con_vec Ralph2(situation &s)
{
static int firstcall = 1;
con_vec result = CON_VEC_EMPTY; // This is what is returned.
double ideal_alpha;
int segnum, nxtseg, nxtnxtseg;
if (firstcall)
{ // this is the very first call
my_name_is("Ralph2"); // this lets everyone know who
// we are.
firstcall = 0; // theres only one first call
return result; // must return an answer
}
if (s.starting)
{
track = get_track_description();
}
if(stuck(s.backward, s.v,s.vn, s.to_lft,s.to_rgt,
&result.alpha,&result.vc))
return result;
getabsxy(s.seg_ID, s.to_lft, s.to_rgt, s.to_end);
// point A
segnum = s.seg_ID;
nxtseg = (segnum+1)%track.NSEG;
nxtnxtseg = (nxtseg+1)%track.NSEG;
if (s.cur_rad == 0.0)
ideal_alpha = angleforcurve(nxtseg, s.v);
else
{
// look for either an s curve or a situation where we have
// an s curve with a straight in the middle
ideal_alpha = angleforcurve(segnum, s.v);
if (curveradiuslow(nxtseg) != 0)
{ // one curve following another.
// now we look to see if we have an s-curve situation
if (curveradiuslow(segnum) * curveradiuslow(nxtseg) < 0)
{
double nextcurvealpha = angleforcurve(nxtseg, s.v);
// can we see next curve
if (
(curveradiuslow(segnum) > 0 && nextcurvealpha < ideal_alpha)
||
(curveradiuslow(segnum) < 0 && nextcurvealpha > ideal_alpha)
)
ideal_alpha = nextcurvealpha;
}
}
else
{
// not an s curve, check for opposite direction curves with
// an intervening straight
if (curveradiuslow(segnum) * curveradiuslow(nxtnxtseg) < 0)
{
double nextcurvealpha = angleforcurve(nxtnxtseg, s.v);
// can we see next curve
if (
(curveradiuslow(segnum) > 0 && nextcurvealpha < ideal_alpha)
||
(curveradiuslow(segnum) < 0 && nextcurvealpha > ideal_alpha)
)
ideal_alpha = nextcurvealpha;
}
}
}
result.alpha = ideal_alpha - gc_dot;
// point B
getspeed(s, result);
link_alpha_and_vc(s, result);
avoidcars2(s, result);
if(s.starting) result.fuel_amount = MAX_FUEL;
result.request_pit = 0;
if (s.stage != QUALIFYING && (s.damage > 25000 || s.fuel < 10))
{
result.request_pit = 1;
result.repair_amount=s.damage;
result.fuel_amount = MAX_FUEL;
}
return result;
}
/*
* 函数名：main
* 描述 ：主函数
* 输入 ：无
* 输出 ：无
*/
int main(void)
{
uint32_t i, u32RxLen;
u16 led0pwmval1=59999;
u16 led0pwmval2=59999;
u16 led0pwmval3=59999;
u16 led0pwmval4=59999;
u16 adcx;
float temp;
double x1,y1,x2,y2,fai;
u8 LAT1,LNG1;//定义两个指针指向存放经纬度的内存地址
u8 processok=0;//所有数据每20ms处理一次
double lat,lng;
double speed2;
// double seitatest=0;
static u8 heartbeat=0;
const u8 at[] = {"receiveok"};
u8 reply[6]={0x01,0x04,0x01};
u8 gpsdata[100]={0};//存放待处理的GPS数组
u8 reply1[3];//准备存放回应的数据
u8 reply2[3];//存放左右倾角，滚转角
u8 reply3[3];//存放前后倾角，俯仰角
u8 package1[10];//存放纬度
u8 package2[10];//存放经度
u8 package3[10];//存放方位角
u8 package4[10];//存放滚转角
u8 package5[10];//存放前后倾角
u8 package6[4];//存放速度
u8 package7[4];//存放剩余电量
uint8_t source=0x01;//源地址
uint8_t destination=0x02;//目的地址
tsPacketOfAppInfo truesendout;//给这个类型定义一个名字
uint8_t len=61;
// u8 gpgga[]={"$GPGGA,061021.05,3102.02726033,N,12126.86794498,E,2,12,0.9,25.022,M,8.127,M,1.0,0000*46\r\n"};
uint8_t sendbuff[]="receiveok";
u32RxLen=sizeof(at);
ptuoqiu->latitude=&latitude3;
ptuoqiu->longitude=&longitude3;
gaosi->gaosix =&gaosix3;
gaosi->gaosiy =&gaosiy3;
gaosi->gaosix1 =&gaosix4;
gaosi->gaosiy1 =&gaosiy4;
DK_NVIC_Init(4);
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);//设置systick的时钟是AHB不分频的
SysTick_Config(7200000);//设置两次中断的时间间隔为100ms
/* USART1,2,3 ,UART4 config 115200 8-N-1 */
USART1_Config();
USART2_Config();
USART3_Config();
UART4_Config();
Usart_DMA_Config();
LED_GPIO_Config();
delay_ms(1000);
PWM_Initch1(60000,0); //不分频。PWM频率=72000000/60000=1.2Khz
PWM_Initch2(60000,0);
PWM_Initch3(60000,0);
PWM_Initch4(60000,0);
TIM3->CR1|=0x01; //使能定时器3
LED0_PWM_VAL1=led0pwmval1;
LED0_PWM_VAL2=led0pwmval2;
LED0_PWM_VAL3=led0pwmval3;
LED0_PWM_VAL4=led0pwmval4;
//这个是测试用的数据
/*填充将要发送的数据*/
// for (i = 0; i < sizeof(at); i++)
// {
// SendBuff[i] = at[i];
// }
// USART_SEND(SendBuff, sizeof(at)-1);
// delay_ms(1000);
/*填充将要发送的数据*/
// for (i = 0; i < SENDBUFF_SIZE; i++)
// {
// SendBuff[i] = 0x31;
// }
// USART_SEND(SendBuff, 30);
// //测试数据结束
// /*串口向 DMA发出请求 */
// USART_DMACmd(USART1, USART_DMAReq_Tx, ENABLE);
/*在DMA尚未传送完成时，cpu继续执行main函数中的代码*/
/*点亮了LED灯*/
/*而同时DMA在向串口运送数据，当DMA发送完成时，在中断函数关闭LED灯 */
Adc_Init();//ADC转换是分频为12MHz
//order_sendinit();
while(1)
{
// gpggaresolve(gpgga);
//Usart1_Send(command1, sizeof(comd1));
//delay_ms(500);
// static u8 pathen=0;
if (sUsart2_entity.u8RxFlag == 1)
{//如果收到罗盘返回的数据
sUsart2_entity.u8RxFlag = 0;
u32RxLen = sUsart2_entity.u16RxTotalNum;
sUsart2_entity.u16RxTotalNum = 0;
processok=1;//50ms到，可以开始处理数据
if(sUsart2_entity.u8RX_Buffer[1]==0x0d)//如果传回的数据是角度
{
for(i=0;i<3;i++)
{
reply1[i]=sUsart2_entity.u8RX_Buffer[10+i];//取出方向角
reply2[i]=sUsart2_entity.u8RX_Buffer[4+i];//取出左右倾角，滚转角
reply3[i]=sUsart2_entity.u8RX_Buffer[7+i];//取出前后倾角，俯仰角
}
}
memset(sUsart2_entity.u8RX_Buffer,0,15);
}
if(sUsart3_entity.u8RxFlag==1)
{//如果收到GPS传回的数据
sUsart3_entity.u8RxFlag = 0;
u32RxLen = sUsart3_entity.u16RxTotalNum;
sUsart3_entity.u16RxTotalNum = 0;
// processok=1;//20ms到，可以开始处理数据
for(i=0;i<sizeof(sUsart3_entity.u8RX_Buffer);i++)
{
sUsart3_entity.u8RX_Buffer[i]=gpsdata[i];
}
memset(sUsart3_entity.u8RX_Buffer,0,150);
// gpggaresolve(sUsart3_entity.u8RX_Buffer);
}
if (sUart4_entity.u8RxFlag == 1)
{//如果收到指令
sUart4_entity.u8RxFlag = 0;
u32RxLen = sUart4_entity.u16RxTotalNum;
sUart4_entity.u16RxTotalNum = 0;
}
if(speeden==1)//如果2秒到了的话，测速一次，检测剩余电量一次
{
speeden=0;
heartbeat++;
memset(package6,0,4);//速度和电量的数组先清掉再赋新的值
memset(package7,0,4);
speed2=getspeed((*(gaosi->gaosix1)),(*(gaosi->gaosiy1)));//1秒测速一次
// speed2=10.6;
// seita=getheading(0.5,-1,1,-2);//检测方位角函数是否正常
// gettoorbit(200,330);//检测大调整函数
// changedirections(1,4,0.5,-1,1,-2);//检测微调是否正常
if(heartbeat==7)//每隔14s检测一次心跳是否正常
{
heartbeat=0;
hearttest();//检测心跳是否正常函数
}
// (*(gaosi->gaosix1))+=0.05;
// (*(gaosi->gaosiy1))+=0.05;//测试速度
// if((*(gaosi->gaosix1))>=5)
// *(gaosi->gaosix1)=0;
// if((*(gaosi->gaosiy1))>=5)
// *(gaosi->gaosiy1)=0;
// GaussProjCal(*(ptuoqiu->longitude),*(ptuoqiu->latitude),gaosi->gaosix,gaosi->gaosiy);
// speed2=getspeed((*(gaosi->gaosix1)),(*(gaosi->gaosiy1)));//1秒测速一次
sprintf(package6,"%4.1f",speed2);
for(i=50;i<=53;i++)
{
package[i]=package6[i-50];//速度数组赋值，准备打包
}
temp=powadc();//1秒转换电压一次
sprintf(package7,"%4.1lf",temp);
for (i=54;i<=57;i++)
{
package[i]=package7[i-54];//将电压值赋值到数组的后面
}
}
if(processok==1)//如果50ms到了的话，那么所有数据进行处理
{
memset(package1,0,10);//数据域经纬度，方位角，前后倾角，左右滚转角数组清零
memset(package2,0,10);
memset(package3,0,10);
memset(package4,0,10);
memset(package5,0,10);
// memset(package6,0,4);//速度和电量的数组先清掉再赋新的值
// memset(package7,0,4);
processok=0;//清零50ms标记
head2=hextodex(reply1);//将角度转换为十进制
roll2=rolltodec(reply2);
pitch2=pitchtodec(reply3);
gpggaresolve(sUsart3_entity.u8RX_Buffer,&LAT1,&LNG1);//处理GPS的数据
lat=longtodouble(ptuoqiu->LAT);
lng=longtodouble(ptuoqiu->LNG);
changeformat(lng,lat,ptuoqiu->latitude,ptuoqiu->longitude);//将GPS数据解析成经纬度
order();//判断串口4是否接收到什么指令了
if((pathok==1)&&(heartok==1))//如果允许路径转换的话
{
move();//路径转换,大约耗时4ms左右
}
sprintf(package1,"%10.6lf",*(ptuoqiu->latitude));
sprintf(package2,"%10.6lf",*(ptuoqiu->longitude));
sprintf(package3,"%10.6lf",head2);
sprintf(package4,"%10.6lf",roll2);
sprintf(package5,"%10.6lf",pitch2);
// GaussProjCal(*(ptuoqiu->longitude),*(ptuoqiu->latitude),gaosi->gaosix,gaosi->gaosiy);//将小车当前的坐标转换为平面坐标
for(i=0;i<=9;i++)//纬度赋值到数据域
{
package[i]=package1[i];
}
for(i=10;i<=19;i++)//经度赋值到数据域
{
package[i]=package2[i-10];
}
for(i=20;i<=29;i++)//将方位角赋值到数据域中
{
package[i]=package3[i-20];
}
for(i=30;i<=39;i++)//将左右倾角赋值到数据域中
{
package[i]=package4[i-30];
}
for(i=40;i<=49;i++)//将前后倾角赋值到数据域中
{
package[i]=package5[i-40];
}
memset(sUart4_entity.u8RX_Buffer,0,150);
count=SendData_thisprotocol(truesendout,source,destination,len);//所有要打包的数据准备到一个数组里
//返回打包后的数据个数,函数很好，但是用于VB非常麻烦，太麻烦了简直，所以不用了,解析的时候实在是崩溃了
head2=0;
roll2=0;
pitch2=0;
memset(reply1,0,10);//三个角度数组都清零
memset(reply2,0,10);
memset(reply3,0,10);
// memset(package1,0,10);
// memset(package2,0,10);
// memset(package3,0,10);
// memset(package4,0,10);
// memset(package5,0,10);
// memset(package6,0,4);
// memset(package7,0,4);
}
}
}
/*
* mode(n)
* 3: save old tty stat, set raw mode with flow control
* 2: set XON/XOFF for sb/sz with ZMODEM or YMODEM-g
* 1: save old tty stat, set raw mode
* 0: restore original tty mode
*/
int
io_mode(int fd, int n)
{
static int did0 = FALSE;
vfile("Setting iode:%d", n);
/* fprintf(stderr,"TEST BUILD: ignoring all terminal mode changes");
return 0 ;
*/
switch(n) {
#ifdef USE_TERMIOS
case 2: /* Un-raw mode used by sz, sb when -g detected */
if(!did0) {
did0 = TRUE;
tcgetattr(fd,&oldtty);
}
tty = oldtty;
tty.c_iflag = BRKINT|IXON;
tty.c_oflag = 0; /* Transparent output */
tty.c_cflag &= ~PARENB; /* Disable parity */
tty.c_cflag |= CS8; /* Set character size = 8 */
if (Twostop)
tty.c_cflag |= CSTOPB; /* Set two stop bits */
#ifdef READCHECK
tty.c_lflag = protocol==ZM_ZMODEM ? 0 : ISIG;
tty.c_cc[VINTR] = protocol==ZM_ZMODEM ? -1 : 030; /* Interrupt char */
#else
tty.c_lflag = 0;
tty.c_cc[VINTR] = protocol==ZM_ZMODEM ? 03 : 030; /* Interrupt char */
#endif
#ifdef _POSIX_VDISABLE
if (((int) _POSIX_VDISABLE)!=(-1)) {
tty.c_cc[VQUIT] = _POSIX_VDISABLE; /* Quit char */
} else {
tty.c_cc[VQUIT] = -1; /* Quit char */
}
#else
tty.c_cc[VQUIT] = -1; /* Quit char */
#endif
#ifdef NFGVMIN
tty.c_cc[VMIN] = 1;
#else
tty.c_cc[VMIN] = 3; /* This many chars satisfies reads */
#endif
tty.c_cc[VTIME] = 1; /* or in this many tenths of seconds */
tcsetattr(fd,TCSADRAIN,&tty);
return OK;
case 1:
case 3:
if(!did0) {
did0 = TRUE;
tcgetattr(fd,&oldtty);
}
tty = oldtty;
tty.c_iflag = IGNBRK;
if (n==3) /* with flow control */
tty.c_iflag |= IXOFF;
/* No echo, crlf mapping, INTR, QUIT, delays, no erase/kill */
tty.c_lflag &= ~(ECHO | ICANON | ISIG);
tty.c_oflag = 0; /* Transparent output */
tty.c_cflag &= ~(PARENB); /* Same baud rate, disable parity */
/* Set character size = 8 */
tty.c_cflag &= ~(CSIZE);
tty.c_cflag |= CS8;
if (Twostop)
tty.c_cflag |= CSTOPB; /* Set two stop bits */
#ifdef NFGVMIN
tty.c_cc[VMIN] = 1; /* This many chars satisfies reads */
#else
tty.c_cc[VMIN] = HOWMANY; /* This many chars satisfies reads */
#endif
tty.c_cc[VTIME] = 1; /* or in this many tenths of seconds */
tcsetattr(fd,TCSADRAIN,&tty);
Baudrate = getspeed(cfgetospeed(&tty));
return OK;
case 0:
if(!did0)
return ERROR;
tcdrain (fd); /* wait until everything is sent */
tcflush (fd,TCIOFLUSH); /* flush input queue */
tcsetattr (fd,TCSADRAIN,&oldtty);
tcflow (fd,TCOON); /* restart output */
return OK;
#endif
#ifdef USE_TERMIO
case 2: /* Un-raw mode used by sz, sb when -g detected */
if(!did0)
(void) ioctl(fd, TCGETA, &oldtty);
tty = oldtty;
tty.c_iflag = BRKINT|IXON;
tty.c_oflag = 0; /* Transparent output */
tty.c_cflag &= ~PARENB; /* Disable parity */
tty.c_cflag |= CS8; /* Set character size = 8 */
if (Twostop)
tty.c_cflag |= CSTOPB; /* Set two stop bits */
#ifdef READCHECK
tty.c_lflag = protocol==ZM_ZMODEM ? 0 : ISIG;
tty.c_cc[VINTR] = protocol==ZM_ZMODEM ? -1 : 030; /* Interrupt char */
#else
tty.c_lflag = 0;
tty.c_cc[VINTR] = protocol==ZM_ZMODEM ? 03 : 030; /* Interrupt char */
#endif
tty.c_cc[VQUIT] = -1; /* Quit char */
#ifdef NFGVMIN
tty.c_cc[VMIN] = 1;
#else
tty.c_cc[VMIN] = 3; /* This many chars satisfies reads */
#endif
tty.c_cc[VTIME] = 1; /* or in this many tenths of seconds */
(void) ioctl(fd, TCSETAW, &tty);
did0 = TRUE;
return OK;
case 1:
case 3:
if(!did0)
(void) ioctl(fd, TCGETA, &oldtty);
tty = oldtty;
tty.c_iflag = n==3 ? (IGNBRK|IXOFF) : IGNBRK;
/* No echo, crlf mapping, delays, no erase/kill */
tty.c_lflag &= ~(ECHO | ICANON | ISIG);
tty.c_oflag = 0; /* Transparent output */
tty.c_cflag &= ~PARENB; /* Same baud rate, disable parity */
tty.c_cflag |= CS8; /* Set character size = 8 */
if (Twostop)
tty.c_cflag |= CSTOPB; /* Set two stop bits */
#ifdef NFGVMIN
tty.c_cc[VMIN] = 1; /* This many chars satisfies reads */
#else
tty.c_cc[VMIN] = HOWMANY; /* This many chars satisfies reads */
#endif
tty.c_cc[VTIME] = 1; /* or in this many tenths of seconds */
(void) ioctl(fd, TCSETAW, &tty);
did0 = TRUE;
Baudrate = getspeed(tty.c_cflag & CBAUD);
return OK;
case 0:
if(!did0)
return ERROR;
(void) ioctl(fd, TCSBRK, 1); /* Wait for output to drain */
(void) ioctl(fd, TCFLSH, 0); /* Flush input queue */
(void) ioctl(fd, TCSETAW, &oldtty); /* Restore modes */
(void) ioctl(fd, TCXONC,1); /* Restart output */
return OK;
#endif
#ifdef USE_SGTTY
/*
* NOTE: this should transmit all 8 bits and at the same time
* respond to XOFF/XON flow control. If no FIONREAD or other
* READCHECK alternative, also must respond to INTRRUPT char
* This doesn't work with V7. It should work with LLITOUT,
* but LLITOUT was broken on the machine I tried it on.
*/
case 2: /* Un-raw mode used by sz, sb when -g detected */
if(!did0) {
ioctl(fd, TIOCEXCL, 0);
ioctl(fd, TIOCGETP, &oldtty);
ioctl(fd, TIOCGETC, &oldtch);
#ifdef LLITOUT
ioctl(fd, TIOCLGET, &Locmode);
#endif
}
tty = oldtty;
tch = oldtch;
#ifdef READCHECK
tch.t_intrc = Zmodem ? -1:030; /* Interrupt char */
#else
tch.t_intrc = Zmodem ? 03:030; /* Interrupt char */
#endif
tty.sg_flags |= (ODDP|EVENP|CBREAK);
tty.sg_flags &= ~(ALLDELAY|CRMOD|ECHO|LCASE);
ioctl(fd, TIOCSETP, &tty);
ioctl(fd, TIOCSETC, &tch);
#ifdef LLITOUT
ioctl(fd, TIOCLBIS, &Locbit);
#else
bibi(99); /* un-raw doesn't work w/o lit out */
#endif
did0 = TRUE;
return OK;
case 1:
case 3:
if(!did0) {
ioctl(fd, TIOCEXCL, 0);
ioctl(fd, TIOCGETP, &oldtty);
ioctl(fd, TIOCGETC, &oldtch);
#ifdef LLITOUT
ioctl(fd, TIOCLGET, &Locmode);
#endif
}
tty = oldtty;
tty.sg_flags |= RAW;
tty.sg_flags &= ~ECHO;
ioctl(fd, TIOCSETP, &tty);
did0 = TRUE;
Baudrate = getspeed(tty.sg_ospeed);
return OK;
case 0:
if(!did0)
return ERROR;
ioctl(fd, TIOCSETP, &oldtty);
ioctl(fd, TIOCSETC, &oldtch);
ioctl(fd, TIOCNXCL, 0);
#ifdef LLITOUT
ioctl(fd, TIOCLSET, &Locmode);
#endif
#ifdef TIOCFLUSH
{ int x=1; ioctl(fd,TIOCFLUSH,&x); }
#endif
#endif
return OK;
default:
return ERROR;
}
}
void loop()
{
speed = getspeed();
delay(1000);
}
static void set(char *argv[], struct termios *sp)
{
const Tty_t *tp;
register int c,off;
char *cp;
char *ep;
while(cp = *argv++)
{
off = 0;
if(*cp=='-')
{
cp++;
off=1;
}
if(!(tp=lookup(cp)) || (off && (tp->type!=BIT) && (tp->type!=TABS)))
error(ERROR_exit(1),"%s: unknown mode",cp);
switch(tp->type)
{
case CHAR:
if(off)
error(ERROR_exit(1),"%s: unknown mode",cp);
if(!*argv)
error(ERROR_exit(1),"missing argument to %s",cp);
c = gettchar(*argv++);
if(c>=0)
sp->c_cc[tp->mask] = c;
else
sp->c_cc[tp->mask] = _POSIX_VDISABLE;
break;
case BIT: case BITS:
switch(tp->field)
{
case C_FLAG:
if(off)
sp->c_cflag &= ~tp->mask;
else
sp->c_cflag |= tp->mask;
break;
case I_FLAG:
if(off)
sp->c_iflag &= ~tp->mask;
else
sp->c_iflag |= tp->mask;
break;
case O_FLAG:
sp->c_oflag &= ~tp->mask;
sp->c_oflag |= tp->val;
break;
case L_FLAG:
if(off)
sp->c_lflag &= ~tp->mask;
else
sp->c_lflag |= tp->mask;
break;
}
break;
case TABS:
sp->c_oflag &= ~tp->mask;
if(off)
sp->c_oflag |= tp->val;
break;
#ifdef TIOCSWINSZ
case WIND:
{
struct winsize win;
int n;
if(ioctl(0,TIOCGWINSZ,&win)<0)
error(ERROR_system(1),"cannot set %s",tp->name);
if(!(cp= *argv))
{
sfprintf(sfstdout,"%d\n",tp->mask?win.ws_col:win.ws_row);
break;
}
argv++;
n=strtol(cp,&cp,10);
if(*cp)
error(ERROR_system(1),"%d: invalid number of %s",argv[-1],tp->name);
if(tp->mask)
win.ws_col = n;
else
win.ws_row = n;
if(ioctl(0,TIOCSWINSZ,&win)<0)
error(ERROR_system(1),"cannot set %s",tp->name);
break;
}
#endif
case NUM:
cp = *argv;
if (!cp)
{
if (tp->field == C_SPEED)
{
if (tp = getspeed(*tp->name == 'i' ? cfgetispeed(sp) : cfgetospeed(sp)))
sfprintf(sfstdout, "%s\n", tp->name);
break;
}
error(ERROR_exit(1), "%s: missing numeric argument", tp->name);
}
argv++;
c = (int)strtol(cp, &ep, 10);
if (*ep)
error(ERROR_exit(1), "%s: %s: numeric argument expected", tp->name, cp);
switch (tp->field)
{
#if _mem_c_line_termios
case C_LINE:
sp->c_line = c;
break;
#endif
case C_SPEED:
if(getspeed(c))
{
if (*tp->name != 'o')
cfsetispeed(sp, c);
if (*tp->name != 'i')
cfsetospeed(sp, c);
}
else
error(ERROR_exit(1), "%s: %s: invalid speed", tp->name, cp);
break;
case T_CHAR:
sp->c_cc[tp->mask] = c;
break;
}
break;
case SPEED:
cfsetospeed(sp, tp->mask);
cfsetispeed(sp, tp->mask);
break;
case SIZE:
sp->c_cflag &= ~CSIZE;
sp->c_cflag |= tp->mask;
break;
case SANE:
sane(sp);
break;
#if defined(OLCUC) && defined(IUCLC)
case CASE:
if(off)
{
sp->c_iflag |= IUCLC;
sp->c_oflag |= OLCUC;
}
else
{
sp->c_iflag &= ~IUCLC;
sp->c_oflag &= ~OLCUC;
}
break;
#endif /* OLCUC && IUCLC */
}
}
}
