Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

Revision:
0:826c6171fc1b
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDFileSystem/FATFileSystem/Core/diskio.c	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,138 @@
+/*-----------------------------------------------------------------------*/
+/* Low level disk I/O module skeleton for FatFs     (C)ChaN, 2007        */
+/*-----------------------------------------------------------------------*/
+/* This is a stub disk I/O module that acts as front end of the existing */
+/* disk I/O modules and attach it to FatFs module with common interface. */
+/*-----------------------------------------------------------------------*/
+
+//Modified by Thomas Hamilton, Copyright 2010
+
+#include "diskio.h"
+
+DSTATUS disk_initialize(BYTE drv) 
+{
+    if (FATFileSystem::DriveArray[drv])
+    {
+        return (DSTATUS)FATFileSystem::DriveArray[drv]->disk_initialize();
+    }
+    else
+    {
+        return STA_NOINIT;
+    }
+}
+
+DSTATUS disk_status(BYTE drv) 
+{
+    if (FATFileSystem::DriveArray[drv])
+    {
+        return (DSTATUS)FATFileSystem::DriveArray[drv]->disk_status();
+    }
+    else
+    {
+        return STA_NOINIT;
+    }
+}
+
+DRESULT disk_read(BYTE drv, BYTE* buff, DWORD sector, BYTE count)
+{
+    if (FATFileSystem::DriveArray[drv])
+    {
+        return (DRESULT)FATFileSystem::DriveArray[drv]->disk_read((unsigned char*)buff,
+            (unsigned long)sector, (unsigned char)count);
+    }
+    else
+    {
+        return RES_NOTRDY;
+    }
+}
+
+#if _READONLY == 0
+DRESULT disk_write(BYTE drv, const BYTE* buff, DWORD sector, BYTE count)
+{
+    if (FATFileSystem::DriveArray[drv])
+    {
+        return (DRESULT)FATFileSystem::DriveArray[drv]->disk_write((const unsigned char*)buff,
+            (unsigned long)sector, (unsigned char)count);
+    }
+    else
+    {
+        return RES_NOTRDY;
+    }
+}
+#endif
+
+DRESULT disk_ioctl(BYTE drv, BYTE ctrl, void* buff)
+{
+    switch (ctrl)
+    {
+        case CTRL_SYNC:
+            if (FATFileSystem::DriveArray[drv])
+            {
+                return (DRESULT)FATFileSystem::DriveArray[drv]->disk_sync();
+            }
+            else
+            {
+                return RES_NOTRDY;
+            } 
+
+        case GET_SECTOR_SIZE:
+            if (FATFileSystem::DriveArray[drv])
+            {
+                WORD Result = FATFileSystem::DriveArray[drv]->disk_sector_size();
+                if (Result > 0)
+                {
+                    *((WORD*)buff) = Result;
+                    return RES_OK;
+                }
+                else
+                {
+                    return RES_ERROR;
+                }
+            }
+            else
+            {
+                return RES_NOTRDY;
+            }
+
+        case GET_SECTOR_COUNT:
+            if (FATFileSystem::DriveArray[drv])
+            {
+                DWORD Result = FATFileSystem::DriveArray[drv]->disk_sector_count();
+                if (Result > 0)
+                {
+                    *((DWORD*)buff) = Result;
+                    return RES_OK;
+                }
+                else
+                {
+                    return RES_ERROR;
+                }
+            }
+            else
+            {
+                return RES_NOTRDY;
+            }
+
+        case GET_BLOCK_SIZE:
+            if (FATFileSystem::DriveArray[drv])
+            {
+                DWORD Result = FATFileSystem::DriveArray[drv]->disk_block_size();
+                if (Result > 0)
+                {
+                    *((DWORD*)buff) = Result;
+                    return RES_OK;
+                }
+                else
+                {
+                    return RES_ERROR;
+                }
+            }
+            else
+            {
+                return RES_NOTRDY;
+            }
+
+        default:
+            return RES_PARERR;
+    }
+}
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