copied over all of the custom pcb stuff and switched connectors + added PWM headers to the power board
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4029 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/gyro_board/src/usb/printf-stdarg.c b/gyro_board/src/usb/printf-stdarg.c
new file mode 100644
index 0000000..206c3db
--- /dev/null
+++ b/gyro_board/src/usb/printf-stdarg.c
@@ -0,0 +1,314 @@
+/*
+ Copyright 2001, 2002 Georges Menie (www.menie.org)
+ stdarg version contributed by Christian Ettinger
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU Lesser General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+/*
+ putchar is the only external dependency for this file,
+ if you have a working putchar, leave it commented out.
+ If not, uncomment the define below and
+ replace outbyte(c) by your own function call.
+
+*/
+
+#include <stdarg.h>
+
+int VCOM_putchar(int c);
+
+int putchar (int c)
+{
+ return VCOM_putchar(c);
+}
+
+static void printchar(char **str, int c)
+{
+ //extern int putchar(int c);
+
+ if (str) {
+ **str = (char)c;
+ ++(*str);
+ } else {
+ VCOM_putchar(c);
+ }
+}
+
+int puts (char * str)
+{
+ int pc = 1;
+ while (*str != 0) {
+ VCOM_putchar(*str);
+ str ++;
+ pc ++;
+ }
+ VCOM_putchar('\n');
+ return pc;
+}
+
+#define PAD_RIGHT 1
+#define PAD_ZERO 2
+
+static int prints(char **out, const char *string, int width, int pad)
+{
+ register int pc = 0, padchar = ' ';
+
+ if (width > 0) {
+ register int len = 0;
+ register const char *ptr;
+ for (ptr = string; *ptr; ++ptr) ++len;
+ if (len >= width) width = 0;
+ else width -= len;
+ if (pad & PAD_ZERO) padchar = '0';
+ }
+ if (!(pad & PAD_RIGHT)) {
+ for (; width > 0; --width) {
+ printchar(out, padchar);
+ ++pc;
+ }
+ }
+ for (; *string ; ++string) {
+ printchar(out, *string);
+ ++pc;
+ }
+ for (; width > 0; --width) {
+ printchar(out, padchar);
+ ++pc;
+ }
+
+ return pc;
+}
+
+/* the following should be enough for 32 bit int */
+#define PRINT_BUF_LEN 12
+
+static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase)
+{
+ char print_buf[PRINT_BUF_LEN];
+ register char *s;
+ register int t, neg = 0, pc = 0;
+ register unsigned int u = (unsigned int)i;
+
+ if (i == 0) {
+ print_buf[0] = '0';
+ print_buf[1] = '\0';
+ return prints(out, print_buf, width, pad);
+ }
+
+ if (sg && b == 10 && i < 0) {
+ neg = 1;
+ u = (unsigned int) - i;
+ }
+
+ s = print_buf + PRINT_BUF_LEN - 1;
+ *s = '\0';
+
+ while (u) {
+ t = (unsigned int)u % b;
+ if (t >= 10)
+ t += letbase - '0' - 10;
+ *--s = (char)(t + '0');
+ u /= b;
+ }
+
+ if (neg) {
+ if (width && (pad & PAD_ZERO)) {
+ printchar(out, '-');
+ ++pc;
+ --width;
+ } else {
+ *--s = '-';
+ }
+ }
+
+ return pc + prints(out, s, width, pad);
+}
+
+static int print(char **out, const char *format, va_list args)
+{
+ register int width, pad;
+ register int pc = 0;
+ char scr[2];
+
+ for (; *format != 0; ++format) {
+ if (*format == '%') {
+ ++format;
+ width = pad = 0;
+ if (*format == '\0') break;
+ if (*format == '%') goto pout;
+ if (*format == '-') {
+ ++format;
+ pad = PAD_RIGHT;
+ }
+ while (*format == '0') {
+ ++format;
+ pad |= PAD_ZERO;
+ }
+ for (; *format >= '0' && *format <= '9'; ++format) {
+ width *= 10;
+ width += *format - '0';
+ }
+ if (*format == 's') {
+ register char *s = (char *)va_arg(args, int);
+ pc += prints(out, s ? s : "(null)", width, pad);
+ continue;
+ }
+ if (*format == 'd') {
+ pc += printi(out, va_arg(args, int), 10, 1, width, pad, 'a');
+ continue;
+ }
+ if (*format == 'x') {
+ pc += printi(out, va_arg(args, int), 16, 0, width, pad, 'a');
+ continue;
+ }
+ if (*format == 'X') {
+ pc += printi(out, va_arg(args, int), 16, 0, width, pad, 'A');
+ continue;
+ }
+ if (*format == 'u') {
+ pc += printi(out, va_arg(args, int), 10, 0, width, pad, 'a');
+ continue;
+ }
+ if (*format == 'c') {
+ /* char are converted to int then pushed on the stack */
+ scr[0] = (char)va_arg(args, int);
+ scr[1] = '\0';
+ pc += prints(out, scr, width, pad);
+ continue;
+ }
+ } else {
+pout:
+ printchar(out, *format);
+ ++pc;
+ }
+ }
+ if (out) **out = '\0';
+ va_end(args);
+ return pc;
+}
+
+int printf(const char *format, ...)
+{
+ va_list args;
+
+ va_start(args, format);
+ return print(0, format, args);
+}
+
+int sprintf(char *out, const char *format, ...)
+{
+ va_list args;
+
+ va_start(args, format);
+ return print(&out, format, args);
+}
+
+
+int snprintf(char *buf, unsigned int count, const char *format, ...)
+{
+ va_list args;
+
+ (void) count;
+
+ va_start(args, format);
+ return print(&buf, format, args);
+}
+
+
+#ifdef TEST_PRINTF
+int main(void)
+{
+ char *ptr = "Hello world!";
+ char *np = 0;
+ int i = 5;
+ unsigned int bs = sizeof(int) * 8;
+ int mi;
+ char buf[80];
+
+ mi = (1 << (bs - 1)) + 1;
+ printf("%s\n", ptr);
+ printf("printf test\n");
+ printf("%s is null pointer\n", np);
+ printf("%d = 5\n", i);
+ printf("%d = - max int\n", mi);
+ printf("char %c = 'a'\n", 'a');
+ printf("hex %x = ff\n", 0xff);
+ printf("hex %02x = 00\n", 0);
+ printf("signed %d = unsigned %u = hex %x\n", -3, -3, -3);
+ printf("%d %s(s)%", 0, "message");
+ printf("\n");
+ printf("%d %s(s) with %%\n", 0, "message");
+ sprintf(buf, "justif: \"%-10s\"\n", "left");
+ printf("%s", buf);
+ sprintf(buf, "justif: \"%10s\"\n", "right");
+ printf("%s", buf);
+ sprintf(buf, " 3: %04d zero padded\n", 3);
+ printf("%s", buf);
+ sprintf(buf, " 3: %-4d left justif.\n", 3);
+ printf("%s", buf);
+ sprintf(buf, " 3: %4d right justif.\n", 3);
+ printf("%s", buf);
+ sprintf(buf, "-3: %04d zero padded\n", -3);
+ printf("%s", buf);
+ sprintf(buf, "-3: %-4d left justif.\n", -3);
+ printf("%s", buf);
+ sprintf(buf, "-3: %4d right justif.\n", -3);
+ printf("%s", buf);
+
+ return 0;
+}
+
+/*
+ * if you compile this file with
+ * gcc -Wall $(YOUR_C_OPTIONS) -DTEST_PRINTF -c printf.c
+ * you will get a normal warning:
+ * printf.c:214: warning: spurious trailing `%' in format
+ * this line is testing an invalid % at the end of the format string.
+ *
+ * this should display (on 32bit int machine) :
+ *
+ * Hello world!
+ * printf test
+ * (null) is null pointer
+ * 5 = 5
+ * -2147483647 = - max int
+ * char a = 'a'
+ * hex ff = ff
+ * hex 00 = 00
+ * signed -3 = unsigned 4294967293 = hex fffffffd
+ * 0 message(s)
+ * 0 message(s) with %
+ * justif: "left "
+ * justif: " right"
+ * 3: 0003 zero padded
+ * 3: 3 left justif.
+ * 3: 3 right justif.
+ * -3: -003 zero padded
+ * -3: -3 left justif.
+ * -3: -3 right justif.
+ */
+
+#endif
+
+
+/* To keep linker happy. */
+int write(int i, char* c, int n)
+{
+ (void)i;
+ (void)n;
+ (void)c;
+ return 0;
+}
+