mirror of https://github.com/ArduPilot/ardupilot
519 lines
22 KiB
C++
519 lines
22 KiB
C++
// -*- Mode: C++; c-basic-offset: 8; indent-tabs-mode: nil -*-
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/*
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Adapted from the avr-libc vfprintf:
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Copyright (c) 2002, Alexander Popov (sasho@vip.bg)
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Copyright (c) 2002,2004,2005 Joerg Wunsch
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Copyright (c) 2005, Helmut Wallner
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Copyright (c) 2007, Dmitry Xmelkov
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in
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the documentation and/or other materials provided with the
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distribution.
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* Neither the name of the copyright holders nor the names of
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contributors may be used to endorse or promote products derived
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from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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POSSIBILITY OF SUCH DAMAGE.
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*/
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/* From: Id: printf_p_new.c,v 1.1.1.9 2002/10/15 20:10:28 joerg_wunsch Exp */
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/* $Id: vfprintf.c,v 1.18.2.1 2009/04/01 23:12:06 arcanum Exp $ */
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#include <avr/pgmspace.h>
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#include <stdarg.h>
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#include <string.h>
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extern "C" {
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#include "ftoa_engine.h"
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#include "ntz.h"
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#include "xtoa_fast.h"
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}
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#include <AP_HAL.h>
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#include "../UARTDriver.h"
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using namespace AP_HAL_AVR;
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// workaround for GCC bug c++/34734
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#undef PROGMEM
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#define PROGMEM __attribute__(( section(".progmem.data") ))
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#undef PSTR
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#define PSTR(s) (__extension__({static prog_char __c[] PROGMEM = (s); &__c[0];}))
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#ifdef GETBYTE
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#undef GETBYTE
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#endif
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#define GETBYTE(flag, mask, pnt) ({ \
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unsigned char __c; \
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asm ( \
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"sbrc %2,%3 \n\t" \
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"lpm %0,Z+ \n\t" \
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"sbrs %2,%3 \n\t" \
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"ld %0,Z+ " \
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: "=r" (__c), \
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"+z" (pnt) \
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: "r" (flag), \
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"I" (ntz(mask)) \
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); \
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__c; \
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})
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#define FL_ZFILL 0x01
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#define FL_PLUS 0x02
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#define FL_SPACE 0x04
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#define FL_LPAD 0x08
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#define FL_ALT 0x10
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#define FL_WIDTH 0x20
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#define FL_PREC 0x40
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#define FL_LONG 0x80
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#define FL_PGMSTRING FL_LONG
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#define FL_NEGATIVE FL_LONG
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#define FL_ALTUPP FL_PLUS
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#define FL_ALTHEX FL_SPACE
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#define FL_FLTUPP FL_ALT
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#define FL_FLTEXP FL_PREC
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#define FL_FLTFIX FL_LONG
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void
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AVRUARTDriver::_vprintf (unsigned char in_progmem, const char *fmt, va_list ap)
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{
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unsigned char c; /* holds a char from the format string */
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unsigned char flags;
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unsigned char width;
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unsigned char prec;
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unsigned char buf[11]; /* size for -1 in octal, without '\0' */
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for (;;) {
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/*
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* Process non-format characters
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*/
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for (;;) {
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c = GETBYTE (in_progmem, 1, fmt);
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if (!c) return;
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if (c == '%') {
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c = GETBYTE (in_progmem, 1, fmt);
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if (c != '%') break;
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}
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/* emit cr before lf to make most terminals happy */
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if (c == '\n')
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write('\r');
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write(c);
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}
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flags = 0;
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width = 0;
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prec = 0;
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/*
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* Process format adjustment characters, precision, width.
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*/
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do {
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if (flags < FL_WIDTH) {
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switch (c) {
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case '0':
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flags |= FL_ZFILL;
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continue;
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case '+':
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flags |= FL_PLUS;
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/* FALLTHROUGH */
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case ' ':
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flags |= FL_SPACE;
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continue;
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case '-':
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flags |= FL_LPAD;
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continue;
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case '#':
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flags |= FL_ALT;
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continue;
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}
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}
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if (flags < FL_LONG) {
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if (c >= '0' && c <= '9') {
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c -= '0';
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if (flags & FL_PREC) {
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prec = 10*prec + c;
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continue;
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}
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width = 10*width + c;
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flags |= FL_WIDTH;
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continue;
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}
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if (c == '.') {
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if (flags & FL_PREC)
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return;
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flags |= FL_PREC;
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continue;
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}
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if (c == 'l') {
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flags |= FL_LONG;
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continue;
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}
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if (c == 'h')
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continue;
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}
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break;
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} while ( (c = GETBYTE (in_progmem, 1, fmt)) != 0);
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/*
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* Handle floating-point formats E, F, G, e, f, g.
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*/
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if (c >= 'E' && c <= 'G') {
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flags |= FL_FLTUPP;
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c += 'e' - 'E';
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goto flt_oper;
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} else if (c >= 'e' && c <= 'g') {
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int exp; /* exponent of master decimal digit */
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int n;
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unsigned char vtype; /* result of float value parse */
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unsigned char sign; /* sign character (or 0) */
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unsigned char ndigs;
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flags &= ~FL_FLTUPP;
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flt_oper:
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if (!(flags & FL_PREC))
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prec = 6;
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flags &= ~(FL_FLTEXP | FL_FLTFIX);
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if (c == 'e')
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flags |= FL_FLTEXP;
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else if (c == 'f')
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flags |= FL_FLTFIX;
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else if (prec > 0)
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prec -= 1;
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if (flags & FL_FLTFIX) {
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vtype = 7; /* 'prec' arg for 'ftoa_engine' */
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ndigs = prec < 60 ? prec + 1 : 60;
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} else {
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if (prec > 7) prec = 7;
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vtype = prec;
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ndigs = 0;
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}
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exp = __ftoa_engine (va_arg(ap,double), (char *)buf, vtype, ndigs);
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vtype = buf[0];
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sign = 0;
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if ((vtype & FTOA_MINUS) && !(vtype & FTOA_NAN))
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sign = '-';
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else if (flags & FL_PLUS)
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sign = '+';
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else if (flags & FL_SPACE)
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sign = ' ';
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if (vtype & (FTOA_NAN | FTOA_INF)) {
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const char *p;
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ndigs = sign ? 4 : 3;
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if (width > ndigs) {
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width -= ndigs;
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if (!(flags & FL_LPAD)) {
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do {
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write(' ');
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} while (--width);
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}
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} else {
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width = 0;
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}
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if (sign)
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write(sign);
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p = PSTR("inf");
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if (vtype & FTOA_NAN)
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p = PSTR("nan");
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while ( (ndigs = pgm_read_byte((const prog_char *)p)) != 0) {
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if (flags & FL_FLTUPP)
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ndigs += 'I' - 'i';
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write(ndigs);
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p++;
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}
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goto tail;
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}
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/* Output format adjustment, number of decimal digits in buf[] */
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if (flags & FL_FLTFIX) {
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ndigs += exp;
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if ((vtype & FTOA_CARRY) && buf[1] == '1')
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ndigs -= 1;
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if ((signed char)ndigs < 1)
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ndigs = 1;
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else if (ndigs > 8)
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ndigs = 8;
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} else if (!(flags & FL_FLTEXP)) { /* 'g(G)' format */
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if (exp <= prec && exp >= -4)
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flags |= FL_FLTFIX;
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while (prec && buf[1+prec] == '0')
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prec--;
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if (flags & FL_FLTFIX) {
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ndigs = prec + 1; /* number of digits in buf */
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prec = prec > exp
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? prec - exp : 0; /* fractional part length */
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}
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}
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/* Conversion result length, width := free space length */
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if (flags & FL_FLTFIX)
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n = (exp>0 ? exp+1 : 1);
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else
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n = 5; /* 1e+00 */
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if (sign) n += 1;
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if (prec) n += prec + 1;
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width = width > n ? width - n : 0;
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/* Output before first digit */
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if (!(flags & (FL_LPAD | FL_ZFILL))) {
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while (width) {
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write(' ');
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width--;
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}
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}
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if (sign) write(sign);
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if (!(flags & FL_LPAD)) {
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while (width) {
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write('0');
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width--;
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}
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}
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if (flags & FL_FLTFIX) { /* 'f' format */
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n = exp > 0 ? exp : 0; /* exponent of left digit */
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do {
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if (n == -1)
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write('.');
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flags = (n <= exp && n > exp - ndigs)
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? buf[exp - n + 1] : '0';
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if (--n < -prec)
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break;
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write(flags);
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} while (1);
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if (n == exp
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&& (buf[1] > '5'
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|| (buf[1] == '5' && !(vtype & FTOA_CARRY))) )
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{
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flags = '1';
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}
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write(flags);
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} else { /* 'e(E)' format */
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/* mantissa */
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if (buf[1] != '1')
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vtype &= ~FTOA_CARRY;
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write(buf[1]);
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if (prec) {
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write('.');
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sign = 2;
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do {
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write(buf[sign++]);
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} while (--prec);
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}
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/* exponent */
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write(flags & FL_FLTUPP ? 'E' : 'e');
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ndigs = '+';
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if (exp < 0 || (exp == 0 && (vtype & FTOA_CARRY) != 0)) {
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exp = -exp;
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ndigs = '-';
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}
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write(ndigs);
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for (ndigs = '0'; exp >= 10; exp -= 10)
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ndigs += 1;
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write(ndigs);
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write('0' + exp);
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}
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goto tail;
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}
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/*
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* Handle string formats c, s, S.
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*/
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{
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const char * pnt;
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size_t size;
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switch (c) {
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case 'c':
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buf[0] = va_arg (ap, int);
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pnt = (char *)buf;
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size = 1;
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goto no_pgmstring;
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case 's':
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pnt = va_arg (ap, char *);
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size = strnlen (pnt, (flags & FL_PREC) ? prec : ~0);
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no_pgmstring:
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flags &= ~FL_PGMSTRING;
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goto str_lpad;
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case 'S':
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// pgmstring: // not yet used
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pnt = va_arg (ap, char *);
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size = strnlen_P (pnt, (flags & FL_PREC) ? prec : ~0);
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flags |= FL_PGMSTRING;
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str_lpad:
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if (!(flags & FL_LPAD)) {
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while (size < width) {
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write(' ');
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width--;
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}
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}
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while (size) {
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write(GETBYTE (flags, FL_PGMSTRING, pnt));
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if (width) width -= 1;
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size -= 1;
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}
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goto tail;
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}
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}
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/*
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* Handle integer formats variations for d/i, u, o, p, x, X.
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*/
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if (c == 'd' || c == 'i') {
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long x = (flags & FL_LONG) ? va_arg(ap,long) : va_arg(ap,int);
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flags &= ~(FL_NEGATIVE | FL_ALT);
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if (x < 0) {
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x = -x;
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flags |= FL_NEGATIVE;
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}
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c = __ultoa_invert (x, (char *)buf, 10) - (char *)buf;
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} else {
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int base;
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if (c == 'u') {
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flags &= ~FL_ALT;
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base = 10;
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goto ultoa;
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}
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flags &= ~(FL_PLUS | FL_SPACE);
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switch (c) {
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case 'o':
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base = 8;
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goto ultoa;
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case 'p':
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flags |= FL_ALT;
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/* no break */
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case 'x':
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if (flags & FL_ALT)
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flags |= FL_ALTHEX;
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base = 16;
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goto ultoa;
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case 'X':
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if (flags & FL_ALT)
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flags |= (FL_ALTHEX | FL_ALTUPP);
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base = 16 | XTOA_UPPER;
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ultoa:
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c = __ultoa_invert ((flags & FL_LONG)
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? va_arg(ap, unsigned long)
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: va_arg(ap, unsigned int),
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(char *)buf, base) - (char *)buf;
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flags &= ~FL_NEGATIVE;
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break;
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default:
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return;
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}
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}
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/*
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* Format integers.
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*/
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{
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unsigned char len;
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len = c;
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if (flags & FL_PREC) {
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flags &= ~FL_ZFILL;
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if (len < prec) {
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len = prec;
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if ((flags & FL_ALT) && !(flags & FL_ALTHEX))
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flags &= ~FL_ALT;
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}
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}
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if (flags & FL_ALT) {
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if (buf[c-1] == '0') {
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flags &= ~(FL_ALT | FL_ALTHEX | FL_ALTUPP);
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} else {
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len += 1;
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if (flags & FL_ALTHEX)
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len += 1;
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}
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} else if (flags & (FL_NEGATIVE | FL_PLUS | FL_SPACE)) {
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len += 1;
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}
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if (!(flags & FL_LPAD)) {
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if (flags & FL_ZFILL) {
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prec = c;
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if (len < width) {
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prec += width - len;
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len = width;
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}
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}
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while (len < width) {
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write(' ');
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len++;
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}
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}
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width = (len < width) ? width - len : 0;
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if (flags & FL_ALT) {
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write('0');
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if (flags & FL_ALTHEX)
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write(flags & FL_ALTUPP ? 'X' : 'x');
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} else if (flags & (FL_NEGATIVE | FL_PLUS | FL_SPACE)) {
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unsigned char z = ' ';
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if (flags & FL_PLUS) z = '+';
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if (flags & FL_NEGATIVE) z = '-';
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write(z);
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}
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while (prec > c) {
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write('0');
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prec--;
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}
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do {
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write(buf[--c]);
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} while (c);
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}
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tail:
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/* Tail is possible. */
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while (width) {
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write(' ');
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width--;
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}
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} /* for (;;) */
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}
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