Revision 11:4348bba086a4, committed 2016-04-05

Comitter:

vsutardja

Date:

Tue Apr 05 21:52:32 2016 +0000

Parent:

10:716484b1ddb5

Child:

12:54e7d8ff3a74

Commit message:

Telemetry cont'd

Changed in this revision

--- a/main.cpp	Tue Apr 05 18:30:41 2016 +0000
+++ b/main.cpp	Tue Apr 05 21:52:32 2016 +0000
@@ -6,29 +6,33 @@
 #include "QEI.h"
 #include "telemetry.h"
 
-//extern "C" { extern int printfNB(const char *format, ...); }
-//extern "C" { extern int putcharNB(int);}
-
 // =========
 // Telemetry
 // =========
-//MODSERIAL telemetry_serial(PTC4, PTC3);             // TX, RX
-//telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
-//telemetry::Telemetry telemetry_obj(telemetry_hal);  // Telemetry
+MODSERIAL telemetry_serial(PTC4, PTC3);             // TX, RX
+telemetry::MbedHal telemetry_hal(telemetry_serial); // Hardware Abstraction Layer
+telemetry::Telemetry telemetry_obj(telemetry_hal);  // Telemetry
+
+int dec = 0;
+Timer t;
+telemetry::Numeric<uint32_t> tele_time_ms(telemetry_obj, "time", "Time", "ms", 0);
+telemetry::NumericArray<uint16_t, 128> tele_linescan(telemetry_obj, "linescan", "Linescan", "ADC", 0);
+//telemetry::Numeric<float> tele_vel(telemetry_obj, "t_vel", "Velocity", "m/s", 0);
+telemetry::Numeric<uint32_t> tele_center(telemetry_obj, "t_center", "Center", "", 0);
+telemetry::Numeric<uint32_t> tele_t_int(telemetry_obj, "t_t_int", "t_int", "us", 0);
+telemetry::Numeric<uint32_t> tele_cam_dec(telemetry_obj, "t_cam_dec", "decimation", "", 0);
 
 
 // =============
 // Communication
 // =============
 Serial pc(USBTX, USBRX);                            // USB connection
-MODSERIAL bt(PTC4, PTC3);                              // BlueSMiRF connection
-//int idx = 0;
+//Serial bt(PTC4, PTC3);                              // BlueSMiRF connection
 char cmd;                                           // Command
 char ch;
 char in[5];
 
 void communication(void const *args);               // Communications
-int lock = 0;
 
 // =====
 // Motor
@@ -56,7 +60,7 @@
 float Kp = 6.0;                                     // Proportional factor
 float Ki = 0;                                       // Integral factor
 float Kd = 0;                                       // Derivative factor
-float interval = 0.01;                              // Sampling interval
+float interval = 0.1;                              // Sampling interval
 float ref_v = 1.0;
 PID motor_ctrl(Kp, Ki, Kd, interval);               // Motor controller
 
@@ -65,7 +69,7 @@
 // =====
 Servo servo(PTA12);                                 // Enable pin (PWM)
 float a = 88;                                       // Angle
-float Ks = 0.7;
+float Ks = 0.9;
 
 // ======
 // Camera
@@ -74,9 +78,11 @@
 DigitalOut si(PTD0);                                // SI pin
 FastAnalogIn ao(PTC2);                              // AO pin
 Timeout camera_read;                                // Camera read timeout
+const int T_INT_MIN = 2500;
+int cam_dec = 0;
+int cam_dec_count = 0;
 int t_int = 15000;                                  // Exposure time
 int img[128];                                       // Image data
-uint8_t img_out[128];
 
 void readCamera();                                  // Read data from camera
 
@@ -97,105 +103,122 @@
 // Functions
 // ================
 
-// Communications
-void communication(void const *args) {
+void tele_comm(void const *args) {
+    telemetry_serial.baud(115200);
+    telemetry_obj.transmit_header();
     while (true) {
-        bt.printf("\r\nPress q to return to this prompt.\r\n");
-        bt.printf("Available diagnostics:\r\n");
-        bt.printf("  [0] Velocity\r\n");
-        bt.printf("  [1] Steering\r\n");
-        bt.printf("  [2] Change Kp\r\n");
-        bt.printf("  [3] Change Ki\r\n");
-        bt.printf("  [4] Change Kd\r\n");
-        bt.printf("  [5] Change Ks\r\n");
-        bt.printf("  [6] Change reference velocity\r\n");
-        bt.printf("  [7] Checkpoint telemetry\r\n");
-        cmd = bt.getc();
-        while (cmd != 'q') {
-            switch(atoi(&cmd)){
-                case 0:
-                    bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
-                    break;
-                case 1:
-                    bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
-                    break;
-                case 2:
-                    bt.printf("Current: %f, New (5 digits): ", Kp);
-                    for (int i = 0; i < 5; i++) {
-                        in[i] = bt.getc();
-                        bt.putc(in[i]);
-                    }
-                    bt.printf("\r\n");
-                    Kp = atof(in);
-                    motor_ctrl.setTunings(Kp, Ki, Kd);
-                    cmd = 'q';
-                    break;
-                case 3:
-                    bt.printf("Current: %f, New (5 digits): ", Ki);
-                    for (int i = 0; i < 5; i++) {
-                        in[i] = bt.getc();
-                        bt.putc(in[i]);
-                    }
-                    bt.printf("\r\n");
-                    Ki = atof(in);
-                    motor_ctrl.setTunings(Kp, Ki, Kd);
-                    cmd = 'q';
-                    break;
-                case 4:
-                    bt.printf("Current: %f, New (5 digits): ", Kd);
-                    for (int i = 0; i < 5; i++) {
-                        in[i] = bt.getc();
-                        bt.putc(in[i]);
-                    }
-                    bt.printf("\r\n");
-                    Kd = atof(in);
-                    motor_ctrl.setTunings(Kp, Ki, Kd);
-                    cmd = 'q';
-                    break;
-                case 5:
-                    bt.printf("Current: %f, New (5 digits): ", Ks);
-                    for (int i = 0; i < 5; i++) {
-                        in[i] = bt.getc();
-                        bt.putc(in[i]);
-                    }
-                    bt.printf("\r\n");
-                    Ks = atof(in);
-                    cmd = 'q';
-                    break;
-                case 6:
-                    bt.printf("Current: %f, New (5 digits): ", ref_v);
-                    for (int i = 0; i < 5; i++) {
-                        in[i] = bt.getc();
-                        bt.putc(in[i]);
-                    }
-                    bt.printf("\r\n");
-                    ref_v = atof(in);
-                    motor_ctrl.setSetPoint(ref_v);
-                    cmd = 'q';
-                    break;
-//                case 7:
-//                    while (lock == 0);
-//                    for (int i = 0; i < 128; i++) {
-//                        bt.printf("%d, ", img[i]);
-//                    }
-//                    bt.printf("%d\r\n", center);
-//                    lock = 0;
-//                    break;
-            }
-            if (bt.readable()) {
-                cmd = bt.getc();
-            }
-        }
+        tele_time_ms = t.read_ms();
+        telemetry_obj.do_io();
+        Thread::wait(100);
     }
 }
 
+// Communications
+//void communication(void const *args) {
+//    while (true) {
+//        bt.printf("\r\nPress q to return to this prompt.\r\n");
+//        bt.printf("Available diagnostics:\r\n");
+//        bt.printf("  [0] Velocity\r\n");
+//        bt.printf("  [1] Steering\r\n");
+//        bt.printf("  [2] Change Kp\r\n");
+//        bt.printf("  [3] Change Ki\r\n");
+//        bt.printf("  [4] Change Kd\r\n");
+//        bt.printf("  [5] Change Ks\r\n");
+//        bt.printf("  [6] Change reference velocity\r\n");
+//        cmd = bt.getc();
+//        while (cmd != 'q') {
+//            switch(atoi(&cmd)){
+//                case 0:
+//                    bt.printf("Duty cycle: %f, Pulse count: %d, Velocity: %f, Kp: %f, Ki: %f, Kd: %f\r\n", d, curr_pulses, velocity, Kp, Ki, Kd);
+//                    break;
+//                case 1:
+//                    bt.printf("Servo angle: %f, Track center: %d, t_int: %d\r\n", a, center, t_int);
+//                    break;
+//                case 2:
+//                    bt.printf("Current: %f, New (5 digits): ", Kp);
+//                    for (int i = 0; i < 5; i++) {
+//                        in[i] = bt.getc();
+//                        bt.putc(in[i]);
+//                    }
+//                    bt.printf("\r\n");
+//                    Kp = atof(in);
+//                    motor_ctrl.setTunings(Kp, Ki, Kd);
+//                    cmd = 'q';
+//                    break;
+//                case 3:
+//                    bt.printf("Current: %f, New (5 digits): ", Ki);
+//                    for (int i = 0; i < 5; i++) {
+//                        in[i] = bt.getc();
+//                        bt.putc(in[i]);
+//                    }
+//                    bt.printf("\r\n");
+//                    Ki = atof(in);
+//                    motor_ctrl.setTunings(Kp, Ki, Kd);
+//                    cmd = 'q';
+//                    break;
+//                case 4:
+//                    bt.printf("Current: %f, New (5 digits): ", Kd);
+//                    for (int i = 0; i < 5; i++) {
+//                        in[i] = bt.getc();
+//                        bt.putc(in[i]);
+//                    }
+//                    bt.printf("\r\n");
+//                    Kd = atof(in);
+//                    motor_ctrl.setTunings(Kp, Ki, Kd);
+//                    cmd = 'q';
+//                    break;
+//                case 5:
+//                    bt.printf("Current: %f, New (5 digits): ", Ks);
+//                    for (int i = 0; i < 5; i++) {
+//                        in[i] = bt.getc();
+//                        bt.putc(in[i]);
+//                    }
+//                    bt.printf("\r\n");
+//                    Ks = atof(in);
+//                    cmd = 'q';
+//                    break;
+//                case 6:
+//                    bt.printf("Current: %f, New (5 digits): ", ref_v);
+//                    for (int i = 0; i < 5; i++) {
+//                        in[i] = bt.getc();
+//                        bt.putc(in[i]);
+//                    }
+//                    bt.printf("\r\n");
+//                    ref_v = atof(in);
+//                    motor_ctrl.setSetPoint(ref_v);
+//                    cmd = 'q';
+//                    break;
+//            }
+//            if (bt.readable()) {
+//                cmd = bt.getc();
+//            }
+//        }
+//    }
+//}
+
 // Read data from camera
 void read_camera() {
-    // Start data transfer
-    //if (lock == 1) {
+    //if (cam_dec_count < cam_dec) {
+//        si = 1;
+//        wait_us(1);
+//        clk = 1;
+//        wait_us(1);
+//        si = 0;
+//        
+//        for (int i = 0; i < 128; i++) {
+//            wait_us(1);
+//            clk = 0;
+//            wait_us(1);
+//            clk = 1;
+//        }
+//        clk = 0;
+//        cam_dec_count = cam_dec_count + 1;
 //        camera_read.attach_us(&read_camera, t_int);
 //        return;
 //    }
+    cam_dec_count = 0;
+    
+    // Start data transfer
     si = 1;
     wait_us(1);
     clk = 1;
@@ -207,6 +230,7 @@
     for (int i = 0; i < 128; i++) {
         clk = 0;
         img[i] = ao.read_u16();
+        tele_linescan[i] = img[i];
         clk = 1;
         wait_us(1);
     }
@@ -255,36 +279,64 @@
     }
     
     for (int i = 0; i < 10; i++) {
-        lum_bg = lum_bg + img[64 - 4 - i] / 20.0 + img[64 + 4 + i] / 20.0;
+        lum_bg = lum_bg + img[55 - 4 - i] / 20.0 + img[55 + 4 + i] / 20.0;
     }
     
     contrast = (max - lum_bg) / lum_bg;
     
 //    if (contrast < 1.5) {
-        // Underexposed
-        if (max < 60000) {
-            t_int = t_int + 0.15 * (60000 - max);
-        }
-        // Overexposed
-        if (lum_bg > 25000) {
-            t_int = t_int - 0.15 * (lum_bg - 25000);
-        }
+    // Underexposed
+    //if (max < 60000) {
+//        t_int = t_int + 0.15 * (60000 - max);
+//    }
+//    // Overexposed
+//    if (lum_bg > 25000) {
+//        t_int = t_int - 0.15 * (lum_bg - 25000);
+//    }
+//    }
+
+    if (max > 60000) {
+        t_int = t_int - 0.1 * (max - 60000);
+    }
+    if (max < 50000) {
+        t_int = t_int + 0.1 * (50000 - max);
+    }
+    
+    if (t_int < 1000) {
+        t_int = 1000;
+    }
+
+    tele_t_int = t_int;
+    
+    //if (t_int < T_INT_MIN) {
+//        cam_dec = T_INT_MIN / t_int;
 //    }
     
-    if (max > 43253) {
+    tele_cam_dec = cam_dec;
+    
+    if (max > 43253 && argmax < argmin) {
         center = (argmax + argmin + 2 + 11) / 2;
-        a = 88 + (64 - center) * Ks;
+        tele_center = center;
+        a = 88 + (55 - center) * Ks;
+        if (a > 113) {
+            a = 113;
+        }
+        if (a < 63) {
+            a = 63;
+        }
         servo = a / 180;
     }
     
+//    camera_read.attach_us(&read_camera, 1000);
     camera_read.attach_us(&read_camera, t_int);
-//    lock = 1;
 }
 
 // ====
 // Main
 // ====
 int main() {
+//    osThreadSetPriority(osThreadGetId(), osPriorityRealTime);
+    t.start();
     
     // Initialize motor
     motor.period_us(T);
@@ -306,19 +358,31 @@
     motor_ctrl.setMode(1);
     
     // Initialize bluetooth
-    bt.baud(115200);
+//    bt.baud(115200);
+
+//    osThreadSetPriority(osThreadGetId(), osPriorityAboveNormal);
     
     // Initialize communications thread
-    Thread communication_thread(communication);
+//    Thread communication_thread(communication);
+    Thread tele_comm_thread(tele_comm);
+//    tele_comm_thread.set_priority(osPriorityBelowNormal);
     
     // Start motor controller
     while (true) {
+//        telemetry_serial.printf("%d\r\n", t.read_ms());
+//        if (dec == 100) {
+            //tele_time_ms = t.read_ms();
+//            telemetry_obj.do_io();
+//            dec = 0;
+//        }
+//        dec = dec + 1;
         curr_pulses = qei.getPulses();
         //for (int i = 0; i < MVG_AVG - 1; i++) {
 //            v_prev[i] = abs(1.5 - 0.5 * (1.5 - v_prev[i+1]));
 //        }
 //        v_prev[MVG_AVG-1] = velocity;
         velocity = (curr_pulses - prev_pulses)/ interval / ppr * c / 2.5;
+//        tele_vel = velocity;
         //vel = velocity;
 //        for (int i = 0; i < MVG_AVG; i++) {
 //            velocity = velocity + v_prev[i];
@@ -328,7 +392,7 @@
         motor_ctrl.setProcessValue(velocity);
         d = motor_ctrl.compute();
         motor = 1.0 - d;
-        wait(interval);
-        pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
+        Thread::wait(interval*1000);
+//        pc.printf("Exposure: %d, Center: %d, Angle: %f\r\n", t_int, center, a);
     }
 }
\ No newline at end of file

--- a/printbuf.c	Tue Apr 05 18:30:41 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,65 +0,0 @@
-/***********************************************************************/
-/*                                                                     */
-/*  printbuf.c:  Low Level print ring buffer  Routines                               */
-/*                                                                     */
-/***********************************************************************/
-#include <stdio.h>
-#include <stdarg.h>
-
-#define CR     0x0D
-#define TEMT 0x40	/* serial COMTX empty */
-extern int write (int file, char * ptr, int len);
-int putchar_buf(int);
-int putcharNB(int);
-
-
-/* Background non-blocking print using ring buffer */
-#define PRNBUFSZ 0x100
-char printbuffer[PRNBUFSZ];
-int prnbuf_count = 0;   /* number of characters in buffer */
-int prnbuf_pos = 0;   /* location to store characters */
-
-
-int printfNB(const char *format, ...)
-{  char buffer[128]; int i;
-	char c;
-	int val;
-  va_list args;     
-  va_start( args, format );
-  val = vsprintf(buffer, format, args );   // print to string using variable arguments
-	for(i = 0; i < 128 && buffer[i]!= '\0'; i++)    // copy string to print buffer
-	{ putcharNB((int)buffer[i]); }
-	return(val);
-}
-
-
-// overload putchar to use non-blocking print to ring buffer instead
-int putcharNB(int c)  {
-  	if (c == '\n') putchar_buf(CR);
-	putchar_buf(c);
-	return(c);	} 
-
-	
-/* routine to print using print ring buffer */
-/* does not block - allows over runs */
-int putchar_buf(int c)
-{
-  if(prnbuf_count >= PRNBUFSZ) return(0);   /* no room - drop character */
-  printbuffer[prnbuf_pos] = c;
-  prnbuf_pos++;
-  prnbuf_count++;   /* need to make uninterruptable? */
-  if(prnbuf_pos > (PRNBUFSZ-1))  prnbuf_pos = 0;   /* wrap index to beginning of
- buffer */
-  return(c);
-}
-
-
-
-
-int write (int file, char * ptr, int len) {
-  int i;
-
-  for (i = 0; i < len; i++) putcharNB(*ptr++);
-  return len;
-}
-

--- a/printf-stdarg.c	Tue Apr 05 18:30:41 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,266 +0,0 @@
-/*
-	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. */
-
-#define putchar(c) putcharNB(c)
-
-
-#include <stdarg.h>
-
-static void printchar(char **str, int c)
-{
-	extern int putchar(int c);
-	
-	if (str) {
-		**str = c;
-		++(*str);
-	}
-	else (void)putchar(c);
-}
-
-#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 = 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 = -i;
-	}
-
-	s = print_buf + PRINT_BUF_LEN-1;
-	*s = '\0';
-
-	while (u) {
-		t = u % b;
-		if( t >= 10 )
-			t += letbase - '0' - 10;
-		*--s = 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 out;
-			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 {
-		out:
-			printchar (out, *format);
-			++pc;
-		}
-	}
-	if (out) **out = '\0';
-	va_end( args );
-	return pc;
-}
-
-int printfNB(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 );
-}
-
-#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