------
+static bool transferStop() {
+  DBG_IRQSTAT();
+
+  if (!cardCommand(CMD12_XFERTYP, 0)) {
+    return sdError(SD_CARD_ERROR_CMD12);
+  }
+  if (yieldTimeout(isBusyCMD13)) {
+    return sdError(SD_CARD_ERROR_CMD13);
+  }
+  // Save registers before reset DAT lines.
+  uint32_t irqsststen = SDHC_IRQSTATEN;
+  uint32_t proctl = SDHC_PROCTL & ~SDHC_PROCTL_SABGREQ;
+
+  // Do reset to clear CDIHB.  Should be a better way!
+  SDHC_SYSCTL |= SDHC_SYSCTL_RSTD;
+
+  // Restore registers.
+  SDHC_IRQSTATEN = irqsststen;
+  SDHC_PROCTL = proctl;
+
+  return true;
+}
+//-----------------------------------------------------------------------------
+// Return true if timeout occurs.
+static bool yieldTimeout(bool (*fcn)()) {
+  m_busyFcn = fcn;
+  uint32_t m = micros();
+  while (fcn()) {
+    if ((micros() - m) > BUSY_TIMEOUT_MICROS) {
+      m_busyFcn = 0;
+      return true;
+    }
+    yield();
+  }
+  m_busyFcn = 0;
+  return false;  // Caller will set errorCode.
+}
+//-----------------------------------------------------------------------------
+static bool waitDmaStatus() {
+  if (yieldTimeout(isBusyDMA)) {
+    return false;  // Caller will set errorCode.
+  }
+  return (m_irqstat & SDHC_IRQSTAT_TC) && !(m_irqstat & SDHC_IRQSTAT_ERROR);
+}
+//-----------------------------------------------------------------------------
+// Return true if timeout occurs.
+static bool waitTimeout(bool (*fcn)()) {
+  uint32_t m = micros();
+  while (fcn()) {
+    if ((micros() - m) > BUSY_TIMEOUT_MICROS) {
+      return true;
+    }
+  }
+  return false;  // Caller will set errorCode.
+}
+//=============================================================================
+bool SdioCard::begin() {
+  uint32_t kHzSdClk;
+  uint32_t arg;
+  m_initDone = false;
+  m_errorCode = SD_CARD_ERROR_NONE;
+  m_highCapacity = false;
+  m_version2 = false;
+
+  // initialize controller.
+  initSDHC();
+
+  if (!cardCommand(CMD0_XFERTYP, 0)) {
+    return sdError(SD_CARD_ERROR_CMD0);
+  }
+  // Try several times for case of reset delay.
+  for (uint32_t i = 0; i < CMD8_RETRIES; i++) {
+    if (cardCommand(CMD8_XFERTYP, 0X1AA)) {
+      if (SDHC_CMDRSP0 != 0X1AA) {
+        return sdError(SD_CARD_ERROR_CMD8);
+      }
+      m_version2 = true;
+      break;
+    }
+  }
+  arg = m_version2 ? 0X40300000 : 0x00300000;
+  uint32_t m = micros();
+  do {
+    if (!cardAcmd(0, ACMD41_XFERTYP, arg) ||
+       ((micros() - m) > BUSY_TIMEOUT_MICROS)) {
+      return sdError(SD_CARD_ERROR_ACMD41);
+    }
+  } while ((SDHC_CMDRSP0 & 0x80000000) == 0);
+
+  m_ocr = SDHC_CMDRSP0;
+  if (SDHC_CMDRSP0 & 0x40000000) {
+    // Is high capacity.
+    m_highCapacity = true;
+  }
+  if (!cardCommand(CMD2_XFERTYP, 0)) {
+    return sdError(SD_CARD_ERROR_CMD2);
+  }
+  if (!cardCommand(CMD3_XFERTYP, 0)) {
+    return sdError(SD_CARD_ERROR_CMD3);
+  }
+  m_rca = SDHC_CMDRSP0 & 0xFFFF0000;
+
+  if (!readReg16(CMD9_XFERTYP, &m_csd)) {
+    return sdError(SD_CARD_ERROR_CMD9);
+  }
+  if (!readReg16(CMD10_XFERTYP, &m_cid)) {
+    return sdError(SD_CARD_ERROR_CMD10);
+  }
+  if (!cardCommand(CMD7_XFERTYP, m_rca)) {
+    return sdError(SD_CARD_ERROR_CMD7);
+  }
+  // Set card to bus width four.
+  if (!cardAcmd(m_rca, ACMD6_XFERTYP, 2)) {
+    return sdError(SD_CARD_ERROR_ACMD6);
+  }
+  // Set SDHC to bus width four.
+  SDHC_PROCTL &= ~SDHC_PROCTL_DTW_MASK;
+  SDHC_PROCTL |= SDHC_PROCTL_DTW(SDHC_PROCTL_DTW_4BIT);
+
+  SDHC_WML = SDHC_WML_RDWML(FIFO_WML) | SDHC_WML_WRWML(FIFO_WML);
+
+  // Determine if High Speed mode is supported and set frequency.
+  uint8_t status[64];
+  if (cardCMD6(0X00FFFFFF, status) && (2 & status[13]) &&
+      cardCMD6(0X80FFFFF1, status) && (status[16] & 0XF) == 1) {
+    kHzSdClk = 50000;
+  } else {
+    kHzSdClk = 25000;
+  }
+  // disable GPIO
+  enableGPIO(false);
+
+  // Set the SDHC SCK frequency.
+  setSdclk(kHzSdClk);
+
+  // enable GPIO
+  enableGPIO(true);
+  m_initDone = true;
+  return true;
+}
+//-----------------------------------------------------------------------------
+uint32_t SdioCard::cardCapacity() {
+  return sdCardCapacity(&m_csd);
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::erase(uint32_t firstBlock, uint32_t lastBlock) {
+  // check for single block erase
+  if (!m_csd.v1.erase_blk_en) {
+    // erase size mask
+    uint8_t m = (m_csd.v1.sector_size_high << 1) | m_csd.v1.sector_size_low;
+    if ((firstBlock & m) != 0 || ((lastBlock + 1) & m) != 0) {
+      // error card can't erase specified area
+      return sdError(SD_CARD_ERROR_ERASE_SINGLE_BLOCK);
+    }
+  }
+  if (!m_highCapacity) {
+    firstBlock <<= 9;
+    lastBlock <<= 9;
+  }
+  if (!cardCommand(CMD32_XFERTYP, firstBlock)) {
+    return sdError(SD_CARD_ERROR_CMD32);
+  }
+  if (!cardCommand(CMD33_XFERTYP, lastBlock)) {
+     return sdError(SD_CARD_ERROR_CMD33);
+  }
+  if (!cardCommand(CMD38_XFERTYP, 0)) {
+    return sdError(SD_CARD_ERROR_CMD38);
+  }
+  if (waitTimeout(isBusyCMD13)) {
+    return sdError(SD_CARD_ERROR_ERASE_TIMEOUT);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+uint8_t SdioCard::errorCode() {
+  return m_errorCode;
+}
+//-----------------------------------------------------------------------------
+uint32_t SdioCard::errorData() {
+  return m_irqstat;
+}
+//-----------------------------------------------------------------------------
+uint32_t SdioCard::errorLine() {
+  return m_errorLine;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::isBusy() {
+  return m_busyFcn ? m_busyFcn() : m_initDone && isBusyCMD13();
+}
+//-----------------------------------------------------------------------------
+uint32_t SdioCard::kHzSdClk() {
+  return m_sdClkKhz;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readBlock(uint32_t lba, uint8_t* buf) {
+  uint8_t aligned[512];
+
+  uint8_t* ptr = (uint32_t)buf & 3 ? aligned : buf;
+
+  if (!rdWrBlocks(CMD17_DMA_XFERTYP, lba, ptr, 1)) {
+    return sdError(SD_CARD_ERROR_CMD18);
+  }
+  if (ptr != buf) {
+    memcpy(buf, aligned, 512);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readBlocks(uint32_t lba, uint8_t* buf, size_t n) {
+  if ((uint32_t)buf & 3) {
+    for (size_t i = 0; i < n; i++, lba++, buf += 512) {
+      if (!readBlock(lba, buf)) {
+        return false;  // readBlock will set errorCode.
+      }
+    }
+    return true;
+  }
+  if (!rdWrBlocks(CMD18_DMA_XFERTYP, lba, buf, n)) {
+    return sdError(SD_CARD_ERROR_CMD18);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readCID(void* cid) {
+  memcpy(cid, &m_cid, 16);
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readCSD(void* csd) {
+  memcpy(csd, &m_csd, 16);
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readData(uint8_t *dst) {
+  DBG_IRQSTAT();
+  uint32_t *p32 = reinterpret_cast<uint32_t*>(dst);
+
+  if (!(SDHC_PRSSTAT & SDHC_PRSSTAT_RTA)) {
+    SDHC_PROCTL &= ~SDHC_PROCTL_SABGREQ;
+    if ((SDHC_BLKATTR & 0XFFFF0000) == 0X10000) {
+    // Don't stop at block gap if last block.  Allows auto CMD12.
+      SDHC_PROCTL |= SDHC_PROCTL_CREQ;
+    } else {
+      noInterrupts();
+      SDHC_PROCTL |= SDHC_PROCTL_CREQ;
+      SDHC_PROCTL |= SDHC_PROCTL_SABGREQ;
+      interrupts();
+    }
+  }
+  if (waitTimeout(isBusyFifoRead)) {
+    return sdError(SD_CARD_ERROR_READ_FIFO);
+  }
+  for (uint32_t iw = 0 ; iw < 512/(4*FIFO_WML); iw++) {
+    while (0 == (SDHC_PRSSTAT & SDHC_PRSSTAT_BREN)) {
+    }
+    for (uint32_t i = 0; i < FIFO_WML; i++) {
+      p32[i] = SDHC_DATPORT;
+    }
+    p32 += FIFO_WML;
+  }
+  if (waitTimeout(isBusyTransferComplete)) {
+    return sdError(SD_CARD_ERROR_READ_TIMEOUT);
+  }
+  m_irqstat = SDHC_IRQSTAT;
+  SDHC_IRQSTAT = m_irqstat;
+  return (m_irqstat & SDHC_IRQSTAT_TC) && !(m_irqstat & SDHC_IRQSTAT_ERROR);
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readOCR(uint32_t* ocr) {
+  *ocr = m_ocr;
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readStart(uint32_t lba) {
+  // K66/K65 Errata - SDHC: Does not support Infinite Block Transfer Mode.
+  return sdError(SD_CARD_ERROR_FUNCTION_NOT_SUPPORTED);
+}
+//-----------------------------------------------------------------------------
+// SDHC will do Auto CMD12 after count blocks.
+bool SdioCard::readStart(uint32_t lba, uint32_t count) {
+  DBG_IRQSTAT();
+  if (count > 0XFFFF) {
+    return sdError(SD_CARD_ERROR_READ_START);
+  }
+  if (yieldTimeout(isBusyCMD13)) {
+    return sdError(SD_CARD_ERROR_CMD13);
+  }
+  if (count > 1) {
+    SDHC_PROCTL |= SDHC_PROCTL_SABGREQ;
+  }
+  SDHC_BLKATTR = SDHC_BLKATTR_BLKCNT(count) | SDHC_BLKATTR_BLKSIZE(512);
+  if (!cardCommand(CMD18_PGM_XFERTYP, m_highCapacity ? lba : 512*lba)) {
+    return sdError(SD_CARD_ERROR_CMD18);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::readStop() {
+  return transferStop();
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::syncBlocks() {
+  return true;
+}
+//-----------------------------------------------------------------------------
+uint8_t SdioCard::type() {
+  return  m_version2 ? m_highCapacity ?
+          SD_CARD_TYPE_SDHC : SD_CARD_TYPE_SD2 : SD_CARD_TYPE_SD1;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::writeBlock(uint32_t lba, const uint8_t* buf) {
+  uint8_t *ptr;
+  uint8_t aligned[512];
+  if (3 & (uint32_t)buf) {
+    ptr = aligned;
+    memcpy(aligned, buf, 512);
+  } else {
+    ptr = const_cast<uint8_t*>(buf);
+  }
+  if (!rdWrBlocks(CMD24_DMA_XFERTYP, lba, ptr, 1)) {
+    return sdError(SD_CARD_ERROR_CMD24);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::writeBlocks(uint32_t lba, const uint8_t* buf, size_t n) {
+  uint8_t* ptr = const_cast<uint8_t*>(buf);
+  if (3 & (uint32_t)ptr) {
+    for (size_t i = 0; i < n; i++, lba++, ptr += 512) {
+      if (!writeBlock(lba, ptr)) {
+        return false;  // writeBlock will set errorCode.
+      }
+    }
+    return true;
+  }
+  if (!rdWrBlocks(CMD25_DMA_XFERTYP, lba, ptr, n)) {
+    return sdError(SD_CARD_ERROR_CMD25);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::writeData(const uint8_t* src) {
+  DBG_IRQSTAT();
+  const uint32_t* p32 = reinterpret_cast<const uint32_t*>(src);
+
+  if (!(SDHC_PRSSTAT & SDHC_PRSSTAT_WTA)) {
+    SDHC_PROCTL &= ~SDHC_PROCTL_SABGREQ;
+    // Don't stop at block gap if last block.  Allows auto CMD12.
+    if ((SDHC_BLKATTR & 0XFFFF0000) == 0X10000) {
+      SDHC_PROCTL |= SDHC_PROCTL_CREQ;
+    } else {
+      SDHC_PROCTL |= SDHC_PROCTL_CREQ;
+      SDHC_PROCTL |= SDHC_PROCTL_SABGREQ;
+    }
+  }
+  if (waitTimeout(isBusyFifoWrite)) {
+    return sdError(SD_CARD_ERROR_WRITE_FIFO);
+  }
+  for (uint32_t iw = 0 ; iw < 512/(4*FIFO_WML); iw++) {
+    while (0 == (SDHC_PRSSTAT & SDHC_PRSSTAT_BWEN)) {
+    }
+    for (uint32_t i = 0; i < FIFO_WML; i++) {
+      SDHC_DATPORT = p32[i];
+    }
+    p32 += FIFO_WML;
+  }
+  if (waitTimeout(isBusyTransferComplete)) {
+    return sdError(SD_CARD_ERROR_WRITE_TIMEOUT);
+  }
+  m_irqstat = SDHC_IRQSTAT;
+  SDHC_IRQSTAT = m_irqstat;
+  return (m_irqstat & SDHC_IRQSTAT_TC) && !(m_irqstat & SDHC_IRQSTAT_ERROR);
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::writeStart(uint32_t lba) {
+  // K66/K65 Errata - SDHC: Does not support Infinite Block Transfer Mode.
+  return sdError(SD_CARD_ERROR_FUNCTION_NOT_SUPPORTED);
+}
+//-----------------------------------------------------------------------------
+// SDHC will do Auto CMD12 after count blocks.
+bool SdioCard::writeStart(uint32_t lba, uint32_t count) {
+  if (count > 0XFFFF) {
+    return sdError(SD_CARD_ERROR_WRITE_START);
+  }
+  DBG_IRQSTAT();
+  if (yieldTimeout(isBusyCMD13)) {
+    return sdError(SD_CARD_ERROR_CMD13);
+  }
+  if (count > 1) {
+    SDHC_PROCTL |= SDHC_PROCTL_SABGREQ;
+  }
+  SDHC_BLKATTR = SDHC_BLKATTR_BLKCNT(count) | SDHC_BLKATTR_BLKSIZE(512);
+
+  if (!cardCommand(CMD25_PGM_XFERTYP, m_highCapacity ? lba : 512*lba)) {
+    return sdError(SD_CARD_ERROR_CMD25);
+  }
+  return true;
+}
+//-----------------------------------------------------------------------------
+bool SdioCard::writeStop() {
+  return transferStop();
+}
+#endif  // defined(__MK64FX512__) || defined(__MK66FX1M0__)

hardware/_controller/src/SdFat/SdFat.h

@@ -0,0 +1,512 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SdFat_h
+#define SdFat_h
+/**
+ * \file
+ * \brief SdFat class
+ */
+#include "SysCall.h"
+#include "BlockDriver.h"
+#include "FatLib/FatLib.h"
+#include "SdCard/SdioCard.h"
+#if INCLUDE_SDIOS
+#include "sdios.h"
+#endif  // INCLUDE_SDIOS
+//------------------------------------------------------------------------------
+/** SdFat version 1.1.2 */
+#define SD_FAT_VERSION 10102
+//==============================================================================
+/**
+ * \class SdBaseFile
+ * \brief Class for backward compatibility.
+ */
+class SdBaseFile : public FatFile {
+ public:
+  SdBaseFile() {}
+  /**  Create a file object and open it in the current working directory.
+   *
+   * \param[in] path A path for a file to be opened.
+   *
+   * \param[in] oflag Values for \a oflag are constructed by a
+   * bitwise-inclusive OR of open flags. see
+   * FatFile::open(FatFile*, const char*, oflag_t).
+   */
+  SdBaseFile(const char* path, oflag_t oflag) : FatFile(path, oflag) {}
+};
+//-----------------------------------------------------------------------------
+#if ENABLE_ARDUINO_FEATURES
+/**
+ * \class SdFile
+ * \brief Class for backward compatibility.
+ */
+class SdFile : public PrintFile {
+ public:
+  SdFile() {}
+  /**  Create a file object and open it in the current working directory.
+   *
+   * \param[in] path A path for a file to be opened.
+   *
+   * \param[in] oflag Values for \a oflag are constructed by a
+   * bitwise-inclusive OR of open flags. see
+   * FatFile::open(FatFile*, const char*, oflag_t).
+   */
+  SdFile(const char* path, oflag_t oflag) : PrintFile(path, oflag) {}
+};
+#endif  // #if ENABLE_ARDUINO_FEATURES
+//-----------------------------------------------------------------------------
+/**
+ * \class SdFileSystem
+ * \brief Virtual base class for %SdFat library.
+ */
+template<class SdDriverClass>
+class SdFileSystem : public FatFileSystem {
+ public:
+  /** Initialize file system.
+   * \return true for success else false.
+   */
+  bool begin() {
+    return FatFileSystem::begin(&m_card);
+  }
+  /** \return Pointer to SD card object */
+  SdDriverClass *card() {
+    m_card.syncBlocks();
+    return &m_card;
+  }
+  /** %Print any SD error code to Serial and halt. */
+  void errorHalt() {
+    errorHalt(&Serial);
+  }
+  /** %Print any SD error code and halt.
+   *
+   * \param[in] pr Print destination.
+   */
+  void errorHalt(Print* pr) {
+    errorPrint(pr);
+    SysCall::halt();
+  }
+  /** %Print msg, any SD error code and halt.
+   *
+   * \param[in] msg Message to print.
+   */
+  void errorHalt(char const* msg) {
+    errorHalt(&Serial, msg);
+  }
+  /** %Print msg, any SD error code, and halt.
+   *
+   * \param[in] pr Print destination.
+   * \param[in] msg Message to print.
+   */
+  void errorHalt(Print* pr, char const* msg) {
+    errorPrint(pr, msg);
+    SysCall::halt();
+  }
+  /** %Print any SD error code to Serial */
+  void errorPrint() {
+    errorPrint(&Serial);
+  }
+  /** %Print any SD error code.
+   * \param[in] pr Print device.
+   */
+  void errorPrint(Print* pr) {
+    if (!cardErrorCode()) {
+      return;
+    }
+    pr->print(F("SD errorCode: 0X"));
+    pr->print(cardErrorCode(), HEX);
+    pr->print(F(",0X"));
+    pr->println(cardErrorData(), HEX);
+  }
+  /** %Print msg, any SD error code.
+   *
+   * \param[in] msg Message to print.
+   */
+  void errorPrint(const char* msg) {
+    errorPrint(&Serial, msg);
+  }
+  /** %Print msg, any SD error code.
+   *
+   * \param[in] pr Print destination.
+   * \param[in] msg Message to print.
+   */
+  void errorPrint(Print* pr, char const* msg) {
+    pr->print(F("error: "));
+    pr->println(msg);
+    errorPrint(pr);
+  }
+  /** %Print any SD error code and halt. */
+  void initErrorHalt() {
+    initErrorHalt(&Serial);
+  }
+  /** %Print error details and halt after begin fails.
+   *
+   * \param[in] pr Print destination.
+   */
+  void initErrorHalt(Print* pr) {
+    initErrorPrint(pr);
+    SysCall::halt();
+  }
+  /**Print message, error details, and halt after begin() fails.
+   *
+   * \param[in] msg Message to print.
+   */
+  void initErrorHalt(char const *msg) {
+    initErrorHalt(&Serial, msg);
+  }
+  /**Print message, error details, and halt after begin() fails.
+   * \param[in] pr Print device.
+   * \param[in] msg Message to print.
+   */
+  void initErrorHalt(Print* pr, char const *msg) {
+    pr->println(msg);
+    initErrorHalt(pr);
+  }
+
+  /** Print error details after begin() fails. */
+  void initErrorPrint() {
+    initErrorPrint(&Serial);
+  }
+  /** Print error details after begin() fails.
+   *
+   * \param[in] pr Print destination.
+   */
+  void initErrorPrint(Print* pr) {
+    if (cardErrorCode()) {
+      pr->println(F("Can't access SD card. Do not reformat."));
+      if (cardErrorCode() == SD_CARD_ERROR_CMD0) {
+        pr->println(F("No card, wrong chip select pin, or SPI problem?"));
+      }
+      errorPrint(pr);
+    } else if (vol()->fatType() == 0) {
+      pr->println(F("Invalid format, reformat SD."));
+    } else if (!vwd()->isOpen()) {
+      pr->println(F("Can't open root directory."));
+    } else {
+      pr->println(F("No error found."));
+    }
+  }
+  /**Print message and error details and halt after begin() fails.
+   *
+   * \param[in] msg Message to print.
+   */
+  void initErrorPrint(char const *msg) {
+    initErrorPrint(&Serial, msg);
+  }
+  /**Print message and error details and halt after begin() fails.
+   *
+   * \param[in] pr Print destination.
+   * \param[in] msg Message to print.
+   */
+  void initErrorPrint(Print* pr, char const *msg) {
+    pr->println(msg);
+    initErrorPrint(pr);
+  }
+#if defined(ARDUINO) || defined(DOXYGEN)
+  /** %Print msg, any SD error code, and halt.
+   *
+   * \param[in] msg Message to print.
+   */
+  void errorHalt(const __FlashStringHelper* msg) {
+    errorHalt(&Serial, msg);
+  }
+  /** %Print msg, any SD error code, and halt.
+   *
+   * \param[in] pr Print destination.
+   * \param[in] msg Message to print.
+   */
+  void errorHalt(Print* pr, const __FlashStringHelper* msg) {
+    errorPrint(pr, msg);
+    SysCall::halt();
+  }
+
+  /** %Print msg, any SD error code.
+   *
+   * \param[in] msg Message to print.
+   */
+  void errorPrint(const __FlashStringHelper* msg) {
+    errorPrint(&Serial, msg);
+  }
+  /** %Print msg, any SD error code.
+   *
+   * \param[in] pr Print destination.
+   * \param[in] msg Message to print.
+   */
+  void errorPrint(Print* pr, const __FlashStringHelper* msg) {
+    pr->print(F("error: "));
+    pr->println(msg);
+    errorPrint(pr);
+  }
+  /**Print message, error details, and halt after begin() fails.
+    *
+    * \param[in] msg Message to print.
+    */
+  void initErrorHalt(const __FlashStringHelper* msg) {
+    initErrorHalt(&Serial, msg);
+  }
+  /**Print message, error details, and halt after begin() fails.
+   * \param[in] pr Print device for message.
+   * \param[in] msg Message to print.
+   */
+  void initErrorHalt(Print* pr, const __FlashStringHelper* msg) {
+    pr->println(msg);
+    initErrorHalt(pr);
+  }
+  /**Print message and error details and halt after begin() fails.
+   *
+   * \param[in] msg Message to print.
+   */
+  void initErrorPrint(const __FlashStringHelper* msg) {
+    initErrorPrint(&Serial, msg);
+  }
+  /**Print message and error details and halt after begin() fails.
+   *
+   * \param[in] pr Print destination.
+   * \param[in] msg Message to print.
+   */
+  void initErrorPrint(Print* pr, const __FlashStringHelper* msg) {
+    pr->println(msg);
+    initErrorPrint(pr);
+  }
+#endif  // defined(ARDUINO) || defined(DOXYGEN)
+  /** \return The card error code */
+  uint8_t cardErrorCode() {
+        return m_card.errorCode();
+  }
+  /** \return the card error data */
+  uint32_t cardErrorData() {
+    return m_card.errorData();
+  }
+
+ protected:
+  SdDriverClass m_card;
+};
+//==============================================================================
+/**
+ * \class SdFat
+ * \brief Main file system class for %SdFat library.
+ */
+class SdFat : public SdFileSystem<SdSpiCard> {
+ public:
+#if IMPLEMENT_SPI_PORT_SELECTION || defined(DOXYGEN)
+  SdFat() {
+    m_spi.setPort(nullptr);
+  }
+  /** Constructor with SPI port selection.
+   * \param[in] spiPort SPI port number.
+   */
+  explicit SdFat(SPIClass* spiPort) {
+    m_spi.setPort(spiPort);
+  }
+#endif  // IMPLEMENT_SPI_PORT_SELECTION
+  /** Initialize SD card and file system.
+   *
+   * \param[in] csPin SD card chip select pin.
+   * \param[in] spiSettings SPI speed, mode, and bit order.
+   * \return true for success else false.
+   */
+  bool begin(uint8_t csPin = SS, SPISettings spiSettings = SPI_FULL_SPEED) {
+    return m_card.begin(&m_spi, csPin, spiSettings) &&
+           SdFileSystem::begin();
+  }
+  /** Initialize SD card for diagnostic use only.
+   *
+   * \param[in] csPin SD card chip select pin.
+   * \param[in] settings SPI speed, mode, and bit order.
+   * \return true for success else false.
+   */
+  bool cardBegin(uint8_t csPin = SS, SPISettings settings = SPI_FULL_SPEED) {
+    return m_card.begin(&m_spi, csPin, settings);
+  }
+  /** Initialize file system for diagnostic use only.
+   * \return true for success else false.
+   */
+  bool fsBegin() {
+    return FatFileSystem::begin(card());
+  }
+
+ private:
+  SdFatSpiDriver m_spi;
+};
+//==============================================================================
+#if ENABLE_SDIO_CLASS || defined(DOXYGEN)
+/**
+ * \class SdFatSdio
+ * \brief SdFat class using SDIO.
+ */
+class SdFatSdio : public SdFileSystem<SdioCard> {
+ public:
+  /** Initialize SD card and file system.
+   * \return true for success else false.
+   */
+  bool begin() {
+    return m_card.begin() && SdFileSystem::begin();
+  }
+  /** Initialize SD card for diagnostic use only.
+   *
+   * \return true for success else false.
+   */
+  bool cardBegin() {
+    return m_card.begin();
+  }
+  /** Initialize file system for diagnostic use only.
+   * \return true for success else false.
+   */
+  bool fsBegin() {
+    return SdFileSystem::begin();
+  }
+};
+#if ENABLE_SDIOEX_CLASS || defined(DOXYGEN)
+//-----------------------------------------------------------------------------
+/**
+ * \class SdFatSdioEX
+ * \brief SdFat class using SDIO.
+ */
+class SdFatSdioEX : public SdFileSystem<SdioCardEX> {
+ public:
+  /** Initialize SD card and file system.
+   * \return true for success else false.
+   */
+  bool begin() {
+    return m_card.begin() && SdFileSystem::begin();
+  }
+  /** \return Pointer to SD card object */
+  SdioCardEX* card() {
+    return &m_card;
+  }
+  /** Initialize SD card for diagnostic use only.
+   *
+   * \return true for success else false.
+   */
+  bool cardBegin() {
+    return m_card.begin();
+  }
+  /** Initialize file system for diagnostic use only.
+   * \return true for success else false.
+   */
+  bool fsBegin() {
+    return SdFileSystem::begin();
+  }
+};
+#endif  // ENABLE_SDIOEX_CLASS || defined(DOXYGEN)
+#endif  // ENABLE_SDIO_CLASS || defined(DOXYGEN)
+//=============================================================================
+#if ENABLE_SOFTWARE_SPI_CLASS || defined(DOXYGEN)
+/**
+ * \class SdFatSoftSpi
+ * \brief SdFat class using software SPI.
+ */
+template<uint8_t MisoPin, uint8_t MosiPin, uint8_t SckPin>
+class SdFatSoftSpi : public SdFileSystem<SdSpiCard>  {
+ public:
+  /** Initialize SD card and file system.
+   *
+   * \param[in] csPin SD card chip select pin.
+   * \param[in] spiSettings ignored for software SPI..
+   * \return true for success else false.
+   */
+  bool begin(uint8_t csPin = SS, SPISettings spiSettings = SPI_FULL_SPEED) {
+    return m_card.begin(&m_spi, csPin, spiSettings) &&
+           SdFileSystem::begin();
+  }
+ private:
+  SdSpiSoftDriver<MisoPin, MosiPin, SckPin> m_spi;
+};
+#endif  // #if ENABLE_SOFTWARE_SPI_CLASS || defined(DOXYGEN)
+//==============================================================================
+#if ENABLE_EXTENDED_TRANSFER_CLASS || defined(DOXYGEN)
+/**
+ * \class SdFatEX
+ * \brief SdFat class with extended SD I/O.
+ */
+class SdFatEX : public SdFileSystem<SdSpiCardEX> {
+ public:
+#if IMPLEMENT_SPI_PORT_SELECTION  || defined(DOXYGEN)
+  SdFatEX() {
+    m_spi.setPort(nullptr);
+  }
+  /** Constructor with SPI port selection.
+   * \param[in] spiPort SPI port number.
+   */
+  explicit SdFatEX(SPIClass* spiPort) {
+    m_spi.setPort(spiPort);
+  }
+#endif  // IMPLEMENT_SPI_PORT_SELECTION
+  /** Initialize SD card and file system.
+  *
+  * \param[in] csPin SD card chip select pin.
+  * \param[in] spiSettings SPI speed, mode, and bit order.
+  * \return true for success else false.
+  */
+  bool begin(uint8_t csPin = SS, SPISettings spiSettings = SPI_FULL_SPEED) {
+    return m_card.begin(&m_spi, csPin, spiSettings) &&
+           SdFileSystem::begin();
+  }
+
+ private:
+  SdFatSpiDriver m_spi;
+};
+//==============================================================================
+#if ENABLE_SOFTWARE_SPI_CLASS || defined(DOXYGEN)
+/**
+ * \class SdFatSoftSpiEX
+ * \brief SdFat class using software SPI and extended SD I/O.
+ */
+template<uint8_t MisoPin, uint8_t MosiPin, uint8_t SckPin>
+class SdFatSoftSpiEX : public SdFileSystem<SdSpiCardEX>  {
+ public:
+  /** Initialize SD card and file system.
+   *
+   * \param[in] csPin SD card chip select pin.
+   * \param[in] spiSettings ignored for software SPI.
+   * \return true for success else false.
+   */
+  bool begin(uint8_t csPin = SS, SPISettings spiSettings = SPI_FULL_SPEED) {
+    return m_card.begin(&m_spi, csPin, spiSettings) &&
+           SdFileSystem::begin();
+  }
+ private:
+  SdSpiSoftDriver<MisoPin, MosiPin, SckPin> m_spi;
+};
+#endif  // #if ENABLE_SOFTWARE_SPI_CLASS || defined(DOXYGEN)
+#endif  // ENABLE_EXTENDED_TRANSFER_CLASS || defined(DOXYGEN)
+//=============================================================================
+/**
+ * \class Sd2Card
+ * \brief Raw access to SD and SDHC card using default SPI library.
+ */
+class Sd2Card : public SdSpiCard {
+ public:
+  /** Initialize the SD card.
+   * \param[in] csPin SD chip select pin.
+   * \param[in] settings SPI speed, mode, and bit order.
+   * \return true for success else false.
+   */
+  bool begin(uint8_t csPin = SS, SPISettings settings = SD_SCK_MHZ(50)) {
+    return SdSpiCard::begin(&m_spi, csPin, settings);
+  }
+ private:
+  SdFatSpiDriver m_spi;
+};
+#endif  // SdFat_h

hardware/_controller/src/SdFat/SdFatConfig.h

@@ -0,0 +1,235 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * \file
+ * \brief configuration definitions
+ */
+#ifndef SdFatConfig_h
+#define SdFatConfig_h
+#include <Arduino.h>
+#include <stdint.h>
+#ifdef __AVR__
+#include <avr/io.h>
+#endif  // __AVR__
+//------------------------------------------------------------------------------
+/**
+ * Set INCLUDE_SDIOS nonzero to include sdios.h in SdFat.h.
+ * sdios.h provides C++ style IO Streams.
+ */
+#define INCLUDE_SDIOS 1
+//------------------------------------------------------------------------------
+/**
+ * Set USE_LONG_FILE_NAMES nonzero to use long file names (LFN).
+ * Long File Name are limited to a maximum length of 255 characters.
+ *
+ * This implementation allows 7-bit characters in the range
+ * 0X20 to 0X7E except the following characters are not allowed:
+ *
+ *  < (less than)
+ *  > (greater than)
+ *  : (colon)
+ *  " (double quote)
+ *  / (forward slash)
+ *  \ (backslash)
+ *  | (vertical bar or pipe)
+ *  ? (question mark)
+ *  * (asterisk)
+ *
+ */
+#define USE_LONG_FILE_NAMES 1
+//------------------------------------------------------------------------------
+/**
+ * If the symbol ENABLE_EXTENDED_TRANSFER_CLASS is nonzero, the class SdFatEX
+ * will be defined. If the symbol ENABLE_SOFTWARE_SPI_CLASS is also nonzero,
+ * the class SdFatSoftSpiEX will be defined.
+ *
+ * These classes used extended multi-block SD I/O for better performance.
+ * the SPI bus may not be shared with other devices in this mode.
+ */
+#define ENABLE_EXTENDED_TRANSFER_CLASS 0
+//------------------------------------------------------------------------------
+/**
+ * If the symbol USE_STANDARD_SPI_LIBRARY is zero, an optimized custom SPI
+ * driver is used if it exists.  If the symbol USE_STANDARD_SPI_LIBRARY is
+ * one, the standard Arduino SPI.h library is used with SPI. If the symbol
+ * USE_STANDARD_SPI_LIBRARY is two, the SPI port can be selected with the
+ * constructors SdFat(SPIClass* spiPort) and SdFatEX(SPIClass* spiPort).
+ */
+#define USE_STANDARD_SPI_LIBRARY 0
+//------------------------------------------------------------------------------
+/**
+ * If the symbol ENABLE_SOFTWARE_SPI_CLASS is nonzero, the class SdFatSoftSpi
+ * will be defined. If ENABLE_EXTENDED_TRANSFER_CLASS is also nonzero,
+ * the class SdFatSoftSpiEX will be defined.
+ */
+#define ENABLE_SOFTWARE_SPI_CLASS 1
+//------------------------------------------------------------------------------
+/** If the symbol USE_FCNTL_H is nonzero, open flags for access modes O_RDONLY,
+ * O_WRONLY, O_RDWR and the open modifiers O_APPEND, O_CREAT, O_EXCL, O_SYNC
+ * will be defined by including the system file fcntl.h.
+ */
+#if defined(__AVR__)
+// AVR fcntl.h does not define open flags.
+#define USE_FCNTL_H 0
+#elif defined(PLATFORM_ID)
+// Particle boards - use fcntl.h.
+#define USE_FCNTL_H 1
+#elif defined(__arm__)
+// ARM gcc defines open flags.
+#define USE_FCNTL_H 1
+#elif defined(ESP32)
+#define USE_FCNTL_H 1
+#else  // defined(__AVR__)
+#define USE_FCNTL_H 0
+#endif  // defined(__AVR__)
+//------------------------------------------------------------------------------
+/**
+ * If CHECK_FLASH_PROGRAMMING is zero, overlap of single sector flash
+ * programming and other operations will be allowed for faster write
+ * performance.
+ *
+ * Some cards will not sleep in low power mode unless CHECK_FLASH_PROGRAMMING
+ * is non-zero.
+ */
+#define CHECK_FLASH_PROGRAMMING 1
+//------------------------------------------------------------------------------
+/**
+ * Set MAINTAIN_FREE_CLUSTER_COUNT nonzero to keep the count of free clusters
+ * updated.  This will increase the speed of the freeClusterCount() call
+ * after the first call.  Extra flash will be required.
+ */
+#define MAINTAIN_FREE_CLUSTER_COUNT 0
+//------------------------------------------------------------------------------
+/**
+ * To enable SD card CRC checking set USE_SD_CRC nonzero.
+ *
+ * Set USE_SD_CRC to 1 to use a smaller CRC-CCITT function.  This function
+ * is slower for AVR but may be fast for ARM and other processors.
+ *
+ * Set USE_SD_CRC to 2 to used a larger table driven CRC-CCITT function.  This
+ * function is faster for AVR but may be slower for ARM and other processors.
+ */
+#define USE_SD_CRC 1
+//------------------------------------------------------------------------------
+/**
+ * Handle Watchdog Timer for WiFi modules.
+ *
+ * Yield will be called before accessing the SPI bus if it has been more
+ * than WDT_YIELD_TIME_MICROS microseconds since the last yield call by SdFat.
+ */
+#if defined(PLATFORM_ID) || defined(ESP8266)
+// If Particle device or ESP8266 call yield.
+#define WDT_YIELD_TIME_MICROS 100000
+#else
+#define WDT_YIELD_TIME_MICROS 0
+#endif
+//------------------------------------------------------------------------------
+/**
+ * Set FAT12_SUPPORT nonzero to enable use of FAT12 volumes.
+ * FAT12 has not been well tested and requires additional flash.
+ */
+#define FAT12_SUPPORT 0
+//------------------------------------------------------------------------------
+/**
+ * Set DESTRUCTOR_CLOSES_FILE nonzero to close a file in its destructor.
+ *
+ * Causes use of lots of heap in ARM.
+ */
+#define DESTRUCTOR_CLOSES_FILE 1
+//------------------------------------------------------------------------------
+/**
+ * Call flush for endl if ENDL_CALLS_FLUSH is nonzero
+ *
+ * The standard for iostreams is to call flush.  This is very costly for
+ * SdFat.  Each call to flush causes 2048 bytes of I/O to the SD.
+ *
+ * SdFat has a single 512 byte buffer for SD I/O so it must write the current
+ * data block to the SD, read the directory block from the SD, update the
+ * directory entry, write the directory block to the SD and read the data
+ * block back into the buffer.
+ *
+ * The SD flash memory controller is not designed for this many rewrites
+ * so performance may be reduced by more than a factor of 100.
+ *
+ * If ENDL_CALLS_FLUSH is zero, you must call flush and/or close to force
+ * all data to be written to the SD.
+ */
+#define ENDL_CALLS_FLUSH 0
+//------------------------------------------------------------------------------
+/**
+ * Set USE_SEPARATE_FAT_CACHE nonzero to use a second 512 byte cache
+ * for FAT table entries.  This improves performance for large writes
+ * that are not a multiple of 512 bytes.
+ */
+#ifdef __arm__
+#define USE_SEPARATE_FAT_CACHE 1
+#else  // __arm__
+#define USE_SEPARATE_FAT_CACHE 0
+#endif  // __arm__
+//------------------------------------------------------------------------------
+/**
+ * Set USE_MULTI_BLOCK_IO nonzero to use multi-block SD read/write.
+ *
+ * Don't use mult-block read/write on small AVR boards.
+ */
+#if defined(RAMEND) && RAMEND < 3000
+#define USE_MULTI_BLOCK_IO 0
+#else  // RAMEND
+#define USE_MULTI_BLOCK_IO 1
+#endif  // RAMEND
+//-----------------------------------------------------------------------------
+/** Enable SDIO driver if available. */
+#if defined(__MK64FX512__) || defined(__MK66FX1M0__)
+#define ENABLE_SDIO_CLASS 1
+#define ENABLE_SDIOEX_CLASS 1
+#else  // ENABLE_SDIO_CLASS
+#define ENABLE_SDIO_CLASS 0
+#endif  // ENABLE_SDIO_CLASS
+//------------------------------------------------------------------------------
+/**
+ * Determine the default SPI configuration.
+ */
+#if defined(__STM32F1__) || defined(__STM32F4__) || defined(PLATFORM_ID)
+// has multiple SPI ports
+#define SD_HAS_CUSTOM_SPI 2
+#elif defined(__AVR__)\
+  || defined(__SAM3X8E__) || defined(__SAM3X8H__)\
+  || (defined(__arm__) && defined(CORE_TEENSY))\
+  || defined(ESP8266)
+#define SD_HAS_CUSTOM_SPI 1
+#else  // SD_HAS_CUSTOM_SPI
+// Use standard SPI library.
+#define SD_HAS_CUSTOM_SPI 0
+#endif  // SD_HAS_CUSTOM_SPI
+//------------------------------------------------------------------------------
+/**
+ * Check if API to select HW SPI port is needed.
+ */
+#if USE_STANDARD_SPI_LIBRARY > 1 || SD_HAS_CUSTOM_SPI > 1
+#define IMPLEMENT_SPI_PORT_SELECTION 1
+#else  // IMPLEMENT_SPI_PORT_SELECTION
+#define IMPLEMENT_SPI_PORT_SELECTION 0
+#endif  // IMPLEMENT_SPI_PORT_SELECTION
+#endif  // SdFatConfig_h

hardware/_controller/src/SdFat/SpiDriver/DigitalPin.h

@@ -0,0 +1,386 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * @file
+ * @brief Fast Digital Pin functions
+ *
+ * @defgroup digitalPin Fast Pin I/O
+ * @details  Fast Digital I/O functions and template class.
+ * @{
+ */
+#ifndef DigitalPin_h
+#define DigitalPin_h
+#if defined(__AVR__) || defined(DOXYGEN)
+#include <avr/io.h>
+/** GpioPinMap type */
+struct GpioPinMap_t {
+  volatile uint8_t* pin;   /**< address of PIN for this pin */
+  volatile uint8_t* ddr;   /**< address of DDR for this pin */
+  volatile uint8_t* port;  /**< address of PORT for this pin */
+  uint8_t mask;            /**< bit mask for this pin */
+};
+
+/** Initializer macro. */
+#define GPIO_PIN(reg, bit) {&PIN##reg, &DDR##reg, &PORT##reg, 1 << bit}
+
+// Include pin map for current board.
+#include "boards/GpioPinMap.h"
+//------------------------------------------------------------------------------
+/** generate bad pin number error */
+void badPinNumber(void)
+  __attribute__((error("Pin number is too large or not a constant")));
+//------------------------------------------------------------------------------
+/** Check for valid pin number
+ * @param[in] pin Number of pin to be checked.
+ */
+static inline __attribute__((always_inline))
+void badPinCheck(uint8_t pin) {
+  if (!__builtin_constant_p(pin) || pin >= NUM_DIGITAL_PINS) {
+     badPinNumber();
+  }
+}
+//------------------------------------------------------------------------------
+/** DDR register address
+ * @param[in] pin Arduino pin number
+ * @return register address
+ */
+static inline __attribute__((always_inline))
+volatile uint8_t* ddrReg(uint8_t pin) {
+  badPinCheck(pin);
+  return GpioPinMap[pin].ddr;
+}
+//------------------------------------------------------------------------------
+/** Bit mask for pin
+ * @param[in] pin Arduino pin number
+ * @return mask
+ */
+static inline __attribute__((always_inline))
+uint8_t pinMask(uint8_t pin) {
+  badPinCheck(pin);
+  return GpioPinMap[pin].mask;
+}
+//------------------------------------------------------------------------------
+/** PIN register address
+ * @param[in] pin Arduino pin number
+ * @return register address
+ */
+static inline __attribute__((always_inline))
+volatile uint8_t* pinReg(uint8_t pin) {
+  badPinCheck(pin);
+  return GpioPinMap[pin].pin;
+}
+//------------------------------------------------------------------------------
+/** PORT register address
+ * @param[in] pin Arduino pin number
+ * @return register address
+ */
+static inline __attribute__((always_inline))
+volatile uint8_t* portReg(uint8_t pin) {
+  badPinCheck(pin);
+  return GpioPinMap[pin].port;
+}
+//------------------------------------------------------------------------------
+/** Fast write helper.
+ * @param[in] address I/O register address
+ * @param[in] mask bit mask for pin
+ * @param[in] level value for bit
+ */
+static inline __attribute__((always_inline))
+void fastBitWriteSafe(volatile uint8_t* address, uint8_t mask, bool level) {
+  uint8_t s;
+  if (address > reinterpret_cast<uint8_t*>(0X3F)) {
+    s = SREG;
+    cli();
+  }
+  if (level) {
+    *address |= mask;
+  } else {
+    *address &= ~mask;
+  }
+  if (address > reinterpret_cast<uint8_t*>(0X3F)) {
+    SREG = s;
+  }
+}
+//------------------------------------------------------------------------------
+/** Read pin value.
+ * @param[in] pin Arduino pin number
+ * @return value read
+ */
+static inline __attribute__((always_inline))
+bool fastDigitalRead(uint8_t pin) {
+  return *pinReg(pin) & pinMask(pin);
+}
+//------------------------------------------------------------------------------
+/** Toggle a pin.
+ * @param[in] pin Arduino pin number
+ *
+ * If the pin is in output mode toggle the pin level.
+ * If the pin is in input mode toggle the state of the 20K pullup.
+ */
+static inline __attribute__((always_inline))
+void fastDigitalToggle(uint8_t pin) {
+    if (pinReg(pin) > reinterpret_cast<uint8_t*>(0X3F)) {
+      // must write bit to high address port
+      *pinReg(pin) = pinMask(pin);
+    } else {
+      // will compile to sbi and PIN register will not be read.
+      *pinReg(pin) |= pinMask(pin);
+    }
+}
+//------------------------------------------------------------------------------
+/** Set pin value.
+ * @param[in] pin Arduino pin number
+ * @param[in] level value to write
+ */
+static inline __attribute__((always_inline))
+void fastDigitalWrite(uint8_t pin, bool level) {
+  fastBitWriteSafe(portReg(pin), pinMask(pin), level);
+}
+//------------------------------------------------------------------------------
+/** Write the DDR register.
+ * @param[in] pin Arduino pin number
+ * @param[in] level value to write
+ */
+static inline __attribute__((always_inline))
+void fastDdrWrite(uint8_t pin, bool level) {
+  fastBitWriteSafe(ddrReg(pin), pinMask(pin), level);
+}
+//------------------------------------------------------------------------------
+/** Set pin mode.
+ * @param[in] pin Arduino pin number
+ * @param[in] mode INPUT, OUTPUT, or INPUT_PULLUP.
+ *
+ * The internal pullup resistors will be enabled if mode is INPUT_PULLUP
+ * and disabled if the mode is INPUT.
+ */
+static inline __attribute__((always_inline))
+void fastPinMode(uint8_t pin, uint8_t mode) {
+  fastDdrWrite(pin, mode == OUTPUT);
+  if (mode != OUTPUT) {
+    fastDigitalWrite(pin, mode == INPUT_PULLUP);
+  }
+}
+#else  // defined(__AVR__)
+#if defined(CORE_TEENSY)
+//------------------------------------------------------------------------------
+/** read pin value
+ * @param[in] pin Arduino pin number
+ * @return value read
+ */
+static inline __attribute__((always_inline))
+bool fastDigitalRead(uint8_t pin) {
+  return *portInputRegister(pin);
+}
+//------------------------------------------------------------------------------
+/** Set pin value
+ * @param[in] pin Arduino pin number
+ * @param[in] level value to write
+ */
+static inline __attribute__((always_inline))
+void fastDigitalWrite(uint8_t pin, bool value) {
+  if (value) {
+    *portSetRegister(pin) = 1;
+  } else {
+    *portClearRegister(pin) = 1;
+  }
+}
+#elif defined(__SAM3X8E__) || defined(__SAM3X8H__)
+//------------------------------------------------------------------------------
+/** read pin value
+ * @param[in] pin Arduino pin number
+ * @return value read
+ */
+static inline __attribute__((always_inline))
+bool fastDigitalRead(uint8_t pin) {
+  return g_APinDescription[pin].pPort->PIO_PDSR & g_APinDescription[pin].ulPin;
+}
+//------------------------------------------------------------------------------
+/** Set pin value
+ * @param[in] pin Arduino pin number
+ * @param[in] level value to write
+ */
+static inline __attribute__((always_inline))
+void fastDigitalWrite(uint8_t pin, bool value) {
+  if (value) {
+    g_APinDescription[pin].pPort->PIO_SODR = g_APinDescription[pin].ulPin;
+  } else {
+    g_APinDescription[pin].pPort->PIO_CODR = g_APinDescription[pin].ulPin;
+  }
+}
+#elif defined(ESP8266)
+//------------------------------------------------------------------------------
+/** Set pin value
+ * @param[in] pin Arduino pin number
+ * @param[in] val value to write
+ */
+static inline __attribute__((always_inline))
+void fastDigitalWrite(uint8_t pin, uint8_t val) {
+  if (pin < 16) {
+    if (val) {
+      GPOS = (1 << pin);
+    } else {
+      GPOC = (1 << pin);
+    }
+  } else if (pin == 16) {
+    if (val) {
+      GP16O |= 1;
+    } else {
+      GP16O &= ~1;
+    }
+  }
+}
+//------------------------------------------------------------------------------
+/** Read pin value
+ * @param[in] pin Arduino pin number
+ * @return value read
+ */
+static inline __attribute__((always_inline))
+bool fastDigitalRead(uint8_t pin) {
+  if (pin < 16) {
+    return GPIP(pin);
+  } else if (pin == 16) {
+    return GP16I & 0x01;
+  }
+  return 0;
+}
+#else  // CORE_TEENSY
+//------------------------------------------------------------------------------
+inline void fastDigitalWrite(uint8_t pin, bool value) {
+  digitalWrite(pin, value);
+}
+//------------------------------------------------------------------------------
+inline bool fastDigitalRead(uint8_t pin) {
+  return digitalRead(pin);
+}
+#endif  // CORE_TEENSY
+//------------------------------------------------------------------------------
+inline void fastDigitalToggle(uint8_t pin) {
+  fastDigitalWrite(pin, !fastDigitalRead(pin));
+}
+//------------------------------------------------------------------------------
+inline void fastPinMode(uint8_t pin, uint8_t mode) {
+  pinMode(pin, mode);
+}
+#endif  // __AVR__
+//------------------------------------------------------------------------------
+/** set pin configuration
+ * @param[in] pin Arduino pin number
+ * @param[in] mode mode INPUT or OUTPUT.
+ * @param[in] level If mode is output, set level high/low.
+ *                  If mode is input, enable or disable the pin's 20K pullup.
+ */
+#define fastPinConfig(pin, mode, level)\
+  {fastPinMode(pin, mode); fastDigitalWrite(pin, level);}
+//==============================================================================
+/**
+ * @class DigitalPin
+ * @brief Fast digital port I/O
+ */
+template<uint8_t PinNumber>
+class DigitalPin {
+ public:
+  //----------------------------------------------------------------------------
+  /** Constructor */
+  DigitalPin() {}
+  //----------------------------------------------------------------------------
+  /** Asignment operator.
+   * @param[in] value If true set the pin's level high else set the
+   *  pin's level low.
+   *
+   * @return This DigitalPin instance.
+   */
+  inline DigitalPin & operator = (bool value) __attribute__((always_inline)) {
+    write(value);
+    return *this;
+  }
+  //----------------------------------------------------------------------------
+  /** Parenthesis operator.
+   * @return Pin's level
+   */
+  inline operator bool () const __attribute__((always_inline)) {
+    return read();
+  }
+  //----------------------------------------------------------------------------
+  /** Set pin configuration.
+   * @param[in] mode: INPUT or OUTPUT.
+   * @param[in] level If mode is OUTPUT, set level high/low.
+   *                  If mode is INPUT, enable or disable the pin's 20K pullup.
+   */
+  inline __attribute__((always_inline))
+  void config(uint8_t mode, bool level) {
+    fastPinConfig(PinNumber, mode, level);
+  }
+  //----------------------------------------------------------------------------
+  /**
+   * Set pin level high if output mode or enable 20K pullup if input mode.
+   */
+  inline __attribute__((always_inline))
+  void high() {write(true);}
+  //----------------------------------------------------------------------------
+  /**
+   * Set pin level low if output mode or disable 20K pullup if input mode.
+   */
+  inline __attribute__((always_inline))
+  void low() {write(false);}
+  //----------------------------------------------------------------------------
+  /**
+   * Set pin mode.
+   * @param[in] mode: INPUT, OUTPUT, or INPUT_PULLUP.
+   *
+   * The internal pullup resistors will be enabled if mode is INPUT_PULLUP
+   * and disabled if the mode is INPUT.
+   */
+  inline __attribute__((always_inline))
+  void mode(uint8_t mode) {
+    fastPinMode(PinNumber, mode);
+  }
+  //----------------------------------------------------------------------------
+  /** @return Pin's level. */
+  inline __attribute__((always_inline))
+  bool read() const {
+    return fastDigitalRead(PinNumber);
+  }
+  //----------------------------------------------------------------------------
+  /** Toggle a pin.
+   *
+   * If the pin is in output mode toggle the pin's level.
+   * If the pin is in input mode toggle the state of the 20K pullup.
+   */
+  inline __attribute__((always_inline))
+  void toggle() {
+    fastDigitalToggle(PinNumber);
+  }
+  //----------------------------------------------------------------------------
+  /** Write the pin's level.
+   * @param[in] value If true set the pin's level high else set the
+   *  pin's level low.
+   */
+  inline __attribute__((always_inline))
+  void write(bool value) {
+    fastDigitalWrite(PinNumber, value);
+  }
+};
+#endif  // DigitalPin_h
+/** @} */

hardware/_controller/src/SdFat/SpiDriver/SdSpiBaseDriver.h

@@ -0,0 +1,79 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SdSpiBaseDriver_h
+#define SdSpiBaseDriver_h
+/**
+ * \class SdSpiBaseDriver
+ * \brief SPI base driver.
+ */
+class SdSpiBaseDriver {
+ public:
+  /** Set SPI options for access to SD/SDHC cards.
+   *
+   */
+  virtual void activate() = 0;
+  /** Initialize the SPI bus.
+   *
+   * \param[in] chipSelectPin SD card chip select pin.
+   */
+  virtual void begin(uint8_t chipSelectPin) = 0;
+  /**
+   * End SPI transaction.
+   */
+  virtual void deactivate() = 0;
+  /** Receive a byte.
+   *
+   * \return The byte.
+   */
+  virtual uint8_t receive() = 0;
+  /** Receive multiple bytes.
+   *
+   * \param[out] buf Buffer to receive the data.
+   * \param[in] n Number of bytes to receive.
+   *
+   * \return Zero for no error or nonzero error code.
+   */
+  virtual uint8_t receive(uint8_t* buf, size_t n) = 0;
+  /** Send a byte.
+   *
+   * \param[in] data Byte to send
+   */
+  virtual void send(uint8_t data) = 0;
+  /** Send multiple bytes.
+  *
+  * \param[in] buf Buffer for data to be sent.
+  * \param[in] n Number of bytes to send.
+  */
+  virtual void send(const uint8_t* buf, size_t n) = 0;
+  /** Set CS low. */
+  virtual void select() = 0;
+  /** Save SPI settings.
+   * \param[in] spiSettings SPI speed, mode, and bit order.
+   */
+  virtual void setSpiSettings(SPISettings spiSettings) = 0;
+  /** Set CS high. */
+  virtual void unselect() = 0;
+};
+#endif  // SdSpiBaseDriver_h

hardware/_controller/src/SdFat/SpiDriver/SdSpiDriver.h

@@ -0,0 +1,438 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * \file
+ * \brief SpiDriver classes
+ */
+#ifndef SdSpiDriver_h
+#define SdSpiDriver_h
+#include <Arduino.h>
+#include "SPI.h"
+#include "SdSpiBaseDriver.h"
+#include "../SdFatConfig.h"
+//------------------------------------------------------------------------------
+/** SDCARD_SPI is defined if board has built-in SD card socket */
+#ifndef SDCARD_SPI
+#define SDCARD_SPI SPI
+#endif  // SDCARD_SPI
+//------------------------------------------------------------------------------
+/**
+ * \class SdSpiLibDriver
+ * \brief SdSpiLibDriver - use standard SPI library.
+ */
+#if ENABLE_SOFTWARE_SPI_CLASS
+class SdSpiLibDriver : public SdSpiBaseDriver {
+#else  // ENABLE_SOFTWARE_SPI_CLASS
+class SdSpiLibDriver {
+#endif  // ENABLE_SOFTWARE_SPI_CLASS
+ public:
+#if IMPLEMENT_SPI_PORT_SELECTION
+  /** Activate SPI hardware. */
+  void activate() {
+    m_spi->beginTransaction(m_spiSettings);
+  }
+  /** Deactivate SPI hardware. */
+  void deactivate() {
+    m_spi->endTransaction();
+  }
+  /** Initialize the SPI bus.
+   *
+   * \param[in] csPin SD card chip select pin.
+   */
+  void begin(uint8_t csPin) {
+    m_csPin = csPin;
+    digitalWrite(csPin, HIGH);
+    pinMode(csPin, OUTPUT);
+    m_spi->begin();
+  }
+  /** Receive a byte.
+   *
+   * \return The byte.
+   */
+  uint8_t receive() {
+    return m_spi->transfer( 0XFF);
+  }
+  /** Receive multiple bytes.
+  *
+  * \param[out] buf Buffer to receive the data.
+  * \param[in] n Number of bytes to receive.
+  *
+  * \return Zero for no error or nonzero error code.
+  */
+  uint8_t receive(uint8_t* buf, size_t n) {
+    for (size_t i = 0; i < n; i++) {
+      buf[i] = m_spi->transfer(0XFF);
+    }
+    return 0;
+  }
+  /** Send a byte.
+   *
+   * \param[in] data Byte to send
+   */
+  void send(uint8_t data) {
+    m_spi->transfer(data);
+  }
+  /** Send multiple bytes.
+   *
+   * \param[in] buf Buffer for data to be sent.
+   * \param[in] n Number of bytes to send.
+   */
+  void send(const uint8_t* buf, size_t n) {
+    for (size_t i = 0; i < n; i++) {
+      m_spi->transfer(buf[i]);
+    }
+  }
+#else  // IMPLEMENT_SPI_PORT_SELECTION
+  /** Activate SPI hardware. */
+  void activate() {
+    SDCARD_SPI.beginTransaction(m_spiSettings);
+  }
+  /** Deactivate SPI hardware. */
+  void deactivate() {
+    SDCARD_SPI.endTransaction();
+  }
+  /** Initialize the SPI bus.
+   *
+   * \param[in] csPin SD card chip select pin.
+   */
+  void begin(uint8_t csPin) {
+    m_csPin = csPin;
+    digitalWrite(csPin, HIGH);
+    pinMode(csPin, OUTPUT);
+    SDCARD_SPI.begin();
+  }
+  /** Receive a byte.
+   *
+   * \return The byte.
+   */
+  uint8_t receive() {
+    return SDCARD_SPI.transfer( 0XFF);
+  }
+  /** Receive multiple bytes.
+  *
+  * \param[out] buf Buffer to receive the data.
+  * \param[in] n Number of bytes to receive.
+  *
+  * \return Zero for no error or nonzero error code.
+  */
+  uint8_t receive(uint8_t* buf, size_t n) {
+    for (size_t i = 0; i < n; i++) {
+      buf[i] = SDCARD_SPI.transfer(0XFF);
+    }
+    return 0;
+  }
+  /** Send a byte.
+   *
+   * \param[in] data Byte to send
+   */
+  void send(uint8_t data) {
+    SDCARD_SPI.transfer(data);
+  }
+  /** Send multiple bytes.
+   *
+   * \param[in] buf Buffer for data to be sent.
+   * \param[in] n Number of bytes to send.
+   */
+  void send(const uint8_t* buf, size_t n) {
+    for (size_t i = 0; i < n; i++) {
+      SDCARD_SPI.transfer(buf[i]);
+    }
+  }
+#endif  // IMPLEMENT_SPI_PORT_SELECTION
+  /** Set CS low. */
+  void select() {
+    digitalWrite(m_csPin, LOW);
+  }
+  /** Save SPISettings.
+   *
+   * \param[in] spiSettings SPI speed, mode, and byte order.
+   */
+  void setSpiSettings(SPISettings spiSettings) {
+    m_spiSettings = spiSettings;
+  }
+  /** Set CS high. */
+  void unselect() {
+    digitalWrite(m_csPin, HIGH);
+  }
+#if IMPLEMENT_SPI_PORT_SELECTION || defined(DOXYGEN)
+  /** Set SPI port.
+   * \param[in] spiPort Hardware SPI port.
+   */
+  void setPort(SPIClass* spiPort) {
+    m_spi = spiPort ? spiPort : &SDCARD_SPI;
+  }
+ private:
+  SPIClass* m_spi;
+#else   // IMPLEMENT_SPI_PORT_SELECTION
+ private:
+#endif  // IMPLEMENT_SPI_PORT_SELECTION
+  SPISettings m_spiSettings;
+  uint8_t m_csPin;
+};
+//------------------------------------------------------------------------------
+/**
+ * \class SdSpiAltDriver
+ * \brief Optimized SPI class for access to SD and SDHC flash memory cards.
+ */
+#if ENABLE_SOFTWARE_SPI_CLASS
+class SdSpiAltDriver : public SdSpiBaseDriver {
+#else  // ENABLE_SOFTWARE_SPI_CLASS
+class SdSpiAltDriver {
+#endif  // ENABLE_SOFTWARE_SPI_CLASS
+ public:
+  /** Activate SPI hardware. */
+  void activate();
+  /** Deactivate SPI hardware. */
+  void deactivate();
+  /** Initialize the SPI bus.
+   *
+   * \param[in] csPin SD card chip select pin.
+   */
+  void begin(uint8_t csPin);
+  /** Receive a byte.
+   *
+   * \return The byte.
+   */
+  uint8_t receive();
+  /** Receive multiple bytes.
+  *
+  * \param[out] buf Buffer to receive the data.
+  * \param[in] n Number of bytes to receive.
+  *
+  * \return Zero for no error or nonzero error code.
+  */
+  uint8_t receive(uint8_t* buf, size_t n);
+  /** Send a byte.
+   *
+   * \param[in] data Byte to send
+   */
+  void send(uint8_t data);
+  /** Send multiple bytes.
+   *
+   * \param[in] buf Buffer for data to be sent.
+   * \param[in] n Number of bytes to send.
+   */
+  void send(const uint8_t* buf, size_t n);
+  /** Set CS low. */
+  void select() {
+     digitalWrite(m_csPin, LOW);
+  }
+  /** Save SPISettings.
+   *
+   * \param[in] spiSettings SPI speed, mode, and byte order.
+   */
+  void setSpiSettings(SPISettings spiSettings) {
+    m_spiSettings = spiSettings;
+  }
+  /** Set CS high. */
+  void unselect() {
+    digitalWrite(m_csPin, HIGH);
+  }
+#if IMPLEMENT_SPI_PORT_SELECTION || defined(DOXYGEN)
+  /** Set SPI port number.
+   * \param[in] spiPort Hardware SPI port.
+   */
+  void setPort(SPIClass* spiPort) {
+    m_spi = spiPort ? spiPort : &SDCARD_SPI;
+  }
+ private:
+  SPIClass* m_spi;
+#else   // IMPLEMENT_SPI_PORT_SELECTION
+ private:
+#endif  // IMPLEMENT_SPI_PORT_SELECTION
+  SPISettings m_spiSettings;
+  uint8_t m_csPin;
+};
+//------------------------------------------------------------------------------
+#if ENABLE_SOFTWARE_SPI_CLASS || defined(DOXYGEN)
+#ifdef ARDUINO
+#include "SoftSPI.h"
+#elif defined(PLATFORM_ID)  // Only defined if a Particle device
+#include "SoftSPIParticle.h"
+#endif  // ARDUINO
+/**
+ * \class SdSpiSoftDriver
+ * \brief Software SPI class for access to SD and SDHC flash memory cards.
+ */
+template<uint8_t MisoPin, uint8_t MosiPin, uint8_t SckPin>
+class SdSpiSoftDriver : public SdSpiBaseDriver {
+ public:
+  /** Dummy activate SPI hardware for software SPI */
+  void activate() {}
+  /** Dummy deactivate SPI hardware for software SPI */
+  void deactivate() {}
+  /** Initialize the SPI bus.
+   *
+   * \param[in] csPin SD card chip select pin.
+   */
+  void begin(uint8_t csPin) {
+    m_csPin = csPin;
+    pinMode(m_csPin, OUTPUT);
+    digitalWrite(m_csPin, HIGH);
+    m_spi.begin();
+  }
+  /** Receive a byte.
+   *
+   * \return The byte.
+   */
+  uint8_t receive() {
+    return m_spi.receive();
+  }
+  /** Receive multiple bytes.
+  *
+  * \param[out] buf Buffer to receive the data.
+  * \param[in] n Number of bytes to receive.
+  *
+  * \return Zero for no error or nonzero error code.
+  */
+  uint8_t receive(uint8_t* buf, size_t n) {
+    for (size_t i = 0; i < n; i++) {
+      buf[i] = receive();
+    }
+    return 0;
+  }
+  /** Send a byte.
+   *
+   * \param[in] data Byte to send
+   */
+  void send(uint8_t data) {
+    m_spi.send(data);
+  }
+  /** Send multiple bytes.
+   *
+   * \param[in] buf Buffer for data to be sent.
+   * \param[in] n Number of bytes to send.
+   */
+  void send(const uint8_t* buf , size_t n) {
+    for (size_t i = 0; i < n; i++) {
+      send(buf[i]);
+    }
+  }
+  /** Set CS low. */
+  void select() {
+     digitalWrite(m_csPin, LOW);
+  }
+  /** Save SPISettings.
+   *
+   * \param[in] spiSettings SPI speed, mode, and byte order.
+   */
+  void setSpiSettings(SPISettings spiSettings) {
+    (void)spiSettings;
+  }
+  /** Set CS high. */
+  void unselect() {
+    digitalWrite(m_csPin, HIGH);
+  }
+
+ private:
+  uint8_t m_csPin;
+  SoftSPI<MisoPin, MosiPin, SckPin, 0> m_spi;
+};
+#endif  // ENABLE_SOFTWARE_SPI_CLASS || defined(DOXYGEN)
+//------------------------------------------------------------------------------
+// Choose SPI driver for SdFat and SdFatEX classes.
+#if USE_STANDARD_SPI_LIBRARY || !SD_HAS_CUSTOM_SPI
+/** SdFat uses Arduino library SPI. */
+typedef SdSpiLibDriver SdFatSpiDriver;
+#else  // USE_STANDARD_SPI_LIBRARY || !SD_HAS_CUSTOM_SPI
+/** SdFat uses custom fast SPI. */
+typedef SdSpiAltDriver SdFatSpiDriver;
+#endif  // USE_STANDARD_SPI_LIBRARY || !SD_HAS_CUSTOM_SPI
+
+/** typedef for for SdSpiCard class. */
+#if ENABLE_SOFTWARE_SPI_CLASS
+// Need virtual driver.
+typedef SdSpiBaseDriver SdSpiDriver;
+#else  // ENABLE_SOFTWARE_SPI_CLASS
+// Don't need virtual driver.
+typedef SdFatSpiDriver SdSpiDriver;
+#endif  // ENABLE_SOFTWARE_SPI_CLASS
+//==============================================================================
+// Use of in-line for AVR to save flash.
+#ifdef __AVR__
+//------------------------------------------------------------------------------
+inline void SdSpiAltDriver::begin(uint8_t csPin) {
+  m_csPin = csPin;
+  pinMode(m_csPin, OUTPUT);
+  digitalWrite(m_csPin, HIGH);
+  SPI.begin();
+}
+//------------------------------------------------------------------------------
+inline void SdSpiAltDriver::activate() {
+  SPI.beginTransaction(m_spiSettings);
+}
+//------------------------------------------------------------------------------
+inline void SdSpiAltDriver::deactivate() {
+  SPI.endTransaction();
+}
+//------------------------------------------------------------------------------
+inline uint8_t SdSpiAltDriver::receive() {
+  SPDR = 0XFF;
+  while (!(SPSR & (1 << SPIF))) {}
+  return SPDR;
+}
+//------------------------------------------------------------------------------
+inline uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+  if (n-- == 0) {
+    return 0;
+  }
+  SPDR = 0XFF;
+  for (size_t i = 0; i < n; i++) {
+    while (!(SPSR & (1 << SPIF))) {}
+    uint8_t b = SPDR;
+    SPDR = 0XFF;
+    buf[i] = b;
+  }
+  while (!(SPSR & (1 << SPIF))) {}
+  buf[n] = SPDR;
+  return 0;
+}
+//------------------------------------------------------------------------------
+inline void SdSpiAltDriver::send(uint8_t data) {
+  SPDR = data;
+  while (!(SPSR & (1 << SPIF))) {}
+}
+//------------------------------------------------------------------------------
+inline void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+  if (n == 0) {
+    return;
+  }
+  SPDR = buf[0];
+  if (n > 1) {
+    uint8_t b = buf[1];
+    size_t i = 2;
+    while (1) {
+      while (!(SPSR & (1 << SPIF))) {}
+      SPDR = b;
+      if (i == n) {
+        break;
+      }
+      b = buf[i++];
+    }
+  }
+  while (!(SPSR & (1 << SPIF))) {}
+}
+#endif  // __AVR__
+#endif  // SdSpiDriver_h

hardware/_controller/src/SdFat/SpiDriver/SdSpiESP8266.cpp

@@ -0,0 +1,104 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#if defined(ESP8266)
+#include "SdSpiDriver.h"
+//------------------------------------------------------------------------------
+/** Initialize the SPI bus.
+ *
+ * \param[in] chipSelectPin SD card chip select pin.
+ */
+void SdSpiAltDriver::begin(uint8_t csPin) {
+  m_csPin = csPin;
+  pinMode(m_csPin, OUTPUT);
+  digitalWrite(m_csPin, HIGH);
+  SPI.begin();
+}
+//------------------------------------------------------------------------------
+/** Set SPI options for access to SD/SDHC cards.
+ *
+ */
+void SdSpiAltDriver::activate() {
+  SPI.beginTransaction(m_spiSettings);
+}
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::deactivate() {
+  // Note: endTransaction is an empty function on ESP8266.
+  SPI.endTransaction();
+}
+//------------------------------------------------------------------------------
+/** Receive a byte.
+ *
+ * \return The byte.
+ */
+uint8_t SdSpiAltDriver::receive() {
+  return SPI.transfer(0XFF);
+}
+//------------------------------------------------------------------------------
+/** Receive multiple bytes.
+ *
+ * \param[out] buf Buffer to receive the data.
+ * \param[in] n Number of bytes to receive.
+ *
+ * \return Zero for no error or nonzero error code.
+ */
+uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+  // Adjust to 32-bit alignment.
+  while ((reinterpret_cast<uintptr_t>(buf) & 0X3) && n) {
+    *buf++ = SPI.transfer(0xff);
+    n--;
+  }
+  // Do multiple of four byte transfers.
+  size_t n4 = 4*(n/4);
+  SPI.transferBytes(0, buf, n4);
+
+  // Transfer up to three remaining bytes.
+  for (buf += n4, n -= n4; n; n--) {
+    *buf++ = SPI.transfer(0xff);
+  }
+  return 0;
+}
+//------------------------------------------------------------------------------
+/** Send a byte.
+ *
+ * \param[in] b Byte to send
+ */
+void SdSpiAltDriver::send(uint8_t b) {
+  SPI.transfer(b);
+}
+//------------------------------------------------------------------------------
+/** Send multiple bytes.
+ *
+ * \param[in] buf Buffer for data to be sent.
+ * \param[in] n Number of bytes to send.
+ */
+void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+  // Adjust to 32-bit alignment.
+  while ((reinterpret_cast<uintptr_t>(buf) & 0X3) && n) {
+    SPI.transfer(*buf++);
+    n--;
+  }
+  SPI.transferBytes(const_cast<uint8_t*>(buf), 0, n);
+}
+#endif  // defined(ESP8266)

hardware/_controller/src/SdFat/SpiDriver/SdSpiParticle.cpp

@@ -0,0 +1,102 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#if defined(PLATFORM_ID)
+#include "SdSpiDriver.h"
+static volatile bool SPI_DMA_TransferCompleted = false;
+//-----------------------------------------------------------------------------
+static void SD_SPI_DMA_TransferComplete_Callback(void) {
+    SPI_DMA_TransferCompleted = true;
+}
+//------------------------------------------------------------------------------
+/** Set SPI options for access to SD/SDHC cards.
+ *
+ * \param[in] divisor SCK clock divider relative to the APB1 or APB2 clock.
+ */
+void SdSpiAltDriver::activate() {
+  m_spi->beginTransaction(m_spiSettings);
+}
+//------------------------------------------------------------------------------
+/** Initialize the SPI bus.
+ *
+ * \param[in] chipSelectPin SD card chip select pin.
+ */
+void SdSpiAltDriver::begin(uint8_t csPin) {
+  m_csPin = csPin;
+  m_spi->begin();
+  pinMode(m_csPin, OUTPUT);
+  digitalWrite(m_csPin, HIGH);
+}
+//------------------------------------------------------------------------------
+/**
+ * End SPI transaction.
+ */
+void SdSpiAltDriver::deactivate() {
+  m_spi->endTransaction();
+}
+//------------------------------------------------------------------------------
+/** Receive a byte.
+ *
+ * \return The byte.
+ */
+uint8_t SdSpiAltDriver::receive() {
+  return m_spi->transfer(0XFF);
+}
+//------------------------------------------------------------------------------
+/** Receive multiple bytes.
+ *
+ * \param[out] buf Buffer to receive the data.
+ * \param[in] n Number of bytes to receive.
+ *
+ * \return Zero for no error or nonzero error code.
+ */
+uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+  SPI_DMA_TransferCompleted = false;
+  m_spi->transfer(nullptr, buf, n, SD_SPI_DMA_TransferComplete_Callback);
+  while (!SPI_DMA_TransferCompleted) {}
+  return 0;
+}
+//------------------------------------------------------------------------------
+/** Send a byte.
+ *
+ * \param[in] b Byte to send
+ */
+void SdSpiAltDriver::send(uint8_t b) {
+  m_spi->transfer(b);
+}
+//------------------------------------------------------------------------------
+/** Send multiple bytes.
+ *
+ * \param[in] buf Buffer for data to be sent.
+ * \param[in] n Number of bytes to send.
+ */
+void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+  SPI_DMA_TransferCompleted = false;
+
+  m_spi->transfer(const_cast<uint8_t*>(buf), nullptr, n,
+                            SD_SPI_DMA_TransferComplete_Callback);
+
+  while (!SPI_DMA_TransferCompleted) {}
+}
+#endif  // defined(PLATFORM_ID)

hardware/_controller/src/SdFat/SpiDriver/SdSpiSAM3X.cpp

@@ -0,0 +1,218 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "SdSpiDriver.h"
+#if defined(__SAM3X8E__) || defined(__SAM3X8H__)
+/** Use SAM3X DMAC if nonzero */
+#define USE_SAM3X_DMAC 1
+/** Use extra Bus Matrix arbitration fix if nonzero */
+#define USE_SAM3X_BUS_MATRIX_FIX 0
+/** Time in ms for DMA receive timeout */
+#define SAM3X_DMA_TIMEOUT 100
+/** chip select register number */
+#define SPI_CHIP_SEL 3
+/** DMAC receive channel */
+#define SPI_DMAC_RX_CH  1
+/** DMAC transmit channel */
+#define SPI_DMAC_TX_CH  0
+/** DMAC Channel HW Interface Number for SPI TX. */
+#define SPI_TX_IDX  1
+/** DMAC Channel HW Interface Number for SPI RX. */
+#define SPI_RX_IDX  2
+//------------------------------------------------------------------------------
+/** Disable DMA Controller. */
+static void dmac_disable() {
+  DMAC->DMAC_EN &= (~DMAC_EN_ENABLE);
+}
+/** Enable DMA Controller. */
+static void dmac_enable() {
+  DMAC->DMAC_EN = DMAC_EN_ENABLE;
+}
+/** Disable DMA Channel. */
+static void dmac_channel_disable(uint32_t ul_num) {
+  DMAC->DMAC_CHDR = DMAC_CHDR_DIS0 << ul_num;
+}
+/** Enable DMA Channel. */
+static void dmac_channel_enable(uint32_t ul_num) {
+  DMAC->DMAC_CHER = DMAC_CHER_ENA0 << ul_num;
+}
+/** Poll for transfer complete. */
+static bool dmac_channel_transfer_done(uint32_t ul_num) {
+  return (DMAC->DMAC_CHSR & (DMAC_CHSR_ENA0 << ul_num)) ? false : true;
+}
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::begin(uint8_t csPin) {
+  m_csPin = csPin;
+  pinMode(m_csPin, OUTPUT);
+  digitalWrite(m_csPin, HIGH);
+SPI.begin();
+#if USE_SAM3X_DMAC
+  pmc_enable_periph_clk(ID_DMAC);
+  dmac_disable();
+  DMAC->DMAC_GCFG = DMAC_GCFG_ARB_CFG_FIXED;
+  dmac_enable();
+#if USE_SAM3X_BUS_MATRIX_FIX
+  MATRIX->MATRIX_WPMR = 0x4d415400;
+  MATRIX->MATRIX_MCFG[1] = 1;
+  MATRIX->MATRIX_MCFG[2] = 1;
+  MATRIX->MATRIX_SCFG[0] = 0x01000010;
+  MATRIX->MATRIX_SCFG[1] = 0x01000010;
+  MATRIX->MATRIX_SCFG[7] = 0x01000010;
+#endif  // USE_SAM3X_BUS_MATRIX_FIX
+#endif  // USE_SAM3X_DMAC
+}
+//------------------------------------------------------------------------------
+// start RX DMA
+static void spiDmaRX(uint8_t* dst, uint16_t count) {
+  dmac_channel_disable(SPI_DMAC_RX_CH);
+  DMAC->DMAC_CH_NUM[SPI_DMAC_RX_CH].DMAC_SADDR = (uint32_t)&SPI0->SPI_RDR;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_RX_CH].DMAC_DADDR = (uint32_t)dst;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_RX_CH].DMAC_DSCR =  0;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_RX_CH].DMAC_CTRLA = count |
+      DMAC_CTRLA_SRC_WIDTH_BYTE | DMAC_CTRLA_DST_WIDTH_BYTE;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_RX_CH].DMAC_CTRLB = DMAC_CTRLB_SRC_DSCR |
+      DMAC_CTRLB_DST_DSCR | DMAC_CTRLB_FC_PER2MEM_DMA_FC |
+      DMAC_CTRLB_SRC_INCR_FIXED | DMAC_CTRLB_DST_INCR_INCREMENTING;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_RX_CH].DMAC_CFG = DMAC_CFG_SRC_PER(SPI_RX_IDX) |
+      DMAC_CFG_SRC_H2SEL | DMAC_CFG_SOD | DMAC_CFG_FIFOCFG_ASAP_CFG;
+  dmac_channel_enable(SPI_DMAC_RX_CH);
+}
+//------------------------------------------------------------------------------
+// start TX DMA
+static void spiDmaTX(const uint8_t* src, uint16_t count) {
+  static uint8_t ff = 0XFF;
+  uint32_t src_incr = DMAC_CTRLB_SRC_INCR_INCREMENTING;
+  if (!src) {
+    src = &ff;
+    src_incr = DMAC_CTRLB_SRC_INCR_FIXED;
+  }
+  dmac_channel_disable(SPI_DMAC_TX_CH);
+  DMAC->DMAC_CH_NUM[SPI_DMAC_TX_CH].DMAC_SADDR = (uint32_t)src;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_TX_CH].DMAC_DADDR = (uint32_t)&SPI0->SPI_TDR;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_TX_CH].DMAC_DSCR =  0;
+  DMAC->DMAC_CH_NUM[SPI_DMAC_TX_CH].DMAC_CTRLA = count |
+      DMAC_CTRLA_SRC_WIDTH_BYTE | DMAC_CTRLA_DST_WIDTH_BYTE;
+
+  DMAC->DMAC_CH_NUM[SPI_DMAC_TX_CH].DMAC_CTRLB =  DMAC_CTRLB_SRC_DSCR |
+      DMAC_CTRLB_DST_DSCR | DMAC_CTRLB_FC_MEM2PER_DMA_FC |
+      src_incr | DMAC_CTRLB_DST_INCR_FIXED;
+
+  DMAC->DMAC_CH_NUM[SPI_DMAC_TX_CH].DMAC_CFG = DMAC_CFG_DST_PER(SPI_TX_IDX) |
+      DMAC_CFG_DST_H2SEL | DMAC_CFG_SOD | DMAC_CFG_FIFOCFG_ALAP_CFG;
+
+  dmac_channel_enable(SPI_DMAC_TX_CH);
+}
+//------------------------------------------------------------------------------
+//  initialize SPI controller
+void SdSpiAltDriver::activate() {
+  SPI.beginTransaction(m_spiSettings);
+
+  Spi* pSpi = SPI0;
+  // Save the divisor
+  uint32_t scbr = pSpi->SPI_CSR[SPI_CHIP_SEL] & 0XFF00;
+  // Disable SPI
+  pSpi->SPI_CR = SPI_CR_SPIDIS;
+  // reset SPI
+  pSpi->SPI_CR = SPI_CR_SWRST;
+  // no mode fault detection, set master mode
+  pSpi->SPI_MR = SPI_PCS(SPI_CHIP_SEL) | SPI_MR_MODFDIS | SPI_MR_MSTR;
+  // mode 0, 8-bit,
+  pSpi->SPI_CSR[SPI_CHIP_SEL] = scbr | SPI_CSR_CSAAT | SPI_CSR_NCPHA;
+  // enable SPI
+  pSpi->SPI_CR |= SPI_CR_SPIEN;
+}
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::deactivate() {
+  SPI.endTransaction();
+}
+//------------------------------------------------------------------------------
+static inline uint8_t spiTransfer(uint8_t b) {
+  Spi* pSpi = SPI0;
+
+  pSpi->SPI_TDR = b;
+  while ((pSpi->SPI_SR & SPI_SR_RDRF) == 0) {}
+  b = pSpi->SPI_RDR;
+  return b;
+}
+//------------------------------------------------------------------------------
+/** SPI receive a byte */
+uint8_t SdSpiAltDriver::receive() {
+  return spiTransfer(0XFF);
+}
+//------------------------------------------------------------------------------
+/** SPI receive multiple bytes */
+uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+  Spi* pSpi = SPI0;
+  int rtn = 0;
+#if USE_SAM3X_DMAC
+  // clear overrun error
+  pSpi->SPI_SR;
+
+  spiDmaRX(buf, n);
+  spiDmaTX(0, n);
+
+  uint32_t m = millis();
+  while (!dmac_channel_transfer_done(SPI_DMAC_RX_CH)) {
+    if ((millis() - m) > SAM3X_DMA_TIMEOUT)  {
+      dmac_channel_disable(SPI_DMAC_RX_CH);
+      dmac_channel_disable(SPI_DMAC_TX_CH);
+      rtn = 2;
+      break;
+    }
+  }
+  if (pSpi->SPI_SR & SPI_SR_OVRES) {
+    rtn |= 1;
+  }
+#else  // USE_SAM3X_DMAC
+  for (size_t i = 0; i < n; i++) {
+    pSpi->SPI_TDR = 0XFF;
+    while ((pSpi->SPI_SR & SPI_SR_RDRF) == 0) {}
+    buf[i] = pSpi->SPI_RDR;
+  }
+#endif  // USE_SAM3X_DMAC
+  return rtn;
+}
+//------------------------------------------------------------------------------
+/** SPI send a byte */
+void SdSpiAltDriver::send(uint8_t b) {
+  spiTransfer(b);
+}
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+  Spi* pSpi = SPI0;
+#if USE_SAM3X_DMAC
+  spiDmaTX(buf, n);
+  while (!dmac_channel_transfer_done(SPI_DMAC_TX_CH)) {}
+#else  // #if USE_SAM3X_DMAC
+  while ((pSpi->SPI_SR & SPI_SR_TXEMPTY) == 0) {}
+  for (size_t i = 0; i < n; i++) {
+    pSpi->SPI_TDR = buf[i];
+    while ((pSpi->SPI_SR & SPI_SR_TDRE) == 0) {}
+  }
+#endif  // #if USE_SAM3X_DMAC
+  while ((pSpi->SPI_SR & SPI_SR_TXEMPTY) == 0) {}
+  // leave RDR empty
+  pSpi->SPI_RDR;
+}
+#endif  // defined(__SAM3X8E__) || defined(__SAM3X8H__)

hardware/_controller/src/SdFat/SpiDriver/SdSpiSTM32.cpp

@@ -0,0 +1,105 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#if defined(__STM32F1__) || defined(__STM32F4__)
+#include "SdSpiDriver.h"
+#if defined(__STM32F1__)
+#define USE_STM32_DMA 1
+#elif defined(__STM32F4__)
+#define USE_STM32_DMA 1
+#else  // defined(__STM32F1__)
+#error Unknown STM32 type
+#endif  // defined(__STM32F1__)
+//------------------------------------------------------------------------------
+/** Set SPI options for access to SD/SDHC cards.
+ *
+ * \param[in] divisor SCK clock divider relative to the APB1 or APB2 clock.
+ */
+void SdSpiAltDriver::activate() {
+  m_spi->beginTransaction(m_spiSettings);
+}
+//------------------------------------------------------------------------------
+/** Initialize the SPI bus.
+ *
+ * \param[in] chipSelectPin SD card chip select pin.
+ */
+void SdSpiAltDriver::begin(uint8_t csPin) {
+  m_csPin = csPin;
+  pinMode(m_csPin, OUTPUT);
+  digitalWrite(m_csPin, HIGH);
+  m_spi->begin();
+}
+//------------------------------------------------------------------------------
+/**
+ * End SPI transaction.
+ */
+void SdSpiAltDriver::deactivate() {
+  m_spi->endTransaction();
+}
+//------------------------------------------------------------------------------
+/** Receive a byte.
+ *
+ * \return The byte.
+ */
+uint8_t SdSpiAltDriver::receive() {
+  return m_spi->transfer(0XFF);
+}
+//------------------------------------------------------------------------------
+/** Receive multiple bytes.
+ *
+ * \param[out] buf Buffer to receive the data.
+ * \param[in] n Number of bytes to receive.
+ *
+ * \return Zero for no error or nonzero error code.
+ */
+uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+#if USE_STM32_DMA
+  return m_spi->dmaTransfer(nullptr, buf, n);
+#else  // USE_STM32_DMA
+  m_spi->read(buf, n);
+  return 0;
+#endif  // USE_STM32_DMA
+}
+//------------------------------------------------------------------------------
+/** Send a byte.
+ *
+ * \param[in] b Byte to send
+ */
+void SdSpiAltDriver::send(uint8_t b) {
+  m_spi->transfer(b);
+}
+//------------------------------------------------------------------------------
+/** Send multiple bytes.
+ *
+ * \param[in] buf Buffer for data to be sent.
+ * \param[in] n Number of bytes to send.
+ */
+void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+#if USE_STM32_DMA
+  m_spi->dmaTransfer(const_cast<uint8*>(buf), nullptr, n);
+#else  // USE_STM32_DMA
+  m_spi->write(const_cast<uint8*>(buf), n);
+#endif  // USE_STM32_DMA
+}
+#endif  // defined(__STM32F1__) || defined(__STM32F4__)

hardware/_controller/src/SdFat/SpiDriver/SdSpiTeensy3.cpp

@@ -0,0 +1,233 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#include "SdSpiDriver.h"
+#if defined(__arm__) && defined(CORE_TEENSY)
+// SPI definitions
+// #include "kinetis.h"
+
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::activate() {
+  SPI.beginTransaction(m_spiSettings);
+}
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::begin(uint8_t chipSelectPin) {
+  m_csPin = chipSelectPin;
+  pinMode(m_csPin, OUTPUT);
+  digitalWrite(m_csPin, HIGH);
+  SPI.begin();
+}
+//------------------------------------------------------------------------------
+void SdSpiAltDriver::deactivate() {
+  SPI.endTransaction();
+}
+//==============================================================================
+#ifdef KINETISK
+
+// use 16-bit frame if SPI_USE_8BIT_FRAME is zero
+#define SPI_USE_8BIT_FRAME 0
+// Limit initial fifo to three entries to avoid fifo overrun
+#define SPI_INITIAL_FIFO_DEPTH 3
+// define some symbols that are not in mk20dx128.h
+#ifndef SPI_SR_RXCTR
+#define SPI_SR_RXCTR 0XF0
+#endif  // SPI_SR_RXCTR
+#ifndef SPI_PUSHR_CONT
+#define SPI_PUSHR_CONT 0X80000000
+#endif   // SPI_PUSHR_CONT
+#ifndef SPI_PUSHR_CTAS
+#define SPI_PUSHR_CTAS(n) (((n) & 7) << 28)
+#endif  // SPI_PUSHR_CTAS
+//------------------------------------------------------------------------------
+/** SPI receive a byte */
+uint8_t SdSpiAltDriver::receive() {
+  SPI0_MCR |= SPI_MCR_CLR_RXF;
+  SPI0_SR = SPI_SR_TCF;
+  SPI0_PUSHR = 0xFF;
+  while (!(SPI0_SR & SPI_SR_TCF)) {}
+  return SPI0_POPR;
+}
+//------------------------------------------------------------------------------
+/** SPI receive multiple bytes */
+uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+  // clear any data in RX FIFO
+  SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
+#if SPI_USE_8BIT_FRAME
+  // initial number of bytes to push into TX FIFO
+  int nf = n < SPI_INITIAL_FIFO_DEPTH ? n : SPI_INITIAL_FIFO_DEPTH;
+  for (int i = 0; i < nf; i++) {
+    SPI0_PUSHR = 0XFF;
+  }
+  // limit for pushing dummy data into TX FIFO
+  uint8_t* limit = buf + n - nf;
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = 0XFF;
+    *buf++ = SPI0_POPR;
+  }
+  // limit for rest of RX data
+  limit += nf;
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    *buf++ = SPI0_POPR;
+  }
+#else  // SPI_USE_8BIT_FRAME
+  // use 16 bit frame to avoid TD delay between frames
+  // get one byte if n is odd
+  if (n & 1) {
+    *buf++ = receive();
+    n--;
+  }
+  // initial number of words to push into TX FIFO
+  int nf = n/2 < SPI_INITIAL_FIFO_DEPTH ? n/2 : SPI_INITIAL_FIFO_DEPTH;
+  for (int i = 0; i < nf; i++) {
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | 0XFFFF;
+  }
+  uint8_t* limit = buf + n - 2*nf;
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | 0XFFFF;
+    uint16_t w = SPI0_POPR;
+    *buf++ = w >> 8;
+    *buf++ = w & 0XFF;
+  }
+  // limit for rest of RX data
+  limit += 2*nf;
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    uint16_t w = SPI0_POPR;
+    *buf++ = w >> 8;
+    *buf++ = w & 0XFF;
+  }
+#endif  // SPI_USE_8BIT_FRAME
+  return 0;
+}
+//------------------------------------------------------------------------------
+/** SPI send a byte */
+void SdSpiAltDriver::send(uint8_t b) {
+  SPI0_MCR |= SPI_MCR_CLR_RXF;
+  SPI0_SR = SPI_SR_TCF;
+  SPI0_PUSHR = b;
+  while (!(SPI0_SR & SPI_SR_TCF)) {}
+}
+//------------------------------------------------------------------------------
+/** SPI send multiple bytes */
+void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+  // clear any data in RX FIFO
+  SPI0_MCR = SPI_MCR_MSTR | SPI_MCR_CLR_RXF | SPI_MCR_PCSIS(0x1F);
+#if SPI_USE_8BIT_FRAME
+  // initial number of bytes to push into TX FIFO
+  int nf = n < SPI_INITIAL_FIFO_DEPTH ? n : SPI_INITIAL_FIFO_DEPTH;
+  // limit for pushing data into TX fifo
+  const uint8_t* limit = buf + n;
+  for (int i = 0; i < nf; i++) {
+    SPI0_PUSHR = *buf++;
+  }
+  // write data to TX FIFO
+  while (buf < limit) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = *buf++;
+    SPI0_POPR;
+  }
+  // wait for data to be sent
+  while (nf) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_POPR;
+    nf--;
+  }
+#else  // SPI_USE_8BIT_FRAME
+  // use 16 bit frame to avoid TD delay between frames
+  // send one byte if n is odd
+  if (n & 1) {
+    send(*buf++);
+    n--;
+  }
+  // initial number of words to push into TX FIFO
+  int nf = n/2 < SPI_INITIAL_FIFO_DEPTH ? n/2 : SPI_INITIAL_FIFO_DEPTH;
+  // limit for pushing data into TX fifo
+  const uint8_t* limit = buf + n;
+  for (int i = 0; i < nf; i++) {
+    uint16_t w = (*buf++) << 8;
+    w |= *buf++;
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | w;
+  }
+  // write data to TX FIFO
+  while (buf < limit) {
+    uint16_t w = *buf++ << 8;
+    w |= *buf++;
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_PUSHR = SPI_PUSHR_CONT | SPI_PUSHR_CTAS(1) | w;
+    SPI0_POPR;
+  }
+  // wait for data to be sent
+  while (nf) {
+    while (!(SPI0_SR & SPI_SR_RXCTR)) {}
+    SPI0_POPR;
+    nf--;
+  }
+#endif  // SPI_USE_8BIT_FRAME
+}
+#else  // KINETISK
+//==============================================================================
+// Use standard SPI library if not KINETISK
+//------------------------------------------------------------------------------
+/** Receive a byte.
+ *
+ * \return The byte.
+ */
+uint8_t SdSpiAltDriver::receive() {
+  return SPI.transfer(0XFF);
+}
+/** Receive multiple bytes.
+ *
+ * \param[out] buf Buffer to receive the data.
+ * \param[in] n Number of bytes to receive.
+ *
+ * \return Zero for no error or nonzero error code.
+ */
+uint8_t SdSpiAltDriver::receive(uint8_t* buf, size_t n) {
+  for (size_t i = 0; i < n; i++) {
+    buf[i] = SPI.transfer(0XFF);
+  }
+  return 0;
+}
+/** Send a byte.
+ *
+ * \param[in] b Byte to send
+ */
+void SdSpiAltDriver::send(uint8_t b) {
+  SPI.transfer(b);
+}
+/** Send multiple bytes.
+ *
+ * \param[in] buf Buffer for data to be sent.
+ * \param[in] n Number of bytes to send.
+ */
+void SdSpiAltDriver::send(const uint8_t* buf , size_t n) {
+  for (size_t i = 0; i < n; i++) {
+    SPI.transfer(buf[i]);
+  }
+}
+#endif  // KINETISK
+#endif  // defined(__arm__) && defined(CORE_TEENSY)

hardware/_controller/src/SdFat/SpiDriver/SoftSPI.h

@@ -0,0 +1,167 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+/**
+ * @file 
+ * @brief  Software SPI.
+ *
+ * @defgroup softSPI Software SPI
+ * @details  Software SPI Template Class.
+ * @{
+ */
+
+#ifndef SoftSPI_h
+#define SoftSPI_h
+#include "DigitalPin.h"
+//------------------------------------------------------------------------------
+/** Nop for timing. */
+#define nop asm volatile ("nop\n\t")
+//------------------------------------------------------------------------------
+/** Pin Mode for MISO is input.*/
+#define MISO_MODE INPUT
+/** Pullups disabled for MISO are disabled. */
+#define MISO_LEVEL false
+/** Pin Mode for MOSI is output.*/
+#define MOSI_MODE  OUTPUT
+/** Pin Mode for SCK is output. */
+#define SCK_MODE  OUTPUT
+//------------------------------------------------------------------------------
+/**
+ * @class SoftSPI
+ * @brief Fast software SPI.
+ */
+template<uint8_t MisoPin, uint8_t MosiPin, uint8_t SckPin, uint8_t Mode = 0>
+class SoftSPI {
+ public:
+  //----------------------------------------------------------------------------
+  /** Initialize SoftSPI pins. */
+  void begin() {
+    fastPinConfig(MisoPin, MISO_MODE, MISO_LEVEL);
+    fastPinConfig(MosiPin, MOSI_MODE, !MODE_CPHA(Mode));
+    fastPinConfig(SckPin, SCK_MODE, MODE_CPOL(Mode));
+  }
+  //----------------------------------------------------------------------------
+  /** Soft SPI receive byte.
+   * @return Data byte received.
+   */
+  inline __attribute__((always_inline))
+  uint8_t receive() {
+    uint8_t data = 0;
+    receiveBit(7, &data);
+    receiveBit(6, &data);
+    receiveBit(5, &data);
+    receiveBit(4, &data);
+    receiveBit(3, &data);
+    receiveBit(2, &data);
+    receiveBit(1, &data);
+    receiveBit(0, &data);
+    return data;
+  }
+  //----------------------------------------------------------------------------
+  /** Soft SPI send byte.
+   * @param[in] data Data byte to send.
+   */
+  inline __attribute__((always_inline))
+  void send(uint8_t data) {
+    sendBit(7, data);
+    sendBit(6, data);
+    sendBit(5, data);
+    sendBit(4, data);
+    sendBit(3, data);
+    sendBit(2, data);
+    sendBit(1, data);
+    sendBit(0, data);
+  }
+  //----------------------------------------------------------------------------
+  /** Soft SPI transfer byte.
+   * @param[in] txData Data byte to send.
+   * @return Data byte received.
+   */
+  inline __attribute__((always_inline))
+  uint8_t transfer(uint8_t txData) {
+    uint8_t rxData = 0;
+    transferBit(7, &rxData, txData);
+    transferBit(6, &rxData, txData);
+    transferBit(5, &rxData, txData);
+    transferBit(4, &rxData, txData);
+    transferBit(3, &rxData, txData);
+    transferBit(2, &rxData, txData);
+    transferBit(1, &rxData, txData);
+    transferBit(0, &rxData, txData);
+    return rxData;
+  }
+
+ private:
+  //----------------------------------------------------------------------------
+  inline __attribute__((always_inline))
+  bool MODE_CPHA(uint8_t mode) {return (mode & 1) != 0;}
+  inline __attribute__((always_inline))
+  bool MODE_CPOL(uint8_t mode) {return (mode & 2) != 0;}
+  inline __attribute__((always_inline))
+  void receiveBit(uint8_t bit, uint8_t* data) {
+    if (MODE_CPHA(Mode)) {
+      fastDigitalWrite(SckPin, !MODE_CPOL(Mode));
+    }
+    nop;
+    nop;
+    fastDigitalWrite(SckPin,
+      MODE_CPHA(Mode) ? MODE_CPOL(Mode) : !MODE_CPOL(Mode));
+    if (fastDigitalRead(MisoPin)) *data |= 1 << bit;
+    if (!MODE_CPHA(Mode)) {
+      fastDigitalWrite(SckPin, MODE_CPOL(Mode));
+    }
+  }
+  //----------------------------------------------------------------------------
+  inline __attribute__((always_inline))
+  void sendBit(uint8_t bit, uint8_t data) {
+    if (MODE_CPHA(Mode)) {
+      fastDigitalWrite(SckPin, !MODE_CPOL(Mode));
+    }
+    fastDigitalWrite(MosiPin, data & (1 << bit));
+    fastDigitalWrite(SckPin,
+      MODE_CPHA(Mode) ? MODE_CPOL(Mode) : !MODE_CPOL(Mode));
+    nop;
+    nop;
+    if (!MODE_CPHA(Mode)) {
+      fastDigitalWrite(SckPin, MODE_CPOL(Mode));
+    }
+  }
+  //----------------------------------------------------------------------------
+  inline __attribute__((always_inline))
+  void transferBit(uint8_t bit, uint8_t* rxData, uint8_t txData) {
+    if (MODE_CPHA(Mode)) {
+      fastDigitalWrite(SckPin, !MODE_CPOL(Mode));
+    }
+    fastDigitalWrite(MosiPin, txData & (1 << bit));
+    fastDigitalWrite(SckPin,
+      MODE_CPHA(Mode) ? MODE_CPOL(Mode) : !MODE_CPOL(Mode));
+    if (fastDigitalRead(MisoPin)) *rxData |= 1 << bit;
+    if (!MODE_CPHA(Mode)) {
+      fastDigitalWrite(SckPin, MODE_CPOL(Mode));
+    }
+  }
+  //----------------------------------------------------------------------------
+};
+#endif  // SoftSPI_h
+/** @} */

hardware/_controller/src/SdFat/SpiDriver/boards/AvrDevelopersGpioPinMap.h

@@ -0,0 +1,37 @@
+#ifndef AvrDevelopersGpioPinMap_h
+#define AvrDevelopersGpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(B, 0),  // D0
+  GPIO_PIN(B, 1),  // D1
+  GPIO_PIN(B, 2),  // D2
+  GPIO_PIN(B, 3),  // D3
+  GPIO_PIN(B, 4),  // D4
+  GPIO_PIN(B, 5),  // D5
+  GPIO_PIN(B, 6),  // D6
+  GPIO_PIN(B, 7),  // D7
+  GPIO_PIN(D, 0),  // D8
+  GPIO_PIN(D, 1),  // D9
+  GPIO_PIN(D, 2),  // D10
+  GPIO_PIN(D, 3),  // D11
+  GPIO_PIN(D, 4),  // D12
+  GPIO_PIN(D, 5),  // D13
+  GPIO_PIN(D, 6),  // D14
+  GPIO_PIN(D, 7),  // D15
+  GPIO_PIN(C, 0),  // D16
+  GPIO_PIN(C, 1),  // D17
+  GPIO_PIN(C, 2),  // D18
+  GPIO_PIN(C, 3),  // D19
+  GPIO_PIN(C, 4),  // D20
+  GPIO_PIN(C, 5),  // D21
+  GPIO_PIN(C, 6),  // D22
+  GPIO_PIN(C, 7),  // D23
+  GPIO_PIN(A, 7),  // D24
+  GPIO_PIN(A, 6),  // D25
+  GPIO_PIN(A, 5),  // D26
+  GPIO_PIN(A, 4),  // D27
+  GPIO_PIN(A, 3),  // D28
+  GPIO_PIN(A, 2),  // D29
+  GPIO_PIN(A, 1),  // D30
+  GPIO_PIN(A, 0)   // D31
+};
+#endif  // AvrDevelopersGpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/BobuinoGpioPinMap.h

@@ -0,0 +1,37 @@
+#ifndef BobuinoGpioPinMap_h
+#define BobuinoGpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(B, 0),  // D0
+  GPIO_PIN(B, 1),  // D1
+  GPIO_PIN(B, 2),  // D2
+  GPIO_PIN(B, 3),  // D3
+  GPIO_PIN(B, 4),  // D4
+  GPIO_PIN(B, 5),  // D5
+  GPIO_PIN(B, 6),  // D6
+  GPIO_PIN(B, 7),  // D7
+  GPIO_PIN(D, 0),  // D8
+  GPIO_PIN(D, 1),  // D9
+  GPIO_PIN(D, 2),  // D10
+  GPIO_PIN(D, 3),  // D11
+  GPIO_PIN(D, 4),  // D12
+  GPIO_PIN(D, 5),  // D13
+  GPIO_PIN(D, 6),  // D14
+  GPIO_PIN(D, 7),  // D15
+  GPIO_PIN(C, 0),  // D16
+  GPIO_PIN(C, 1),  // D17
+  GPIO_PIN(C, 2),  // D18
+  GPIO_PIN(C, 3),  // D19
+  GPIO_PIN(C, 4),  // D20
+  GPIO_PIN(C, 5),  // D21
+  GPIO_PIN(C, 6),  // D22
+  GPIO_PIN(C, 7),  // D23
+  GPIO_PIN(A, 0),  // D24
+  GPIO_PIN(A, 1),  // D25
+  GPIO_PIN(A, 2),  // D26
+  GPIO_PIN(A, 3),  // D27
+  GPIO_PIN(A, 4),  // D28
+  GPIO_PIN(A, 5),  // D29
+  GPIO_PIN(A, 6),  // D30
+  GPIO_PIN(A, 7)   // D31
+};
+#endif  // BobuinoGpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/GpioPinMap.h

@@ -0,0 +1,45 @@
+#ifndef GpioPinMap_h
+#define GpioPinMap_h
+#if defined(__AVR_ATmega168__)\
+||defined(__AVR_ATmega168P__)\
+||defined(__AVR_ATmega328P__)
+// 168 and 328 Arduinos
+#include "UnoGpioPinMap.h"
+#elif defined(__AVR_ATmega1280__)\
+|| defined(__AVR_ATmega2560__)
+// Mega ADK
+#include "MegaGpioPinMap.h"
+#elif defined(__AVR_ATmega32U4__)
+#ifdef CORE_TEENSY
+#include "Teensy2GpioPinMap.h"
+#else  // CORE_TEENSY
+// Leonardo or Yun
+#include "LeonardoGpioPinMap.h"
+#endif  // CORE_TEENSY
+#elif defined(__AVR_AT90USB646__)\
+|| defined(__AVR_AT90USB1286__)
+// Teensy++ 1.0 & 2.0
+#include "Teensy2ppGpioPinMap.h"
+#elif defined(__AVR_ATmega1284P__)\
+|| defined(__AVR_ATmega1284__)\
+|| defined(__AVR_ATmega644P__)\
+|| defined(__AVR_ATmega644__)\
+|| defined(__AVR_ATmega64__)\
+|| defined(__AVR_ATmega32__)\
+|| defined(__AVR_ATmega324__)\
+|| defined(__AVR_ATmega16__)
+#ifdef ARDUINO_1284P_AVR_DEVELOPERS
+#include "AvrDevelopersGpioPinMap.h"
+#elif defined(BOBUINO_PINOUT) || defined(ARDUINO_1284P_BOBUINO)
+#include "BobuinoGpioPinMap.h"
+#elif defined(ARDUINO_1284P_SLEEPINGBEAUTY)
+#include "SleepingBeautyGpioPinMap.h"
+#elif defined(STANDARD_PINOUT) || defined(ARDUINO_1284P_STANDARD)
+#include "Standard1284GpioPinMap.h"
+#else // ARDUINO_1284P_AVR_DEVELOPERS
+#error Undefined variant 1284, 644, 324
+#endif  //  ARDUINO_1284P_AVR_DEVELOPERS
+#else  // 1284P, 1284, 644
+#error Unknown board type.
+#endif  // end all boards
+#endif  // GpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/LeonardoGpioPinMap.h

@@ -0,0 +1,35 @@
+#ifndef LeonardoGpioPinMap_h
+#define LeonardoGpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(D, 2),  // D0
+  GPIO_PIN(D, 3),  // D1
+  GPIO_PIN(D, 1),  // D2
+  GPIO_PIN(D, 0),  // D3
+  GPIO_PIN(D, 4),  // D4
+  GPIO_PIN(C, 6),  // D5
+  GPIO_PIN(D, 7),  // D6
+  GPIO_PIN(E, 6),  // D7
+  GPIO_PIN(B, 4),  // D8
+  GPIO_PIN(B, 5),  // D9
+  GPIO_PIN(B, 6),  // D10
+  GPIO_PIN(B, 7),  // D11
+  GPIO_PIN(D, 6),  // D12
+  GPIO_PIN(C, 7),  // D13
+  GPIO_PIN(B, 3),  // D14
+  GPIO_PIN(B, 1),  // D15
+  GPIO_PIN(B, 2),  // D16
+  GPIO_PIN(B, 0),  // D17
+  GPIO_PIN(F, 7),  // D18
+  GPIO_PIN(F, 6),  // D19
+  GPIO_PIN(F, 5),  // D20
+  GPIO_PIN(F, 4),  // D21
+  GPIO_PIN(F, 1),  // D22
+  GPIO_PIN(F, 0),  // D23
+  GPIO_PIN(D, 4),  // D24
+  GPIO_PIN(D, 7),  // D25
+  GPIO_PIN(B, 4),  // D26
+  GPIO_PIN(B, 5),  // D27
+  GPIO_PIN(B, 6),  // D28
+  GPIO_PIN(D, 6)   // D29
+};
+#endif  // LeonardoGpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/MegaGpioPinMap.h

@@ -0,0 +1,75 @@
+#ifndef MegaGpioPinMap_h
+#define MegaGpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(E, 0),  // D0
+  GPIO_PIN(E, 1),  // D1
+  GPIO_PIN(E, 4),  // D2
+  GPIO_PIN(E, 5),  // D3
+  GPIO_PIN(G, 5),  // D4
+  GPIO_PIN(E, 3),  // D5
+  GPIO_PIN(H, 3),  // D6
+  GPIO_PIN(H, 4),  // D7
+  GPIO_PIN(H, 5),  // D8
+  GPIO_PIN(H, 6),  // D9
+  GPIO_PIN(B, 4),  // D10
+  GPIO_PIN(B, 5),  // D11
+  GPIO_PIN(B, 6),  // D12
+  GPIO_PIN(B, 7),  // D13
+  GPIO_PIN(J, 1),  // D14
+  GPIO_PIN(J, 0),  // D15
+  GPIO_PIN(H, 1),  // D16
+  GPIO_PIN(H, 0),  // D17
+  GPIO_PIN(D, 3),  // D18
+  GPIO_PIN(D, 2),  // D19
+  GPIO_PIN(D, 1),  // D20
+  GPIO_PIN(D, 0),  // D21
+  GPIO_PIN(A, 0),  // D22
+  GPIO_PIN(A, 1),  // D23
+  GPIO_PIN(A, 2),  // D24
+  GPIO_PIN(A, 3),  // D25
+  GPIO_PIN(A, 4),  // D26
+  GPIO_PIN(A, 5),  // D27
+  GPIO_PIN(A, 6),  // D28
+  GPIO_PIN(A, 7),  // D29
+  GPIO_PIN(C, 7),  // D30
+  GPIO_PIN(C, 6),  // D31
+  GPIO_PIN(C, 5),  // D32
+  GPIO_PIN(C, 4),  // D33
+  GPIO_PIN(C, 3),  // D34
+  GPIO_PIN(C, 2),  // D35
+  GPIO_PIN(C, 1),  // D36
+  GPIO_PIN(C, 0),  // D37
+  GPIO_PIN(D, 7),  // D38
+  GPIO_PIN(G, 2),  // D39
+  GPIO_PIN(G, 1),  // D40
+  GPIO_PIN(G, 0),  // D41
+  GPIO_PIN(L, 7),  // D42
+  GPIO_PIN(L, 6),  // D43
+  GPIO_PIN(L, 5),  // D44
+  GPIO_PIN(L, 4),  // D45
+  GPIO_PIN(L, 3),  // D46
+  GPIO_PIN(L, 2),  // D47
+  GPIO_PIN(L, 1),  // D48
+  GPIO_PIN(L, 0),  // D49
+  GPIO_PIN(B, 3),  // D50
+  GPIO_PIN(B, 2),  // D51
+  GPIO_PIN(B, 1),  // D52
+  GPIO_PIN(B, 0),  // D53
+  GPIO_PIN(F, 0),  // D54
+  GPIO_PIN(F, 1),  // D55
+  GPIO_PIN(F, 2),  // D56
+  GPIO_PIN(F, 3),  // D57
+  GPIO_PIN(F, 4),  // D58
+  GPIO_PIN(F, 5),  // D59
+  GPIO_PIN(F, 6),  // D60
+  GPIO_PIN(F, 7),  // D61
+  GPIO_PIN(K, 0),  // D62
+  GPIO_PIN(K, 1),  // D63
+  GPIO_PIN(K, 2),  // D64
+  GPIO_PIN(K, 3),  // D65
+  GPIO_PIN(K, 4),  // D66
+  GPIO_PIN(K, 5),  // D67
+  GPIO_PIN(K, 6),  // D68
+  GPIO_PIN(K, 7)   // D69
+};
+#endif  // MegaGpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/SleepingBeautyGpioPinMap.h

@@ -0,0 +1,37 @@
+#ifndef SleepingBeautyGpioPinMap_h
+#define SleepingBeautyGpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(D, 0),  // D0
+  GPIO_PIN(D, 1),  // D1
+  GPIO_PIN(D, 2),  // D2
+  GPIO_PIN(D, 3),  // D3
+  GPIO_PIN(B, 0),  // D4
+  GPIO_PIN(B, 1),  // D5
+  GPIO_PIN(B, 2),  // D6
+  GPIO_PIN(B, 3),  // D7
+  GPIO_PIN(D, 6),  // D8
+  GPIO_PIN(D, 5),  // D9
+  GPIO_PIN(B, 4),  // D10
+  GPIO_PIN(B, 5),  // D11
+  GPIO_PIN(B, 6),  // D12
+  GPIO_PIN(B, 7),  // D13
+  GPIO_PIN(C, 7),  // D14
+  GPIO_PIN(C, 6),  // D15
+  GPIO_PIN(A, 5),  // D16
+  GPIO_PIN(A, 4),  // D17
+  GPIO_PIN(A, 3),  // D18
+  GPIO_PIN(A, 2),  // D19
+  GPIO_PIN(A, 1),  // D20
+  GPIO_PIN(A, 0),  // D21
+  GPIO_PIN(D, 4),  // D22
+  GPIO_PIN(D, 7),  // D23
+  GPIO_PIN(C, 2),  // D24
+  GPIO_PIN(C, 3),  // D25
+  GPIO_PIN(C, 4),  // D26
+  GPIO_PIN(C, 5),  // D27
+  GPIO_PIN(C, 1),  // D28
+  GPIO_PIN(C, 0),  // D29
+  GPIO_PIN(A, 6),  // D30
+  GPIO_PIN(A, 7)   // D31
+};
+#endif  // SleepingBeautyGpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/Standard1284GpioPinMap.h

@@ -0,0 +1,37 @@
+#ifndef Standard1284GpioPinMap_h
+#define Standard1284GpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(B, 0),  // D0
+  GPIO_PIN(B, 1),  // D1
+  GPIO_PIN(B, 2),  // D2
+  GPIO_PIN(B, 3),  // D3
+  GPIO_PIN(B, 4),  // D4
+  GPIO_PIN(B, 5),  // D5
+  GPIO_PIN(B, 6),  // D6
+  GPIO_PIN(B, 7),  // D7
+  GPIO_PIN(D, 0),  // D8
+  GPIO_PIN(D, 1),  // D9
+  GPIO_PIN(D, 2),  // D10
+  GPIO_PIN(D, 3),  // D11
+  GPIO_PIN(D, 4),  // D12
+  GPIO_PIN(D, 5),  // D13
+  GPIO_PIN(D, 6),  // D14
+  GPIO_PIN(D, 7),  // D15
+  GPIO_PIN(C, 0),  // D16
+  GPIO_PIN(C, 1),  // D17
+  GPIO_PIN(C, 2),  // D18
+  GPIO_PIN(C, 3),  // D19
+  GPIO_PIN(C, 4),  // D20
+  GPIO_PIN(C, 5),  // D21
+  GPIO_PIN(C, 6),  // D22
+  GPIO_PIN(C, 7),  // D23
+  GPIO_PIN(A, 0),  // D24
+  GPIO_PIN(A, 1),  // D25
+  GPIO_PIN(A, 2),  // D26
+  GPIO_PIN(A, 3),  // D27
+  GPIO_PIN(A, 4),  // D28
+  GPIO_PIN(A, 5),  // D29
+  GPIO_PIN(A, 6),  // D30
+  GPIO_PIN(A, 7)   // D31
+};
+#endif  // Standard1284GpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/Teensy2GpioPinMap.h

@@ -0,0 +1,30 @@
+#ifndef Teensy2GpioPinMap_h
+#define Teensy2GpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(B, 0),  // D0
+  GPIO_PIN(B, 1),  // D1
+  GPIO_PIN(B, 2),  // D2
+  GPIO_PIN(B, 3),  // D3
+  GPIO_PIN(B, 7),  // D4
+  GPIO_PIN(D, 0),  // D5
+  GPIO_PIN(D, 1),  // D6
+  GPIO_PIN(D, 2),  // D7
+  GPIO_PIN(D, 3),  // D8
+  GPIO_PIN(C, 6),  // D9
+  GPIO_PIN(C, 7),  // D10
+  GPIO_PIN(D, 6),  // D11
+  GPIO_PIN(D, 7),  // D12
+  GPIO_PIN(B, 4),  // D13
+  GPIO_PIN(B, 5),  // D14
+  GPIO_PIN(B, 6),  // D15
+  GPIO_PIN(F, 7),  // D16
+  GPIO_PIN(F, 6),  // D17
+  GPIO_PIN(F, 5),  // D18
+  GPIO_PIN(F, 4),  // D19
+  GPIO_PIN(F, 1),  // D20
+  GPIO_PIN(F, 0),  // D21
+  GPIO_PIN(D, 4),  // D22
+  GPIO_PIN(D, 5),  // D23
+  GPIO_PIN(E, 6),  // D24
+};
+#endif  // Teensy2GpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/Teensy2ppGpioPinMap.h

@@ -0,0 +1,51 @@
+#ifndef Teensypp2GpioPinMap_h
+#define Teensypp2GpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(D, 0),  // D0
+  GPIO_PIN(D, 1),  // D1
+  GPIO_PIN(D, 2),  // D2
+  GPIO_PIN(D, 3),  // D3
+  GPIO_PIN(D, 4),  // D4
+  GPIO_PIN(D, 5),  // D5
+  GPIO_PIN(D, 6),  // D6
+  GPIO_PIN(D, 7),  // D7
+  GPIO_PIN(E, 0),  // D8
+  GPIO_PIN(E, 1),  // D9
+  GPIO_PIN(C, 0),  // D10
+  GPIO_PIN(C, 1),  // D11
+  GPIO_PIN(C, 2),  // D12
+  GPIO_PIN(C, 3),  // D13
+  GPIO_PIN(C, 4),  // D14
+  GPIO_PIN(C, 5),  // D15
+  GPIO_PIN(C, 6),  // D16
+  GPIO_PIN(C, 7),  // D17
+  GPIO_PIN(E, 6),  // D18
+  GPIO_PIN(E, 7),  // D19
+  GPIO_PIN(B, 0),  // D20
+  GPIO_PIN(B, 1),  // D21
+  GPIO_PIN(B, 2),  // D22
+  GPIO_PIN(B, 3),  // D23
+  GPIO_PIN(B, 4),  // D24
+  GPIO_PIN(B, 5),  // D25
+  GPIO_PIN(B, 6),  // D26
+  GPIO_PIN(B, 7),  // D27
+  GPIO_PIN(A, 0),  // D28
+  GPIO_PIN(A, 1),  // D29
+  GPIO_PIN(A, 2),  // D30
+  GPIO_PIN(A, 3),  // D31
+  GPIO_PIN(A, 4),  // D32
+  GPIO_PIN(A, 5),  // D33
+  GPIO_PIN(A, 6),  // D34
+  GPIO_PIN(A, 7),  // D35
+  GPIO_PIN(E, 4),  // D36
+  GPIO_PIN(E, 5),  // D37
+  GPIO_PIN(F, 0),  // D38
+  GPIO_PIN(F, 1),  // D39
+  GPIO_PIN(F, 2),  // D40
+  GPIO_PIN(F, 3),  // D41
+  GPIO_PIN(F, 4),  // D42
+  GPIO_PIN(F, 5),  // D43
+  GPIO_PIN(F, 6),  // D44
+  GPIO_PIN(F, 7),  // D45
+};
+#endif  // Teensypp2GpioPinMap_h

hardware/_controller/src/SdFat/SpiDriver/boards/UnoGpioPinMap.h

@@ -0,0 +1,25 @@
+#ifndef UnoGpioPinMap_h
+#define UnoGpioPinMap_h
+static const GpioPinMap_t GpioPinMap[] = {
+  GPIO_PIN(D, 0),  // D0
+  GPIO_PIN(D, 1),  // D1
+  GPIO_PIN(D, 2),  // D2
+  GPIO_PIN(D, 3),  // D3
+  GPIO_PIN(D, 4),  // D4
+  GPIO_PIN(D, 5),  // D5
+  GPIO_PIN(D, 6),  // D6
+  GPIO_PIN(D, 7),  // D7
+  GPIO_PIN(B, 0),  // D8
+  GPIO_PIN(B, 1),  // D9
+  GPIO_PIN(B, 2),  // D10
+  GPIO_PIN(B, 3),  // D11
+  GPIO_PIN(B, 4),  // D12
+  GPIO_PIN(B, 5),  // D13
+  GPIO_PIN(C, 0),  // D14
+  GPIO_PIN(C, 1),  // D15
+  GPIO_PIN(C, 2),  // D16
+  GPIO_PIN(C, 3),  // D17
+  GPIO_PIN(C, 4),  // D18
+  GPIO_PIN(C, 5)   // D19
+};
+#endif  // UnoGpioPinMap_h

hardware/_controller/src/SdFat/SysCall.h

@@ -0,0 +1,88 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SysCall_h
+#define SysCall_h
+/**
+ * \file
+ * \brief SysCall class
+ */
+#if defined(ARDUINO)
+#include <Arduino.h>
+#include <SPI.h>
+#elif defined(PLATFORM_ID)  // Only defined if a Particle device
+#include "application.h"
+#else  // defined(ARDUINO)
+#error "Unknown system"
+#endif  // defined(ARDUINO)
+//------------------------------------------------------------------------------
+#ifdef ESP8266
+// undefine F macro if ESP8266.
+#undef F
+#endif  // ESP8266
+//------------------------------------------------------------------------------
+#ifndef F
+/** Define macro for strings stored in flash. */
+#define F(str) (str)
+#endif  // F
+//------------------------------------------------------------------------------
+/** \return the time in milliseconds. */
+inline uint16_t curTimeMS() {
+  return millis();
+}
+//------------------------------------------------------------------------------
+/**
+ * \class SysCall
+ * \brief SysCall - Class to wrap system calls.
+ */
+class SysCall {
+ public:
+  /** Halt execution of this thread. */
+  static void halt() {
+    while (1) {
+      yield();
+    }
+  }
+  /** Yield to other threads. */
+  static void yield();
+};
+
+#if defined(ESP8266)
+inline void SysCall::yield() {
+  // Avoid ESP8266 bug
+  delay(0);
+}
+#elif defined(ARDUINO)
+inline void SysCall::yield() {
+  // Use the external Arduino yield() function.
+  ::yield();
+}
+#elif defined(PLATFORM_ID)  // Only defined if a Particle device
+inline void SysCall::yield() {
+  Particle.process();
+}
+#else  // ESP8266
+inline void SysCall::yield() {}
+#endif  // ESP8266
+#endif  // SysCall_h

hardware/_controller/src/SdFat/sdios.h

@@ -0,0 +1,33 @@
+/**
+ * Copyright (c) 2011-2018 Bill Greiman
+ * This file is part of the SdFat library for SD memory cards.
+ *
+ * MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a
+ * copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included
+ * in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
+ * DEALINGS IN THE SOFTWARE.
+ */
+#ifndef sdios_h
+#define sdios_h
+/**
+ * \file
+ * \brief C++ IO Streams features.
+ */
+#include "FatLib/fstream.h"
+#include "FatLib/ArduinoStream.h"
+#endif  // sdios_h

hardware/_controller/src/guislice/GUIslice_drv_adagfx.cpp

@@ -177,7 +177,7 @@
     // - To support SW SPI interface, need to make mod to SdFat lib:
     // -   Arduino\libraries\SdFat\src\SdFatConfig.h:
     // -     #define ENABLE_SOFTWARE_SPI_CLASS 1 // Change default from 0 to 1
-    #include <SdFat.h>
+    #include "../SdFat/SdFat.h"
     SdFatSoftSpi<12, 11, 13> SD; // FIXME: Add configurability
   #endif
 #endif

hardware/_controller/src/guislice/ard-adagfx-ili9341-notouch.h

@@ -146,7 +146,7 @@ extern "C" {
   // - Note that the inclusion of the SD library consumes considerable
   //   RAM and flash memory which could be problematic for Arduino models
   //   with limited resources.
-  #define GSLC_SD_EN    0
+  #define GSLC_SD_EN    2
 
 
   // =============================================================================

hardware/_controller/src/guislice/ard-adagfx-ili9341-stmpe610.h

@@ -185,7 +185,7 @@ extern "C" {
   // - Note that the inclusion of the SD library consumes considerable
   //   RAM and flash memory which could be problematic for Arduino models
   //   with limited resources.
-  #define GSLC_SD_EN    0
+  #define GSLC_SD_EN    2
 
 
   // =============================================================================