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https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-20 10:54:14 +01:00
Finished conversion of pios_com.c
UART shouldn't need any work now until testing on hardware. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@30 ebee16cc-31ac-478f-84a7-5cbb03baadba
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47c8bc5a78
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@ -86,6 +86,7 @@ SRC += $(SYSDIR)/pios_led.c
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SRC += $(SYSDIR)/pios_uart.c
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SRC += $(SYSDIR)/pios_irq.c
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SRC += $(SYSDIR)/pios_com.c
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SRC += $(SYSDIR)/printf-stdarg.c
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## CMSIS for STM32
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SRC += $(CMSISDIR)/core_cm3.c
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@ -30,8 +30,10 @@
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/* C Lib Includes */
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdarg.h>
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#include <string.h>
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/* STM32 Std Perf Lib */
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#include <stm32f10x.h>
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@ -55,20 +55,6 @@ int32_t COMInit(void)
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return -ret;
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}
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/**
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* This function checks the availability of a COM port
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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* \return 1: port available
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* \return 0: port not available
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* \note Deprecated since our hardware is a constant
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*/
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int32_t COMCheckAvailable(COMPortTypeDef port)
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{
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/* Deprecated since our hardware is a constant */
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}
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/**
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* Sends a package over given port
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* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
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@ -165,7 +151,7 @@ int32_t COMSendChar(COMPortTypeDef port, char c)
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t COMSendString_NonBlocking(COMPortTypeDef port, char *str)
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int32_t COMSendStringNonBlocking(COMPortTypeDef port, char *str)
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{
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return COMSendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
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}
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@ -179,9 +165,9 @@ int32_t COMSendString_NonBlocking(COMPortTypeDef port, char *str)
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t MIOS32_COM_SendString(COMPortTypeDef port, char *str)
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int32_t COMSendString(COMPortTypeDef port, char *str)
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{
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/* return COMSendBuffer(port, (uint8_t *)str, strlen(str)); */
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return COMSendBuffer(port, (uint8_t *)str, strlen(str));
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}
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@ -195,16 +181,15 @@ int32_t MIOS32_COM_SendString(COMPortTypeDef port, char *str)
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* caller should retry until buffer is free again
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* \return 0 on success
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*/
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int32_t MIOS32_COM_SendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...)
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int32_t COMSendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...)
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{
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uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
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/*
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va_list args;
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va_start(args, format);
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vsprintf((char *)buffer, format, args);
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return COMSendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
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*/
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}
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@ -217,16 +202,14 @@ int32_t MIOS32_COM_SendFormattedStringNonBlocking(COMPortTypeDef port, char *for
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* \return -1 if port not available
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* \return 0 on success
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*/
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int32_t MIOS32_COM_SendFormattedString(COMPortTypeDef port, char *format, ...)
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int32_t COMSendFormattedString(COMPortTypeDef port, char *format, ...)
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{
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uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
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/*
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va_list args;
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va_start(args, format);
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vsprintf((char *)buffer, format, args);
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return COMSendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
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*/
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}
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@ -37,11 +37,9 @@ typedef enum {
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/* Public Functions */
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extern int32_t COMInit(void);
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extern int32_t COMCheckAvailable(COMPortTypeDef port);
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extern int32_t COMSendChar_NonBlocking(COMPortTypeDef port, char c);
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extern int32_t COMSendCharNonBlocking(COMPortTypeDef port, char c);
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extern int32_t COMSendChar(COMPortTypeDef port, char c);
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extern int32_t COMSendBuffer_NonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
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extern int32_t COMSendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
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extern int32_t COMSendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
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extern int32_t COMSendStringNonBlocking(COMPortTypeDef port, char *str);
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extern int32_t COMSendString(COMPortTypeDef port, char *str);
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@ -49,6 +47,6 @@ extern int32_t COMSendFormattedStringNonBlocking(COMPortTypeDef port, char *form
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extern int32_t COMSendFormattedString(COMPortTypeDef port, char *format, ...);
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extern int32_t COMReceiveHandler(void);
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extern int32_t COMReceiveCallback_Init(void *callback_receive);
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extern int32_t COMReceiveCallbackInit(void *callback_receive);
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#endif /* PIOS_COM_H */
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@ -505,9 +505,7 @@ GPS_IRQHANDLER_FUNC
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if(GPS_UART->SR & (1 << 5)) {
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uint8_t b = GPS_UART->DR;
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int status = 0;//MIOS32_MIDI_SendByteToRxCallback(UART0, b);
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if(status == 0 && UARTRxBufferPut(0, b) < 0) {
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if(UARTRxBufferPut(0, b) < 0) {
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/* Here we could add some error handling */
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}
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}
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@ -536,9 +534,7 @@ TELEM_IRQHANDLER_FUNC
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if(TELEM_UART->SR & (1 << 5)) {
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uint8_t b = TELEM_UART->DR;
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int status = 0;//MIOS32_MIDI_SendByteToRxCallback(UART1, b);
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if(status == 0 && UARTRxBufferPut(1, b) < 0) {
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if(UARTRxBufferPut(1, b) < 0) {
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/* Here we could add some error handling */
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}
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}
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@ -566,9 +562,7 @@ AUX_UART_IRQHANDLER_FUNC
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if(AUX_UART_UART->SR & (1 << 5)) {
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uint8_t b = AUX_UART_UART->DR;
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int status = 0;//MIOS32_MIDI_SendByteToRxCallback(UART1, b);
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if(status == 0 && UARTRxBufferPut(1, b) < 0) {
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if(UARTRxBufferPut(1, b) < 0) {
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/* Here we could add some error handling */
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}
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}
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228
flight/sys/printf-stdarg.c
Normal file
228
flight/sys/printf-stdarg.c
Normal file
@ -0,0 +1,228 @@
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// $Id: printf-stdarg.c 398 2009-03-22 21:47:53Z tk $
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/*
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Copyright 2001, 2002 Georges Menie (www.menie.org)
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stdarg version contributed by Christian Ettinger
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/*
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putchar is the only external dependency for this file,
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if you have a working putchar, leave it commented out.
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If not, uncomment the define below and
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replace outbyte(c) by your own function call.
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#define putchar(c) outbyte(c)
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*/
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//#define putchar(c) COMSendChar(c)
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#include <pios.h>
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static void printchar(char **str, int c)
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{
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// extern int putchar(int c);
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if (str) {
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**str = c;
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++(*str);
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}
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else COMSendChar(1, c); // (void)putchar(c);
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}
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#define PAD_RIGHT 1
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#define PAD_ZERO 2
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static int prints(char **out, const char *string, int width, int pad)
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{
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register int pc = 0, padchar = ' ';
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if (width > 0) {
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register int len = 0;
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register const char *ptr;
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for (ptr = string; *ptr; ++ptr) ++len;
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if (len >= width) width = 0;
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else width -= len;
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if (pad & PAD_ZERO) padchar = '0';
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}
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if (!(pad & PAD_RIGHT)) {
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for ( ; width > 0; --width) {
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printchar (out, padchar);
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++pc;
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}
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}
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for ( ; *string ; ++string) {
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printchar (out, *string);
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++pc;
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}
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for ( ; width > 0; --width) {
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printchar (out, padchar);
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++pc;
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}
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return pc;
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}
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/* the following should be enough for 32 bit int */
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#define PRINT_BUF_LEN 12
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static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase)
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{
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char print_buf[PRINT_BUF_LEN];
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register char *s;
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register int t, neg = 0, pc = 0;
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register unsigned int u = i;
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if (i == 0) {
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print_buf[0] = '0';
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print_buf[1] = '\0';
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return prints (out, print_buf, width, pad);
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}
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if (sg && b == 10 && i < 0) {
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neg = 1;
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u = -i;
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}
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s = print_buf + PRINT_BUF_LEN-1;
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*s = '\0';
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while (u) {
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t = u % b;
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if( t >= 10 )
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t += letbase - '0' - 10;
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*--s = t + '0';
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u /= b;
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}
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if (neg) {
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if( width && (pad & PAD_ZERO) ) {
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printchar (out, '-');
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++pc;
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--width;
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}
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else {
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*--s = '-';
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}
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}
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return pc + prints (out, s, width, pad);
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}
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static int print( char **out, const char *format, va_list args )
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{
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register int width, pad;
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register int pc = 0;
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char scr[2];
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for (; *format != 0; ++format) {
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if (*format == '%') {
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++format;
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width = pad = 0;
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if (*format == '\0') break;
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if (*format == '%') goto out;
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if (*format == '-') {
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++format;
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pad = PAD_RIGHT;
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}
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while (*format == '0') {
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++format;
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pad |= PAD_ZERO;
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}
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for ( ; *format >= '0' && *format <= '9'; ++format) {
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width *= 10;
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width += *format - '0';
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}
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if( *format == 's' ) {
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register char *s = (char *)va_arg( args, int );
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pc += prints (out, s?s:"(null)", width, pad);
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continue;
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}
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if( *format == 'd' ) {
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pc += printi (out, va_arg( args, int ), 10, 1, width, pad, 'a');
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continue;
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}
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if( *format == 'x' ) {
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pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'a');
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continue;
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}
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if( *format == 'X' ) {
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pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'A');
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continue;
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}
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if( *format == 'u' ) {
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pc += printi (out, va_arg( args, int ), 10, 0, width, pad, 'a');
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continue;
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}
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if( *format == 'c' ) {
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/* char are converted to int then pushed on the stack */
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scr[0] = (char)va_arg( args, int );
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scr[1] = '\0';
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pc += prints (out, scr, width, pad);
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continue;
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}
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}
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else {
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out:
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printchar (out, *format);
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++pc;
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}
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}
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if (out) **out = '\0';
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va_end( args );
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return pc;
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}
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int printf(const char *format, ...)
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{
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va_list args;
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va_start( args, format );
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return print( 0, format, args );
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}
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// TK: added for alternative parameter passing
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int vprintf(const char *format, va_list args)
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{
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return print( 0, format, args );
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}
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int sprintf(char *out, const char *format, ...)
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{
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va_list args;
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va_start( args, format );
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return print( &out, format, args );
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}
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// TK: added for alternative parameter passing
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int vsprintf(char *out, const char *format, va_list args)
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{
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char *_out;
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_out = out;
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return print( &_out, format, args );
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}
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int snprintf( char *buf, size_t count, const char *format, ... )
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{
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va_list args;
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( void ) count;
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va_start( args, format );
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return print( &buf, format, args );
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}
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