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ardupilot/libraries/FastSerial/vprintf.cpp

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Bring in floating point support for BetterStream::printf, courtesy of the avr-libc implementation. Strip the stdio integration from FastSerial as we aren't using it and it just wastes space. Note that this does not attempt to fix the bogus floating point handling in ::print(ln). That's an issue for another day. BetterStream::printf(_P) aka FastSerial::printf(_P) support is now as documented for avr-libc printf with floating point support enabled. git-svn-id: https://arducopter.googlecode.com/svn/trunk@895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-22 20:38:16 -04:00
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
/*
Adapted from the avr-libc vfprintf:
Copyright (c) 2002, Alexander Popov (sasho@vip.bg)
Copyright (c) 2002,2004,2005 Joerg Wunsch
Copyright (c) 2005, Helmut Wallner
Copyright (c) 2007, Dmitry Xmelkov
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
* Neither the name of the copyright holders nor the names of
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
/* From: Id: printf_p_new.c,v 1.1.1.9 2002/10/15 20:10:28 joerg_wunsch Exp */
/* $Id: vfprintf.c,v 1.18.2.1 2009/04/01 23:12:06 arcanum Exp $ */
#include "BetterStream.h"
#include <avr/pgmspace.h>
#include <stdarg.h>
#include <string.h>
extern "C" {
#include "ftoa_engine.h"
#include "ntz.h"
#include "xtoa_fast.h"
}
A better workaround for the PSTR warning bug. This seems to work correctly. git-svn-id: https://arducopter.googlecode.com/svn/trunk@919 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-24 22:59:15 -04:00
// workaround for GCC bug c++/34734
#undef PROGMEM
#define PROGMEM __attribute__(( section(".progmem.data") ))
#undef PSTR
#define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];}))
Bring in floating point support for BetterStream::printf, courtesy of the avr-libc implementation. Strip the stdio integration from FastSerial as we aren't using it and it just wastes space. Note that this does not attempt to fix the bogus floating point handling in ::print(ln). That's an issue for another day. BetterStream::printf(_P) aka FastSerial::printf(_P) support is now as documented for avr-libc printf with floating point support enabled. git-svn-id: https://arducopter.googlecode.com/svn/trunk@895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-22 20:38:16 -04:00
#define GETBYTE(flag, mask, pnt) ({ \
unsigned char __c; \
asm ( \
"sbrc %2,%3 \n\t" \
"lpm %0,Z+ \n\t" \
"sbrs %2,%3 \n\t" \
"ld %0,Z+ " \
: "=r" (__c), \
"+z" (pnt) \
: "r" (flag), \
"I" (ntz(mask)) \
); \
__c; \
})
/*
#define GETBYTE(flag, mask, pnt) ({ \
unsigned char __c; \
__c = ((flag) & (mask)) \
? pgm_read_byte(pnt) : *pnt; \
pnt++; \
__c; \
})
*/
#define FL_ZFILL 0x01
#define FL_PLUS 0x02
#define FL_SPACE 0x04
#define FL_LPAD 0x08
#define FL_ALT 0x10
#define FL_WIDTH 0x20
#define FL_PREC 0x40
#define FL_LONG 0x80
#define FL_PGMSTRING FL_LONG
#define FL_NEGATIVE FL_LONG
#define FL_ALTUPP FL_PLUS
#define FL_ALTHEX FL_SPACE
#define FL_FLTUPP FL_ALT
#define FL_FLTEXP FL_PREC
#define FL_FLTFIX FL_LONG
void
BetterStream::_vprintf (unsigned char in_progmem, const char *fmt, va_list ap)
{
unsigned char c; /* holds a char from the format string */
unsigned char flags;
unsigned char width;
unsigned char prec;
unsigned char buf[11]; /* size for -1 in octal, without '\0' */
for (;;) {
/*
* Process non-format characters
*/
for (;;) {
c = GETBYTE (in_progmem, 1, fmt);
if (!c) return;
if (c == '%') {
c = GETBYTE (in_progmem, 1, fmt);
if (c != '%') break;
}
Resurrect lf -> crlf translation that was lost when I dropped the stdio support. git-svn-id: https://arducopter.googlecode.com/svn/trunk@921 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-24 23:41:52 -04:00
/* emit cr before lf to make most terminals happy */
if (c == '\n')
write('\r');
Bring in floating point support for BetterStream::printf, courtesy of the avr-libc implementation. Strip the stdio integration from FastSerial as we aren't using it and it just wastes space. Note that this does not attempt to fix the bogus floating point handling in ::print(ln). That's an issue for another day. BetterStream::printf(_P) aka FastSerial::printf(_P) support is now as documented for avr-libc printf with floating point support enabled. git-svn-id: https://arducopter.googlecode.com/svn/trunk@895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-22 20:38:16 -04:00
write(c);
}
flags = 0;
width = 0;
prec = 0;
/*
* Process format adjustment characters, precision, width.
*/
do {
if (flags < FL_WIDTH) {
switch (c) {
case '0':
flags |= FL_ZFILL;
continue;
case '+':
flags |= FL_PLUS;
/* FALLTHROUGH */
case ' ':
flags |= FL_SPACE;
continue;
case '-':
flags |= FL_LPAD;
continue;
case '#':
flags |= FL_ALT;
continue;
}
}
if (flags < FL_LONG) {
if (c >= '0' && c <= '9') {
c -= '0';
if (flags & FL_PREC) {
prec = 10*prec + c;
continue;
}
width = 10*width + c;
flags |= FL_WIDTH;
continue;
}
if (c == '.') {
if (flags & FL_PREC)
return;
flags |= FL_PREC;
continue;
}
if (c == 'l') {
flags |= FL_LONG;
continue;
}
if (c == 'h')
continue;
}
break;
} while ( (c = GETBYTE (in_progmem, 1, fmt)) != 0);
/*
* Handle floating-point formats E, F, G, e, f, g.
*/
if (c >= 'E' && c <= 'G') {
flags |= FL_FLTUPP;
c += 'e' - 'E';
goto flt_oper;
} else if (c >= 'e' && c <= 'g') {
int exp; /* exponent of master decimal digit */
int n;
unsigned char vtype; /* result of float value parse */
unsigned char sign; /* sign character (or 0) */
unsigned char ndigs;
flags &= ~FL_FLTUPP;
flt_oper:
if (!(flags & FL_PREC))
prec = 6;
flags &= ~(FL_FLTEXP | FL_FLTFIX);
if (c == 'e')
flags |= FL_FLTEXP;
else if (c == 'f')
flags |= FL_FLTFIX;
else if (prec > 0)
prec -= 1;
if (flags & FL_FLTFIX) {
vtype = 7; /* 'prec' arg for 'ftoa_engine' */
ndigs = prec < 60 ? prec + 1 : 60;
} else {
if (prec > 7) prec = 7;
vtype = prec;
ndigs = 0;
}
exp = __ftoa_engine (va_arg(ap,double), (char *)buf, vtype, ndigs);
vtype = buf[0];
sign = 0;
if ((vtype & FTOA_MINUS) && !(vtype & FTOA_NAN))
sign = '-';
else if (flags & FL_PLUS)
sign = '+';
else if (flags & FL_SPACE)
sign = ' ';
if (vtype & (FTOA_NAN | FTOA_INF)) {
const char *p;
ndigs = sign ? 4 : 3;
if (width > ndigs) {
width -= ndigs;
if (!(flags & FL_LPAD)) {
do {
write(' ');
} while (--width);
}
} else {
width = 0;
}
if (sign)
write(sign);
p = PSTR("inf");
if (vtype & FTOA_NAN)
p = PSTR("nan");
while ( (ndigs = pgm_read_byte(p)) != 0) {
if (flags & FL_FLTUPP)
ndigs += 'I' - 'i';
write(ndigs);
p++;
}
goto tail;
}
/* Output format adjustment, number of decimal digits in buf[] */
if (flags & FL_FLTFIX) {
ndigs += exp;
if ((vtype & FTOA_CARRY) && buf[1] == '1')
ndigs -= 1;
if ((signed char)ndigs < 1)
ndigs = 1;
else if (ndigs > 8)
ndigs = 8;
} else if (!(flags & FL_FLTEXP)) { /* 'g(G)' format */
if (exp <= prec && exp >= -4)
flags |= FL_FLTFIX;
while (prec && buf[1+prec] == '0')
prec--;
if (flags & FL_FLTFIX) {
ndigs = prec + 1; /* number of digits in buf */
prec = prec > exp
? prec - exp : 0; /* fractional part length */
}
}
/* Conversion result length, width := free space length */
if (flags & FL_FLTFIX)
n = (exp>0 ? exp+1 : 1);
else
n = 5; /* 1e+00 */
if (sign) n += 1;
if (prec) n += prec + 1;
width = width > n ? width - n : 0;
/* Output before first digit */
if (!(flags & (FL_LPAD | FL_ZFILL))) {
while (width) {
write(' ');
width--;
}
}
if (sign) write(sign);
if (!(flags & FL_LPAD)) {
while (width) {
write('0');
width--;
}
}
if (flags & FL_FLTFIX) { /* 'f' format */
n = exp > 0 ? exp : 0; /* exponent of left digit */
do {
if (n == -1)
write('.');
flags = (n <= exp && n > exp - ndigs)
? buf[exp - n + 1] : '0';
if (--n < -prec)
break;
write(flags);
} while (1);
if (n == exp
&& (buf[1] > '5'
|| (buf[1] == '5' && !(vtype & FTOA_CARRY))) )
{
flags = '1';
}
write(flags);
} else { /* 'e(E)' format */
/* mantissa */
if (buf[1] != '1')
vtype &= ~FTOA_CARRY;
write(buf[1]);
if (prec) {
write('.');
sign = 2;
do {
write(buf[sign++]);
} while (--prec);
}
/* exponent */
write(flags & FL_FLTUPP ? 'E' : 'e');
ndigs = '+';
if (exp < 0 || (exp == 0 && (vtype & FTOA_CARRY) != 0)) {
exp = -exp;
ndigs = '-';
}
write(ndigs);
for (ndigs = '0'; exp >= 10; exp -= 10)
ndigs += 1;
write(ndigs);
write('0' + exp);
}
goto tail;
}
/*
* Handle string formats c, s, S.
*/
{
const char * pnt;
size_t size;
switch (c) {
case 'c':
buf[0] = va_arg (ap, int);
pnt = (char *)buf;
size = 1;
goto no_pgmstring;
case 's':
pnt = va_arg (ap, char *);
size = strnlen (pnt, (flags & FL_PREC) ? prec : ~0);
no_pgmstring:
flags &= ~FL_PGMSTRING;
goto str_lpad;
case 'S':
Add format attributes to printf and printf_P. The latter is a bit wishful as gcc isn't smart enough to deal with what PSTR does, but with some other hackery this can be used to generate useful warnings. Add a workaround for a GCC bug that generates spurious warnings when PSTR() is used. git-svn-id: https://arducopter.googlecode.com/svn/trunk@901 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-23 05:09:52 -04:00
pgmstring:
Bring in floating point support for BetterStream::printf, courtesy of the avr-libc implementation. Strip the stdio integration from FastSerial as we aren't using it and it just wastes space. Note that this does not attempt to fix the bogus floating point handling in ::print(ln). That's an issue for another day. BetterStream::printf(_P) aka FastSerial::printf(_P) support is now as documented for avr-libc printf with floating point support enabled. git-svn-id: https://arducopter.googlecode.com/svn/trunk@895 f9c3cf11-9bcb-44bc-f272-b75c42450872
2010-11-22 20:38:16 -04:00
pnt = va_arg (ap, char *);
size = strnlen_P (pnt, (flags & FL_PREC) ? prec : ~0);
flags |= FL_PGMSTRING;
str_lpad:
if (!(flags & FL_LPAD)) {
while (size < width) {
write(' ');
width--;
}
}
while (size) {
write(GETBYTE (flags, FL_PGMSTRING, pnt));
if (width) width -= 1;
size -= 1;
}
goto tail;
}
}
/*
* Handle integer formats variations for d/i, u, o, p, x, X.
*/
if (c == 'd' || c == 'i') {
long x = (flags & FL_LONG) ? va_arg(ap,long) : va_arg(ap,int);
flags &= ~(FL_NEGATIVE | FL_ALT);
if (x < 0) {
x = -x;
flags |= FL_NEGATIVE;
}
c = __ultoa_invert (x, (char *)buf, 10) - (char *)buf;
} else {
int base;
if (c == 'u') {
flags &= ~FL_ALT;
base = 10;
goto ultoa;
}
flags &= ~(FL_PLUS | FL_SPACE);
switch (c) {
case 'o':
base = 8;
goto ultoa;
case 'p':
flags |= FL_ALT;
/* no break */
case 'x':
if (flags & FL_ALT)
flags |= FL_ALTHEX;
base = 16;
goto ultoa;
case 'X':
if (flags & FL_ALT)
flags |= (FL_ALTHEX | FL_ALTUPP);
base = 16 | XTOA_UPPER;
ultoa:
c = __ultoa_invert ((flags & FL_LONG)
? va_arg(ap, unsigned long)
: va_arg(ap, unsigned int),
(char *)buf, base) - (char *)buf;
flags &= ~FL_NEGATIVE;
break;
default:
return;
}
}
/*
* Format integers.
*/
{
unsigned char len;
len = c;
if (flags & FL_PREC) {
flags &= ~FL_ZFILL;
if (len < prec) {
len = prec;
if ((flags & FL_ALT) && !(flags & FL_ALTHEX))
flags &= ~FL_ALT;
}
}
if (flags & FL_ALT) {
if (buf[c-1] == '0') {
flags &= ~(FL_ALT | FL_ALTHEX | FL_ALTUPP);
} else {
len += 1;
if (flags & FL_ALTHEX)
len += 1;
}
} else if (flags & (FL_NEGATIVE | FL_PLUS | FL_SPACE)) {
len += 1;
}
if (!(flags & FL_LPAD)) {
if (flags & FL_ZFILL) {
prec = c;
if (len < width) {
prec += width - len;
len = width;
}
}
while (len < width) {
write(' ');
len++;
}
}
width = (len < width) ? width - len : 0;
if (flags & FL_ALT) {
write('0');
if (flags & FL_ALTHEX)
write(flags & FL_ALTUPP ? 'X' : 'x');
} else if (flags & (FL_NEGATIVE | FL_PLUS | FL_SPACE)) {
unsigned char z = ' ';
if (flags & FL_PLUS) z = '+';
if (flags & FL_NEGATIVE) z = '-';
write(z);
}
while (prec > c) {
write('0');
prec--;
}
do {
write(buf[--c]);
} while (c);
}
tail:
/* Tail is possible. */
while (width) {
write(' ');
width--;
}
} /* for (;;) */
}