+commit ea0aa97fb93e669868a6f2c49c5d4b46e7615b1f
+Merge: 216ea638 9adf8b23
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Dec 11 21:37:48 2017 -0700
+
+ Merge branch 'master' into branch-1.8
+
+commit 9adf8b23aac8256f230b10adcab9dd323266caaa
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Dec 11 21:33:21 2017 -0700
+
+ TeleMega default is now v3.0
+
+commit b4d78ad85e8f5b1bee78746d63bb4b069e087e5a
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Dec 11 16:30:46 2017 -0800
+
+ doc: Update release notes and docinfo for 1.8.3
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 2efb997865ee46bf0e8d5145c95d051a7656222a
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Dec 11 14:42:45 2017 -0800
+
+ altoslib: Keep old GPS values when updating data
+
+ This way, updating satellite information doesn't drop all of the
+ regular GPS data on the floor.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit fa3ff3a089e4af88dd0cc9a9e92511a0ba4a8e0f
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Dec 11 14:08:32 2017 -0800
+
+ altos: Actually store current MPU9250 data in data ring
+
+ The ring is updated when the ADC finishes; all of the other sensor
+ data needs to be copied in at that point.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 962df1f8c7f7ffbebe9b32d6ac363b333af606b3
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Dec 11 13:47:54 2017 -0800
+
+ altos: Remove more software for hardware prototypes
+
+ These never saw the light of day.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 05efe58cb13b58292527668ca51639eaebe1112b
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Dec 11 14:44:15 2017 -0700
+
+ take telescience out of the routine builds
+
+commit 713e8ca6b6cfb29555d8d847e0bb2652cfe011ae
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Dec 11 12:23:29 2017 -0800
+
+ Bump to version 1.8.3
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 992797db2158b23d46c496e5e223deeca28bf4c9
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Dec 11 12:23:00 2017 -0800
+
+ doc: Note TeleMega v3.0 support in 1.8.3 relnotes
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 8d65e7b367712075a42d26c6d4bbff474dc1ae14
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Dec 5 12:22:34 2017 -0800
+
+ altos/drivers: Hook up mag sensor for MPU9250
+
+ Set mag sensor to provide data at 100Hz.
+ Set i2c master to pull mag data at sample rate (200Hz).
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit ec638405045d33d48476ab85edf09a2e1756e3e3
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 18:35:53 2017 -0800
+
+ altos/scheme: Allow ao_scheme_read_eval_print to be restarted
+
+ Reset exceptions at the top so that we can call it more than once.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 8ebecd364fd328e9c649c11729bddf58731aaafb
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 18:34:49 2017 -0800
+
+ altos: Allow building with newlib + avr stdio on ARM
+
+ Redefines some stdio bits so that we can build with either pdclib or
+ newlib + avr stdio.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit b0de72d942eb87c5acd190878dd57ca4f812e8a1
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 18:32:18 2017 -0800
+
+ altos: Add scheme for stm discovery board demo
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 655576011e9cc648c7c4bbf51179744a427ff237
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 18:21:01 2017 -0800
+
+ altos/lambdakey-v1.0: Switch to newlib, get things compiling again
+
+ scheme is now way too large to fit on this device; some subsetting is
+ clearly indicated.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 7d77071f5b45632937f262600ca95c7b71f4d3da
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 16:55:57 2017 -0800
+
+ altos/scheme: Add Makefile for scheme test app
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit dd2ed58fcdffaff7b5a9ef898affa3e1ec01ef44
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 16:54:50 2017 -0800
+
+ altos/scheme: Make test scheme app heap maximum size
+
+ It's only 32kB.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 3e7a703bb2e70a0568b44159b993386f7ec46e04
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 16:53:25 2017 -0800
+
+ altos/scheme: Make eqv? work for numbers and strings
+
+ Large numbers, floats and strings need a value check, not just a
+ comparison between ao_polys
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit bdafb4dfad89d92efec37ed826d5f22e9167e717
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 16:52:26 2017 -0800
+
+ altos/scheme: Stash cons across value allocation in compare
+
+ Large ints, strings and floats can cause allocation, requiring that
+ the 'cons' pointer be stashed and retrieved in case it moved.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit b72638e60b6636b479b79bbf0047cf7409f58820
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 16:51:25 2017 -0800
+
+ altos/scheme: add list-copy
+
+ A lot easier as a built-in; the obvious scheme version is recursive.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 7517da1646fc30faaa9ee1c969cfa35ae1a17423
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 16:50:06 2017 -0800
+
+ altos/scheme: Use 64-bit ints to track memory allocation stats
+
+ These are only collected for debug purposes, but can get quite large
+ if the interpreter runs for a while.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 7e14e243565e814ddd524c8d09454719dc89c6d8
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 13:13:27 2017 -0800
+
+ altos/scheme: Add a bunch of string and vector builtins
+
+ Just make the language closer to r7rs
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 6d14f809b54b99725447a934047167c2e7febe82
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Dec 11 10:17:40 2017 -0700
+
+ TeleMega v3.0 turnon scripts
+
+commit d1d98e408311c5ba18138a18f4c88448e4254626
+Merge: 2f8fce1c abb856cd
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Dec 11 10:16:24 2017 -0700
+
+ Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
+
+commit abb856cd66e00d739e4efb1930b5c168eaf48029
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 00:02:34 2017 -0800
+
+ altos/scheme: Avoid crashing with non-list in length
+
+ Use ao_scheme_cons_cdr to fetch the next list element as that returns
+ NULL for non-cons elements.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 17fe6de833cccb6d43d0ac0ed84a4faaa3463a09
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 00:02:00 2017 -0800
+
+ altos/scheme: Add vectors
+
+ Constant time and smaller can be a feature.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 0d3365e2c04793cd8432c30a66881f53385a2e60
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 10 00:00:23 2017 -0800
+
+ altos/scheme: Fix name of constant scheme file
+
+ .lisp -> .scheme
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 111622dbcd56c225a9d5ace9f0ef745e62f8a94c
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 9 16:57:35 2017 -0800
+
+ altoslib: Fix 8 to 12 bit conversion for Mega pyro voltage data
+
+ The conversion was losing the replicated top four bits by shifting by
+ the wrong amount.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 1133130986a78628ea297ce1f6a023baf4382d8f
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 9 16:56:20 2017 -0800
+
+ altos/scheme: Let readline know if there's a list in progress
+
+ This lets the interactive prompt change based on what state the lexer
+ is in
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 2f8fce1cf6ce4bd12a836cc8ee15f4edbc95c95e
+Merge: d314a565 185b1136
+Author: Bdale Garbee <bdale@gag.com>
+Date: Tue Dec 5 13:23:09 2017 -0700
+
+ Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
+
+commit 185b11367cd85948885fceafb5d46303b6f1356d
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Dec 5 12:22:34 2017 -0800
+
+ altos/drivers: Start adding defines to get mag data out of MPU9250
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit d314a5654fafa5eac86d8293f1197a2f2c2eac72
+Author: Bdale Garbee <bdale@gag.com>
+Date: Tue Dec 5 13:18:45 2017 -0700
+
+ moving to TeleMega v3.0 by default
+
+commit 1bf219209c8d9e31a9c3726dad169ff5d17ed4b2
+Author: Bdale Garbee <bdale@gag.com>
+Date: Tue Dec 5 13:17:18 2017 -0700
+
+ handle repeated invocations without failing as often
+
+commit 2aa02234b1ac2b1701b44fcec9e9bd82bea526b7
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Dec 5 10:48:04 2017 -0800
+
+ altos/cortexelf-v1: Adapt to lisp->scheme name change
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 038581bd212e66bcf017c7ace28c80a3ae0d0f50
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Dec 5 10:42:02 2017 -0800
+
+ altos/scheme: Add explicit dependency on ao_scheme_builtin.h for ao_scheme_make_const
+
+ This ensures that a parallel build will wait for ao_scheme_builtin.h
+ to be complete before attempting to compile ao_scheme_make_const
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit bd7a19a86f6d4fe19c7e72904e9b8ac0f2081ff7
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Dec 5 10:38:14 2017 -0800
+
+ altos/scheme: Move scheme test program to scheme sub-directory
+
+ Keeps it away from the usual test setup
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 195cbeec19a6a44f309a9040d727d37fe4e2ec97
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Dec 5 10:29:13 2017 -0800
+
+ altos/scheme: Rename to 'scheme', clean up build
+
+ Constant block is now built in a subdir to avoid messing up source
+ directory.
+
+ Renamed to ao_scheme to reflect language target.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 9dbc686ad7d3289dc0f9bcf4a973f71100e02ded
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 3 19:54:18 2017 -0800
+
+ altos/lisp: Switch to scheme formal syntax for varargs
+
+ Scheme uses bare symbols to indicate a varargs parameter; any bare
+ (i.e., not wrapped in a cons cell) parameter will get the 'rest' of
+ the parameter list. This works for lambdas, nlambdas and macros. As a
+ result, the 'lexpr' form has been removed as it is equivalent to a
+ lambda with a varargs formal.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit a1d013ab8cc508d4e17ae8876bc5465d1a2dfc1e
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 3 19:52:11 2017 -0800
+
+ altos/lisp: Fix stash usage across frame allocation
+
+ Must un-stash before allocation failure check.
+ Use frame_stash instead of poly_stash for frames.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 32ab76c3049b913283caafbaef873754d76dc9d4
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 3 19:49:20 2017 -0800
+
+ altos/lisp: Check only cdr base type when moving cons cells
+
+ The cdr may have moved, so we can't look at the target object
+ type. Fortunately, the base type encoded in the reference itself is
+ sufficient to check for a non-cons cdr.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit ed6967cef5d82baacafe1c23229f44d58c838326
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Dec 3 19:47:03 2017 -0800
+
+ altos/lisp: Split out read debug, add memory validation
+
+ Split read debug into a separate #define to reduce debug noise
+ Add some memory validation -- validate stash API, and validate
+ cons_free calls.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit b9009b3916956db00b7b78bd06fb0df704690eb1
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 23:21:55 2017 -0600
+
+ altos/lisp: use strtof instead of atof
+
+ atof returns double, strtof returns float.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 880c35363a2596202c8a3d980bf4ac41eceead66
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 23:21:01 2017 -0600
+
+ altos/lisp: Convert more builtin lisp code to scheme format
+
+ Use defines where possible, use (define (name args ...)) form for lambdas
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 577911241db454bc3129fc47566c6a55752c4182
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 23:19:44 2017 -0600
+
+ altos/lisp: Overflow int computations to float
+
+ When an int computation overflows, switch to float.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit b986a12b478a6d4ff550786d24aa8628dc0abe32
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 15:59:17 2017 -0600
+
+ altoslib: Add support for TeleMega v3.0 log files
+
+ These look much like TeleMega v2.0 log files, except that the mag
+ sensor data now comes from the mpu9250 instead of an external
+ hmc5883. The gyro and 3-axis accel data from the mpu9250 are the same
+ as the mpu6000.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 8c19778d8b56aafa048ddf9654c40b32bd8c64b0
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 15:53:05 2017 -0600
+
+ altos: Build TeleMega v3.0 by default
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit ecc075596d6cd2b9c0a3107036d5368ebc3a77bd
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 15:31:06 2017 -0600
+
+ altos: Add TeleMega v3.0
+
+ Adds files to build telemega v3.0 flash loader and firmware
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit f0068719b17019c5cd7ed318364a0581caf64e1a
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Dec 2 15:32:38 2017 -0600
+
+ altos/kernel: MPU9250 support
+
+ Use MPU9250 for accel, gyro and mag data in logging, telemetry and
+ flight status computations.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit c31744299e5a4342bbe26d3735ee2d8f09192ae9
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Dec 1 15:40:23 2017 -0600
+
+ altos/lisp: split set/def. Add def support to lambdas
+
+ In scheme, set can only re-define existing variables while def cannot
+ redefine existing variables in lambda context. Def within lambda
+ creates a new variable at the nearest enclosing scope.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 98923ae1189f062b8b94120d47a56892db25493f
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Dec 1 18:28:16 2017 +0100
+
+ altos/lisp: Split out frame vals from frame struct
+
+ This lets the frame be resized without moving the base structure. The
+ plan is to allow all frames to be resized, not just the global frame.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 835bf4131f9e20575bfdf2179462ebdf54a14761
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Dec 1 12:06:04 2017 +0100
+
+ altos/lisp: Make let distinct from let*
+
+ let is supposed to define the values all at once, evaluating the
+ initializers in the enclosing context. let* defines the new names and
+ then initializes them one at a time.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5d0b85f25fa1e5cc816a8256afb38cf9552f6d9d
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Dec 1 11:32:27 2017 +0100
+
+ altos/lisp: return from unmatched cond is #f, not nil
+
+ Fix the return value when we fall off the end of a cond expression to
+ be #f
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 796017262cd433af5d143cc7168c944e1e05f4e2
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Dec 1 11:31:29 2017 +0100
+
+ altos/lisp: Fix pairp builtin
+
+ Pairs are non-nil cons values; add an explicit check for nil here
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cd0bd9791a77868c226d285bf4d57e8c321755d5
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Dec 1 10:12:38 2017 +0100
+
+ altos/lisp: Add quasiquote
+
+ This adds read support for quasiquote syntax, and then adds a
+ quasiquote implementation in lisp
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 00bf2ca86b60e6501880011897cea073865c5a03
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 25 17:29:10 2017 -0800
+
+ altos/lisp: Rename progn to begin
+
+ Match scheme name.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5f9f97cc2d43936d1941da3a9a130c279bc70b99
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Nov 19 21:07:23 2017 -0800
+
+ altos/test: Update to build altos lisp test app
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 6d2f271a45759bd792d299f04a424d3382ef4798
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Nov 19 21:07:00 2017 -0800
+
+ altos/lisp: Add floats
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 12a1f6ad48f2b924f71239effeb90afca75a090f
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 18 22:00:44 2017 -0800
+
+ altos/lisp: Fix some scheme compat issues
+
+ flush -> flush-output
+ nth -> list-ref (oh, and add list-tail)
+ add let* (same as let for now)
+ write control chars in octal
+ make hanoi example work
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5f8f0ed5cd5d4b4f793c602ed09f9b4bdb98f7e8
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 18 20:38:15 2017 -0800
+
+ altos/lisp: Add 'big' ints -- 24 bits wide
+
+ With the default ints being only 14 bits, having a larger type with
+ more precision seems useful. This is not exposed to the application.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit e745229311366a792110d78d8480a2bf83eef9a0
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Nov 17 23:28:08 2017 -0800
+
+ altos/cortexelf-v1: Make lisp compile again
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 65fb0ad8693407cc9bd114424c1f51b6aa6befc3
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Nov 17 23:27:36 2017 -0800
+
+ altos/test: Add jiffy funcs to lisp test
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cf5729a0bae51172f12fc9ec4339d4e975a45fcc
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Nov 17 23:23:50 2017 -0800
+
+ altos/lisp: Finish first pass through r7rs
+
+ * print -> write, patom -> display
+ * Add read-char, write-char
+ * Add exit, current-jiffy, current-second, jiffies-per-second
+ * Add for-each and string-for-each
+ * Avoid duplicate builtins with different atoms
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit e1acf5eb12aceda7aa838df031c1da1129d0fa5d
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Nov 17 22:14:19 2017 -0800
+
+ altos/lisp: Add apply
+
+ And all of the library routines that use it, map, string-map and friends.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit a4e18a13029cc7b16b2ed9da84d6e606bc725ac3
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Nov 17 08:50:50 2017 -0800
+
+ altos/lisp: Character consts. String and assoc builtins.
+
+ Also add back escaped characters in strings.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5b6f4b5de89a2bb0d63442e2651cf8d2ee0f4b10
+Author: Keith Packard <keithp@keithp.com>
+Date: Fri Nov 17 08:04:28 2017 -0800
+
+ altos/lisp: Generate built-in lambda atoms for const creation
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cd9152973f29f4e775569f5acbbe8fab2d93d170
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 22:15:06 2017 -0800
+
+ altos/test: More lisp test Makefile fixes
+
+ Depend on ao_lisp_const.h
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 435a91ae3889cd361b543f4555a78488905e0bbb
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 22:13:46 2017 -0800
+
+ altos/lisp: Lots more scheme bits
+
+ * Arithmetic functions and tests
+ * append, reverse and list-tail
+ * set-car! and set-cdr!
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cc76030d669600051fbb42a8cf85701aaaf5f5b7
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 18:47:34 2017 -0800
+
+ altos/test: Get lisp test building using Makefile-inc
+
+ Instead of re-defining all of the lisp sources and headers
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 2e58b6c380bc6440490c47650fbf11d45b3f2e72
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 18:46:03 2017 -0800
+
+ altos/lisp: More schemisms
+
+ Add 'if'.
+ setq -> set!, but doesn't define new variables
+ def -> define
+ Add pair? and list?
+ Add eq? and eqv? as aliases for =
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 0ced351c8f4449f7086b04e42c822d649f040d1f
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 18:41:18 2017 -0800
+
+ altos/lisp: Add 'else' sematics to cond
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit b3b4731fcb89cb404433f37a7704a503567c43bd
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 17:49:47 2017 -0800
+
+ altos/lisp: Add scheme-style bools (#t and #f)
+
+ Cond and while compare against #f, just like scheme says to.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit bd881a5b85d7cd4fb82127f92f32e089499b50cb
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 16 13:02:07 2017 -0800
+
+ altos/lisp: Add non-cons cdr support
+
+ The cdr of a cons can be any value; add support for lexing and
+ printing them.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 50a095fbe828b6ec3159d27930712df6b1b519b4
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 21:29:11 2017 -0800
+
+ doc: Update for 1.8.3
+
+ Also added a pile of docinfo files for older release notes files.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 23cf8fb4d5745ad76d9517c9702d03d10c58144a
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 20:52:01 2017 -0800
+
+ altos: Fix new GCC warnings
+
+ * Duplicate 'const' in test code.
+ * Mis-formatted loop in kf_rem_pio2
+ * Unused 'one' in sf_cos
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit f3b279141cd30ad6a212ce75f5a7c2b8e3d33870
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 20:50:45 2017 -0800
+
+ altos: Fix inverted test for corrupt flight log
+
+ Was reporting correct flight log as corrupted. Oops.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 9a7b4f02ad32ca43a45ed9fe446b8db96e60b5e5
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 20:49:20 2017 -0800
+
+ altoslib: Improve EEprom download
+
+ * Catch and report CRC errors
+ * Deal with corrupted flight records
+ * Add ability to immediately graph new data
+ * Check before overwriting existing files
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 10834eb60f7a44fee159d9e9ad5ffb2e013fe9cf
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 20:46:45 2017 -0800
+
+ altoslib: Remove spurious semicolon in AltosReplayReader.java
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit e80005ea63bb9b1eee33a8876ad74ed5d50478ed
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 20:44:27 2017 -0800
+
+ altoslib: Don't write KML record when height data is missing
+
+ This avoids a crash dealing with corrupted flight data
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit a2097545dec62cd0970725bf690128dad6baf22e
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 16:38:40 2017 -0800
+
+ altos/test: Adapt flight test to int16_t flight number type
+
+ Flight numbers are now limited to 32767 to allow for negative values
+ for corrupted slots.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5b6805d1a6a91a26a1892f414a99f0184871ac1a
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Nov 11 16:08:32 2017 -0800
+
+ altosuilib: New line styles and colors for graphs. Selectable line width
+
+ Improve the readability of graphs by offering a better selection of
+ colors and adding line styles. Let the user configure the line width
+ as desired.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 82e552d194216b41d27d805bee2947127c2d555b
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 2 09:12:18 2017 -0700
+
+ altos/stm: Add AO_EXTI_MODE_PULL_NONE
+
+ This is clearer than using '0'.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5460d7ff46116901bceacd43282b406c446dded5
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Nov 2 09:11:39 2017 -0700
+
+ altos: whitespace cleanup in ao_adc_stm.c
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 83929cd290279963b01b2ccd52c70d61bdeff6b0
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Oct 22 15:44:32 2017 -0500
+
+ altos: Share common logging code. Deal with corrupt initial flight records
+
+ Move common logging APIs from per-format files into ao_log.c. Then,
+ change that code to check the first log record in a slot (containing
+ the flight number) to see if it's invalid and deal with it. That
+ involves not re-using that slot, and allowing it to be erased.
+
+ Corrupted log blocks are reported with a negative flight number.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 256ddea8c430b4b5dcb8bb95c19ad26032129e1b
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Oct 22 15:43:07 2017 -0500
+
+ altos: Define AO_LOG_FORMAT in */ao_pins.h. Use in ao_cmd.c
+
+ Instead of having a global variable define the log format, use a macro
+ instead to save data space.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 15af16ad21f67019065763a93d52cea6097a69d1
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Oct 22 15:39:25 2017 -0500
+
+ altos: Remove cross-block storage I/O on cc1111
+
+ We don't ever need to be able to do storage read/write across chunks
+ of flash on the old cc1111 products, so remove the loops that support
+ it to save space.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 749400fd244eba38806c623d2a35722642230698
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Oct 22 14:04:09 2017 -0500
+
+ altoslib: Move temp GPS API from cal_data to data_listener
+
+ This makes the API more consistent, and means that the listener is
+ responsible for mangaing the temp gps state. In particular, the
+ AltosDataListener set_gps API now calls the cal_data function.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit e98235e314ac764509af26c93da9e6d1de8184ea
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Oct 14 12:18:26 2017 -0700
+
+ altoslib: Save separate config for local and remote. Use in idle
+
+ When using the remote link, there are two separate configuration data
+ blocks, that for the local device and for remote. Make the link report
+ both versions, depending on whether it is in remote mode or not.
+
+ Request config data in remote mode when running idle monitoring so
+ that the presented data is for the remote device, not the local one.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 964a14568b73296194f84c728cc7e01d6f0e2f64
+Author: Keith Packard <keithp@keithp.com>
+Date: Sat Oct 14 12:05:07 2017 -0700
+
+ altoslib: Report un-adjusted ground accel in idle IMU monitor
+
+ The ground accel is the basis of the accel adjustment, so it needs to
+ be delivered in un-adjusted form.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 4431f70044f4e1120d606f0ded1845349295d68e
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Oct 12 00:31:26 2017 -0700
+
+ altos: Add MPU9250 support to self test and data
+
+ The remaining hooks to make the MPU9250 work in flight.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 77d1aee917306ad59492c4c8352fe2125b430d0c
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Oct 12 00:30:23 2017 -0700
+
+ altoslib: Fix time series filter window computation
+
+ Small floating point rounding errors could lead to NaNs.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit e04679ba52761d5531037117a21ab1f1896358b0
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Oct 12 00:29:07 2017 -0700
+
+ altoslib: Don't crash if there's no GPS coord to write KML
+
+ Just check for null before writing as a precaution.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit a69d5773a63dbe5d6d758cea8eca2bf724e9d672
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Oct 12 00:26:31 2017 -0700
+
+ altoslib: Allow gps time later than requested if it's first
+
+ When generating a KML file, we want to position markers near the start
+ of the flight section. This is done by looking for a GPS coordinate
+ 'before' the starting point of the flight, which doesn't work well
+ when the first GPS coordinate is later than that. Pick the first point
+ after the chosen time if there isn't an earlier one.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 9d7bb706918fd7d6db77eab21931b4fc74cb9105
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Oct 12 00:14:30 2017 -0700
+
+ altos: Add MPU9250 driver (accel/gyro only for now)
+
+ This is almost an exact copy of the MPU6000 driver, just a few minor
+ register changes.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit c8dbfff65dd61e42d0a02158dcb520e7710ef87e
+Author: Keith Packard <keithp@keithp.com>
+Date: Sun Oct 8 18:50:59 2017 -0700
+
+ altos: Stop storing pyro fired status in config block
+
+ We already have the fired status saved in the ao_pyro_fired variable,
+ so just use that to detect whether a channel has already been fired.
+
+ Fixes possible cases where the pyro config data gets written back to
+ eeprom with the fired bit set, which then inhibits the channel during
+ flight.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 5d82209122e3b797a7345f6ad5b6710832fcdd4a
+Author: Keith Packard <keithp@keithp.com>
+Date: Thu Oct 5 16:46:08 2017 -0700
+
+ Set version to 1.8.2.1
+
+ Testing KML export changes at TRA
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 7e971b45f22aa77421061ff2925e0458835014b2
+Author: Keith Packard <keithp@keithp.com>
+Date: Wed Oct 4 13:44:31 2017 -0700
+
+ altoslib: Missing file for filter additions.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 2f779d318753b73463f7166977453ab5533e5921
+Author: Keith Packard <keithp@keithp.com>
+Date: Wed Oct 4 13:43:45 2017 -0700
+
+ altosuilib: Add 'show marker' button to graphs
+
+ Provides a marker at each actual data point which can be useful for
+ sparse data sets like telemetry with poor reception.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 730ee7bf91f607ece42c010a10c53d0013492b96
+Author: Keith Packard <keithp@keithp.com>
+Date: Wed Oct 4 13:42:16 2017 -0700
+
+ altoslib: Adapt KML output to make TRA record people happier
+
+ Provide two paths, one using GPS data the other baro. Replace separate
+ path segments for each state with markers so that the path is a single
+ unit, able to be displayed in the elevation profile widget.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 98dc29a7a964f8d653b73989c6751695d168844c
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Oct 2 19:33:37 2017 -0700
+
+ altoslib: Add user-selectable filter width for data smoothing
+
+ Also switch smoothing window to Kaiser and change default accel filter
+ width to 1 second instead of 4 seconds.
+
+ Now users can play with the filter and see what it does.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit d75e8b9046295051c91696461e8d5f59c8260ccc
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Oct 2 17:02:18 2017 -0700
+
+ altosuilib: Show raw tick values in graph and info table
+
+ Not terribly useful, but did help validate firmware handling of tick
+ wrapping, so we'll keep it.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit c6be13e8ef80e5afc836e04cbfe4cb17631540e4
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Oct 2 16:58:53 2017 -0700
+
+ altoslib: Allow early bail-out on bad telemetry CRC
+
+ Check the CRC status in the packet before creating a new telemetry
+ object.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 770998be2c15dd41a63520d0c8747d7cf32ec447
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Oct 2 16:57:15 2017 -0700
+
+ altos: Allow pyro config name to end with newline, not just space/tab
+
+ A pyro config like 'Descending' has no value associated. When it is at
+ the end of the line, allow a newline to terminate the name instead of
+ just a space.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit de2b6ec1cdfd48c948bff7edbfe2540440429b1b
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Oct 2 16:55:18 2017 -0700
+
+ altoslib,altosuilib,altosui: log_format/device_type TeleGPS selects stateless
+
+ When the device being analyzed has no flight state, we want to use the
+ 'stateless' state so that the UI can display reasonable
+ information. This bit was lost in the recent AltosState shuffle and
+ this patch brings it back.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit 322c1abead39cb398380dff384cd274c19dd81dd
+Author: Keith Packard <keithp@keithp.com>
+Date: Mon Oct 2 13:55:57 2017 -0700
+
+ altosuilib: Don't drain voice when terminating display
+
+ If the voice thread is wedged (as with PulseAudio and un-patched
+ freetts 1.2.2), we'll get stuck here and the UI will freeze up.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit cfc09e8f1f263595972cbb6af23f22e2d749c744
+Author: Keith Packard <keithp@keithp.com>
+Date: Tue Sep 26 18:00:36 2017 -0700
+
+ altoslib: Add tilt and pyro data to CSV export
+
+ It's now version 6. Also removed duplicate time values and made radio
+ values conditional on having radio data.
+
+ Signed-off-by: Keith Packard <keithp@keithp.com>
+
+commit df39a30c762d57c7d04110e054f74d50fa8d85de
+Author: Bdale Garbee <bdale@gag.com>
+Date: Tue Sep 19 11:56:52 2017 -0600
+
+ don't exit on dfu-util errors, it's not reliable about reporting success
+
+commit 8124109e0b455c9d8d583f4d985b93d23d7b1350
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Sep 18 21:24:52 2017 -0600
+
+ tweak Releasing based on 1.8.2 release experience
+
+commit 216ea6388a75c46891dc4687a2eb0c97dc63b136
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Sep 18 20:46:04 2017 -0600
+
+ releasing 1.8.2
+
+commit 60666630789b6925d7e16160ebdc88ccd23f51de
+Author: Bdale Garbee <bdale@gag.com>
+Date: Mon Sep 18 20:43:14 2017 -0600
+
+ be more aggressive about removing and ignoring .mdwn files
+
commit 1ece6e6fd3faaae3f6c6d434497eb04235939dc3
Author: Bdale Garbee <bdale@gag.com>
Date: Mon Sep 18 20:43:14 2017 -0600
src/telemini-v3.0/flash-loader/{*.elf,*.bin} \
~/altusmetrumllc/Binaries/loaders/
(cd ~/altusmetrumllc ; git add Binaries ; git commit -a)
+ - remove previous versions (only keep latest release)
(cd ~/altusmetrumllc ; git push)
- Push new release to web site
int boost_tick;
boolean has_basic;
+ boolean has_radio;
boolean has_battery;
boolean has_flight_state;
boolean has_advanced;
+ boolean has_igniter;
boolean has_gps;
boolean has_gps_sat;
boolean has_companion;
AltosFlightSeries series;
int[] indices;
- static final int ALTOS_CSV_VERSION = 5;
+ static final int ALTOS_CSV_VERSION = 6;
/* Version 4 format:
*
* flight number
* callsign
* time (seconds since boost)
- * clock (tick count / 100)
+ *
+ * Radio info (if available)
* rssi
* link quality
*
* mag_x (g)
* mag_y (g)
* mag_z (g)
+ * tilt (d)
+ *
+ * Extra igniter voltages (if available)
+ * pyro (V)
+ * igniter_a (V)
+ * igniter_b (V)
+ * igniter_c (V)
+ * igniter_d (V)
*
* GPS data (if available)
* connected (1/0)
*/
void write_general_header() {
- out.printf("version,serial,flight,call,time,clock,rssi,lqi");
+ out.printf("version,serial,flight,call,time");
}
double time() {
return series.time(indices);
}
+ void write_general() {
+ out.printf("%s, %d, %d, %s, %8.2f",
+ ALTOS_CSV_VERSION,
+ series.cal_data().serial,
+ series.cal_data().flight,
+ series.cal_data().callsign,
+ time());
+ }
+
+ void write_radio_header() {
+ out.printf("rssi,lqi");
+ }
+
int rssi() {
return (int) series.value(AltosFlightSeries.rssi_name, indices);
}
return (int) series.value(AltosFlightSeries.status_name, indices);
}
- void write_general() {
- double time = time();
- out.printf("%s, %d, %d, %s, %8.2f, %8.2f, %4d, %3d",
- ALTOS_CSV_VERSION, series.cal_data().serial,
- series.cal_data().flight, series.cal_data().callsign,
- time, time,
+ void write_radio() {
+ out.printf("%4d, %3d",
rssi(), status() & 0x7f);
}
void write_flight() {
int state = state();
- out.printf("%d,%8s", state, AltosLib.state_name(state));
+ out.printf("%2d,%8s", state, AltosLib.state_name(state));
}
void write_basic_header() {
}
void write_advanced_header() {
- out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z");
+ out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z,tilt");
}
double accel_along() { return series.value(AltosFlightSeries.accel_along_name, indices); }
double mag_across() { return series.value(AltosFlightSeries.mag_across_name, indices); }
double mag_through() { return series.value(AltosFlightSeries.mag_through_name, indices); }
+ double tilt() { return series.value(AltosFlightSeries.orient_name, indices); }
+
void write_advanced() {
- out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
+ out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
accel_along(), accel_across(), accel_through(),
gyro_roll(), gyro_pitch(), gyro_yaw(),
- mag_along(), mag_across(), mag_through());
+ mag_along(), mag_across(), mag_through(),
+ tilt());
+ }
+
+ void write_igniter_header() {
+ out.printf("pyro");
+ for (int i = 0; i < series.igniter_voltage.length; i++)
+ out.printf(",%s", AltosLib.igniter_short_name(i));
+ }
+
+ double pyro() { return series.value(AltosFlightSeries.pyro_voltage_name, indices); }
+
+ double igniter_value(int channel) { return series.value(series.igniter_voltage_name(channel), indices); }
+
+ void write_igniter() {
+ out.printf("%5.2f", pyro());
+ for (int i = 0; i < series.igniter_voltage.length; i++)
+ out.printf(",%5.2f", igniter_value(i));
}
void write_gps_header() {
void write_header() {
out.printf("#"); write_general_header();
+ if (has_radio) {
+ out.printf(",");
+ write_radio_header();
+ }
if (has_flight_state) {
out.printf(",");
write_flight_header();
out.printf(",");
write_advanced_header();
}
+ if (has_igniter) {
+ out.printf(",");
+ write_igniter_header();
+ }
if (has_gps) {
out.printf(",");
write_gps_header();
void write_one() {
write_general();
+ if (has_radio) {
+ out.printf(",");
+ write_radio();
+ }
if (has_flight_state) {
out.printf(",");
write_flight();
out.printf(",");
write_advanced();
}
+ if (has_igniter) {
+ out.printf(",");
+ write_igniter();
+ }
if (has_gps) {
out.printf(",");
write_gps();
series.finish();
+ has_radio = false;
has_flight_state = false;
has_basic = false;
has_battery = false;
has_advanced = false;
+ has_igniter = false;
has_gps = false;
has_gps_sat = false;
has_companion = false;
+ if (series.has_series(AltosFlightSeries.rssi_name))
+ has_radio = true;
if (series.has_series(AltosFlightSeries.state_name))
has_flight_state = true;
if (series.has_series(AltosFlightSeries.accel_name) || series.has_series(AltosFlightSeries.pressure_name))
has_battery = true;
if (series.has_series(AltosFlightSeries.accel_across_name))
has_advanced = true;
+ if (series.has_series(AltosFlightSeries.pyro_voltage_name))
+ has_igniter = true;
if (series.gps_series != null)
has_gps = true;
}
}
+ public int log_format = AltosLib.MISSING;
+
+ public void set_log_format(int log_format) {
+ if (log_format != AltosLib.MISSING)
+ this.log_format = log_format;
+ }
+
public int config_major = AltosLib.MISSING;
public int config_minor = AltosLib.MISSING;
public int flight_log_max = AltosLib.MISSING;
tick = AltosLib.MISSING;
prev_tick = AltosLib.MISSING;
temp_gps = null;
- prev_gps = null;
temp_gps_sat_tick = AltosLib.MISSING;
accel = AltosLib.MISSING;
}
public AltosGPS gps_pad = null;
+ public AltosGPS prev_gps = null;
+
public double gps_pad_altitude = AltosLib.MISSING;
- public void set_gps(AltosGPS gps) {
- if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
- gps_pad = gps;
- if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
- gps_pad_altitude = gps.alt;
+ public void set_cal_gps(AltosGPS gps) {
+ if (gps.locked && gps.nsat >= 4) {
+ if ((state != AltosLib.MISSING && state < AltosLib.ao_flight_boost) || gps_pad == null)
+ gps_pad = gps;
+ if (gps_pad_altitude == AltosLib.MISSING && gps.alt != AltosLib.MISSING)
+ gps_pad_altitude = gps.alt;
+ }
+ temp_gps = null;
+ prev_gps = gps;
}
/*
* object and then deliver the result atomically to the listener
*/
AltosGPS temp_gps = null;
- AltosGPS prev_gps = null;
int temp_gps_sat_tick = AltosLib.MISSING;
- public AltosGPS temp_gps() {
+ public AltosGPS temp_cal_gps() {
return temp_gps;
}
- public void reset_temp_gps() {
- if (temp_gps != null) {
- if (temp_gps.locked && temp_gps.nsat >= 4)
- set_gps(temp_gps);
- prev_gps = temp_gps;
- temp_gps = null;
- }
+ public void reset_temp_cal_gps() {
+ if (temp_gps != null)
+ set_cal_gps(temp_gps);
}
- public boolean gps_pending() {
+ public boolean cal_gps_pending() {
return temp_gps != null;
}
- public AltosGPS make_temp_gps(int tick, boolean sats) {
- if (temp_gps == null) {
- if (prev_gps != null)
- temp_gps = prev_gps.clone();
- else
- temp_gps = new AltosGPS();
- }
+ public AltosGPS make_temp_cal_gps(int tick, boolean sats) {
+ if (temp_gps == null)
+ temp_gps = new AltosGPS(prev_gps);
if (sats) {
if (tick != temp_gps_sat_tick)
temp_gps.cc_gps_sat = null;
private AltosCalData cal_data = null;
public double time = AltosLib.MISSING;
- public int state = AltosLib.MISSING;
public double frequency = AltosLib.MISSING;
+ public int raw_tick = AltosLib.MISSING;
+
+ public int tick() {
+ return raw_tick;
+ }
+
public void set_tick(int tick) {
+ raw_tick = tick;
cal_data.set_tick(tick);
set_time(cal_data.time());
}
cal_data().set_serial(serial);
}
+ public void set_device_type(int device_type) {
+ cal_data().set_device_type(device_type);
+ switch (device_type) {
+ case AltosLib.product_telegps:
+ set_state(AltosLib.ao_flight_stateless);
+ break;
+ }
+ }
+
+ public void set_log_format(int log_format) {
+ cal_data().set_log_format(log_format);
+ switch (log_format) {
+ case AltosLib.AO_LOG_FORMAT_TELEGPS:
+ set_state(AltosLib.ao_flight_stateless);
+ break;
+ }
+ }
+
public double time() {
return time;
}
public void set_state(int state) {
cal_data().set_state(state);
- if (state != AltosLib.MISSING)
- this.state = state;
+ }
+
+ public int state() {
+ return cal_data().state;
}
public void set_flight(int flight) {
public void finish() {
}
+ public void init() {
+ set_state(AltosLib.ao_flight_invalid);
+ time = AltosLib.MISSING;
+ frequency = AltosLib.MISSING;
+ }
+
public abstract void set_rssi(int rssi, int status);
public abstract void set_received_time(long received_time);
public abstract void set_apogee_voltage(double volts);
public abstract void set_main_voltage(double volts);
- public abstract void set_gps(AltosGPS gps);
+ public void set_gps(AltosGPS gps) {
+ AltosCalData cal_data = cal_data();
+ cal_data.set_cal_gps(gps);
+ }
+
+ public AltosGPS make_temp_gps(boolean sats) {
+ return cal_data().make_temp_cal_gps(tick(), sats);
+ }
+
+ public AltosGPS temp_gps() {
+ return cal_data().temp_cal_gps();
+ }
public abstract void set_orient(double orient);
public abstract void set_gyro(double roll, double pitch, double yaw);
private AltosJson config;
ArrayList<Byte> data;
private AltosConfigData config_data;
+ int errors = 0;
/*
* Public accessor APIs
public void set_main_voltage(double volts) { }
public void set_gps(AltosGPS gps) {
+ super.set_gps(gps);
if (gps != null &&
gps.year != AltosLib.MISSING &&
gps.month != AltosLib.MISSING &&
AltosFile f = MakeFile(flights.config_data.serial, log.flight, name_data);
- monitor.set_filename(f.toString());
+ log.set_file(f);
- FileWriter w = new FileWriter(f);
+ boolean do_write = true;
- eeprom.write(w);
- w.close();
+ if (f.exists())
+ do_write = monitor.check_overwrite(f);
+
+ if (do_write) {
+ FileWriter w = new FileWriter(f);
+
+ eeprom.write(w);
+ w.close();
+ }
+
+ if (eeprom.errors != 0)
+ throw new ParseException(String.format("%d CRC Errors", eeprom.errors), 0);
+ }
+
+ static String label(int flight) {
+ if (flight < 0)
+ return "Corrupt";
+ else
+ return "Flight";
+ }
+
+ static int flight(int flight) {
+ if (flight < 0)
+ return -flight;
+ return flight;
}
public void run () {
boolean success = false;
try {
- boolean failed = false;
if (remote)
link.start_remote();
for (AltosEepromLog log : flights) {
parse_errors = null;
- if (log.selected) {
+ if (log.download_selected) {
monitor.reset();
try {
CaptureLog(log);
LogError(e.getMessage());
}
}
+ success = true;
if (parse_errors != null) {
- failed = true;
- monitor.show_message(String.format("Flight %d download error. Valid log data saved\n%s",
- log.flight,
+ monitor.show_message(String.format("%s %d download error. Valid log data saved\n%s",
+ label(log.flight),
+ flight(log.flight),
parse_errors),
link.name,
AltosEepromMonitor.WARNING_MESSAGE);
}
}
- success = !failed;
} catch (IOException ee) {
monitor.show_message(ee.getLocalizedMessage(),
link.name,
start = AltosParse.parse_hex(tokens[3]);
if (tokens[4].equals("end"))
end = AltosParse.parse_hex(tokens[5]);
- if (flight > 0 && start >= 0 && end > 0)
+ if (flight != 0 && start >= 0 && end > 0)
flights.add(new AltosEepromFlight(flight, start, end));
} catch (ParseException pe) { System.out.printf("Parse error %s\n", pe.toString()); }
}
link.flush_output();
}
}
-}
\ No newline at end of file
+}
package org.altusmetrum.altoslib_12;
+import java.io.*;
import java.text.*;
import java.util.concurrent.*;
public int start_block;
public int end_block;
- public boolean selected;
+ public boolean download_selected;
+ public boolean delete_selected;
+ public boolean graph_selected;
+
+ public File file;
+
+ public void set_file(File file) {
+ this.file = file;
+ }
public AltosEepromLog(AltosConfigData config_data,
AltosLink link,
serial = config_data.serial;
/*
- * Select all flights for download
+ * Select all flights for download and graph, but not
+ * for delete
*/
- selected = true;
+ download_selected = true;
+ delete_selected = false;
+ graph_selected = true;
}
}
package org.altusmetrum.altoslib_12;
+import java.io.*;
+
public interface AltosEepromMonitor {
public void set_block(int in_block);
public void set_flight(int in_flight);
- public void set_filename(String in_file);
-
public void set_thread(Thread eeprom_thread);
final static int INFO_MESSAGE = 0;
public void show_message(String message, String title, int message_type);
+ public Boolean check_overwrite(File file);
+
public void start();
public void done(boolean success);
return data8(i) | (data8(i+1) << 8) | (data8(i+2) << 16) | (data8(i+3) << 24);
}
+ public boolean empty(int s) {
+ for (int i = 0; i < length; i++)
+ if (eeprom.data8(s + i) != 0xff)
+ return false;
+ return true;
+ }
+
public boolean valid(int s) {
- return AltosConvert.checksum(eeprom.data, s, length) == 0;
+ int ck = AltosConvert.checksum(eeprom.data, s, length);
+
+ if (ck != 0) {
+ ++eeprom.errors;
+ System.out.printf("invalid checksum 0x%x at 0x%x\n", ck, s);
+ return false;
+ }
+ return true;
}
public boolean valid() {
/* AltosDataProvider */
public void provide_data(AltosDataListener listener, AltosCalData cal_data) {
- cal_data.set_tick(tick());
+ listener.set_tick(tick());
if (cmd() == AltosLib.AO_LOG_FLIGHT)
cal_data.set_boost_tick();
listener.set_time(cal_data.time());
/* Flush any pending GPS changes */
if (!AltosLib.is_gps_cmd(cmd())) {
- AltosGPS gps = cal_data.temp_gps();
- if (gps != null) {
+ AltosGPS gps = listener.temp_gps();
+ if (gps != null)
listener.set_gps(gps);
- cal_data.reset_temp_gps();
- }
}
}
int s = start + length;
while (s + length <= eeprom.data.size()) {
- if (valid(s))
+ if (!empty(s) && valid(s))
return s;
s += length;
}
return -1;
}
- public boolean hasNext() {
- return next_start() >= 0;
- }
-
public abstract AltosEepromRecord next();
public AltosEepromRecord(AltosEeprom eeprom, int start, int length) {
this.eeprom = eeprom;
this.start = start;
this.length = length;
-
- while (start + length < eeprom.data.size() && !valid())
- start += length;
}
}
listener.set_state(data16(0));
break;
case AltosLib.AO_LOG_GPS_TIME:
- gps = cal_data.make_temp_gps(tick(),false);
+ gps = listener.make_temp_gps(false);
gps.hour = data8(0);
gps.minute = data8(1);
AltosLib.AO_GPS_NUM_SAT_SHIFT;
break;
case AltosLib.AO_LOG_GPS_LAT:
- gps = cal_data.make_temp_gps(tick(),false);
+ gps = listener.make_temp_gps(false);
int lat32 = data32(0);
gps.lat = (double) lat32 / 1e7;
break;
case AltosLib.AO_LOG_GPS_LON:
- gps = cal_data.make_temp_gps(tick(),false);
+ gps = listener.make_temp_gps(false);
int lon32 = data32(0);
gps.lon = (double) lon32 / 1e7;
break;
case AltosLib.AO_LOG_GPS_ALT:
- gps = cal_data.make_temp_gps(tick(),false);
+ gps = listener.make_temp_gps(false);
gps.alt = data16(0);
break;
case AltosLib.AO_LOG_GPS_SAT:
- gps = cal_data.make_temp_gps(tick(),true);
+ gps = listener.make_temp_gps(true);
int svid = data16(0);
int c_n0 = data16(2);
gps.add_sat(svid, c_n0);
break;
case AltosLib.AO_LOG_GPS_DATE:
- gps = cal_data.make_temp_gps(tick(),false);
+ gps = listener.make_temp_gps(false);
gps.year = data8(0) + 2000;
gps.month = data8(1);
gps.day = data8(2);
private int ground_roll() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
return data32(16);
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
return data16(14);
private int ground_pitch() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
return data32(20);
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
return data16(16);
private int ground_yaw() {
switch (log_format) {
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
return data32(24);
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
return data16(18);
listener.set_pyro_fired(pyro());
break;
case AltosLib.AO_LOG_GPS_TIME:
- gps = cal_data.make_temp_gps(tick(), false);
+ gps = listener.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
}
break;
case AltosLib.AO_LOG_GPS_SAT:
- gps = cal_data.make_temp_gps(tick(), true);
+ gps = listener.make_temp_gps(true);
int n = nsat();
if (n > max_sat)
listener.set_main_voltage(AltosConvert.mega_pyro_voltage(sense_m()));
break;
case AltosLib.AO_LOG_GPS_POS:
- gps = cal_data.make_temp_gps(tick(), false);
+ gps = listener.make_temp_gps(false);
gps.lat = latitude() / 1e7;
gps.lon = longitude() / 1e7;
if (config_data().altitude_32())
gps.alt = altitude_low();
break;
case AltosLib.AO_LOG_GPS_TIME:
- gps = cal_data.make_temp_gps(tick(), false);
+ gps = listener.make_temp_gps(false);
gps.hour = hour();
gps.minute = minute();
gps.pdop = pdop() / 10.0;
break;
case AltosLib.AO_LOG_GPS_SAT:
- gps = cal_data.make_temp_gps(tick(), true);
+ gps = listener.make_temp_gps(true);
int n = nsat();
for (int i = 0; i < n; i++)
AltosCalData cal_data = cal_data();
cal_data.reset();
+ listener.set_log_format(config_data().log_format);
+
for (AltosEepromRecord record : ordered) {
record.provide_data(listener, cal_data);
}
case AltosLib.AO_LOG_FORMAT_TELEMETRY:
case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+ case AltosLib.AO_LOG_FORMAT_TELEMEGA_3:
case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
record = new AltosEepromRecordMega(eeprom);
break;
int tick = 0;
boolean first = true;
- for (;;) {
+ do {
int t = record.tick();
if (first) {
}
record.wide_tick = tick;
ordered.add(record);
- if (!record.hasNext())
- break;
record = record.next();
- }
+ } while (record != null);
}
public AltosEepromRecordSet(InputStream input) throws IOException {
return String.format("-via-%04d", receiver);
}
+ static private String label(int flight) {
+ if (flight < 0)
+ return "corrupt";
+ else
+ return "flight";
+ }
+
+ static private int flight(int flight) {
+ if (flight < 0)
+ return -flight;
+ return flight;
+ }
+
public AltosFile(int year, int month, int day, int serial, int flight, int receiver, String extension) {
super (AltosPreferences.logdir(),
- String.format("%04d-%02d-%02d-serial-%s-flight-%s%s.%s",
- year, month, day, number(serial), number(flight), receiver(receiver), extension));
+ String.format("%04d-%02d-%02d-serial-%s-%s-%s%s.%s",
+ year, month, day, number(serial), label(flight), number(flight(flight)), receiver(receiver), extension));
}
public AltosFile(int year, int month, int day, int serial, int flight, String extension) {
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+package org.altusmetrum.altoslib_12;
+
+public interface AltosFilterListener {
+ void filter_changed(double speed_filter, double accel_filter);
+
+ double speed_filter();
+ double accel_filter();
+}
+++ /dev/null
-/*
- * Copyright © 2017 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-package org.altusmetrum.altoslib_12;
-
-public abstract class AltosFlightListener {
-
- public int flight;
- public int serial;
- public int tick;
- public int boost_tick;
- public int state;
-
- public double accel_plus_g;
- public double accel_minus_g;
- public double accel;
-
- public double ground_pressure;
- public double ground_altitude;
-
- AltosGPS temp_gps;
- int temp_gps_sat_tick;
- int gps_sequence;
-
- /* AltosEepromRecord */
- public void set_boost_tick(int boost_tick) {
- if (boost_tick != AltosLib.MISSING)
- this.boost_tick = boost_tick;
- }
-
- public void set_tick(int tick) {
- if (tick != AltosLib.MISSING)
- this.tick = tick;
- }
-
- public double time() {
- if (tick == AltosLib.MISSING)
- return AltosLib.MISSING;
- if (boost_tick != AltosLib.MISSING)
- return (tick - boost_tick) / 100.0;
- else
- return tick / 100.0;
- }
-
- public double boost_time() {
- if (boost_tick == AltosLib.MISSING)
- return AltosLib.MISSING;
- return boost_tick / 100.0;
- }
-
- public abstract void set_rssi(int rssi, int status);
- public abstract void set_received_time(long received_time);
-
- /* AltosEepromRecordFull */
-
- public void set_serial(int serial) {
- if (serial != AltosLib.MISSING)
- this.serial = serial;
- }
-
- public void set_state(int state) {
- if (state != AltosLib.MISSING)
- this.state = state;
- }
-
- public int state() { return state; }
-
- public abstract void set_ground_accel(double ground_accel);
- public void set_flight(int flight) {
- if (flight != AltosLib.MISSING)
- this.flight = flight;
- }
- public int flight() {
- return flight;
- }
-
- public abstract void set_accel(double accel);
- public abstract void set_acceleration(double accel);
- public abstract void set_accel_g(double accel_plus_g, double accel_minus_g);
- public abstract void set_pressure(double pa);
- public abstract void set_thrust(double N);
-
- public abstract void set_temperature(double deg_c);
- public abstract void set_battery_voltage(double volts);
-
- public abstract void set_apogee_voltage(double volts);
- public abstract void set_main_voltage(double volts);
-
- public void set_temp_gps() {
- temp_gps = null;
- }
-
- public boolean gps_pending() {
- return temp_gps != null;
- }
-
- public AltosGPS make_temp_gps(boolean sats) {
- if (temp_gps == null) {
- temp_gps = new AltosGPS();
- }
- if (sats) {
- if (tick != temp_gps_sat_tick)
- temp_gps.cc_gps_sat = null;
- temp_gps_sat_tick = tick;
- }
- return temp_gps;
- }
-
- public void set_ground_pressure(double ground_pressure) {
- if (ground_pressure != AltosLib.MISSING) {
- this.ground_pressure = ground_pressure;
- this.ground_altitude = AltosConvert.pressure_to_altitude(ground_pressure);
- }
- }
-
- public abstract void set_accel_ground(double along, double across, double through);
- public abstract void set_gyro_zero(double roll, double pitch, double yaw);
- public abstract void check_imu_wrap(AltosIMU imu);
- public abstract void set_imu(AltosIMU imu);
- public abstract void set_mag(AltosMag mag);
- public abstract void set_pyro_voltage(double volts);
- public abstract void set_igniter_voltage(double[] voltage);
- public abstract void set_pyro_fired(int pyro_mask);
-
- public void copy(AltosFlightListener old) {
- flight = old.flight;
- serial = old.serial;
- tick = old.tick;
- boost_tick = old.boost_tick;
- accel_plus_g = old.accel_plus_g;
- accel_minus_g = old.accel_minus_g;
- ground_pressure = old.ground_pressure;
- ground_altitude = old.ground_altitude;
- temp_gps = old.temp_gps;
- temp_gps_sat_tick = old.temp_gps_sat_tick;
- }
-
- public void init() {
- flight = AltosLib.MISSING;
- serial = AltosLib.MISSING;
- tick = AltosLib.MISSING;
- boost_tick = AltosLib.MISSING;
- accel_plus_g = AltosLib.MISSING;
- accel_minus_g = AltosLib.MISSING;
- accel = AltosLib.MISSING;
- ground_pressure = AltosLib.MISSING;
- ground_altitude = AltosLib.MISSING;
- temp_gps = null;
- temp_gps_sat_tick = AltosLib.MISSING;
- }
-}
public ArrayList<AltosTimeSeries> series = new ArrayList<AltosTimeSeries>();
public double speed_filter_width = 4.0;
- public double accel_filter_width = 4.0;
+ public double accel_filter_width = 1.0;
public int[] indices() {
int[] indices = new int[series.size()];
public void set_state(int state) {
- if (state == AltosLib.ao_flight_pad)
- return;
-
- if (state_series == null)
- state_series = add_series(state_name, AltosConvert.state_name);
- else if (this.state == state)
- return;
- this.state = state;
- state_series.add(time(), state);
+ if (state != AltosLib.ao_flight_pad && state != AltosLib.MISSING && state != AltosLib.ao_flight_stateless) {
+ if (state_series == null)
+ state_series = add_series(state_name, AltosConvert.state_name);
+ if (this.state() != state)
+ state_series.add(time(), state);
+ }
+ super.set_state(state);
}
public AltosTimeSeries accel_series;
+ public boolean accel_computed;
public static final String accel_name = "Accel";
accel_series = add_series(accel_name, AltosConvert.accel);
accel_series.add(time(), acceleration);
+ accel_computed = false;
}
- private void compute_accel() {
- if (accel_series != null)
- return;
+ private AltosTimeSeries compute_accel() {
+ AltosTimeSeries new_accel_series = null;
if (speed_series != null) {
- AltosTimeSeries temp_series = make_series(speed_name, AltosConvert.speed);
- speed_series.filter(temp_series, accel_filter_width);
- accel_series = add_series(accel_name, AltosConvert.accel);
- temp_series.differentiate(accel_series);
+ AltosTimeSeries temp_series;
+ if (accel_filter_width > 0) {
+ temp_series = make_series(speed_name, AltosConvert.speed);
+ speed_series.filter(temp_series, accel_filter_width);
+ } else
+ temp_series = speed_series;
+
+ new_accel_series = make_series(accel_name, AltosConvert.accel);
+ temp_series.differentiate(new_accel_series);
+ }
+ return new_accel_series;
+ }
+
+ public void set_filter(double speed_filter, double accel_filter) {
+ this.speed_filter_width = speed_filter;
+ this.accel_filter_width = accel_filter;
+
+ AltosTimeSeries new_speed_series = compute_speed();
+
+ if (new_speed_series != null) {
+ speed_series.erase_values();
+ for (AltosTimeValue tv : new_speed_series)
+ speed_series.add(tv);
+ }
+ if (accel_computed) {
+ AltosTimeSeries new_accel_series = compute_accel();
+ if (new_accel_series != null) {
+ accel_series.erase_values();
+ for (AltosTimeValue tv : new_accel_series)
+ accel_series.add(tv);
+ }
}
}
public void set_received_time(long received_time) {
}
+ public AltosTimeSeries tick_series;
+
+ public static final String tick_name = "Tick";
+
+ public void set_tick(int tick) {
+ super.set_tick(tick);
+ if (tick_series == null)
+ tick_series = add_series(tick_name, null);
+ tick_series.add(time(), tick);
+ }
+
public AltosTimeSeries rssi_series;
public static final String rssi_name = "RSSI";
public static final String speed_name = "Speed";
- private void compute_speed() {
- if (speed_series != null)
- return;
-
+ private AltosTimeSeries compute_speed() {
+ AltosTimeSeries new_speed_series = null;
AltosTimeSeries alt_speed_series = null;
AltosTimeSeries accel_speed_series = null;
if (altitude_series != null) {
- AltosTimeSeries temp_series = make_series(altitude_name, AltosConvert.height);
- altitude_series.filter(temp_series, speed_filter_width);
+ AltosTimeSeries temp_series;
+
+ if (speed_filter_width > 0) {
+ temp_series = make_series(speed_name, AltosConvert.height);
+ altitude_series.filter(temp_series, speed_filter_width);
+ } else
+ temp_series = altitude_series;
alt_speed_series = make_series(speed_name, AltosConvert.speed);
temp_series.differentiate(alt_speed_series);
}
- if (accel_series != null) {
+ if (accel_series != null && !accel_computed) {
if (orient_series != null) {
vert_accel_series = add_series(vert_accel_name, AltosConvert.accel);
}
}
if (apogee_time == AltosLib.MISSING) {
- speed_series = alt_speed_series;
+ new_speed_series = alt_speed_series;
} else {
- speed_series = make_series(speed_name, AltosConvert.speed);
+ new_speed_series = make_series(speed_name, AltosConvert.speed);
for (AltosTimeValue d : accel_speed_series) {
if (d.time <= apogee_time)
- speed_series.add(d);
+ new_speed_series.add(d);
}
for (AltosTimeValue d : alt_speed_series) {
if (d.time > apogee_time)
- speed_series.add(d);
+ new_speed_series.add(d);
}
}
} else if (alt_speed_series != null) {
- speed_series = alt_speed_series;
+ new_speed_series = alt_speed_series;
} else if (accel_speed_series != null) {
- speed_series = accel_speed_series;
+ new_speed_series = accel_speed_series;
}
- if (speed_series != null)
- add_series(speed_series);
+ return new_speed_series;
}
public AltosTimeSeries orient_series;
public ArrayList<AltosGPSTimeValue> gps_series;
public AltosGPS gps_before(double time) {
- AltosGPS gps = null;
- for (AltosGPSTimeValue gtv : gps_series)
- if (gtv.time <= time)
- gps = gtv.gps;
- else
- break;
- return gps;
+ AltosGPSTimeValue nearest = null;
+ for (AltosGPSTimeValue gtv : gps_series) {
+ if (nearest == null)
+ nearest = gtv;
+ else {
+ if (gtv.time <= time) {
+ if (nearest.time <= time && gtv.time > nearest.time)
+ nearest = gtv;
+ } else {
+ if (nearest.time > time && gtv.time < nearest.time)
+ nearest = gtv;
+ }
+ }
+ }
+ if (nearest != null)
+ return nearest.gps;
+ else
+ return null;
}
public AltosTimeSeries sats_in_view;
public static final String gps_hdop_name = "GPS Horizontal Dilution of Precision";
public void set_gps(AltosGPS gps) {
+ super.set_gps(gps);
if (gps_series == null)
gps_series = new ArrayList<AltosGPSTimeValue>();
gps_series.add(new AltosGPSTimeValue(time(), gps));
public void set_igniter_voltage(double[] voltage) {
int channels = voltage.length;
if (igniter_voltage == null || igniter_voltage.length <= channels) {
- AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels + 1];
+ AltosTimeSeries[] new_igniter_voltage = new AltosTimeSeries[channels];
int i = 0;
if (igniter_voltage != null) {
public void finish() {
compute_orient();
- compute_speed();
- compute_accel();
+ if (speed_series == null) {
+ speed_series = compute_speed();
+ if (speed_series != null)
+ add_series(speed_series);
+ }
+ if (accel_series == null) {
+ accel_series = compute_accel();
+ if (accel_series != null) {
+ add_series(accel_series);
+ accel_computed = true;
+ }
+ }
compute_height();
}
public double max_acceleration;
public double[] state_speed = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_enter_speed = new double[AltosLib.ao_flight_invalid + 1];
+ public double[] state_enter_height = new double[AltosLib.ao_flight_invalid + 1];
+ public double[] state_enter_gps_height = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_accel = new double[AltosLib.ao_flight_invalid + 1];
public double[] state_time = new double[AltosLib.ao_flight_invalid + 1];
public String product;
if (0 <= state && state <= AltosLib.ao_flight_invalid && delta_time > 0) {
if (state_enter_speed[state] == AltosLib.MISSING)
state_enter_speed[state] = series.speed_series.value(start_time);
+ if (state_enter_height[state] == AltosLib.MISSING)
+ state_enter_height[state] = series.height_series.value(start_time);
+ if (state_enter_gps_height[state] == AltosLib.MISSING)
+ if (series.gps_height != null)
+ state_enter_gps_height[state] = series.gps_height.value(start_time);
speeds[state].value += series.speed_series.average(start_time, end_time) * delta_time;
speeds[state].time += delta_time;
accels[state].value += series.accel_series.average(start_time, end_time) * delta_time;
listener.set_gyro(cal_data.gyro_roll(imu.gyro_y),
cal_data.gyro_pitch(imu.gyro_x),
cal_data.gyro_yaw(imu.gyro_z));
- listener.set_accel_ground(cal_data.accel_along(imu.accel_y),
- cal_data.accel_across(imu.accel_x),
- cal_data.accel_through(imu.accel_z));
+ listener.set_accel_ground(imu.accel_y,
+ imu.accel_x,
+ imu.accel_z);
}
} catch (TimeoutException te) {
}
double frequency;
String callsign;
+ AltosState state;
AltosListenerState listener_state;
AltosConfigData config_data;
AltosGPS gps;
return link.reply_abort;
}
- boolean provide_data(AltosDataListener listener) throws InterruptedException, TimeoutException, AltosUnknownProduct {
+ boolean provide_data() throws InterruptedException, TimeoutException, AltosUnknownProduct {
boolean worked = false;
boolean aborted = false;
try {
start_link();
- fetch.provide_data(listener);
+ link.config_data();
+ if (state == null)
+ state = new AltosState(new AltosCalData(link.config_data()));
+ fetch.provide_data(state);
if (!link.has_error && !link.reply_abort)
worked = true;
} finally {
aborted = stop_link();
if (worked) {
if (remote)
- listener.set_rssi(link.rssi(), 0);
+ state.set_rssi(link.rssi(), 0);
listener_state.battery = link.monitor_battery();
}
}
}
public void run() {
- AltosState state = null;
+ state = null;
try {
for (;;) {
try {
- link.config_data();
- if (state == null)
- state = new AltosState(new AltosCalData(link.config_data()));
- provide_data(state);
+ provide_data();
listener.update(state, listener_state);
} catch (TimeoutException te) {
} catch (AltosUnknownProduct ae) {
int flight_state = -1;
AltosGPS prev = null;
double gps_start_altitude = AltosLib.MISSING;
+ AltosFlightSeries series;
AltosFlightStats stats;
+ AltosCalData cal_data;
static final String[] kml_state_colors = {
"FF000000", // startup
"FF000000", // idle
"FF000000", // pad
"FF0000FF", // boost
+ "FF8040FF", // coast
"FF4080FF", // fast
- "FF00FFFF", // coast
- "FFFF0000", // drogue
+ "FF00FFFF", // drogue
"FF00FF00", // main
"FF000000", // landed
"FFFFFFFF", // invalid
return kml_state_colors[state];
}
+ static final String[] kml_style_colors = {
+ "FF0000FF", // baro
+ "FFFF0000", // gps
+ };
+
+ static String style_color(int style) {
+ if (style < 0 || kml_style_colors.length <= style)
+ return kml_style_colors[0];
+ return kml_style_colors[style];
+ }
+
static final String kml_header_start =
"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n" +
"<kml xmlns=\"http://www.opengis.net/kml/2.2\">\n" +
"<Document>\n" +
" <name>AO Flight#%d S/N: %03d</name>\n" +
- " <description>\n";
+ " <Snippet maxLines=\"8\">\n";
+
static final String kml_header_end =
- " </description>\n" +
- " <open>0</open>\n";
-
- static final String kml_style_start =
- " <Style id=\"ao-flightstate-%s\">\n" +
- " <LineStyle><color>%s</color><width>4</width></LineStyle>\n" +
- " <BalloonStyle>\n" +
- " <text>\n";
-
- static final String kml_style_end =
- " </text>\n" +
- " </BalloonStyle>\n" +
- " </Style>\n";
-
- static final String kml_placemark_start =
- " <Placemark>\n" +
- " <name>%s</name>\n" +
- " <styleUrl>#ao-flightstate-%s</styleUrl>\n" +
- " <LineString>\n" +
- " <tessellate>1</tessellate>\n" +
- " <altitudeMode>absolute</altitudeMode>\n" +
- " <coordinates>\n";
+ " </Snippet>\n" +
+ " <open>1</open>\n";
+
+ static final String kml_folder_start =
+ " <Folder>\n" +
+ " <name>%s</name>\n";
+
+ static final String kml_path_style_start =
+ " <Style id=\"ao-style-%s\">\n" +
+ " <LineStyle><color>%s</color><width>8</width></LineStyle>\n" +
+ " <BalloonStyle>\n" +
+ " <text>\n";
+
+ static final String kml_path_style_end =
+ " </text>\n" +
+ " </BalloonStyle>\n" +
+ " </Style>\n";
+
+ static final String kml_point_style_start =
+ " <Style id=\"ao-style-%s\">\n" +
+ " <LabelStyle><color>%s</color></LabelStyle>\n" +
+ " <IconStyle><color>%s</color></IconStyle>\n" +
+ " <BalloonStyle>\n" +
+ " <text>\n";
+
+ static final String kml_point_style_end =
+ " </text>\n" +
+ " </BalloonStyle>\n" +
+ " </Style>\n";
+
+ static final String kml_path_start =
+ " <Placemark>\n" +
+ " <name>%s</name>\n" +
+ " <styleUrl>#ao-style-%s</styleUrl>\n" +
+ " <LineString>\n" +
+ " <tessellate>1</tessellate>\n" +
+ " <altitudeMode>absolute</altitudeMode>\n" +
+ " <coordinates>\n";
static final String kml_coord_fmt =
- " %.7f,%.7f,%.7f <!-- alt %12.7f time %12.7f sats %d -->\n";
+ " %.7f,%.7f,%.7f <!-- alt %12.7f time %12.7f sats %d -->\n";
- static final String kml_placemark_end =
- " </coordinates>\n" +
- " </LineString>\n" +
- " </Placemark>\n";
+ static final String kml_path_end =
+ " </coordinates>\n" +
+ " </LineString>\n" +
+ " </Placemark>\n";
+
+ static final String kml_point_start =
+ " <Placemark>\n" +
+ " <name>%s</name>\n" +
+ " <styleUrl>#ao-style-%s</styleUrl>\n" +
+ " <Point>\n" +
+ " <tessellate>1</tessellate>\n" +
+ " <altitudeMode>absolute</altitudeMode>\n" +
+ " <coordinates>\n";
+
+ static final String kml_point_end =
+ " </coordinates>\n" +
+ " </Point>\n" +
+ " </Placemark>\n";
+
+ static final String kml_folder_end =
+ " </Folder>\n";
static final String kml_footer =
"</Document>\n" +
"</kml>\n";
- void start (AltosCalData cal_data) {
+ void start () {
AltosGPS gps = cal_data.gps_pad;
gps_start_altitude = cal_data.gps_pad_altitude;
out.printf(kml_header_start, cal_data.flight, cal_data.serial);
- out.printf("Date: %04d-%02d-%02d\n",
+ out.printf("Product: %s\n", stats.product);
+ out.printf("Firmware: %s\n", stats.firmware_version);
+ out.printf("Date: %04d-%02d-%02d\n",
gps.year, gps.month, gps.day);
- out.printf("Time: %2d:%02d:%02d\n",
+ out.printf("Time: %2d:%02d:%02d\n",
gps.hour, gps.minute, gps.second);
+ if (stats.max_height != AltosLib.MISSING)
+ out.printf("Max baro height: %s\n", AltosConvert.height.show(6, stats.max_height));
+ if (stats.max_gps_height != AltosLib.MISSING)
+ out.printf("Max GPS Height: %s\n", AltosConvert.height.show(6, stats.max_gps_height));
+ if (stats.max_speed != AltosLib.MISSING)
+ out.printf("Max speed: %s\n", AltosConvert.speed.show(6, stats.max_speed));
+ if (stats.max_acceleration != AltosLib.MISSING)
+ out.printf("Max accel: %s\n", AltosConvert.accel.show(6, stats.max_acceleration));
out.printf("%s", kml_header_end);
}
- boolean started = false;
+ void folder_start(String folder_name) {
+ out.printf(kml_folder_start, folder_name);
+ }
+
+ void folder_end() {
+ out.printf(kml_folder_end);
+ }
+
+ void path_style_start(String style, String color) {
+ out.printf(kml_path_style_start, style, color);
+ }
+
+ void path_style_end() {
+ out.printf(kml_path_style_end);
+ }
- void state_start(int state) {
- String state_name = AltosLib.state_name(state);
- String state_color = state_color(state);
- out.printf(kml_style_start, state_name, state_color);
- out.printf("State: %s\n", state_name);
- out.printf("Time: %6.2f s\n", stats.state_time[state]);
- out.printf("Average speed: %s\n", AltosConvert.speed.show(6, stats.state_speed[state]));
- out.printf("Average accel: %s\n", AltosConvert.accel.show(6, stats.state_accel[state]));
- out.printf("%s", kml_style_end);
- out.printf(kml_placemark_start, state_name, state_name);
+ void point_style_start(String style, String color) {
+ out.printf(kml_point_style_start, style, color, color);
}
- void state_end() {
- out.printf("%s", kml_placemark_end);
+ void point_style_end() {
+ out.printf(kml_point_style_end);
}
- void coord(double time, AltosGPS gps, int state, double height) {
- double altitude;
+ void path_start(String name, String style) {
+ out.printf(kml_path_start, name, style);
+ }
+
+ void path_end() {
+ out.printf(kml_path_end);
+ }
+
+ void point_start(String name, String style) {
+ out.printf(kml_point_start, name, style);
+ }
+
+ void point_end() {
+ out.printf(kml_point_end);
+ }
+
+ boolean started = false;
+
+ private double baro_altitude(AltosFlightSeries series, double time) {
+ double height = series.value(AltosFlightSeries.height_name, time);
+
+ if (height == AltosLib.MISSING)
+ return AltosLib.MISSING;
+ if (cal_data.gps_pad_altitude == AltosLib.MISSING)
+ return AltosLib.MISSING;
- if (height != AltosLib.MISSING)
- altitude = height + gps_start_altitude;
- else
- altitude = gps.alt;
+ return height + cal_data.gps_pad_altitude;
+ }
+
+ void coord(double time, AltosGPS gps, double altitude) {
out.printf(kml_coord_fmt,
gps.lon, gps.lat,
altitude, (double) gps.alt,
}
public void close() {
- if (prev != null) {
- state_end();
- end();
- prev = null;
- }
if (out != null) {
out.close();
out = null;
}
}
- public void write(AltosGPSTimeValue gtv, AltosCalData cal_data, int state, double height) {
- AltosGPS gps = gtv.gps;
+ public void write(AltosGPS gps, double alt)
+ {
+ if (gps == null)
+ return;
if (gps.lat == AltosLib.MISSING)
return;
if (gps.lon == AltosLib.MISSING)
return;
- if (state != flight_state) {
- flight_state = state;
- if (prev != null) {
- coord(gtv.time, gps, state, height);
- state_end();
- }
- state_start(state);
+ if (alt == AltosLib.MISSING) {
+ alt = cal_data.gps_pad_altitude;
+ if (alt == AltosLib.MISSING)
+ return;
}
- coord(0, gps, state, height);
+ coord(0, gps, alt);
prev = gps;
}
- private int state(AltosFlightSeries series, double time) {
- return (int) series.value_before(AltosFlightSeries.state_name, time);
- }
+ public void write_point(AltosTimeValue tv, boolean is_gps) {
+ int state = (int) tv.value;
+ String style_prefix = is_gps ? "gps-" : "baro-";
+ String state_name = AltosLib.state_name(state);
+ String state_label = AltosLib.state_name_capital(state);
+ String style_name = style_prefix + state_name;
+ String folder_name = is_gps ? "GPS" : "Baro";
+ String full_name = state_label + " (" + folder_name + ")";
+ AltosGPS gps = series.gps_before(tv.time);
+ double altitude = is_gps ? gps.alt : baro_altitude(series, tv.time);
- private double height(AltosFlightSeries series, double time) {
- return series.value(AltosFlightSeries.height_name, time);
+ point_style_start(style_name, state_color(state));
+ out.printf("%s\n", full_name);
+ switch (state) {
+ case AltosLib.ao_flight_boost:
+ out.printf("Max accel %s\n", AltosConvert.accel.show(6, stats.max_acceleration));
+ out.printf("Max speed %s\n", AltosConvert.speed.show(6, stats.max_speed));
+ break;
+ case AltosLib.ao_flight_coast:
+ case AltosLib.ao_flight_fast:
+ out.printf("Entry speed %s\n", AltosConvert.speed.show(6, stats.state_enter_speed[state]));
+ out.printf("Entry height %s\n", AltosConvert.height.show(6, altitude - cal_data.gps_pad_altitude));
+ break;
+ case AltosLib.ao_flight_drogue:
+ out.printf("Max height %s\n", AltosConvert.height.show(6, is_gps ? stats.max_gps_height : stats.max_height));
+ out.printf("Average descent rate %s\n", AltosConvert.speed.show(6, -stats.state_speed[state]));
+ break;
+ case AltosLib.ao_flight_main:
+ out.printf("Entry speed %s\n", AltosConvert.speed.show(6, -stats.state_enter_speed[state]));
+ out.printf("Entry height %s\n", AltosConvert.height.show(6, altitude - cal_data.gps_pad_altitude));
+ out.printf("Average descent rate %s\n", AltosConvert.speed.show(6, -stats.state_speed[state]));
+ break;
+ case AltosLib.ao_flight_landed:
+ out.printf("Landing speed %s\n", AltosConvert.speed.show(6, -stats.state_enter_speed[state]));
+ break;
+ }
+ point_style_end();
+ point_start(full_name, style_name);
+ gps = series.gps_before(tv.time);
+ write(gps, altitude);
+ point_end();
}
public void write(AltosFlightSeries series) {
+ this.series = series;
+ series.finish();
stats = new AltosFlightStats(series);
- start(series.cal_data());
+ cal_data = series.cal_data();
+ start();
+ if (series.height_series != null) {
+ folder_start("Barometric Altitude");
+ path_style_start("baro", style_color(0));
+ out.printf("Barometric Altitude\n");
+ out.printf("Max height: %s\n", AltosConvert.height.show(6, stats.max_height));
+ path_style_end();
+ path_start("Barometric Altitude", "baro");
+ for (AltosGPSTimeValue gtv : series.gps_series)
+ write(gtv.gps, baro_altitude(series, gtv.time));
+ path_end();
+ if (series.state_series != null) {
+ for (AltosTimeValue tv : series.state_series) {
+ write_point(tv, false);
+ }
+ }
+ folder_end();
+ }
+ folder_start("GPS Altitude");
+ path_style_start("gps", style_color(1));
+ out.printf("GPS Altitude");
+ out.printf("Max height: %s\n", AltosConvert.height.show(6, stats.max_gps_height));
+ path_style_end();
+ path_start("GPS Altitude", "gps");
for (AltosGPSTimeValue gtv : series.gps_series)
- write(gtv, series.cal_data(), state(series, gtv.time), height(series, gtv.time));
+ write(gtv.gps, gtv.gps.alt);
+ path_end();
+ if (series.state_series != null) {
+ for (AltosTimeValue tv : series.state_series) {
+ write_point(tv, true);
+ }
+ }
+ folder_end();
+ end();
}
public AltosKML(File in_name) throws FileNotFoundException {
public static final int AO_LOG_FORMAT_TELEMINI3 = 12;
public static final int AO_LOG_FORMAT_TELEFIRETWO = 13;
public static final int AO_LOG_FORMAT_EASYMINI2 = 14;
+ public static final int AO_LOG_FORMAT_TELEMEGA_3 = 15;
public static final int AO_LOG_FORMAT_NONE = 127;
public static boolean isspace(int c) {
}
public static String igniter_name(int i) {
- return String.format("Ignitor %c", 'A' + i);
+ return String.format("Igniter %c", 'A' + i);
+ }
+
+ public static String igniter_short_name(int i) {
+ return String.format("igniter_%c", 'a' + i);
}
public static AltosRecordSet record_set(File file) throws FileNotFoundException, IOException {
public int telemetry_rate = -1;
public double frequency;
public String callsign;
- AltosConfigData config_data;
+ private AltosConfigData config_data_local;
+ private AltosConfigData config_data_remote;
private Object config_data_lock = new Object();
public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
frequency = in_frequency;
- config_data();
+ AltosConfigData config_data = config_data();
set_radio_frequency(frequency,
config_data.radio_frequency > 0,
config_data.radio_setting > 0,
public AltosConfigData config_data() throws InterruptedException, TimeoutException {
synchronized(config_data_lock) {
- if (config_data == null) {
- printf("m 0\n");
- config_data = new AltosConfigData(this);
- if (monitor_mode)
- set_monitor(true);
+ AltosConfigData config_data;
+
+ if (remote) {
+ if (config_data_remote == null) {
+ printf("m 0\n");
+ config_data_remote = new AltosConfigData(this);
+ if (monitor_mode)
+ set_monitor(true);
+ }
+ config_data = config_data_remote;
+ } else {
+ if (config_data_local == null) {
+ printf("m 0\n");
+ config_data_local = new AltosConfigData(this);
+ if (monitor_mode)
+ set_monitor(true);
+ }
+ config_data = config_data_local;
}
return config_data;
}
}
public boolean has_monitor_battery() {
- return config_data.has_monitor_battery();
+ try {
+ return config_data().has_monitor_battery();
+ } catch (InterruptedException ie) {
+ return false;
+ } catch (TimeoutException te) {
+ return false;
+ }
}
public double monitor_battery() throws InterruptedException {
- int monitor_batt = AltosLib.MISSING;
+ double volts = AltosLib.MISSING;
- if (config_data.has_monitor_battery()) {
- try {
+ try {
+ AltosConfigData config_data = config_data();
+ int monitor_batt = AltosLib.MISSING;
+
+ if (config_data.has_monitor_battery()) {
String[] items = adc();
for (int i = 0; i < items.length;) {
if (items[i].equals("batt")) {
}
i++;
}
- } catch (TimeoutException te) {
}
- }
- if (monitor_batt == AltosLib.MISSING)
- return AltosLib.MISSING;
+ if (monitor_batt != AltosLib.MISSING) {
+ if (config_data.product.startsWith("TeleBT-v3") || config_data.product.startsWith("TeleBT-v4")) {
+ volts = AltosConvert.tele_bt_3_battery(monitor_batt);
+ } else {
+ volts = AltosConvert.cc_battery_to_voltage(monitor_batt);
+ }
+ }
- double volts = AltosLib.MISSING;
- if (config_data.product.startsWith("TeleBT-v3") || config_data.product.startsWith("TeleBT-v4")) {
- volts = AltosConvert.tele_bt_3_battery(monitor_batt);
- } else {
- volts = AltosConvert.cc_battery_to_voltage(monitor_batt);
+ } catch (TimeoutException te) {
}
-
return volts;
}
AltosState state;
AltosRecordSet record_set;
double last_time = AltosLib.MISSING;
- Semaphore semaphore = new Semaphore(1);;
+ Semaphore semaphore = new Semaphore(1);
boolean done = false;
public void set_time(double time) {
public void set_apogee_voltage(double volts) { state.set_apogee_voltage(volts); }
public void set_main_voltage(double volts) { state.set_main_voltage(volts); }
- public void set_gps(AltosGPS gps) { state.set_gps(gps); }
+ public void set_gps(AltosGPS gps) { super.set_gps(gps); state.set_gps(gps); }
public void set_orient(double orient) { state.set_orient(orient); }
public void set_gyro(double roll, double pitch, double yaw) { state.set_gyro(roll, pitch, yaw); }
class AltosPressure extends AltosValue {
void set(double p, double time) {
super.set(p, time);
- if (state == AltosLib.ao_flight_pad)
+ if (state() == AltosLib.ao_flight_pad)
ground_pressure.set_filtered(p, time);
double a = pressure_to_altitude(p);
altitude.set_computed(a, time);
class AltosSpeed extends AltosCValue {
boolean can_max() {
- return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
}
void set_accel() {
class AltosAccel extends AltosCValue {
boolean can_max() {
- return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
+ return state() < AltosLib.ao_flight_fast || state() == AltosLib.ao_flight_stateless;
}
void set_measured(double a, double time) {
}
public void init() {
+ super.init();
+
set = 0;
received_time = System.currentTimeMillis();
- time = AltosLib.MISSING;
- state = AltosLib.ao_flight_invalid;
landed = false;
boost = false;
rssi = AltosLib.MISSING;
if (gps.locked && gps.nsat >= 4) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
- if (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_stateless) {
+ if (state() == AltosLib.ao_flight_pad || state() == AltosLib.ao_flight_stateless) {
set_npad(npad+1);
- if (pad_lat != AltosLib.MISSING && (npad < 10 || state == AltosLib.ao_flight_pad)) {
+ if (pad_lat != AltosLib.MISSING && (npad < 10 || state() == AltosLib.ao_flight_pad)) {
pad_lat = (pad_lat * 31 + gps.lat) / 32;
pad_lon = (pad_lon * 31 + gps.lon) / 32;
gps_ground_altitude.set_filtered(gps.alt, time);
}
public String state_name() {
- return AltosLib.state_name(state);
+ return AltosLib.state_name(state());
}
public void set_state(int state) {
- if (state != AltosLib.ao_flight_invalid) {
- this.state = state;
- ascent = (AltosLib.ao_flight_boost <= state &&
- state <= AltosLib.ao_flight_coast);
- boost = (AltosLib.ao_flight_boost == state);
- }
- }
-
- public int state() {
- return state;
- }
-
- private void re_init() {
- init();
+ super.set_state(state);
+ ascent = (AltosLib.ao_flight_boost <= state() &&
+ state() <= AltosLib.ao_flight_coast);
+ boost = (AltosLib.ao_flight_boost == state());
}
public int rssi() {
}
public void set_gps(AltosGPS gps) {
+ super.set_gps(gps);
if (gps != null) {
this.gps = gps;
update_gps();
int[] bytes;
/* All telemetry packets have these fields */
- public int rssi() { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
- public int status() { return AltosLib.uint8(bytes, bytes.length - 2); }
+ static public int rssi(int[] bytes) { return AltosConvert.telem_to_rssi(AltosLib.int8(bytes, bytes.length - 3)); }
+ static public int status(int[] bytes) { return AltosLib.uint8(bytes, bytes.length - 2); }
+
+ public int rssi() { return rssi(bytes); }
+ public int status() { return status(bytes); }
/* All telemetry packets report these fields in some form */
public abstract int serial();
public void provide_data(AltosDataListener listener) {
listener.set_serial(serial());
- if (listener.state == AltosLib.ao_flight_invalid)
+ if (listener.state() == AltosLib.ao_flight_invalid)
listener.set_state(AltosLib.ao_flight_startup);
if (frequency != AltosLib.MISSING)
listener.set_frequency(frequency);
if (!cksum(bytes))
throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+ if ((status(bytes) & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+ throw new AltosCRCException(rssi(bytes));
+
/* length, data ..., rssi, status, checksum -- 4 bytes extra */
switch (bytes.length) {
case AltosLib.ao_telemetry_standard_len + 4:
AltosCalData cal_data = listener.cal_data();
- cal_data.set_device_type(device_type());
+ listener.set_device_type(device_type());
cal_data.set_flight(flight());
cal_data.set_config(config_major(), config_minor(), flight_log_max());
if (device_type() == AltosLib.product_telegps)
/* Try to pick up at least one pre-boost value */
if (cal_data.time() >= -2)
telem.provide_data(listener);
- if (listener.state == AltosLib.ao_flight_landed)
+ if (listener.state() == AltosLib.ao_flight_landed)
break;
}
listener.finish();
AltosCalData cal_data = listener.cal_data();
- AltosGPS gps = cal_data.make_temp_gps(tick(), false);
+ AltosGPS gps = listener.make_temp_gps(false);
int flags = flags();
gps.nsat = flags & 0xf;
gps.ground_speed = ground_speed() * 1.0e-2;
gps.course = course() * 2;
gps.climb_rate = climb_rate() * 1.0e-2;
-
- if (gps.nsat >= 4)
- cal_data.set_gps(gps);
}
listener.set_gps(gps);
- cal_data.set_gps(gps);
- cal_data.reset_temp_gps();
}
}
int v_batt() { return int16(6); }
int v_pyro() { return int16(8); }
- int sense(int i) { int v = uint8(10+i); return v << 4 | v >> 8; }
+
+ /* pyro sense values are sent in 8 bits, expand to 12 bits */
+ int sense(int i) { int v = uint8(10+i); return (v << 4) | (v >> 4); }
int ground_pres() { return int32(16); }
int ground_accel() { return int16(20); }
throw new IOException("IO error");
} while (!link.get_monitor());
AltosTelemetry telem = AltosTelemetry.parse(l.line);
- if (state == null) {
- System.out.printf("Make state\n");
+ if (state == null)
state = new AltosState(cal_data());
- }
telem.provide_data(state);
return state;
}
public AltosCalData cal_data() {
- if (cal_data == null) {
- System.out.printf("Make cal data\n");
+ if (cal_data == null)
cal_data = new AltosCalData();
- }
return cal_data;
}
AltosCalData cal_data = listener.cal_data();
- AltosGPS gps = cal_data.make_temp_gps(tick(), true);
+ AltosGPS gps = listener.make_temp_gps(true);
gps.cc_gps_sat = sats();
listener.set_gps(gps);
- cal_data.reset_temp_gps();
}
}
public String label;
public AltosUnits units;
ArrayList<AltosTimeValue> values;
+ boolean data_changed;
public int compareTo(AltosTimeSeries other) {
return label.compareTo(other.label);
}
public void add(AltosTimeValue tv) {
+ data_changed = true;
values.add(tv);
}
+ public void erase_values() {
+ data_changed = true;
+ this.values = new ArrayList<AltosTimeValue>();
+ }
+
+ public void clear_changed() {
+ data_changed = false;
+ }
+
+// public boolean changed() {
+// return data_changed;
+// }
+
public void add(double time, double value) {
add(new AltosTimeValue(time, value));
}
}
- private double filter_coeff(double dist, double width) {
- double ratio = dist / (width / 2);
+ private static double i0(double x) {
+ double ds = 1, d = 0, s = 0;
- return Math.cos(ratio * Math.PI / 2);
+ do {
+ d += 2;
+ ds = ds * (x * x) / (d * d);
+ s += ds;
+ } while (ds - 0.2e-8 * s > 0);
+ return s;
+ }
+
+ private static double kaiser(double n, double m, double beta) {
+ double alpha = m / 2;
+ double t = (n - alpha) / alpha;
+
+ if (t > 1 || t < -1)
+ t = 1;
+ double k = i0 (beta * Math.sqrt (1 - t*t)) / i0(beta);
+ return k;
+ }
+
+ private double filter_coeff(double dist, double width) {
+ return kaiser(dist + width/2.0, width, 2 * Math.PI);
}
public AltosTimeSeries filter(AltosTimeSeries f, double width) {
+
double half_width = width/2;
+ int half_point = values.size() / 2;
for (int i = 0; i < values.size(); i++) {
double center_time = values.get(i).time;
double left_time = center_time - half_width;
AltosEepromList.java \
AltosEepromLog.java \
AltosFile.java \
+ AltosFilterListener.java \
AltosFlash.java \
AltosFlashListener.java \
AltosDataListener.java \
import org.jfree.chart.JFreeChart;
import org.jfree.ui.RefineryUtilities;
-public class AltosGraphUI extends AltosUIFrame implements AltosFontListener, AltosUnitsListener
+public class AltosGraphUI extends AltosUIFrame implements AltosFontListener, AltosUnitsListener, AltosFilterListener
{
JTabbedPane pane;
AltosGraph graph;
enable.units_changed(imperial_units);
}
+ AltosUIFlightSeries flight_series;
+
+ public void filter_changed(double speed_filter, double accel_filter) {
+ flight_series.set_filter(speed_filter, accel_filter);
+ graph.filter_changed();
+ stats = new AltosFlightStats(flight_series);
+ statsTable.filter_changed(stats);
+ }
+
+ public double speed_filter() {
+ return flight_series.speed_filter_width;
+ }
+
+ public double accel_filter() {
+ return flight_series.accel_filter_width;
+ }
+
AltosGraphUI(AltosRecordSet set, File file) throws InterruptedException, IOException {
super(file.getName());
AltosCalData cal_data = set.cal_data();
pane = new JTabbedPane();
- enable = new AltosUIEnable();
+ flight_series = new AltosUIFlightSeries(cal_data);
- AltosUIFlightSeries flight_series = new AltosUIFlightSeries(cal_data);
+ enable = new AltosUIEnable(this);
set.capture_series(flight_series);
pack();
setVisible(true);
- thread = new AltosIdleMonitor((AltosIdleMonitorListener) this, link, (boolean) remote);
+ thread = new AltosIdleMonitor(this, link, (boolean) remote);
status_update = new AltosFlightStatusUpdate(flightStatus);
import org.altusmetrum.altoslib_12.*;
import org.altusmetrum.altosuilib_12.*;
-public class AltosUI extends AltosUIFrame {
+public class AltosUI extends AltosUIFrame implements AltosEepromGrapher {
public AltosVoice voice = new AltosVoice();
public static boolean load_library(Frame frame) {
/* Connect to TeleMetrum, either directly or through
* a TeleDongle over the packet link
*/
+
+ public void graph_flights(AltosEepromList flights) {
+ for (AltosEepromLog flight : flights) {
+ if (flight.graph_selected && flight.file != null) {
+ process_graph(flight.file);
+ }
+ }
+ }
+
private void SaveFlightData() {
- new AltosEepromManage(AltosUI.this, AltosLib.product_any);
+ new AltosEepromManage(this, this, AltosLib.product_any);
}
private static AltosFlightSeries make_series(AltosRecordSet set) {
report(false);
}
} catch (InterruptedException ie) {
- try {
- voice.drain();
- } catch (InterruptedException iie) { }
}
}
serial_line.start_remote();
for (AltosEepromLog log : flights) {
- if (log.selected) {
+ if (log.delete_selected) {
DeleteLog(log);
}
}
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+package org.altusmetrum.altosuilib_12;
+
+import org.altusmetrum.altoslib_12.*;
+
+public interface AltosEepromGrapher {
+
+ public void graph_flights(AltosEepromList list);
+}
AltosEepromList flights;
AltosEepromDownload download;
AltosEepromDelete delete;
+ AltosEepromGrapher grapher;
public void finish() {
if (serial_line != null) {
private int countDeletedFlights() {
int count = 0;
for (AltosEepromLog flight : flights) {
- if (flight.selected)
+ if (flight.delete_selected)
count++;
}
return count;
String result = "";
for (AltosEepromLog flight : flights) {
- if (flight.selected) {
+ if (flight.delete_selected) {
if (result.equals(""))
result = String.format("%d", flight.flight);
else
return result;
}
- public boolean download_done() {
- AltosEepromSelect select = new AltosEepromSelect(frame, flights, "Delete");
-
- if (select.run()) {
- boolean any_selected = false;
- for (AltosEepromLog flight : flights)
- any_selected = any_selected || flight.selected;
- if (any_selected) {
- delete = new AltosEepromDelete(frame,
- serial_line,
- remote,
- flights);
- delete.addActionListener(this);
- /*
- * Start flight log delete
- */
-
- delete.start();
- return true;
- }
+ public boolean delete_start() {
+
+ boolean any_selected = false;
+ for (AltosEepromLog flight : flights)
+ any_selected = any_selected || flight.delete_selected;
+ if (any_selected) {
+ delete = new AltosEepromDelete(frame,
+ serial_line,
+ remote,
+ flights);
+ delete.addActionListener(this);
+ /*
+ * Start flight log delete
+ */
+
+ delete.start();
+ return true;
}
return false;
}
+ public void graph_start() {
+ boolean any_selected = false;
+ for (AltosEepromLog flight : flights) {
+ if (!flight.download_selected)
+ flight.graph_selected = false;
+ any_selected = any_selected || flight.graph_selected;
+ }
+ if (any_selected && grapher != null)
+ grapher.graph_flights(flights);
+ }
+
public void actionPerformed(ActionEvent e) {
String cmd = e.getActionCommand();
boolean success = e.getID() != 0;
boolean running = false;
if (cmd.equals("download")) {
- if (success)
- running = download_done();
+ if (success) {
+ running = delete_start();
+ if (!running)
+ graph_start();
+ }
} else if (cmd.equals("delete")) {
if (success) {
JOptionPane.showMessageDialog(frame,
showDeletedFlights()),
serial_line.device.toShortString(),
JOptionPane.INFORMATION_MESSAGE);
+ graph_start();
}
}
if (!running)
serial_line.device.toShortString(),
JOptionPane.INFORMATION_MESSAGE);
} else {
- AltosEepromSelect select = new AltosEepromSelect(frame, flights, "Download");
+ AltosEepromSelect select = new AltosEepromSelect(frame, flights, grapher != null);
if (select.run()) {
boolean any_selected = false;
for (AltosEepromLog flight : flights)
- any_selected = any_selected || flight.selected;
+ any_selected = any_selected || flight.download_selected;
if (any_selected) {
AltosEepromMonitorUI monitor = new AltosEepromMonitorUI(frame);
monitor.addActionListener(this);
download.start();
running = true;
} else {
- running = download_done();
+ running = delete_start();
+ if (!running)
+ graph_start();
}
}
}
}
}
- public AltosEepromManage(JFrame given_frame, int product) {
+ public AltosEepromManage(JFrame given_frame, AltosEepromGrapher grapher, int product) {
//boolean running = false;
frame = given_frame;
+ this.grapher = grapher;
device = AltosDeviceUIDialog.show(frame, product);
remote = false;
package org.altusmetrum.altosuilib_12;
+import java.io.*;
+import java.util.*;
+import java.util.concurrent.*;
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
import org.altusmetrum.altoslib_12.*;
+ class result_holder {
+ static int result;
+ }
+
public class AltosEepromMonitorUI extends AltosUIDialog implements AltosEepromMonitor {
JFrame owner;
Container pane;
JLabel file_label;
JLabel serial_value;
JLabel flight_value;
- JLabel file_value;
JButton cancel;
JProgressBar pbar;
ActionListener listener;
public AltosEepromMonitorUI(JFrame owner) {
super (owner, "Download Flight Data", false);
+ setMinimumSize(new Dimension(600, 100));
+
this.owner = owner;
GridBagConstraints c;
flight_value = new JLabel("");
pane.add(flight_value, c);
- c = new GridBagConstraints();
- c.fill = GridBagConstraints.NONE;
- c.gridx = 0; c.gridy = 2;
- c.anchor = GridBagConstraints.LINE_START;
- c.insets = il;
- file_label = new JLabel("File:");
- pane.add(file_label, c);
-
- c = new GridBagConstraints();
- c.fill = GridBagConstraints.HORIZONTAL;
- c.weightx = 1;
- c.gridx = 1; c.gridy = 2;
- c.anchor = GridBagConstraints.LINE_START;
- c.insets = ir;
- file_value = new JLabel("");
- pane.add(file_value, c);
-
pbar = new JProgressBar();
pbar.setMinimum(0);
pbar.setMaximum(progress_max);
- pbar.setValue(0);
- pbar.setString("startup");
pbar.setStringPainted(true);
- pbar.setPreferredSize(new Dimension(600, 20));
+ set_block_internal(0);
c = new GridBagConstraints();
c.fill = GridBagConstraints.HORIZONTAL;
c.anchor = GridBagConstraints.CENTER;
c.insets = ib;
pane.add(pbar, c);
-
cancel = new JButton("Cancel");
c = new GridBagConstraints();
c.fill = GridBagConstraints.NONE;
final Thread eeprom_thread = in_eeprom_thread;
cancel.addActionListener(new ActionListener() {
public void actionPerformed(ActionEvent e) {
- if (eeprom_thread != null)
+ if (eeprom_thread != null) {
eeprom_thread.interrupt();
+ }
}
});
}
s = String.format("block %d of %d", block, max_block);
pbar.setString(s);
+ pbar.setStringPainted(true);
pbar.setValue((int) (pos * progress_max));
}
SwingUtilities.invokeLater(r);
}
- private void set_filename_internal(String filename) {
- file_value.setText(String.format("%s", filename));
- }
-
- public void set_filename(String in_filename) {
- final String filename = in_filename;
- Runnable r = new Runnable() {
- public void run() {
- try {
- set_filename_internal(filename);
- } catch (Exception ex) {
- }
- }
- };
- SwingUtilities.invokeLater(r);
- }
-
private void done_internal(boolean success) {
listener.actionPerformed(new ActionEvent(this,
success ? 1 : 0,
set_max(1);
set_block_internal(0);
set_flight_internal(0);
- set_filename_internal("");
}
public void reset() {
joption_message_type);
}
+ public Boolean check_overwrite(File in_file) {
+ final Semaphore check_overwrite_done = new Semaphore(0);
+ final File file = in_file;
+ final result_holder result = new result_holder();
+
+ Runnable r = new Runnable() {
+ public void run() {
+ result_holder.result = JOptionPane.showConfirmDialog(owner,
+ String.format("\"%s\" already exists, overwrite?",
+ file.toString()),
+ "Overwrite Existing File?",
+ JOptionPane.YES_NO_OPTION);
+ check_overwrite_done.release();
+ }
+ };
+
+ SwingUtilities.invokeLater(r);
+ try {
+ check_overwrite_done.acquire();
+ } catch (Exception e) {}
+ return result_holder.result == JOptionPane.YES_OPTION;
+ }
+
public void show_message(String in_message, String in_title, int in_message_type) {
final String message = in_message;
final String title = in_title;
class AltosEepromItem implements ActionListener {
AltosEepromLog log;
JLabel label;
- JCheckBox action;
+ JCheckBox download;
JCheckBox delete;
+ JCheckBox graph;
public void actionPerformed(ActionEvent e) {
- log.selected = action.isSelected();
+ log.download_selected = download.isSelected();
+ log.delete_selected = delete.isSelected();
+ log.graph_selected = graph.isSelected();
}
public AltosEepromItem(AltosEepromLog in_log) {
log = in_log;
String text;
- text = String.format("Flight #%02d", log.flight);
+ if (log.flight >= 0)
+ text = String.format("Flight #%02d", log.flight);
+ else
+ text = String.format("Corrupt #%02d", -log.flight);
label = new JLabel(text);
- action = new JCheckBox("", log.selected);
- action.addActionListener(this);
+ download = new JCheckBox("", log.download_selected);
+ download.addActionListener(this);
+
+ delete = new JCheckBox("", log.delete_selected);
+ delete.addActionListener(this);
+
+ graph = new JCheckBox("", log.graph_selected);
+ graph.addActionListener(this);
}
}
public AltosEepromSelect (JFrame in_frame,
AltosEepromList flights,
- String action) {
+ boolean has_graph) {
super(in_frame, String.format("Flight list for serial %d", flights.config_data.serial), true);
frame = in_frame;
Container contentPane = getContentPane();
/* First, we create a pane containing the dialog's header/title */
- JLabel selectLabel = new JLabel(String.format ("Select flights to %s", action), SwingConstants.CENTER);
+ JLabel selectLabel = new JLabel(String.format ("Select flights"), SwingConstants.CENTER);
JPanel labelPane = new JPanel();
labelPane.setLayout(new BoxLayout(labelPane, BoxLayout.X_AXIS));
c.weightx = 0.5;
c.anchor = GridBagConstraints.CENTER;
c.insets = i;
- JLabel downloadHeaderLabel = new JLabel(action);
+ JLabel downloadHeaderLabel = new JLabel("Download");
flightPane.add(downloadHeaderLabel, c);
+ /* Delete Header */
+ c = new GridBagConstraints();
+ c.gridx = 2; c.gridy = 0;
+ c.fill = GridBagConstraints.NONE;
+ c.weightx = 0.5;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = i;
+ JLabel deleteHeaderLabel = new JLabel("Delete");
+ flightPane.add(deleteHeaderLabel, c);
+
+ if (has_graph) {
+ /* Graph Header */
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = 0;
+ c.fill = GridBagConstraints.NONE;
+ c.weightx = 0.5;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = i;
+ JLabel graphHeaderLabel = new JLabel("Graph");
+ flightPane.add(graphHeaderLabel, c);
+ }
+
/* Add the flights to the GridBag */
AltosEepromItem item;
int itemNumber = 1;
c.insets = i;
flightPane.add(item.label, c);
- /* Add action checkbox for the flight */
+ /* Add download checkbox for the flight */
c = new GridBagConstraints();
c.gridx = 1; c.gridy = itemNumber;
c.fill = GridBagConstraints.NONE;
c.weightx = 0.5;
c.anchor = GridBagConstraints.CENTER;
c.insets = i;
- flightPane.add(item.action, c);
+ flightPane.add(item.download, c);
+
+ /* Add delete checkbox for the flight */
+ c = new GridBagConstraints();
+ c.gridx = 2; c.gridy = itemNumber;
+ c.fill = GridBagConstraints.NONE;
+ c.weightx = 0.5;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = i;
+ flightPane.add(item.delete, c);
+
+ if (has_graph) {
+ /* Add graph checkbox for the flight */
+ c = new GridBagConstraints();
+ c.gridx = 3; c.gridy = itemNumber;
+ c.fill = GridBagConstraints.NONE;
+ c.weightx = 0.5;
+ c.anchor = GridBagConstraints.CENTER;
+ c.insets = i;
+ flightPane.add(item.graph, c);
+ }
itemNumber++;
}
value[i].setFont(AltosUILib.value_font);
}
+ public void set(String ... values) {
+ for (int j = 0; j < values.length; j++)
+ value[j].setText(values[j]);
+ }
+
public FlightStat(GridBagLayout layout, int y, String label_text, String ... values) {
GridBagConstraints c = new GridBagConstraints();
c.insets = new Insets(AltosUILib.tab_elt_pad, AltosUILib.tab_elt_pad, AltosUILib.tab_elt_pad, AltosUILib.tab_elt_pad);
return String.format("%s %4d° %9.6f'", h, deg, min);
}
+ private FlightStat max_height_stat;
+ private FlightStat max_speed_stat;
+ private FlightStat max_accel_stat;
+ private FlightStat boost_accel_stat;
+ private FlightStat drogue_descent_stat;
+ private FlightStat main_descent_stat;
+
+ public void set_values(AltosFlightStats stats) {
+ if (max_height_stat != null && stats.max_height != AltosLib.MISSING) {
+ max_height_stat.set(String.format("%6.1f m", stats.max_height),
+ String.format("%5.0f ft", AltosConvert.meters_to_feet(stats.max_height)));
+ }
+ if (max_speed_stat != null && stats.max_speed != AltosLib.MISSING) {
+ max_speed_stat.set(String.format("%6.1f m/s", stats.max_speed),
+ String.format("%5.0f fps", AltosConvert.mps_to_fps(stats.max_speed)),
+ String.format("Mach %4.1f", AltosConvert.meters_to_mach(stats.max_speed)));
+ }
+ if (max_accel_stat != null && stats.max_acceleration != AltosLib.MISSING) {
+ max_accel_stat.set(String.format("%6.1f m/s²", stats.max_acceleration),
+ String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.max_acceleration)),
+ String.format("%6.2f G", AltosConvert.meters_to_g(stats.max_acceleration)));
+ }
+ if (boost_accel_stat != null && stats.state_accel[AltosLib.ao_flight_boost] != AltosLib.MISSING) {
+ boost_accel_stat.set(String.format("%6.1f m/s²", stats.state_accel[AltosLib.ao_flight_boost]),
+ String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.state_accel[AltosLib.ao_flight_boost])),
+ String.format("%6.2f G", AltosConvert.meters_to_g(stats.state_accel[AltosLib.ao_flight_boost])));
+ }
+ if (drogue_descent_stat != null && stats.state_speed[AltosLib.ao_flight_drogue] != AltosLib.MISSING) {
+ drogue_descent_stat.set(String.format("%6.1f m/s", -stats.state_speed[AltosLib.ao_flight_drogue]),
+ String.format("%5.0f ft/s", -AltosConvert.meters_to_feet(stats.state_speed[AltosLib.ao_flight_drogue])));
+ }
+ if (main_descent_stat != null && stats.state_speed[AltosLib.ao_flight_main] != AltosLib.MISSING) {
+ main_descent_stat.set(String.format("%6.1f m/s", -stats.state_speed[AltosLib.ao_flight_main]),
+ String.format("%5.0f ft/s", -AltosConvert.meters_to_feet(stats.state_speed[AltosLib.ao_flight_main])));
+ }
+ }
+
public void set_stats(AltosFlightStats stats) {
int y = 0;
if (stats.serial != AltosLib.MISSING) {
String.format("%02d:%02d:%02d UTC", stats.hour, stats.minute, stats.second));
}
if (stats.max_height != AltosLib.MISSING) {
- new FlightStat(layout, y++, "Maximum height",
- String.format("%6.1f m", stats.max_height),
- String.format("%5.0f ft", AltosConvert.meters_to_feet(stats.max_height)));
+ max_height_stat = new FlightStat(layout, y++, "Maximum height",
+ String.format("%6.1f m", stats.max_height),
+ String.format("%5.0f ft", AltosConvert.meters_to_feet(stats.max_height)));
}
if (stats.max_gps_height != AltosLib.MISSING) {
new FlightStat(layout, y++, "Maximum GPS height",
String.format("%5.0f ft", AltosConvert.meters_to_feet(stats.max_gps_height)));
}
if (stats.max_speed != AltosLib.MISSING) {
- new FlightStat(layout, y++, "Maximum speed",
- String.format("%6.1f m/s", stats.max_speed),
- String.format("%5.0f fps", AltosConvert.mps_to_fps(stats.max_speed)),
- String.format("Mach %4.1f", AltosConvert.meters_to_mach(stats.max_speed)));
+ max_speed_stat = new FlightStat(layout, y++, "Maximum speed",
+ String.format("%6.1f m/s", stats.max_speed),
+ String.format("%5.0f fps", AltosConvert.mps_to_fps(stats.max_speed)),
+ String.format("Mach %4.1f", AltosConvert.meters_to_mach(stats.max_speed)));
}
if (stats.max_acceleration != AltosLib.MISSING)
- new FlightStat(layout, y++, "Maximum boost acceleration",
- String.format("%6.1f m/s²", stats.max_acceleration),
- String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.max_acceleration)),
- String.format("%6.2f G", AltosConvert.meters_to_g(stats.max_acceleration)));
+ max_accel_stat = new FlightStat(layout, y++, "Maximum boost acceleration",
+ String.format("%6.1f m/s²", stats.max_acceleration),
+ String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.max_acceleration)),
+ String.format("%6.2f G", AltosConvert.meters_to_g(stats.max_acceleration)));
if (stats.state_accel[AltosLib.ao_flight_boost] != AltosLib.MISSING)
- new FlightStat(layout, y++, "Average boost acceleration",
- String.format("%6.1f m/s²", stats.state_accel[AltosLib.ao_flight_boost]),
- String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.state_accel[AltosLib.ao_flight_boost])),
- String.format("%6.2f G", AltosConvert.meters_to_g(stats.state_accel[AltosLib.ao_flight_boost])));
+ boost_accel_stat = new FlightStat(layout, y++, "Average boost acceleration",
+ String.format("%6.1f m/s²", stats.state_accel[AltosLib.ao_flight_boost]),
+ String.format("%5.0f ft/s²", AltosConvert.meters_to_feet(stats.state_accel[AltosLib.ao_flight_boost])),
+ String.format("%6.2f G", AltosConvert.meters_to_g(stats.state_accel[AltosLib.ao_flight_boost])));
if (stats.state_time[AltosLib.ao_flight_boost] != 0 || stats.state_time[AltosLib.ao_flight_fast] != 0 || stats.state_time[AltosLib.ao_flight_coast] != 0) {
double boost_time = stats.state_time[AltosLib.ao_flight_boost];
label = "Descent rate";
else
label = "Drogue descent rate";
- new FlightStat(layout, y++, label,
+ drogue_descent_stat = new FlightStat(layout, y++, label,
String.format("%6.1f m/s", -stats.state_speed[AltosLib.ao_flight_drogue]),
String.format("%5.0f ft/s", -AltosConvert.meters_to_feet(stats.state_speed[AltosLib.ao_flight_drogue])));
}
if (stats.state_speed[AltosLib.ao_flight_main] != AltosLib.MISSING)
- new FlightStat(layout, y++, "Main descent rate",
- String.format("%6.1f m/s", -stats.state_speed[AltosLib.ao_flight_main]),
- String.format("%5.0f ft/s", -AltosConvert.meters_to_feet(stats.state_speed[AltosLib.ao_flight_main])));
+ main_descent_stat = new FlightStat(layout, y++, "Main descent rate",
+ String.format("%6.1f m/s", -stats.state_speed[AltosLib.ao_flight_main]),
+ String.format("%5.0f ft/s", -AltosConvert.meters_to_feet(stats.state_speed[AltosLib.ao_flight_main])));
if (stats.state_time[AltosLib.ao_flight_drogue] != 0 || stats.state_time[AltosLib.ao_flight_main] != 0) {
double drogue_duration = stats.state_time[AltosLib.ao_flight_drogue];
double main_duration = stats.state_time[AltosLib.ao_flight_main];
AltosUIPreferences.unregister_font_listener(this);
}
+ public void filter_changed(AltosFlightStats stats) {
+ set_values(stats);
+ }
+
public AltosFlightStatsTable() {
layout = new GridBagLayout();
public class AltosGraph extends AltosUIGraph {
- static final private Color height_color = new Color(194,31,31);
- static final private Color kalman_height_color = new Color(255,0,0);
- static final private Color gps_height_color = new Color(150,31,31);
- static final private Color pressure_color = new Color (225,31,31);
- static final private Color range_color = new Color(100, 31, 31);
- static final private Color distance_color = new Color(100, 31, 194);
- static final private Color speed_color = new Color(31,194,31);
- static final private Color kalman_speed_color = new Color(0,255,0);
- static final private Color thrust_color = new Color(31,194,31);
- static final private Color accel_color = new Color(31,31,194);
- static final private Color vert_accel_color = new Color(64,164,164);
- static final private Color kalman_accel_color = new Color(0,0,255);
- static final private Color voltage_color = new Color(194, 194, 31);
- static final private Color battery_voltage_color = new Color(194, 194, 31);
- static final private Color drogue_voltage_color = new Color(150, 150, 31);
- static final private Color main_voltage_color = new Color(100, 100, 31);
- static final private Color igniter_voltage_color = new Color(80, 80, 31);
- static final private Color igniter_marker_color = new Color(255, 0, 0);
- static final private Color gps_nsat_color = new Color (194, 31, 194);
- static final private Color gps_nsat_solution_color = new Color (194, 31, 194);
- static final private Color gps_nsat_view_color = new Color (150, 31, 150);
- static final private Color gps_course_color = new Color (100, 31, 112);
- static final private Color gps_ground_speed_color = new Color (31, 112, 100);
- static final private Color gps_speed_color = new Color (31, 112, 100);
- static final private Color gps_climb_rate_color = new Color (31, 31, 112);
- static final private Color gps_pdop_color = new Color(50, 194, 0);
- static final private Color gps_hdop_color = new Color(50, 0, 194);
- static final private Color gps_vdop_color = new Color(194, 0, 50);
- static final private Color temperature_color = new Color (31, 194, 194);
- static final private Color dbm_color = new Color(31, 100, 100);
- static final private Color state_color = new Color(0,0,0);
- static final private Color accel_along_color = new Color(255, 0, 0);
- static final private Color accel_across_color = new Color(0, 255, 0);
- static final private Color accel_through_color = new Color(0, 0, 255);
- static final private Color gyro_roll_color = new Color(192, 0, 0);
- static final private Color gyro_pitch_color = new Color(0, 192, 0);
- static final private Color gyro_yaw_color = new Color(0, 0, 192);
- static final private Color mag_along_color = new Color(128, 0, 0);
- static final private Color mag_across_color = new Color(0, 128, 0);
- static final private Color mag_through_color = new Color(0, 0, 128);
- static final private Color orient_color = new Color(31, 31, 31);
+ /* These are in 'priority' order so that earlier ones get simpler line styles,
+ * then they are grouped so that adjacent ones get sequential colors
+ */
+ static final private AltosUILineStyle height_color = new AltosUILineStyle();
+ static final private AltosUILineStyle speed_color = new AltosUILineStyle();
+ static final private AltosUILineStyle accel_color = new AltosUILineStyle();
+ static final private AltosUILineStyle vert_accel_color = new AltosUILineStyle();
+ static final private AltosUILineStyle orient_color = new AltosUILineStyle();
+
+ static final private AltosUILineStyle gps_height_color = new AltosUILineStyle();
+ static final private AltosUILineStyle altitude_color = new AltosUILineStyle();
+
+ static final private AltosUILineStyle battery_voltage_color = new AltosUILineStyle();
+ static final private AltosUILineStyle pyro_voltage_color = new AltosUILineStyle();
+ static final private AltosUILineStyle drogue_voltage_color = new AltosUILineStyle();
+ static final private AltosUILineStyle main_voltage_color = new AltosUILineStyle();
+ static final private AltosUILineStyle igniter_marker_color = new AltosUILineStyle(1);
+
+ static final private AltosUILineStyle kalman_height_color = new AltosUILineStyle();
+ static final private AltosUILineStyle kalman_speed_color = new AltosUILineStyle();
+ static final private AltosUILineStyle kalman_accel_color = new AltosUILineStyle();
+
+ static final private AltosUILineStyle gps_nsat_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_nsat_solution_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_nsat_view_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_course_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_ground_speed_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_speed_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_climb_rate_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle gps_pdop_color = new AltosUILineStyle();
+ static final private AltosUILineStyle gps_hdop_color = new AltosUILineStyle();
+ static final private AltosUILineStyle gps_vdop_color = new AltosUILineStyle();
+
+ static final private AltosUILineStyle temperature_color = new AltosUILineStyle ();
+ static final private AltosUILineStyle dbm_color = new AltosUILineStyle();
+ static final private AltosUILineStyle pressure_color = new AltosUILineStyle ();
+
+ static final private AltosUILineStyle state_color = new AltosUILineStyle(0);
+ static final private AltosUILineStyle accel_along_color = new AltosUILineStyle();
+ static final private AltosUILineStyle accel_across_color = new AltosUILineStyle();
+ static final private AltosUILineStyle accel_through_color = new AltosUILineStyle();
+ static final private AltosUILineStyle gyro_roll_color = new AltosUILineStyle();
+ static final private AltosUILineStyle gyro_pitch_color = new AltosUILineStyle();
+ static final private AltosUILineStyle gyro_yaw_color = new AltosUILineStyle();
+ static final private AltosUILineStyle mag_along_color = new AltosUILineStyle();
+ static final private AltosUILineStyle mag_across_color = new AltosUILineStyle();
+ static final private AltosUILineStyle mag_through_color = new AltosUILineStyle();
static AltosUnits dop_units = null;
+ static AltosUnits tick_units = null;
AltosUIFlightSeries flight_series;
AltosCalData cal_data = flight_series.cal_data();
AltosUIAxis height_axis, speed_axis, accel_axis, voltage_axis, temperature_axis, nsat_axis, dbm_axis;
- AltosUIAxis distance_axis, pressure_axis, thrust_axis;
+ AltosUIAxis pressure_axis, thrust_axis;
AltosUIAxis gyro_axis, orient_axis, mag_axis;
- AltosUIAxis course_axis, dop_axis;
+ AltosUIAxis course_axis, dop_axis, tick_axis;
- if (stats.serial != AltosLib.MISSING && stats.product != null && stats.flight != AltosLib.MISSING)
+ if (stats != null && stats.serial != AltosLib.MISSING && stats.product != null && stats.flight != AltosLib.MISSING)
setName(String.format("%s %d flight %d\n", stats.product, stats.serial, stats.flight));
height_axis = newAxis("Height", AltosConvert.height, height_color);
pressure_axis = newAxis("Pressure", AltosConvert.pressure, pressure_color, 0);
speed_axis = newAxis("Speed", AltosConvert.speed, speed_color);
- thrust_axis = newAxis("Thrust", AltosConvert.force, thrust_color);
+ thrust_axis = newAxis("Thrust", AltosConvert.force, accel_color);
+ tick_axis = newAxis("Tick", tick_units, accel_color, 0);
accel_axis = newAxis("Acceleration", AltosConvert.accel, accel_color);
- voltage_axis = newAxis("Voltage", AltosConvert.voltage, voltage_color);
+ voltage_axis = newAxis("Voltage", AltosConvert.voltage, battery_voltage_color);
temperature_axis = newAxis("Temperature", AltosConvert.temperature, temperature_color, 0);
nsat_axis = newAxis("Satellites", null, gps_nsat_color,
AltosUIAxis.axis_include_zero | AltosUIAxis.axis_integer);
dbm_axis = newAxis("Signal Strength", null, dbm_color, 0);
- distance_axis = newAxis("Distance", AltosConvert.distance, range_color);
gyro_axis = newAxis("Rotation Rate", AltosConvert.rotation_rate, gyro_roll_color, 0);
orient_axis = newAxis("Tilt Angle", AltosConvert.orient, orient_color, 0);
plot,
false);
+ flight_series.register_axis(AltosUIFlightSeries.tick_name,
+ accel_color,
+ false,
+ tick_axis);
+
flight_series.register_axis(AltosUIFlightSeries.accel_name,
accel_color,
true,
height_axis);
flight_series.register_axis(AltosUIFlightSeries.altitude_name,
- height_color,
+ altitude_color,
false,
height_axis);
false,
voltage_axis);
+ flight_series.register_axis(AltosUIFlightSeries.pyro_voltage_name,
+ pyro_voltage_color,
+ false,
+ voltage_axis);
+
flight_series.register_axis(AltosUIFlightSeries.apogee_voltage_name,
drogue_voltage_color,
false,
false,
orient_axis);
- for (int channel = 0; channel < 26; channel++) {
+ flight_series.register_axis(AltosUIFlightSeries.thrust_name,
+ accel_color,
+ true,
+ thrust_axis);
+
+ for (int channel = 0; channel < 8; channel++) {
flight_series.register_axis(flight_series.igniter_voltage_name(channel),
- igniter_voltage_color,
+ new AltosUILineStyle(),
false,
voltage_axis);
}
- flight_series.register_axis(AltosUIFlightSeries.thrust_name,
- thrust_color,
- true,
- thrust_axis);
+ flight_series.check_axes();
return flight_series.series(cal_data);
}
public AltosGraph(AltosUIEnable enable, AltosFlightStats stats, AltosUIFlightSeries flight_series) {
this(enable);
+ this.flight_series = flight_series;
set_series(setup(stats, flight_series));
}
}
info_add_row(0, "Device", "%s", AltosLib.product_name(cal_data.device_type));
else if (cal_data.product != null)
info_add_row(0, "Device", "%s", cal_data.product);
+ if (state.tick() != AltosLib.MISSING)
+ info_add_row(0, "Tick", "%6d", state.tick());
if (state.altitude() != AltosLib.MISSING)
info_add_row(0, "Altitude", "%6.0f m", state.altitude());
if (cal_data.ground_altitude != AltosLib.MISSING)
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+package org.altusmetrum.altosuilib_12;
+
+public interface AltosShapeListener {
+ void set_shapes_visible(boolean visible);
+ void set_line_width(float width);
+}
import org.jfree.data.*;
public class AltosUIAxis extends NumberAxis {
- String label;
- AltosUnits units;
- Color color;
- int ref;
- int visible;
- int index;
+ String label;
+ AltosUnits units;
+ AltosUILineStyle line_style;
+ int ref;
+ int visible;
+ int index;
public final static int axis_integer = 1;
public final static int axis_include_zero = 2;
}
}
- public AltosUIAxis(String label, AltosUnits units, Color color, int index, int flags) {
+ public AltosUIAxis(String label, AltosUnits units, AltosUILineStyle line_style, int index, int flags) {
this.label = label;
this.units = units;
+ this.line_style = line_style;
this.index = index;
this.visible = 0;
this.ref = 0;
- setLabelPaint(color);
- setTickLabelPaint(color);
+ setLabelPaint(line_style.color);
+ setTickLabelPaint(line_style.color);
setVisible(false);
if ((flags & axis_integer) != 0)
setStandardTickUnits(NumberAxis.createIntegerTickUnits());
setAutoRangeIncludesZero((flags & axis_include_zero) != 0);
}
- public AltosUIAxis(String label, AltosUnits units, Color color, int index) {
- this(label, units, color, index, axis_default);
+ public AltosUIAxis(String label, AltosUnits units, AltosUILineStyle line_style, int index) {
+ this(label, units, line_style, index, axis_default);
}
}
import java.awt.*;
import java.awt.event.*;
import javax.swing.*;
+import javax.swing.event.*;
import java.io.*;
import java.util.concurrent.*;
import java.util.*;
import org.jfree.data.xy.*;
import org.jfree.data.*;
-public class AltosUIEnable extends Container {
+public class AltosUIEnable extends Container implements ChangeListener {
Insets il, ir;
int y;
int x;
JCheckBox imperial_units;
+ JCheckBox show_shapes;
+ JLabel line_width_label;
+ JSpinner line_width;
+ JLabel speed_filter_label;
+ JSlider speed_filter;
+ JLabel accel_filter_label;
+ JSlider accel_filter;
+ AltosFilterListener filter_listener;
+ AltosShapeListener shape_listener;
static final int max_rows = 14;
}
}
+ LinkedList<GraphElement> elements = new LinkedList<GraphElement>();
+
public void add(String name, AltosUIGrapher grapher, boolean enabled) {
GraphElement e = new GraphElement(name, grapher, enabled);
GridBagConstraints c = new GridBagConstraints();
+ elements.add(e);
+
/* Add element */
c = new GridBagConstraints();
c.gridx = x; c.gridy = y;
}
}
+ public void stateChanged(ChangeEvent e) {
+ JSlider filter = (JSlider) e.getSource();
+ if (!filter.getValueIsAdjusting()) {
+ double speed_value = (int) speed_filter.getValue() / 1000.0;
+ double accel_value = (int) accel_filter.getValue() / 1000.0;
+ if (filter_listener != null) {
+ filter_listener.filter_changed(speed_value, accel_value);
+ }
+ }
+ }
+
+ public void set_shapes_visible(boolean visible) {
+ if (shape_listener != null)
+ shape_listener.set_shapes_visible(visible);
+ }
+
+ public void set_line_width(float width) {
+ if (shape_listener != null)
+ shape_listener.set_line_width(width);
+ }
+
+ public void register_shape_listener(AltosShapeListener shape_listener) {
+ this.shape_listener = shape_listener;
+ }
+
public void add_units() {
/* Imperial units setting */
c.anchor = GridBagConstraints.LINE_START;
c.insets = il;
add(imperial_units, c);
+
+ show_shapes = new JCheckBox("Show Markers", false);
+ show_shapes.addActionListener(new ActionListener() {
+ public void actionPerformed(ActionEvent e) {
+ JCheckBox item = (JCheckBox) e.getSource();
+ boolean enabled = item.isSelected();
+ set_shapes_visible(enabled);
+ }
+ });
+ show_shapes.setToolTipText("Show marker Use Imperial units instead of metric");
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 1001;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(show_shapes, c);
+
+
+ line_width_label = new JLabel("Line Width");
+ c = new GridBagConstraints();
+ c.gridx = 1; c.gridy = 1001;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(line_width_label, c);
+
+ line_width = new JSpinner();
+ line_width.setValue(new Integer(1));
+ line_width.addChangeListener(new ChangeListener() {
+ public void stateChanged(ChangeEvent e) {
+ int w = (Integer) line_width.getValue();
+ if (w < 1) {
+ w = 1;
+ line_width.setValue(new Integer(w));
+ }
+ System.out.printf("line width set to %d\n", w);
+ set_line_width(w);
+ }
+ });
+ c = new GridBagConstraints();
+ c.gridx = 2; c.gridy = 1001;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(line_width, c);
+
+ speed_filter_label = new JLabel("Speed Filter(ms)");
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 1002;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(speed_filter_label, c);
+
+ speed_filter = new JSlider(JSlider.HORIZONTAL, 0, 10000, (int) (filter_listener.speed_filter() * 1000.0));
+ Hashtable<Integer,JLabel> label_table = new Hashtable<Integer,JLabel>();
+ for (int i = 0; i <= 10000; i += 5000) {
+ label_table.put(new Integer(i), new JLabel(String.format("%d", i)));
+ }
+ speed_filter.setPaintTicks(true);
+ speed_filter.setMajorTickSpacing(1000);
+ speed_filter.setMinorTickSpacing(250);
+ speed_filter.setLabelTable(label_table);
+ speed_filter.setPaintTrack(false);
+ speed_filter.setSnapToTicks(true);
+ speed_filter.setPaintLabels(true);
+ speed_filter.addChangeListener(this);
+
+ c = new GridBagConstraints();
+ c.gridx = 1; c.gridy = 1002;
+ c.gridwidth = 1000; c.gridheight = 1;
+ c.fill = GridBagConstraints.BOTH;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(speed_filter, c);
+
+ accel_filter_label = new JLabel("Acceleration Filter(ms)");
+ c = new GridBagConstraints();
+ c.gridx = 0; c.gridy = 1003;
+ c.fill = GridBagConstraints.NONE;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(accel_filter_label, c);
+
+ accel_filter = new JSlider(JSlider.HORIZONTAL, 0, 10000, (int) (filter_listener.accel_filter() * 1000.0));
+ accel_filter.setPaintTicks(true);
+ accel_filter.setMajorTickSpacing(1000);
+ accel_filter.setMinorTickSpacing(250);
+ accel_filter.setLabelTable(label_table);
+ accel_filter.setPaintTrack(false);
+ accel_filter.setSnapToTicks(true);
+ accel_filter.setPaintLabels(true);
+ accel_filter.addChangeListener(this);
+
+ c = new GridBagConstraints();
+ c.gridx = 1; c.gridy = 1003;
+ c.gridwidth = 1000; c.gridheight = 1;
+ c.fill = GridBagConstraints.BOTH;
+ c.anchor = GridBagConstraints.LINE_START;
+ c.insets = il;
+ add(accel_filter, c);
}
- public AltosUIEnable() {
+ public AltosUIEnable(AltosFilterListener filter_listener) {
+ this.filter_listener = filter_listener;
il = new Insets(4,4,4,4);
ir = new Insets(4,4,4,4);
x = 0;
import org.jfree.data.*;
class AltosUITimeSeriesAxis {
- Color color;
- boolean enabled;
- boolean marker;
- boolean marker_top;
- AltosUIAxis axis;
- XYPlot plot;
-
- public AltosUITimeSeriesAxis(Color color, boolean enabled, AltosUIAxis axis, XYPlot plot, boolean marker, boolean marker_top) {
- this.color = color;
+ AltosUILineStyle line_style;
+ boolean enabled;
+ boolean marker;
+ boolean marker_top;
+ AltosUIAxis axis;
+ XYPlot plot;
+
+ public AltosUITimeSeriesAxis(AltosUILineStyle line_style, boolean enabled,
+ AltosUIAxis axis, XYPlot plot, boolean marker, boolean marker_top) {
+ this.line_style = line_style;
this.enabled = enabled;
this.axis = axis;
this.plot = plot;
Hashtable<String,AltosUITimeSeriesAxis> axes;
- AltosUIFlightSeries flight_series;
-
void fill_axes(String label, AltosUITimeSeriesAxis axis) {
for (AltosTimeSeries ts : series) {
AltosUITimeSeries uts = (AltosUITimeSeries) ts;
- if (label.equals(ts.label) || (label.equals("default") && uts.color == null)) {
+ if (label.equals(ts.label) || (label.equals("default") && uts.line_style == null)) {
+ uts.custom_axis_set = true;
if (axis.marker)
- uts.set_marker(axis.color, axis.enabled, axis.plot, axis.marker_top);
+ uts.set_marker(axis.line_style, axis.enabled, axis.plot, axis.marker_top);
else
- uts.set_axis(axis.color, axis.enabled, axis.axis);
+ uts.set_axis(axis.line_style, axis.enabled, axis.axis);
}
}
}
+ void check_axes() {
+ for (AltosTimeSeries ts : series) {
+ AltosUITimeSeries uts = (AltosUITimeSeries) ts;
+
+ if (!uts.custom_axis_set)
+ System.out.printf("%s using default axis\n", ts.label);
+ }
+ }
+
public void register_axis(String label,
- Color color,
+ AltosUILineStyle line_style,
boolean enabled,
AltosUIAxis axis) {
- AltosUITimeSeriesAxis tsa = new AltosUITimeSeriesAxis(color,
+ AltosUITimeSeriesAxis tsa = new AltosUITimeSeriesAxis(line_style,
enabled,
axis,
null,
}
public void register_marker(String label,
- Color color,
+ AltosUILineStyle line_style,
boolean enabled,
XYPlot plot,
boolean marker_top) {
- AltosUITimeSeriesAxis tsa = new AltosUITimeSeriesAxis(color,
+ AltosUITimeSeriesAxis tsa = new AltosUITimeSeriesAxis(line_style,
enabled,
null,
plot,
public AltosTimeSeries make_series(String label, AltosUnits units) {
-
AltosUITimeSeries time_series = new AltosUITimeSeries(label, units);
AltosUITimeSeriesAxis tsa = axes.get(label);
if (tsa == null)
tsa = axes.get("default");
+ else
+ time_series.custom_axis_set = true;
if (tsa != null) {
if (tsa.marker)
- time_series.set_marker(tsa.color, tsa.enabled, tsa.plot, tsa.marker_top);
+ time_series.set_marker(tsa.line_style, tsa.enabled, tsa.plot, tsa.marker_top);
else
- time_series.set_axis(tsa.color, tsa.enabled, tsa.axis);
+ time_series.set_axis(tsa.line_style, tsa.enabled, tsa.axis);
}
return time_series;
}
import org.jfree.data.xy.*;
import org.jfree.data.*;
-public class AltosUIGraph implements AltosUnitsListener {
+public class AltosUIGraph implements AltosUnitsListener, AltosShapeListener {
XYPlot plot;
JFreeChart chart;
return panel;
}
- public AltosUIAxis newAxis(String label, AltosUnits units, Color color, int flags) {
- AltosUIAxis axis = new AltosUIAxis(label, units, color, axis_index++, flags);
+ public AltosUIAxis newAxis(String label, AltosUnits units, AltosUILineStyle line_style, int flags) {
+ AltosUIAxis axis = new AltosUIAxis(label, units, line_style, axis_index++, flags);
plot.setRangeAxis(axis.index, axis);
return axis;
}
- public AltosUIAxis newAxis(String label, AltosUnits units, Color color) {
- return newAxis(label, units, color, AltosUIAxis.axis_default);
+ public AltosUIAxis newAxis(String label, AltosUnits units, AltosUILineStyle line_style) {
+ return newAxis(label, units, line_style, AltosUIAxis.axis_default);
}
void addAxis(AltosUIAxis axis) {
s.set_units();
}
+ public void filter_changed() {
+ units_changed(false);
+ }
+
+ public void set_shapes_visible(boolean visible) {
+ for (AltosUITimeSeries s : series)
+ s.set_shapes_visible(visible);
+ }
+
+ public void set_line_width(float width) {
+ for (AltosUITimeSeries s : series)
+ s.set_line_width(width);
+ }
+
public void setName (String name) {
chart.setTitle(name);
}
this.series = null;
this.axis_index = 0;
+ enable.register_shape_listener(this);
+
axes_added = new Hashtable<Integer,Boolean>();
xAxis = new NumberAxis("Time (s)");
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+package org.altusmetrum.altosuilib_12;
+
+import java.io.*;
+import java.util.ArrayList;
+
+import java.awt.*;
+import javax.swing.*;
+import org.altusmetrum.altoslib_12.*;
+
+import org.jfree.ui.*;
+import org.jfree.chart.*;
+import org.jfree.chart.plot.*;
+import org.jfree.chart.axis.*;
+import org.jfree.chart.renderer.*;
+import org.jfree.chart.renderer.xy.*;
+import org.jfree.chart.labels.*;
+import org.jfree.data.xy.*;
+import org.jfree.data.*;
+
+public class AltosUILineStyle {
+ public Color color;
+ public float[] dash;
+
+ static private Color color(int r, int g, int b) {
+ return new Color(r,g,b);
+ }
+
+ static final private Color[] colors = {
+ new Color(0,0,0),
+ new Color(230,0,0), // red
+ new Color(216,103,0), // orange
+ new Color(200,200,0), // yellow
+ new Color(0,180,0), // green
+ new Color(0,140,140), // cyan
+ new Color(130,0,0), // dark red
+ new Color(0,100,0), // dark green
+ new Color(0,0,255), // blue
+ new Color(140,0,140), // magenta
+ new Color(150,150,150), // gray
+ };
+
+ static final private float[][] dashes = {
+ { 0 },
+ { 2, 4 },
+ { 4, 4 },
+ { 6, 4 },
+ { 6, 4, 2, 4 }
+ };
+
+ static int color_index, dash_index;
+
+ public AltosUILineStyle () {
+ color = colors[color_index];
+ dash = dashes[dash_index];
+ color_index = (color_index + 1) % colors.length;
+ if (color_index == 0) {
+ dash_index = (dash_index + 1) % dashes.length;
+ if (dash_index == 0)
+ System.out.printf("too many line styles\n");
+ }
+ }
+
+ public AltosUILineStyle(int index) {
+ index = index % (colors.length * dashes.length);
+ int c = index % colors.length;
+ int d = index / colors.length;
+ color = colors[c];
+ dash = dashes[d];
+ }
+}
}
public class AltosUITimeSeries extends AltosTimeSeries implements AltosUIGrapher {
- Color color;
- boolean enable;
- AltosUIAxis axis;
- boolean marker;
- boolean marker_top;
- XYItemRenderer renderer;
- XYPlot plot;
- AltosXYSeries xy_series;
+ AltosUILineStyle line_style;
+ boolean enable;
+ boolean custom_axis_set;
+ AltosUIAxis axis;
+ boolean marker;
+ boolean marker_top;
+ XYLineAndShapeRenderer renderer;
+ XYPlot plot;
+ AltosXYSeries xy_series;
ArrayList<ValueMarker> markers;
-
+ float width;
/* AltosUIGrapher interface */
public boolean need_reset() {
public void fireSeriesChanged() {
}
- void set_data() {
+ public void set_data() {
if (marker) {
if (markers != null) {
for (ValueMarker marker : markers)
marker.setLabelAnchor(RectangleAnchor.BOTTOM_RIGHT);
marker.setLabelTextAnchor(TextAnchor.BOTTOM_LEFT);
}
- marker.setPaint(color);
+ marker.setPaint(line_style.color);
+ marker.setStroke(new BasicStroke(width, BasicStroke.CAP_BUTT, BasicStroke.JOIN_BEVEL));
if (enable)
plot.addDomainMarker(marker);
markers.add(marker);
}
xy_series.setNotify(true);
}
+ clear_changed();
}
public void set_units() {
}
}
- public void set_axis(Color color, boolean enable, AltosUIAxis axis) {
- this.color = color;
+ // public BasicStroke(float width, int cap, int join, float miterlimit,
+ // float dash[], float dash_phase)
+
+ public void set_line_width(float width) {
+ this.width = width;
+ if (markers != null) {
+ for (ValueMarker marker : markers) {
+ marker.setStroke(new BasicStroke(width, BasicStroke.CAP_BUTT, BasicStroke.JOIN_BEVEL));
+ }
+ } else {
+ if (line_style.dash[0] == 0.0)
+ renderer.setSeriesStroke(0, new BasicStroke(width, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
+ else
+ renderer.setSeriesStroke(0, new BasicStroke(width, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND, 10.0f, line_style.dash, 0.0f));
+ }
+ }
+
+ public void set_axis(AltosUILineStyle line_style, boolean enable, AltosUIAxis axis) {
+ this.line_style = line_style;
this.enable = enable;
this.axis = axis;
this.marker = false;
+ this.width = 1.0f;
axis.ref(this.enable);
renderer = new XYLineAndShapeRenderer(true, false);
- renderer.setSeriesPaint(0, color);
- renderer.setSeriesStroke(0, new BasicStroke(2, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
+ renderer.setSeriesPaint(0, line_style.color);
+ set_line_width(this.width);
renderer.setSeriesVisible(0, enable);
xy_series = new AltosXYSeries(label);
}
- public void set_marker(Color color, boolean enable, XYPlot plot, boolean marker_top) {
- this.color = color;
+ public void set_marker(AltosUILineStyle line_style, boolean enable, XYPlot plot, boolean marker_top) {
+ this.line_style = line_style;
this.enable = enable;
this.marker = true;
this.plot = plot;
this.marker_top = marker_top;
}
+ public void set_shapes_visible(boolean shapes_visible) {
+ renderer.setSeriesShapesVisible(0, shapes_visible);
+ }
+
public AltosUITimeSeries(String label, AltosUnits units) {
super(label, units);
}
public AltosUITimeSeries(String label, AltosUnits units,
- Color color, boolean enable,
+ AltosUILineStyle line_style, boolean enable,
AltosUIAxis axis) {
this(label, units);
- set_axis(color, enable, axis);
+ set_axis(line_style, enable, axis);
}
}
AltosUIFlightSeries.java \
AltosUIGraph.java \
AltosGraph.java \
+ AltosShapeListener.java \
AltosUSBDevice.java \
AltosVoice.java \
AltosDisplayThread.java \
AltosConfigFreqUI.java \
AltosScanUI.java \
AltosEepromDelete.java \
+ AltosEepromGrapher.java \
AltosEepromManage.java \
AltosEepromMonitorUI.java \
AltosEepromSelect.java \
AltosBTDeviceIterator.java \
AltosBTManage.java \
AltosBTKnown.java \
+ AltosUILineStyle.java \
AltosUIMap.java \
AltosUIMapPreload.java \
AltosUIFlightTab.java \
#!/bin/sh
-VERSION=2.0
+VERSION=3.0
PRODUCT=TeleMega
BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
--- /dev/null
+#!/bin/sh
+
+VERSION=2.0
+PRODUCT=TeleMega
+BASE=`echo $PRODUCT | tr 'A-Z' 'a-z'`
+
+echo "$PRODUCT-v$VERSION Test Program"
+echo "Copyright 2014 by Keith Packard. Released under GPL v2"
+echo
+echo "Expectations:"
+echo "\t$PRODUCT v$VERSION powered from USB"
+echo
+
+ret=1
+ao-list | while read product serial dev; do
+ case "$product" in
+ "$PRODUCT-v$VERSION")
+
+ echo "Testing $product $serial $dev"
+
+ ./test-igniters $dev main drogue 3 0 1 2
+ echo""
+
+ echo "Testing baro sensor"
+ ../ao-tools/ao-test-baro/ao-test-baro --tty="$dev"
+
+ case $? in
+ 0)
+ ;;
+ *)
+ echo "failed"
+ exit 1
+ esac
+ echo""
+
+ FLASHSIZE=8388608
+
+ echo "Testing flash"
+ ../ao-tools/ao-test-flash/ao-test-flash --tty="$dev" "$FLASHSIZE"
+
+ case $? in
+ 0)
+ ;;
+ *)
+ echo "failed"
+ exit 1
+ esac
+ echo""
+
+ echo "Testing GPS"
+ ../ao-tools/ao-test-gps/ao-test-gps --tty="$dev"
+
+ case $? in
+ 0)
+ ;;
+ *)
+ echo "failed"
+ exit 1
+ esac
+ echo""
+
+ echo "$PRODUCT-v$VERSION" serial "$serial" is ready to ship
+ echo "\007"
+ ret=0
+ ;;
+ esac
+done
FLASH_FILE=$REPO/loaders/telebt-v$VERSION-altos-flash-*.bin
ALTOS_FILE=$REPO/telebt-v$VERSION-*.elf
-$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE || exit 1
+$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE
sleep 2
FLASH_FILE=$REPO/loaders/telegps-v2.0-altos-flash-*.bin
ALTOS_FILE=$REPO/telegps-v2.0-*.elf
-$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE || exit 1
+$DFU_UTIL -a 0 -s 0x08000000:leave -D $FLASH_FILE
sleep 2
exit 1
fi
-VERSION=2.0
+VERSION=3.0
REPO=~/altusmetrumllc/Binaries
PRODUCT=TeleMega
echo "$PRODUCT v$VERSION Turn-On and Calibration Program"
-echo "Copyright 2014 by Bdale Garbee. Released under GPL v2"
+echo "Copyright 2017 by Bdale Garbee. Released under GPL v3"
echo
echo "Expectations:"
echo "\t$PRODUCT v$VERSION powered from USB"
echo $FLASH_STM
-$FLASH_STM $REPO/loaders/telemega-v$VERSION*.elf || exit 1
+$FLASH_STM $REPO/loaders/telemega-v$VERSION*.elf
sleep 5
-$USBLOAD --serial=$SERIAL $REPO/telemega-v$VERSION*.elf || exit 1
+$USBLOAD --serial=$SERIAL --force $REPO/telemega-v$VERSION*.elf || exit 1
sleep 5
--- /dev/null
+#!/bin/sh
+
+if [ -x /usr/bin/ao-flash-stm ]; then
+ FLASH_STM=/usr/bin/ao-flash-stm
+else
+ echo "Can't find ao-flash-stm! Aborting."
+ exit 1
+fi
+
+if [ -x /usr/bin/ao-usbload ]; then
+ USBLOAD=/usr/bin/ao-usbload
+else
+ echo "Can't find ao-usbload! Aborting."
+ exit 1
+fi
+
+VERSION=2.0
+REPO=~/altusmetrumllc/Binaries
+PRODUCT=TeleMega
+
+echo "$PRODUCT v$VERSION Turn-On and Calibration Program"
+echo "Copyright 2014 by Bdale Garbee. Released under GPL v2"
+echo
+echo "Expectations:"
+echo "\t$PRODUCT v$VERSION powered from USB"
+echo "\t\twith ST-Link-V2 cabled to debug header"
+echo "\t\twith coax from UHF to frequency counter"
+echo
+
+case $# in
+ 1)
+ SERIAL="$1"
+ echo "$PRODUCT-$VERSION serial number: $SERIAL"
+ ;;
+ 0)
+ echo -n "$PRODUCT-$VERSION serial number: "
+ read SERIAL
+ ;;
+ *)
+ echo "Usage: $0 <serial-number>" 1>&2
+ exit 1;
+ ;;
+esac
+
+echo $FLASH_STM
+
+$FLASH_STM $REPO/loaders/telemega-v$VERSION*.elf
+
+sleep 5
+
+$USBLOAD --serial=$SERIAL --force $REPO/telemega-v$VERSION*.elf || exit 1
+
+sleep 5
+
+dev=`ao-list | awk '/TeleMega-v'"$VERSION"'/ { print $3; exit(0); }'`
+
+case "$dev" in
+/dev/tty*)
+ echo "TeleMega found on $dev"
+ ;;
+*)
+ echo 'No TeleMega-v'"$VERSION"' found'
+ exit 1
+ ;;
+esac
+
+echo 'E 0' > $dev
+
+SERIAL=$SERIAL ./cal-freq $dev
+
+failed=1
+while [ $failed = 1 ]; do
+ ../ao-tools/ao-cal-accel/ao-cal-accel $dev
+ failed=$?
+done
+
+echo 'E 1' > $dev
+
+./test-telemega-v2.0
+
+exit $?
dnl Process this file with autoconf to create configure.
AC_PREREQ(2.57)
-AC_INIT([altos], 1.8.2)
+AC_INIT([altos], 1.8.3)
ANDROID_VERSION=16
AC_CONFIG_SRCDIR([src/kernel/ao.h])
AM_INIT_AUTOMAKE([foreign dist-bzip2])
AM_MAINTAINER_MODE
-RELEASE_DATE=2017-09-18
+RELEASE_DATE=2017-12-11
AC_SUBST(RELEASE_DATE)
VERSION_DASH=`echo $VERSION | sed 's/\./-/g'`
#
RELNOTES_INC=\
+ release-notes-1.8.3.inc \
release-notes-1.8.2.inc \
release-notes-1.8.1.inc \
release-notes-1.8.inc \
image::graph-configure.png[width="5.5in"]
This selects which graph elements to show, and, at the
- very bottom, lets you switch between metric and
- imperial units
+ very bottom. It also lets you configure how
+ the graph is drawn:
+
+ * Whether to use metric or imperial units
+
+ * Whether to show a marker at each data
+ point. When displaying a small section of
+ the graph, these can be useful to know what
+ data values were recorded.
+
+ * How wide to draw the lines in the graph
+
+ * How to filter speed and acceleration data
+ computed from barometric data. Flight
+ computers with accelerometers never display
+ computed acceleration data, and only use
+ barometric data to compute speed during
+ descent. Flight computers without
+ accelerometers always compute both speed and
+ acceleration from barometric data. A larger
+ value smooths the data more.
==== Flight Statistics
</legalnotice>
<revhistory>
<?dbhtml filename="altusmetrum-revhistory.html"?>
+ <revision>
+ <revnumber>1.8.3</revnumber>
+ <date>11 Dec 2017</date>
+ <revremark>
+ Support TeleMega v3.0 hardware. Fix one firmware bug affecting
+ all flight computers and another two affecting TeleMega and
+ EasyMega. Several new AltosUI graphing features.
+ </revremark>
+ </revision>
<revision>
<revnumber>1.8.2</revnumber>
<date>18 Sep 2017</date>
[appendix]
== Release Notes
+ :leveloffset: 2
+ include::release-notes-1.8.3.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.8.2.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.8.1.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.8.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.7.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.6.8.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.6.5.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.6.4.raw[]
:leveloffset: 2
include::release-notes-1.6.3.raw[]
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>6 May 2016</date>
+<copyright>
+ <year>2016</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>17 June 2016</date>
+<copyright>
+ <year>2016</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>4 July 2016</date>
+<copyright>
+ <year>2016</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>5 September 2016</date>
+<copyright>
+ <year>2016</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>24 April 2017</date>
+<copyright>
+ <year>2017</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>12 August 2017</date>
+<copyright>
+ <year>2017</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>28 August 2017</date>
+<copyright>
+ <year>2017</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>18 September 2017</date>
+<copyright>
+ <year>2017</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+<author>
+ <firstname>Bdale</firstname>
+ <surname>Garbee</surname>
+ <email>bdale@gag.com</email>
+</author>
+<author>
+ <firstname>Keith</firstname>
+ <surname>Packard</surname>
+ <email>keithp@keithp.com</email>
+</author>
+<date>11 December 2017</date>
+<copyright>
+ <year>2017</year>
+ <holder>Bdale Garbee and Keith Packard</holder>
+</copyright>
+<mediaobject>
+ <imageobject>
+ <imagedata fileref="altusmetrum-oneline.svg" width="6.0in"/>
+ </imageobject>
+</mediaobject>
+<legalnotice>
+ <para>
+ This document is released under the terms of the
+ <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
+ Creative Commons ShareAlike 3.0
+ </ulink>
+ license.
+ </para>
+</legalnotice>
--- /dev/null
+= Release Notes for Version 1.8.3
+:toc!:
+:doctype: article
+
+ Version 1.8.3 includes support for TeleMega version 3.0 along
+ with two important flight computer fixes. This version also
+ changes KML export data to make Tripoli Record reporting
+ better and some updates to graph presentation and data
+ downloading.
+
+ == AltOS
+
+ === AltOS New Features
+
+ * Support for TeleMega version 3.0 hardware.
+
+ === AltOS Bug Fixes
+
+ * Ground testing EasyMega and TeleMega additional pyro
+ channels could result in a sticky 'fired' status which would
+ prevent these channels from firing on future flights.
+
+ * Corrupted flight log records could prevent future flights
+ from capturing log data.
+
+ * Fixed saving of pyro configuration that ended with
+ 'Descending'.
+
+ == AltosUI and TeleGPS Applications
+
+ === AltosUI New Features
+
+ * Support for TeleMega version 3.0.
+
+ * Graph lines have improved appearance to make them easier to
+ distinguish. Markers may be placed at data points to show
+ captured recorded data values.
+
+ * Graphing offers the ability to adjust the smoothing of
+ computed speed and acceleration data.
+
+ * The download dialog now offers to graph new flights, checks
+ for existing files to avoid overwriting data and reports if
+ there are checksum errors in the downloaded data.
+
+ === AltosUI/TeleGPS Bug Fixes
+
+ * Restore TeleGPS tracking behavior.
+
+ * Display flight computer call sign and serial number in
+ Monitor Idle mode instead of ground station values.
+
+ === AltosUI and TeleGPS Changes
+
+ * KML export now reports both barometric and GPS altitude data
+ to make it more useful for Tripoli record reporting.
+
+ * CSV export now includes TeleMega/EasyMega pyro voltages and
+ tilt angle.
[appendix]
== Release Notes
+ :leveloffset: 2
+ include::release-notes-1.8.3.raw[]
+
+ <<<<
:leveloffset: 2
include::release-notes-1.8.2.raw[]
include::release-notes-1.8.raw[]
<<<<
-
:leveloffset: 2
include::release-notes-1.7.raw[]
</legalnotice>
<revhistory>
<?dbhtml filename="telegps-revhistory.html"?>
+ <revision>
+ <revnumber>1.8.3</revnumber>
+ <date>11 Dec 2017</date>
+ <revremark>
+ New graphing features. Improve reliability of data
+ download. Update KML export to satisfy Tripoli Records board
+ requirements.
+ </revremark>
+ </revision>
<revision>
<revnumber>1.6.4</revnumber>
<date>10 May 2016</date>
[appendix]
== Release Notes
+ :leveloffset: 2
+ include::release-notes-1.8.3.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.8.2.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.8.1.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.8.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.7.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.6.8.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.6.5.raw[]
+
+ <<<<
+ :leveloffset: 2
+ include::release-notes-1.6.4.raw[]
+
:leveloffset: 2
include::release-notes-1.6.3.raw[]
import org.altusmetrum.altoslib_12.*;
import org.altusmetrum.altosuilib_12.*;
-public class MicroPeak extends MicroFrame implements ActionListener, ItemListener {
+public class MicroPeak extends MicroFrame implements ActionListener, ItemListener, AltosFilterListener {
File filename;
AltosGraph graph;
Preferences();
}
+ public void filter_changed(double speed_filter, double accel_filter) {
+ data.flight_series.set_filter(speed_filter, accel_filter);
+ graph.filter_changed();
+ data.flight_stats = new AltosFlightStats(data.flight_series);
+ statsTable.filter_changed(data.flight_stats);
+ }
+
+ public double speed_filter() {
+ if (data != null && data.flight_series != null)
+ return data.flight_series.speed_filter_width;
+ return 4.0;
+ }
+
+ public double accel_filter() {
+ if (data != null && data.flight_series != null)
+ return data.flight_series.accel_filter_width;
+ return 1.0;
+ }
+
public MicroPeak() {
++number_of_windows;
}
});
- enable = new AltosUIEnable();
+ enable = new AltosUIEnable(this);
graph = new AltosGraph(enable);
statsTable = new AltosFlightStatsTable();
teledongle-v0.2 \
telemini-v1.0 \
telebt-v1.0 \
- teleterra-v0.2 teleshield-v0.1 \
telefire-v0.1 telefire-v0.2 \
telerepeat-v1.0
telemega-v0.1 telemega-v0.1/flash-loader \
telemega-v1.0 telemega-v1.0/flash-loader \
telemega-v2.0 telemega-v2.0/flash-loader \
+ telemega-v3.0 telemega-v3.0/flash-loader \
telemetrum-v2.0 telemetrum-v2.0/flash-loader \
telemetrum-v3.0 telemetrum-v3.0/flash-loader \
- megadongle-v0.1 megadongle-v0.1/flash-loader \
telegps-v0.3 telegps-v0.3/flash-loader \
telegps-v1.0 telegps-v1.0/flash-loader \
telegps-v2.0 telegps-v2.0/flash-loader \
telelco-v0.2 telelco-v0.2/flash-loader \
telelco-v0.3 telelco-v0.3/flash-loader \
- telescience-v0.2 telescience-v0.2/flash-loader \
teledongle-v3.0 teledongle-v3.0/flash-loader \
teleballoon-v2.0 \
telebt-v3.0 telebt-v3.0/flash-loader \
ARMM0DIRS=\
easymini-v1.0 easymini-v1.0/flash-loader \
- chaoskey-v0.1 chaoskey-v0.1/flash-loader \
chaoskey-v1.0 chaoskey-v1.0/flash-loader \
telemini-v3.0 telemini-v3.0/flash-loader \
easymini-v2.0 easymini-v2.0/flash-loader \
micropeak-v2.0 micropeak-v2.0/flash-loader
AVRDIRS=\
- telescience-v0.1 telescience-pwm micropeak nanopeak-v0.1 microkite
+ micropeak microkite
SUBDIRS=
include ../Makedefs
CC=$(SDCC)
-CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE)
+CFLAGS=--model-small --debug --opt-code-speed -DCODESIZE=$(CODESIZE) -DCC1111
CFLAGS += $(PRODUCT_DEF) -I. -I.. -I../kernel -I../cc1111 -I../drivers -I../product
void
ao_button_clear(void) __critical;
+/* console I/O funcs */
+#define ao_getchar getchar
+#define ao_putchar putchar
+
/* ao_string.c */
void
#define HAS_RADIO_RATE 0 /* not enough space for this */
#define HAS_MUTEX_TRY 0
#define HAS_TASK_INFO 0 /* not enough space for this either */
+ #define AO_LOG_FORMAT AO_LOG_FORMAT_FULL
#endif
#if defined(TELEMETRUM_V_1_1)
#define HAS_TELEMETRY 1
#define HAS_RADIO_RATE 0 /* not enough space for this */
#define HAS_MUTEX_TRY 0
+ #define AO_LOG_FORMAT AO_LOG_FORMAT_FULL
#endif
#if defined(TELEMETRUM_V_1_2)
#define HAS_TELEMETRY 1
#define HAS_RADIO_RATE 0 /* not enough space for this */
#define HAS_MUTEX_TRY 0
+ #define AO_LOG_FORMAT AO_LOG_FORMAT_FULL
#endif
#if defined(TELEDONGLE_V_0_2)
#define HAS_MONITOR 0
#define HAS_TELEMETRY 1
#define HAS_RADIO_RATE 0 /* not enough space for this */
+ #define AO_LOG_FORMAT AO_LOG_FORMAT_TINY
#endif
#if defined(TELENANO_V_0_1)
#define HAS_TELEMETRY 1
#define HAS_RADIO_RATE 0 /* not enough space for this */
#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX ((uint32_t) 127 * (uint32_t) 1024)
+ #define AO_LOG_FORMAT AO_LOG_FORMAT_FULL
#endif
#if defined(TELEDONGLE_V_0_1)
--- /dev/null
+cortexelf-v1*.elf
+cortexelf-v1*.hex
+ao_product.h
#
include ../stm/Makefile.defs
-LDFLAGS=-L../stm -Wl,-Tcortexelf.ld
+include ../scheme/Makefile-inc
+
INC = \
ao.h \
math.h \
ao_mpu.h \
stm32l.h \
- math.h \
ao_vga.h \
ao_draw.h \
ao_draw_int.h \
ao_font.h \
ao_ps2.h \
- ao_lisp.h \
- ao_lisp_const.h \
- ao_lisp_os.h \
+ $(SCHEME_HDRS) \
ao_flip_bits.h \
Makefile
ao_cmd.c \
ao_config.c \
ao_task.c \
+ ao_errno.c \
ao_stdio.c \
ao_panic.c \
ao_timer.c \
ao_event.c \
ao_1802.c \
ao_hex.c \
- ao_lisp_lex.c \
- ao_lisp_mem.c \
- ao_lisp_cons.c \
- ao_lisp_eval.c \
- ao_lisp_string.c \
- ao_lisp_atom.c \
- ao_lisp_int.c \
- ao_lisp_poly.c \
- ao_lisp_builtin.c \
- ao_lisp_read.c \
- ao_lisp_rep.c \
- ao_lisp_frame.c \
- ao_lisp_error.c \
- ao_lisp_lambda.c \
- ao_lisp_save.c \
- ao_lisp_stack.c \
- ao_lisp_os_save.c \
+ $(SCHEME_SRCS) \
+ ao_scheme_os_save.c \
$(PROFILE) \
$(SAMPLE_PROFILE) \
$(STACK_GUARD)
PRODUCT_DEF=-DCORTEXELF
IDPRODUCT=0x000a
-CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
-
PROGNAME=cortexelf-v1
PROG=$(PROGNAME)-$(VERSION).elf
HEX=$(PROGNAME)-$(VERSION).ihx
+MAP=$(PROG).map
+
+MAPFILE=-Wl,-M=$(MAP)
+
+LDFLAGS=-L../stm -L/local/newlib-mini/arm-none-eabi/lib/thumb/v7-m/ -Wl,-Tcortexelf.ld $(MAPFILE) -nostartfiles
+AO_CFLAGS=-I. -I../stm -I../kernel -I../drivers -I../draw -I../scheme -I.. -I/local/newlib-mini/arm-none-eabi/include
+LIBS=-lc -lm -lgcc
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+
SRC=$(ALTOS_SRC) ao_cortexelf.c
OBJ=$(SRC:.c=.o)
ao_flip_bits.h: ao_flip_bits.5c
nickle ao_flip_bits.5c > $@
-include ../lisp/Makefile-lisp
+include ../scheme/Makefile-scheme
install:
#include <ao_console.h>
#include <ao_sdcard.h>
#include <ao_fat.h>
-#include <ao_lisp.h>
+#include <ao_scheme.h>
#include <ao_button.h>
#include <ao_event.h>
#include <ao_as1107.h>
}
}
-static void lisp_cmd() {
- ao_lisp_read_eval_print();
+static void scheme_cmd() {
+ ao_scheme_read_eval_print();
}
static void
{ ao_ps2_read_keys, "K\0Read keys from keyboard" },
{ ao_console_send, "C\0Send data to console, end with ~" },
{ ao_serial_blather, "S\0Blather on serial ports briefly" },
- { lisp_cmd, "l\0Run lisp interpreter" },
+ { scheme_cmd, "l\0Run scheme interpreter" },
{ led_cmd, "L start value\0Show value (byte) at digit start" },
{ 0, NULL }
};
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#ifndef _AO_LISP_OS_H_
-#define _AO_LISP_OS_H_
-
-#include "ao.h"
-
-#define AO_LISP_POOL_TOTAL 16384
-#define AO_LISP_SAVE 1
-
-static inline int
-ao_lisp_getc() {
- static uint8_t at_eol;
- int c;
-
- if (at_eol) {
- ao_cmd_readline();
- at_eol = 0;
- }
- c = ao_cmd_lex();
- if (c == '\n')
- at_eol = 1;
- return c;
-}
-
-static inline void
-ao_lisp_os_flush(void)
-{
- flush();
-}
-
-static inline void
-ao_lisp_abort(void)
-{
- ao_panic(1);
-}
-
-static inline void
-ao_lisp_os_led(int led)
-{
- (void) led;
-}
-
-static inline void
-ao_lisp_os_delay(int delay)
-{
- ao_delay(AO_MS_TO_TICKS(delay));
-}
-
-#endif
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include <ao.h>
-#include <ao_lisp.h>
-#include <ao_flash.h>
-
-extern uint8_t __flash__[];
-
-/* saved variables to rebuild the heap
-
- ao_lisp_atoms
- ao_lisp_frame_global
- */
-
-int
-ao_lisp_os_save(void)
-{
- int i;
-
- for (i = 0; i < AO_LISP_POOL_TOTAL; i += 256) {
- uint32_t *dst = (uint32_t *) (void *) &__flash__[i];
- uint32_t *src = (uint32_t *) (void *) &ao_lisp_pool[i];
-
- ao_flash_page(dst, src);
- }
- return 1;
-}
-
-int
-ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset)
-{
- memcpy(save, &__flash__[offset], sizeof (struct ao_lisp_os_save));
- return 1;
-}
-
-int
-ao_lisp_os_restore(void)
-{
- memcpy(ao_lisp_pool, __flash__, AO_LISP_POOL_TOTAL);
- return 1;
-}
#define USE_SERIAL_2_STDIN 1
#define SERIAL_2_PA2_PA3 0
#define SERIAL_2_PD5_PD6 1
+#define USE_SERIAL_2_FLOW 0
+#define USE_SERIAL_2_SW_FLOW 0
#define HAS_SERIAL_3 0
#define USE_SERIAL_3_STDIN 0
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_SCHEME_OS_H_
+#define _AO_SCHEME_OS_H_
+
+#include "ao.h"
+
+#define AO_SCHEME_POOL_TOTAL 16384
+#define AO_SCHEME_SAVE 1
+
+#ifndef __BYTE_ORDER
+#define __LITTLE_ENDIAN 1234
+#define __BIG_ENDIAN 4321
+#define __BYTE_ORDER __LITTLE_ENDIAN
+#endif
+
+static inline int
+ao_scheme_getc() {
+ static uint8_t at_eol;
+ int c;
+
+ if (at_eol) {
+ ao_cmd_readline();
+ at_eol = 0;
+ }
+ c = ao_cmd_lex();
+ if (c == '\n')
+ at_eol = 1;
+ return c;
+}
+
+static inline void
+ao_scheme_os_flush(void)
+{
+ flush();
+}
+
+static inline void
+ao_scheme_abort(void)
+{
+ ao_panic(1);
+}
+
+static inline void
+ao_scheme_os_led(int led)
+{
+ (void) led;
+}
+
+#define AO_SCHEME_JIFFIES_PER_SECOND AO_HERTZ
+
+static inline void
+ao_scheme_os_delay(int delay)
+{
+ ao_delay(delay);
+}
+
+static inline int
+ao_scheme_os_jiffy(void)
+{
+ return ao_tick_count;
+}
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include <ao.h>
+#include <ao_scheme.h>
+#include <ao_flash.h>
+
+extern uint8_t __flash__[];
+
+/* saved variables to rebuild the heap
+
+ ao_scheme_atoms
+ ao_scheme_frame_global
+ */
+
+int
+ao_scheme_os_save(void)
+{
+ int i;
+
+ for (i = 0; i < AO_SCHEME_POOL_TOTAL; i += 256) {
+ uint32_t *dst = (uint32_t *) (void *) &__flash__[i];
+ uint32_t *src = (uint32_t *) (void *) &ao_scheme_pool[i];
+
+ ao_flash_page(dst, src);
+ }
+ return 1;
+}
+
+int
+ao_scheme_os_restore_save(struct ao_scheme_os_save *save, int offset)
+{
+ memcpy(save, &__flash__[offset], sizeof (struct ao_scheme_os_save));
+ return 1;
+}
+
+int
+ao_scheme_os_restore(void)
+{
+ memcpy(ao_scheme_pool, __flash__, AO_SCHEME_POOL_TOTAL);
+ return 1;
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#include <ao.h>
+#include <ao_mpu9250.h>
+#include <ao_exti.h>
+
+#if HAS_MPU9250
+
+#define MPU9250_TEST 0
+
+static uint8_t ao_mpu9250_configured;
+
+extern uint8_t ao_sensor_errors;
+
+#ifndef AO_MPU9250_I2C_INDEX
+#define AO_MPU9250_SPI 1
+#else
+#define AO_MPU9250_SPI 0
+#endif
+
+#if AO_MPU9250_SPI
+
+#define ao_mpu9250_spi_get() ao_spi_get(AO_MPU9250_SPI_BUS, AO_SPI_SPEED_1MHz)
+#define ao_mpu9250_spi_put() ao_spi_put(AO_MPU9250_SPI_BUS)
+
+#define ao_mpu9250_spi_start() ao_spi_set_cs(AO_MPU9250_SPI_CS_PORT, \
+ (1 << AO_MPU9250_SPI_CS_PIN))
+
+#define ao_mpu9250_spi_end() ao_spi_clr_cs(AO_MPU9250_SPI_CS_PORT, \
+ (1 << AO_MPU9250_SPI_CS_PIN))
+
+#else
+
+#define ao_mpu9250_spi_get()
+#define ao_mpu9250_spi_put()
+
+#endif
+
+static void
+_ao_mpu9250_reg_write(uint8_t addr, uint8_t value)
+{
+ uint8_t d[2] = { addr, value };
+#if AO_MPU9250_SPI
+ ao_mpu9250_spi_start();
+ ao_spi_send(d, 2, AO_MPU9250_SPI_BUS);
+ ao_mpu9250_spi_end();
+#else
+ ao_i2c_get(AO_MPU9250_I2C_INDEX);
+ ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE);
+ ao_i2c_send(d, 2, AO_MPU9250_I2C_INDEX, TRUE);
+ ao_i2c_put(AO_MPU9250_I2C_INDEX);
+#endif
+}
+
+static void
+_ao_mpu9250_read(uint8_t addr, void *data, uint8_t len)
+{
+#if AO_MPU9250_SPI
+ addr |= 0x80;
+ ao_mpu9250_spi_start();
+ ao_spi_send(&addr, 1, AO_MPU9250_SPI_BUS);
+ ao_spi_recv(data, len, AO_MPU9250_SPI_BUS);
+ ao_mpu9250_spi_end();
+#else
+ ao_i2c_get(AO_MPU9250_I2C_INDEX);
+ ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE);
+ ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, FALSE);
+ ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_READ);
+ ao_i2c_recv(data, len, AO_MPU9250_I2C_INDEX, TRUE);
+ ao_i2c_put(AO_MPU9250_I2C_INDEX);
+#endif
+}
+
+static uint8_t
+_ao_mpu9250_reg_read(uint8_t addr)
+{
+ uint8_t value;
+#if AO_MPU9250_SPI
+ addr |= 0x80;
+ ao_mpu9250_spi_start();
+ ao_spi_send(&addr, 1, AO_MPU9250_SPI_BUS);
+ ao_spi_recv(&value, 1, AO_MPU9250_SPI_BUS);
+ ao_mpu9250_spi_end();
+#else
+ ao_i2c_get(AO_MPU9250_I2C_INDEX);
+ ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_WRITE);
+ ao_i2c_send(&addr, 1, AO_MPU9250_I2C_INDEX, FALSE);
+ ao_i2c_start(AO_MPU9250_I2C_INDEX, MPU9250_ADDR_READ);
+ ao_i2c_recv(&value, 1, AO_MPU9250_I2C_INDEX, TRUE);
+ ao_i2c_put(AO_MPU9250_I2C_INDEX);
+#endif
+ return value;
+}
+
+static void
+_ao_mpu9250_slv4_setup(uint8_t addr, uint8_t reg)
+{
+ /* Set i2c slave address */
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV4_ADDR,
+ addr);
+
+ /* Set i2c register address */
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV4_REG,
+ reg);
+}
+
+static void
+_ao_mpu9250_slv4_run(void)
+{
+ uint8_t ctrl;
+
+ /* Start the transfer */
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV4_CTRL,
+ (1 << MPU9250_I2C_SLV4_CTRL_I2C_SLV4_EN) |
+ (0 << MPU9250_I2C_SLV4_CTRL_SLV4_DONE_INT_EN) |
+ (0 << MPU9250_I2C_SLV4_CTRL_I2C_SLV4_REG_DIS) |
+ (0 << MPU9250_I2C_SLV4_CTRL_I2C_MST_DLY));
+
+ /* Poll for completion */
+ for (;;) {
+ ctrl = _ao_mpu9250_reg_read(MPU9250_I2C_SLV4_CTRL);
+ if ((ctrl & (1 << MPU9250_I2C_SLV4_CTRL_I2C_SLV4_EN)) == 0)
+ break;
+ ao_delay(0);
+ }
+}
+
+static uint8_t
+_ao_mpu9250_mag_reg_read(uint8_t reg)
+{
+ _ao_mpu9250_slv4_setup((1 << 7) | MPU9250_MAG_ADDR, reg);
+
+ _ao_mpu9250_slv4_run();
+
+ return _ao_mpu9250_reg_read(MPU9250_I2C_SLV4_DI);
+}
+
+static void
+_ao_mpu9250_mag_reg_write(uint8_t reg, uint8_t value)
+{
+ _ao_mpu9250_slv4_setup((0 << 7) | MPU9250_MAG_ADDR, reg);
+
+ /* Set the data */
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV4_DO,
+ value);
+
+ _ao_mpu9250_slv4_run();
+}
+
+static void
+_ao_mpu9250_sample(struct ao_mpu9250_sample *sample)
+{
+ uint16_t *d = (uint16_t *) sample;
+ int i = sizeof (*sample) / 2;
+
+ _ao_mpu9250_read(MPU9250_ACCEL_XOUT_H, sample, sizeof (*sample));
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+ /* byte swap */
+ while (i--) {
+ uint16_t t = *d;
+ *d++ = (t >> 8) | (t << 8);
+ }
+#endif
+}
+
+#define G 981 /* in cm/s² */
+
+#if 0
+static int16_t /* cm/s² */
+ao_mpu9250_accel(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) (16.0 * 980.665 + 0.5)) / 32767);
+}
+
+static int16_t /* deg*10/s */
+ao_mpu9250_gyro(int16_t v)
+{
+ return (int16_t) ((v * (int32_t) 20000) / 32767);
+}
+#endif
+
+static uint8_t
+ao_mpu9250_accel_check(int16_t normal, int16_t test)
+{
+ int16_t diff = test - normal;
+
+ if (diff < MPU9250_ST_ACCEL(16) / 4) {
+ return 1;
+ }
+ if (diff > MPU9250_ST_ACCEL(16) * 4) {
+ return 1;
+ }
+ return 0;
+}
+
+static uint8_t
+ao_mpu9250_gyro_check(int16_t normal, int16_t test)
+{
+ int16_t diff = test - normal;
+
+ if (diff < 0)
+ diff = -diff;
+ if (diff < MPU9250_ST_GYRO(2000) / 4) {
+ return 1;
+ }
+ if (diff > MPU9250_ST_GYRO(2000) * 4) {
+ return 1;
+ }
+ return 0;
+}
+
+static void
+_ao_mpu9250_wait_alive(void)
+{
+ uint8_t i;
+
+ /* Wait for the chip to wake up */
+ for (i = 0; i < 30; i++) {
+ ao_delay(AO_MS_TO_TICKS(100));
+ if (_ao_mpu9250_reg_read(MPU9250_WHO_AM_I) == MPU9250_I_AM_9250)
+ break;
+ }
+ if (i == 30)
+ ao_panic(AO_PANIC_SELF_TEST_MPU9250);
+}
+
+#define ST_TRIES 10
+#define MAG_TRIES 10
+
+static void
+_ao_mpu9250_setup(void)
+{
+ struct ao_mpu9250_sample normal_mode, test_mode;
+ int errors;
+ int st_tries;
+ int mag_tries;
+
+ if (ao_mpu9250_configured)
+ return;
+
+ _ao_mpu9250_wait_alive();
+
+ /* Reset the whole chip */
+
+ _ao_mpu9250_reg_write(MPU9250_PWR_MGMT_1,
+ (1 << MPU9250_PWR_MGMT_1_DEVICE_RESET));
+
+ /* Wait for it to reset. If we talk too quickly, it appears to get confused */
+
+ _ao_mpu9250_wait_alive();
+
+ /* Reset signal conditioning, disabling I2C on SPI systems */
+ _ao_mpu9250_reg_write(MPU9250_USER_CTRL,
+ (0 << MPU9250_USER_CTRL_FIFO_EN) |
+ (1 << MPU9250_USER_CTRL_I2C_MST_EN) |
+ (AO_MPU9250_SPI << MPU9250_USER_CTRL_I2C_IF_DIS) |
+ (0 << MPU9250_USER_CTRL_FIFO_RESET) |
+ (0 << MPU9250_USER_CTRL_I2C_MST_RESET) |
+ (1 << MPU9250_USER_CTRL_SIG_COND_RESET));
+
+ while (_ao_mpu9250_reg_read(MPU9250_USER_CTRL) & (1 << MPU9250_USER_CTRL_SIG_COND_RESET))
+ ao_delay(AO_MS_TO_TICKS(10));
+
+ /* Reset signal paths */
+ _ao_mpu9250_reg_write(MPU9250_SIGNAL_PATH_RESET,
+ (1 << MPU9250_SIGNAL_PATH_RESET_GYRO_RESET) |
+ (1 << MPU9250_SIGNAL_PATH_RESET_ACCEL_RESET) |
+ (1 << MPU9250_SIGNAL_PATH_RESET_TEMP_RESET));
+
+ _ao_mpu9250_reg_write(MPU9250_SIGNAL_PATH_RESET,
+ (0 << MPU9250_SIGNAL_PATH_RESET_GYRO_RESET) |
+ (0 << MPU9250_SIGNAL_PATH_RESET_ACCEL_RESET) |
+ (0 << MPU9250_SIGNAL_PATH_RESET_TEMP_RESET));
+
+ /* Select clocks, disable sleep */
+ _ao_mpu9250_reg_write(MPU9250_PWR_MGMT_1,
+ (0 << MPU9250_PWR_MGMT_1_DEVICE_RESET) |
+ (0 << MPU9250_PWR_MGMT_1_SLEEP) |
+ (0 << MPU9250_PWR_MGMT_1_CYCLE) |
+ (0 << MPU9250_PWR_MGMT_1_TEMP_DIS) |
+ (MPU9250_PWR_MGMT_1_CLKSEL_PLL_X_AXIS << MPU9250_PWR_MGMT_1_CLKSEL));
+
+ /* Set I2C clock and options */
+ _ao_mpu9250_reg_write(MPU9250_MST_CTRL,
+ (0 << MPU9250_MST_CTRL_MULT_MST_EN) |
+ (0 << MPU9250_MST_CTRL_WAIT_FOR_ES) |
+ (0 << MPU9250_MST_CTRL_SLV_3_FIFO_EN) |
+ (0 << MPU9250_MST_CTRL_I2C_MST_P_NSR) |
+ (MPU9250_MST_CTRL_I2C_MST_CLK_400 << MPU9250_MST_CTRL_I2C_MST_CLK));
+
+ /* Set sample rate divider to sample at full speed */
+ _ao_mpu9250_reg_write(MPU9250_SMPRT_DIV, 0);
+
+ /* Disable filtering */
+ _ao_mpu9250_reg_write(MPU9250_CONFIG,
+ (MPU9250_CONFIG_EXT_SYNC_SET_DISABLED << MPU9250_CONFIG_EXT_SYNC_SET) |
+ (MPU9250_CONFIG_DLPF_CFG_250 << MPU9250_CONFIG_DLPF_CFG));
+
+ for (st_tries = 0; st_tries < ST_TRIES; st_tries++) {
+ errors = 0;
+
+ /* Configure accelerometer to +/-16G in self-test mode */
+ _ao_mpu9250_reg_write(MPU9250_ACCEL_CONFIG,
+ (1 << MPU9250_ACCEL_CONFIG_XA_ST) |
+ (1 << MPU9250_ACCEL_CONFIG_YA_ST) |
+ (1 << MPU9250_ACCEL_CONFIG_ZA_ST) |
+ (MPU9250_ACCEL_CONFIG_AFS_SEL_16G << MPU9250_ACCEL_CONFIG_AFS_SEL));
+
+ /* Configure gyro to +/- 2000°/s in self-test mode */
+ _ao_mpu9250_reg_write(MPU9250_GYRO_CONFIG,
+ (1 << MPU9250_GYRO_CONFIG_XG_ST) |
+ (1 << MPU9250_GYRO_CONFIG_YG_ST) |
+ (1 << MPU9250_GYRO_CONFIG_ZG_ST) |
+ (MPU9250_GYRO_CONFIG_FS_SEL_2000 << MPU9250_GYRO_CONFIG_FS_SEL));
+
+ ao_delay(AO_MS_TO_TICKS(200));
+ _ao_mpu9250_sample(&test_mode);
+
+ /* Configure accelerometer to +/-16G */
+ _ao_mpu9250_reg_write(MPU9250_ACCEL_CONFIG,
+ (0 << MPU9250_ACCEL_CONFIG_XA_ST) |
+ (0 << MPU9250_ACCEL_CONFIG_YA_ST) |
+ (0 << MPU9250_ACCEL_CONFIG_ZA_ST) |
+ (MPU9250_ACCEL_CONFIG_AFS_SEL_16G << MPU9250_ACCEL_CONFIG_AFS_SEL));
+
+ /* Configure gyro to +/- 2000°/s */
+ _ao_mpu9250_reg_write(MPU9250_GYRO_CONFIG,
+ (0 << MPU9250_GYRO_CONFIG_XG_ST) |
+ (0 << MPU9250_GYRO_CONFIG_YG_ST) |
+ (0 << MPU9250_GYRO_CONFIG_ZG_ST) |
+ (MPU9250_GYRO_CONFIG_FS_SEL_2000 << MPU9250_GYRO_CONFIG_FS_SEL));
+
+ ao_delay(AO_MS_TO_TICKS(200));
+ _ao_mpu9250_sample(&normal_mode);
+
+ errors += ao_mpu9250_accel_check(normal_mode.accel_x, test_mode.accel_x);
+ errors += ao_mpu9250_accel_check(normal_mode.accel_y, test_mode.accel_y);
+ errors += ao_mpu9250_accel_check(normal_mode.accel_z, test_mode.accel_z);
+
+ errors += ao_mpu9250_gyro_check(normal_mode.gyro_x, test_mode.gyro_x);
+ errors += ao_mpu9250_gyro_check(normal_mode.gyro_y, test_mode.gyro_y);
+ errors += ao_mpu9250_gyro_check(normal_mode.gyro_z, test_mode.gyro_z);
+ if (!errors)
+ break;
+ }
+
+ if (st_tries == ST_TRIES)
+ ao_sensor_errors = 1;
+
+ /* Set up the mag sensor */
+
+ /* make sure it's alive */
+ for (mag_tries = 0; mag_tries < MAG_TRIES; mag_tries++) {
+ if (_ao_mpu9250_mag_reg_read(MPU9250_MAG_WIA) == MPU9250_MAG_WIA_VALUE)
+ break;
+ }
+
+ if (mag_tries == MAG_TRIES)
+ ao_sensor_errors = 1;
+
+ /* Select continuous mode 2 (100Hz), 16 bit samples */
+
+ _ao_mpu9250_mag_reg_write(MPU9250_MAG_CNTL1,
+ (MPU9250_MAG_CNTL1_BIT_16 << MPU9250_MAG_CNTL1_BIT) |
+ (MPU9250_MAG_CNTL1_MODE_CONT_2 << MPU9250_MAG_CNTL1_MODE));
+
+ /* Set i2c master to delay shadowing data until read is
+ * complete (avoids tearing the data) */
+
+ _ao_mpu9250_reg_write(MPU9250_I2C_MST_DELAY_CTRL,
+ (1 << MPU9250_I2C_MST_DELAY_CTRL_DELAY_ES_SHADOW) |
+ (0 << MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV4_DLY_EN) |
+ (0 << MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV3_DLY_EN) |
+ (0 << MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV2_DLY_EN) |
+ (0 << MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV1_DLY_EN) |
+ (0 << MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV0_DLY_EN));
+
+ /* Set up i2c slave 0 to read the mag registers starting at HXL (3) */
+
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV0_ADDR,
+ (1 << 7) | MPU9250_MAG_ADDR);
+
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV0_REG,
+ MPU9250_MAG_HXL);
+
+ /* Byte swap so the mag values match the gyro/accel. Read 7 bytes
+ * to include the status register
+ */
+
+ _ao_mpu9250_reg_write(MPU9250_I2C_SLV0_CTRL,
+ (1 << MPU9250_I2C_SLV0_CTRL_I2C_SLV0_EN) |
+ (1 << MPU9250_I2C_SLV0_CTRL_I2C_SLV0_BYTE_SW) |
+ (0 << MPU9250_I2C_SLV0_CTRL_I2C_SLV0_REG_DIS) |
+ (1 << MPU9250_I2C_SLV0_CTRL_I2C_SLV0_GRP) |
+ (MPU9250_MAG_ST2 - MPU9250_MAG_HXL + 1) << MPU9250_I2C_SLV0_CTRL_I2C_SLV0_LENG);
+
+ /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
+ _ao_mpu9250_reg_write(MPU9250_CONFIG,
+ (MPU9250_CONFIG_FIFO_MODE_REPLACE << MPU9250_CONFIG_FIFO_MODE) |
+ (MPU9250_CONFIG_EXT_SYNC_SET_DISABLED << MPU9250_CONFIG_EXT_SYNC_SET) |
+ (MPU9250_CONFIG_DLPF_CFG_92 << MPU9250_CONFIG_DLPF_CFG));
+
+ /* Set sample rate divider to sample at 200Hz (v = gyro/rate - 1) */
+ _ao_mpu9250_reg_write(MPU9250_SMPRT_DIV,
+ 1000 / 200 - 1);
+
+ ao_delay(AO_MS_TO_TICKS(100));
+ ao_mpu9250_configured = 1;
+}
+
+struct ao_mpu9250_sample ao_mpu9250_current;
+
+static void
+ao_mpu9250(void)
+{
+ struct ao_mpu9250_sample sample;
+
+ /* ao_mpu9250_init already grabbed the SPI bus and mutex */
+ _ao_mpu9250_setup();
+ ao_mpu9250_spi_put();
+ for (;;)
+ {
+ ao_mpu9250_spi_get();
+ _ao_mpu9250_sample(&sample);
+ ao_mpu9250_spi_put();
+ ao_arch_block_interrupts();
+ ao_mpu9250_current = sample;
+ AO_DATA_PRESENT(AO_DATA_MPU9250);
+ AO_DATA_WAIT();
+ ao_arch_release_interrupts();
+ }
+}
+
+static struct ao_task ao_mpu9250_task;
+
+static void
+ao_mpu9250_show(void)
+{
+ printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d Mag: %7d %7d %7d\n",
+ ao_mpu9250_current.accel_x,
+ ao_mpu9250_current.accel_y,
+ ao_mpu9250_current.accel_z,
+ ao_mpu9250_current.gyro_x,
+ ao_mpu9250_current.gyro_y,
+ ao_mpu9250_current.gyro_z,
+ ao_mpu9250_current.mag_x,
+ ao_mpu9250_current.mag_y,
+ ao_mpu9250_current.mag_z);
+}
+
+#if MPU9250_TEST
+
+static void
+ao_mpu9250_read(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ addr = ao_cmd_lex_i;
+ ao_mpu9250_spi_get();
+ val = _ao_mpu9250_reg_read(addr);
+ ao_mpu9250_spi_put();
+ printf("Addr %02x val %02x\n", addr, val);
+}
+
+static void
+ao_mpu9250_write(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ addr = ao_cmd_lex_i;
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ val = ao_cmd_lex_i;
+ printf("Addr %02x val %02x\n", addr, val);
+ ao_mpu9250_spi_get();
+ _ao_mpu9250_reg_write(addr, val);
+ ao_mpu9250_spi_put();
+}
+
+static void
+ao_mpu9250_mag_read(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ addr = ao_cmd_lex_i;
+ ao_mpu9250_spi_get();
+ val = _ao_mpu9250_mag_reg_read(addr);
+ ao_mpu9250_spi_put();
+ printf("Addr %02x val %02x\n", addr, val);
+}
+
+static void
+ao_mpu9250_mag_write(void)
+{
+ uint8_t addr;
+ uint8_t val;
+
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ addr = ao_cmd_lex_i;
+ ao_cmd_hex();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+ val = ao_cmd_lex_i;
+ printf("Addr %02x val %02x\n", addr, val);
+ ao_mpu9250_spi_get();
+ _ao_mpu9250_mag_reg_write(addr, val);
+ ao_mpu9250_spi_put();
+}
+
+#endif /* MPU9250_TEST */
+
+static const struct ao_cmds ao_mpu9250_cmds[] = {
+ { ao_mpu9250_show, "I\0Show MPU9250 status" },
+#if MPU9250_TEST
+ { ao_mpu9250_read, "R <addr>\0Read MPU9250 register" },
+ { ao_mpu9250_write, "W <addr> <val>\0Write MPU9250 register" },
+ { ao_mpu9250_mag_read, "G <addr>\0Read MPU9250 Mag register" },
+ { ao_mpu9250_mag_write, "P <addr> <val>\0Write MPU9250 Mag register" },
+#endif
+ { 0, NULL }
+};
+
+void
+ao_mpu9250_init(void)
+{
+ ao_mpu9250_configured = 0;
+
+ ao_add_task(&ao_mpu9250_task, ao_mpu9250, "mpu9250");
+
+#if AO_MPU9250_SPI
+ ao_spi_init_cs(AO_MPU9250_SPI_CS_PORT, (1 << AO_MPU9250_SPI_CS_PIN));
+
+ /* Pretend to be the mpu9250 task. Grab the SPI bus right away and
+ * hold it for the task so that nothing else uses the SPI bus before
+ * we get the I2C mode disabled in the chip
+ */
+
+ ao_cur_task = &ao_mpu9250_task;
+ ao_spi_get(AO_MPU9250_SPI_BUS, AO_SPI_SPEED_1MHz);
+ ao_cur_task = NULL;
+#endif
+ ao_cmd_register(&ao_mpu9250_cmds[0]);
+}
+#endif
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_MPU9250_H_
+#define _AO_MPU9250_H_
+
+#ifndef M_PI
+#define M_PI 3.1415926535897832384626433
+#endif
+
+#define MPU9250_ADDR_WRITE 0xd0
+#define MPU9250_ADDR_READ 0xd1
+
+/* From Tridge */
+#define MPUREG_XG_OFFS_TC 0x00
+#define MPUREG_YG_OFFS_TC 0x01
+#define MPUREG_ZG_OFFS_TC 0x02
+#define MPUREG_X_FINE_GAIN 0x03
+#define MPUREG_Y_FINE_GAIN 0x04
+#define MPUREG_Z_FINE_GAIN 0x05
+#define MPUREG_XA_OFFS_H 0x06 // X axis accelerometer offset (high byte)
+#define MPUREG_XA_OFFS_L 0x07 // X axis accelerometer offset (low byte)
+#define MPUREG_YA_OFFS_H 0x08 // Y axis accelerometer offset (high byte)
+#define MPUREG_YA_OFFS_L 0x09 // Y axis accelerometer offset (low byte)
+#define MPUREG_ZA_OFFS_H 0x0A // Z axis accelerometer offset (high byte)
+#define MPUREG_ZA_OFFS_L 0x0B // Z axis accelerometer offset (low byte)
+#define MPUREG_PRODUCT_ID 0x0C // Product ID Register
+#define MPUREG_XG_OFFS_USRH 0x13 // X axis gyro offset (high byte)
+#define MPUREG_XG_OFFS_USRL 0x14 // X axis gyro offset (low byte)
+#define MPUREG_YG_OFFS_USRH 0x15 // Y axis gyro offset (high byte)
+#define MPUREG_YG_OFFS_USRL 0x16 // Y axis gyro offset (low byte)
+#define MPUREG_ZG_OFFS_USRH 0x17 // Z axis gyro offset (high byte)
+#define MPUREG_ZG_OFFS_USRL 0x18 // Z axis gyro offset (low byte)
+
+#define MPU9250_SMPRT_DIV 0x19
+
+#define MPU9250_CONFIG 0x1a
+
+#define MPU9250_CONFIG_FIFO_MODE 6
+# define MPU9250_CONFIG_FIFO_MODE_REPLACE 0
+# define MPU9250_CONFIG_FIFO_MODE_DROP 1
+
+#define MPU9250_CONFIG_EXT_SYNC_SET 3
+#define MPU9250_CONFIG_EXT_SYNC_SET_DISABLED 0
+#define MPU9250_CONFIG_EXT_SYNC_SET_TEMP_OUT_L 1
+#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_XOUT_L 2
+#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_YOUT_L 3
+#define MPU9250_CONFIG_EXT_SYNC_SET_GYRO_ZOUT_L 4
+#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_XOUT_L 5
+#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_YOUT_L 6
+#define MPU9250_CONFIG_EXT_SYNC_SET_ACCEL_ZOUT_L 7
+#define MPU9250_CONFIG_EXT_SYNC_SET_MASK 7
+
+#define MPU9250_CONFIG_DLPF_CFG 0
+#define MPU9250_CONFIG_DLPF_CFG_250 0
+#define MPU9250_CONFIG_DLPF_CFG_184 1
+#define MPU9250_CONFIG_DLPF_CFG_92 2
+#define MPU9250_CONFIG_DLPF_CFG_41 3
+#define MPU9250_CONFIG_DLPF_CFG_20 4
+#define MPU9250_CONFIG_DLPF_CFG_10 5
+#define MPU9250_CONFIG_DLPF_CFG_5 6
+#define MPU9250_CONFIG_DLPF_CFG_MASK 7
+
+#define MPU9250_GYRO_CONFIG 0x1b
+# define MPU9250_GYRO_CONFIG_XG_ST 7
+# define MPU9250_GYRO_CONFIG_YG_ST 6
+# define MPU9250_GYRO_CONFIG_ZG_ST 5
+# define MPU9250_GYRO_CONFIG_FS_SEL 3
+# define MPU9250_GYRO_CONFIG_FS_SEL_250 0
+# define MPU9250_GYRO_CONFIG_FS_SEL_500 1
+# define MPU9250_GYRO_CONFIG_FS_SEL_1000 2
+# define MPU9250_GYRO_CONFIG_FS_SEL_2000 3
+# define MPU9250_GYRO_CONFIG_FS_SEL_MASK 3
+# define MPU9250_GYRO_CONFIG_FCHOICE_B 0
+# define MPU9250_GYRO_CONFIG_FCHOICE_B_8800 3
+# define MPU9250_GYRO_CONFIG_FCHOICE_B_3600 2
+# define MPU9250_GYRO_CONFIG_FCHOICE_B_LOW 0
+
+#define MPU9250_ACCEL_CONFIG 0x1c
+# define MPU9250_ACCEL_CONFIG_XA_ST 7
+# define MPU9250_ACCEL_CONFIG_YA_ST 6
+# define MPU9250_ACCEL_CONFIG_ZA_ST 5
+# define MPU9250_ACCEL_CONFIG_AFS_SEL 3
+# define MPU9250_ACCEL_CONFIG_AFS_SEL_2G 0
+# define MPU9250_ACCEL_CONFIG_AFS_SEL_4G 1
+# define MPU9250_ACCEL_CONFIG_AFS_SEL_8G 2
+# define MPU9250_ACCEL_CONFIG_AFS_SEL_16G 3
+# define MPU9250_ACCEL_CONFIG_AFS_SEL_MASK 3
+
+#define MPU9250_MST_CTRL 0x24
+#define MPU9250_MST_CTRL_MULT_MST_EN 7
+#define MPU9250_MST_CTRL_WAIT_FOR_ES 6
+#define MPU9250_MST_CTRL_SLV_3_FIFO_EN 5
+#define MPU9250_MST_CTRL_I2C_MST_P_NSR 4
+#define MPU9250_MST_CTRL_I2C_MST_CLK 0
+#define MPU9250_MST_CTRL_I2C_MST_CLK_348 0
+#define MPU9250_MST_CTRL_I2C_MST_CLK_333 1
+#define MPU9250_MST_CTRL_I2C_MST_CLK_320 2
+#define MPU9250_MST_CTRL_I2C_MST_CLK_308 3
+#define MPU9250_MST_CTRL_I2C_MST_CLK_296 4
+#define MPU9250_MST_CTRL_I2C_MST_CLK_286 5
+#define MPU9250_MST_CTRL_I2C_MST_CLK_276 6
+#define MPU9250_MST_CTRL_I2C_MST_CLK_267 7
+#define MPU9250_MST_CTRL_I2C_MST_CLK_258 8
+#define MPU9250_MST_CTRL_I2C_MST_CLK_500 9
+#define MPU9250_MST_CTRL_I2C_MST_CLK_471 10
+#define MPU9250_MST_CTRL_I2C_MST_CLK_444 11
+#define MPU9250_MST_CTRL_I2C_MST_CLK_421 12
+#define MPU9250_MST_CTRL_I2C_MST_CLK_400 13
+#define MPU9250_MST_CTRL_I2C_MST_CLK_381 14
+#define MPU9250_MST_CTRL_I2C_MST_CLK_364 15
+#define MPU9250_MST_CTRL_I2C_MST_CLK_MASK 15
+
+#define MPU9250_I2C_SLV0_ADDR 0x25
+#define MPU9250_I2C_SLV0_REG 0x26
+#define MPU9250_I2C_SLV0_CTRL 0x27
+
+#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_EN 7
+#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_BYTE_SW 6
+#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_REG_DIS 5
+#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_GRP 4
+#define MPU9250_I2C_SLV0_CTRL_I2C_SLV0_LENG 0
+
+#define MPU9250_I2C_SLV1_ADDR 0x28
+#define MPU9250_I2C_SLV1_REG 0x29
+#define MPU9250_I2C_SLV1_CTRL 0x2a
+
+#define MPU9250_I2C_SLV2_ADDR 0x2b
+#define MPU9250_I2C_SLV2_REG 0x2c
+#define MPU9250_I2C_SLV2_CTRL 0x2d
+
+#define MPU9250_I2C_SLV3_ADDR 0x2e
+#define MPU9250_I2C_SLV3_REG 0x2f
+#define MPU9250_I2C_SLV3_CTRL 0x30
+
+#define MPU9250_I2C_SLV4_ADDR 0x31
+#define MPU9250_I2C_SLV4_REG 0x32
+#define MPU9250_I2C_SLV4_DO 0x33
+#define MPU9250_I2C_SLV4_CTRL 0x34
+#define MPU9250_I2C_SLV4_CTRL_I2C_SLV4_EN 7
+#define MPU9250_I2C_SLV4_CTRL_SLV4_DONE_INT_EN 6
+#define MPU9250_I2C_SLV4_CTRL_I2C_SLV4_REG_DIS 5
+#define MPU9250_I2C_SLV4_CTRL_I2C_MST_DLY 0
+
+#define MPU9250_I2C_SLV4_DI 0x35
+
+#define MPU9250_I2C_MST_STATUS 0x36
+
+#define MPU9250_INT_PIN_CFG 0x37
+
+#define MPU9250_INT_ENABLE 0x38
+#define MPU9250_INT_ENABLE_WOM_EN 6
+#define MPU9250_INT_ENABLE_FIFO_OFLOW_EN 4
+#define MPU9250_INT_ENABLE_FSYNC_INT_EN 3
+#define MPU9250_INT_ENABLE_RAW_RDY_EN 0
+
+#define MPU9250_INT_STATUS 0x3a
+#define MPU9250_INT_STATUS_WOM_INT 6
+#define MPU9250_INT_STATUS_FIFO_OFLOW_INT 4
+#define MPU9250_INT_STATUS_FSYNC_INT 3
+#define MPU9250_INT_STATUS_RAW_RDY_INT 0
+
+#define MPU9250_ACCEL_XOUT_H 0x3b
+#define MPU9250_ACCEL_XOUT_L 0x3c
+#define MPU9250_ACCEL_YOUT_H 0x3d
+#define MPU9250_ACCEL_YOUT_L 0x3e
+#define MPU9250_ACCEL_ZOUT_H 0x3f
+#define MPU9250_ACCEL_ZOUT_L 0x40
+#define MPU9250_TEMP_H 0x41
+#define MPU9250_TEMP_L 0x42
+#define MPU9250_GYRO_XOUT_H 0x43
+#define MPU9250_GYRO_XOUT_L 0x44
+#define MPU9250_GYRO_YOUT_H 0x45
+#define MPU9250_GYRO_YOUT_L 0x46
+#define MPU9250_GYRO_ZOUT_H 0x47
+#define MPU9250_GYRO_ZOUT_L 0x48
+
+#define MPU9250_I2C_MST_DELAY_CTRL 0x67
+
+#define MPU9250_I2C_MST_DELAY_CTRL_DELAY_ES_SHADOW 7
+#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV4_DLY_EN 4
+#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV3_DLY_EN 3
+#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV2_DLY_EN 2
+#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV1_DLY_EN 1
+#define MPU9250_I2C_MST_DELAY_CTRL_I2C_SLV0_DLY_EN 0
+
+#define MPU9250_SIGNAL_PATH_RESET 0x68
+#define MPU9250_SIGNAL_PATH_RESET_GYRO_RESET 2
+#define MPU9250_SIGNAL_PATH_RESET_ACCEL_RESET 1
+#define MPU9250_SIGNAL_PATH_RESET_TEMP_RESET 0
+
+#define MPU9250_USER_CTRL 0x6a
+#define MPU9250_USER_CTRL_FIFO_EN 6
+#define MPU9250_USER_CTRL_I2C_MST_EN 5
+#define MPU9250_USER_CTRL_I2C_IF_DIS 4
+#define MPU9250_USER_CTRL_FIFO_RESET 2
+#define MPU9250_USER_CTRL_I2C_MST_RESET 1
+#define MPU9250_USER_CTRL_SIG_COND_RESET 0
+
+#define MPU9250_PWR_MGMT_1 0x6b
+#define MPU9250_PWR_MGMT_1_DEVICE_RESET 7
+#define MPU9250_PWR_MGMT_1_SLEEP 6
+#define MPU9250_PWR_MGMT_1_CYCLE 5
+#define MPU9250_PWR_MGMT_1_TEMP_DIS 3
+#define MPU9250_PWR_MGMT_1_CLKSEL 0
+#define MPU9250_PWR_MGMT_1_CLKSEL_INTERNAL 0
+#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_X_AXIS 1
+#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_Y_AXIS 2
+#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_Z_AXIS 3
+#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_32K 4
+#define MPU9250_PWR_MGMT_1_CLKSEL_PLL_EXTERNAL_19M 5
+#define MPU9250_PWR_MGMT_1_CLKSEL_STOP 7
+#define MPU9250_PWR_MGMT_1_CLKSEL_MASK 7
+
+#define MPU9250_PWR_MGMT_2 0x6c
+
+#define MPU9250_WHO_AM_I 0x75
+#define MPU9250_I_AM_9250 0x71
+
+/* AK8963 mag sensor on the I2C bus */
+
+#define MPU9250_MAG_ADDR 0x0c
+
+#define MPU9250_MAG_WIA 0x00
+#define MPU9250_MAG_WIA_VALUE 0x48
+
+#define MPU9250_MAG_INFO 0x01
+#define MPU9250_MAG_ST1 0x02
+#define MPU9250_MAG_ST1_DOR 1
+#define MPU9250_MAG_ST1_DRDY 0
+
+#define MPU9250_MAG_HXL 0x03
+#define MPU9250_MAG_HXH 0x04
+#define MPU9250_MAG_HYL 0x05
+#define MPU9250_MAG_HYH 0x06
+#define MPU9250_MAG_HZL 0x07
+#define MPU9250_MAG_HZH 0x08
+#define MPU9250_MAG_ST2 0x09
+#define MPU9250_MAG_ST2_BITM 4
+#define MPU9250_MAG_ST2_HOFL 3
+
+#define MPU9250_MAG_CNTL1 0x0a
+#define MPU9250_MAG_CNTL1_MODE 0
+#define MPU9250_MAG_CNTL1_MODE_POWER_DOWN 0x0
+#define MPU9250_MAG_CNTL1_MODE_SINGLE 0x1
+#define MPU9250_MAG_CNTL1_MODE_CONT_1 0x2 /* 8Hz */
+#define MPU9250_MAG_CNTL1_MODE_CONT_2 0x6 /* 100Hz */
+#define MPU9250_MAG_CNTL1_MODE_EXTERNAL 0x4
+#define MPU9250_MAG_CNTL1_MODE_SELF_TEST 0x8
+#define MPU9250_MAG_CNTL1_MODE_FUSE_ACCESS 0xf
+
+#define MPU9250_MAG_CNTL1_BIT 4
+#define MPU9250_MAG_CNTL1_BIT_14 0
+#define MPU9250_MAG_CNTL1_BIT_16 1
+
+#define MPU9250_MAG_CNTL2 0x0b
+#define MPU9250_MAG_CNTL2_SRST 0
+
+#define MPU9250_MAG_ASTC 0x0c
+#define MPU9250_MAG_ASTC_SELF 6
+
+#define MPU9250_MAG_TS1 0x0d
+#define MPU9250_MAG_TS2 0x0e
+#define MPU9250_MAG_I2CDIS 0x0f
+#define MPU9250_MAG_I2CDIS_VALUE 0x1d
+
+#define MPU9250_MAG_ASAX 0x10
+#define MPU9250_MAG_ASAY 0x11
+#define MPU9250_MAG_ASAZ 0x12
+
+/* Self test acceleration is approximately 0.5g */
+#define MPU9250_ST_ACCEL(full_scale) (32767 / ((full_scale) * 2))
+
+/* Self test gyro is approximately 50°/s */
+#define MPU9250_ST_GYRO(full_scale) ((int16_t) (((int32_t) 32767 * (int32_t) 50) / (full_scale)))
+
+#define MPU9250_GYRO_FULLSCALE ((float) 2000 * M_PI/180.0)
+
+static inline float
+ao_mpu9250_gyro(float sensor) {
+ return sensor * ((float) (MPU9250_GYRO_FULLSCALE / 32767.0));
+}
+
+#define MPU9250_ACCEL_FULLSCALE 16
+
+static inline float
+ao_mpu9250_accel(int16_t sensor) {
+ return (float) sensor * ((float) (MPU9250_ACCEL_FULLSCALE * GRAVITY / 32767.0));
+}
+
+struct ao_mpu9250_sample {
+ int16_t accel_x;
+ int16_t accel_y;
+ int16_t accel_z;
+ int16_t temp;
+ int16_t gyro_x;
+ int16_t gyro_y;
+ int16_t gyro_z;
+ int16_t mag_x;
+ int16_t mag_y;
+ int16_t mag_z;
+};
+
+extern struct ao_mpu9250_sample ao_mpu9250_current;
+
+void
+ao_mpu9250_init(void);
+
+/* Product ID Description for MPU9250
+ * high 4 bits low 4 bits
+ * Product Name Product Revision
+ */
+#define MPU9250ES_REV_C4 0x14 /* 0001 0100 */
+#define MPU9250ES_REV_C5 0x15 /* 0001 0101 */
+#define MPU9250ES_REV_D6 0x16 /* 0001 0110 */
+#define MPU9250ES_REV_D7 0x17 /* 0001 0111 */
+#define MPU9250ES_REV_D8 0x18 /* 0001 1000 */
+#define MPU9250_REV_C4 0x54 /* 0101 0100 */
+#define MPU9250_REV_C5 0x55 /* 0101 0101 */
+#define MPU9250_REV_D6 0x56 /* 0101 0110 */
+#define MPU9250_REV_D7 0x57 /* 0101 0111 */
+#define MPU9250_REV_D8 0x58 /* 0101 1000 */
+#define MPU9250_REV_D9 0x59 /* 0101 1001 */
+
+#endif /* _AO_MPU9250_H_ */
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA
+
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define USE_EEPROM_CONFIG 1
#define HAS_SPI_1 1
#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
#define SPI_1_PB3_PB4_PB5 1 /* Accelerometer, Gyro */
-#define SPI_1_PE13_PE14_PE15 0
+#define SPI_1_PE13_PE14_PE15 0
#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
#define HAS_SPI_2 1
#define AO_PANIC_SELF_TEST_CC1120 0x40 | 1 /* Self test failure */
#define AO_PANIC_SELF_TEST_HMC5883 0x40 | 2 /* Self test failure */
#define AO_PANIC_SELF_TEST_MPU6000 0x40 | 3 /* Self test failure */
+#define AO_PANIC_SELF_TEST_MPU9250 0x40 | 3 /* Self test failure */
#define AO_PANIC_SELF_TEST_MS5607 0x40 | 4 /* Self test failure */
/* Stop the operating system, beeping and blinking the reason */
, ao_flight_number
#endif
#if HAS_LOG
- , ao_log_format
+ , AO_LOG_FORMAT
#if !DISABLE_LOG_SPACE
, (unsigned long) ao_storage_log_max
#endif
#define AO_DATA_MPU6000 0
#endif
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250 (1 << 2)
+#else
+#define AO_DATA_MPU9250 0
+#endif
+
#if HAS_HMC5883
#include <ao_hmc5883.h>
#define AO_DATA_HMC5883 (1 << 3)
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
struct ao_data {
uint16_t tick;
int16_t z_accel;
#endif
#endif
+#if HAS_MPU9250
+ struct ao_mpu9250_sample mpu9250;
+#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet) ((packet)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet) ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_mpu9250_accel(sensor);
+}
+
#endif
#if !HAS_MAG && HAS_HMC5883
#endif
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
+
+#endif
+
#endif /* _AO_DATA_H_ */
#include <ao_log.h>
#endif
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
#include <ao_quaternion.h>
#endif
gps_log.u.gps_time.minute = gps_data.minute;
gps_log.u.gps_time.second = gps_data.second;
gps_log.u.gps_time.flags = gps_data.flags;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_LAT;
gps_log.u.gps_latitude = gps_data.latitude;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_LON;
gps_log.u.gps_longitude = gps_data.longitude;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_ALT;
gps_log.u.gps_altitude.altitude_low = gps_data.altitude_low;
#if HAS_WIDE_GPS
#else
gps_log.u.gps_altitude.altitude_high = 0xffff;
#endif
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
gps_log.type = AO_LOG_GPS_DATE;
gps_log.u.gps_date.year = gps_data.year;
gps_log.u.gps_date.month = gps_data.month;
gps_log.u.gps_date.day = gps_data.day;
gps_log.u.gps_date.extra = 0;
- date_reported = ao_log_data(&gps_log);
+ date_reported = ao_log_write(&gps_log);
}
}
if (new & AO_GPS_NEW_TRACKING) {
if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
{
gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
- ao_log_data(&gps_log);
+ ao_log_write(&gps_log);
}
}
}
gps_log.u.gps.hdop = gps_data.hdop;
gps_log.u.gps.vdop = gps_data.vdop;
gps_log.u.gps.mode = gps_data.mode;
- ao_log_mega(&gps_log);
+ ao_log_write(&gps_log);
}
if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
gps_log.tick = ao_gps_tick;
break;
}
gps_log.u.gps_sat.channels = i;
- ao_log_mega(&gps_log);
+ ao_log_write(&gps_log);
}
}
}
gps_log.u.gps.longitude = gps_data.longitude;
gps_log.u.gps.altitude_low = gps_data.altitude_low;
gps_log.u.gps.altitude_high = gps_data.altitude_high;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps_time.hour = gps_data.hour;
gps_log.u.gps_time.month = gps_data.month;
gps_log.u.gps_time.day = gps_data.day;
gps_log.u.gps_time.pdop = gps_data.pdop;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
}
if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels)) {
if (i == 4) {
gps_log.u.gps_sat.channels = i;
gps_log.u.gps_sat.more = 1;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
i = 0;
}
gps_log.u.gps_sat.sats[i].svid = svid;
if (i) {
gps_log.u.gps_sat.channels = i;
gps_log.u.gps_sat.more = 0;
- ao_log_metrum(&gps_log);
+ ao_log_write(&gps_log);
}
}
}
void
ao_sleep(void *wchan);
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
"startup", "idle", "pad", "boost", "fast",
"coast", "drogue", "main", "landed", "invalid"
};
__pdata uint32_t ao_log_start_pos;
__xdata uint8_t ao_log_running;
__pdata enum ao_flight_state ao_log_state;
-__xdata uint16_t ao_flight_number;
+__xdata int16_t ao_flight_number;
void
ao_log_flush(void)
ao_config_put();
}
+#ifndef AO_LOG_UNCOMMON
+/*
+ * Common logging functions which depend on the type of the log data
+ * structure.
+ */
+
+__xdata ao_log_type log;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (ao_log_type); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_write(__xdata ao_log_type *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (ao_log_type));
+ ao_log_current_pos += sizeof (ao_log_type);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+uint8_t
+ao_log_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+uint8_t
+ao_log_check_clear(void)
+{
+ uint8_t *b = (uint8_t *) &log;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (ao_log_type); i++) {
+ if (*b++ != 0xff)
+ return 0;
+ }
+ return 1;
+}
+
+int16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (ao_log_type)))
+ return -(int16_t) (slot + 1);
+
+ if (ao_log_check_clear())
+ return 0;
+
+ if (!ao_log_check_data() || log.type != AO_LOG_FLIGHT)
+ return -(int16_t) (slot + 1);
+
+ return log.u.flight.flight;
+}
+#endif
+
static uint8_t
ao_log_slots()
{
return ((slot) * ao_config.flight_log_max);
}
-static uint16_t
+static int16_t
ao_log_max_flight(void)
{
uint8_t log_slot;
uint8_t log_slots;
- uint16_t log_flight;
- uint16_t max_flight = 0;
+ int16_t log_flight;
+ int16_t max_flight = 0;
/* Scan the log space looking for the biggest flight number */
log_slots = ao_log_slots();
for (log_slot = 0; log_slot < log_slots; log_slot++) {
log_flight = ao_log_flight(log_slot);
- if (!log_flight)
+ if (log_flight <= 0)
continue;
- if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
+ if (max_flight == 0 || log_flight > max_flight)
max_flight = log_flight;
}
return max_flight;
if (ao_flight_number) {
uint32_t full = ao_log_current_pos;
- uint32_t empty = ao_log_end_pos - ao_log_size;
+ uint32_t empty = ao_log_end_pos - AO_LOG_SIZE;
/* If there's already a flight started, then find the
* end of it
*/
for (;;) {
ao_log_current_pos = (full + empty) >> 1;
- ao_log_current_pos -= ao_log_current_pos % ao_log_size;
+ ao_log_current_pos -= ao_log_current_pos % AO_LOG_SIZE;
if (ao_log_current_pos == full) {
- if (ao_log_check(ao_log_current_pos))
- ao_log_current_pos += ao_log_size;
+ if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY)
+ ao_log_current_pos += AO_LOG_SIZE;
break;
}
if (ao_log_current_pos == empty)
break;
- if (ao_log_check(ao_log_current_pos)) {
+ if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY) {
full = ao_log_current_pos;
} else {
empty = ao_log_current_pos;
ao_wakeup(&ao_flight_number);
return ret;
#else
-
- if (ao_flight_number)
- if (++ao_flight_number == 0)
+ if (ao_flight_number) {
+ ++ao_flight_number;
+ if (ao_flight_number <= 0)
ao_flight_number = 1;
+ }
ao_log_find_max_erase_flight();
{
uint8_t slot;
uint8_t slots;
- uint16_t flight;
+ int16_t flight;
slots = ao_log_slots();
for (slot = 0; slot < slots; slot++)
{
uint8_t slot;
uint8_t slots;
+ int16_t cmd_flight = 1;
+ ao_cmd_white();
+ if (ao_cmd_lex_c == '-') {
+ cmd_flight = -1;
+ ao_cmd_lex();
+ }
ao_cmd_decimal();
if (ao_cmd_status != ao_cmd_success)
return;
+ cmd_flight *= (int16_t) ao_cmd_lex_i;
slots = ao_log_slots();
/* Look for the flight log matching the requested flight */
- if (ao_cmd_lex_i) {
+ if (cmd_flight) {
for (slot = 0; slot < slots; slot++) {
- if (ao_log_flight(slot) == ao_cmd_lex_i) {
+ if (ao_log_flight(slot) == cmd_flight) {
#if HAS_TRACKER
- ao_tracker_erase_start(ao_cmd_lex_i);
+ ao_tracker_erase_start(cmd_flight);
#endif
ao_log_erase(slot);
#if HAS_TRACKER
}
}
}
- printf("No such flight: %d\n", ao_cmd_lex_i);
+ printf("No such flight: %d\n", cmd_flight);
}
__code struct ao_cmds ao_log_cmds[] = {
* the log. Tasks may wait for this to be initialized
* by sleeping on this variable.
*/
-extern __xdata uint16_t ao_flight_number;
+extern __xdata int16_t ao_flight_number;
extern __xdata uint8_t ao_log_mutex;
extern __pdata uint32_t ao_log_current_pos;
extern __pdata uint32_t ao_log_end_pos;
#define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
#define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */
#define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
+#define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
-extern __code uint8_t ao_log_format;
-extern __code uint8_t ao_log_size;
+/* Return the flight number from the given log slot, 0 if none, -slot on failure */
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
+int16_t
ao_log_flight(uint8_t slot);
-/* Check if there is valid log data at the specified location */
+/* Checksum the loaded log record */
+uint8_t
+ao_log_check_data(void);
+
+/* Check to see if the loaded log record is empty */
uint8_t
+ao_log_check_clear(void);
+
+/* Check if there is valid log data at the specified location */
+#define AO_LOG_VALID 1
+#define AO_LOG_EMPTY 0
+#define AO_LOG_INVALID -1
+
+int8_t
ao_log_check(uint32_t pos);
/* Flush the log */
} u;
};
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3
+typedef struct ao_log_mega ao_log_type;
+#endif
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
+typedef struct ao_log_metrum ao_log_type;
+#endif
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI1 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI3
+typedef struct ao_log_mini ao_log_type;
+#endif
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
+typedef struct ao_log_gps ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
+typedef struct ao_log_record ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#ifndef AO_LOG_UNCOMMON
+extern __xdata ao_log_type log;
+
+#define AO_LOG_SIZE sizeof(ao_log_type)
+
+/* Write a record to the eeprom log */
uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+ao_log_write(__xdata ao_log_type *log) __reentrant;
+#endif
void
ao_log_flush(void);
#include "ao.h"
-static __xdata struct ao_log_record log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_record); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_record));
- ao_log_current_pos += sizeof (struct ao_log_record);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
static __data uint8_t ao_log_data_pos;
/* a hack to make sure that ao_log_records fill the eeprom block in even units */
log.u.flight.ground_accel = ao_ground_accel;
#endif
log.u.flight.flight = ao_flight_number;
- ao_log_data(&log);
+ ao_log_write(&log);
/* Write the whole contents of the ring to the log
* when starting up.
log.type = AO_LOG_SENSOR;
log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
- ao_log_data(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
log.type = AO_LOG_TEMP_VOLT;
log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
- ao_log_data(&log);
+ ao_log_write(&log);
log.type = AO_LOG_DEPLOY;
log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
- ao_log_data(&log);
+ ao_log_write(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
log.tick = ao_sample_tick;
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_data(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
ao_sleep(&ao_log_running);
}
}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_record)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
#include <ao_distance.h>
#include <ao_tracker.h>
-static __xdata struct ao_log_gps log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
-__code uint8_t ao_log_size = sizeof (struct ao_log_gps);
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_gps); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_gps));
- ao_log_current_pos += sizeof (struct ao_log_gps);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
void
ao_log_gps_flight(void)
{
log.type = AO_LOG_FLIGHT;
log.tick = ao_time();
log.u.flight.flight = ao_flight_number;
- ao_log_gps(&log);
+ ao_log_write(&log);
}
void
log.u.gps.hdop = gps_data->hdop;
log.u.gps.vdop = gps_data->vdop;
log.u.gps.mode = gps_data->mode;
- ao_log_gps(&log);
+ ao_log_write(&log);
}
void
break;
}
log.u.gps_sat.channels = i;
- ao_log_gps(&log);
+ ao_log_write(&log);
}
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_gps)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
-
-uint8_t
+int8_t
ao_log_check(uint32_t pos)
{
if (!ao_storage_read(pos,
&log,
sizeof (struct ao_log_gps)))
- return 0;
+ return AO_LOG_INVALID;
+
+ if (ao_log_check_clear())
+ return AO_LOG_EMPTY;
- if (ao_log_dump_check_data())
- return 1;
- return 0;
+ if (!ao_log_check_data())
+ return AO_LOG_INVALID;
+ return AO_LOG_VALID;
}
#include <ao_data.h>
#include <ao_flight.h>
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mega); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mega));
- ao_log_current_pos += sizeof (struct ao_log_mega);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
#if HAS_FLIGHT
static __data uint8_t ao_log_data_pos;
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
- ao_log_mega(&log);
+ ao_log_write(&log);
#endif
/* Write the whole contents of the ring to the log
log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
+#endif
+#if HAS_MPU9250
+ log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu9250.accel_x;
+ log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu9250.accel_y;
+ log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu9250.accel_z;
+ log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu9250.gyro_x;
+ log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu9250.gyro_y;
+ log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu9250.gyro_z;
+ log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].mpu9250.mag_x;
+ log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].mpu9250.mag_z;
+ log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].mpu9250.mag_y;
#endif
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
- ao_log_mega(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
log.u.volt.pyro = ao_pyro_fired;
- ao_log_mega(&log);
+ ao_log_write(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_mega(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
}
#endif /* HAS_FLIGHT */
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mega)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
#include <ao_data.h>
#include <ao_flight.h>
-static __xdata struct ao_log_metrum log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_metrum); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_metrum));
- ao_log_current_pos += sizeof (struct ao_log_metrum);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
#if HAS_ADC
static __data uint8_t ao_log_data_pos;
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
- ao_log_metrum(&log);
+ ao_log_write(&log);
#endif
/* Write the whole contents of the ring to the log
#if HAS_ACCEL
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
#endif
- ao_log_metrum(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
- ao_log_metrum(&log);
+ ao_log_write(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_metrum(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
}
}
#endif
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_metrum)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
#include <ao_data.h>
#include <ao_flight.h>
-static __xdata struct ao_log_mini log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mini); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mini));
- ao_log_current_pos += sizeof (struct ao_log_mini);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
static __data uint8_t ao_log_data_pos;
/* a hack to make sure that ao_log_minis fill the eeprom block in even units */
log.tick = ao_sample_tick;
log.u.flight.flight = ao_flight_number;
log.u.flight.ground_pres = ao_ground_pres;
- ao_log_mini(&log);
+ ao_log_write(&log);
#endif
/* Write the whole contents of the ring to the log
log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
#endif
- ao_log_mini(&log);
+ ao_log_write(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
- ao_log_mini(&log);
+ ao_log_write(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
ao_sleep(&ao_log_running);
}
}
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mini)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
#define AO_PAD_RING 2
#endif
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY;
-
void
ao_log_tiny_set_interval(uint16_t ticks)
{
}
}
-uint16_t
+int16_t
ao_log_flight(uint8_t slot)
{
static __xdata uint16_t flight;
#if PYRO_DBG
int pyro_dbg;
-#define DBG(...) do { if (pyro_dbg) printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } while (0)
+#define DBG(...) do { if (pyro_dbg) { printf("\t%d: ", (int) (pyro - ao_config.pyro)); printf(__VA_ARGS__); } } while (0)
#else
#define DBG(...)
#endif
}
ao_delay(ao_config.pyro_time);
for (p = 0; p < AO_PYRO_NUM; p++) {
- if (fire & (1 << p)) {
+ if (fire & (1 << p))
ao_pyro_pin_set(p, 0);
- ao_config.pyro[p].fired = 1;
- ao_pyro_fired |= (1 << p);
- }
}
ao_delay(AO_MS_TO_TICKS(50));
}
/* Ignore igniters which have already fired
*/
- if (pyro->fired)
+ if (ao_pyro_fired & (1 << p))
continue;
/* Ignore disabled igniters
* by setting the fired bit
*/
if (!ao_pyro_ready(pyro)) {
- pyro->fired = 1;
+ ao_pyro_fired |= (1 << p);
continue;
}
fire |= (1 << p);
}
- if (fire)
+ if (fire) {
+ ao_pyro_fired |= fire;
ao_pyro_pins_fire(fire);
+ }
return any_waiting;
}
break;
for (c = 0; c < AO_PYRO_NAME_LEN - 1; c++) {
- if (ao_cmd_is_white())
+ if (ao_cmd_is_white() || ao_cmd_lex_c == '\n')
break;
name[c] = ao_cmd_lex_c;
ao_cmd_lex();
uint8_t state_less, state_greater_or_equal;
int16_t motor;
uint16_t delay_done;
- uint8_t fired;
+ uint8_t _unused; /* was 'fired' */
};
#define AO_PYRO_8_BIT_VALUE (ao_pyro_state_less|ao_pyro_state_greater_or_equal)
#else
static const float dt = 1/TIME_DIV;
#endif
- float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
- float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
- float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
+ float x = ao_convert_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
+ float y = ao_convert_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
+ float z = ao_convert_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
struct ao_quaternion rot;
ao_quaternion_init_half_euler(&rot, x, y, z);
#endif
void
-putchar(char c)
+ao_putchar(char c)
{
#if LOW_LEVEL_DEBUG
if (!ao_cur_task) {
__xdata uint8_t ao_stdin_ready;
char
-getchar(void) __reentrant
+ao_getchar(void) __reentrant
{
int c;
int8_t stdio;
uint8_t
ao_storage_read(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
{
+#ifdef CC1111
+ return ao_storage_device_read(pos, buf, len);
+#else
uint16_t this_len;
uint16_t this_off;
pos += this_len;
}
return 1;
+#endif
}
uint8_t
ao_storage_write(ao_pos_t pos, __xdata void *buf, uint16_t len) __reentrant
{
+#ifdef CC1111
+ return ao_storage_device_write(pos, buf, len);
+#else
uint16_t this_len;
uint16_t this_off;
pos += this_len;
}
return 1;
+#endif
}
-static __xdata uint8_t storage_data[8];
+static __xdata uint8_t storage_data[128];
static void
ao_storage_dump(void) __reentrant
ao_storage_erase(pos);
}
+#if AO_STORAGE_TEST
+
+static void
+ao_storage_failure(uint32_t pos, char *format, ...)
+{
+ va_list a;
+ printf("TEST FAILURE AT %08x: ", pos);
+ va_start(a, format);
+ vprintf(format, a);
+ va_end(a);
+}
+
+static uint8_t
+ao_storage_check_block(uint32_t pos, uint8_t value)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ if (!ao_storage_read(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "read failed\n");
+ return 0;
+ }
+ for (byte = 0; byte < sizeof (storage_data); byte++)
+ if (storage_data[byte] != value) {
+ ao_storage_failure(pos + offset + byte,
+ "want %02x got %02x\n",
+ value, storage_data[byte]);
+ return 0;
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_fill_block(uint32_t pos, uint8_t value)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (byte = 0; byte < sizeof (storage_data); byte++)
+ storage_data[byte] = value;
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ if (!ao_storage_write(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "write failed\n");
+ return 0;
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_check_incr_block(uint32_t pos)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ if (!ao_storage_read(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "read failed\n");
+ return 0;
+ }
+ for (byte = 0; byte < sizeof (storage_data); byte++) {
+ uint8_t value = offset + byte;
+ if (storage_data[byte] != value) {
+ ao_storage_failure(pos + offset + byte,
+ "want %02x got %02x\n",
+ value, storage_data[byte]);
+ return 0;
+ }
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_fill_incr_block(uint32_t pos)
+{
+ uint32_t offset;
+ uint32_t byte;
+
+ for (offset = 0; offset < ao_storage_block; offset += sizeof (storage_data)) {
+ for (byte = 0; byte < sizeof (storage_data); byte++)
+ storage_data[byte] = offset + byte;
+ if (!ao_storage_write(pos + offset, storage_data, sizeof (storage_data))) {
+ ao_storage_failure(pos + offset, "write failed\n");
+ return 0;
+ }
+ }
+ return 1;
+}
+
+static uint8_t
+ao_storage_fill_check_block(uint32_t pos, uint8_t value)
+{
+ return ao_storage_fill_block(pos, value) && ao_storage_check_block(pos, value);
+}
+
+static uint8_t
+ao_storage_incr_check_block(uint32_t pos)
+{
+ return ao_storage_fill_incr_block(pos) && ao_storage_check_incr_block(pos);
+}
+
+static uint8_t
+ao_storage_test_block(uint32_t pos) __reentrant
+{
+ ao_storage_erase(pos);
+ printf(" erase"); flush();
+ if (!ao_storage_check_block(pos, 0xff))
+ return 0;
+ printf(" zero"); flush();
+ if (!ao_storage_fill_check_block(pos, 0x00))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" 0xaa"); flush();
+ if (!ao_storage_fill_check_block(pos, 0xaa))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" 0x55"); flush();
+ if (!ao_storage_fill_check_block(pos, 0x55))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" increment"); flush();
+ if (!ao_storage_incr_check_block(pos))
+ return 0;
+ ao_storage_erase(pos);
+ printf(" pass\n"); flush();
+ return 1;
+}
+
+static void
+ao_storage_test(void) __reentrant
+{
+ uint32_t pos;
+
+ ao_cmd_white();
+ if (!ao_match_word("DoIt"))
+ return;
+ for (pos = 0; pos < ao_storage_log_max; pos += ao_storage_block) {
+ printf("Testing block 0x%08x:", pos); flush();
+ if (!ao_storage_test_block(pos))
+ break;
+ }
+ printf("Test complete\n");
+}
+#endif /* AO_STORAGE_TEST */
+
void
ao_storage_info(void) __reentrant
{
#endif
{ ao_storage_zap, "z <block>\0Erase <block>" },
{ ao_storage_zapall,"Z <key>\0Erase all. <key> is doit with D&I" },
+#if AO_STORAGE_TEST
+ { ao_storage_test, "V <key>\0Validate flash (destructive). <key> is doit with D&I" },
+#endif
{ 0, NULL },
};
ao_arch_task_members /* any architecture-specific fields */
uint8_t task_id; /* unique id */
__code char *name; /* task name */
+#ifdef NEWLIB
+ int __errno; /* storage for errno in newlib libc */
+#endif
#if HAS_TASK_QUEUE
struct ao_list queue;
struct ao_list alarm_queue;
telemetry.generic.tick = packet->tick;
telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
telemetry.mega_sensor.orient = ao_sample_orient;
#endif
telemetry.mega_sensor.accel = ao_data_accel(packet);
telemetry.mega_sensor.mag_y = packet->hmc5883.y;
#endif
+#if HAS_MPU9250
+ telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+ telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+ telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+ telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+ telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+ telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+ telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+ telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+ telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
+#endif
+
ao_telemetry_send();
}
include ../stmf0/Makefile.defs
+include ../scheme/Makefile-inc
+
+NEWLIB_FULL=-lm -lc -lgcc
+
+LIBS=$(NEWLIB_FULL)
+
INC = \
ao.h \
ao_arch.h \
ao_pins.h \
ao_product.h \
ao_task.h \
- ao_lisp.h \
- ao_lisp_const.h \
- ao_lisp_os.h \
+ $(SCHEME_HDRS) \
stm32f0.h \
Makefile
ao_timer.c \
ao_usb_stm.c \
ao_flash_stm.c \
- ao_lisp_lex.c \
- ao_lisp_mem.c \
- ao_lisp_cons.c \
- ao_lisp_eval.c \
- ao_lisp_string.c \
- ao_lisp_atom.c \
- ao_lisp_int.c \
- ao_lisp_poly.c \
- ao_lisp_builtin.c \
- ao_lisp_read.c \
- ao_lisp_rep.c \
- ao_lisp_frame.c \
- ao_lisp_error.c \
- ao_lisp_lambda.c \
- ao_lisp_save.c \
- ao_lisp_stack.c \
- ao_lisp_os_save.c
+ $(SCHEME_SRCS) \
+ ao_scheme_os_save.c
PRODUCT=LambdaKey-v1.0
PRODUCT_DEF=-DLAMBDAKEY
LDFLAGS=$(CFLAGS) -L$(TOPDIR)/stmf0 -Wl,-Tlambda.ld
+MAP=$(PROG).map
+NEWLIB=/local/newlib-mini
+MAPFILE=-Wl,-M=$(MAP)
+LDFLAGS=-L../stmf0 -L$(NEWLIB)/arm-none-eabi/lib/thumb/v6-m/ -Wl,-Tlambda.ld $(MAPFILE) -nostartfiles
+AO_CFLAGS=-I. -I../stmf0 -I../kernel -I../drivers -I.. -I../scheme -isystem $(NEWLIB)/arm-none-eabi/include -DNEWLIB
+
PROGNAME=lambdakey-v1.0
PROG=$(PROGNAME)-$(VERSION).elf
HEX=$(PROGNAME)-$(VERSION).ihx
*/
#include <ao.h>
-#include <ao_lisp.h>
+#include <ao_scheme.h>
-static void lisp_cmd() {
- ao_lisp_read_eval_print();
+static void scheme_cmd() {
+ ao_scheme_read_eval_print();
}
static const struct ao_cmds blink_cmds[] = {
- { lisp_cmd, "l\0Run lisp interpreter" },
+ { scheme_cmd, "l\0Run scheme interpreter" },
{ 0, 0 }
};
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#ifndef _AO_LISP_OS_H_
-#define _AO_LISP_OS_H_
-
-#include "ao.h"
-
-static inline int
-ao_lisp_getc() {
- static uint8_t at_eol;
- int c;
-
- if (at_eol) {
- ao_cmd_readline();
- at_eol = 0;
- }
- c = ao_cmd_lex();
- if (c == '\n')
- at_eol = 1;
- return c;
-}
-
-static inline void
-ao_lisp_os_flush(void)
-{
- flush();
-}
-
-static inline void
-ao_lisp_abort(void)
-{
- ao_panic(1);
-}
-
-static inline void
-ao_lisp_os_led(int led)
-{
- ao_led_set(led);
-}
-
-static inline void
-ao_lisp_os_delay(int delay)
-{
- ao_delay(AO_MS_TO_TICKS(delay));
-}
-
-#endif
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include <ao.h>
-#include <ao_lisp.h>
-#include <ao_flash.h>
-
-extern uint8_t __flash__[];
-
-/* saved variables to rebuild the heap
-
- ao_lisp_atoms
- ao_lisp_frame_global
- */
-
-int
-ao_lisp_os_save(void)
-{
- int i;
-
- for (i = 0; i < AO_LISP_POOL_TOTAL; i += 256) {
- uint32_t *dst = (uint32_t *) &__flash__[i];
- uint32_t *src = (uint32_t *) &ao_lisp_pool[i];
-
- ao_flash_page(dst, src);
- }
- return 1;
-}
-
-int
-ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset)
-{
- memcpy(save, &__flash__[offset], sizeof (struct ao_lisp_os_save));
- return 1;
-}
-
-int
-ao_lisp_os_restore(void)
-{
- memcpy(ao_lisp_pool, __flash__, AO_LISP_POOL_TOTAL);
- return 1;
-}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_SCHEME_OS_H_
+#define _AO_SCHEME_OS_H_
+
+#include "ao.h"
+
+#define AO_SCHEME_SAVE 1
+
+#define AO_SCHEME_POOL_TOTAL 2048
+
+#ifndef __BYTE_ORDER
+#define __LITTLE_ENDIAN 1234
+#define __BIG_ENDIAN 4321
+#define __BYTE_ORDER __LITTLE_ENDIAN
+#endif
+
+static inline int
+ao_scheme_getc() {
+ static uint8_t at_eol;
+ int c;
+
+ if (at_eol) {
+ ao_cmd_readline();
+ at_eol = 0;
+ }
+ c = ao_cmd_lex();
+ if (c == '\n')
+ at_eol = 1;
+ return c;
+}
+
+static inline void
+ao_scheme_os_flush(void)
+{
+ flush();
+}
+
+static inline void
+ao_scheme_abort(void)
+{
+ ao_panic(1);
+}
+
+static inline void
+ao_scheme_os_led(int led)
+{
+ ao_led_set(led);
+}
+
+#define AO_SCHEME_JIFFIES_PER_SECOND AO_HERTZ
+
+static inline void
+ao_scheme_os_delay(int delay)
+{
+ ao_delay(delay);
+}
+
+static inline int
+ao_scheme_os_jiffy(void)
+{
+ return ao_tick_count;
+}
+#endif
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include <ao.h>
+#include <ao_scheme.h>
+#include <ao_flash.h>
+
+extern uint8_t __flash__[];
+
+/* saved variables to rebuild the heap
+
+ ao_scheme_atoms
+ ao_scheme_frame_global
+ */
+
+int
+ao_scheme_os_save(void)
+{
+ int i;
+
+ for (i = 0; i < AO_SCHEME_POOL_TOTAL; i += 256) {
+ void *dst = &__flash__[i];
+ void *src = &ao_scheme_pool[i];
+
+ ao_flash_page(dst, src);
+ }
+ return 1;
+}
+
+int
+ao_scheme_os_restore_save(struct ao_scheme_os_save *save, int offset)
+{
+ memcpy(save, &__flash__[offset], sizeof (struct ao_scheme_os_save));
+ return 1;
+}
+
+int
+ao_scheme_os_restore(void)
+{
+ memcpy(ao_scheme_pool, __flash__, AO_SCHEME_POOL_TOTAL);
+ return 1;
+}
+++ /dev/null
-ao_lisp_make_const
-ao_lisp_const.h
+++ /dev/null
-all: ao_lisp_const.h
-
-clean:
- rm -f ao_lisp_const.h $(OBJS) ao_lisp_make_const
-
-ao_lisp_const.h: ao_lisp_const.lisp ao_lisp_make_const
- ./ao_lisp_make_const -o $@ ao_lisp_const.lisp
-
-include Makefile-inc
-SRCS=$(LISP_SRCS)
-
-HDRS=$(LISP_HDRS)
-
-OBJS=$(SRCS:.c=.o)
-
-CFLAGS=-DAO_LISP_MAKE_CONST -O0 -g -I. -Wall -Wextra -no-pie
-
-
-ao_lisp_make_const: $(OBJS)
- $(CC) $(CFLAGS) -o $@ $(OBJS)
-
-$(OBJS): $(HDRS)
+++ /dev/null
-LISP_SRCS=\
- ao_lisp_make_const.c\
- ao_lisp_mem.c \
- ao_lisp_cons.c \
- ao_lisp_string.c \
- ao_lisp_atom.c \
- ao_lisp_int.c \
- ao_lisp_poly.c \
- ao_lisp_builtin.c \
- ao_lisp_read.c \
- ao_lisp_frame.c \
- ao_lisp_lambda.c \
- ao_lisp_eval.c \
- ao_lisp_rep.c \
- ao_lisp_save.c \
- ao_lisp_stack.c \
- ao_lisp_error.c
-
-LISP_HDRS=\
- ao_lisp.h \
- ao_lisp_os.h \
- ao_lisp_read.h
+++ /dev/null
-include ../lisp/Makefile-inc
-
-ao_lisp_const.h: $(LISP_SRCS) $(LISP_HDRS)
- +cd ../lisp && make $@
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#ifndef _AO_LISP_H_
-#define _AO_LISP_H_
-
-#define DBG_MEM 0
-#define DBG_EVAL 0
-
-#include <stdint.h>
-#include <string.h>
-#include <ao_lisp_os.h>
-
-typedef uint16_t ao_poly;
-typedef int16_t ao_signed_poly;
-
-#ifdef AO_LISP_SAVE
-
-struct ao_lisp_os_save {
- ao_poly atoms;
- ao_poly globals;
- uint16_t const_checksum;
- uint16_t const_checksum_inv;
-};
-
-#define AO_LISP_POOL_EXTRA (sizeof(struct ao_lisp_os_save))
-#define AO_LISP_POOL ((int) (AO_LISP_POOL_TOTAL - AO_LISP_POOL_EXTRA))
-
-int
-ao_lisp_os_save(void);
-
-int
-ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset);
-
-int
-ao_lisp_os_restore(void);
-
-#endif
-
-#ifdef AO_LISP_MAKE_CONST
-#define AO_LISP_POOL_CONST 16384
-extern uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute__((aligned(4)));
-#define ao_lisp_pool ao_lisp_const
-#define AO_LISP_POOL AO_LISP_POOL_CONST
-
-#define _atom(n) ao_lisp_atom_poly(ao_lisp_atom_intern(n))
-
-#define _ao_lisp_atom_quote _atom("quote")
-#define _ao_lisp_atom_set _atom("set")
-#define _ao_lisp_atom_setq _atom("setq")
-#define _ao_lisp_atom_t _atom("t")
-#define _ao_lisp_atom_car _atom("car")
-#define _ao_lisp_atom_cdr _atom("cdr")
-#define _ao_lisp_atom_cons _atom("cons")
-#define _ao_lisp_atom_last _atom("last")
-#define _ao_lisp_atom_length _atom("length")
-#define _ao_lisp_atom_cond _atom("cond")
-#define _ao_lisp_atom_lambda _atom("lambda")
-#define _ao_lisp_atom_led _atom("led")
-#define _ao_lisp_atom_delay _atom("delay")
-#define _ao_lisp_atom_pack _atom("pack")
-#define _ao_lisp_atom_unpack _atom("unpack")
-#define _ao_lisp_atom_flush _atom("flush")
-#define _ao_lisp_atom_eval _atom("eval")
-#define _ao_lisp_atom_read _atom("read")
-#define _ao_lisp_atom_eof _atom("eof")
-#define _ao_lisp_atom_save _atom("save")
-#define _ao_lisp_atom_restore _atom("restore")
-#define _ao_lisp_atom_call2fcc _atom("call/cc")
-#define _ao_lisp_atom_collect _atom("collect")
-#define _ao_lisp_atom_symbolp _atom("symbol?")
-#define _ao_lisp_atom_builtin _atom("builtin?")
-#define _ao_lisp_atom_symbolp _atom("symbol?")
-#define _ao_lisp_atom_symbolp _atom("symbol?")
-#else
-#include "ao_lisp_const.h"
-#ifndef AO_LISP_POOL
-#define AO_LISP_POOL 3072
-#endif
-extern uint8_t ao_lisp_pool[AO_LISP_POOL + AO_LISP_POOL_EXTRA] __attribute__((aligned(4)));
-#endif
-
-/* Primitive types */
-#define AO_LISP_CONS 0
-#define AO_LISP_INT 1
-#define AO_LISP_STRING 2
-#define AO_LISP_OTHER 3
-
-#define AO_LISP_TYPE_MASK 0x0003
-#define AO_LISP_TYPE_SHIFT 2
-#define AO_LISP_REF_MASK 0x7ffc
-#define AO_LISP_CONST 0x8000
-
-/* These have a type value at the start of the struct */
-#define AO_LISP_ATOM 4
-#define AO_LISP_BUILTIN 5
-#define AO_LISP_FRAME 6
-#define AO_LISP_LAMBDA 7
-#define AO_LISP_STACK 8
-#define AO_LISP_NUM_TYPE 9
-
-/* Leave two bits for types to use as they please */
-#define AO_LISP_OTHER_TYPE_MASK 0x3f
-
-#define AO_LISP_NIL 0
-
-extern uint16_t ao_lisp_top;
-
-#define AO_LISP_OOM 0x01
-#define AO_LISP_DIVIDE_BY_ZERO 0x02
-#define AO_LISP_INVALID 0x04
-#define AO_LISP_UNDEFINED 0x08
-#define AO_LISP_EOF 0x10
-
-extern uint8_t ao_lisp_exception;
-
-static inline int
-ao_lisp_is_const(ao_poly poly) {
- return poly & AO_LISP_CONST;
-}
-
-#define AO_LISP_IS_CONST(a) (ao_lisp_const <= ((uint8_t *) (a)) && ((uint8_t *) (a)) < ao_lisp_const + AO_LISP_POOL_CONST)
-#define AO_LISP_IS_POOL(a) (ao_lisp_pool <= ((uint8_t *) (a)) && ((uint8_t *) (a)) < ao_lisp_pool + AO_LISP_POOL)
-#define AO_LISP_IS_INT(p) (ao_lisp_base_type(p) == AO_LISP_INT);
-
-void *
-ao_lisp_ref(ao_poly poly);
-
-ao_poly
-ao_lisp_poly(const void *addr, ao_poly type);
-
-struct ao_lisp_type {
- int (*size)(void *addr);
- void (*mark)(void *addr);
- void (*move)(void *addr);
- char name[];
-};
-
-struct ao_lisp_cons {
- ao_poly car;
- ao_poly cdr;
-};
-
-struct ao_lisp_atom {
- uint8_t type;
- uint8_t pad[1];
- ao_poly next;
- char name[];
-};
-
-struct ao_lisp_val {
- ao_poly atom;
- ao_poly val;
-};
-
-struct ao_lisp_frame {
- uint8_t type;
- uint8_t num;
- ao_poly prev;
- struct ao_lisp_val vals[];
-};
-
-/* Set on type when the frame escapes the lambda */
-#define AO_LISP_FRAME_MARK 0x80
-#define AO_LISP_FRAME_PRINT 0x40
-
-static inline int ao_lisp_frame_marked(struct ao_lisp_frame *f) {
- return f->type & AO_LISP_FRAME_MARK;
-}
-
-static inline struct ao_lisp_frame *
-ao_lisp_poly_frame(ao_poly poly) {
- return ao_lisp_ref(poly);
-}
-
-static inline ao_poly
-ao_lisp_frame_poly(struct ao_lisp_frame *frame) {
- return ao_lisp_poly(frame, AO_LISP_OTHER);
-}
-
-enum eval_state {
- eval_sexpr, /* Evaluate an sexpr */
- eval_val, /* Value computed */
- eval_formal, /* Formal computed */
- eval_exec, /* Start a lambda evaluation */
- eval_cond, /* Start next cond clause */
- eval_cond_test, /* Check cond condition */
- eval_progn, /* Start next progn entry */
- eval_while, /* Start while condition */
- eval_while_test, /* Check while condition */
- eval_macro, /* Finished with macro generation */
-};
-
-struct ao_lisp_stack {
- uint8_t type; /* AO_LISP_STACK */
- uint8_t state; /* enum eval_state */
- ao_poly prev; /* previous stack frame */
- ao_poly sexprs; /* expressions to evaluate */
- ao_poly values; /* values computed */
- ao_poly values_tail; /* end of the values list for easy appending */
- ao_poly frame; /* current lookup frame */
- ao_poly list; /* most recent function call */
-};
-
-#define AO_LISP_STACK_MARK 0x80 /* set on type when a reference has been taken */
-#define AO_LISP_STACK_PRINT 0x40 /* stack is being printed */
-
-static inline int ao_lisp_stack_marked(struct ao_lisp_stack *s) {
- return s->type & AO_LISP_STACK_MARK;
-}
-
-static inline void ao_lisp_stack_mark(struct ao_lisp_stack *s) {
- s->type |= AO_LISP_STACK_MARK;
-}
-
-static inline struct ao_lisp_stack *
-ao_lisp_poly_stack(ao_poly p)
-{
- return ao_lisp_ref(p);
-}
-
-static inline ao_poly
-ao_lisp_stack_poly(struct ao_lisp_stack *stack)
-{
- return ao_lisp_poly(stack, AO_LISP_OTHER);
-}
-
-extern ao_poly ao_lisp_v;
-
-#define AO_LISP_FUNC_LAMBDA 0
-#define AO_LISP_FUNC_NLAMBDA 1
-#define AO_LISP_FUNC_MACRO 2
-#define AO_LISP_FUNC_LEXPR 3
-
-#define AO_LISP_FUNC_FREE_ARGS 0x80
-#define AO_LISP_FUNC_MASK 0x7f
-
-#define AO_LISP_FUNC_F_LAMBDA (AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_LAMBDA)
-#define AO_LISP_FUNC_F_NLAMBDA (AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_NLAMBDA)
-#define AO_LISP_FUNC_F_MACRO (AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_MACRO)
-#define AO_LISP_FUNC_F_LEXPR (AO_LISP_FUNC_FREE_ARGS | AO_LISP_FUNC_LEXPR)
-
-struct ao_lisp_builtin {
- uint8_t type;
- uint8_t args;
- uint16_t func;
-};
-
-enum ao_lisp_builtin_id {
- builtin_eval,
- builtin_read,
- builtin_lambda,
- builtin_lexpr,
- builtin_nlambda,
- builtin_macro,
- builtin_car,
- builtin_cdr,
- builtin_cons,
- builtin_last,
- builtin_length,
- builtin_quote,
- builtin_set,
- builtin_setq,
- builtin_cond,
- builtin_progn,
- builtin_while,
- builtin_print,
- builtin_patom,
- builtin_plus,
- builtin_minus,
- builtin_times,
- builtin_divide,
- builtin_mod,
- builtin_equal,
- builtin_less,
- builtin_greater,
- builtin_less_equal,
- builtin_greater_equal,
- builtin_pack,
- builtin_unpack,
- builtin_flush,
- builtin_delay,
- builtin_led,
- builtin_save,
- builtin_restore,
- builtin_call_cc,
- builtin_collect,
- _builtin_last
-};
-
-typedef ao_poly (*ao_lisp_func_t)(struct ao_lisp_cons *cons);
-
-extern const ao_lisp_func_t ao_lisp_builtins[];
-
-static inline ao_lisp_func_t
-ao_lisp_func(struct ao_lisp_builtin *b)
-{
- return ao_lisp_builtins[b->func];
-}
-
-struct ao_lisp_lambda {
- uint8_t type;
- uint8_t args;
- ao_poly code;
- ao_poly frame;
-};
-
-static inline struct ao_lisp_lambda *
-ao_lisp_poly_lambda(ao_poly poly)
-{
- return ao_lisp_ref(poly);
-}
-
-static inline ao_poly
-ao_lisp_lambda_poly(struct ao_lisp_lambda *lambda)
-{
- return ao_lisp_poly(lambda, AO_LISP_OTHER);
-}
-
-static inline void *
-ao_lisp_poly_other(ao_poly poly) {
- return ao_lisp_ref(poly);
-}
-
-static inline uint8_t
-ao_lisp_other_type(void *other) {
-#if DBG_MEM
- if ((*((uint8_t *) other) & AO_LISP_OTHER_TYPE_MASK) >= AO_LISP_NUM_TYPE)
- ao_lisp_abort();
-#endif
- return *((uint8_t *) other) & AO_LISP_OTHER_TYPE_MASK;
-}
-
-static inline ao_poly
-ao_lisp_other_poly(const void *other)
-{
- return ao_lisp_poly(other, AO_LISP_OTHER);
-}
-
-static inline int
-ao_lisp_size_round(int size)
-{
- return (size + 3) & ~3;
-}
-
-static inline int
-ao_lisp_size(const struct ao_lisp_type *type, void *addr)
-{
- return ao_lisp_size_round(type->size(addr));
-}
-
-#define AO_LISP_OTHER_POLY(other) ((ao_poly)(other) + AO_LISP_OTHER)
-
-static inline int ao_lisp_poly_base_type(ao_poly poly) {
- return poly & AO_LISP_TYPE_MASK;
-}
-
-static inline int ao_lisp_poly_type(ao_poly poly) {
- int type = poly & AO_LISP_TYPE_MASK;
- if (type == AO_LISP_OTHER)
- return ao_lisp_other_type(ao_lisp_poly_other(poly));
- return type;
-}
-
-static inline struct ao_lisp_cons *
-ao_lisp_poly_cons(ao_poly poly)
-{
- return ao_lisp_ref(poly);
-}
-
-static inline ao_poly
-ao_lisp_cons_poly(struct ao_lisp_cons *cons)
-{
- return ao_lisp_poly(cons, AO_LISP_CONS);
-}
-
-static inline int
-ao_lisp_poly_int(ao_poly poly)
-{
- return (int) ((ao_signed_poly) poly >> AO_LISP_TYPE_SHIFT);
-}
-
-static inline ao_poly
-ao_lisp_int_poly(int i)
-{
- return ((ao_poly) i << 2) | AO_LISP_INT;
-}
-
-static inline char *
-ao_lisp_poly_string(ao_poly poly)
-{
- return ao_lisp_ref(poly);
-}
-
-static inline ao_poly
-ao_lisp_string_poly(char *s)
-{
- return ao_lisp_poly(s, AO_LISP_STRING);
-}
-
-static inline struct ao_lisp_atom *
-ao_lisp_poly_atom(ao_poly poly)
-{
- return ao_lisp_ref(poly);
-}
-
-static inline ao_poly
-ao_lisp_atom_poly(struct ao_lisp_atom *a)
-{
- return ao_lisp_poly(a, AO_LISP_OTHER);
-}
-
-static inline struct ao_lisp_builtin *
-ao_lisp_poly_builtin(ao_poly poly)
-{
- return ao_lisp_ref(poly);
-}
-
-static inline ao_poly
-ao_lisp_builtin_poly(struct ao_lisp_builtin *b)
-{
- return ao_lisp_poly(b, AO_LISP_OTHER);
-}
-
-/* memory functions */
-
-extern int ao_lisp_collects[2];
-extern int ao_lisp_freed[2];
-extern int ao_lisp_loops[2];
-
-/* returns 1 if the object was already marked */
-int
-ao_lisp_mark(const struct ao_lisp_type *type, void *addr);
-
-/* returns 1 if the object was already marked */
-int
-ao_lisp_mark_memory(const struct ao_lisp_type *type, void *addr);
-
-void *
-ao_lisp_move_map(void *addr);
-
-/* returns 1 if the object was already moved */
-int
-ao_lisp_move(const struct ao_lisp_type *type, void **ref);
-
-/* returns 1 if the object was already moved */
-int
-ao_lisp_move_memory(const struct ao_lisp_type *type, void **ref);
-
-void *
-ao_lisp_alloc(int size);
-
-#define AO_LISP_COLLECT_FULL 1
-#define AO_LISP_COLLECT_INCREMENTAL 0
-
-int
-ao_lisp_collect(uint8_t style);
-
-void
-ao_lisp_cons_stash(int id, struct ao_lisp_cons *cons);
-
-struct ao_lisp_cons *
-ao_lisp_cons_fetch(int id);
-
-void
-ao_lisp_poly_stash(int id, ao_poly poly);
-
-ao_poly
-ao_lisp_poly_fetch(int id);
-
-void
-ao_lisp_string_stash(int id, char *string);
-
-char *
-ao_lisp_string_fetch(int id);
-
-static inline void
-ao_lisp_stack_stash(int id, struct ao_lisp_stack *stack) {
- ao_lisp_poly_stash(id, ao_lisp_stack_poly(stack));
-}
-
-static inline struct ao_lisp_stack *
-ao_lisp_stack_fetch(int id) {
- return ao_lisp_poly_stack(ao_lisp_poly_fetch(id));
-}
-
-/* cons */
-extern const struct ao_lisp_type ao_lisp_cons_type;
-
-struct ao_lisp_cons *
-ao_lisp_cons_cons(ao_poly car, struct ao_lisp_cons *cdr);
-
-extern struct ao_lisp_cons *ao_lisp_cons_free_list;
-
-void
-ao_lisp_cons_free(struct ao_lisp_cons *cons);
-
-void
-ao_lisp_cons_print(ao_poly);
-
-void
-ao_lisp_cons_patom(ao_poly);
-
-int
-ao_lisp_cons_length(struct ao_lisp_cons *cons);
-
-/* string */
-extern const struct ao_lisp_type ao_lisp_string_type;
-
-char *
-ao_lisp_string_copy(char *a);
-
-char *
-ao_lisp_string_cat(char *a, char *b);
-
-ao_poly
-ao_lisp_string_pack(struct ao_lisp_cons *cons);
-
-ao_poly
-ao_lisp_string_unpack(char *a);
-
-void
-ao_lisp_string_print(ao_poly s);
-
-void
-ao_lisp_string_patom(ao_poly s);
-
-/* atom */
-extern const struct ao_lisp_type ao_lisp_atom_type;
-
-extern struct ao_lisp_atom *ao_lisp_atoms;
-extern struct ao_lisp_frame *ao_lisp_frame_global;
-extern struct ao_lisp_frame *ao_lisp_frame_current;
-
-void
-ao_lisp_atom_print(ao_poly a);
-
-struct ao_lisp_atom *
-ao_lisp_atom_intern(char *name);
-
-ao_poly *
-ao_lisp_atom_ref(struct ao_lisp_frame *frame, ao_poly atom);
-
-ao_poly
-ao_lisp_atom_get(ao_poly atom);
-
-ao_poly
-ao_lisp_atom_set(ao_poly atom, ao_poly val);
-
-/* int */
-void
-ao_lisp_int_print(ao_poly i);
-
-/* prim */
-void
-ao_lisp_poly_print(ao_poly p);
-
-void
-ao_lisp_poly_patom(ao_poly p);
-
-int
-ao_lisp_poly_mark(ao_poly p, uint8_t note_cons);
-
-/* returns 1 if the object has already been moved */
-int
-ao_lisp_poly_move(ao_poly *p, uint8_t note_cons);
-
-/* eval */
-
-void
-ao_lisp_eval_clear_globals(void);
-
-int
-ao_lisp_eval_restart(void);
-
-ao_poly
-ao_lisp_eval(ao_poly p);
-
-ao_poly
-ao_lisp_set_cond(struct ao_lisp_cons *cons);
-
-/* builtin */
-void
-ao_lisp_builtin_print(ao_poly b);
-
-extern const struct ao_lisp_type ao_lisp_builtin_type;
-
-/* Check argument count */
-ao_poly
-ao_lisp_check_argc(ao_poly name, struct ao_lisp_cons *cons, int min, int max);
-
-/* Check argument type */
-ao_poly
-ao_lisp_check_argt(ao_poly name, struct ao_lisp_cons *cons, int argc, int type, int nil_ok);
-
-/* Fetch an arg (nil if off the end) */
-ao_poly
-ao_lisp_arg(struct ao_lisp_cons *cons, int argc);
-
-char *
-ao_lisp_args_name(uint8_t args);
-
-/* read */
-extern struct ao_lisp_cons *ao_lisp_read_cons;
-extern struct ao_lisp_cons *ao_lisp_read_cons_tail;
-extern struct ao_lisp_cons *ao_lisp_read_stack;
-
-ao_poly
-ao_lisp_read(void);
-
-/* rep */
-ao_poly
-ao_lisp_read_eval_print(void);
-
-/* frame */
-extern const struct ao_lisp_type ao_lisp_frame_type;
-
-#define AO_LISP_FRAME_FREE 6
-
-extern struct ao_lisp_frame *ao_lisp_frame_free_list[AO_LISP_FRAME_FREE];
-
-ao_poly
-ao_lisp_frame_mark(struct ao_lisp_frame *frame);
-
-ao_poly *
-ao_lisp_frame_ref(struct ao_lisp_frame *frame, ao_poly atom);
-
-struct ao_lisp_frame *
-ao_lisp_frame_new(int num);
-
-void
-ao_lisp_frame_free(struct ao_lisp_frame *frame);
-
-void
-ao_lisp_frame_bind(struct ao_lisp_frame *frame, int num, ao_poly atom, ao_poly val);
-
-int
-ao_lisp_frame_add(struct ao_lisp_frame **frame, ao_poly atom, ao_poly val);
-
-void
-ao_lisp_frame_print(ao_poly p);
-
-/* lambda */
-extern const struct ao_lisp_type ao_lisp_lambda_type;
-
-extern const char *ao_lisp_state_names[];
-
-struct ao_lisp_lambda *
-ao_lisp_lambda_new(ao_poly cons);
-
-void
-ao_lisp_lambda_print(ao_poly lambda);
-
-ao_poly
-ao_lisp_lambda(struct ao_lisp_cons *cons);
-
-ao_poly
-ao_lisp_lexpr(struct ao_lisp_cons *cons);
-
-ao_poly
-ao_lisp_nlambda(struct ao_lisp_cons *cons);
-
-ao_poly
-ao_lisp_macro(struct ao_lisp_cons *cons);
-
-ao_poly
-ao_lisp_lambda_eval(void);
-
-/* save */
-
-ao_poly
-ao_lisp_save(struct ao_lisp_cons *cons);
-
-ao_poly
-ao_lisp_restore(struct ao_lisp_cons *cons);
-
-/* stack */
-
-extern const struct ao_lisp_type ao_lisp_stack_type;
-extern struct ao_lisp_stack *ao_lisp_stack;
-extern struct ao_lisp_stack *ao_lisp_stack_free_list;
-
-void
-ao_lisp_stack_reset(struct ao_lisp_stack *stack);
-
-int
-ao_lisp_stack_push(void);
-
-void
-ao_lisp_stack_pop(void);
-
-void
-ao_lisp_stack_clear(void);
-
-void
-ao_lisp_stack_print(ao_poly stack);
-
-ao_poly
-ao_lisp_stack_eval(void);
-
-ao_poly
-ao_lisp_call_cc(struct ao_lisp_cons *cons);
-
-/* error */
-
-void
-ao_lisp_error_poly(char *name, ao_poly poly, ao_poly last);
-
-void
-ao_lisp_error_frame(int indent, char *name, struct ao_lisp_frame *frame);
-
-ao_poly
-ao_lisp_error(int error, char *format, ...);
-
-/* debugging macros */
-
-#if DBG_EVAL
-#define DBG_CODE 1
-int ao_lisp_stack_depth;
-#define DBG_DO(a) a
-#define DBG_INDENT() do { int _s; for(_s = 0; _s < ao_lisp_stack_depth; _s++) printf(" "); } while(0)
-#define DBG_IN() (++ao_lisp_stack_depth)
-#define DBG_OUT() (--ao_lisp_stack_depth)
-#define DBG_RESET() (ao_lisp_stack_depth = 0)
-#define DBG(...) printf(__VA_ARGS__)
-#define DBGI(...) do { DBG("%4d: ", __LINE__); DBG_INDENT(); DBG(__VA_ARGS__); } while (0)
-#define DBG_CONS(a) ao_lisp_cons_print(ao_lisp_cons_poly(a))
-#define DBG_POLY(a) ao_lisp_poly_print(a)
-#define OFFSET(a) ((a) ? (int) ((uint8_t *) a - ao_lisp_pool) : -1)
-#define DBG_STACK() ao_lisp_stack_print(ao_lisp_stack_poly(ao_lisp_stack))
-static inline void
-ao_lisp_frames_dump(void)
-{
- struct ao_lisp_stack *s;
- DBGI(".. current frame: "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- for (s = ao_lisp_stack; s; s = ao_lisp_poly_stack(s->prev)) {
- DBGI(".. stack frame: "); DBG_POLY(s->frame); DBG("\n");
- }
-}
-#define DBG_FRAMES() ao_lisp_frames_dump()
-#else
-#define DBG_DO(a)
-#define DBG_INDENT()
-#define DBG_IN()
-#define DBG_OUT()
-#define DBG(...)
-#define DBGI(...)
-#define DBG_CONS(a)
-#define DBG_POLY(a)
-#define DBG_RESET()
-#define DBG_STACK()
-#define DBG_FRAMES()
-#endif
-
-#define DBG_MEM_START 1
-
-#if DBG_MEM
-
-#include <assert.h>
-extern int dbg_move_depth;
-#define MDBG_DUMP 1
-#define MDBG_OFFSET(a) ((int) ((uint8_t *) (a) - ao_lisp_pool))
-
-extern int dbg_mem;
-
-#define MDBG_DO(a) a
-#define MDBG_MOVE(...) do { if (dbg_mem) { int d; for (d = 0; d < dbg_move_depth; d++) printf (" "); printf(__VA_ARGS__); } } while (0)
-#define MDBG_MORE(...) do { if (dbg_mem) printf(__VA_ARGS__); } while (0)
-#define MDBG_MOVE_IN() (dbg_move_depth++)
-#define MDBG_MOVE_OUT() (assert(--dbg_move_depth >= 0))
-
-#else
-
-#define MDBG_DO(a)
-#define MDBG_MOVE(...)
-#define MDBG_MORE(...)
-#define MDBG_MOVE_IN()
-#define MDBG_MOVE_OUT()
-
-#endif
-
-#endif /* _AO_LISP_H_ */
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#include "ao_lisp.h"
-
-static int name_size(char *name)
-{
- return sizeof(struct ao_lisp_atom) + strlen(name) + 1;
-}
-
-static int atom_size(void *addr)
-{
- struct ao_lisp_atom *atom = addr;
- if (!atom)
- return 0;
- return name_size(atom->name);
-}
-
-static void atom_mark(void *addr)
-{
- struct ao_lisp_atom *atom = addr;
-
- for (;;) {
- atom = ao_lisp_poly_atom(atom->next);
- if (!atom)
- break;
- if (ao_lisp_mark_memory(&ao_lisp_atom_type, atom))
- break;
- }
-}
-
-static void atom_move(void *addr)
-{
- struct ao_lisp_atom *atom = addr;
- int ret;
-
- for (;;) {
- struct ao_lisp_atom *next = ao_lisp_poly_atom(atom->next);
-
- if (!next)
- break;
- ret = ao_lisp_move_memory(&ao_lisp_atom_type, (void **) &next);
- if (next != ao_lisp_poly_atom(atom->next))
- atom->next = ao_lisp_atom_poly(next);
- if (ret)
- break;
- atom = next;
- }
-}
-
-const struct ao_lisp_type ao_lisp_atom_type = {
- .mark = atom_mark,
- .size = atom_size,
- .move = atom_move,
- .name = "atom"
-};
-
-struct ao_lisp_atom *ao_lisp_atoms;
-
-struct ao_lisp_atom *
-ao_lisp_atom_intern(char *name)
-{
- struct ao_lisp_atom *atom;
-
- for (atom = ao_lisp_atoms; atom; atom = ao_lisp_poly_atom(atom->next)) {
- if (!strcmp(atom->name, name))
- return atom;
- }
-#ifdef ao_builtin_atoms
- for (atom = ao_lisp_poly_atom(ao_builtin_atoms); atom; atom = ao_lisp_poly_atom(atom->next)) {
- if (!strcmp(atom->name, name))
- return atom;
- }
-#endif
- ao_lisp_string_stash(0, name);
- atom = ao_lisp_alloc(name_size(name));
- name = ao_lisp_string_fetch(0);
- if (atom) {
- atom->type = AO_LISP_ATOM;
- atom->next = ao_lisp_atom_poly(ao_lisp_atoms);
- ao_lisp_atoms = atom;
- strcpy(atom->name, name);
- }
- return atom;
-}
-
-struct ao_lisp_frame *ao_lisp_frame_global;
-struct ao_lisp_frame *ao_lisp_frame_current;
-
-static void
-ao_lisp_atom_init(void)
-{
- if (!ao_lisp_frame_global)
- ao_lisp_frame_global = ao_lisp_frame_new(0);
-}
-
-ao_poly *
-ao_lisp_atom_ref(struct ao_lisp_frame *frame, ao_poly atom)
-{
- ao_poly *ref;
- ao_lisp_atom_init();
- while (frame) {
- ref = ao_lisp_frame_ref(frame, atom);
- if (ref)
- return ref;
- frame = ao_lisp_poly_frame(frame->prev);
- }
- if (ao_lisp_frame_global) {
- ref = ao_lisp_frame_ref(ao_lisp_frame_global, atom);
- if (ref)
- return ref;
- }
- return NULL;
-}
-
-ao_poly
-ao_lisp_atom_get(ao_poly atom)
-{
- ao_poly *ref = ao_lisp_atom_ref(ao_lisp_frame_current, atom);
-
- if (!ref && ao_lisp_frame_global)
- ref = ao_lisp_frame_ref(ao_lisp_frame_global, atom);
-#ifdef ao_builtin_frame
- if (!ref)
- ref = ao_lisp_frame_ref(ao_lisp_poly_frame(ao_builtin_frame), atom);
-#endif
- if (ref)
- return *ref;
- return ao_lisp_error(AO_LISP_UNDEFINED, "undefined atom %s", ao_lisp_poly_atom(atom)->name);
-}
-
-ao_poly
-ao_lisp_atom_set(ao_poly atom, ao_poly val)
-{
- ao_poly *ref = ao_lisp_atom_ref(ao_lisp_frame_current, atom);
-
- if (!ref && ao_lisp_frame_global)
- ref = ao_lisp_frame_ref(ao_lisp_frame_global, atom);
- if (ref)
- *ref = val;
- else
- ao_lisp_frame_add(&ao_lisp_frame_global, atom, val);
- return val;
-}
-
-void
-ao_lisp_atom_print(ao_poly a)
-{
- struct ao_lisp_atom *atom = ao_lisp_poly_atom(a);
- printf("%s", atom->name);
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-static int
-builtin_size(void *addr)
-{
- (void) addr;
- return sizeof (struct ao_lisp_builtin);
-}
-
-static void
-builtin_mark(void *addr)
-{
- (void) addr;
-}
-
-static void
-builtin_move(void *addr)
-{
- (void) addr;
-}
-
-const struct ao_lisp_type ao_lisp_builtin_type = {
- .size = builtin_size,
- .mark = builtin_mark,
- .move = builtin_move
-};
-
-#ifdef AO_LISP_MAKE_CONST
-char *ao_lisp_builtin_name(enum ao_lisp_builtin_id b) {
- (void) b;
- return "???";
-}
-char *ao_lisp_args_name(uint8_t args) {
- (void) args;
- return "???";
-}
-#else
-static const ao_poly builtin_names[] = {
- [builtin_eval] = _ao_lisp_atom_eval,
- [builtin_read] = _ao_lisp_atom_read,
- [builtin_lambda] = _ao_lisp_atom_lambda,
- [builtin_lexpr] = _ao_lisp_atom_lexpr,
- [builtin_nlambda] = _ao_lisp_atom_nlambda,
- [builtin_macro] = _ao_lisp_atom_macro,
- [builtin_car] = _ao_lisp_atom_car,
- [builtin_cdr] = _ao_lisp_atom_cdr,
- [builtin_cons] = _ao_lisp_atom_cons,
- [builtin_last] = _ao_lisp_atom_last,
- [builtin_length] = _ao_lisp_atom_length,
- [builtin_quote] = _ao_lisp_atom_quote,
- [builtin_set] = _ao_lisp_atom_set,
- [builtin_setq] = _ao_lisp_atom_setq,
- [builtin_cond] = _ao_lisp_atom_cond,
- [builtin_progn] = _ao_lisp_atom_progn,
- [builtin_while] = _ao_lisp_atom_while,
- [builtin_print] = _ao_lisp_atom_print,
- [builtin_patom] = _ao_lisp_atom_patom,
- [builtin_plus] = _ao_lisp_atom_2b,
- [builtin_minus] = _ao_lisp_atom_2d,
- [builtin_times] = _ao_lisp_atom_2a,
- [builtin_divide] = _ao_lisp_atom_2f,
- [builtin_mod] = _ao_lisp_atom_25,
- [builtin_equal] = _ao_lisp_atom_3d,
- [builtin_less] = _ao_lisp_atom_3c,
- [builtin_greater] = _ao_lisp_atom_3e,
- [builtin_less_equal] = _ao_lisp_atom_3c3d,
- [builtin_greater_equal] = _ao_lisp_atom_3e3d,
- [builtin_pack] = _ao_lisp_atom_pack,
- [builtin_unpack] = _ao_lisp_atom_unpack,
- [builtin_flush] = _ao_lisp_atom_flush,
- [builtin_delay] = _ao_lisp_atom_delay,
- [builtin_led] = _ao_lisp_atom_led,
- [builtin_save] = _ao_lisp_atom_save,
- [builtin_restore] = _ao_lisp_atom_restore,
- [builtin_call_cc] = _ao_lisp_atom_call2fcc,
- [builtin_collect] = _ao_lisp_atom_collect,
-#if 0
- [builtin_symbolp] = _ao_lisp_atom_symbolp,
- [builtin_listp] = _ao_lisp_atom_listp,
- [builtin_stringp] = _ao_lisp_atom_stringp,
- [builtin_numberp] = _ao_lisp_atom_numberp,
-#endif
-};
-
-static char *
-ao_lisp_builtin_name(enum ao_lisp_builtin_id b) {
- if (b < _builtin_last)
- return ao_lisp_poly_atom(builtin_names[b])->name;
- return "???";
-}
-
-static const ao_poly ao_lisp_args_atoms[] = {
- [AO_LISP_FUNC_LAMBDA] = _ao_lisp_atom_lambda,
- [AO_LISP_FUNC_LEXPR] = _ao_lisp_atom_lexpr,
- [AO_LISP_FUNC_NLAMBDA] = _ao_lisp_atom_nlambda,
- [AO_LISP_FUNC_MACRO] = _ao_lisp_atom_macro,
-};
-
-char *
-ao_lisp_args_name(uint8_t args)
-{
- args &= AO_LISP_FUNC_MASK;
- if (args < sizeof ao_lisp_args_atoms / sizeof ao_lisp_args_atoms[0])
- return ao_lisp_poly_atom(ao_lisp_args_atoms[args])->name;
- return "(unknown)";
-}
-#endif
-
-void
-ao_lisp_builtin_print(ao_poly b)
-{
- struct ao_lisp_builtin *builtin = ao_lisp_poly_builtin(b);
- printf("%s", ao_lisp_builtin_name(builtin->func));
-}
-
-ao_poly
-ao_lisp_check_argc(ao_poly name, struct ao_lisp_cons *cons, int min, int max)
-{
- int argc = 0;
-
- while (cons && argc <= max) {
- argc++;
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- if (argc < min || argc > max)
- return ao_lisp_error(AO_LISP_INVALID, "%s: invalid arg count", ao_lisp_poly_atom(name)->name);
- return _ao_lisp_atom_t;
-}
-
-ao_poly
-ao_lisp_arg(struct ao_lisp_cons *cons, int argc)
-{
- if (!cons)
- return AO_LISP_NIL;
- while (argc--) {
- if (!cons)
- return AO_LISP_NIL;
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- return cons->car;
-}
-
-ao_poly
-ao_lisp_check_argt(ao_poly name, struct ao_lisp_cons *cons, int argc, int type, int nil_ok)
-{
- ao_poly car = ao_lisp_arg(cons, argc);
-
- if ((!car && !nil_ok) || ao_lisp_poly_type(car) != type)
- return ao_lisp_error(AO_LISP_INVALID, "%s: invalid type for arg %d", ao_lisp_poly_atom(name)->name, argc);
- return _ao_lisp_atom_t;
-}
-
-ao_poly
-ao_lisp_car(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_car, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_car, cons, 0, AO_LISP_CONS, 0))
- return AO_LISP_NIL;
- return ao_lisp_poly_cons(cons->car)->car;
-}
-
-ao_poly
-ao_lisp_cdr(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_cdr, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_cdr, cons, 0, AO_LISP_CONS, 0))
- return AO_LISP_NIL;
- return ao_lisp_poly_cons(cons->car)->cdr;
-}
-
-ao_poly
-ao_lisp_cons(struct ao_lisp_cons *cons)
-{
- ao_poly car, cdr;
- if(!ao_lisp_check_argc(_ao_lisp_atom_cons, cons, 2, 2))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_cons, cons, 1, AO_LISP_CONS, 1))
- return AO_LISP_NIL;
- car = ao_lisp_arg(cons, 0);
- cdr = ao_lisp_arg(cons, 1);
- return ao_lisp_cons_poly(ao_lisp_cons_cons(car, ao_lisp_poly_cons(cdr)));
-}
-
-ao_poly
-ao_lisp_last(struct ao_lisp_cons *cons)
-{
- ao_poly l;
- if (!ao_lisp_check_argc(_ao_lisp_atom_last, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_last, cons, 0, AO_LISP_CONS, 1))
- return AO_LISP_NIL;
- l = ao_lisp_arg(cons, 0);
- while (l) {
- struct ao_lisp_cons *list = ao_lisp_poly_cons(l);
- if (!list->cdr)
- return list->car;
- l = list->cdr;
- }
- return AO_LISP_NIL;
-}
-
-ao_poly
-ao_lisp_length(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_length, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_length, cons, 0, AO_LISP_CONS, 1))
- return AO_LISP_NIL;
- return ao_lisp_int_poly(ao_lisp_cons_length(ao_lisp_poly_cons(ao_lisp_arg(cons, 0))));
-}
-
-ao_poly
-ao_lisp_quote(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_quote, cons, 1, 1))
- return AO_LISP_NIL;
- return ao_lisp_arg(cons, 0);
-}
-
-ao_poly
-ao_lisp_set(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_set, cons, 2, 2))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_set, cons, 0, AO_LISP_ATOM, 0))
- return AO_LISP_NIL;
-
- return ao_lisp_atom_set(ao_lisp_arg(cons, 0), ao_lisp_arg(cons, 1));
-}
-
-ao_poly
-ao_lisp_setq(struct ao_lisp_cons *cons)
-{
- struct ao_lisp_cons *expand = 0;
- if (!ao_lisp_check_argc(_ao_lisp_atom_setq, cons, 2, 2))
- return AO_LISP_NIL;
- expand = ao_lisp_cons_cons(_ao_lisp_atom_set,
- ao_lisp_cons_cons(ao_lisp_cons_poly(ao_lisp_cons_cons(_ao_lisp_atom_quote,
- ao_lisp_cons_cons(cons->car, NULL))),
- ao_lisp_poly_cons(cons->cdr)));
- return ao_lisp_cons_poly(expand);
-}
-
-ao_poly
-ao_lisp_cond(struct ao_lisp_cons *cons)
-{
- ao_lisp_set_cond(cons);
- return AO_LISP_NIL;
-}
-
-ao_poly
-ao_lisp_progn(struct ao_lisp_cons *cons)
-{
- ao_lisp_stack->state = eval_progn;
- ao_lisp_stack->sexprs = ao_lisp_cons_poly(cons);
- return AO_LISP_NIL;
-}
-
-ao_poly
-ao_lisp_while(struct ao_lisp_cons *cons)
-{
- ao_lisp_stack->state = eval_while;
- ao_lisp_stack->sexprs = ao_lisp_cons_poly(cons);
- return AO_LISP_NIL;
-}
-
-ao_poly
-ao_lisp_print(struct ao_lisp_cons *cons)
-{
- ao_poly val = AO_LISP_NIL;
- while (cons) {
- val = cons->car;
- ao_lisp_poly_print(val);
- cons = ao_lisp_poly_cons(cons->cdr);
- if (cons)
- printf(" ");
- }
- printf("\n");
- return val;
-}
-
-ao_poly
-ao_lisp_patom(struct ao_lisp_cons *cons)
-{
- ao_poly val = AO_LISP_NIL;
- while (cons) {
- val = cons->car;
- ao_lisp_poly_patom(val);
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- return val;
-}
-
-ao_poly
-ao_lisp_math(struct ao_lisp_cons *cons, enum ao_lisp_builtin_id op)
-{
- ao_poly ret = AO_LISP_NIL;
-
- while (cons) {
- ao_poly car = cons->car;
- uint8_t rt = ao_lisp_poly_type(ret);
- uint8_t ct = ao_lisp_poly_type(car);
-
- cons = ao_lisp_poly_cons(cons->cdr);
-
- if (rt == AO_LISP_NIL)
- ret = car;
-
- else if (rt == AO_LISP_INT && ct == AO_LISP_INT) {
- int r = ao_lisp_poly_int(ret);
- int c = ao_lisp_poly_int(car);
-
- switch(op) {
- case builtin_plus:
- r += c;
- break;
- case builtin_minus:
- r -= c;
- break;
- case builtin_times:
- r *= c;
- break;
- case builtin_divide:
- if (c == 0)
- return ao_lisp_error(AO_LISP_DIVIDE_BY_ZERO, "divide by zero");
- r /= c;
- break;
- case builtin_mod:
- if (c == 0)
- return ao_lisp_error(AO_LISP_DIVIDE_BY_ZERO, "mod by zero");
- r %= c;
- break;
- default:
- break;
- }
- ret = ao_lisp_int_poly(r);
- }
-
- else if (rt == AO_LISP_STRING && ct == AO_LISP_STRING && op == builtin_plus)
- ret = ao_lisp_string_poly(ao_lisp_string_cat(ao_lisp_poly_string(ret),
- ao_lisp_poly_string(car)));
- else
- return ao_lisp_error(AO_LISP_INVALID, "invalid args");
- }
- return ret;
-}
-
-ao_poly
-ao_lisp_plus(struct ao_lisp_cons *cons)
-{
- return ao_lisp_math(cons, builtin_plus);
-}
-
-ao_poly
-ao_lisp_minus(struct ao_lisp_cons *cons)
-{
- return ao_lisp_math(cons, builtin_minus);
-}
-
-ao_poly
-ao_lisp_times(struct ao_lisp_cons *cons)
-{
- return ao_lisp_math(cons, builtin_times);
-}
-
-ao_poly
-ao_lisp_divide(struct ao_lisp_cons *cons)
-{
- return ao_lisp_math(cons, builtin_divide);
-}
-
-ao_poly
-ao_lisp_mod(struct ao_lisp_cons *cons)
-{
- return ao_lisp_math(cons, builtin_mod);
-}
-
-ao_poly
-ao_lisp_compare(struct ao_lisp_cons *cons, enum ao_lisp_builtin_id op)
-{
- ao_poly left;
-
- if (!cons)
- return _ao_lisp_atom_t;
-
- left = cons->car;
- cons = ao_lisp_poly_cons(cons->cdr);
- while (cons) {
- ao_poly right = cons->car;
-
- if (op == builtin_equal) {
- if (left != right)
- return AO_LISP_NIL;
- } else {
- uint8_t lt = ao_lisp_poly_type(left);
- uint8_t rt = ao_lisp_poly_type(right);
- if (lt == AO_LISP_INT && rt == AO_LISP_INT) {
- int l = ao_lisp_poly_int(left);
- int r = ao_lisp_poly_int(right);
-
- switch (op) {
- case builtin_less:
- if (!(l < r))
- return AO_LISP_NIL;
- break;
- case builtin_greater:
- if (!(l > r))
- return AO_LISP_NIL;
- break;
- case builtin_less_equal:
- if (!(l <= r))
- return AO_LISP_NIL;
- break;
- case builtin_greater_equal:
- if (!(l >= r))
- return AO_LISP_NIL;
- break;
- default:
- break;
- }
- } else if (lt == AO_LISP_STRING && rt == AO_LISP_STRING) {
- int c = strcmp(ao_lisp_poly_string(left),
- ao_lisp_poly_string(right));
- switch (op) {
- case builtin_less:
- if (!(c < 0))
- return AO_LISP_NIL;
- break;
- case builtin_greater:
- if (!(c > 0))
- return AO_LISP_NIL;
- break;
- case builtin_less_equal:
- if (!(c <= 0))
- return AO_LISP_NIL;
- break;
- case builtin_greater_equal:
- if (!(c >= 0))
- return AO_LISP_NIL;
- break;
- default:
- break;
- }
- }
- }
- left = right;
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- return _ao_lisp_atom_t;
-}
-
-ao_poly
-ao_lisp_equal(struct ao_lisp_cons *cons)
-{
- return ao_lisp_compare(cons, builtin_equal);
-}
-
-ao_poly
-ao_lisp_less(struct ao_lisp_cons *cons)
-{
- return ao_lisp_compare(cons, builtin_less);
-}
-
-ao_poly
-ao_lisp_greater(struct ao_lisp_cons *cons)
-{
- return ao_lisp_compare(cons, builtin_greater);
-}
-
-ao_poly
-ao_lisp_less_equal(struct ao_lisp_cons *cons)
-{
- return ao_lisp_compare(cons, builtin_less_equal);
-}
-
-ao_poly
-ao_lisp_greater_equal(struct ao_lisp_cons *cons)
-{
- return ao_lisp_compare(cons, builtin_greater_equal);
-}
-
-ao_poly
-ao_lisp_pack(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_pack, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_pack, cons, 0, AO_LISP_CONS, 1))
- return AO_LISP_NIL;
- return ao_lisp_string_pack(ao_lisp_poly_cons(ao_lisp_arg(cons, 0)));
-}
-
-ao_poly
-ao_lisp_unpack(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_unpack, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_unpack, cons, 0, AO_LISP_STRING, 0))
- return AO_LISP_NIL;
- return ao_lisp_string_unpack(ao_lisp_poly_string(ao_lisp_arg(cons, 0)));
-}
-
-ao_poly
-ao_lisp_flush(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_flush, cons, 0, 0))
- return AO_LISP_NIL;
- ao_lisp_os_flush();
- return _ao_lisp_atom_t;
-}
-
-ao_poly
-ao_lisp_led(struct ao_lisp_cons *cons)
-{
- ao_poly led;
- if (!ao_lisp_check_argc(_ao_lisp_atom_led, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_led, cons, 0, AO_LISP_INT, 0))
- return AO_LISP_NIL;
- led = ao_lisp_arg(cons, 0);
- ao_lisp_os_led(ao_lisp_poly_int(led));
- return led;
-}
-
-ao_poly
-ao_lisp_delay(struct ao_lisp_cons *cons)
-{
- ao_poly delay;
- if (!ao_lisp_check_argc(_ao_lisp_atom_led, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_led, cons, 0, AO_LISP_INT, 0))
- return AO_LISP_NIL;
- delay = ao_lisp_arg(cons, 0);
- ao_lisp_os_delay(ao_lisp_poly_int(delay));
- return delay;
-}
-
-ao_poly
-ao_lisp_do_eval(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_eval, cons, 1, 1))
- return AO_LISP_NIL;
- ao_lisp_stack->state = eval_sexpr;
- return cons->car;
-}
-
-ao_poly
-ao_lisp_do_read(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_read, cons, 0, 0))
- return AO_LISP_NIL;
- return ao_lisp_read();
-}
-
-ao_poly
-ao_lisp_do_collect(struct ao_lisp_cons *cons)
-{
- int free;
- (void) cons;
- free = ao_lisp_collect(AO_LISP_COLLECT_FULL);
- return ao_lisp_int_poly(free);
-}
-
-const ao_lisp_func_t ao_lisp_builtins[] = {
- [builtin_eval] = ao_lisp_do_eval,
- [builtin_read] = ao_lisp_do_read,
- [builtin_lambda] = ao_lisp_lambda,
- [builtin_lexpr] = ao_lisp_lexpr,
- [builtin_nlambda] = ao_lisp_nlambda,
- [builtin_macro] = ao_lisp_macro,
- [builtin_car] = ao_lisp_car,
- [builtin_cdr] = ao_lisp_cdr,
- [builtin_cons] = ao_lisp_cons,
- [builtin_last] = ao_lisp_last,
- [builtin_length] = ao_lisp_length,
- [builtin_quote] = ao_lisp_quote,
- [builtin_set] = ao_lisp_set,
- [builtin_setq] = ao_lisp_setq,
- [builtin_cond] = ao_lisp_cond,
- [builtin_progn] = ao_lisp_progn,
- [builtin_while] = ao_lisp_while,
- [builtin_print] = ao_lisp_print,
- [builtin_patom] = ao_lisp_patom,
- [builtin_plus] = ao_lisp_plus,
- [builtin_minus] = ao_lisp_minus,
- [builtin_times] = ao_lisp_times,
- [builtin_divide] = ao_lisp_divide,
- [builtin_mod] = ao_lisp_mod,
- [builtin_equal] = ao_lisp_equal,
- [builtin_less] = ao_lisp_less,
- [builtin_greater] = ao_lisp_greater,
- [builtin_less_equal] = ao_lisp_less_equal,
- [builtin_greater_equal] = ao_lisp_greater_equal,
- [builtin_pack] = ao_lisp_pack,
- [builtin_unpack] = ao_lisp_unpack,
- [builtin_flush] = ao_lisp_flush,
- [builtin_led] = ao_lisp_led,
- [builtin_delay] = ao_lisp_delay,
- [builtin_save] = ao_lisp_save,
- [builtin_restore] = ao_lisp_restore,
- [builtin_call_cc] = ao_lisp_call_cc,
- [builtin_collect] = ao_lisp_do_collect,
-};
-
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-static void cons_mark(void *addr)
-{
- struct ao_lisp_cons *cons = addr;
-
- for (;;) {
- ao_lisp_poly_mark(cons->car, 1);
- cons = ao_lisp_poly_cons(cons->cdr);
- if (!cons)
- break;
- if (ao_lisp_mark_memory(&ao_lisp_cons_type, cons))
- break;
- }
-}
-
-static int cons_size(void *addr)
-{
- (void) addr;
- return sizeof (struct ao_lisp_cons);
-}
-
-static void cons_move(void *addr)
-{
- struct ao_lisp_cons *cons = addr;
-
- if (!cons)
- return;
-
- for (;;) {
- struct ao_lisp_cons *cdr;
- int ret;
-
- MDBG_MOVE("cons_move start %d (%d, %d)\n",
- MDBG_OFFSET(cons), MDBG_OFFSET(ao_lisp_ref(cons->car)), MDBG_OFFSET(ao_lisp_ref(cons->cdr)));
- (void) ao_lisp_poly_move(&cons->car, 1);
- cdr = ao_lisp_poly_cons(cons->cdr);
- if (!cdr)
- break;
- ret = ao_lisp_move_memory(&ao_lisp_cons_type, (void **) &cdr);
- if (cdr != ao_lisp_poly_cons(cons->cdr))
- cons->cdr = ao_lisp_cons_poly(cdr);
- MDBG_MOVE("cons_move end %d (%d, %d)\n",
- MDBG_OFFSET(cons), MDBG_OFFSET(ao_lisp_ref(cons->car)), MDBG_OFFSET(ao_lisp_ref(cons->cdr)));
- if (ret)
- break;
- cons = cdr;
- }
-}
-
-const struct ao_lisp_type ao_lisp_cons_type = {
- .mark = cons_mark,
- .size = cons_size,
- .move = cons_move,
- .name = "cons",
-};
-
-struct ao_lisp_cons *ao_lisp_cons_free_list;
-
-struct ao_lisp_cons *
-ao_lisp_cons_cons(ao_poly car, struct ao_lisp_cons *cdr)
-{
- struct ao_lisp_cons *cons;
-
- if (ao_lisp_cons_free_list) {
- cons = ao_lisp_cons_free_list;
- ao_lisp_cons_free_list = ao_lisp_poly_cons(cons->cdr);
- } else {
- ao_lisp_poly_stash(0, car);
- ao_lisp_cons_stash(0, cdr);
- cons = ao_lisp_alloc(sizeof (struct ao_lisp_cons));
- car = ao_lisp_poly_fetch(0);
- cdr = ao_lisp_cons_fetch(0);
- if (!cons)
- return NULL;
- }
- cons->car = car;
- cons->cdr = ao_lisp_cons_poly(cdr);
- return cons;
-}
-
-void
-ao_lisp_cons_free(struct ao_lisp_cons *cons)
-{
- while (cons) {
- ao_poly cdr = cons->cdr;
- cons->cdr = ao_lisp_cons_poly(ao_lisp_cons_free_list);
- ao_lisp_cons_free_list = cons;
- cons = ao_lisp_poly_cons(cdr);
- }
-}
-
-void
-ao_lisp_cons_print(ao_poly c)
-{
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(c);
- int first = 1;
- printf("(");
- while (cons) {
- if (!first)
- printf(" ");
- ao_lisp_poly_print(cons->car);
- cons = ao_lisp_poly_cons(cons->cdr);
- first = 0;
- }
- printf(")");
-}
-
-void
-ao_lisp_cons_patom(ao_poly c)
-{
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(c);
-
- while (cons) {
- ao_lisp_poly_patom(cons->car);
- cons = ao_lisp_poly_cons(cons->cdr);
- }
-}
-
-int
-ao_lisp_cons_length(struct ao_lisp_cons *cons)
-{
- int len = 0;
- while (cons) {
- len++;
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- return len;
-}
+++ /dev/null
-;
-; Copyright © 2016 Keith Packard <keithp@keithp.com>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU 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
-; General Public License for more details.
-;
-; Lisp code placed in ROM
-
- ; return a list containing all of the arguments
-
-(set (quote list) (lexpr (l) l))
-
- ;
- ; Define a variable without returning the value
- ; Useful when defining functions to avoid
- ; having lots of output generated
- ;
-
-(setq def (macro (name val rest)
- (list
- 'progn
- (list
- 'set
- (list 'quote name)
- val)
- (list 'quote name)
- )
- )
- )
-
- ;
- ; A slightly more convenient form
- ; for defining lambdas.
- ;
- ; (defun <name> (<params>) s-exprs)
- ;
-
-(def defun (macro (name args exprs)
- (list
- def
- name
- (cons 'lambda (cons args exprs))
- )
- )
- )
-
- ; basic list accessors
-
-
-(defun cadr (l) (car (cdr l)))
-
-(defun caddr (l) (car (cdr (cdr l))))
-
-(defun nth (list n)
- (cond ((= n 0) (car list))
- ((nth (cdr list) (1- n)))
- )
- )
-
- ; simple math operators
-
-(defun 1+ (x) (+ x 1))
-(defun 1- (x) (- x 1))
-
- ; define a set of local
- ; variables and then evaluate
- ; a list of sexprs
- ;
- ; (let (var-defines) sexprs)
- ;
- ; where var-defines are either
- ;
- ; (name value)
- ;
- ; or
- ;
- ; (name)
- ;
- ; e.g.
- ;
- ; (let ((x 1) (y)) (setq y (+ x 1)) y)
-
-(def let (macro (vars exprs)
- ((lambda (make-names make-exprs make-nils)
-
- ;
- ; make the list of names in the let
- ;
-
- (setq make-names (lambda (vars)
- (cond (vars
- (cons (car (car vars))
- (make-names (cdr vars))))
- )
- )
- )
-
- ; the set of expressions is
- ; the list of set expressions
- ; pre-pended to the
- ; expressions to evaluate
-
- (setq make-exprs (lambda (vars exprs)
- (cond (vars (cons
- (list set
- (list quote
- (car (car vars))
- )
- (cadr (car vars))
- )
- (make-exprs (cdr vars) exprs)
- )
- )
- (exprs)
- )
- )
- )
-
- ; the parameters to the lambda is a list
- ; of nils of the right length
-
- (setq make-nils (lambda (vars)
- (cond (vars (cons nil (make-nils (cdr vars))))
- )
- )
- )
- ; prepend the set operations
- ; to the expressions
-
- (setq exprs (make-exprs vars exprs))
-
- ; build the lambda.
-
- (cons (cons 'lambda (cons (make-names vars) exprs))
- (make-nils vars)
- )
- )
- ()
- ()
- ()
- )
- )
- )
-
- ; boolean operators
-
-(def or (lexpr (l)
- (let ((ret nil))
- (while l
- (cond ((setq ret (car l))
- (setq l nil))
- ((setq l (cdr l)))))
- ret
- )
- )
- )
-
- ; execute to resolve macros
-
-(or nil t)
-
-(def and (lexpr (l)
- (let ((ret t))
- (while l
- (cond ((setq ret (car l))
- (setq l (cdr l)))
- ((setq ret (setq l nil)))
- )
- )
- ret
- )
- )
- )
-
- ; execute to resolve macros
-
-(and t nil)
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-#include <stdarg.h>
-
-void
-ao_lisp_error_poly(char *name, ao_poly poly, ao_poly last)
-{
- int first = 1;
- printf("\t\t%s(", name);
- if (ao_lisp_poly_type(poly) == AO_LISP_CONS) {
- if (poly) {
- while (poly) {
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(poly);
- if (!first)
- printf("\t\t ");
- else
- first = 0;
- ao_lisp_poly_print(cons->car);
- printf("\n");
- if (poly == last)
- break;
- poly = cons->cdr;
- }
- printf("\t\t )\n");
- } else
- printf(")\n");
- } else {
- ao_lisp_poly_print(poly);
- printf("\n");
- }
-}
-
-static void tabs(int indent)
-{
- while (indent--)
- printf("\t");
-}
-
-void
-ao_lisp_error_frame(int indent, char *name, struct ao_lisp_frame *frame)
-{
- int f;
-
- tabs(indent);
- printf ("%s{", name);
- if (frame) {
- if (frame->type & AO_LISP_FRAME_PRINT)
- printf("recurse...");
- else {
- frame->type |= AO_LISP_FRAME_PRINT;
- for (f = 0; f < frame->num; f++) {
- if (f != 0) {
- tabs(indent);
- printf(" ");
- }
- ao_lisp_poly_print(frame->vals[f].atom);
- printf(" = ");
- ao_lisp_poly_print(frame->vals[f].val);
- printf("\n");
- }
- if (frame->prev)
- ao_lisp_error_frame(indent + 1, "prev: ", ao_lisp_poly_frame(frame->prev));
- frame->type &= ~AO_LISP_FRAME_PRINT;
- }
- tabs(indent);
- printf(" }\n");
- } else
- printf ("}\n");
-}
-
-
-ao_poly
-ao_lisp_error(int error, char *format, ...)
-{
- va_list args;
-
- ao_lisp_exception |= error;
- va_start(args, format);
- vprintf(format, args);
- va_end(args);
- printf("\n");
- printf("Value: "); ao_lisp_poly_print(ao_lisp_v); printf("\n");
- printf("Stack:\n");
- ao_lisp_stack_print(ao_lisp_stack_poly(ao_lisp_stack));
- printf("Globals:\n\t");
- ao_lisp_frame_print(ao_lisp_frame_poly(ao_lisp_frame_global));
- printf("\n");
- return AO_LISP_NIL;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-#include <assert.h>
-
-struct ao_lisp_stack *ao_lisp_stack;
-ao_poly ao_lisp_v;
-
-ao_poly
-ao_lisp_set_cond(struct ao_lisp_cons *c)
-{
- ao_lisp_stack->state = eval_cond;
- ao_lisp_stack->sexprs = ao_lisp_cons_poly(c);
- return AO_LISP_NIL;
-}
-
-static int
-func_type(ao_poly func)
-{
- if (func == AO_LISP_NIL)
- return ao_lisp_error(AO_LISP_INVALID, "func is nil");
- switch (ao_lisp_poly_type(func)) {
- case AO_LISP_BUILTIN:
- return ao_lisp_poly_builtin(func)->args & AO_LISP_FUNC_MASK;
- case AO_LISP_LAMBDA:
- return ao_lisp_poly_lambda(func)->args;
- case AO_LISP_STACK:
- return AO_LISP_FUNC_LAMBDA;
- default:
- ao_lisp_error(AO_LISP_INVALID, "not a func");
- return -1;
- }
-}
-
-/*
- * Flattened eval to avoid stack issues
- */
-
-/*
- * Evaluate an s-expression
- *
- * For a list, evaluate all of the elements and
- * then execute the resulting function call.
- *
- * Each element of the list is evaluated in
- * a clean stack context.
- *
- * The current stack state is set to 'formal' so that
- * when the evaluation is complete, the value
- * will get appended to the values list.
- *
- * For other types, compute the value directly.
- */
-
-static int
-ao_lisp_eval_sexpr(void)
-{
- DBGI("sexpr: "); DBG_POLY(ao_lisp_v); DBG("\n");
- switch (ao_lisp_poly_type(ao_lisp_v)) {
- case AO_LISP_CONS:
- if (ao_lisp_v == AO_LISP_NIL) {
- if (!ao_lisp_stack->values) {
- /*
- * empty list evaluates to empty list
- */
- ao_lisp_v = AO_LISP_NIL;
- ao_lisp_stack->state = eval_val;
- } else {
- /*
- * done with arguments, go execute it
- */
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->values)->car;
- ao_lisp_stack->state = eval_exec;
- }
- } else {
- if (!ao_lisp_stack->values)
- ao_lisp_stack->list = ao_lisp_v;
- /*
- * Evaluate another argument and then switch
- * to 'formal' to add the value to the values
- * list
- */
- ao_lisp_stack->sexprs = ao_lisp_v;
- ao_lisp_stack->state = eval_formal;
- if (!ao_lisp_stack_push())
- return 0;
- /*
- * push will reset the state to 'sexpr', which
- * will evaluate the expression
- */
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_v)->car;
- }
- break;
- case AO_LISP_ATOM:
- DBGI("..frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- ao_lisp_v = ao_lisp_atom_get(ao_lisp_v);
- /* fall through */
- case AO_LISP_INT:
- case AO_LISP_STRING:
- case AO_LISP_BUILTIN:
- case AO_LISP_LAMBDA:
- ao_lisp_stack->state = eval_val;
- break;
- }
- DBGI(".. result "); DBG_POLY(ao_lisp_v); DBG("\n");
- return 1;
-}
-
-/*
- * A value has been computed.
- *
- * If the value was computed from a macro,
- * then we want to reset the current context
- * to evaluate the macro result again.
- *
- * If not a macro, then pop the stack.
- * If the stack is empty, we're done.
- * Otherwise, the stack will contain
- * the next state.
- */
-
-static int
-ao_lisp_eval_val(void)
-{
- DBGI("val: "); DBG_POLY(ao_lisp_v); DBG("\n");
- /*
- * Value computed, pop the stack
- * to figure out what to do with the value
- */
- ao_lisp_stack_pop();
- DBGI("..state %d\n", ao_lisp_stack ? ao_lisp_stack->state : -1);
- return 1;
-}
-
-/*
- * A formal has been computed.
- *
- * If this is the first formal, then check to see if we've got a
- * lamda/lexpr or macro/nlambda.
- *
- * For lambda/lexpr, go compute another formal. This will terminate
- * when the sexpr state sees nil.
- *
- * For macro/nlambda, we're done, so move the sexprs into the values
- * and go execute it.
- *
- * Macros have an additional step of saving a stack frame holding the
- * macro value execution context, which then gets the result of the
- * macro to run
- */
-
-static int
-ao_lisp_eval_formal(void)
-{
- ao_poly formal;
- struct ao_lisp_stack *prev;
-
- DBGI("formal: "); DBG_POLY(ao_lisp_v); DBG("\n");
-
- /* Check what kind of function we've got */
- if (!ao_lisp_stack->values) {
- switch (func_type(ao_lisp_v)) {
- case AO_LISP_FUNC_LAMBDA:
- case AO_LISP_FUNC_LEXPR:
- DBGI(".. lambda or lexpr\n");
- break;
- case AO_LISP_FUNC_MACRO:
- /* Evaluate the result once more */
- ao_lisp_stack->state = eval_macro;
- if (!ao_lisp_stack_push())
- return 0;
-
- /* After the function returns, take that
- * value and re-evaluate it
- */
- prev = ao_lisp_poly_stack(ao_lisp_stack->prev);
- ao_lisp_stack->sexprs = prev->sexprs;
-
- DBGI(".. start macro\n");
- DBGI(".. sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. values "); DBG_POLY(ao_lisp_stack->values); DBG("\n");
- DBG_FRAMES();
-
- /* fall through ... */
- case AO_LISP_FUNC_NLAMBDA:
- DBGI(".. nlambda or macro\n");
-
- /* use the raw sexprs as values */
- ao_lisp_stack->values = ao_lisp_stack->sexprs;
- ao_lisp_stack->values_tail = AO_LISP_NIL;
- ao_lisp_stack->state = eval_exec;
-
- /* ready to execute now */
- return 1;
- case -1:
- return 0;
- }
- }
-
- /* Append formal to list of values */
- formal = ao_lisp_cons_poly(ao_lisp_cons_cons(ao_lisp_v, NULL));
- if (!formal)
- return 0;
-
- if (ao_lisp_stack->values_tail)
- ao_lisp_poly_cons(ao_lisp_stack->values_tail)->cdr = formal;
- else
- ao_lisp_stack->values = formal;
- ao_lisp_stack->values_tail = formal;
-
- DBGI(".. values "); DBG_POLY(ao_lisp_stack->values); DBG("\n");
-
- /*
- * Step to the next argument, if this is last, then
- * 'sexpr' will end up switching to 'exec'
- */
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
-
- ao_lisp_stack->state = eval_sexpr;
-
- DBGI(".. "); DBG_POLY(ao_lisp_v); DBG("\n");
- return 1;
-}
-
-/*
- * Start executing a function call
- *
- * Most builtins are easy, just call the function.
- * 'cond' is magic; it sticks the list of clauses
- * in 'sexprs' and switches to 'cond' state. That
- * bit of magic is done in ao_lisp_set_cond.
- *
- * Lambdas build a new frame to hold the locals and
- * then re-use the current stack context to evaluate
- * the s-expression from the lambda.
- */
-
-static int
-ao_lisp_eval_exec(void)
-{
- ao_poly v;
- struct ao_lisp_builtin *builtin;
-
- DBGI("exec: "); DBG_POLY(ao_lisp_v); DBG(" values "); DBG_POLY(ao_lisp_stack->values); DBG ("\n");
- ao_lisp_stack->sexprs = AO_LISP_NIL;
- switch (ao_lisp_poly_type(ao_lisp_v)) {
- case AO_LISP_BUILTIN:
- ao_lisp_stack->state = eval_val;
- builtin = ao_lisp_poly_builtin(ao_lisp_v);
- v = ao_lisp_func(builtin) (
- ao_lisp_poly_cons(ao_lisp_poly_cons(ao_lisp_stack->values)->cdr));
- DBG_DO(if (!ao_lisp_exception && ao_lisp_poly_builtin(ao_lisp_v)->func == builtin_set) {
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(ao_lisp_stack->values);
- ao_poly atom = ao_lisp_arg(cons, 1);
- ao_poly val = ao_lisp_arg(cons, 2);
- DBGI("set "); DBG_POLY(atom); DBG(" = "); DBG_POLY(val); DBG("\n");
- });
- builtin = ao_lisp_poly_builtin(ao_lisp_v);
- if (builtin->args & AO_LISP_FUNC_FREE_ARGS && !ao_lisp_stack_marked(ao_lisp_stack))
- ao_lisp_cons_free(ao_lisp_poly_cons(ao_lisp_stack->values));
-
- ao_lisp_v = v;
- ao_lisp_stack->values = AO_LISP_NIL;
- ao_lisp_stack->values_tail = AO_LISP_NIL;
- DBGI(".. result "); DBG_POLY(ao_lisp_v); DBG ("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- break;
- case AO_LISP_LAMBDA:
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- ao_lisp_stack->state = eval_progn;
- v = ao_lisp_lambda_eval();
- ao_lisp_stack->sexprs = v;
- ao_lisp_stack->values = AO_LISP_NIL;
- ao_lisp_stack->values_tail = AO_LISP_NIL;
- DBGI(".. sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- break;
- case AO_LISP_STACK:
- DBGI(".. stack "); DBG_POLY(ao_lisp_v); DBG("\n");
- ao_lisp_v = ao_lisp_stack_eval();
- DBGI(".. value "); DBG_POLY(ao_lisp_v); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- break;
- }
- return 1;
-}
-
-/*
- * Start evaluating the next cond clause
- *
- * If the list of clauses is empty, then
- * the result of the cond is nil.
- *
- * Otherwise, set the current stack state to 'cond_test' and create a
- * new stack context to evaluate the test s-expression. Once that's
- * complete, we'll land in 'cond_test' to finish the clause.
- */
-static int
-ao_lisp_eval_cond(void)
-{
- DBGI("cond: "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
- if (!ao_lisp_stack->sexprs) {
- ao_lisp_v = AO_LISP_NIL;
- ao_lisp_stack->state = eval_val;
- } else {
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car;
- if (!ao_lisp_v || ao_lisp_poly_type(ao_lisp_v) != AO_LISP_CONS) {
- ao_lisp_error(AO_LISP_INVALID, "invalid cond clause");
- return 0;
- }
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_v)->car;
- ao_lisp_stack->state = eval_cond_test;
- if (!ao_lisp_stack_push())
- return 0;
- }
- return 1;
-}
-
-/*
- * Finish a cond clause.
- *
- * Check the value from the test expression, if
- * non-nil, then set up to evaluate the value expression.
- *
- * Otherwise, step to the next clause and go back to the 'cond'
- * state
- */
-static int
-ao_lisp_eval_cond_test(void)
-{
- DBGI("cond_test: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
- if (ao_lisp_v) {
- struct ao_lisp_cons *car = ao_lisp_poly_cons(ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car);
- ao_poly c = car->cdr;
-
- if (c) {
- ao_lisp_stack->state = eval_progn;
- ao_lisp_stack->sexprs = c;
- } else
- ao_lisp_stack->state = eval_val;
- } else {
- ao_lisp_stack->sexprs = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
- DBGI("next cond: "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- ao_lisp_stack->state = eval_cond;
- }
- return 1;
-}
-
-/*
- * Evaluate a list of sexprs, returning the value from the last one.
- *
- * ao_lisp_progn records the list in stack->sexprs, so we just need to
- * walk that list. Set ao_lisp_v to the car of the list and jump to
- * eval_sexpr. When that's done, it will land in eval_val. For all but
- * the last, leave a stack frame with eval_progn set so that we come
- * back here. For the last, don't add a stack frame so that we can
- * just continue on.
- */
-static int
-ao_lisp_eval_progn(void)
-{
- DBGI("progn: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
-
- if (!ao_lisp_stack->sexprs) {
- ao_lisp_v = AO_LISP_NIL;
- ao_lisp_stack->state = eval_val;
- } else {
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car;
- ao_lisp_stack->sexprs = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
-
- /* If there are more sexprs to do, then come back here, otherwise
- * return the value of the last one by just landing in eval_sexpr
- */
- if (ao_lisp_stack->sexprs) {
- ao_lisp_stack->state = eval_progn;
- if (!ao_lisp_stack_push())
- return 0;
- }
- ao_lisp_stack->state = eval_sexpr;
- }
- return 1;
-}
-
-/*
- * Conditionally execute a list of sexprs while the first is true
- */
-static int
-ao_lisp_eval_while(void)
-{
- DBGI("while: "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
-
- ao_lisp_stack->values = ao_lisp_v;
- if (!ao_lisp_stack->sexprs) {
- ao_lisp_v = AO_LISP_NIL;
- ao_lisp_stack->state = eval_val;
- } else {
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->car;
- ao_lisp_stack->state = eval_while_test;
- if (!ao_lisp_stack_push())
- return 0;
- }
- return 1;
-}
-
-/*
- * Check the while condition, terminate the loop if nil. Otherwise keep going
- */
-static int
-ao_lisp_eval_while_test(void)
-{
- DBGI("while_test: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
- DBGI(".. frame "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");
- DBGI(".. saved frame "); DBG_POLY(ao_lisp_stack->frame); DBG("\n");
-
- if (ao_lisp_v) {
- ao_lisp_stack->values = ao_lisp_v;
- ao_lisp_v = ao_lisp_poly_cons(ao_lisp_stack->sexprs)->cdr;
- ao_lisp_stack->state = eval_while;
- if (!ao_lisp_stack_push())
- return 0;
- ao_lisp_stack->state = eval_progn;
- ao_lisp_stack->sexprs = ao_lisp_v;
- }
- else
- {
- ao_lisp_stack->state = eval_val;
- ao_lisp_v = ao_lisp_stack->values;
- }
- return 1;
-}
-
-/*
- * Replace the original sexpr with the macro expansion, then
- * execute that
- */
-static int
-ao_lisp_eval_macro(void)
-{
- DBGI("macro: "); DBG_POLY(ao_lisp_v); DBG(" sexprs "); DBG_POLY(ao_lisp_stack->sexprs); DBG("\n");
-
- if (ao_lisp_v == AO_LISP_NIL)
- ao_lisp_abort();
- if (ao_lisp_poly_type(ao_lisp_v) == AO_LISP_CONS) {
- *ao_lisp_poly_cons(ao_lisp_stack->sexprs) = *ao_lisp_poly_cons(ao_lisp_v);
- ao_lisp_v = ao_lisp_stack->sexprs;
- DBGI("sexprs rewritten to: "); DBG_POLY(ao_lisp_v); DBG("\n");
- }
- ao_lisp_stack->sexprs = AO_LISP_NIL;
- ao_lisp_stack->state = eval_sexpr;
- return 1;
-}
-
-static int (*const evals[])(void) = {
- [eval_sexpr] = ao_lisp_eval_sexpr,
- [eval_val] = ao_lisp_eval_val,
- [eval_formal] = ao_lisp_eval_formal,
- [eval_exec] = ao_lisp_eval_exec,
- [eval_cond] = ao_lisp_eval_cond,
- [eval_cond_test] = ao_lisp_eval_cond_test,
- [eval_progn] = ao_lisp_eval_progn,
- [eval_while] = ao_lisp_eval_while,
- [eval_while_test] = ao_lisp_eval_while_test,
- [eval_macro] = ao_lisp_eval_macro,
-};
-
-const char *ao_lisp_state_names[] = {
- "sexpr",
- "val",
- "formal",
- "exec",
- "cond",
- "cond_test",
- "progn",
-};
-
-/*
- * Called at restore time to reset all execution state
- */
-
-void
-ao_lisp_eval_clear_globals(void)
-{
- ao_lisp_stack = NULL;
- ao_lisp_frame_current = NULL;
- ao_lisp_v = AO_LISP_NIL;
-}
-
-int
-ao_lisp_eval_restart(void)
-{
- return ao_lisp_stack_push();
-}
-
-ao_poly
-ao_lisp_eval(ao_poly _v)
-{
- ao_lisp_v = _v;
-
- if (!ao_lisp_stack_push())
- return AO_LISP_NIL;
-
- while (ao_lisp_stack) {
- if (!(*evals[ao_lisp_stack->state])() || ao_lisp_exception) {
- ao_lisp_stack_clear();
- return AO_LISP_NIL;
- }
- }
- DBG_DO(if (ao_lisp_frame_current) {DBGI("frame left as "); DBG_POLY(ao_lisp_frame_poly(ao_lisp_frame_current)); DBG("\n");});
- ao_lisp_frame_current = NULL;
- return ao_lisp_v;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-static inline int
-frame_num_size(int num)
-{
- return sizeof (struct ao_lisp_frame) + num * sizeof (struct ao_lisp_val);
-}
-
-static int
-frame_size(void *addr)
-{
- struct ao_lisp_frame *frame = addr;
- return frame_num_size(frame->num);
-}
-
-static void
-frame_mark(void *addr)
-{
- struct ao_lisp_frame *frame = addr;
- int f;
-
- for (;;) {
- MDBG_MOVE("frame mark %d\n", MDBG_OFFSET(frame));
- if (!AO_LISP_IS_POOL(frame))
- break;
- for (f = 0; f < frame->num; f++) {
- struct ao_lisp_val *v = &frame->vals[f];
-
- ao_lisp_poly_mark(v->val, 0);
- MDBG_MOVE("frame mark atom %s %d val %d at %d\n",
- ao_lisp_poly_atom(v->atom)->name,
- MDBG_OFFSET(ao_lisp_ref(v->atom)),
- MDBG_OFFSET(ao_lisp_ref(v->val)), f);
- }
- frame = ao_lisp_poly_frame(frame->prev);
- MDBG_MOVE("frame next %d\n", MDBG_OFFSET(frame));
- if (!frame)
- break;
- if (ao_lisp_mark_memory(&ao_lisp_frame_type, frame))
- break;
- }
-}
-
-static void
-frame_move(void *addr)
-{
- struct ao_lisp_frame *frame = addr;
- int f;
-
- for (;;) {
- struct ao_lisp_frame *prev;
- int ret;
-
- MDBG_MOVE("frame move %d\n", MDBG_OFFSET(frame));
- if (!AO_LISP_IS_POOL(frame))
- break;
- for (f = 0; f < frame->num; f++) {
- struct ao_lisp_val *v = &frame->vals[f];
-
- ao_lisp_poly_move(&v->atom, 0);
- ao_lisp_poly_move(&v->val, 0);
- MDBG_MOVE("frame move atom %s %d val %d at %d\n",
- ao_lisp_poly_atom(v->atom)->name,
- MDBG_OFFSET(ao_lisp_ref(v->atom)),
- MDBG_OFFSET(ao_lisp_ref(v->val)), f);
- }
- prev = ao_lisp_poly_frame(frame->prev);
- if (!prev)
- break;
- ret = ao_lisp_move_memory(&ao_lisp_frame_type, (void **) &prev);
- if (prev != ao_lisp_poly_frame(frame->prev)) {
- MDBG_MOVE("frame prev moved from %d to %d\n",
- MDBG_OFFSET(ao_lisp_poly_frame(frame->prev)),
- MDBG_OFFSET(prev));
- frame->prev = ao_lisp_frame_poly(prev);
- }
- if (ret)
- break;
- frame = prev;
- }
-}
-
-const struct ao_lisp_type ao_lisp_frame_type = {
- .mark = frame_mark,
- .size = frame_size,
- .move = frame_move,
- .name = "frame",
-};
-
-void
-ao_lisp_frame_print(ao_poly p)
-{
- struct ao_lisp_frame *frame = ao_lisp_poly_frame(p);
- int f;
-
- printf ("{");
- if (frame) {
- if (frame->type & AO_LISP_FRAME_PRINT)
- printf("recurse...");
- else {
- frame->type |= AO_LISP_FRAME_PRINT;
- for (f = 0; f < frame->num; f++) {
- if (f != 0)
- printf(", ");
- ao_lisp_poly_print(frame->vals[f].atom);
- printf(" = ");
- ao_lisp_poly_print(frame->vals[f].val);
- }
- if (frame->prev)
- ao_lisp_poly_print(frame->prev);
- frame->type &= ~AO_LISP_FRAME_PRINT;
- }
- }
- printf("}");
-}
-
-static int
-ao_lisp_frame_find(struct ao_lisp_frame *frame, int top, ao_poly atom)
-{
- int l = 0;
- int r = top - 1;
- while (l <= r) {
- int m = (l + r) >> 1;
- if (frame->vals[m].atom < atom)
- l = m + 1;
- else
- r = m - 1;
- }
- return l;
-}
-
-ao_poly *
-ao_lisp_frame_ref(struct ao_lisp_frame *frame, ao_poly atom)
-{
- int l = ao_lisp_frame_find(frame, frame->num, atom);
-
- if (l >= frame->num)
- return NULL;
-
- if (frame->vals[l].atom != atom)
- return NULL;
- return &frame->vals[l].val;
-}
-
-int
-ao_lisp_frame_set(struct ao_lisp_frame *frame, ao_poly atom, ao_poly val)
-{
- while (frame) {
- if (!AO_LISP_IS_CONST(frame)) {
- ao_poly *ref = ao_lisp_frame_ref(frame, atom);
- if (ref) {
- *ref = val;
- return 1;
- }
- }
- frame = ao_lisp_poly_frame(frame->prev);
- }
- return 0;
-}
-
-ao_poly
-ao_lisp_frame_get(struct ao_lisp_frame *frame, ao_poly atom)
-{
- while (frame) {
- ao_poly *ref = ao_lisp_frame_ref(frame, atom);
- if (ref)
- return *ref;
- frame = ao_lisp_poly_frame(frame->prev);
- }
- return AO_LISP_NIL;
-}
-
-struct ao_lisp_frame *ao_lisp_frame_free_list[AO_LISP_FRAME_FREE];
-
-struct ao_lisp_frame *
-ao_lisp_frame_new(int num)
-{
- struct ao_lisp_frame *frame;
-
- if (num < AO_LISP_FRAME_FREE && (frame = ao_lisp_frame_free_list[num]))
- ao_lisp_frame_free_list[num] = ao_lisp_poly_frame(frame->prev);
- else {
- frame = ao_lisp_alloc(frame_num_size(num));
- if (!frame)
- return NULL;
- }
- frame->type = AO_LISP_FRAME;
- frame->num = num;
- frame->prev = AO_LISP_NIL;
- memset(frame->vals, '\0', num * sizeof (struct ao_lisp_val));
- return frame;
-}
-
-ao_poly
-ao_lisp_frame_mark(struct ao_lisp_frame *frame)
-{
- if (!frame)
- return AO_LISP_NIL;
- frame->type |= AO_LISP_FRAME_MARK;
- return ao_lisp_frame_poly(frame);
-}
-
-void
-ao_lisp_frame_free(struct ao_lisp_frame *frame)
-{
- if (!ao_lisp_frame_marked(frame)) {
- int num = frame->num;
- if (num < AO_LISP_FRAME_FREE) {
- frame->prev = ao_lisp_frame_poly(ao_lisp_frame_free_list[num]);
- ao_lisp_frame_free_list[num] = frame;
- }
- }
-}
-
-static struct ao_lisp_frame *
-ao_lisp_frame_realloc(struct ao_lisp_frame **frame_ref, int new_num)
-{
- struct ao_lisp_frame *frame = *frame_ref;
- struct ao_lisp_frame *new;
- int copy;
-
- if (new_num == frame->num)
- return frame;
- new = ao_lisp_frame_new(new_num);
- if (!new)
- return NULL;
- /*
- * Re-fetch the frame as it may have moved
- * during the allocation
- */
- frame = *frame_ref;
- copy = new_num;
- if (copy > frame->num)
- copy = frame->num;
- memcpy(new->vals, frame->vals, copy * sizeof (struct ao_lisp_val));
- new->prev = frame->prev;
- ao_lisp_frame_free(frame);
- return new;
-}
-
-void
-ao_lisp_frame_bind(struct ao_lisp_frame *frame, int num, ao_poly atom, ao_poly val)
-{
- int l = ao_lisp_frame_find(frame, num, atom);
-
- memmove(&frame->vals[l+1],
- &frame->vals[l],
- (num - l) * sizeof (struct ao_lisp_val));
- frame->vals[l].atom = atom;
- frame->vals[l].val = val;
-}
-
-int
-ao_lisp_frame_add(struct ao_lisp_frame **frame_ref, ao_poly atom, ao_poly val)
-{
- struct ao_lisp_frame *frame = *frame_ref;
- ao_poly *ref = frame ? ao_lisp_frame_ref(frame, atom) : NULL;
-
- if (!ref) {
- int f;
- ao_lisp_poly_stash(0, atom);
- ao_lisp_poly_stash(1, val);
- if (frame) {
- f = frame->num;
- frame = ao_lisp_frame_realloc(frame_ref, f + 1);
- } else {
- f = 0;
- frame = ao_lisp_frame_new(1);
- }
- if (!frame)
- return 0;
- *frame_ref = frame;
- atom = ao_lisp_poly_fetch(0);
- val = ao_lisp_poly_fetch(1);
- ao_lisp_frame_bind(frame, frame->num - 1, atom, val);
- } else
- *ref = val;
- return 1;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-void
-ao_lisp_int_print(ao_poly p)
-{
- int i = ao_lisp_poly_int(p);
- printf("%d", i);
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#include "ao_lisp.h"
-
-int
-lambda_size(void *addr)
-{
- (void) addr;
- return sizeof (struct ao_lisp_lambda);
-}
-
-void
-lambda_mark(void *addr)
-{
- struct ao_lisp_lambda *lambda = addr;
-
- ao_lisp_poly_mark(lambda->code, 0);
- ao_lisp_poly_mark(lambda->frame, 0);
-}
-
-void
-lambda_move(void *addr)
-{
- struct ao_lisp_lambda *lambda = addr;
-
- ao_lisp_poly_move(&lambda->code, 0);
- ao_lisp_poly_move(&lambda->frame, 0);
-}
-
-const struct ao_lisp_type ao_lisp_lambda_type = {
- .size = lambda_size,
- .mark = lambda_mark,
- .move = lambda_move,
- .name = "lambda",
-};
-
-void
-ao_lisp_lambda_print(ao_poly poly)
-{
- struct ao_lisp_lambda *lambda = ao_lisp_poly_lambda(poly);
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(lambda->code);
-
- printf("(");
- printf("%s", ao_lisp_args_name(lambda->args));
- while (cons) {
- printf(" ");
- ao_lisp_poly_print(cons->car);
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- printf(")");
-}
-
-ao_poly
-ao_lisp_lambda_alloc(struct ao_lisp_cons *code, int args)
-{
- ao_lisp_cons_stash(0, code);
- struct ao_lisp_lambda *lambda = ao_lisp_alloc(sizeof (struct ao_lisp_lambda));
- code = ao_lisp_cons_fetch(0);
- struct ao_lisp_cons *arg;
- int f;
-
- if (!lambda)
- return AO_LISP_NIL;
-
- if (!ao_lisp_check_argt(_ao_lisp_atom_lambda, code, 0, AO_LISP_CONS, 1))
- return AO_LISP_NIL;
- f = 0;
- arg = ao_lisp_poly_cons(ao_lisp_arg(code, 0));
- while (arg) {
- if (ao_lisp_poly_type(arg->car) != AO_LISP_ATOM)
- return ao_lisp_error(AO_LISP_INVALID, "formal %d is not an atom", f);
- arg = ao_lisp_poly_cons(arg->cdr);
- f++;
- }
-
- lambda->type = AO_LISP_LAMBDA;
- lambda->args = args;
- lambda->code = ao_lisp_cons_poly(code);
- lambda->frame = ao_lisp_frame_mark(ao_lisp_frame_current);
- DBGI("build frame: "); DBG_POLY(lambda->frame); DBG("\n");
- DBG_STACK();
- return ao_lisp_lambda_poly(lambda);
-}
-
-ao_poly
-ao_lisp_lambda(struct ao_lisp_cons *cons)
-{
- return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_LAMBDA);
-}
-
-ao_poly
-ao_lisp_lexpr(struct ao_lisp_cons *cons)
-{
- return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_LEXPR);
-}
-
-ao_poly
-ao_lisp_nlambda(struct ao_lisp_cons *cons)
-{
- return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_NLAMBDA);
-}
-
-ao_poly
-ao_lisp_macro(struct ao_lisp_cons *cons)
-{
- return ao_lisp_lambda_alloc(cons, AO_LISP_FUNC_MACRO);
-}
-
-ao_poly
-ao_lisp_lambda_eval(void)
-{
- struct ao_lisp_lambda *lambda = ao_lisp_poly_lambda(ao_lisp_v);
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(ao_lisp_stack->values);
- struct ao_lisp_cons *code = ao_lisp_poly_cons(lambda->code);
- struct ao_lisp_cons *args = ao_lisp_poly_cons(ao_lisp_arg(code, 0));
- struct ao_lisp_frame *next_frame;
- int args_wanted;
- int args_provided;
- int f;
- struct ao_lisp_cons *vals;
-
- DBGI("lambda "); DBG_POLY(ao_lisp_lambda_poly(lambda)); DBG("\n");
-
- args_wanted = ao_lisp_cons_length(args);
-
- /* Create a frame to hold the variables
- */
- args_provided = ao_lisp_cons_length(cons) - 1;
- if (lambda->args == AO_LISP_FUNC_LAMBDA) {
- if (args_wanted != args_provided)
- return ao_lisp_error(AO_LISP_INVALID, "need %d args, got %d", args_wanted, args_provided);
- } else {
- if (args_provided < args_wanted - 1)
- return ao_lisp_error(AO_LISP_INVALID, "need at least %d args, got %d", args_wanted, args_provided);
- }
-
- next_frame = ao_lisp_frame_new(args_wanted);
-
- /* Re-fetch all of the values in case something moved */
- lambda = ao_lisp_poly_lambda(ao_lisp_v);
- cons = ao_lisp_poly_cons(ao_lisp_stack->values);
- code = ao_lisp_poly_cons(lambda->code);
- args = ao_lisp_poly_cons(ao_lisp_arg(code, 0));
- vals = ao_lisp_poly_cons(cons->cdr);
-
- next_frame->prev = lambda->frame;
- ao_lisp_frame_current = next_frame;
- ao_lisp_stack->frame = ao_lisp_frame_poly(ao_lisp_frame_current);
-
- switch (lambda->args) {
- case AO_LISP_FUNC_LAMBDA:
- for (f = 0; f < args_wanted; f++) {
- DBGI("bind "); DBG_POLY(args->car); DBG(" = "); DBG_POLY(vals->car); DBG("\n");
- ao_lisp_frame_bind(next_frame, f, args->car, vals->car);
- args = ao_lisp_poly_cons(args->cdr);
- vals = ao_lisp_poly_cons(vals->cdr);
- }
- if (!ao_lisp_stack_marked(ao_lisp_stack))
- ao_lisp_cons_free(cons);
- cons = NULL;
- break;
- case AO_LISP_FUNC_LEXPR:
- case AO_LISP_FUNC_NLAMBDA:
- case AO_LISP_FUNC_MACRO:
- for (f = 0; f < args_wanted - 1; f++) {
- DBGI("bind "); DBG_POLY(args->car); DBG(" = "); DBG_POLY(vals->car); DBG("\n");
- ao_lisp_frame_bind(next_frame, f, args->car, vals->car);
- args = ao_lisp_poly_cons(args->cdr);
- vals = ao_lisp_poly_cons(vals->cdr);
- }
- DBGI("bind "); DBG_POLY(args->car); DBG(" = "); DBG_POLY(ao_lisp_cons_poly(vals)); DBG("\n");
- ao_lisp_frame_bind(next_frame, f, args->car, ao_lisp_cons_poly(vals));
- break;
- default:
- break;
- }
- DBGI("eval frame: "); DBG_POLY(ao_lisp_frame_poly(next_frame)); DBG("\n");
- DBG_STACK();
- DBGI("eval code: "); DBG_POLY(code->cdr); DBG("\n");
- return code->cdr;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-#include <stdlib.h>
-#include <ctype.h>
-#include <unistd.h>
-#include <getopt.h>
-
-static struct ao_lisp_builtin *
-ao_lisp_make_builtin(enum ao_lisp_builtin_id func, int args) {
- struct ao_lisp_builtin *b = ao_lisp_alloc(sizeof (struct ao_lisp_builtin));
-
- b->type = AO_LISP_BUILTIN;
- b->func = func;
- b->args = args;
- return b;
-}
-
-struct builtin_func {
- char *name;
- int args;
- int func;
-};
-
-struct builtin_func funcs[] = {
- { .name = "eval", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_eval },
- { .name = "read", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_read },
- { .name = "lambda", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_lambda },
- { .name = "lexpr", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_lexpr },
- { .name = "nlambda", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_nlambda },
- { .name = "macro", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_macro },
- { .name = "car", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_car },
- { .name = "cdr", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_cdr },
- { .name = "cons", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_cons },
- { .name = "last", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_last },
- { .name = "length", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_length },
- { .name = "quote", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_quote },
- { .name = "set", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_set },
- { .name = "setq", .args = AO_LISP_FUNC_MACRO, .func = builtin_setq },
- { .name = "cond", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_cond },
- { .name = "progn", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_progn },
- { .name = "while", .args = AO_LISP_FUNC_NLAMBDA, .func = builtin_while },
- { .name = "print", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_print },
- { .name = "patom", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_patom },
- { .name = "+", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_plus },
- { .name = "-", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_minus },
- { .name = "*", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_times },
- { .name = "/", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_divide },
- { .name = "%", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_mod },
- { .name = "=", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_equal },
- { .name = "<", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_less },
- { .name = ">", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_greater },
- { .name = "<=", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_less_equal },
- { .name = ">=", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_greater_equal },
- { .name = "pack", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_pack },
- { .name = "unpack", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_unpack },
- { .name = "flush", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_flush },
- { .name = "delay", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_delay },
- { .name = "led", .args = AO_LISP_FUNC_F_LEXPR, .func = builtin_led },
- { .name = "save", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_save },
- { .name = "restore", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_restore },
- { .name = "call/cc", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_call_cc },
- { .name = "collect", .args = AO_LISP_FUNC_F_LAMBDA, .func = builtin_collect },
-};
-
-#define N_FUNC (sizeof funcs / sizeof funcs[0])
-
-struct ao_lisp_frame *globals;
-
-static int
-is_atom(int offset)
-{
- struct ao_lisp_atom *a;
-
- for (a = ao_lisp_atoms; a; a = ao_lisp_poly_atom(a->next))
- if (((uint8_t *) a->name - ao_lisp_const) == offset)
- return strlen(a->name);
- return 0;
-}
-
-#define AO_FEC_CRC_INIT 0xffff
-
-static inline uint16_t
-ao_fec_crc_byte(uint8_t byte, uint16_t crc)
-{
- uint8_t bit;
-
- for (bit = 0; bit < 8; bit++) {
- if (((crc & 0x8000) >> 8) ^ (byte & 0x80))
- crc = (crc << 1) ^ 0x8005;
- else
- crc = (crc << 1);
- byte <<= 1;
- }
- return crc;
-}
-
-uint16_t
-ao_fec_crc(const uint8_t *bytes, uint8_t len)
-{
- uint16_t crc = AO_FEC_CRC_INIT;
-
- while (len--)
- crc = ao_fec_crc_byte(*bytes++, crc);
- return crc;
-}
-
-struct ao_lisp_macro_stack {
- struct ao_lisp_macro_stack *next;
- ao_poly p;
-};
-
-struct ao_lisp_macro_stack *macro_stack;
-
-int
-ao_lisp_macro_push(ao_poly p)
-{
- struct ao_lisp_macro_stack *m = macro_stack;
-
- while (m) {
- if (m->p == p)
- return 1;
- m = m->next;
- }
- m = malloc (sizeof (struct ao_lisp_macro_stack));
- m->p = p;
- m->next = macro_stack;
- macro_stack = m;
- return 0;
-}
-
-void
-ao_lisp_macro_pop(void)
-{
- struct ao_lisp_macro_stack *m = macro_stack;
-
- macro_stack = m->next;
- free(m);
-}
-
-#define DBG_MACRO 0
-#if DBG_MACRO
-int macro_scan_depth;
-
-void indent(void)
-{
- int i;
- for (i = 0; i < macro_scan_depth; i++)
- printf(" ");
-}
-#define MACRO_DEBUG(a) a
-#else
-#define MACRO_DEBUG(a)
-#endif
-
-ao_poly
-ao_has_macro(ao_poly p);
-
-ao_poly
-ao_macro_test_get(ao_poly atom)
-{
- ao_poly *ref = ao_lisp_atom_ref(ao_lisp_frame_global, atom);
- if (ref)
- return *ref;
- return AO_LISP_NIL;
-}
-
-ao_poly
-ao_is_macro(ao_poly p)
-{
- struct ao_lisp_builtin *builtin;
- struct ao_lisp_lambda *lambda;
- ao_poly ret;
-
- MACRO_DEBUG(indent(); printf ("is macro "); ao_lisp_poly_print(p); printf("\n"); ++macro_scan_depth);
- switch (ao_lisp_poly_type(p)) {
- case AO_LISP_ATOM:
- if (ao_lisp_macro_push(p))
- ret = AO_LISP_NIL;
- else {
- if (ao_is_macro(ao_macro_test_get(p)))
- ret = p;
- else
- ret = AO_LISP_NIL;
- ao_lisp_macro_pop();
- }
- break;
- case AO_LISP_CONS:
- ret = ao_has_macro(p);
- break;
- case AO_LISP_BUILTIN:
- builtin = ao_lisp_poly_builtin(p);
- if ((builtin->args & AO_LISP_FUNC_MASK) == AO_LISP_FUNC_MACRO)
- ret = p;
- else
- ret = 0;
- break;
-
- case AO_LISP_LAMBDA:
- lambda = ao_lisp_poly_lambda(p);
- if (lambda->args == AO_LISP_FUNC_MACRO)
- ret = p;
- else
- ret = ao_has_macro(lambda->code);
- break;
- default:
- ret = AO_LISP_NIL;
- break;
- }
- MACRO_DEBUG(--macro_scan_depth; indent(); printf ("... "); ao_lisp_poly_print(ret); printf("\n"));
- return ret;
-}
-
-ao_poly
-ao_has_macro(ao_poly p)
-{
- struct ao_lisp_cons *cons;
- struct ao_lisp_lambda *lambda;
- ao_poly m;
-
- if (p == AO_LISP_NIL)
- return AO_LISP_NIL;
-
- MACRO_DEBUG(indent(); printf("has macro "); ao_lisp_poly_print(p); printf("\n"); ++macro_scan_depth);
- switch (ao_lisp_poly_type(p)) {
- case AO_LISP_LAMBDA:
- lambda = ao_lisp_poly_lambda(p);
- p = ao_has_macro(lambda->code);
- break;
- case AO_LISP_CONS:
- cons = ao_lisp_poly_cons(p);
- if ((p = ao_is_macro(cons->car)))
- break;
-
- cons = ao_lisp_poly_cons(cons->cdr);
- p = AO_LISP_NIL;
- while (cons) {
- m = ao_has_macro(cons->car);
- if (m) {
- p = m;
- break;
- }
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- break;
-
- default:
- p = AO_LISP_NIL;
- break;
- }
- MACRO_DEBUG(--macro_scan_depth; indent(); printf("... "); ao_lisp_poly_print(p); printf("\n"));
- return p;
-}
-
-int
-ao_lisp_read_eval_abort(void)
-{
- ao_poly in, out = AO_LISP_NIL;
- for(;;) {
- in = ao_lisp_read();
- if (in == _ao_lisp_atom_eof)
- break;
- out = ao_lisp_eval(in);
- if (ao_lisp_exception)
- return 0;
- ao_lisp_poly_print(out);
- putchar ('\n');
- }
- return 1;
-}
-
-static FILE *in;
-static FILE *out;
-
-int
-ao_lisp_getc(void)
-{
- return getc(in);
-}
-
-static const struct option options[] = {
- { .name = "out", .has_arg = 1, .val = 'o' },
- { 0, 0, 0, 0 }
-};
-
-static void usage(char *program)
-{
- fprintf(stderr, "usage: %s [--out=<output>] [input]\n", program);
- exit(1);
-}
-
-int
-main(int argc, char **argv)
-{
- int f, o;
- ao_poly val;
- struct ao_lisp_atom *a;
- struct ao_lisp_builtin *b;
- int in_atom = 0;
- char *out_name = NULL;
- int c;
-
- in = stdin;
- out = stdout;
-
- while ((c = getopt_long(argc, argv, "o:", options, NULL)) != -1) {
- switch (c) {
- case 'o':
- out_name = optarg;
- break;
- default:
- usage(argv[0]);
- break;
- }
- }
-
- for (f = 0; f < (int) N_FUNC; f++) {
- b = ao_lisp_make_builtin(funcs[f].func, funcs[f].args);
- a = ao_lisp_atom_intern(funcs[f].name);
- ao_lisp_atom_set(ao_lisp_atom_poly(a),
- ao_lisp_builtin_poly(b));
- }
-
- /* boolean constants */
- ao_lisp_atom_set(ao_lisp_atom_poly(ao_lisp_atom_intern("nil")),
- AO_LISP_NIL);
- a = ao_lisp_atom_intern("t");
- ao_lisp_atom_set(ao_lisp_atom_poly(a),
- ao_lisp_atom_poly(a));
-
- /* end of file value */
- a = ao_lisp_atom_intern("eof");
- ao_lisp_atom_set(ao_lisp_atom_poly(a),
- ao_lisp_atom_poly(a));
-
- if (argv[optind]){
- in = fopen(argv[optind], "r");
- if (!in) {
- perror(argv[optind]);
- exit(1);
- }
- }
- if (!ao_lisp_read_eval_abort()) {
- fprintf(stderr, "eval failed\n");
- exit(1);
- }
-
- /* Reduce to referenced values */
- ao_lisp_collect(AO_LISP_COLLECT_FULL);
-
- for (f = 0; f < ao_lisp_frame_global->num; f++) {
- val = ao_has_macro(ao_lisp_frame_global->vals[f].val);
- if (val != AO_LISP_NIL) {
- printf("error: function %s contains unresolved macro: ",
- ao_lisp_poly_atom(ao_lisp_frame_global->vals[f].atom)->name);
- ao_lisp_poly_print(val);
- printf("\n");
- exit(1);
- }
- }
-
- if (out_name) {
- out = fopen(out_name, "w");
- if (!out) {
- perror(out_name);
- exit(1);
- }
- }
-
- fprintf(out, "/* Generated file, do not edit */\n\n");
-
- fprintf(out, "#define AO_LISP_POOL_CONST %d\n", ao_lisp_top);
- fprintf(out, "extern const uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute__((aligned(4)));\n");
- fprintf(out, "#define ao_builtin_atoms 0x%04x\n", ao_lisp_atom_poly(ao_lisp_atoms));
- fprintf(out, "#define ao_builtin_frame 0x%04x\n", ao_lisp_frame_poly(ao_lisp_frame_global));
- fprintf(out, "#define ao_lisp_const_checksum ((uint16_t) 0x%04x)\n", ao_fec_crc(ao_lisp_const, ao_lisp_top));
-
-
- for (a = ao_lisp_atoms; a; a = ao_lisp_poly_atom(a->next)) {
- char *n = a->name, c;
- fprintf(out, "#define _ao_lisp_atom_");
- while ((c = *n++)) {
- if (isalnum(c))
- fprintf(out, "%c", c);
- else
- fprintf(out, "%02x", c);
- }
- fprintf(out, " 0x%04x\n", ao_lisp_atom_poly(a));
- }
- fprintf(out, "#ifdef AO_LISP_CONST_BITS\n");
- fprintf(out, "const uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute((aligned(4))) = {");
- for (o = 0; o < ao_lisp_top; o++) {
- uint8_t c;
- if ((o & 0xf) == 0)
- fprintf(out, "\n\t");
- else
- fprintf(out, " ");
- c = ao_lisp_const[o];
- if (!in_atom)
- in_atom = is_atom(o);
- if (in_atom) {
- fprintf(out, " '%c',", c);
- in_atom--;
- } else {
- fprintf(out, "0x%02x,", c);
- }
- }
- fprintf(out, "\n};\n");
- fprintf(out, "#endif /* AO_LISP_CONST_BITS */\n");
- exit(0);
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#define AO_LISP_CONST_BITS
-
-#include "ao_lisp.h"
-#include <stdio.h>
-
-#ifdef AO_LISP_MAKE_CONST
-
-/*
- * When building the constant table, it is the
- * pool for allocations.
- */
-
-#include <stdlib.h>
-uint8_t ao_lisp_const[AO_LISP_POOL_CONST] __attribute__((aligned(4)));
-#define ao_lisp_pool ao_lisp_const
-#undef AO_LISP_POOL
-#define AO_LISP_POOL AO_LISP_POOL_CONST
-
-#else
-
-uint8_t ao_lisp_pool[AO_LISP_POOL + AO_LISP_POOL_EXTRA] __attribute__((aligned(4)));
-
-#endif
-
-#ifndef DBG_MEM_STATS
-#define DBG_MEM_STATS DBG_MEM
-#endif
-
-#if DBG_MEM
-int dbg_move_depth;
-int dbg_mem = DBG_MEM_START;
-int dbg_validate = 0;
-
-struct ao_lisp_record {
- struct ao_lisp_record *next;
- const struct ao_lisp_type *type;
- void *addr;
- int size;
-};
-
-static struct ao_lisp_record *record_head, **record_tail;
-
-static void
-ao_lisp_record_free(struct ao_lisp_record *record)
-{
- while (record) {
- struct ao_lisp_record *next = record->next;
- free(record);
- record = next;
- }
-}
-
-static void
-ao_lisp_record_reset(void)
-{
- ao_lisp_record_free(record_head);
- record_head = NULL;
- record_tail = &record_head;
-}
-
-static void
-ao_lisp_record(const struct ao_lisp_type *type,
- void *addr,
- int size)
-{
- struct ao_lisp_record *r = malloc(sizeof (struct ao_lisp_record));
-
- r->next = NULL;
- r->type = type;
- r->addr = addr;
- r->size = size;
- *record_tail = r;
- record_tail = &r->next;
-}
-
-static struct ao_lisp_record *
-ao_lisp_record_save(void)
-{
- struct ao_lisp_record *r = record_head;
-
- record_head = NULL;
- record_tail = &record_head;
- return r;
-}
-
-static void
-ao_lisp_record_compare(char *where,
- struct ao_lisp_record *a,
- struct ao_lisp_record *b)
-{
- while (a && b) {
- if (a->type != b->type || a->size != b->size) {
- printf("%s record difers %d %s %d -> %d %s %d\n",
- where,
- MDBG_OFFSET(a->addr),
- a->type->name,
- a->size,
- MDBG_OFFSET(b->addr),
- b->type->name,
- b->size);
- ao_lisp_abort();
- }
- a = a->next;
- b = b->next;
- }
- if (a) {
- printf("%s record differs %d %s %d -> NULL\n",
- where,
- MDBG_OFFSET(a->addr),
- a->type->name,
- a->size);
- ao_lisp_abort();
- }
- if (b) {
- printf("%s record differs NULL -> %d %s %d\n",
- where,
- MDBG_OFFSET(b->addr),
- b->type->name,
- b->size);
- ao_lisp_abort();
- }
-}
-
-#else
-#define ao_lisp_record_reset()
-#endif
-
-uint8_t ao_lisp_exception;
-
-struct ao_lisp_root {
- const struct ao_lisp_type *type;
- void **addr;
-};
-
-static struct ao_lisp_cons *save_cons[2];
-static char *save_string[2];
-static ao_poly save_poly[3];
-
-static const struct ao_lisp_root ao_lisp_root[] = {
- {
- .type = &ao_lisp_cons_type,
- .addr = (void **) &save_cons[0],
- },
- {
- .type = &ao_lisp_cons_type,
- .addr = (void **) &save_cons[1],
- },
- {
- .type = &ao_lisp_string_type,
- .addr = (void **) &save_string[0],
- },
- {
- .type = &ao_lisp_string_type,
- .addr = (void **) &save_string[1],
- },
- {
- .type = NULL,
- .addr = (void **) (void *) &save_poly[0]
- },
- {
- .type = NULL,
- .addr = (void **) (void *) &save_poly[1]
- },
- {
- .type = NULL,
- .addr = (void **) (void *) &save_poly[2]
- },
- {
- .type = &ao_lisp_atom_type,
- .addr = (void **) &ao_lisp_atoms
- },
- {
- .type = &ao_lisp_frame_type,
- .addr = (void **) &ao_lisp_frame_global,
- },
- {
- .type = &ao_lisp_frame_type,
- .addr = (void **) &ao_lisp_frame_current,
- },
- {
- .type = &ao_lisp_stack_type,
- .addr = (void **) &ao_lisp_stack,
- },
- {
- .type = NULL,
- .addr = (void **) (void *) &ao_lisp_v,
- },
- {
- .type = &ao_lisp_cons_type,
- .addr = (void **) &ao_lisp_read_cons,
- },
- {
- .type = &ao_lisp_cons_type,
- .addr = (void **) &ao_lisp_read_cons_tail,
- },
- {
- .type = &ao_lisp_cons_type,
- .addr = (void **) &ao_lisp_read_stack,
- },
-};
-
-#define AO_LISP_ROOT (sizeof (ao_lisp_root) / sizeof (ao_lisp_root[0]))
-
-static const void ** const ao_lisp_cache[] = {
- (const void **) &ao_lisp_cons_free_list,
- (const void **) &ao_lisp_stack_free_list,
- (const void **) &ao_lisp_frame_free_list[0],
- (const void **) &ao_lisp_frame_free_list[1],
- (const void **) &ao_lisp_frame_free_list[2],
- (const void **) &ao_lisp_frame_free_list[3],
- (const void **) &ao_lisp_frame_free_list[4],
- (const void **) &ao_lisp_frame_free_list[5],
-};
-
-#if AO_LISP_FRAME_FREE != 6
-#error Unexpected AO_LISP_FRAME_FREE value
-#endif
-
-#define AO_LISP_CACHE (sizeof (ao_lisp_cache) / sizeof (ao_lisp_cache[0]))
-
-#define AO_LISP_BUSY_SIZE ((AO_LISP_POOL + 31) / 32)
-
-static uint8_t ao_lisp_busy[AO_LISP_BUSY_SIZE];
-static uint8_t ao_lisp_cons_note[AO_LISP_BUSY_SIZE];
-static uint8_t ao_lisp_cons_last[AO_LISP_BUSY_SIZE];
-static uint8_t ao_lisp_cons_noted;
-
-uint16_t ao_lisp_top;
-
-struct ao_lisp_chunk {
- uint16_t old_offset;
- union {
- uint16_t size;
- uint16_t new_offset;
- };
-};
-
-#define AO_LISP_NCHUNK 64
-
-static struct ao_lisp_chunk ao_lisp_chunk[AO_LISP_NCHUNK];
-
-/* Offset of an address within the pool. */
-static inline uint16_t pool_offset(void *addr) {
-#if DBG_MEM
- if (!AO_LISP_IS_POOL(addr))
- ao_lisp_abort();
-#endif
- return ((uint8_t *) addr) - ao_lisp_pool;
-}
-
-static inline void mark(uint8_t *tag, int offset) {
- int byte = offset >> 5;
- int bit = (offset >> 2) & 7;
- tag[byte] |= (1 << bit);
-}
-
-static inline void clear(uint8_t *tag, int offset) {
- int byte = offset >> 5;
- int bit = (offset >> 2) & 7;
- tag[byte] &= ~(1 << bit);
-}
-
-static inline int busy(uint8_t *tag, int offset) {
- int byte = offset >> 5;
- int bit = (offset >> 2) & 7;
- return (tag[byte] >> bit) & 1;
-}
-
-static inline int min(int a, int b) { return a < b ? a : b; }
-static inline int max(int a, int b) { return a > b ? a : b; }
-
-static inline int limit(int offset) {
- return min(AO_LISP_POOL, max(offset, 0));
-}
-
-static void
-note_cons(uint16_t offset)
-{
- MDBG_MOVE("note cons %d\n", offset);
- ao_lisp_cons_noted = 1;
- mark(ao_lisp_cons_note, offset);
-}
-
-static uint16_t chunk_low, chunk_high;
-static uint16_t chunk_first, chunk_last;
-
-static int
-find_chunk(uint16_t offset)
-{
- int l, r;
- /* Binary search for the location */
- l = chunk_first;
- r = chunk_last - 1;
- while (l <= r) {
- int m = (l + r) >> 1;
- if (ao_lisp_chunk[m].old_offset < offset)
- l = m + 1;
- else
- r = m - 1;
- }
- return l;
-}
-
-static void
-note_chunk(uint16_t offset, uint16_t size)
-{
- int l;
-
- if (offset < chunk_low || chunk_high <= offset)
- return;
-
- l = find_chunk(offset);
-
- /*
- * The correct location is always in 'l', with r = l-1 being
- * the entry before the right one
- */
-
-#if DBG_MEM
- /* Off the right side */
- if (l >= AO_LISP_NCHUNK)
- ao_lisp_abort();
-
- /* Off the left side */
- if (l == 0 && chunk_last && offset > ao_lisp_chunk[0].old_offset)
- ao_lisp_abort();
-#endif
-
- /* Shuffle existing entries right */
- int end = min(AO_LISP_NCHUNK, chunk_last + 1);
-
- memmove(&ao_lisp_chunk[l+1],
- &ao_lisp_chunk[l],
- (end - (l+1)) * sizeof (struct ao_lisp_chunk));
-
- /* Add new entry */
- ao_lisp_chunk[l].old_offset = offset;
- ao_lisp_chunk[l].size = size;
-
- /* Increment the number of elements up to the size of the array */
- if (chunk_last < AO_LISP_NCHUNK)
- chunk_last++;
-
- /* Set the top address if the array is full */
- if (chunk_last == AO_LISP_NCHUNK)
- chunk_high = ao_lisp_chunk[AO_LISP_NCHUNK-1].old_offset +
- ao_lisp_chunk[AO_LISP_NCHUNK-1].size;
-}
-
-static void
-reset_chunks(void)
-{
- chunk_high = ao_lisp_top;
- chunk_last = 0;
- chunk_first = 0;
-}
-
-/*
- * Walk all referenced objects calling functions on each one
- */
-
-static void
-walk(int (*visit_addr)(const struct ao_lisp_type *type, void **addr),
- int (*visit_poly)(ao_poly *p, uint8_t do_note_cons))
-{
- int i;
-
- ao_lisp_record_reset();
- memset(ao_lisp_busy, '\0', sizeof (ao_lisp_busy));
- memset(ao_lisp_cons_note, '\0', sizeof (ao_lisp_cons_note));
- ao_lisp_cons_noted = 0;
- for (i = 0; i < (int) AO_LISP_ROOT; i++) {
- if (ao_lisp_root[i].type) {
- void **a = ao_lisp_root[i].addr, *v;
- if (a && (v = *a)) {
- MDBG_MOVE("root ptr %d\n", MDBG_OFFSET(v));
- visit_addr(ao_lisp_root[i].type, a);
- }
- } else {
- ao_poly *a = (ao_poly *) ao_lisp_root[i].addr, p;
- if (a && (p = *a)) {
- MDBG_MOVE("root poly %d\n", MDBG_OFFSET(ao_lisp_ref(p)));
- visit_poly(a, 0);
- }
- }
- }
- while (ao_lisp_cons_noted) {
- memcpy(ao_lisp_cons_last, ao_lisp_cons_note, sizeof (ao_lisp_cons_note));
- memset(ao_lisp_cons_note, '\0', sizeof (ao_lisp_cons_note));
- ao_lisp_cons_noted = 0;
- for (i = 0; i < AO_LISP_POOL; i += 4) {
- if (busy(ao_lisp_cons_last, i)) {
- void *v = ao_lisp_pool + i;
- MDBG_MOVE("root cons %d\n", MDBG_OFFSET(v));
- visit_addr(&ao_lisp_cons_type, &v);
- }
- }
- }
-}
-
-#if MDBG_DUMP
-static void
-dump_busy(void)
-{
- int i;
- MDBG_MOVE("busy:");
- for (i = 0; i < ao_lisp_top; i += 4) {
- if ((i & 0xff) == 0) {
- MDBG_MORE("\n");
- MDBG_MOVE("%s", "");
- }
- else if ((i & 0x1f) == 0)
- MDBG_MORE(" ");
- if (busy(ao_lisp_busy, i))
- MDBG_MORE("*");
- else
- MDBG_MORE("-");
- }
- MDBG_MORE ("\n");
-}
-#define DUMP_BUSY() dump_busy()
-#else
-#define DUMP_BUSY()
-#endif
-
-static const struct ao_lisp_type const *ao_lisp_types[AO_LISP_NUM_TYPE] = {
- [AO_LISP_CONS] = &ao_lisp_cons_type,
- [AO_LISP_INT] = NULL,
- [AO_LISP_STRING] = &ao_lisp_string_type,
- [AO_LISP_OTHER] = (void *) 0x1,
- [AO_LISP_ATOM] = &ao_lisp_atom_type,
- [AO_LISP_BUILTIN] = &ao_lisp_builtin_type,
- [AO_LISP_FRAME] = &ao_lisp_frame_type,
- [AO_LISP_LAMBDA] = &ao_lisp_lambda_type,
- [AO_LISP_STACK] = &ao_lisp_stack_type,
-};
-
-static int
-ao_lisp_mark_ref(const struct ao_lisp_type *type, void **ref)
-{
- return ao_lisp_mark(type, *ref);
-}
-
-static int
-ao_lisp_poly_mark_ref(ao_poly *p, uint8_t do_note_cons)
-{
- return ao_lisp_poly_mark(*p, do_note_cons);
-}
-
-#if DBG_MEM_STATS
-int ao_lisp_collects[2];
-int ao_lisp_freed[2];
-int ao_lisp_loops[2];
-#endif
-
-int ao_lisp_last_top;
-
-int
-ao_lisp_collect(uint8_t style)
-{
- int i;
- int top;
-#if DBG_MEM_STATS
- int loops = 0;
-#endif
-#if DBG_MEM
- struct ao_lisp_record *mark_record = NULL, *move_record = NULL;
-
- MDBG_MOVE("collect %d\n", ao_lisp_collects[style]);
-#endif
-
- /* The first time through, we're doing a full collect */
- if (ao_lisp_last_top == 0)
- style = AO_LISP_COLLECT_FULL;
-
- /* Clear references to all caches */
- for (i = 0; i < (int) AO_LISP_CACHE; i++)
- *ao_lisp_cache[i] = NULL;
- if (style == AO_LISP_COLLECT_FULL) {
- chunk_low = top = 0;
- } else {
- chunk_low = top = ao_lisp_last_top;
- }
- for (;;) {
-#if DBG_MEM_STATS
- loops++;
-#endif
- MDBG_MOVE("move chunks from %d to %d\n", chunk_low, top);
- /* Find the sizes of the first chunk of objects to move */
- reset_chunks();
- walk(ao_lisp_mark_ref, ao_lisp_poly_mark_ref);
-#if DBG_MEM
-
- ao_lisp_record_free(mark_record);
- mark_record = ao_lisp_record_save();
- if (mark_record && move_record)
- ao_lisp_record_compare("mark", move_record, mark_record);
-#endif
-
- DUMP_BUSY();
-
- /* Find the first moving object */
- for (i = 0; i < chunk_last; i++) {
- uint16_t size = ao_lisp_chunk[i].size;
-
-#if DBG_MEM
- if (!size)
- ao_lisp_abort();
-#endif
-
- if (ao_lisp_chunk[i].old_offset > top)
- break;
-
- MDBG_MOVE("chunk %d %d not moving\n",
- ao_lisp_chunk[i].old_offset,
- ao_lisp_chunk[i].size);
-#if DBG_MEM
- if (ao_lisp_chunk[i].old_offset != top)
- ao_lisp_abort();
-#endif
- top += size;
- }
-
- /*
- * Limit amount of chunk array used in mapping moves
- * to the active region
- */
- chunk_first = i;
- chunk_low = ao_lisp_chunk[i].old_offset;
-
- /* Copy all of the objects */
- for (; i < chunk_last; i++) {
- uint16_t size = ao_lisp_chunk[i].size;
-
-#if DBG_MEM
- if (!size)
- ao_lisp_abort();
-#endif
-
- MDBG_MOVE("chunk %d %d -> %d\n",
- ao_lisp_chunk[i].old_offset,
- size,
- top);
- ao_lisp_chunk[i].new_offset = top;
-
- memmove(&ao_lisp_pool[top],
- &ao_lisp_pool[ao_lisp_chunk[i].old_offset],
- size);
-
- top += size;
- }
-
- if (chunk_first < chunk_last) {
- /* Relocate all references to the objects */
- walk(ao_lisp_move, ao_lisp_poly_move);
-
-#if DBG_MEM
- ao_lisp_record_free(move_record);
- move_record = ao_lisp_record_save();
- if (mark_record && move_record)
- ao_lisp_record_compare("move", mark_record, move_record);
-#endif
- }
-
- /* If we ran into the end of the heap, then
- * there's no need to keep walking
- */
- if (chunk_last != AO_LISP_NCHUNK)
- break;
-
- /* Next loop starts right above this loop */
- chunk_low = chunk_high;
- }
-
-#if DBG_MEM_STATS
- /* Collect stats */
- ++ao_lisp_collects[style];
- ao_lisp_freed[style] += ao_lisp_top - top;
- ao_lisp_loops[style] += loops;
-#endif
-
- ao_lisp_top = top;
- if (style == AO_LISP_COLLECT_FULL)
- ao_lisp_last_top = top;
-
- MDBG_DO(memset(ao_lisp_chunk, '\0', sizeof (ao_lisp_chunk));
- walk(ao_lisp_mark_ref, ao_lisp_poly_mark_ref));
-
- return AO_LISP_POOL - ao_lisp_top;
-}
-
-/*
- * Mark interfaces for objects
- */
-
-/*
- * Note a reference to memory and collect information about a few
- * object sizes at a time
- */
-
-int
-ao_lisp_mark_memory(const struct ao_lisp_type *type, void *addr)
-{
- int offset;
- if (!AO_LISP_IS_POOL(addr))
- return 1;
-
- offset = pool_offset(addr);
- MDBG_MOVE("mark memory %d\n", MDBG_OFFSET(addr));
- if (busy(ao_lisp_busy, offset)) {
- MDBG_MOVE("already marked\n");
- return 1;
- }
- mark(ao_lisp_busy, offset);
- note_chunk(offset, ao_lisp_size(type, addr));
- return 0;
-}
-
-/*
- * Mark an object and all that it refereces
- */
-int
-ao_lisp_mark(const struct ao_lisp_type *type, void *addr)
-{
- int ret;
- MDBG_MOVE("mark %d\n", MDBG_OFFSET(addr));
- MDBG_MOVE_IN();
- ret = ao_lisp_mark_memory(type, addr);
- if (!ret) {
- MDBG_MOVE("mark recurse\n");
- type->mark(addr);
- }
- MDBG_MOVE_OUT();
- return ret;
-}
-
-/*
- * Mark an object, unless it is a cons cell and
- * do_note_cons is set. In that case, just
- * set a bit in the cons note array; those
- * will be marked in a separate pass to avoid
- * deep recursion in the collector
- */
-int
-ao_lisp_poly_mark(ao_poly p, uint8_t do_note_cons)
-{
- uint8_t type;
- void *addr;
-
- type = ao_lisp_poly_base_type(p);
-
- if (type == AO_LISP_INT)
- return 1;
-
- addr = ao_lisp_ref(p);
- if (!AO_LISP_IS_POOL(addr))
- return 1;
-
- if (type == AO_LISP_CONS && do_note_cons) {
- note_cons(pool_offset(addr));
- return 1;
- } else {
- if (type == AO_LISP_OTHER)
- type = ao_lisp_other_type(addr);
-
- const struct ao_lisp_type *lisp_type = ao_lisp_types[type];
-#if DBG_MEM
- if (!lisp_type)
- ao_lisp_abort();
-#endif
-
- return ao_lisp_mark(lisp_type, addr);
- }
-}
-
-/*
- * Find the current location of an object
- * based on the original location. For unmoved
- * objects, this is simple. For moved objects,
- * go search for it
- */
-
-static uint16_t
-move_map(uint16_t offset)
-{
- int l;
-
- if (offset < chunk_low || chunk_high <= offset)
- return offset;
-
- l = find_chunk(offset);
-
-#if DBG_MEM
- if (ao_lisp_chunk[l].old_offset != offset)
- ao_lisp_abort();
-#endif
- return ao_lisp_chunk[l].new_offset;
-}
-
-int
-ao_lisp_move_memory(const struct ao_lisp_type *type, void **ref)
-{
- void *addr = *ref;
- uint16_t offset, orig_offset;
-
- if (!AO_LISP_IS_POOL(addr))
- return 1;
-
- (void) type;
-
- MDBG_MOVE("move memory %d\n", MDBG_OFFSET(addr));
- orig_offset = pool_offset(addr);
- offset = move_map(orig_offset);
- if (offset != orig_offset) {
- MDBG_MOVE("update ref %d %d -> %d\n",
- AO_LISP_IS_POOL(ref) ? MDBG_OFFSET(ref) : -1,
- orig_offset, offset);
- *ref = ao_lisp_pool + offset;
- }
- if (busy(ao_lisp_busy, offset)) {
- MDBG_MOVE("already moved\n");
- return 1;
- }
- mark(ao_lisp_busy, offset);
- MDBG_DO(ao_lisp_record(type, addr, ao_lisp_size(type, addr)));
- return 0;
-}
-
-int
-ao_lisp_move(const struct ao_lisp_type *type, void **ref)
-{
- int ret;
- MDBG_MOVE("move object %d\n", MDBG_OFFSET(*ref));
- MDBG_MOVE_IN();
- ret = ao_lisp_move_memory(type, ref);
- if (!ret) {
- MDBG_MOVE("move recurse\n");
- type->move(*ref);
- }
- MDBG_MOVE_OUT();
- return ret;
-}
-
-int
-ao_lisp_poly_move(ao_poly *ref, uint8_t do_note_cons)
-{
- uint8_t type;
- ao_poly p = *ref;
- int ret;
- void *addr;
- uint16_t offset, orig_offset;
- uint8_t base_type;
-
- base_type = type = ao_lisp_poly_base_type(p);
-
- if (type == AO_LISP_INT)
- return 1;
-
- addr = ao_lisp_ref(p);
- if (!AO_LISP_IS_POOL(addr))
- return 1;
-
- orig_offset = pool_offset(addr);
- offset = move_map(orig_offset);
-
- if (type == AO_LISP_CONS && do_note_cons) {
- note_cons(orig_offset);
- ret = 1;
- } else {
- if (type == AO_LISP_OTHER)
- type = ao_lisp_other_type(ao_lisp_pool + offset);
-
- const struct ao_lisp_type *lisp_type = ao_lisp_types[type];
-#if DBG_MEM
- if (!lisp_type)
- ao_lisp_abort();
-#endif
-
- ret = ao_lisp_move(lisp_type, &addr);
- }
-
- /* Re-write the poly value */
- if (offset != orig_offset) {
- ao_poly np = ao_lisp_poly(ao_lisp_pool + offset, base_type);
- MDBG_MOVE("poly %d moved %d -> %d\n",
- type, orig_offset, offset);
- *ref = np;
- }
- return ret;
-}
-
-#if DBG_MEM
-void
-ao_lisp_validate(void)
-{
- chunk_low = 0;
- memset(ao_lisp_chunk, '\0', sizeof (ao_lisp_chunk));
- walk(ao_lisp_mark_ref, ao_lisp_poly_mark_ref);
-}
-
-int dbg_allocs;
-
-#endif
-
-void *
-ao_lisp_alloc(int size)
-{
- void *addr;
-
- MDBG_DO(++dbg_allocs);
- MDBG_DO(if (dbg_validate) ao_lisp_validate());
- size = ao_lisp_size_round(size);
- if (AO_LISP_POOL - ao_lisp_top < size &&
- ao_lisp_collect(AO_LISP_COLLECT_INCREMENTAL) < size &&
- ao_lisp_collect(AO_LISP_COLLECT_FULL) < size)
- {
- ao_lisp_error(AO_LISP_OOM, "out of memory");
- return NULL;
- }
- addr = ao_lisp_pool + ao_lisp_top;
- ao_lisp_top += size;
- return addr;
-}
-
-void
-ao_lisp_cons_stash(int id, struct ao_lisp_cons *cons)
-{
- save_cons[id] = cons;
-}
-
-struct ao_lisp_cons *
-ao_lisp_cons_fetch(int id)
-{
- struct ao_lisp_cons *cons = save_cons[id];
- save_cons[id] = NULL;
- return cons;
-}
-
-void
-ao_lisp_poly_stash(int id, ao_poly poly)
-{
- save_poly[id] = poly;
-}
-
-ao_poly
-ao_lisp_poly_fetch(int id)
-{
- ao_poly poly = save_poly[id];
- save_poly[id] = AO_LISP_NIL;
- return poly;
-}
-
-void
-ao_lisp_string_stash(int id, char *string)
-{
- save_string[id] = string;
-}
-
-char *
-ao_lisp_string_fetch(int id)
-{
- char *string = save_string[id];
- save_string[id] = NULL;
- return string;
-}
-
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#ifndef _AO_LISP_OS_H_
-#define _AO_LISP_OS_H_
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <time.h>
-
-extern int ao_lisp_getc(void);
-
-static inline void
-ao_lisp_os_flush(void) {
- fflush(stdout);
-}
-
-static inline void
-ao_lisp_abort(void)
-{
- abort();
-}
-
-static inline void
-ao_lisp_os_led(int led)
-{
- printf("leds set to 0x%x\n", led);
-}
-
-static inline void
-ao_lisp_os_delay(int delay)
-{
- struct timespec ts = {
- .tv_sec = delay / 1000,
- .tv_nsec = (delay % 1000) * 1000000,
- };
- nanosleep(&ts, NULL);
-}
-#endif
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-struct ao_lisp_funcs {
- void (*print)(ao_poly);
- void (*patom)(ao_poly);
-};
-
-static const struct ao_lisp_funcs ao_lisp_funcs[AO_LISP_NUM_TYPE] = {
- [AO_LISP_CONS] = {
- .print = ao_lisp_cons_print,
- .patom = ao_lisp_cons_patom,
- },
- [AO_LISP_STRING] = {
- .print = ao_lisp_string_print,
- .patom = ao_lisp_string_patom,
- },
- [AO_LISP_INT] = {
- .print = ao_lisp_int_print,
- .patom = ao_lisp_int_print,
- },
- [AO_LISP_ATOM] = {
- .print = ao_lisp_atom_print,
- .patom = ao_lisp_atom_print,
- },
- [AO_LISP_BUILTIN] = {
- .print = ao_lisp_builtin_print,
- .patom = ao_lisp_builtin_print,
- },
- [AO_LISP_FRAME] = {
- .print = ao_lisp_frame_print,
- .patom = ao_lisp_frame_print,
- },
- [AO_LISP_LAMBDA] = {
- .print = ao_lisp_lambda_print,
- .patom = ao_lisp_lambda_print,
- },
- [AO_LISP_STACK] = {
- .print = ao_lisp_stack_print,
- .patom = ao_lisp_stack_print,
- },
-};
-
-static const struct ao_lisp_funcs *
-funcs(ao_poly p)
-{
- uint8_t type = ao_lisp_poly_type(p);
-
- if (type < AO_LISP_NUM_TYPE)
- return &ao_lisp_funcs[type];
- return NULL;
-}
-
-void
-ao_lisp_poly_print(ao_poly p)
-{
- const struct ao_lisp_funcs *f = funcs(p);
-
- if (f && f->print)
- f->print(p);
-}
-
-void
-ao_lisp_poly_patom(ao_poly p)
-{
- const struct ao_lisp_funcs *f = funcs(p);
-
- if (f && f->patom)
- f->patom(p);
-}
-
-void *
-ao_lisp_ref(ao_poly poly) {
- if (poly == AO_LISP_NIL)
- return NULL;
- if (poly & AO_LISP_CONST)
- return (void *) (ao_lisp_const + (poly & AO_LISP_REF_MASK) - 4);
- return (void *) (ao_lisp_pool + (poly & AO_LISP_REF_MASK) - 4);
-}
-
-ao_poly
-ao_lisp_poly(const void *addr, ao_poly type) {
- const uint8_t *a = addr;
- if (a == NULL)
- return AO_LISP_NIL;
- if (AO_LISP_IS_CONST(a))
- return AO_LISP_CONST | (a - ao_lisp_const + 4) | type;
- return (a - ao_lisp_pool + 4) | type;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-#include "ao_lisp_read.h"
-
-static const uint16_t lex_classes[128] = {
- IGNORE, /* ^@ */
- IGNORE, /* ^A */
- IGNORE, /* ^B */
- IGNORE, /* ^C */
- IGNORE, /* ^D */
- IGNORE, /* ^E */
- IGNORE, /* ^F */
- IGNORE, /* ^G */
- IGNORE, /* ^H */
- WHITE, /* ^I */
- WHITE, /* ^J */
- WHITE, /* ^K */
- WHITE, /* ^L */
- WHITE, /* ^M */
- IGNORE, /* ^N */
- IGNORE, /* ^O */
- IGNORE, /* ^P */
- IGNORE, /* ^Q */
- IGNORE, /* ^R */
- IGNORE, /* ^S */
- IGNORE, /* ^T */
- IGNORE, /* ^U */
- IGNORE, /* ^V */
- IGNORE, /* ^W */
- IGNORE, /* ^X */
- IGNORE, /* ^Y */
- IGNORE, /* ^Z */
- IGNORE, /* ^[ */
- IGNORE, /* ^\ */
- IGNORE, /* ^] */
- IGNORE, /* ^^ */
- IGNORE, /* ^_ */
- PRINTABLE|WHITE, /* */
- PRINTABLE, /* ! */
- PRINTABLE|STRINGC, /* " */
- PRINTABLE|COMMENT, /* # */
- PRINTABLE, /* $ */
- PRINTABLE, /* % */
- PRINTABLE, /* & */
- PRINTABLE|QUOTEC, /* ' */
- PRINTABLE|BRA, /* ( */
- PRINTABLE|KET, /* ) */
- PRINTABLE, /* * */
- PRINTABLE|SIGN, /* + */
- PRINTABLE, /* , */
- PRINTABLE|SIGN, /* - */
- PRINTABLE, /* . */
- PRINTABLE, /* / */
- PRINTABLE|DIGIT, /* 0 */
- PRINTABLE|DIGIT, /* 1 */
- PRINTABLE|DIGIT, /* 2 */
- PRINTABLE|DIGIT, /* 3 */
- PRINTABLE|DIGIT, /* 4 */
- PRINTABLE|DIGIT, /* 5 */
- PRINTABLE|DIGIT, /* 6 */
- PRINTABLE|DIGIT, /* 7 */
- PRINTABLE|DIGIT, /* 8 */
- PRINTABLE|DIGIT, /* 9 */
- PRINTABLE, /* : */
- PRINTABLE|COMMENT, /* ; */
- PRINTABLE, /* < */
- PRINTABLE, /* = */
- PRINTABLE, /* > */
- PRINTABLE, /* ? */
- PRINTABLE, /* @ */
- PRINTABLE, /* A */
- PRINTABLE, /* B */
- PRINTABLE, /* C */
- PRINTABLE, /* D */
- PRINTABLE, /* E */
- PRINTABLE, /* F */
- PRINTABLE, /* G */
- PRINTABLE, /* H */
- PRINTABLE, /* I */
- PRINTABLE, /* J */
- PRINTABLE, /* K */
- PRINTABLE, /* L */
- PRINTABLE, /* M */
- PRINTABLE, /* N */
- PRINTABLE, /* O */
- PRINTABLE, /* P */
- PRINTABLE, /* Q */
- PRINTABLE, /* R */
- PRINTABLE, /* S */
- PRINTABLE, /* T */
- PRINTABLE, /* U */
- PRINTABLE, /* V */
- PRINTABLE, /* W */
- PRINTABLE, /* X */
- PRINTABLE, /* Y */
- PRINTABLE, /* Z */
- PRINTABLE, /* [ */
- PRINTABLE|BACKSLASH, /* \ */
- PRINTABLE, /* ] */
- PRINTABLE, /* ^ */
- PRINTABLE, /* _ */
- PRINTABLE, /* ` */
- PRINTABLE, /* a */
- PRINTABLE, /* b */
- PRINTABLE, /* c */
- PRINTABLE, /* d */
- PRINTABLE, /* e */
- PRINTABLE, /* f */
- PRINTABLE, /* g */
- PRINTABLE, /* h */
- PRINTABLE, /* i */
- PRINTABLE, /* j */
- PRINTABLE, /* k */
- PRINTABLE, /* l */
- PRINTABLE, /* m */
- PRINTABLE, /* n */
- PRINTABLE, /* o */
- PRINTABLE, /* p */
- PRINTABLE, /* q */
- PRINTABLE, /* r */
- PRINTABLE, /* s */
- PRINTABLE, /* t */
- PRINTABLE, /* u */
- PRINTABLE, /* v */
- PRINTABLE, /* w */
- PRINTABLE, /* x */
- PRINTABLE, /* y */
- PRINTABLE, /* z */
- PRINTABLE, /* { */
- PRINTABLE|VBAR, /* | */
- PRINTABLE, /* } */
- PRINTABLE|TWIDDLE, /* ~ */
- IGNORE, /* ^? */
-};
-
-static int lex_unget_c;
-
-static inline int
-lex_get()
-{
- int c;
- if (lex_unget_c) {
- c = lex_unget_c;
- lex_unget_c = 0;
- } else {
- c = ao_lisp_getc();
- }
- return c;
-}
-
-static inline void
-lex_unget(int c)
-{
- if (c != EOF)
- lex_unget_c = c;
-}
-
-static int
-lex_quoted (void)
-{
- int c;
- int v;
- int count;
-
- c = lex_get();
- if (c == EOF)
- return EOF;
- c &= 0x7f;
- switch (c) {
- case 'n':
- return '\n';
- case 'f':
- return '\f';
- case 'b':
- return '\b';
- case 'r':
- return '\r';
- case 'v':
- return '\v';
- case 't':
- return '\t';
- case '0':
- case '1':
- case '2':
- case '3':
- case '4':
- case '5':
- case '6':
- case '7':
- v = c - '0';
- count = 1;
- while (count <= 3) {
- c = lex_get();
- if (c == EOF)
- return EOF;
- c &= 0x7f;
- if (c < '0' || '7' < c) {
- lex_unget(c);
- break;
- }
- v = (v << 3) + c - '0';
- ++count;
- }
- return v;
- default:
- return c;
- }
-}
-
-static uint16_t lex_class;
-
-static int
-lexc(void)
-{
- int c;
- do {
- c = lex_get();
- if (c == EOF) {
- lex_class = ENDOFFILE;
- c = 0;
- } else {
- c &= 0x7f;
- lex_class = lex_classes[c];
- if (lex_class & BACKSLASH) {
- c = lex_quoted();
- if (c == EOF)
- lex_class = ENDOFFILE;
- else
- lex_class = PRINTABLE;
- }
- }
- } while (lex_class & IGNORE);
- return c;
-}
-
-#define AO_LISP_TOKEN_MAX 32
-
-static char token_string[AO_LISP_TOKEN_MAX];
-static int token_int;
-static int token_len;
-
-static inline void add_token(int c) {
- if (c && token_len < AO_LISP_TOKEN_MAX - 1)
- token_string[token_len++] = c;
-}
-
-static inline void end_token(void) {
- token_string[token_len] = '\0';
-}
-
-static int
-lex(void)
-{
- int c;
-
- token_len = 0;
- for (;;) {
- c = lexc();
- if (lex_class & ENDOFFILE)
- return END;
-
- if (lex_class & WHITE)
- continue;
-
- if (lex_class & COMMENT) {
- while ((c = lexc()) != '\n') {
- if (lex_class & ENDOFFILE)
- return END;
- }
- continue;
- }
-
- if (lex_class & (BRA|KET|QUOTEC)) {
- add_token(c);
- end_token();
- switch (c) {
- case '(':
- return OPEN;
- case ')':
- return CLOSE;
- case '\'':
- return QUOTE;
- }
- }
- if (lex_class & TWIDDLE) {
- token_int = lexc();
- return NUM;
- }
- if (lex_class & STRINGC) {
- for (;;) {
- c = lexc();
- if (lex_class & (STRINGC|ENDOFFILE)) {
- end_token();
- return STRING;
- }
- add_token(c);
- }
- }
- if (lex_class & PRINTABLE) {
- int isnum;
- int hasdigit;
- int isneg;
-
- isnum = 1;
- hasdigit = 0;
- token_int = 0;
- isneg = 0;
- for (;;) {
- if (!(lex_class & NUMBER)) {
- isnum = 0;
- } else {
- if (token_len != 0 &&
- (lex_class & SIGN))
- {
- isnum = 0;
- }
- if (c == '-')
- isneg = 1;
- if (lex_class & DIGIT) {
- hasdigit = 1;
- if (isnum)
- token_int = token_int * 10 + c - '0';
- }
- }
- add_token (c);
- c = lexc ();
- if (lex_class & (NOTNAME)) {
-// if (lex_class & ENDOFFILE)
-// clearerr (f);
- lex_unget(c);
- end_token ();
- if (isnum && hasdigit) {
- if (isneg)
- token_int = -token_int;
- return NUM;
- }
- return NAME;
- }
- }
-
- }
- }
-}
-
-static int parse_token;
-
-struct ao_lisp_cons *ao_lisp_read_cons;
-struct ao_lisp_cons *ao_lisp_read_cons_tail;
-struct ao_lisp_cons *ao_lisp_read_stack;
-
-static int
-push_read_stack(int cons, int in_quote)
-{
- DBGI("push read stack %p %d\n", ao_lisp_read_cons, in_quote);
- DBG_IN();
- if (cons) {
- ao_lisp_read_stack = ao_lisp_cons_cons(ao_lisp_cons_poly(ao_lisp_read_cons),
- ao_lisp_cons_cons(ao_lisp_int_poly(in_quote),
- ao_lisp_read_stack));
- if (!ao_lisp_read_stack)
- return 0;
- }
- ao_lisp_read_cons = NULL;
- ao_lisp_read_cons_tail = NULL;
- return 1;
-}
-
-static int
-pop_read_stack(int cons)
-{
- int in_quote = 0;
- if (cons) {
- ao_lisp_read_cons = ao_lisp_poly_cons(ao_lisp_read_stack->car);
- ao_lisp_read_stack = ao_lisp_poly_cons(ao_lisp_read_stack->cdr);
- in_quote = ao_lisp_poly_int(ao_lisp_read_stack->car);
- ao_lisp_read_stack = ao_lisp_poly_cons(ao_lisp_read_stack->cdr);
- for (ao_lisp_read_cons_tail = ao_lisp_read_cons;
- ao_lisp_read_cons_tail && ao_lisp_read_cons_tail->cdr;
- ao_lisp_read_cons_tail = ao_lisp_poly_cons(ao_lisp_read_cons_tail->cdr))
- ;
- } else {
- ao_lisp_read_cons = 0;
- ao_lisp_read_cons_tail = 0;
- ao_lisp_read_stack = 0;
- }
- DBG_OUT();
- DBGI("pop read stack %p %d\n", ao_lisp_read_cons, in_quote);
- return in_quote;
-}
-
-ao_poly
-ao_lisp_read(void)
-{
- struct ao_lisp_atom *atom;
- char *string;
- int cons;
- int in_quote;
- ao_poly v;
-
- parse_token = lex();
- DBGI("token %d (%s)\n", parse_token, token_string);
-
- cons = 0;
- in_quote = 0;
- ao_lisp_read_cons = ao_lisp_read_cons_tail = ao_lisp_read_stack = 0;
- for (;;) {
- while (parse_token == OPEN) {
- if (!push_read_stack(cons, in_quote))
- return AO_LISP_NIL;
- cons++;
- in_quote = 0;
- parse_token = lex();
- DBGI("token %d (%s)\n", parse_token, token_string);
- }
-
- switch (parse_token) {
- case END:
- default:
- if (cons)
- ao_lisp_error(AO_LISP_EOF, "unexpected end of file");
- return _ao_lisp_atom_eof;
- break;
- case NAME:
- atom = ao_lisp_atom_intern(token_string);
- if (atom)
- v = ao_lisp_atom_poly(atom);
- else
- v = AO_LISP_NIL;
- break;
- case NUM:
- v = ao_lisp_int_poly(token_int);
- break;
- case STRING:
- string = ao_lisp_string_copy(token_string);
- if (string)
- v = ao_lisp_string_poly(string);
- else
- v = AO_LISP_NIL;
- break;
- case QUOTE:
- if (!push_read_stack(cons, in_quote))
- return AO_LISP_NIL;
- cons++;
- in_quote = 1;
- v = _ao_lisp_atom_quote;
- break;
- case CLOSE:
- if (!cons) {
- v = AO_LISP_NIL;
- break;
- }
- v = ao_lisp_cons_poly(ao_lisp_read_cons);
- --cons;
- in_quote = pop_read_stack(cons);
- break;
- }
-
- /* loop over QUOTE ends */
- for (;;) {
- if (!cons)
- return v;
-
- struct ao_lisp_cons *read = ao_lisp_cons_cons(v, NULL);
- if (!read)
- return AO_LISP_NIL;
-
- if (ao_lisp_read_cons_tail)
- ao_lisp_read_cons_tail->cdr = ao_lisp_cons_poly(read);
- else
- ao_lisp_read_cons = read;
- ao_lisp_read_cons_tail = read;
-
- if (!in_quote || !ao_lisp_read_cons->cdr)
- break;
-
- v = ao_lisp_cons_poly(ao_lisp_read_cons);
- --cons;
- in_quote = pop_read_stack(cons);
- }
-
- parse_token = lex();
- DBGI("token %d (%s)\n", parse_token, token_string);
- }
- return v;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#ifndef _AO_LISP_READ_H_
-#define _AO_LISP_READ_H_
-
-# define END 0
-# define NAME 1
-# define OPEN 2
-# define CLOSE 3
-# define QUOTE 4
-# define STRING 5
-# define NUM 6
-
-/*
- * character classes
- */
-
-# define PRINTABLE 0x00000001 /* \t \n ' ' - '~' */
-# define QUOTED 0x00000002 /* \ anything */
-# define BRA 0x00000004 /* ( [ { */
-# define KET 0x00000008 /* ) ] } */
-# define WHITE 0x00000010 /* ' ' \t \n */
-# define DIGIT 0x00000020 /* [0-9] */
-# define SIGN 0x00000040 /* +- */
-# define ENDOFFILE 0x00000080 /* end of file */
-# define COMMENT 0x00000100 /* ; # */
-# define IGNORE 0x00000200 /* \0 - ' ' */
-# define QUOTEC 0x00000400 /* ' */
-# define BACKSLASH 0x00000800 /* \ */
-# define VBAR 0x00001000 /* | */
-# define TWIDDLE 0x00002000 /* ~ */
-# define STRINGC 0x00004000 /* " */
-
-# define NOTNAME (STRINGC|TWIDDLE|VBAR|QUOTEC|COMMENT|ENDOFFILE|WHITE|KET|BRA)
-# define NUMBER (DIGIT|SIGN)
-
-#endif /* _AO_LISP_READ_H_ */
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-ao_poly
-ao_lisp_read_eval_print(void)
-{
- ao_poly in, out = AO_LISP_NIL;
- for(;;) {
- in = ao_lisp_read();
- if (in == _ao_lisp_atom_eof || in == AO_LISP_NIL)
- break;
- out = ao_lisp_eval(in);
- if (ao_lisp_exception) {
- ao_lisp_exception = 0;
- } else {
- ao_lisp_poly_print(out);
- putchar ('\n');
- }
- }
- return out;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include <ao_lisp.h>
-
-ao_poly
-ao_lisp_save(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_save, cons, 0, 0))
- return AO_LISP_NIL;
-
-#ifdef AO_LISP_SAVE
- struct ao_lisp_os_save *os = (struct ao_lisp_os_save *) (void *) &ao_lisp_pool[AO_LISP_POOL];
-
- ao_lisp_collect(AO_LISP_COLLECT_FULL);
- os->atoms = ao_lisp_atom_poly(ao_lisp_atoms);
- os->globals = ao_lisp_frame_poly(ao_lisp_frame_global);
- os->const_checksum = ao_lisp_const_checksum;
- os->const_checksum_inv = (uint16_t) ~ao_lisp_const_checksum;
-
- if (ao_lisp_os_save())
- return _ao_lisp_atom_t;
-#endif
- return AO_LISP_NIL;
-}
-
-ao_poly
-ao_lisp_restore(struct ao_lisp_cons *cons)
-{
- if (!ao_lisp_check_argc(_ao_lisp_atom_save, cons, 0, 0))
- return AO_LISP_NIL;
-
-#ifdef AO_LISP_SAVE
- struct ao_lisp_os_save save;
- struct ao_lisp_os_save *os = (struct ao_lisp_os_save *) (void *) &ao_lisp_pool[AO_LISP_POOL];
-
- if (!ao_lisp_os_restore_save(&save, AO_LISP_POOL))
- return ao_lisp_error(AO_LISP_INVALID, "header restore failed");
-
- if (save.const_checksum != ao_lisp_const_checksum ||
- save.const_checksum_inv != (uint16_t) ~ao_lisp_const_checksum)
- {
- return ao_lisp_error(AO_LISP_INVALID, "image is corrupted or stale");
- }
-
- if (ao_lisp_os_restore()) {
-
- ao_lisp_atoms = ao_lisp_poly_atom(os->atoms);
- ao_lisp_frame_global = ao_lisp_poly_frame(os->globals);
-
- /* Clear the eval global variabls */
- ao_lisp_eval_clear_globals();
-
- /* Reset the allocator */
- ao_lisp_top = AO_LISP_POOL;
- ao_lisp_collect(AO_LISP_COLLECT_FULL);
-
- /* Re-create the evaluator stack */
- if (!ao_lisp_eval_restart())
- return AO_LISP_NIL;
- return _ao_lisp_atom_t;
- }
-#endif
- return AO_LISP_NIL;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-
-const struct ao_lisp_type ao_lisp_stack_type;
-
-static int
-stack_size(void *addr)
-{
- (void) addr;
- return sizeof (struct ao_lisp_stack);
-}
-
-static void
-stack_mark(void *addr)
-{
- struct ao_lisp_stack *stack = addr;
- for (;;) {
- ao_lisp_poly_mark(stack->sexprs, 0);
- ao_lisp_poly_mark(stack->values, 0);
- /* no need to mark values_tail */
- ao_lisp_poly_mark(stack->frame, 0);
- ao_lisp_poly_mark(stack->list, 0);
- stack = ao_lisp_poly_stack(stack->prev);
- if (ao_lisp_mark_memory(&ao_lisp_stack_type, stack))
- break;
- }
-}
-
-static void
-stack_move(void *addr)
-{
- struct ao_lisp_stack *stack = addr;
-
- while (stack) {
- struct ao_lisp_stack *prev;
- int ret;
- (void) ao_lisp_poly_move(&stack->sexprs, 0);
- (void) ao_lisp_poly_move(&stack->values, 0);
- (void) ao_lisp_poly_move(&stack->values_tail, 0);
- (void) ao_lisp_poly_move(&stack->frame, 0);
- (void) ao_lisp_poly_move(&stack->list, 0);
- prev = ao_lisp_poly_stack(stack->prev);
- if (!prev)
- break;
- ret = ao_lisp_move_memory(&ao_lisp_stack_type, (void **) &prev);
- if (prev != ao_lisp_poly_stack(stack->prev))
- stack->prev = ao_lisp_stack_poly(prev);
- if (ret)
- break;
- stack = prev;
- }
-}
-
-const struct ao_lisp_type ao_lisp_stack_type = {
- .size = stack_size,
- .mark = stack_mark,
- .move = stack_move,
- .name = "stack"
-};
-
-struct ao_lisp_stack *ao_lisp_stack_free_list;
-
-void
-ao_lisp_stack_reset(struct ao_lisp_stack *stack)
-{
- stack->state = eval_sexpr;
- stack->sexprs = AO_LISP_NIL;
- stack->values = AO_LISP_NIL;
- stack->values_tail = AO_LISP_NIL;
-}
-
-static struct ao_lisp_stack *
-ao_lisp_stack_new(void)
-{
- struct ao_lisp_stack *stack;
-
- if (ao_lisp_stack_free_list) {
- stack = ao_lisp_stack_free_list;
- ao_lisp_stack_free_list = ao_lisp_poly_stack(stack->prev);
- } else {
- stack = ao_lisp_alloc(sizeof (struct ao_lisp_stack));
- if (!stack)
- return 0;
- stack->type = AO_LISP_STACK;
- }
- ao_lisp_stack_reset(stack);
- return stack;
-}
-
-int
-ao_lisp_stack_push(void)
-{
- struct ao_lisp_stack *stack = ao_lisp_stack_new();
-
- if (!stack)
- return 0;
-
- stack->prev = ao_lisp_stack_poly(ao_lisp_stack);
- stack->frame = ao_lisp_frame_poly(ao_lisp_frame_current);
- stack->list = AO_LISP_NIL;
-
- ao_lisp_stack = stack;
-
- DBGI("stack push\n");
- DBG_FRAMES();
- DBG_IN();
- return 1;
-}
-
-void
-ao_lisp_stack_pop(void)
-{
- ao_poly prev;
- struct ao_lisp_frame *prev_frame;
-
- if (!ao_lisp_stack)
- return;
- prev = ao_lisp_stack->prev;
- if (!ao_lisp_stack_marked(ao_lisp_stack)) {
- ao_lisp_stack->prev = ao_lisp_stack_poly(ao_lisp_stack_free_list);
- ao_lisp_stack_free_list = ao_lisp_stack;
- }
-
- ao_lisp_stack = ao_lisp_poly_stack(prev);
- prev_frame = ao_lisp_frame_current;
- if (ao_lisp_stack)
- ao_lisp_frame_current = ao_lisp_poly_frame(ao_lisp_stack->frame);
- else
- ao_lisp_frame_current = NULL;
- if (ao_lisp_frame_current != prev_frame)
- ao_lisp_frame_free(prev_frame);
- DBG_OUT();
- DBGI("stack pop\n");
- DBG_FRAMES();
-}
-
-void
-ao_lisp_stack_clear(void)
-{
- ao_lisp_stack = NULL;
- ao_lisp_frame_current = NULL;
- ao_lisp_v = AO_LISP_NIL;
-}
-
-void
-ao_lisp_stack_print(ao_poly poly)
-{
- struct ao_lisp_stack *s = ao_lisp_poly_stack(poly);
-
- while (s) {
- if (s->type & AO_LISP_STACK_PRINT) {
- printf("[recurse...]");
- return;
- }
- s->type |= AO_LISP_STACK_PRINT;
- printf("\t[\n");
- printf("\t\texpr: "); ao_lisp_poly_print(s->list); printf("\n");
- printf("\t\tstate: %s\n", ao_lisp_state_names[s->state]);
- ao_lisp_error_poly ("values: ", s->values, s->values_tail);
- ao_lisp_error_poly ("sexprs: ", s->sexprs, AO_LISP_NIL);
- ao_lisp_error_frame(2, "frame: ", ao_lisp_poly_frame(s->frame));
- printf("\t]\n");
- s->type &= ~AO_LISP_STACK_PRINT;
- s = ao_lisp_poly_stack(s->prev);
- }
-}
-
-/*
- * Copy a stack, being careful to keep everybody referenced
- */
-static struct ao_lisp_stack *
-ao_lisp_stack_copy(struct ao_lisp_stack *old)
-{
- struct ao_lisp_stack *new = NULL;
- struct ao_lisp_stack *n, *prev = NULL;
-
- while (old) {
- ao_lisp_stack_stash(0, old);
- ao_lisp_stack_stash(1, new);
- ao_lisp_stack_stash(2, prev);
- n = ao_lisp_stack_new();
- prev = ao_lisp_stack_fetch(2);
- new = ao_lisp_stack_fetch(1);
- old = ao_lisp_stack_fetch(0);
- if (!n)
- return NULL;
-
- ao_lisp_stack_mark(old);
- ao_lisp_frame_mark(ao_lisp_poly_frame(old->frame));
- *n = *old;
-
- if (prev)
- prev->prev = ao_lisp_stack_poly(n);
- else
- new = n;
- prev = n;
-
- old = ao_lisp_poly_stack(old->prev);
- }
- return new;
-}
-
-/*
- * Evaluate a continuation invocation
- */
-ao_poly
-ao_lisp_stack_eval(void)
-{
- struct ao_lisp_stack *new = ao_lisp_stack_copy(ao_lisp_poly_stack(ao_lisp_v));
- if (!new)
- return AO_LISP_NIL;
-
- struct ao_lisp_cons *cons = ao_lisp_poly_cons(ao_lisp_stack->values);
-
- if (!cons || !cons->cdr)
- return ao_lisp_error(AO_LISP_INVALID, "continuation requires a value");
-
- new->state = eval_val;
-
- ao_lisp_stack = new;
- ao_lisp_frame_current = ao_lisp_poly_frame(ao_lisp_stack->frame);
-
- return ao_lisp_poly_cons(cons->cdr)->car;
-}
-
-/*
- * Call with current continuation. This calls a lambda, passing
- * it a single argument which is the current continuation
- */
-ao_poly
-ao_lisp_call_cc(struct ao_lisp_cons *cons)
-{
- struct ao_lisp_stack *new;
- ao_poly v;
-
- /* Make sure the single parameter is a lambda */
- if (!ao_lisp_check_argc(_ao_lisp_atom_call2fcc, cons, 1, 1))
- return AO_LISP_NIL;
- if (!ao_lisp_check_argt(_ao_lisp_atom_call2fcc, cons, 0, AO_LISP_LAMBDA, 0))
- return AO_LISP_NIL;
-
- /* go get the lambda */
- ao_lisp_v = ao_lisp_arg(cons, 0);
-
- /* Note that the whole call chain now has
- * a reference to it which may escape
- */
- new = ao_lisp_stack_copy(ao_lisp_stack);
- if (!new)
- return AO_LISP_NIL;
-
- /* re-fetch cons after the allocation */
- cons = ao_lisp_poly_cons(ao_lisp_poly_cons(ao_lisp_stack->values)->cdr);
-
- /* Reset the arg list to the current stack,
- * and call the lambda
- */
-
- cons->car = ao_lisp_stack_poly(new);
- cons->cdr = AO_LISP_NIL;
- v = ao_lisp_lambda_eval();
- ao_lisp_stack->sexprs = v;
- ao_lisp_stack->state = eval_progn;
- return AO_LISP_NIL;
-}
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#include "ao_lisp.h"
-
-static void string_mark(void *addr)
-{
- (void) addr;
-}
-
-static int string_size(void *addr)
-{
- if (!addr)
- return 0;
- return strlen(addr) + 1;
-}
-
-static void string_move(void *addr)
-{
- (void) addr;
-}
-
-const struct ao_lisp_type ao_lisp_string_type = {
- .mark = string_mark,
- .size = string_size,
- .move = string_move,
- .name = "string",
-};
-
-char *
-ao_lisp_string_copy(char *a)
-{
- int alen = strlen(a);
-
- ao_lisp_string_stash(0, a);
- char *r = ao_lisp_alloc(alen + 1);
- a = ao_lisp_string_fetch(0);
- if (!r)
- return NULL;
- strcpy(r, a);
- return r;
-}
-
-char *
-ao_lisp_string_cat(char *a, char *b)
-{
- int alen = strlen(a);
- int blen = strlen(b);
-
- ao_lisp_string_stash(0, a);
- ao_lisp_string_stash(1, b);
- char *r = ao_lisp_alloc(alen + blen + 1);
- a = ao_lisp_string_fetch(0);
- b = ao_lisp_string_fetch(1);
- if (!r)
- return NULL;
- strcpy(r, a);
- strcpy(r+alen, b);
- return r;
-}
-
-ao_poly
-ao_lisp_string_pack(struct ao_lisp_cons *cons)
-{
- int len = ao_lisp_cons_length(cons);
- ao_lisp_cons_stash(0, cons);
- char *r = ao_lisp_alloc(len + 1);
- cons = ao_lisp_cons_fetch(0);
- char *s = r;
-
- while (cons) {
- if (ao_lisp_poly_type(cons->car) != AO_LISP_INT)
- return ao_lisp_error(AO_LISP_INVALID, "non-int passed to pack");
- *s++ = ao_lisp_poly_int(cons->car);
- cons = ao_lisp_poly_cons(cons->cdr);
- }
- *s++ = 0;
- return ao_lisp_string_poly(r);
-}
-
-ao_poly
-ao_lisp_string_unpack(char *a)
-{
- struct ao_lisp_cons *cons = NULL, *tail = NULL;
- int c;
- int i;
-
- for (i = 0; (c = a[i]); i++) {
- ao_lisp_cons_stash(0, cons);
- ao_lisp_cons_stash(1, tail);
- ao_lisp_string_stash(0, a);
- struct ao_lisp_cons *n = ao_lisp_cons_cons(ao_lisp_int_poly(c), NULL);
- a = ao_lisp_string_fetch(0);
- cons = ao_lisp_cons_fetch(0);
- tail = ao_lisp_cons_fetch(1);
-
- if (!n) {
- cons = NULL;
- break;
- }
- if (tail)
- tail->cdr = ao_lisp_cons_poly(n);
- else
- cons = n;
- tail = n;
- }
- return ao_lisp_cons_poly(cons);
-}
-
-void
-ao_lisp_string_print(ao_poly p)
-{
- char *s = ao_lisp_poly_string(p);
- char c;
-
- putchar('"');
- while ((c = *s++)) {
- switch (c) {
- case '\n':
- printf ("\\n");
- break;
- case '\r':
- printf ("\\r");
- break;
- case '\t':
- printf ("\\t");
- break;
- default:
- putchar(c);
- break;
- }
- }
- putchar('"');
-}
-
-void
-ao_lisp_string_patom(ao_poly p)
-{
- char *s = ao_lisp_poly_string(p);
- char c;
-
- while ((c = *s++))
- putchar(c);
-}
/* compute q[0],q[1],...q[jk] */
for (i=0;i<=jk;i++) {
- for(j=0,fw=0.0;j<=jx;j++) fw += x[j]*f[jx+i-j]; q[i] = fw;
+ for(j=0,fw=0.0;j<=jx;j++) fw += x[j]*f[jx+i-j];
+ q[i] = fw;
}
jz = jk;
#include "fdlibm.h"
-#ifdef __STDC__
-static const float one=1.0;
-#else
-static float one=1.0;
-#endif
-
#ifdef __STDC__
float cosf(float x)
#else
--- /dev/null
+ao_scheme_const.h
+ao_scheme_builtin.h
--- /dev/null
+all: ao_scheme_builtin.h ao_scheme_const.h test/ao_scheme_test
+
+clean:
+ +cd make-const && make clean
+ +cd test && make clean
+ rm -f ao_scheme_const.h ao_scheme_builtin.h
+
+ao_scheme_const.h: ao_scheme_const.scheme make-const/ao_scheme_make_const
+ make-const/ao_scheme_make_const -o $@ ao_scheme_const.scheme
+
+ao_scheme_builtin.h: ao_scheme_make_builtin ao_scheme_builtin.txt
+ nickle ao_scheme_make_builtin ao_scheme_builtin.txt > $@
+
+make-const/ao_scheme_make_const: FRC ao_scheme_builtin.h
+ +cd make-const && make ao_scheme_make_const
+
+test/ao_scheme_test: FRC ao_scheme_const.h ao_scheme_builtin.h
+ +cd test && make ao_scheme_test
+
+FRC:
--- /dev/null
+SCHEME_SRCS=\
+ ao_scheme_mem.c \
+ ao_scheme_cons.c \
+ ao_scheme_string.c \
+ ao_scheme_atom.c \
+ ao_scheme_int.c \
+ ao_scheme_poly.c \
+ ao_scheme_bool.c \
+ ao_scheme_float.c \
+ ao_scheme_builtin.c \
+ ao_scheme_read.c \
+ ao_scheme_frame.c \
+ ao_scheme_lambda.c \
+ ao_scheme_eval.c \
+ ao_scheme_rep.c \
+ ao_scheme_save.c \
+ ao_scheme_stack.c \
+ ao_scheme_error.c \
+ ao_scheme_vector.c
+
+SCHEME_HDRS=\
+ ao_scheme.h \
+ ao_scheme_os.h \
+ ao_scheme_read.h \
+ ao_scheme_builtin.h
--- /dev/null
+include ../scheme/Makefile-inc
+
+ao_scheme_const.h: $(SCHEME_SRCS) $(SCHEME_HDRS)
+ +cd ../scheme && make $@
--- /dev/null
+This follows the R7RS with the following known exceptions:
+
+* No vectors or bytevectors
+* Characters are just numbers
+* No dynamic-wind or exceptions
+* No environments
+* No ports
+* No syntax-rules
+* No record types
+* No libraries
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#ifndef _AO_SCHEME_H_
+#define _AO_SCHEME_H_
+
+#define DBG_MEM 0
+#define DBG_EVAL 0
+#define DBG_READ 0
+#define DBG_FREE_CONS 0
+#define NDEBUG 1
+
+#include <stdint.h>
+#include <string.h>
+#include <ao_scheme_os.h>
+#ifndef __BYTE_ORDER
+#include <endian.h>
+#endif
+
+typedef uint16_t ao_poly;
+typedef int16_t ao_signed_poly;
+
+#if AO_SCHEME_SAVE
+
+struct ao_scheme_os_save {
+ ao_poly atoms;
+ ao_poly globals;
+ uint16_t const_checksum;
+ uint16_t const_checksum_inv;
+};
+
+#define AO_SCHEME_POOL_EXTRA (sizeof(struct ao_scheme_os_save))
+#define AO_SCHEME_POOL ((int) (AO_SCHEME_POOL_TOTAL - AO_SCHEME_POOL_EXTRA))
+
+int
+ao_scheme_os_save(void);
+
+int
+ao_scheme_os_restore_save(struct ao_scheme_os_save *save, int offset);
+
+int
+ao_scheme_os_restore(void);
+
+#endif
+
+#ifdef AO_SCHEME_MAKE_CONST
+#define AO_SCHEME_POOL_CONST 16384
+extern uint8_t ao_scheme_const[AO_SCHEME_POOL_CONST] __attribute__((aligned(4)));
+#define ao_scheme_pool ao_scheme_const
+#define AO_SCHEME_POOL AO_SCHEME_POOL_CONST
+
+#define _atom(n) ao_scheme_atom_poly(ao_scheme_atom_intern(n))
+#define _bool(v) ao_scheme_bool_poly(ao_scheme_bool_get(v))
+
+#define _ao_scheme_bool_true _bool(1)
+#define _ao_scheme_bool_false _bool(0)
+
+#define _ao_scheme_atom_eof _atom("eof")
+#define _ao_scheme_atom_else _atom("else")
+
+#define AO_SCHEME_BUILTIN_ATOMS
+#include "ao_scheme_builtin.h"
+
+#else
+#include "ao_scheme_const.h"
+#ifndef AO_SCHEME_POOL
+#define AO_SCHEME_POOL 3072
+#endif
+#ifndef AO_SCHEME_POOL_EXTRA
+#define AO_SCHEME_POOL_EXTRA 0
+#endif
+extern uint8_t ao_scheme_pool[AO_SCHEME_POOL + AO_SCHEME_POOL_EXTRA] __attribute__((aligned(4)));
+#endif
+
+/* Primitive types */
+#define AO_SCHEME_CONS 0
+#define AO_SCHEME_INT 1
+#define AO_SCHEME_STRING 2
+#define AO_SCHEME_OTHER 3
+
+#define AO_SCHEME_TYPE_MASK 0x0003
+#define AO_SCHEME_TYPE_SHIFT 2
+#define AO_SCHEME_REF_MASK 0x7ffc
+#define AO_SCHEME_CONST 0x8000
+
+/* These have a type value at the start of the struct */
+#define AO_SCHEME_ATOM 4
+#define AO_SCHEME_BUILTIN 5
+#define AO_SCHEME_FRAME 6
+#define AO_SCHEME_FRAME_VALS 7
+#define AO_SCHEME_LAMBDA 8
+#define AO_SCHEME_STACK 9
+#define AO_SCHEME_BOOL 10
+#define AO_SCHEME_BIGINT 11
+#define AO_SCHEME_FLOAT 12
+#define AO_SCHEME_VECTOR 13
+#define AO_SCHEME_NUM_TYPE 14
+
+/* Leave two bits for types to use as they please */
+#define AO_SCHEME_OTHER_TYPE_MASK 0x3f
+
+#define AO_SCHEME_NIL 0
+
+extern uint16_t ao_scheme_top;
+
+#define AO_SCHEME_OOM 0x01
+#define AO_SCHEME_DIVIDE_BY_ZERO 0x02
+#define AO_SCHEME_INVALID 0x04
+#define AO_SCHEME_UNDEFINED 0x08
+#define AO_SCHEME_REDEFINED 0x10
+#define AO_SCHEME_EOF 0x20
+#define AO_SCHEME_EXIT 0x40
+
+extern uint8_t ao_scheme_exception;
+
+static inline int
+ao_scheme_is_const(ao_poly poly) {
+ return poly & AO_SCHEME_CONST;
+}
+
+#define AO_SCHEME_IS_CONST(a) (ao_scheme_const <= ((uint8_t *) (a)) && ((uint8_t *) (a)) < ao_scheme_const + AO_SCHEME_POOL_CONST)
+#define AO_SCHEME_IS_POOL(a) (ao_scheme_pool <= ((uint8_t *) (a)) && ((uint8_t *) (a)) < ao_scheme_pool + AO_SCHEME_POOL)
+#define AO_SCHEME_IS_INT(p) (ao_scheme_poly_base_type(p) == AO_SCHEME_INT)
+
+void *
+ao_scheme_ref(ao_poly poly);
+
+ao_poly
+ao_scheme_poly(const void *addr, ao_poly type);
+
+struct ao_scheme_type {
+ int (*size)(void *addr);
+ void (*mark)(void *addr);
+ void (*move)(void *addr);
+ char name[];
+};
+
+struct ao_scheme_cons {
+ ao_poly car;
+ ao_poly cdr;
+};
+
+struct ao_scheme_atom {
+ uint8_t type;
+ uint8_t pad[1];
+ ao_poly next;
+ char name[];
+};
+
+struct ao_scheme_val {
+ ao_poly atom;
+ ao_poly val;
+};
+
+struct ao_scheme_frame_vals {
+ uint8_t type;
+ uint8_t size;
+ struct ao_scheme_val vals[];
+};
+
+struct ao_scheme_frame {
+ uint8_t type;
+ uint8_t num;
+ ao_poly prev;
+ ao_poly vals;
+};
+
+struct ao_scheme_bool {
+ uint8_t type;
+ uint8_t value;
+ uint16_t pad;
+};
+
+struct ao_scheme_bigint {
+ uint32_t value;
+};
+
+struct ao_scheme_float {
+ uint8_t type;
+ uint8_t pad1;
+ uint16_t pad2;
+ float value;
+};
+
+struct ao_scheme_vector {
+ uint8_t type;
+ uint8_t pad1;
+ uint16_t length;
+ ao_poly vals[];
+};
+
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+static inline uint32_t
+ao_scheme_int_bigint(int32_t i) {
+ return AO_SCHEME_BIGINT | (i << 8);
+}
+static inline int32_t
+ao_scheme_bigint_int(uint32_t bi) {
+ return (int32_t) bi >> 8;
+}
+#else
+static inline uint32_t
+ao_scheme_int_bigint(int32_t i) {
+ return (uint32_t) (i & 0xffffff) | (AO_SCHEME_BIGINT << 24);
+}
+static inlint int32_t
+ao_scheme_bigint_int(uint32_t bi) {
+ return (int32_t) (bi << 8) >> 8;
+}
+#endif
+
+#define AO_SCHEME_MIN_INT (-(1 << (15 - AO_SCHEME_TYPE_SHIFT)))
+#define AO_SCHEME_MAX_INT ((1 << (15 - AO_SCHEME_TYPE_SHIFT)) - 1)
+#define AO_SCHEME_MIN_BIGINT (-(1 << 24))
+#define AO_SCHEME_MAX_BIGINT ((1 << 24) - 1)
+
+#define AO_SCHEME_NOT_INTEGER 0x7fffffff
+
+/* Set on type when the frame escapes the lambda */
+#define AO_SCHEME_FRAME_MARK 0x80
+#define AO_SCHEME_FRAME_PRINT 0x40
+
+static inline int ao_scheme_frame_marked(struct ao_scheme_frame *f) {
+ return f->type & AO_SCHEME_FRAME_MARK;
+}
+
+static inline struct ao_scheme_frame *
+ao_scheme_poly_frame(ao_poly poly) {
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_frame_poly(struct ao_scheme_frame *frame) {
+ return ao_scheme_poly(frame, AO_SCHEME_OTHER);
+}
+
+static inline struct ao_scheme_frame_vals *
+ao_scheme_poly_frame_vals(ao_poly poly) {
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_frame_vals_poly(struct ao_scheme_frame_vals *vals) {
+ return ao_scheme_poly(vals, AO_SCHEME_OTHER);
+}
+
+enum eval_state {
+ eval_sexpr, /* Evaluate an sexpr */
+ eval_val, /* Value computed */
+ eval_formal, /* Formal computed */
+ eval_exec, /* Start a lambda evaluation */
+ eval_apply, /* Execute apply */
+ eval_cond, /* Start next cond clause */
+ eval_cond_test, /* Check cond condition */
+ eval_begin, /* Start next begin entry */
+ eval_while, /* Start while condition */
+ eval_while_test, /* Check while condition */
+ eval_macro, /* Finished with macro generation */
+};
+
+struct ao_scheme_stack {
+ uint8_t type; /* AO_SCHEME_STACK */
+ uint8_t state; /* enum eval_state */
+ ao_poly prev; /* previous stack frame */
+ ao_poly sexprs; /* expressions to evaluate */
+ ao_poly values; /* values computed */
+ ao_poly values_tail; /* end of the values list for easy appending */
+ ao_poly frame; /* current lookup frame */
+ ao_poly list; /* most recent function call */
+};
+
+#define AO_SCHEME_STACK_MARK 0x80 /* set on type when a reference has been taken */
+#define AO_SCHEME_STACK_PRINT 0x40 /* stack is being printed */
+
+static inline int ao_scheme_stack_marked(struct ao_scheme_stack *s) {
+ return s->type & AO_SCHEME_STACK_MARK;
+}
+
+static inline void ao_scheme_stack_mark(struct ao_scheme_stack *s) {
+ s->type |= AO_SCHEME_STACK_MARK;
+}
+
+static inline struct ao_scheme_stack *
+ao_scheme_poly_stack(ao_poly p)
+{
+ return ao_scheme_ref(p);
+}
+
+static inline ao_poly
+ao_scheme_stack_poly(struct ao_scheme_stack *stack)
+{
+ return ao_scheme_poly(stack, AO_SCHEME_OTHER);
+}
+
+extern ao_poly ao_scheme_v;
+
+#define AO_SCHEME_FUNC_LAMBDA 0
+#define AO_SCHEME_FUNC_NLAMBDA 1
+#define AO_SCHEME_FUNC_MACRO 2
+
+#define AO_SCHEME_FUNC_FREE_ARGS 0x80
+#define AO_SCHEME_FUNC_MASK 0x7f
+
+#define AO_SCHEME_FUNC_F_LAMBDA (AO_SCHEME_FUNC_FREE_ARGS | AO_SCHEME_FUNC_LAMBDA)
+#define AO_SCHEME_FUNC_F_NLAMBDA (AO_SCHEME_FUNC_FREE_ARGS | AO_SCHEME_FUNC_NLAMBDA)
+#define AO_SCHEME_FUNC_F_MACRO (AO_SCHEME_FUNC_FREE_ARGS | AO_SCHEME_FUNC_MACRO)
+
+struct ao_scheme_builtin {
+ uint8_t type;
+ uint8_t args;
+ uint16_t func;
+};
+
+#define AO_SCHEME_BUILTIN_ID
+#include "ao_scheme_builtin.h"
+
+typedef ao_poly (*ao_scheme_func_t)(struct ao_scheme_cons *cons);
+
+extern const ao_scheme_func_t ao_scheme_builtins[];
+
+static inline ao_scheme_func_t
+ao_scheme_func(struct ao_scheme_builtin *b)
+{
+ return ao_scheme_builtins[b->func];
+}
+
+struct ao_scheme_lambda {
+ uint8_t type;
+ uint8_t args;
+ ao_poly code;
+ ao_poly frame;
+};
+
+static inline struct ao_scheme_lambda *
+ao_scheme_poly_lambda(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_lambda_poly(struct ao_scheme_lambda *lambda)
+{
+ return ao_scheme_poly(lambda, AO_SCHEME_OTHER);
+}
+
+static inline void *
+ao_scheme_poly_other(ao_poly poly) {
+ return ao_scheme_ref(poly);
+}
+
+static inline uint8_t
+ao_scheme_other_type(void *other) {
+#if DBG_MEM
+ if ((*((uint8_t *) other) & AO_SCHEME_OTHER_TYPE_MASK) >= AO_SCHEME_NUM_TYPE)
+ ao_scheme_abort();
+#endif
+ return *((uint8_t *) other) & AO_SCHEME_OTHER_TYPE_MASK;
+}
+
+static inline ao_poly
+ao_scheme_other_poly(const void *other)
+{
+ return ao_scheme_poly(other, AO_SCHEME_OTHER);
+}
+
+static inline int
+ao_scheme_size_round(int size)
+{
+ return (size + 3) & ~3;
+}
+
+static inline int
+ao_scheme_size(const struct ao_scheme_type *type, void *addr)
+{
+ return ao_scheme_size_round(type->size(addr));
+}
+
+#define AO_SCHEME_OTHER_POLY(other) ((ao_poly)(other) + AO_SCHEME_OTHER)
+
+static inline int ao_scheme_poly_base_type(ao_poly poly) {
+ return poly & AO_SCHEME_TYPE_MASK;
+}
+
+static inline int ao_scheme_poly_type(ao_poly poly) {
+ int type = poly & AO_SCHEME_TYPE_MASK;
+ if (type == AO_SCHEME_OTHER)
+ return ao_scheme_other_type(ao_scheme_poly_other(poly));
+ return type;
+}
+
+static inline int
+ao_scheme_is_cons(ao_poly poly) {
+ return (ao_scheme_poly_base_type(poly) == AO_SCHEME_CONS);
+}
+
+static inline int
+ao_scheme_is_pair(ao_poly poly) {
+ return poly != AO_SCHEME_NIL && (ao_scheme_poly_base_type(poly) == AO_SCHEME_CONS);
+}
+
+static inline struct ao_scheme_cons *
+ao_scheme_poly_cons(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_cons_poly(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_poly(cons, AO_SCHEME_CONS);
+}
+
+static inline int32_t
+ao_scheme_poly_int(ao_poly poly)
+{
+ return (int32_t) ((ao_signed_poly) poly >> AO_SCHEME_TYPE_SHIFT);
+}
+
+static inline ao_poly
+ao_scheme_int_poly(int32_t i)
+{
+ return ((ao_poly) i << 2) | AO_SCHEME_INT;
+}
+
+static inline struct ao_scheme_bigint *
+ao_scheme_poly_bigint(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_bigint_poly(struct ao_scheme_bigint *bi)
+{
+ return ao_scheme_poly(bi, AO_SCHEME_OTHER);
+}
+
+static inline char *
+ao_scheme_poly_string(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_string_poly(char *s)
+{
+ return ao_scheme_poly(s, AO_SCHEME_STRING);
+}
+
+static inline struct ao_scheme_atom *
+ao_scheme_poly_atom(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_atom_poly(struct ao_scheme_atom *a)
+{
+ return ao_scheme_poly(a, AO_SCHEME_OTHER);
+}
+
+static inline struct ao_scheme_builtin *
+ao_scheme_poly_builtin(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_builtin_poly(struct ao_scheme_builtin *b)
+{
+ return ao_scheme_poly(b, AO_SCHEME_OTHER);
+}
+
+static inline ao_poly
+ao_scheme_bool_poly(struct ao_scheme_bool *b)
+{
+ return ao_scheme_poly(b, AO_SCHEME_OTHER);
+}
+
+static inline struct ao_scheme_bool *
+ao_scheme_poly_bool(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+static inline ao_poly
+ao_scheme_float_poly(struct ao_scheme_float *f)
+{
+ return ao_scheme_poly(f, AO_SCHEME_OTHER);
+}
+
+static inline struct ao_scheme_float *
+ao_scheme_poly_float(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+float
+ao_scheme_poly_number(ao_poly p);
+
+static inline ao_poly
+ao_scheme_vector_poly(struct ao_scheme_vector *v)
+{
+ return ao_scheme_poly(v, AO_SCHEME_OTHER);
+}
+
+static inline struct ao_scheme_vector *
+ao_scheme_poly_vector(ao_poly poly)
+{
+ return ao_scheme_ref(poly);
+}
+
+/* memory functions */
+
+extern uint64_t ao_scheme_collects[2];
+extern uint64_t ao_scheme_freed[2];
+extern uint64_t ao_scheme_loops[2];
+
+/* returns 1 if the object was already marked */
+int
+ao_scheme_mark(const struct ao_scheme_type *type, void *addr);
+
+/* returns 1 if the object was already marked */
+int
+ao_scheme_mark_memory(const struct ao_scheme_type *type, void *addr);
+
+void *
+ao_scheme_move_map(void *addr);
+
+/* returns 1 if the object was already moved */
+int
+ao_scheme_move(const struct ao_scheme_type *type, void **ref);
+
+/* returns 1 if the object was already moved */
+int
+ao_scheme_move_memory(const struct ao_scheme_type *type, void **ref);
+
+void *
+ao_scheme_alloc(int size);
+
+#define AO_SCHEME_COLLECT_FULL 1
+#define AO_SCHEME_COLLECT_INCREMENTAL 0
+
+int
+ao_scheme_collect(uint8_t style);
+
+#if DBG_FREE_CONS
+void
+ao_scheme_cons_check(struct ao_scheme_cons *cons);
+#endif
+
+void
+ao_scheme_cons_stash(int id, struct ao_scheme_cons *cons);
+
+struct ao_scheme_cons *
+ao_scheme_cons_fetch(int id);
+
+void
+ao_scheme_poly_stash(int id, ao_poly poly);
+
+ao_poly
+ao_scheme_poly_fetch(int id);
+
+void
+ao_scheme_string_stash(int id, char *string);
+
+char *
+ao_scheme_string_fetch(int id);
+
+static inline void
+ao_scheme_stack_stash(int id, struct ao_scheme_stack *stack) {
+ ao_scheme_poly_stash(id, ao_scheme_stack_poly(stack));
+}
+
+static inline struct ao_scheme_stack *
+ao_scheme_stack_fetch(int id) {
+ return ao_scheme_poly_stack(ao_scheme_poly_fetch(id));
+}
+
+void
+ao_scheme_frame_stash(int id, struct ao_scheme_frame *frame);
+
+struct ao_scheme_frame *
+ao_scheme_frame_fetch(int id);
+
+/* bool */
+
+extern const struct ao_scheme_type ao_scheme_bool_type;
+
+void
+ao_scheme_bool_write(ao_poly v);
+
+#ifdef AO_SCHEME_MAKE_CONST
+struct ao_scheme_bool *ao_scheme_true, *ao_scheme_false;
+
+struct ao_scheme_bool *
+ao_scheme_bool_get(uint8_t value);
+#endif
+
+/* cons */
+extern const struct ao_scheme_type ao_scheme_cons_type;
+
+struct ao_scheme_cons *
+ao_scheme_cons_cons(ao_poly car, ao_poly cdr);
+
+/* Return a cons or NULL for a proper list, else error */
+struct ao_scheme_cons *
+ao_scheme_cons_cdr(struct ao_scheme_cons *cons);
+
+ao_poly
+ao_scheme__cons(ao_poly car, ao_poly cdr);
+
+extern struct ao_scheme_cons *ao_scheme_cons_free_list;
+
+void
+ao_scheme_cons_free(struct ao_scheme_cons *cons);
+
+void
+ao_scheme_cons_write(ao_poly);
+
+void
+ao_scheme_cons_display(ao_poly);
+
+int
+ao_scheme_cons_length(struct ao_scheme_cons *cons);
+
+struct ao_scheme_cons *
+ao_scheme_cons_copy(struct ao_scheme_cons *cons);
+
+/* string */
+extern const struct ao_scheme_type ao_scheme_string_type;
+
+char *
+ao_scheme_string_copy(char *a);
+
+char *
+ao_scheme_string_cat(char *a, char *b);
+
+ao_poly
+ao_scheme_string_pack(struct ao_scheme_cons *cons);
+
+ao_poly
+ao_scheme_string_unpack(char *a);
+
+void
+ao_scheme_string_write(ao_poly s);
+
+void
+ao_scheme_string_display(ao_poly s);
+
+/* atom */
+extern const struct ao_scheme_type ao_scheme_atom_type;
+
+extern struct ao_scheme_atom *ao_scheme_atoms;
+extern struct ao_scheme_frame *ao_scheme_frame_global;
+extern struct ao_scheme_frame *ao_scheme_frame_current;
+
+void
+ao_scheme_atom_write(ao_poly a);
+
+struct ao_scheme_atom *
+ao_scheme_atom_intern(char *name);
+
+ao_poly *
+ao_scheme_atom_ref(ao_poly atom, struct ao_scheme_frame **frame_ref);
+
+ao_poly
+ao_scheme_atom_get(ao_poly atom);
+
+ao_poly
+ao_scheme_atom_set(ao_poly atom, ao_poly val);
+
+ao_poly
+ao_scheme_atom_def(ao_poly atom, ao_poly val);
+
+/* int */
+void
+ao_scheme_int_write(ao_poly i);
+
+int32_t
+ao_scheme_poly_integer(ao_poly p);
+
+ao_poly
+ao_scheme_integer_poly(int32_t i);
+
+static inline int
+ao_scheme_integer_typep(uint8_t t)
+{
+ return (t == AO_SCHEME_INT) || (t == AO_SCHEME_BIGINT);
+}
+
+void
+ao_scheme_bigint_write(ao_poly i);
+
+extern const struct ao_scheme_type ao_scheme_bigint_type;
+
+/* vector */
+
+void
+ao_scheme_vector_write(ao_poly v);
+
+void
+ao_scheme_vector_display(ao_poly v);
+
+struct ao_scheme_vector *
+ao_scheme_vector_alloc(uint16_t length, ao_poly fill);
+
+ao_poly
+ao_scheme_vector_get(ao_poly v, ao_poly i);
+
+ao_poly
+ao_scheme_vector_set(ao_poly v, ao_poly i, ao_poly p);
+
+struct ao_scheme_vector *
+ao_scheme_list_to_vector(struct ao_scheme_cons *cons);
+
+struct ao_scheme_cons *
+ao_scheme_vector_to_list(struct ao_scheme_vector *vector);
+
+extern const struct ao_scheme_type ao_scheme_vector_type;
+
+/* prim */
+void
+ao_scheme_poly_write(ao_poly p);
+
+void
+ao_scheme_poly_display(ao_poly p);
+
+int
+ao_scheme_poly_mark(ao_poly p, uint8_t note_cons);
+
+/* returns 1 if the object has already been moved */
+int
+ao_scheme_poly_move(ao_poly *p, uint8_t note_cons);
+
+/* eval */
+
+void
+ao_scheme_eval_clear_globals(void);
+
+int
+ao_scheme_eval_restart(void);
+
+ao_poly
+ao_scheme_eval(ao_poly p);
+
+ao_poly
+ao_scheme_set_cond(struct ao_scheme_cons *cons);
+
+/* float */
+extern const struct ao_scheme_type ao_scheme_float_type;
+
+void
+ao_scheme_float_write(ao_poly p);
+
+ao_poly
+ao_scheme_float_get(float value);
+
+static inline uint8_t
+ao_scheme_number_typep(uint8_t t)
+{
+ return ao_scheme_integer_typep(t) || (t == AO_SCHEME_FLOAT);
+}
+
+float
+ao_scheme_poly_number(ao_poly p);
+
+/* builtin */
+void
+ao_scheme_builtin_write(ao_poly b);
+
+extern const struct ao_scheme_type ao_scheme_builtin_type;
+
+/* Check argument count */
+ao_poly
+ao_scheme_check_argc(ao_poly name, struct ao_scheme_cons *cons, int min, int max);
+
+/* Check argument type */
+ao_poly
+ao_scheme_check_argt(ao_poly name, struct ao_scheme_cons *cons, int argc, int type, int nil_ok);
+
+/* Fetch an arg (nil if off the end) */
+ao_poly
+ao_scheme_arg(struct ao_scheme_cons *cons, int argc);
+
+char *
+ao_scheme_args_name(uint8_t args);
+
+/* read */
+extern int ao_scheme_read_list;
+extern struct ao_scheme_cons *ao_scheme_read_cons;
+extern struct ao_scheme_cons *ao_scheme_read_cons_tail;
+extern struct ao_scheme_cons *ao_scheme_read_stack;
+
+ao_poly
+ao_scheme_read(void);
+
+/* rep */
+ao_poly
+ao_scheme_read_eval_print(void);
+
+/* frame */
+extern const struct ao_scheme_type ao_scheme_frame_type;
+extern const struct ao_scheme_type ao_scheme_frame_vals_type;
+
+#define AO_SCHEME_FRAME_FREE 6
+
+extern struct ao_scheme_frame *ao_scheme_frame_free_list[AO_SCHEME_FRAME_FREE];
+
+ao_poly
+ao_scheme_frame_mark(struct ao_scheme_frame *frame);
+
+ao_poly *
+ao_scheme_frame_ref(struct ao_scheme_frame *frame, ao_poly atom);
+
+struct ao_scheme_frame *
+ao_scheme_frame_new(int num);
+
+void
+ao_scheme_frame_free(struct ao_scheme_frame *frame);
+
+void
+ao_scheme_frame_bind(struct ao_scheme_frame *frame, int num, ao_poly atom, ao_poly val);
+
+ao_poly
+ao_scheme_frame_add(struct ao_scheme_frame *frame, ao_poly atom, ao_poly val);
+
+void
+ao_scheme_frame_write(ao_poly p);
+
+void
+ao_scheme_frame_init(void);
+
+/* lambda */
+extern const struct ao_scheme_type ao_scheme_lambda_type;
+
+extern const char * const ao_scheme_state_names[];
+
+struct ao_scheme_lambda *
+ao_scheme_lambda_new(ao_poly cons);
+
+void
+ao_scheme_lambda_write(ao_poly lambda);
+
+ao_poly
+ao_scheme_lambda_eval(void);
+
+/* stack */
+
+extern const struct ao_scheme_type ao_scheme_stack_type;
+extern struct ao_scheme_stack *ao_scheme_stack;
+extern struct ao_scheme_stack *ao_scheme_stack_free_list;
+
+void
+ao_scheme_stack_reset(struct ao_scheme_stack *stack);
+
+int
+ao_scheme_stack_push(void);
+
+void
+ao_scheme_stack_pop(void);
+
+void
+ao_scheme_stack_clear(void);
+
+void
+ao_scheme_stack_write(ao_poly stack);
+
+ao_poly
+ao_scheme_stack_eval(void);
+
+/* error */
+
+void
+ao_scheme_vprintf(char *format, va_list args);
+
+void
+ao_scheme_printf(char *format, ...);
+
+void
+ao_scheme_error_poly(char *name, ao_poly poly, ao_poly last);
+
+void
+ao_scheme_error_frame(int indent, char *name, struct ao_scheme_frame *frame);
+
+ao_poly
+ao_scheme_error(int error, char *format, ...);
+
+/* builtins */
+
+#define AO_SCHEME_BUILTIN_DECLS
+#include "ao_scheme_builtin.h"
+
+/* debugging macros */
+
+#if DBG_EVAL || DBG_READ || DBG_MEM
+#define DBG_CODE 1
+int ao_scheme_stack_depth;
+#define DBG_DO(a) a
+#define DBG_INDENT() do { int _s; for(_s = 0; _s < ao_scheme_stack_depth; _s++) printf(" "); } while(0)
+#define DBG_IN() (++ao_scheme_stack_depth)
+#define DBG_OUT() (--ao_scheme_stack_depth)
+#define DBG_RESET() (ao_scheme_stack_depth = 0)
+#define DBG(...) ao_scheme_printf(__VA_ARGS__)
+#define DBGI(...) do { printf("%4d: ", __LINE__); DBG_INDENT(); DBG(__VA_ARGS__); } while (0)
+#define DBG_CONS(a) ao_scheme_cons_write(ao_scheme_cons_poly(a))
+#define DBG_POLY(a) ao_scheme_poly_write(a)
+#define OFFSET(a) ((a) ? (int) ((uint8_t *) a - ao_scheme_pool) : -1)
+#define DBG_STACK() ao_scheme_stack_write(ao_scheme_stack_poly(ao_scheme_stack))
+static inline void
+ao_scheme_frames_dump(void)
+{
+ struct ao_scheme_stack *s;
+ DBGI(".. current frame: "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ for (s = ao_scheme_stack; s; s = ao_scheme_poly_stack(s->prev)) {
+ DBGI(".. stack frame: "); DBG_POLY(s->frame); DBG("\n");
+ }
+}
+#define DBG_FRAMES() ao_scheme_frames_dump()
+#else
+#define DBG_DO(a)
+#define DBG_INDENT()
+#define DBG_IN()
+#define DBG_OUT()
+#define DBG(...)
+#define DBGI(...)
+#define DBG_CONS(a)
+#define DBG_POLY(a)
+#define DBG_RESET()
+#define DBG_STACK()
+#define DBG_FRAMES()
+#endif
+
+#if DBG_READ
+#define RDBGI(...) DBGI(__VA_ARGS__)
+#define RDBG_IN() DBG_IN()
+#define RDBG_OUT() DBG_OUT()
+#else
+#define RDBGI(...)
+#define RDBG_IN()
+#define RDBG_OUT()
+#endif
+
+#define DBG_MEM_START 1
+
+#if DBG_MEM
+
+#include <assert.h>
+extern int dbg_move_depth;
+#define MDBG_DUMP 1
+#define MDBG_OFFSET(a) ((a) ? (int) ((uint8_t *) (a) - ao_scheme_pool) : -1)
+
+extern int dbg_mem;
+
+#define MDBG_DO(a) DBG_DO(a)
+#define MDBG_MOVE(...) do { if (dbg_mem) { int d; for (d = 0; d < dbg_move_depth; d++) printf (" "); printf(__VA_ARGS__); } } while (0)
+#define MDBG_MORE(...) do { if (dbg_mem) printf(__VA_ARGS__); } while (0)
+#define MDBG_MOVE_IN() (dbg_move_depth++)
+#define MDBG_MOVE_OUT() (assert(--dbg_move_depth >= 0))
+
+#else
+
+#define MDBG_DO(a)
+#define MDBG_MOVE(...)
+#define MDBG_MORE(...)
+#define MDBG_MOVE_IN()
+#define MDBG_MOVE_OUT()
+
+#endif
+
+#endif /* _AO_SCHEME_H_ */
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#include "ao_scheme.h"
+
+static int name_size(char *name)
+{
+ return sizeof(struct ao_scheme_atom) + strlen(name) + 1;
+}
+
+static int atom_size(void *addr)
+{
+ struct ao_scheme_atom *atom = addr;
+ if (!atom)
+ return 0;
+ return name_size(atom->name);
+}
+
+static void atom_mark(void *addr)
+{
+ struct ao_scheme_atom *atom = addr;
+
+ for (;;) {
+ atom = ao_scheme_poly_atom(atom->next);
+ if (!atom)
+ break;
+ if (ao_scheme_mark_memory(&ao_scheme_atom_type, atom))
+ break;
+ }
+}
+
+static void atom_move(void *addr)
+{
+ struct ao_scheme_atom *atom = addr;
+ int ret;
+
+ for (;;) {
+ struct ao_scheme_atom *next = ao_scheme_poly_atom(atom->next);
+
+ if (!next)
+ break;
+ ret = ao_scheme_move_memory(&ao_scheme_atom_type, (void **) &next);
+ if (next != ao_scheme_poly_atom(atom->next))
+ atom->next = ao_scheme_atom_poly(next);
+ if (ret)
+ break;
+ atom = next;
+ }
+}
+
+const struct ao_scheme_type ao_scheme_atom_type = {
+ .mark = atom_mark,
+ .size = atom_size,
+ .move = atom_move,
+ .name = "atom"
+};
+
+struct ao_scheme_atom *ao_scheme_atoms;
+
+struct ao_scheme_atom *
+ao_scheme_atom_intern(char *name)
+{
+ struct ao_scheme_atom *atom;
+
+ for (atom = ao_scheme_atoms; atom; atom = ao_scheme_poly_atom(atom->next)) {
+ if (!strcmp(atom->name, name))
+ return atom;
+ }
+#ifdef ao_builtin_atoms
+ for (atom = ao_scheme_poly_atom(ao_builtin_atoms); atom; atom = ao_scheme_poly_atom(atom->next)) {
+ if (!strcmp(atom->name, name))
+ return atom;
+ }
+#endif
+ ao_scheme_string_stash(0, name);
+ atom = ao_scheme_alloc(name_size(name));
+ name = ao_scheme_string_fetch(0);
+ if (atom) {
+ atom->type = AO_SCHEME_ATOM;
+ atom->next = ao_scheme_atom_poly(ao_scheme_atoms);
+ ao_scheme_atoms = atom;
+ strcpy(atom->name, name);
+ }
+ return atom;
+}
+
+ao_poly *
+ao_scheme_atom_ref(ao_poly atom, struct ao_scheme_frame **frame_ref)
+{
+ ao_poly *ref;
+ struct ao_scheme_frame *frame;
+
+ for (frame = ao_scheme_frame_current; frame; frame = ao_scheme_poly_frame(frame->prev)) {
+ ref = ao_scheme_frame_ref(frame, atom);
+ if (ref) {
+ if (frame_ref)
+ *frame_ref = frame;
+ return ref;
+ }
+ }
+ ref = ao_scheme_frame_ref(ao_scheme_frame_global, atom);
+ if (ref)
+ if (frame_ref)
+ *frame_ref = ao_scheme_frame_global;
+ return ref;
+}
+
+ao_poly
+ao_scheme_atom_get(ao_poly atom)
+{
+ ao_poly *ref = ao_scheme_atom_ref(atom, NULL);
+
+#ifdef ao_builtin_frame
+ if (!ref)
+ ref = ao_scheme_frame_ref(ao_scheme_poly_frame(ao_builtin_frame), atom);
+#endif
+ if (ref)
+ return *ref;
+ return ao_scheme_error(AO_SCHEME_UNDEFINED, "undefined atom %s", ao_scheme_poly_atom(atom)->name);
+}
+
+ao_poly
+ao_scheme_atom_set(ao_poly atom, ao_poly val)
+{
+ ao_poly *ref = ao_scheme_atom_ref(atom, NULL);
+
+ if (!ref)
+ return ao_scheme_error(AO_SCHEME_UNDEFINED, "undefined atom %s", ao_scheme_poly_atom(atom)->name);
+ *ref = val;
+ return val;
+}
+
+ao_poly
+ao_scheme_atom_def(ao_poly atom, ao_poly val)
+{
+ struct ao_scheme_frame *frame;
+ ao_poly *ref = ao_scheme_atom_ref(atom, &frame);
+
+ if (ref) {
+ if (frame == ao_scheme_frame_current)
+ return ao_scheme_error(AO_SCHEME_REDEFINED, "attempt to redefine atom %s", ao_scheme_poly_atom(atom)->name);
+ *ref = val;
+ return val;
+ }
+ return ao_scheme_frame_add(ao_scheme_frame_current ? ao_scheme_frame_current : ao_scheme_frame_global, atom, val);
+}
+
+void
+ao_scheme_atom_write(ao_poly a)
+{
+ struct ao_scheme_atom *atom = ao_scheme_poly_atom(a);
+ printf("%s", atom->name);
+}
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+static void bool_mark(void *addr)
+{
+ (void) addr;
+}
+
+static int bool_size(void *addr)
+{
+ (void) addr;
+ return sizeof (struct ao_scheme_bool);
+}
+
+static void bool_move(void *addr)
+{
+ (void) addr;
+}
+
+const struct ao_scheme_type ao_scheme_bool_type = {
+ .mark = bool_mark,
+ .size = bool_size,
+ .move = bool_move,
+ .name = "bool"
+};
+
+void
+ao_scheme_bool_write(ao_poly v)
+{
+ struct ao_scheme_bool *b = ao_scheme_poly_bool(v);
+
+ if (b->value)
+ printf("#t");
+ else
+ printf("#f");
+}
+
+#ifdef AO_SCHEME_MAKE_CONST
+
+struct ao_scheme_bool *ao_scheme_true, *ao_scheme_false;
+
+struct ao_scheme_bool *
+ao_scheme_bool_get(uint8_t value)
+{
+ struct ao_scheme_bool **b;
+
+ if (value)
+ b = &ao_scheme_true;
+ else
+ b = &ao_scheme_false;
+
+ if (!*b) {
+ *b = ao_scheme_alloc(sizeof (struct ao_scheme_bool));
+ (*b)->type = AO_SCHEME_BOOL;
+ (*b)->value = value;
+ }
+ return *b;
+}
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include <limits.h>
+#include <math.h>
+
+static int
+builtin_size(void *addr)
+{
+ (void) addr;
+ return sizeof (struct ao_scheme_builtin);
+}
+
+static void
+builtin_mark(void *addr)
+{
+ (void) addr;
+}
+
+static void
+builtin_move(void *addr)
+{
+ (void) addr;
+}
+
+const struct ao_scheme_type ao_scheme_builtin_type = {
+ .size = builtin_size,
+ .mark = builtin_mark,
+ .move = builtin_move
+};
+
+#ifdef AO_SCHEME_MAKE_CONST
+
+#define AO_SCHEME_BUILTIN_CASENAME
+#include "ao_scheme_builtin.h"
+
+char *ao_scheme_args_name(uint8_t args) {
+ args &= AO_SCHEME_FUNC_MASK;
+ switch (args) {
+ case AO_SCHEME_FUNC_LAMBDA: return ao_scheme_poly_atom(_ao_scheme_atom_lambda)->name;
+ case AO_SCHEME_FUNC_NLAMBDA: return ao_scheme_poly_atom(_ao_scheme_atom_nlambda)->name;
+ case AO_SCHEME_FUNC_MACRO: return ao_scheme_poly_atom(_ao_scheme_atom_macro)->name;
+ default: return "???";
+ }
+}
+#else
+
+#define AO_SCHEME_BUILTIN_ARRAYNAME
+#include "ao_scheme_builtin.h"
+
+static char *
+ao_scheme_builtin_name(enum ao_scheme_builtin_id b) {
+ if (b < _builtin_last)
+ return ao_scheme_poly_atom(builtin_names[b])->name;
+ return "???";
+}
+
+static const ao_poly ao_scheme_args_atoms[] = {
+ [AO_SCHEME_FUNC_LAMBDA] = _ao_scheme_atom_lambda,
+ [AO_SCHEME_FUNC_NLAMBDA] = _ao_scheme_atom_nlambda,
+ [AO_SCHEME_FUNC_MACRO] = _ao_scheme_atom_macro,
+};
+
+char *
+ao_scheme_args_name(uint8_t args)
+{
+ args &= AO_SCHEME_FUNC_MASK;
+ if (args < sizeof ao_scheme_args_atoms / sizeof ao_scheme_args_atoms[0])
+ return ao_scheme_poly_atom(ao_scheme_args_atoms[args])->name;
+ return "(unknown)";
+}
+#endif
+
+void
+ao_scheme_builtin_write(ao_poly b)
+{
+ struct ao_scheme_builtin *builtin = ao_scheme_poly_builtin(b);
+ printf("%s", ao_scheme_builtin_name(builtin->func));
+}
+
+ao_poly
+ao_scheme_check_argc(ao_poly name, struct ao_scheme_cons *cons, int min, int max)
+{
+ int argc = 0;
+
+ while (cons && argc <= max) {
+ argc++;
+ cons = ao_scheme_cons_cdr(cons);
+ }
+ if (argc < min || argc > max)
+ return ao_scheme_error(AO_SCHEME_INVALID, "%s: invalid arg count", ao_scheme_poly_atom(name)->name);
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_arg(struct ao_scheme_cons *cons, int argc)
+{
+ if (!cons)
+ return AO_SCHEME_NIL;
+ while (argc--) {
+ if (!cons)
+ return AO_SCHEME_NIL;
+ cons = ao_scheme_cons_cdr(cons);
+ }
+ return cons->car;
+}
+
+ao_poly
+ao_scheme_check_argt(ao_poly name, struct ao_scheme_cons *cons, int argc, int type, int nil_ok)
+{
+ ao_poly car = ao_scheme_arg(cons, argc);
+
+ if ((!car && !nil_ok) || ao_scheme_poly_type(car) != type)
+ return ao_scheme_error(AO_SCHEME_INVALID, "%v: arg %d invalid type %v", name, argc, car);
+ return _ao_scheme_bool_true;
+}
+
+int32_t
+ao_scheme_arg_int(ao_poly name, struct ao_scheme_cons *cons, int argc)
+{
+ ao_poly p = ao_scheme_arg(cons, argc);
+ int32_t i = ao_scheme_poly_integer(p);
+
+ if (i == AO_SCHEME_NOT_INTEGER)
+ (void) ao_scheme_error(AO_SCHEME_INVALID, "%v: arg %d invalid type %v", name, argc, p);
+ return i;
+}
+
+ao_poly
+ao_scheme_do_car(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_car, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_car, cons, 0, AO_SCHEME_CONS, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_poly_cons(cons->car)->car;
+}
+
+ao_poly
+ao_scheme_do_cdr(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_cdr, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_cdr, cons, 0, AO_SCHEME_CONS, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_poly_cons(cons->car)->cdr;
+}
+
+ao_poly
+ao_scheme_do_cons(struct ao_scheme_cons *cons)
+{
+ ao_poly car, cdr;
+ if(!ao_scheme_check_argc(_ao_scheme_atom_cons, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ car = ao_scheme_arg(cons, 0);
+ cdr = ao_scheme_arg(cons, 1);
+ return ao_scheme__cons(car, cdr);
+}
+
+ao_poly
+ao_scheme_do_last(struct ao_scheme_cons *cons)
+{
+ struct ao_scheme_cons *list;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_last, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_last, cons, 0, AO_SCHEME_CONS, 1))
+ return AO_SCHEME_NIL;
+ for (list = ao_scheme_poly_cons(ao_scheme_arg(cons, 0));
+ list;
+ list = ao_scheme_cons_cdr(list))
+ {
+ if (!list->cdr)
+ return list->car;
+ }
+ return AO_SCHEME_NIL;
+}
+
+ao_poly
+ao_scheme_do_length(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_length, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_length, cons, 0, AO_SCHEME_CONS, 1))
+ return AO_SCHEME_NIL;
+ return ao_scheme_int_poly(ao_scheme_cons_length(ao_scheme_poly_cons(ao_scheme_arg(cons, 0))));
+}
+
+ao_poly
+ao_scheme_do_list_copy(struct ao_scheme_cons *cons)
+{
+ struct ao_scheme_cons *new;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_length, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_length, cons, 0, AO_SCHEME_CONS, 1))
+ return AO_SCHEME_NIL;
+ new = ao_scheme_cons_copy(ao_scheme_poly_cons(ao_scheme_arg(cons, 0)));
+ return ao_scheme_cons_poly(new);
+}
+
+ao_poly
+ao_scheme_do_quote(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_quote, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ return ao_scheme_arg(cons, 0);
+}
+
+ao_poly
+ao_scheme_do_set(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_set, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_set, cons, 0, AO_SCHEME_ATOM, 0))
+ return AO_SCHEME_NIL;
+
+ return ao_scheme_atom_set(ao_scheme_arg(cons, 0), ao_scheme_arg(cons, 1));
+}
+
+ao_poly
+ao_scheme_do_def(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_def, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_def, cons, 0, AO_SCHEME_ATOM, 0))
+ return AO_SCHEME_NIL;
+
+ return ao_scheme_atom_def(ao_scheme_arg(cons, 0), ao_scheme_arg(cons, 1));
+}
+
+ao_poly
+ao_scheme_do_setq(struct ao_scheme_cons *cons)
+{
+ ao_poly name;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_set21, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ name = cons->car;
+ if (ao_scheme_poly_type(name) != AO_SCHEME_ATOM)
+ return ao_scheme_error(AO_SCHEME_INVALID, "set! of non-atom %v", name);
+ if (!ao_scheme_atom_ref(name, NULL))
+ return ao_scheme_error(AO_SCHEME_INVALID, "atom %v not defined", name);
+ return ao_scheme__cons(_ao_scheme_atom_set,
+ ao_scheme__cons(ao_scheme__cons(_ao_scheme_atom_quote,
+ ao_scheme__cons(name, AO_SCHEME_NIL)),
+ cons->cdr));
+}
+
+ao_poly
+ao_scheme_do_cond(struct ao_scheme_cons *cons)
+{
+ ao_scheme_set_cond(cons);
+ return AO_SCHEME_NIL;
+}
+
+ao_poly
+ao_scheme_do_begin(struct ao_scheme_cons *cons)
+{
+ ao_scheme_stack->state = eval_begin;
+ ao_scheme_stack->sexprs = ao_scheme_cons_poly(cons);
+ return AO_SCHEME_NIL;
+}
+
+ao_poly
+ao_scheme_do_while(struct ao_scheme_cons *cons)
+{
+ ao_scheme_stack->state = eval_while;
+ ao_scheme_stack->sexprs = ao_scheme_cons_poly(cons);
+ return AO_SCHEME_NIL;
+}
+
+ao_poly
+ao_scheme_do_write(struct ao_scheme_cons *cons)
+{
+ ao_poly val = AO_SCHEME_NIL;
+ while (cons) {
+ val = cons->car;
+ ao_scheme_poly_write(val);
+ cons = ao_scheme_cons_cdr(cons);
+ if (cons)
+ printf(" ");
+ }
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_do_display(struct ao_scheme_cons *cons)
+{
+ ao_poly val = AO_SCHEME_NIL;
+ while (cons) {
+ val = cons->car;
+ ao_scheme_poly_display(val);
+ cons = ao_scheme_cons_cdr(cons);
+ }
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_math(struct ao_scheme_cons *orig_cons, enum ao_scheme_builtin_id op)
+{
+ struct ao_scheme_cons *cons = cons;
+ ao_poly ret = AO_SCHEME_NIL;
+
+ for (cons = orig_cons; cons; cons = ao_scheme_cons_cdr(cons)) {
+ ao_poly car = cons->car;
+ uint8_t rt = ao_scheme_poly_type(ret);
+ uint8_t ct = ao_scheme_poly_type(car);
+
+ if (cons == orig_cons) {
+ ret = car;
+ ao_scheme_cons_stash(0, cons);
+ if (cons->cdr == AO_SCHEME_NIL) {
+ switch (op) {
+ case builtin_minus:
+ if (ao_scheme_integer_typep(ct))
+ ret = ao_scheme_integer_poly(-ao_scheme_poly_integer(ret));
+ else if (ct == AO_SCHEME_FLOAT)
+ ret = ao_scheme_float_get(-ao_scheme_poly_number(ret));
+ break;
+ case builtin_divide:
+ if (ao_scheme_integer_typep(ct) && ao_scheme_poly_integer(ret) == 1)
+ ;
+ else if (ao_scheme_number_typep(ct)) {
+ float v = ao_scheme_poly_number(ret);
+ ret = ao_scheme_float_get(1/v);
+ }
+ break;
+ default:
+ break;
+ }
+ }
+ cons = ao_scheme_cons_fetch(0);
+ } else if (ao_scheme_integer_typep(rt) && ao_scheme_integer_typep(ct)) {
+ int32_t r = ao_scheme_poly_integer(ret);
+ int32_t c = ao_scheme_poly_integer(car);
+ int64_t t;
+
+ switch(op) {
+ case builtin_plus:
+ r += c;
+ check_overflow:
+ if (r < AO_SCHEME_MIN_BIGINT || AO_SCHEME_MAX_BIGINT < r)
+ goto inexact;
+ break;
+ case builtin_minus:
+ r -= c;
+ goto check_overflow;
+ break;
+ case builtin_times:
+ t = (int64_t) r * (int64_t) c;
+ if (t < AO_SCHEME_MIN_BIGINT || AO_SCHEME_MAX_BIGINT < t)
+ goto inexact;
+ r = (int32_t) t;
+ break;
+ case builtin_divide:
+ if (c != 0 && (r % c) == 0)
+ r /= c;
+ else
+ goto inexact;
+ break;
+ case builtin_quotient:
+ if (c == 0)
+ return ao_scheme_error(AO_SCHEME_DIVIDE_BY_ZERO, "quotient by zero");
+ if (r % c != 0 && (c < 0) != (r < 0))
+ r = r / c - 1;
+ else
+ r = r / c;
+ break;
+ case builtin_remainder:
+ if (c == 0)
+ return ao_scheme_error(AO_SCHEME_DIVIDE_BY_ZERO, "remainder by zero");
+ r %= c;
+ break;
+ case builtin_modulo:
+ if (c == 0)
+ return ao_scheme_error(AO_SCHEME_DIVIDE_BY_ZERO, "modulo by zero");
+ r %= c;
+ if ((r < 0) != (c < 0))
+ r += c;
+ break;
+ default:
+ break;
+ }
+ ao_scheme_cons_stash(0, cons);
+ ret = ao_scheme_integer_poly(r);
+ cons = ao_scheme_cons_fetch(0);
+ } else if (ao_scheme_number_typep(rt) && ao_scheme_number_typep(ct)) {
+ float r, c;
+ inexact:
+ r = ao_scheme_poly_number(ret);
+ c = ao_scheme_poly_number(car);
+ switch(op) {
+ case builtin_plus:
+ r += c;
+ break;
+ case builtin_minus:
+ r -= c;
+ break;
+ case builtin_times:
+ r *= c;
+ break;
+ case builtin_divide:
+ r /= c;
+ break;
+ case builtin_quotient:
+ case builtin_remainder:
+ case builtin_modulo:
+ return ao_scheme_error(AO_SCHEME_INVALID, "non-integer value in integer divide");
+ default:
+ break;
+ }
+ ao_scheme_cons_stash(0, cons);
+ ret = ao_scheme_float_get(r);
+ cons = ao_scheme_cons_fetch(0);
+ }
+ else if (rt == AO_SCHEME_STRING && ct == AO_SCHEME_STRING && op == builtin_plus) {
+ ao_scheme_cons_stash(0, cons);
+ ret = ao_scheme_string_poly(ao_scheme_string_cat(ao_scheme_poly_string(ret),
+ ao_scheme_poly_string(car)));
+ cons = ao_scheme_cons_fetch(0);
+ if (!ret)
+ return ret;
+ }
+ else
+ return ao_scheme_error(AO_SCHEME_INVALID, "invalid args");
+ }
+ return ret;
+}
+
+ao_poly
+ao_scheme_do_plus(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_plus);
+}
+
+ao_poly
+ao_scheme_do_minus(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_minus);
+}
+
+ao_poly
+ao_scheme_do_times(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_times);
+}
+
+ao_poly
+ao_scheme_do_divide(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_divide);
+}
+
+ao_poly
+ao_scheme_do_quotient(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_quotient);
+}
+
+ao_poly
+ao_scheme_do_modulo(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_modulo);
+}
+
+ao_poly
+ao_scheme_do_remainder(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_math(cons, builtin_remainder);
+}
+
+ao_poly
+ao_scheme_compare(struct ao_scheme_cons *cons, enum ao_scheme_builtin_id op)
+{
+ ao_poly left;
+
+ if (!cons)
+ return _ao_scheme_bool_true;
+
+ left = cons->car;
+ for (cons = ao_scheme_cons_cdr(cons); cons; cons = ao_scheme_cons_cdr(cons)) {
+ ao_poly right = cons->car;
+
+ if (op == builtin_equal && left == right) {
+ ;
+ } else {
+ uint8_t lt = ao_scheme_poly_type(left);
+ uint8_t rt = ao_scheme_poly_type(right);
+ if (ao_scheme_integer_typep(lt) && ao_scheme_integer_typep(rt)) {
+ int32_t l = ao_scheme_poly_integer(left);
+ int32_t r = ao_scheme_poly_integer(right);
+
+ switch (op) {
+ case builtin_less:
+ if (!(l < r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_greater:
+ if (!(l > r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_less_equal:
+ if (!(l <= r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_greater_equal:
+ if (!(l >= r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_equal:
+ if (!(l == r))
+ return _ao_scheme_bool_false;
+ default:
+ break;
+ }
+ } else if (ao_scheme_number_typep(lt) && ao_scheme_number_typep(rt)) {
+ float l, r;
+
+ l = ao_scheme_poly_number(left);
+ r = ao_scheme_poly_number(right);
+
+ switch (op) {
+ case builtin_less:
+ if (!(l < r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_greater:
+ if (!(l > r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_less_equal:
+ if (!(l <= r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_greater_equal:
+ if (!(l >= r))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_equal:
+ if (!(l == r))
+ return _ao_scheme_bool_false;
+ default:
+ break;
+ }
+ } else if (lt == AO_SCHEME_STRING && rt == AO_SCHEME_STRING) {
+ int c = strcmp(ao_scheme_poly_string(left),
+ ao_scheme_poly_string(right));
+ switch (op) {
+ case builtin_less:
+ if (!(c < 0))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_greater:
+ if (!(c > 0))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_less_equal:
+ if (!(c <= 0))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_greater_equal:
+ if (!(c >= 0))
+ return _ao_scheme_bool_false;
+ break;
+ case builtin_equal:
+ if (!(c == 0))
+ return _ao_scheme_bool_false;
+ break;
+ default:
+ break;
+ }
+ } else
+ return _ao_scheme_bool_false;
+ }
+ left = right;
+ }
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_do_equal(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_compare(cons, builtin_equal);
+}
+
+ao_poly
+ao_scheme_do_less(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_compare(cons, builtin_less);
+}
+
+ao_poly
+ao_scheme_do_greater(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_compare(cons, builtin_greater);
+}
+
+ao_poly
+ao_scheme_do_less_equal(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_compare(cons, builtin_less_equal);
+}
+
+ao_poly
+ao_scheme_do_greater_equal(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_compare(cons, builtin_greater_equal);
+}
+
+ao_poly
+ao_scheme_do_list_to_string(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_list2d3estring, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_list2d3estring, cons, 0, AO_SCHEME_CONS, 1))
+ return AO_SCHEME_NIL;
+ return ao_scheme_string_pack(ao_scheme_poly_cons(ao_scheme_arg(cons, 0)));
+}
+
+ao_poly
+ao_scheme_do_string_to_list(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_string2d3elist, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_string2d3elist, cons, 0, AO_SCHEME_STRING, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_string_unpack(ao_scheme_poly_string(ao_scheme_arg(cons, 0)));
+}
+
+ao_poly
+ao_scheme_do_string_ref(struct ao_scheme_cons *cons)
+{
+ char *string;
+ int32_t ref;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_string2dref, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_string2dref, cons, 0, AO_SCHEME_STRING, 0))
+ return AO_SCHEME_NIL;
+ ref = ao_scheme_arg_int(_ao_scheme_atom_string2dref, cons, 1);
+ if (ref == AO_SCHEME_NOT_INTEGER)
+ return AO_SCHEME_NIL;
+ string = ao_scheme_poly_string(ao_scheme_arg(cons, 0));
+ while (*string && ref) {
+ ++string;
+ --ref;
+ }
+ if (!*string)
+ return ao_scheme_error(AO_SCHEME_INVALID, "%v: string %v ref %v invalid",
+ _ao_scheme_atom_string2dref,
+ ao_scheme_arg(cons, 0),
+ ao_scheme_arg(cons, 1));
+ return ao_scheme_int_poly(*string);
+}
+
+ao_poly
+ao_scheme_do_string_length(struct ao_scheme_cons *cons)
+{
+ char *string;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_string2dlength, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_string2dlength, cons, 0, AO_SCHEME_STRING, 0))
+ return AO_SCHEME_NIL;
+ string = ao_scheme_poly_string(ao_scheme_arg(cons, 0));
+ return ao_scheme_integer_poly(strlen(string));
+}
+
+ao_poly
+ao_scheme_do_string_copy(struct ao_scheme_cons *cons)
+{
+ char *string;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_string2dcopy, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_string2dcopy, cons, 0, AO_SCHEME_STRING, 0))
+ return AO_SCHEME_NIL;
+ string = ao_scheme_poly_string(ao_scheme_arg(cons, 0));
+ return ao_scheme_string_poly(ao_scheme_string_copy(string));
+}
+
+ao_poly
+ao_scheme_do_string_set(struct ao_scheme_cons *cons)
+{
+ char *string;
+ int32_t ref;
+ int32_t val;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_string2dset21, cons, 3, 3))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_string2dset21, cons, 0, AO_SCHEME_STRING, 0))
+ return AO_SCHEME_NIL;
+ string = ao_scheme_poly_string(ao_scheme_arg(cons, 0));
+ ref = ao_scheme_arg_int(_ao_scheme_atom_string2dset21, cons, 1);
+ if (ref == AO_SCHEME_NOT_INTEGER)
+ return AO_SCHEME_NIL;
+ val = ao_scheme_arg_int(_ao_scheme_atom_string2dset21, cons, 2);
+ if (val == AO_SCHEME_NOT_INTEGER)
+ return AO_SCHEME_NIL;
+ while (*string && ref) {
+ ++string;
+ --ref;
+ }
+ if (!*string)
+ return ao_scheme_error(AO_SCHEME_INVALID, "%v: string %v ref %v invalid",
+ _ao_scheme_atom_string2dset21,
+ ao_scheme_arg(cons, 0),
+ ao_scheme_arg(cons, 1));
+ *string = val;
+ return ao_scheme_int_poly(*string);
+}
+
+ao_poly
+ao_scheme_do_flush_output(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_flush2doutput, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ ao_scheme_os_flush();
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_do_led(struct ao_scheme_cons *cons)
+{
+ int32_t led;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ led = ao_scheme_arg_int(_ao_scheme_atom_led, cons, 0);
+ if (led == AO_SCHEME_NOT_INTEGER)
+ return AO_SCHEME_NIL;
+ led = ao_scheme_arg(cons, 0);
+ ao_scheme_os_led(ao_scheme_poly_int(led));
+ return led;
+}
+
+ao_poly
+ao_scheme_do_delay(struct ao_scheme_cons *cons)
+{
+ int32_t delay;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_delay, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ delay = ao_scheme_arg_int(_ao_scheme_atom_delay, cons, 0);
+ if (delay == AO_SCHEME_NOT_INTEGER)
+ return AO_SCHEME_NIL;
+ ao_scheme_os_delay(delay);
+ return delay;
+}
+
+ao_poly
+ao_scheme_do_eval(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_eval, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_sexpr;
+ return cons->car;
+}
+
+ao_poly
+ao_scheme_do_apply(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_apply, cons, 2, INT_MAX))
+ return AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_apply;
+ return ao_scheme_cons_poly(cons);
+}
+
+ao_poly
+ao_scheme_do_read(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_read, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_read();
+}
+
+ao_poly
+ao_scheme_do_collect(struct ao_scheme_cons *cons)
+{
+ int free;
+ (void) cons;
+ free = ao_scheme_collect(AO_SCHEME_COLLECT_FULL);
+ return ao_scheme_integer_poly(free);
+}
+
+ao_poly
+ao_scheme_do_nullp(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (ao_scheme_arg(cons, 0) == AO_SCHEME_NIL)
+ return _ao_scheme_bool_true;
+ else
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_not(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (ao_scheme_arg(cons, 0) == _ao_scheme_bool_false)
+ return _ao_scheme_bool_true;
+ else
+ return _ao_scheme_bool_false;
+}
+
+static ao_poly
+ao_scheme_do_typep(int type, struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (ao_scheme_poly_type(ao_scheme_arg(cons, 0)) == type)
+ return _ao_scheme_bool_true;
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_pairp(struct ao_scheme_cons *cons)
+{
+ ao_poly v;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ v = ao_scheme_arg(cons, 0);
+ if (v != AO_SCHEME_NIL && ao_scheme_poly_type(v) == AO_SCHEME_CONS)
+ return _ao_scheme_bool_true;
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_integerp(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ switch (ao_scheme_poly_type(ao_scheme_arg(cons, 0))) {
+ case AO_SCHEME_INT:
+ case AO_SCHEME_BIGINT:
+ return _ao_scheme_bool_true;
+ default:
+ return _ao_scheme_bool_false;
+ }
+}
+
+ao_poly
+ao_scheme_do_numberp(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ switch (ao_scheme_poly_type(ao_scheme_arg(cons, 0))) {
+ case AO_SCHEME_INT:
+ case AO_SCHEME_BIGINT:
+ case AO_SCHEME_FLOAT:
+ return _ao_scheme_bool_true;
+ default:
+ return _ao_scheme_bool_false;
+ }
+}
+
+ao_poly
+ao_scheme_do_stringp(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_do_typep(AO_SCHEME_STRING, cons);
+}
+
+ao_poly
+ao_scheme_do_symbolp(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_do_typep(AO_SCHEME_ATOM, cons);
+}
+
+ao_poly
+ao_scheme_do_booleanp(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_do_typep(AO_SCHEME_BOOL, cons);
+}
+
+ao_poly
+ao_scheme_do_procedurep(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ switch (ao_scheme_poly_type(ao_scheme_arg(cons, 0))) {
+ case AO_SCHEME_BUILTIN:
+ case AO_SCHEME_LAMBDA:
+ return _ao_scheme_bool_true;
+ default:
+ return _ao_scheme_bool_false;
+ }
+}
+
+/* This one is special -- a list is either nil or
+ * a 'proper' list with only cons cells
+ */
+ao_poly
+ao_scheme_do_listp(struct ao_scheme_cons *cons)
+{
+ ao_poly v;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_list3f, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ v = ao_scheme_arg(cons, 0);
+ for (;;) {
+ if (v == AO_SCHEME_NIL)
+ return _ao_scheme_bool_true;
+ if (ao_scheme_poly_type(v) != AO_SCHEME_CONS)
+ return _ao_scheme_bool_false;
+ v = ao_scheme_poly_cons(v)->cdr;
+ }
+}
+
+ao_poly
+ao_scheme_do_set_car(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_led, cons, 0, AO_SCHEME_CONS, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_poly_cons(ao_scheme_arg(cons, 0))->car = ao_scheme_arg(cons, 1);
+}
+
+ao_poly
+ao_scheme_do_set_cdr(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_led, cons, 0, AO_SCHEME_CONS, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_poly_cons(ao_scheme_arg(cons, 0))->cdr = ao_scheme_arg(cons, 1);
+}
+
+ao_poly
+ao_scheme_do_symbol_to_string(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_led, cons, 0, AO_SCHEME_ATOM, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_string_poly(ao_scheme_string_copy(ao_scheme_poly_atom(ao_scheme_arg(cons, 0))->name));
+}
+
+ao_poly
+ao_scheme_do_string_to_symbol(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_led, cons, 0, AO_SCHEME_STRING, 0))
+ return AO_SCHEME_NIL;
+
+ return ao_scheme_atom_poly(ao_scheme_atom_intern(ao_scheme_poly_string(ao_scheme_arg(cons, 0))));
+}
+
+ao_poly
+ao_scheme_do_read_char(struct ao_scheme_cons *cons)
+{
+ int c;
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ c = getchar();
+ return ao_scheme_int_poly(c);
+}
+
+ao_poly
+ao_scheme_do_write_char(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_led, cons, 0, AO_SCHEME_INT, 0))
+ return AO_SCHEME_NIL;
+ putchar(ao_scheme_poly_integer(ao_scheme_arg(cons, 0)));
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_do_exit(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ ao_scheme_exception |= AO_SCHEME_EXIT;
+ return _ao_scheme_bool_true;
+}
+
+ao_poly
+ao_scheme_do_current_jiffy(struct ao_scheme_cons *cons)
+{
+ int jiffy;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ jiffy = ao_scheme_os_jiffy();
+ return (ao_scheme_int_poly(jiffy));
+}
+
+ao_poly
+ao_scheme_do_current_second(struct ao_scheme_cons *cons)
+{
+ int second;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ second = ao_scheme_os_jiffy() / AO_SCHEME_JIFFIES_PER_SECOND;
+ return (ao_scheme_int_poly(second));
+}
+
+ao_poly
+ao_scheme_do_jiffies_per_second(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 0, 0))
+ return AO_SCHEME_NIL;
+ return (ao_scheme_int_poly(AO_SCHEME_JIFFIES_PER_SECOND));
+}
+
+ao_poly
+ao_scheme_do_vector(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_vector_poly(ao_scheme_list_to_vector(cons));
+}
+
+ao_poly
+ao_scheme_do_make_vector(struct ao_scheme_cons *cons)
+{
+ int32_t k;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_make2dvector, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ k = ao_scheme_arg_int(_ao_scheme_atom_make2dvector, cons, 0);
+ if (k == AO_SCHEME_NOT_INTEGER)
+ return AO_SCHEME_NIL;
+ return ao_scheme_vector_poly(ao_scheme_vector_alloc(k, ao_scheme_arg(cons, 1)));
+}
+
+ao_poly
+ao_scheme_do_vector_ref(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_vector2dref, cons, 2, 2))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_vector2dref, cons, 0, AO_SCHEME_VECTOR, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_vector_get(ao_scheme_arg(cons, 0), ao_scheme_arg(cons, 1));
+}
+
+ao_poly
+ao_scheme_do_vector_set(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_vector2dset21, cons, 3, 3))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_vector2dset21, cons, 0, AO_SCHEME_VECTOR, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_vector_set(ao_scheme_arg(cons, 0), ao_scheme_arg(cons, 1), ao_scheme_arg(cons, 2));
+}
+
+ao_poly
+ao_scheme_do_list_to_vector(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_list2d3evector, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_list2d3evector, cons, 0, AO_SCHEME_CONS, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_vector_poly(ao_scheme_list_to_vector(ao_scheme_poly_cons(ao_scheme_arg(cons, 0))));
+}
+
+ao_poly
+ao_scheme_do_vector_to_list(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_vector2d3elist, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_vector2d3elist, cons, 0, AO_SCHEME_VECTOR, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_cons_poly(ao_scheme_vector_to_list(ao_scheme_poly_vector(ao_scheme_arg(cons, 0))));
+}
+
+ao_poly
+ao_scheme_do_vector_length(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_vector2d3elist, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_vector2d3elist, cons, 0, AO_SCHEME_VECTOR, 0))
+ return AO_SCHEME_NIL;
+ return ao_scheme_integer_poly(ao_scheme_poly_vector(ao_scheme_arg(cons, 0))->length);
+}
+
+ao_poly
+ao_scheme_do_vectorp(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_do_typep(AO_SCHEME_VECTOR, cons);
+}
+
+#define AO_SCHEME_BUILTIN_FUNCS
+#include "ao_scheme_builtin.h"
--- /dev/null
+f_lambda eval
+f_lambda read
+nlambda lambda
+nlambda nlambda
+nlambda macro
+f_lambda car
+f_lambda cdr
+f_lambda cons
+f_lambda last
+f_lambda length
+f_lambda list_copy list-copy
+nlambda quote
+atom quasiquote
+atom unquote
+atom unquote_splicing unquote-splicing
+f_lambda set
+macro setq set!
+f_lambda def
+nlambda cond
+nlambda begin
+nlambda while
+f_lambda write
+f_lambda display
+f_lambda plus + string-append
+f_lambda minus -
+f_lambda times *
+f_lambda divide /
+f_lambda modulo modulo %
+f_lambda remainder
+f_lambda quotient
+f_lambda equal = eq? eqv?
+f_lambda less < string<?
+f_lambda greater > string>?
+f_lambda less_equal <= string<=?
+f_lambda greater_equal >= string>=?
+f_lambda flush_output flush-output
+f_lambda delay
+f_lambda led
+f_lambda save
+f_lambda restore
+f_lambda call_cc call-with-current-continuation call/cc
+f_lambda collect
+f_lambda nullp null?
+f_lambda not
+f_lambda listp list?
+f_lambda pairp pair?
+f_lambda integerp integer? exact? exact-integer?
+f_lambda numberp number? real?
+f_lambda booleanp boolean?
+f_lambda set_car set-car!
+f_lambda set_cdr set-cdr!
+f_lambda symbolp symbol?
+f_lambda list_to_string list->string
+f_lambda string_to_list string->list
+f_lambda symbol_to_string symbol->string
+f_lambda string_to_symbol string->symbol
+f_lambda stringp string?
+f_lambda string_ref string-ref
+f_lambda string_set string-set!
+f_lambda string_copy string-copy
+f_lambda string_length string-length
+f_lambda procedurep procedure?
+lambda apply
+f_lambda read_char read-char
+f_lambda write_char write-char
+f_lambda exit
+f_lambda current_jiffy current-jiffy
+f_lambda current_second current-second
+f_lambda jiffies_per_second jiffies-per-second
+f_lambda finitep finite?
+f_lambda infinitep infinite?
+f_lambda inexactp inexact?
+f_lambda sqrt
+f_lambda vector_ref vector-ref
+f_lambda vector_set vector-set!
+f_lambda vector
+f_lambda make_vector make-vector
+f_lambda list_to_vector list->vector
+f_lambda vector_to_list vector->list
+f_lambda vector_length vector-length
+f_lambda vectorp vector?
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+static void cons_mark(void *addr)
+{
+ struct ao_scheme_cons *cons = addr;
+
+ for (;;) {
+ ao_poly cdr = cons->cdr;
+
+ ao_scheme_poly_mark(cons->car, 1);
+ if (!cdr)
+ break;
+ if (ao_scheme_poly_type(cdr) != AO_SCHEME_CONS) {
+ ao_scheme_poly_mark(cdr, 1);
+ break;
+ }
+ cons = ao_scheme_poly_cons(cdr);
+ if (ao_scheme_mark_memory(&ao_scheme_cons_type, cons))
+ break;
+ }
+}
+
+static int cons_size(void *addr)
+{
+ (void) addr;
+ return sizeof (struct ao_scheme_cons);
+}
+
+static void cons_move(void *addr)
+{
+ struct ao_scheme_cons *cons = addr;
+
+ if (!cons)
+ return;
+
+ for (;;) {
+ ao_poly cdr;
+ struct ao_scheme_cons *c;
+ int ret;
+
+ MDBG_MOVE("cons_move start %d (%d, %d)\n",
+ MDBG_OFFSET(cons), MDBG_OFFSET(ao_scheme_ref(cons->car)), MDBG_OFFSET(ao_scheme_ref(cons->cdr)));
+ (void) ao_scheme_poly_move(&cons->car, 1);
+ cdr = cons->cdr;
+ if (!cdr)
+ break;
+ if (ao_scheme_poly_base_type(cdr) != AO_SCHEME_CONS) {
+ (void) ao_scheme_poly_move(&cons->cdr, 0);
+ break;
+ }
+ c = ao_scheme_poly_cons(cdr);
+ ret = ao_scheme_move_memory(&ao_scheme_cons_type, (void **) &c);
+ if (c != ao_scheme_poly_cons(cons->cdr))
+ cons->cdr = ao_scheme_cons_poly(c);
+ MDBG_MOVE("cons_move end %d (%d, %d)\n",
+ MDBG_OFFSET(cons), MDBG_OFFSET(ao_scheme_ref(cons->car)), MDBG_OFFSET(ao_scheme_ref(cons->cdr)));
+ if (ret)
+ break;
+ cons = c;
+ }
+}
+
+const struct ao_scheme_type ao_scheme_cons_type = {
+ .mark = cons_mark,
+ .size = cons_size,
+ .move = cons_move,
+ .name = "cons",
+};
+
+struct ao_scheme_cons *ao_scheme_cons_free_list;
+
+struct ao_scheme_cons *
+ao_scheme_cons_cons(ao_poly car, ao_poly cdr)
+{
+ struct ao_scheme_cons *cons;
+
+ if (ao_scheme_cons_free_list) {
+ cons = ao_scheme_cons_free_list;
+ ao_scheme_cons_free_list = ao_scheme_poly_cons(cons->cdr);
+ } else {
+ ao_scheme_poly_stash(0, car);
+ ao_scheme_poly_stash(1, cdr);
+ cons = ao_scheme_alloc(sizeof (struct ao_scheme_cons));
+ cdr = ao_scheme_poly_fetch(1);
+ car = ao_scheme_poly_fetch(0);
+ if (!cons)
+ return NULL;
+ }
+ cons->car = car;
+ cons->cdr = cdr;
+ return cons;
+}
+
+struct ao_scheme_cons *
+ao_scheme_cons_cdr(struct ao_scheme_cons *cons)
+{
+ ao_poly cdr = cons->cdr;
+ if (cdr == AO_SCHEME_NIL)
+ return NULL;
+ if (ao_scheme_poly_type(cdr) != AO_SCHEME_CONS) {
+ (void) ao_scheme_error(AO_SCHEME_INVALID, "improper cdr %v", cdr);
+ return NULL;
+ }
+ return ao_scheme_poly_cons(cdr);
+}
+
+ao_poly
+ao_scheme__cons(ao_poly car, ao_poly cdr)
+{
+ return ao_scheme_cons_poly(ao_scheme_cons_cons(car, cdr));
+}
+
+struct ao_scheme_cons *
+ao_scheme_cons_copy(struct ao_scheme_cons *cons)
+{
+ struct ao_scheme_cons *head = NULL;
+ struct ao_scheme_cons *tail = NULL;
+
+ while (cons) {
+ struct ao_scheme_cons *new;
+ ao_poly cdr;
+
+ ao_scheme_cons_stash(0, cons);
+ ao_scheme_cons_stash(1, head);
+ ao_scheme_poly_stash(0, ao_scheme_cons_poly(tail));
+ new = ao_scheme_alloc(sizeof (struct ao_scheme_cons));
+ cons = ao_scheme_cons_fetch(0);
+ head = ao_scheme_cons_fetch(1);
+ tail = ao_scheme_poly_cons(ao_scheme_poly_fetch(0));
+ if (!new)
+ return AO_SCHEME_NIL;
+ new->car = cons->car;
+ new->cdr = AO_SCHEME_NIL;
+ if (!head)
+ head = new;
+ else
+ tail->cdr = ao_scheme_cons_poly(new);
+ tail = new;
+ cdr = cons->cdr;
+ if (ao_scheme_poly_type(cdr) != AO_SCHEME_CONS) {
+ tail->cdr = cdr;
+ break;
+ }
+ cons = ao_scheme_poly_cons(cdr);
+ }
+ return head;
+}
+
+void
+ao_scheme_cons_free(struct ao_scheme_cons *cons)
+{
+#if DBG_FREE_CONS
+ ao_scheme_cons_check(cons);
+#endif
+ while (cons) {
+ ao_poly cdr = cons->cdr;
+ cons->cdr = ao_scheme_cons_poly(ao_scheme_cons_free_list);
+ ao_scheme_cons_free_list = cons;
+ cons = ao_scheme_poly_cons(cdr);
+ }
+}
+
+void
+ao_scheme_cons_write(ao_poly c)
+{
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(c);
+ ao_poly cdr;
+ int first = 1;
+
+ printf("(");
+ while (cons) {
+ if (!first)
+ printf(" ");
+ ao_scheme_poly_write(cons->car);
+ cdr = cons->cdr;
+ if (cdr == c) {
+ printf(" ...");
+ break;
+ }
+ if (ao_scheme_poly_type(cdr) == AO_SCHEME_CONS) {
+ cons = ao_scheme_poly_cons(cdr);
+ first = 0;
+ } else {
+ printf(" . ");
+ ao_scheme_poly_write(cdr);
+ cons = NULL;
+ }
+ }
+ printf(")");
+}
+
+void
+ao_scheme_cons_display(ao_poly c)
+{
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(c);
+ ao_poly cdr;
+
+ while (cons) {
+ ao_scheme_poly_display(cons->car);
+ cdr = cons->cdr;
+ if (cdr == c) {
+ printf("...");
+ break;
+ }
+ if (ao_scheme_poly_type(cdr) == AO_SCHEME_CONS)
+ cons = ao_scheme_poly_cons(cdr);
+ else {
+ ao_scheme_poly_display(cdr);
+ cons = NULL;
+ }
+ }
+}
+
+int
+ao_scheme_cons_length(struct ao_scheme_cons *cons)
+{
+ int len = 0;
+ while (cons) {
+ len++;
+ cons = ao_scheme_cons_cdr(cons);
+ }
+ return len;
+}
--- /dev/null
+;
+; Copyright © 2016 Keith Packard <keithp@keithp.com>
+;
+; This program is free software; you can redistribute it and/or modify
+; it under the terms of the GNU 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
+; General Public License for more details.
+;
+; Lisp code placed in ROM
+
+ ; return a list containing all of the arguments
+(def (quote list) (lambda l l))
+
+(def (quote def!)
+ (macro (name value)
+ (list
+ def
+ (list quote name)
+ value)
+ )
+ )
+
+(begin
+ (def! append
+ (lambda args
+ (def! append-list
+ (lambda (a b)
+ (cond ((null? a) b)
+ (else (cons (car a) (append-list (cdr a) b)))
+ )
+ )
+ )
+
+ (def! append-lists
+ (lambda (lists)
+ (cond ((null? lists) lists)
+ ((null? (cdr lists)) (car lists))
+ (else (append-list (car lists) (append-lists (cdr lists))))
+ )
+ )
+ )
+ (append-lists args)
+ )
+ )
+ 'append)
+
+(append '(a b c) '(d e f) '(g h i))
+
+ ; boolean operators
+
+(begin
+ (def! or
+ (macro l
+ (def! _or
+ (lambda (l)
+ (cond ((null? l) #f)
+ ((null? (cdr l))
+ (car l))
+ (else
+ (list
+ cond
+ (list
+ (car l))
+ (list
+ 'else
+ (_or (cdr l))
+ )
+ )
+ )
+ )
+ )
+ )
+ (_or l)))
+ 'or)
+
+ ; execute to resolve macros
+
+(or #f #t)
+
+(begin
+ (def! and
+ (macro l
+ (def! _and
+ (lambda (l)
+ (cond ((null? l) #t)
+ ((null? (cdr l))
+ (car l))
+ (else
+ (list
+ cond
+ (list
+ (car l)
+ (_and (cdr l))
+ )
+ )
+ )
+ )
+ )
+ )
+ (_and l)
+ )
+ )
+ 'and)
+
+ ; execute to resolve macros
+
+(and #t #f)
+
+(begin
+ (def! quasiquote
+ (macro (x)
+ (def! constant?
+ ; A constant value is either a pair starting with quote,
+ ; or anything which is neither a pair nor a symbol
+
+ (lambda (exp)
+ (cond ((pair? exp)
+ (eq? (car exp) 'quote)
+ )
+ (else
+ (not (symbol? exp))
+ )
+ )
+ )
+ )
+ (def! combine-skeletons
+ (lambda (left right exp)
+ (cond
+ ((and (constant? left) (constant? right))
+ (cond ((and (eqv? (eval left) (car exp))
+ (eqv? (eval right) (cdr exp)))
+ (list 'quote exp)
+ )
+ (else
+ (list 'quote (cons (eval left) (eval right)))
+ )
+ )
+ )
+ ((null? right)
+ (list 'list left)
+ )
+ ((and (pair? right) (eq? (car right) 'list))
+ (cons 'list (cons left (cdr right)))
+ )
+ (else
+ (list 'cons left right)
+ )
+ )
+ )
+ )
+
+ (def! expand-quasiquote
+ (lambda (exp nesting)
+ (cond
+
+ ; non cons -- constants
+ ; themselves, others are
+ ; quoted
+
+ ((not (pair? exp))
+ (cond ((constant? exp)
+ exp
+ )
+ (else
+ (list 'quote exp)
+ )
+ )
+ )
+
+ ; check for an unquote exp and
+ ; add the param unquoted
+
+ ((and (eq? (car exp) 'unquote) (= (length exp) 2))
+ (cond ((= nesting 0)
+ (car (cdr exp))
+ )
+ (else
+ (combine-skeletons ''unquote
+ (expand-quasiquote (cdr exp) (- nesting 1))
+ exp))
+ )
+ )
+
+ ; nested quasi-quote --
+ ; construct the right
+ ; expression
+
+ ((and (eq? (car exp) 'quasiquote) (= (length exp) 2))
+ (combine-skeletons ''quasiquote
+ (expand-quasiquote (cdr exp) (+ nesting 1))
+ exp))
+
+ ; check for an
+ ; unquote-splicing member,
+ ; compute the expansion of the
+ ; value and append the rest of
+ ; the quasiquote result to it
+
+ ((and (pair? (car exp))
+ (eq? (car (car exp)) 'unquote-splicing)
+ (= (length (car exp)) 2))
+ (cond ((= nesting 0)
+ (list 'append (car (cdr (car exp)))
+ (expand-quasiquote (cdr exp) nesting))
+ )
+ (else
+ (combine-skeletons (expand-quasiquote (car exp) (- nesting 1))
+ (expand-quasiquote (cdr exp) nesting)
+ exp))
+ )
+ )
+
+ ; for other lists, just glue
+ ; the expansion of the first
+ ; element to the expansion of
+ ; the rest of the list
+
+ (else (combine-skeletons (expand-quasiquote (car exp) nesting)
+ (expand-quasiquote (cdr exp) nesting)
+ exp)
+ )
+ )
+ )
+ )
+ (def! result (expand-quasiquote x 0))
+ result
+ )
+ )
+ 'quasiquote)
+
+ ;
+ ; Define a variable without returning the value
+ ; Useful when defining functions to avoid
+ ; having lots of output generated.
+ ;
+ ; Also accepts the alternate
+ ; form for defining lambdas of
+ ; (define (name x y z) sexprs ...)
+ ;
+
+(begin
+ (def! define
+ (macro (first . rest)
+ ; check for alternate lambda definition form
+
+ (cond ((list? first)
+ (set! rest
+ (append
+ (list
+ 'lambda
+ (cdr first))
+ rest))
+ (set! first (car first))
+ )
+ (else
+ (set! rest (car rest))
+ )
+ )
+ (def! result `(,begin
+ (,def (,quote ,first) ,rest)
+ (,quote ,first))
+ )
+ result
+ )
+ )
+ 'define
+ )
+
+ ; basic list accessors
+
+(define (caar l) (car (car l)))
+
+(define (cadr l) (car (cdr l)))
+
+(define (cdar l) (cdr (car l)))
+
+(define (caddr l) (car (cdr (cdr l))))
+
+ ; (if <condition> <if-true>)
+ ; (if <condition> <if-true> <if-false)
+
+(define if
+ (macro (test . args)
+ (cond ((null? (cdr args))
+ `(cond (,test ,(car args)))
+ )
+ (else
+ `(cond (,test ,(car args))
+ (else ,(cadr args)))
+ )
+ )
+ )
+ )
+
+(if (> 3 2) 'yes)
+(if (> 3 2) 'yes 'no)
+(if (> 2 3) 'no 'yes)
+(if (> 2 3) 'no)
+
+ ; simple math operators
+
+(define zero? (macro (value) `(eq? ,value 0)))
+
+(zero? 1)
+(zero? 0)
+(zero? "hello")
+
+(define positive? (macro (value) `(> ,value 0)))
+
+(positive? 12)
+(positive? -12)
+
+(define negative? (macro (value) `(< ,value 0)))
+
+(negative? 12)
+(negative? -12)
+
+(define (abs x) (if (>= x 0) x (- x)))
+
+(abs 12)
+(abs -12)
+
+(define max (lambda (first . rest)
+ (while (not (null? rest))
+ (cond ((< first (car rest))
+ (set! first (car rest)))
+ )
+ (set! rest (cdr rest))
+ )
+ first)
+ )
+
+(max 1 2 3)
+(max 3 2 1)
+
+(define min (lambda (first . rest)
+ (while (not (null? rest))
+ (cond ((> first (car rest))
+ (set! first (car rest)))
+ )
+ (set! rest (cdr rest))
+ )
+ first)
+ )
+
+(min 1 2 3)
+(min 3 2 1)
+
+(define (even? x) (zero? (% x 2)))
+
+(even? 2)
+(even? -2)
+(even? 3)
+(even? -1)
+
+(define (odd? x) (not (even? x)))
+
+(odd? 2)
+(odd? -2)
+(odd? 3)
+(odd? -1)
+
+
+(define (list-tail x k)
+ (if (zero? k)
+ x
+ (list-tail (cdr x (- k 1)))
+ )
+ )
+
+(define (list-ref x k)
+ (car (list-tail x k))
+ )
+
+ ; define a set of local
+ ; variables all at once and
+ ; then evaluate a list of
+ ; sexprs
+ ;
+ ; (let (var-defines) sexprs)
+ ;
+ ; where var-defines are either
+ ;
+ ; (name value)
+ ;
+ ; or
+ ;
+ ; (name)
+ ;
+ ; e.g.
+ ;
+ ; (let ((x 1) (y)) (set! y (+ x 1)) y)
+
+(define let
+ (macro (vars . exprs)
+ (define (make-names vars)
+ (cond ((not (null? vars))
+ (cons (car (car vars))
+ (make-names (cdr vars))))
+ (else ())
+ )
+ )
+
+ ; the parameters to the lambda is a list
+ ; of nils of the right length
+
+ (define (make-vals vars)
+ (cond ((not (null? vars))
+ (cons (cond ((null? (cdr (car vars))) ())
+ (else
+ (car (cdr (car vars))))
+ )
+ (make-vals (cdr vars))))
+ (else ())
+ )
+ )
+ ; prepend the set operations
+ ; to the expressions
+
+ ; build the lambda.
+
+ `((lambda ,(make-names vars) ,@exprs) ,@(make-vals vars))
+ )
+ )
+
+
+(let ((x 1) (y)) (set! y 2) (+ x y))
+
+ ; define a set of local
+ ; variables one at a time and
+ ; then evaluate a list of
+ ; sexprs
+ ;
+ ; (let* (var-defines) sexprs)
+ ;
+ ; where var-defines are either
+ ;
+ ; (name value)
+ ;
+ ; or
+ ;
+ ; (name)
+ ;
+ ; e.g.
+ ;
+ ; (let* ((x 1) (y)) (set! y (+ x 1)) y)
+
+(define let*
+ (macro (vars . exprs)
+
+ ;
+ ; make the list of names in the let
+ ;
+
+ (define (make-names vars)
+ (cond ((not (null? vars))
+ (cons (car (car vars))
+ (make-names (cdr vars))))
+ (else ())
+ )
+ )
+
+ ; the set of expressions is
+ ; the list of set expressions
+ ; pre-pended to the
+ ; expressions to evaluate
+
+ (define (make-exprs vars exprs)
+ (cond ((null? vars) exprs)
+ (else
+ (cons
+ (list set
+ (list quote
+ (car (car vars))
+ )
+ (cond ((null? (cdr (car vars))) ())
+ (else (cadr (car vars))))
+ )
+ (make-exprs (cdr vars) exprs)
+ )
+ )
+ )
+ )
+
+ ; the parameters to the lambda is a list
+ ; of nils of the right length
+
+ (define (make-nils vars)
+ (cond ((null? vars) ())
+ (else (cons () (make-nils (cdr vars))))
+ )
+ )
+ ; build the lambda.
+
+ `((lambda ,(make-names vars) ,@(make-exprs vars exprs)) ,@(make-nils vars))
+ )
+ )
+
+(let* ((x 1) (y x)) (+ x y))
+
+(define when (macro (test . l) `(cond (,test ,@l))))
+
+(when #t (write 'when))
+
+(define unless (macro (test . l) `(cond ((not ,test) ,@l))))
+
+(unless #f (write 'unless))
+
+(define (reverse list)
+ (let ((result ()))
+ (while (not (null? list))
+ (set! result (cons (car list) result))
+ (set! list (cdr list))
+ )
+ result)
+ )
+
+(reverse '(1 2 3))
+
+(define (list-tail x k)
+ (if (zero? k)
+ x
+ (list-tail (cdr x) (- k 1))))
+
+(list-tail '(1 2 3) 2)
+
+(define (list-ref x k) (car (list-tail x k)))
+
+(list-ref '(1 2 3) 2)
+
+ ; recursive equality
+
+(define (equal? a b)
+ (cond ((eq? a b) #t)
+ ((and (pair? a) (pair? b))
+ (and (equal? (car a) (car b))
+ (equal? (cdr a) (cdr b)))
+ )
+ (else #f)
+ )
+ )
+
+(equal? '(a b c) '(a b c))
+(equal? '(a b c) '(a b b))
+
+(define member (lambda (obj list . test?)
+ (cond ((null? list)
+ #f
+ )
+ (else
+ (if (null? test?) (set! test? equal?) (set! test? (car test?)))
+ (if (test? obj (car list))
+ list
+ (member obj (cdr list) test?))
+ )
+ )
+ )
+ )
+
+(member '(2) '((1) (2) (3)))
+
+(member '(4) '((1) (2) (3)))
+
+(define (memq obj list) (member obj list eq?))
+
+(memq 2 '(1 2 3))
+
+(memq 4 '(1 2 3))
+
+(memq '(2) '((1) (2) (3)))
+
+(define (memv obj list) (member obj list eqv?))
+
+(memv 2 '(1 2 3))
+
+(memv 4 '(1 2 3))
+
+(memv '(2) '((1) (2) (3)))
+
+(define (_assoc obj list test?)
+ (if (null? list)
+ #f
+ (if (test? obj (caar list))
+ (car list)
+ (_assoc obj (cdr list) test?)
+ )
+ )
+ )
+
+(define (assq obj list) (_assoc obj list eq?))
+(define (assv obj list) (_assoc obj list eqv?))
+(define (assoc obj list) (_assoc obj list equal?))
+
+(assq 'a '((a 1) (b 2) (c 3)))
+(assv 'b '((a 1) (b 2) (c 3)))
+(assoc '(c) '((a 1) (b 2) ((c) 3)))
+
+(define char? integer?)
+
+(char? #\q)
+(char? "h")
+
+(define (char-upper-case? c) (<= #\A c #\Z))
+
+(char-upper-case? #\a)
+(char-upper-case? #\B)
+(char-upper-case? #\0)
+(char-upper-case? #\space)
+
+(define (char-lower-case? c) (<= #\a c #\a))
+
+(char-lower-case? #\a)
+(char-lower-case? #\B)
+(char-lower-case? #\0)
+(char-lower-case? #\space)
+
+(define (char-alphabetic? c) (or (char-upper-case? c) (char-lower-case? c)))
+
+(char-alphabetic? #\a)
+(char-alphabetic? #\B)
+(char-alphabetic? #\0)
+(char-alphabetic? #\space)
+
+(define (char-numeric? c) (<= #\0 c #\9))
+
+(char-numeric? #\a)
+(char-numeric? #\B)
+(char-numeric? #\0)
+(char-numeric? #\space)
+
+(define (char-whitespace? c) (or (<= #\tab c #\return) (= #\space c)))
+
+(char-whitespace? #\a)
+(char-whitespace? #\B)
+(char-whitespace? #\0)
+(char-whitespace? #\space)
+
+(define (char->integer c) c)
+(define integer->char char->integer)
+
+(define (char-upcase c) (if (char-lower-case? c) (+ c (- #\A #\a)) c))
+
+(char-upcase #\a)
+(char-upcase #\B)
+(char-upcase #\0)
+(char-upcase #\space)
+
+(define (char-downcase c) (if (char-upper-case? c) (+ c (- #\a #\A)) c))
+
+(char-downcase #\a)
+(char-downcase #\B)
+(char-downcase #\0)
+(char-downcase #\space)
+
+(define string (lambda chars (list->string chars)))
+
+(display "apply\n")
+(apply cons '(a b))
+
+(define map
+ (lambda (proc . lists)
+ (define (args lists)
+ (cond ((null? lists) ())
+ (else
+ (cons (caar lists) (args (cdr lists)))
+ )
+ )
+ )
+ (define (next lists)
+ (cond ((null? lists) ())
+ (else
+ (cons (cdr (car lists)) (next (cdr lists)))
+ )
+ )
+ )
+ (define (domap lists)
+ (cond ((null? (car lists)) ())
+ (else
+ (cons (apply proc (args lists)) (domap (next lists)))
+ )
+ )
+ )
+ (domap lists)
+ )
+ )
+
+(map cadr '((a b) (d e) (g h)))
+
+(define for-each (lambda (proc . lists)
+ (apply map proc lists)
+ #t))
+
+(for-each display '("hello" " " "world" "\n"))
+
+(define (_string-ml strings)
+ (if (null? strings) ()
+ (cons (string->list (car strings)) (_string-ml (cdr strings)))
+ )
+ )
+
+(define string-map (lambda (proc . strings)
+ (list->string (apply map proc (_string-ml strings))))))
+
+(string-map (lambda (x) (+ 1 x)) "HAL")
+
+(define string-for-each (lambda (proc . strings)
+ (apply for-each proc (_string-ml strings))))
+
+(string-for-each write-char "IBM\n")
+
+(define (newline) (write-char #\newline))
+
+(newline)
+
+(call-with-current-continuation
+ (lambda (exit)
+ (for-each (lambda (x)
+ (write "test" x)
+ (if (negative? x)
+ (exit x)))
+ '(54 0 37 -3 245 19))
+ #t))
+
+
+ ; `q -> (quote q)
+ ; `(q) -> (append (quote (q)))
+ ; `(a ,(+ 1 2)) -> (append (quote (a)) (list (+ 1 2)))
+ ; `(a ,@(list 1 2 3) -> (append (quote (a)) (list 1 2 3))
+
+
+
+`(hello ,(+ 1 2) ,@(list 1 2 3) `foo)
+
+
+(define repeat
+ (macro (count . rest)
+ (define counter '__count__)
+ (cond ((pair? count)
+ (set! counter (car count))
+ (set! count (cadr count))
+ )
+ )
+ `(let ((,counter 0)
+ (__max__ ,count)
+ )
+ (while (< ,counter __max__)
+ ,@rest
+ (set! ,counter (+ ,counter 1))
+ )
+ )
+ )
+ )
+
+(repeat 2 (write 'hello))
+(repeat (x 3) (write 'goodbye x))
+
+(define case
+ (macro (test . l)
+ ; construct the body of the
+ ; case, dealing with the
+ ; lambda version ( => lambda)
+
+ (define (_unarrow l)
+ (cond ((null? l) l)
+ ((eq? (car l) '=>) `(( ,(cadr l) __key__)))
+ (else l))
+ )
+
+ ; Build the case elements, which is
+ ; simply a list of cond clauses
+
+ (define (_case l)
+
+ (cond ((null? l) ())
+
+ ; else case
+
+ ((eq? (caar l) 'else)
+ `((else ,@(_unarrow (cdr (car l))))))
+
+ ; regular case
+
+ (else
+ (cons
+ `((eqv? ,(caar l) __key__)
+ ,@(_unarrow (cdr (car l))))
+ (_case (cdr l)))
+ )
+ )
+ )
+
+ ; now construct the overall
+ ; expression, using a lambda
+ ; to hold the computed value
+ ; of the test expression
+
+ `((lambda (__key__)
+ (cond ,@(_case l))) ,test)
+ )
+ )
+
+(case 12 (1 "one") (2 "two") (3 => (lambda (x) (write "the value is" x))) (12 "twelve") (else "else"))
+
+;(define number->string (lambda (arg . opt)
+; (let ((base (if (null? opt) 10 (car opt)))
+ ;
+;
+
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include <stdarg.h>
+
+void
+ao_scheme_error_poly(char *name, ao_poly poly, ao_poly last)
+{
+ int first = 1;
+ printf("\t\t%s(", name);
+ if (ao_scheme_poly_type(poly) == AO_SCHEME_CONS) {
+ if (poly) {
+ while (poly) {
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(poly);
+ if (!first)
+ printf("\t\t ");
+ else
+ first = 0;
+ ao_scheme_poly_write(cons->car);
+ printf("\n");
+ if (poly == last)
+ break;
+ poly = cons->cdr;
+ }
+ printf("\t\t )\n");
+ } else
+ printf(")\n");
+ } else {
+ ao_scheme_poly_write(poly);
+ printf("\n");
+ }
+}
+
+static void tabs(int indent)
+{
+ while (indent--)
+ printf("\t");
+}
+
+void
+ao_scheme_error_frame(int indent, char *name, struct ao_scheme_frame *frame)
+{
+ int f;
+
+ tabs(indent);
+ printf ("%s{", name);
+ if (frame) {
+ struct ao_scheme_frame_vals *vals = ao_scheme_poly_frame_vals(frame->vals);
+ if (frame->type & AO_SCHEME_FRAME_PRINT)
+ printf("recurse...");
+ else {
+ frame->type |= AO_SCHEME_FRAME_PRINT;
+ for (f = 0; f < frame->num; f++) {
+ if (f != 0) {
+ tabs(indent);
+ printf(" ");
+ }
+ ao_scheme_poly_write(vals->vals[f].atom);
+ printf(" = ");
+ ao_scheme_poly_write(vals->vals[f].val);
+ printf("\n");
+ }
+ if (frame->prev)
+ ao_scheme_error_frame(indent + 1, "prev: ", ao_scheme_poly_frame(frame->prev));
+ frame->type &= ~AO_SCHEME_FRAME_PRINT;
+ }
+ tabs(indent);
+ printf(" }\n");
+ } else
+ printf ("}\n");
+}
+
+void
+ao_scheme_vprintf(char *format, va_list args)
+{
+ char c;
+
+ while ((c = *format++) != '\0') {
+ if (c == '%') {
+ switch (c = *format++) {
+ case 'v':
+ ao_scheme_poly_write((ao_poly) va_arg(args, unsigned int));
+ break;
+ case 'p':
+ printf("%p", va_arg(args, void *));
+ break;
+ case 'd':
+ printf("%d", va_arg(args, int));
+ break;
+ case 's':
+ printf("%s", va_arg(args, char *));
+ break;
+ default:
+ putchar(c);
+ break;
+ }
+ } else
+ putchar(c);
+ }
+}
+
+void
+ao_scheme_printf(char *format, ...)
+{
+ va_list args;
+ va_start(args, format);
+ ao_scheme_vprintf(format, args);
+ va_end(args);
+}
+
+ao_poly
+ao_scheme_error(int error, char *format, ...)
+{
+ va_list args;
+
+ ao_scheme_exception |= error;
+ va_start(args, format);
+ ao_scheme_vprintf(format, args);
+ putchar('\n');
+ va_end(args);
+ ao_scheme_printf("Value: %v\n", ao_scheme_v);
+ ao_scheme_printf("Frame: %v\n", ao_scheme_frame_poly(ao_scheme_frame_current));
+ printf("Stack:\n");
+ ao_scheme_stack_write(ao_scheme_stack_poly(ao_scheme_stack));
+ ao_scheme_printf("Globals: %v\n", ao_scheme_frame_poly(ao_scheme_frame_global));
+ return AO_SCHEME_NIL;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include <assert.h>
+
+struct ao_scheme_stack *ao_scheme_stack;
+ao_poly ao_scheme_v;
+uint8_t ao_scheme_skip_cons_free;
+
+ao_poly
+ao_scheme_set_cond(struct ao_scheme_cons *c)
+{
+ ao_scheme_stack->state = eval_cond;
+ ao_scheme_stack->sexprs = ao_scheme_cons_poly(c);
+ return AO_SCHEME_NIL;
+}
+
+static int
+func_type(ao_poly func)
+{
+ if (func == AO_SCHEME_NIL)
+ return ao_scheme_error(AO_SCHEME_INVALID, "func is nil");
+ switch (ao_scheme_poly_type(func)) {
+ case AO_SCHEME_BUILTIN:
+ return ao_scheme_poly_builtin(func)->args & AO_SCHEME_FUNC_MASK;
+ case AO_SCHEME_LAMBDA:
+ return ao_scheme_poly_lambda(func)->args;
+ case AO_SCHEME_STACK:
+ return AO_SCHEME_FUNC_LAMBDA;
+ default:
+ ao_scheme_error(AO_SCHEME_INVALID, "not a func");
+ return -1;
+ }
+}
+
+/*
+ * Flattened eval to avoid stack issues
+ */
+
+/*
+ * Evaluate an s-expression
+ *
+ * For a list, evaluate all of the elements and
+ * then execute the resulting function call.
+ *
+ * Each element of the list is evaluated in
+ * a clean stack context.
+ *
+ * The current stack state is set to 'formal' so that
+ * when the evaluation is complete, the value
+ * will get appended to the values list.
+ *
+ * For other types, compute the value directly.
+ */
+
+static int
+ao_scheme_eval_sexpr(void)
+{
+ DBGI("sexpr: %v\n", ao_scheme_v);
+ switch (ao_scheme_poly_type(ao_scheme_v)) {
+ case AO_SCHEME_CONS:
+ if (ao_scheme_v == AO_SCHEME_NIL) {
+ if (!ao_scheme_stack->values) {
+ /*
+ * empty list evaluates to empty list
+ */
+ ao_scheme_v = AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_val;
+ } else {
+ /*
+ * done with arguments, go execute it
+ */
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->values)->car;
+ ao_scheme_stack->state = eval_exec;
+ }
+ } else {
+ if (!ao_scheme_stack->values)
+ ao_scheme_stack->list = ao_scheme_v;
+ /*
+ * Evaluate another argument and then switch
+ * to 'formal' to add the value to the values
+ * list
+ */
+ ao_scheme_stack->sexprs = ao_scheme_v;
+ ao_scheme_stack->state = eval_formal;
+ if (!ao_scheme_stack_push())
+ return 0;
+ /*
+ * push will reset the state to 'sexpr', which
+ * will evaluate the expression
+ */
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_v)->car;
+ }
+ break;
+ case AO_SCHEME_ATOM:
+ DBGI("..frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ ao_scheme_v = ao_scheme_atom_get(ao_scheme_v);
+ /* fall through */
+ default:
+ ao_scheme_stack->state = eval_val;
+ break;
+ }
+ DBGI(".. result "); DBG_POLY(ao_scheme_v); DBG("\n");
+ return 1;
+}
+
+/*
+ * A value has been computed.
+ *
+ * If the value was computed from a macro,
+ * then we want to reset the current context
+ * to evaluate the macro result again.
+ *
+ * If not a macro, then pop the stack.
+ * If the stack is empty, we're done.
+ * Otherwise, the stack will contain
+ * the next state.
+ */
+
+static int
+ao_scheme_eval_val(void)
+{
+ DBGI("val: "); DBG_POLY(ao_scheme_v); DBG("\n");
+ /*
+ * Value computed, pop the stack
+ * to figure out what to do with the value
+ */
+ ao_scheme_stack_pop();
+ DBGI("..state %d\n", ao_scheme_stack ? ao_scheme_stack->state : -1);
+ return 1;
+}
+
+/*
+ * A formal has been computed.
+ *
+ * If this is the first formal, then check to see if we've got a
+ * lamda, macro or nlambda.
+ *
+ * For lambda, go compute another formal. This will terminate
+ * when the sexpr state sees nil.
+ *
+ * For macro/nlambda, we're done, so move the sexprs into the values
+ * and go execute it.
+ *
+ * Macros have an additional step of saving a stack frame holding the
+ * macro value execution context, which then gets the result of the
+ * macro to run
+ */
+
+static int
+ao_scheme_eval_formal(void)
+{
+ ao_poly formal;
+ struct ao_scheme_stack *prev;
+
+ DBGI("formal: "); DBG_POLY(ao_scheme_v); DBG("\n");
+
+ /* Check what kind of function we've got */
+ if (!ao_scheme_stack->values) {
+ switch (func_type(ao_scheme_v)) {
+ case AO_SCHEME_FUNC_LAMBDA:
+ DBGI(".. lambda\n");
+ break;
+ case AO_SCHEME_FUNC_MACRO:
+ /* Evaluate the result once more */
+ ao_scheme_stack->state = eval_macro;
+ if (!ao_scheme_stack_push())
+ return 0;
+
+ /* After the function returns, take that
+ * value and re-evaluate it
+ */
+ prev = ao_scheme_poly_stack(ao_scheme_stack->prev);
+ ao_scheme_stack->sexprs = prev->sexprs;
+
+ DBGI(".. start macro\n");
+ DBGI("\t.. sexprs "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI("\t.. values "); DBG_POLY(ao_scheme_stack->values); DBG("\n");
+ DBG_FRAMES();
+
+ /* fall through ... */
+ case AO_SCHEME_FUNC_NLAMBDA:
+ DBGI(".. nlambda or macro\n");
+
+ /* use the raw sexprs as values */
+ ao_scheme_stack->values = ao_scheme_stack->sexprs;
+ ao_scheme_stack->values_tail = AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_exec;
+
+ /* ready to execute now */
+ return 1;
+ case -1:
+ return 0;
+ }
+ }
+
+ /* Append formal to list of values */
+ formal = ao_scheme__cons(ao_scheme_v, AO_SCHEME_NIL);
+ if (!formal)
+ return 0;
+
+ if (ao_scheme_stack->values_tail)
+ ao_scheme_poly_cons(ao_scheme_stack->values_tail)->cdr = formal;
+ else
+ ao_scheme_stack->values = formal;
+ ao_scheme_stack->values_tail = formal;
+
+ DBGI(".. values "); DBG_POLY(ao_scheme_stack->values); DBG("\n");
+
+ /*
+ * Step to the next argument, if this is last, then
+ * 'sexpr' will end up switching to 'exec'
+ */
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->cdr;
+
+ ao_scheme_stack->state = eval_sexpr;
+
+ DBGI(".. "); DBG_POLY(ao_scheme_v); DBG("\n");
+ return 1;
+}
+
+/*
+ * Start executing a function call
+ *
+ * Most builtins are easy, just call the function.
+ * 'cond' is magic; it sticks the list of clauses
+ * in 'sexprs' and switches to 'cond' state. That
+ * bit of magic is done in ao_scheme_set_cond.
+ *
+ * Lambdas build a new frame to hold the locals and
+ * then re-use the current stack context to evaluate
+ * the s-expression from the lambda.
+ */
+
+static int
+ao_scheme_eval_exec(void)
+{
+ ao_poly v;
+ struct ao_scheme_builtin *builtin;
+
+ DBGI("exec: "); DBG_POLY(ao_scheme_v); DBG(" values "); DBG_POLY(ao_scheme_stack->values); DBG ("\n");
+ ao_scheme_stack->sexprs = AO_SCHEME_NIL;
+ switch (ao_scheme_poly_type(ao_scheme_v)) {
+ case AO_SCHEME_BUILTIN:
+ ao_scheme_stack->state = eval_val;
+ builtin = ao_scheme_poly_builtin(ao_scheme_v);
+ v = ao_scheme_func(builtin) (
+ ao_scheme_poly_cons(ao_scheme_poly_cons(ao_scheme_stack->values)->cdr));
+ DBG_DO(if (!ao_scheme_exception && ao_scheme_poly_builtin(ao_scheme_v)->func == builtin_set) {
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(ao_scheme_stack->values);
+ ao_poly atom = ao_scheme_arg(cons, 1);
+ ao_poly val = ao_scheme_arg(cons, 2);
+ DBGI("set "); DBG_POLY(atom); DBG(" = "); DBG_POLY(val); DBG("\n");
+ });
+ builtin = ao_scheme_poly_builtin(ao_scheme_v);
+ if (builtin && (builtin->args & AO_SCHEME_FUNC_FREE_ARGS) && !ao_scheme_stack_marked(ao_scheme_stack) && !ao_scheme_skip_cons_free) {
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(ao_scheme_stack->values);
+ ao_scheme_stack->values = AO_SCHEME_NIL;
+ ao_scheme_cons_free(cons);
+ }
+
+ ao_scheme_v = v;
+ ao_scheme_stack->values = AO_SCHEME_NIL;
+ ao_scheme_stack->values_tail = AO_SCHEME_NIL;
+ DBGI(".. result "); DBG_POLY(ao_scheme_v); DBG ("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ break;
+ case AO_SCHEME_LAMBDA:
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ ao_scheme_stack->state = eval_begin;
+ v = ao_scheme_lambda_eval();
+ ao_scheme_stack->sexprs = v;
+ ao_scheme_stack->values = AO_SCHEME_NIL;
+ ao_scheme_stack->values_tail = AO_SCHEME_NIL;
+ DBGI(".. sexprs "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ break;
+ case AO_SCHEME_STACK:
+ DBGI(".. stack "); DBG_POLY(ao_scheme_v); DBG("\n");
+ ao_scheme_v = ao_scheme_stack_eval();
+ DBGI(".. value "); DBG_POLY(ao_scheme_v); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ break;
+ }
+ ao_scheme_skip_cons_free = 0;
+ return 1;
+}
+
+/*
+ * Finish setting up the apply evaluation
+ *
+ * The value is the list to execute
+ */
+static int
+ao_scheme_eval_apply(void)
+{
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(ao_scheme_v);
+ struct ao_scheme_cons *cdr, *prev;
+
+ /* Glue the arguments into the right shape. That's all but the last
+ * concatenated onto the last
+ */
+ cdr = cons;
+ for (;;) {
+ prev = cdr;
+ cdr = ao_scheme_poly_cons(prev->cdr);
+ if (cdr->cdr == AO_SCHEME_NIL)
+ break;
+ }
+ DBGI("before mangling: "); DBG_POLY(ao_scheme_v); DBG("\n");
+ prev->cdr = cdr->car;
+ ao_scheme_stack->values = ao_scheme_v;
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->values)->car;
+ DBGI("apply: "); DBG_POLY(ao_scheme_stack->values); DBG ("\n");
+ ao_scheme_stack->state = eval_exec;
+ ao_scheme_skip_cons_free = 1;
+ return 1;
+}
+
+/*
+ * Start evaluating the next cond clause
+ *
+ * If the list of clauses is empty, then
+ * the result of the cond is nil.
+ *
+ * Otherwise, set the current stack state to 'cond_test' and create a
+ * new stack context to evaluate the test s-expression. Once that's
+ * complete, we'll land in 'cond_test' to finish the clause.
+ */
+static int
+ao_scheme_eval_cond(void)
+{
+ DBGI("cond: "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ DBGI(".. saved frame "); DBG_POLY(ao_scheme_stack->frame); DBG("\n");
+ if (!ao_scheme_stack->sexprs) {
+ ao_scheme_v = _ao_scheme_bool_false;
+ ao_scheme_stack->state = eval_val;
+ } else {
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->car;
+ if (!ao_scheme_v || ao_scheme_poly_type(ao_scheme_v) != AO_SCHEME_CONS) {
+ ao_scheme_error(AO_SCHEME_INVALID, "invalid cond clause");
+ return 0;
+ }
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_v)->car;
+ if (ao_scheme_v == _ao_scheme_atom_else)
+ ao_scheme_v = _ao_scheme_bool_true;
+ ao_scheme_stack->state = eval_cond_test;
+ if (!ao_scheme_stack_push())
+ return 0;
+ }
+ return 1;
+}
+
+/*
+ * Finish a cond clause.
+ *
+ * Check the value from the test expression, if
+ * non-nil, then set up to evaluate the value expression.
+ *
+ * Otherwise, step to the next clause and go back to the 'cond'
+ * state
+ */
+static int
+ao_scheme_eval_cond_test(void)
+{
+ DBGI("cond_test: "); DBG_POLY(ao_scheme_v); DBG(" sexprs "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ DBGI(".. saved frame "); DBG_POLY(ao_scheme_stack->frame); DBG("\n");
+ if (ao_scheme_v != _ao_scheme_bool_false) {
+ struct ao_scheme_cons *car = ao_scheme_poly_cons(ao_scheme_poly_cons(ao_scheme_stack->sexprs)->car);
+ ao_poly c = car->cdr;
+
+ if (c) {
+ ao_scheme_stack->state = eval_begin;
+ ao_scheme_stack->sexprs = c;
+ } else
+ ao_scheme_stack->state = eval_val;
+ } else {
+ ao_scheme_stack->sexprs = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->cdr;
+ DBGI("next cond: "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ ao_scheme_stack->state = eval_cond;
+ }
+ return 1;
+}
+
+/*
+ * Evaluate a list of sexprs, returning the value from the last one.
+ *
+ * ao_scheme_begin records the list in stack->sexprs, so we just need to
+ * walk that list. Set ao_scheme_v to the car of the list and jump to
+ * eval_sexpr. When that's done, it will land in eval_val. For all but
+ * the last, leave a stack frame with eval_begin set so that we come
+ * back here. For the last, don't add a stack frame so that we can
+ * just continue on.
+ */
+static int
+ao_scheme_eval_begin(void)
+{
+ DBGI("begin: "); DBG_POLY(ao_scheme_v); DBG(" sexprs "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ DBGI(".. saved frame "); DBG_POLY(ao_scheme_stack->frame); DBG("\n");
+
+ if (!ao_scheme_stack->sexprs) {
+ ao_scheme_v = AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_val;
+ } else {
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->car;
+ ao_scheme_stack->sexprs = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->cdr;
+
+ /* If there are more sexprs to do, then come back here, otherwise
+ * return the value of the last one by just landing in eval_sexpr
+ */
+ if (ao_scheme_stack->sexprs) {
+ ao_scheme_stack->state = eval_begin;
+ if (!ao_scheme_stack_push())
+ return 0;
+ }
+ ao_scheme_stack->state = eval_sexpr;
+ }
+ return 1;
+}
+
+/*
+ * Conditionally execute a list of sexprs while the first is true
+ */
+static int
+ao_scheme_eval_while(void)
+{
+ DBGI("while: "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ DBGI(".. saved frame "); DBG_POLY(ao_scheme_stack->frame); DBG("\n");
+
+ ao_scheme_stack->values = ao_scheme_v;
+ if (!ao_scheme_stack->sexprs) {
+ ao_scheme_v = AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_val;
+ } else {
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->car;
+ ao_scheme_stack->state = eval_while_test;
+ if (!ao_scheme_stack_push())
+ return 0;
+ }
+ return 1;
+}
+
+/*
+ * Check the while condition, terminate the loop if nil. Otherwise keep going
+ */
+static int
+ao_scheme_eval_while_test(void)
+{
+ DBGI("while_test: "); DBG_POLY(ao_scheme_v); DBG(" sexprs "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+ DBGI(".. frame "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");
+ DBGI(".. saved frame "); DBG_POLY(ao_scheme_stack->frame); DBG("\n");
+
+ if (ao_scheme_v != _ao_scheme_bool_false) {
+ ao_scheme_stack->values = ao_scheme_v;
+ ao_scheme_v = ao_scheme_poly_cons(ao_scheme_stack->sexprs)->cdr;
+ ao_scheme_stack->state = eval_while;
+ if (!ao_scheme_stack_push())
+ return 0;
+ ao_scheme_stack->state = eval_begin;
+ ao_scheme_stack->sexprs = ao_scheme_v;
+ }
+ else
+ {
+ ao_scheme_stack->state = eval_val;
+ ao_scheme_v = ao_scheme_stack->values;
+ }
+ return 1;
+}
+
+/*
+ * Replace the original sexpr with the macro expansion, then
+ * execute that
+ */
+static int
+ao_scheme_eval_macro(void)
+{
+ DBGI("macro: "); DBG_POLY(ao_scheme_v); DBG(" sexprs "); DBG_POLY(ao_scheme_stack->sexprs); DBG("\n");
+
+ if (ao_scheme_v == AO_SCHEME_NIL)
+ ao_scheme_abort();
+ if (ao_scheme_poly_type(ao_scheme_v) == AO_SCHEME_CONS) {
+ *ao_scheme_poly_cons(ao_scheme_stack->sexprs) = *ao_scheme_poly_cons(ao_scheme_v);
+ ao_scheme_v = ao_scheme_stack->sexprs;
+ DBGI("sexprs rewritten to: "); DBG_POLY(ao_scheme_v); DBG("\n");
+ }
+ ao_scheme_stack->sexprs = AO_SCHEME_NIL;
+ ao_scheme_stack->state = eval_sexpr;
+ return 1;
+}
+
+static int (*const evals[])(void) = {
+ [eval_sexpr] = ao_scheme_eval_sexpr,
+ [eval_val] = ao_scheme_eval_val,
+ [eval_formal] = ao_scheme_eval_formal,
+ [eval_exec] = ao_scheme_eval_exec,
+ [eval_apply] = ao_scheme_eval_apply,
+ [eval_cond] = ao_scheme_eval_cond,
+ [eval_cond_test] = ao_scheme_eval_cond_test,
+ [eval_begin] = ao_scheme_eval_begin,
+ [eval_while] = ao_scheme_eval_while,
+ [eval_while_test] = ao_scheme_eval_while_test,
+ [eval_macro] = ao_scheme_eval_macro,
+};
+
+const char * const ao_scheme_state_names[] = {
+ [eval_sexpr] = "sexpr",
+ [eval_val] = "val",
+ [eval_formal] = "formal",
+ [eval_exec] = "exec",
+ [eval_apply] = "apply",
+ [eval_cond] = "cond",
+ [eval_cond_test] = "cond_test",
+ [eval_begin] = "begin",
+ [eval_while] = "while",
+ [eval_while_test] = "while_test",
+ [eval_macro] = "macro",
+};
+
+/*
+ * Called at restore time to reset all execution state
+ */
+
+void
+ao_scheme_eval_clear_globals(void)
+{
+ ao_scheme_stack = NULL;
+ ao_scheme_frame_current = NULL;
+ ao_scheme_v = AO_SCHEME_NIL;
+}
+
+int
+ao_scheme_eval_restart(void)
+{
+ return ao_scheme_stack_push();
+}
+
+ao_poly
+ao_scheme_eval(ao_poly _v)
+{
+ ao_scheme_v = _v;
+
+ ao_scheme_frame_init();
+
+ if (!ao_scheme_stack_push())
+ return AO_SCHEME_NIL;
+
+ while (ao_scheme_stack) {
+ if (!(*evals[ao_scheme_stack->state])() || ao_scheme_exception) {
+ ao_scheme_stack_clear();
+ return AO_SCHEME_NIL;
+ }
+ }
+ DBG_DO(if (ao_scheme_frame_current) {DBGI("frame left as "); DBG_POLY(ao_scheme_frame_poly(ao_scheme_frame_current)); DBG("\n");});
+ ao_scheme_frame_current = NULL;
+ return ao_scheme_v;
+}
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include <math.h>
+
+static void float_mark(void *addr)
+{
+ (void) addr;
+}
+
+static int float_size(void *addr)
+{
+ if (!addr)
+ return 0;
+ return sizeof (struct ao_scheme_float);
+}
+
+static void float_move(void *addr)
+{
+ (void) addr;
+}
+
+const struct ao_scheme_type ao_scheme_float_type = {
+ .mark = float_mark,
+ .size = float_size,
+ .move = float_move,
+ .name = "float",
+};
+
+#ifndef FLOAT_FORMAT
+#define FLOAT_FORMAT "%g"
+#endif
+
+void
+ao_scheme_float_write(ao_poly p)
+{
+ struct ao_scheme_float *f = ao_scheme_poly_float(p);
+ float v = f->value;
+
+ if (isnanf(v))
+ printf("+nan.0");
+ else if (isinff(v)) {
+ if (v < 0)
+ printf("-");
+ else
+ printf("+");
+ printf("inf.0");
+ } else
+ printf (FLOAT_FORMAT, v);
+}
+
+float
+ao_scheme_poly_number(ao_poly p)
+{
+ switch (ao_scheme_poly_base_type(p)) {
+ case AO_SCHEME_INT:
+ return ao_scheme_poly_int(p);
+ case AO_SCHEME_OTHER:
+ switch (ao_scheme_other_type(ao_scheme_poly_other(p))) {
+ case AO_SCHEME_BIGINT:
+ return ao_scheme_bigint_int(ao_scheme_poly_bigint(p)->value);
+ case AO_SCHEME_FLOAT:
+ return ao_scheme_poly_float(p)->value;
+ }
+ }
+ return NAN;
+}
+
+ao_poly
+ao_scheme_float_get(float value)
+{
+ struct ao_scheme_float *f;
+
+ f = ao_scheme_alloc(sizeof (struct ao_scheme_float));
+ f->type = AO_SCHEME_FLOAT;
+ f->value = value;
+ return ao_scheme_float_poly(f);
+}
+
+ao_poly
+ao_scheme_do_inexactp(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (ao_scheme_poly_type(ao_scheme_arg(cons, 0)) == AO_SCHEME_FLOAT)
+ return _ao_scheme_bool_true;
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_finitep(struct ao_scheme_cons *cons)
+{
+ ao_poly value;
+ float f;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ value = ao_scheme_arg(cons, 0);
+ switch (ao_scheme_poly_type(value)) {
+ case AO_SCHEME_INT:
+ case AO_SCHEME_BIGINT:
+ return _ao_scheme_bool_true;
+ case AO_SCHEME_FLOAT:
+ f = ao_scheme_poly_float(value)->value;
+ if (!isnan(f) && !isinf(f))
+ return _ao_scheme_bool_true;
+ }
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_infinitep(struct ao_scheme_cons *cons)
+{
+ ao_poly value;
+ float f;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ value = ao_scheme_arg(cons, 0);
+ switch (ao_scheme_poly_type(value)) {
+ case AO_SCHEME_FLOAT:
+ f = ao_scheme_poly_float(value)->value;
+ if (isinf(f))
+ return _ao_scheme_bool_true;
+ }
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_sqrt(struct ao_scheme_cons *cons)
+{
+ ao_poly value;
+
+ if (!ao_scheme_check_argc(_ao_scheme_atom_sqrt, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ value = ao_scheme_arg(cons, 0);
+ if (!ao_scheme_number_typep(ao_scheme_poly_type(value)))
+ return ao_scheme_error(AO_SCHEME_INVALID, "%s: non-numeric", ao_scheme_poly_atom(_ao_scheme_atom_sqrt)->name);
+ return ao_scheme_float_get(sqrtf(ao_scheme_poly_number(value)));
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+static inline int
+frame_vals_num_size(int num)
+{
+ return sizeof (struct ao_scheme_frame_vals) + num * sizeof (struct ao_scheme_val);
+}
+
+static int
+frame_vals_size(void *addr)
+{
+ struct ao_scheme_frame_vals *vals = addr;
+ return frame_vals_num_size(vals->size);
+}
+
+static void
+frame_vals_mark(void *addr)
+{
+ struct ao_scheme_frame_vals *vals = addr;
+ int f;
+
+ for (f = 0; f < vals->size; f++) {
+ struct ao_scheme_val *v = &vals->vals[f];
+
+ ao_scheme_poly_mark(v->val, 0);
+ MDBG_MOVE("frame mark atom %s %d val %d at %d ",
+ ao_scheme_poly_atom(v->atom)->name,
+ MDBG_OFFSET(ao_scheme_ref(v->atom)),
+ MDBG_OFFSET(ao_scheme_ref(v->val)), f);
+ MDBG_DO(ao_scheme_poly_write(v->val));
+ MDBG_DO(printf("\n"));
+ }
+}
+
+static void
+frame_vals_move(void *addr)
+{
+ struct ao_scheme_frame_vals *vals = addr;
+ int f;
+
+ for (f = 0; f < vals->size; f++) {
+ struct ao_scheme_val *v = &vals->vals[f];
+
+ ao_scheme_poly_move(&v->atom, 0);
+ ao_scheme_poly_move(&v->val, 0);
+ MDBG_MOVE("frame move atom %s %d val %d at %d\n",
+ ao_scheme_poly_atom(v->atom)->name,
+ MDBG_OFFSET(ao_scheme_ref(v->atom)),
+ MDBG_OFFSET(ao_scheme_ref(v->val)), f);
+ }
+}
+
+const struct ao_scheme_type ao_scheme_frame_vals_type = {
+ .mark = frame_vals_mark,
+ .size = frame_vals_size,
+ .move = frame_vals_move,
+ .name = "frame_vals"
+};
+
+static int
+frame_size(void *addr)
+{
+ (void) addr;
+ return sizeof (struct ao_scheme_frame);
+}
+
+static void
+frame_mark(void *addr)
+{
+ struct ao_scheme_frame *frame = addr;
+
+ for (;;) {
+ MDBG_MOVE("frame mark %d\n", MDBG_OFFSET(frame));
+ if (!AO_SCHEME_IS_POOL(frame))
+ break;
+ ao_scheme_poly_mark(frame->vals, 0);
+ frame = ao_scheme_poly_frame(frame->prev);
+ MDBG_MOVE("frame next %d\n", MDBG_OFFSET(frame));
+ if (!frame)
+ break;
+ if (ao_scheme_mark_memory(&ao_scheme_frame_type, frame))
+ break;
+ }
+}
+
+static void
+frame_move(void *addr)
+{
+ struct ao_scheme_frame *frame = addr;
+
+ for (;;) {
+ struct ao_scheme_frame *prev;
+ int ret;
+
+ MDBG_MOVE("frame move %d\n", MDBG_OFFSET(frame));
+ if (!AO_SCHEME_IS_POOL(frame))
+ break;
+ ao_scheme_poly_move(&frame->vals, 0);
+ prev = ao_scheme_poly_frame(frame->prev);
+ if (!prev)
+ break;
+ ret = ao_scheme_move_memory(&ao_scheme_frame_type, (void **) &prev);
+ if (prev != ao_scheme_poly_frame(frame->prev)) {
+ MDBG_MOVE("frame prev moved from %d to %d\n",
+ MDBG_OFFSET(ao_scheme_poly_frame(frame->prev)),
+ MDBG_OFFSET(prev));
+ frame->prev = ao_scheme_frame_poly(prev);
+ }
+ if (ret)
+ break;
+ frame = prev;
+ }
+}
+
+const struct ao_scheme_type ao_scheme_frame_type = {
+ .mark = frame_mark,
+ .size = frame_size,
+ .move = frame_move,
+ .name = "frame",
+};
+
+void
+ao_scheme_frame_write(ao_poly p)
+{
+ struct ao_scheme_frame *frame = ao_scheme_poly_frame(p);
+ struct ao_scheme_frame_vals *vals = ao_scheme_poly_frame_vals(frame->vals);
+ int f;
+
+ printf ("{");
+ if (frame) {
+ if (frame->type & AO_SCHEME_FRAME_PRINT)
+ printf("recurse...");
+ else {
+ frame->type |= AO_SCHEME_FRAME_PRINT;
+ for (f = 0; f < frame->num; f++) {
+ if (f != 0)
+ printf(", ");
+ ao_scheme_poly_write(vals->vals[f].atom);
+ printf(" = ");
+ ao_scheme_poly_write(vals->vals[f].val);
+ }
+ if (frame->prev)
+ ao_scheme_poly_write(frame->prev);
+ frame->type &= ~AO_SCHEME_FRAME_PRINT;
+ }
+ }
+ printf("}");
+}
+
+static int
+ao_scheme_frame_find(struct ao_scheme_frame *frame, int top, ao_poly atom)
+{
+ struct ao_scheme_frame_vals *vals = ao_scheme_poly_frame_vals(frame->vals);
+ int l = 0;
+ int r = top - 1;
+
+ while (l <= r) {
+ int m = (l + r) >> 1;
+ if (vals->vals[m].atom < atom)
+ l = m + 1;
+ else
+ r = m - 1;
+ }
+ return l;
+}
+
+ao_poly *
+ao_scheme_frame_ref(struct ao_scheme_frame *frame, ao_poly atom)
+{
+ struct ao_scheme_frame_vals *vals = ao_scheme_poly_frame_vals(frame->vals);
+ int l = ao_scheme_frame_find(frame, frame->num, atom);
+
+ if (l >= frame->num)
+ return NULL;
+
+ if (vals->vals[l].atom != atom)
+ return NULL;
+ return &vals->vals[l].val;
+}
+
+struct ao_scheme_frame *ao_scheme_frame_free_list[AO_SCHEME_FRAME_FREE];
+
+static struct ao_scheme_frame_vals *
+ao_scheme_frame_vals_new(int num)
+{
+ struct ao_scheme_frame_vals *vals;
+
+ vals = ao_scheme_alloc(frame_vals_num_size(num));
+ if (!vals)
+ return NULL;
+ vals->type = AO_SCHEME_FRAME_VALS;
+ vals->size = num;
+ memset(vals->vals, '\0', num * sizeof (struct ao_scheme_val));
+ return vals;
+}
+
+struct ao_scheme_frame *
+ao_scheme_frame_new(int num)
+{
+ struct ao_scheme_frame *frame;
+ struct ao_scheme_frame_vals *vals;
+
+ if (num < AO_SCHEME_FRAME_FREE && (frame = ao_scheme_frame_free_list[num])) {
+ ao_scheme_frame_free_list[num] = ao_scheme_poly_frame(frame->prev);
+ vals = ao_scheme_poly_frame_vals(frame->vals);
+ } else {
+ frame = ao_scheme_alloc(sizeof (struct ao_scheme_frame));
+ if (!frame)
+ return NULL;
+ frame->type = AO_SCHEME_FRAME;
+ frame->num = 0;
+ frame->prev = AO_SCHEME_NIL;
+ frame->vals = AO_SCHEME_NIL;
+ ao_scheme_frame_stash(0, frame);
+ vals = ao_scheme_frame_vals_new(num);
+ frame = ao_scheme_frame_fetch(0);
+ if (!vals)
+ return NULL;
+ frame->vals = ao_scheme_frame_vals_poly(vals);
+ frame->num = num;
+ }
+ frame->prev = AO_SCHEME_NIL;
+ return frame;
+}
+
+ao_poly
+ao_scheme_frame_mark(struct ao_scheme_frame *frame)
+{
+ if (!frame)
+ return AO_SCHEME_NIL;
+ frame->type |= AO_SCHEME_FRAME_MARK;
+ return ao_scheme_frame_poly(frame);
+}
+
+void
+ao_scheme_frame_free(struct ao_scheme_frame *frame)
+{
+ if (frame && !ao_scheme_frame_marked(frame)) {
+ int num = frame->num;
+ if (num < AO_SCHEME_FRAME_FREE) {
+ struct ao_scheme_frame_vals *vals;
+
+ vals = ao_scheme_poly_frame_vals(frame->vals);
+ memset(vals->vals, '\0', vals->size * sizeof (struct ao_scheme_val));
+ frame->prev = ao_scheme_frame_poly(ao_scheme_frame_free_list[num]);
+ ao_scheme_frame_free_list[num] = frame;
+ }
+ }
+}
+
+static struct ao_scheme_frame *
+ao_scheme_frame_realloc(struct ao_scheme_frame *frame, int new_num)
+{
+ struct ao_scheme_frame_vals *vals;
+ struct ao_scheme_frame_vals *new_vals;
+ int copy;
+
+ if (new_num == frame->num)
+ return frame;
+ ao_scheme_frame_stash(0, frame);
+ new_vals = ao_scheme_frame_vals_new(new_num);
+ frame = ao_scheme_frame_fetch(0);
+ if (!new_vals)
+ return NULL;
+ vals = ao_scheme_poly_frame_vals(frame->vals);
+ copy = new_num;
+ if (copy > frame->num)
+ copy = frame->num;
+ memcpy(new_vals->vals, vals->vals, copy * sizeof (struct ao_scheme_val));
+ frame->vals = ao_scheme_frame_vals_poly(new_vals);
+ frame->num = new_num;
+ return frame;
+}
+
+void
+ao_scheme_frame_bind(struct ao_scheme_frame *frame, int num, ao_poly atom, ao_poly val)
+{
+ struct ao_scheme_frame_vals *vals = ao_scheme_poly_frame_vals(frame->vals);
+ int l = ao_scheme_frame_find(frame, num, atom);
+
+ memmove(&vals->vals[l+1],
+ &vals->vals[l],
+ (num - l) * sizeof (struct ao_scheme_val));
+ vals->vals[l].atom = atom;
+ vals->vals[l].val = val;
+}
+
+ao_poly
+ao_scheme_frame_add(struct ao_scheme_frame *frame, ao_poly atom, ao_poly val)
+{
+ ao_poly *ref = frame ? ao_scheme_frame_ref(frame, atom) : NULL;
+
+ if (!ref) {
+ int f = frame->num;
+ ao_scheme_poly_stash(0, atom);
+ ao_scheme_poly_stash(1, val);
+ frame = ao_scheme_frame_realloc(frame, f + 1);
+ val = ao_scheme_poly_fetch(1);
+ atom = ao_scheme_poly_fetch(0);
+ if (!frame)
+ return AO_SCHEME_NIL;
+ ao_scheme_frame_bind(frame, frame->num - 1, atom, val);
+ } else
+ *ref = val;
+ return val;
+}
+
+struct ao_scheme_frame *ao_scheme_frame_global;
+struct ao_scheme_frame *ao_scheme_frame_current;
+
+void
+ao_scheme_frame_init(void)
+{
+ if (!ao_scheme_frame_global)
+ ao_scheme_frame_global = ao_scheme_frame_new(0);
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+void
+ao_scheme_int_write(ao_poly p)
+{
+ int i = ao_scheme_poly_int(p);
+ printf("%d", i);
+}
+
+int32_t
+ao_scheme_poly_integer(ao_poly p)
+{
+ switch (ao_scheme_poly_base_type(p)) {
+ case AO_SCHEME_INT:
+ return ao_scheme_poly_int(p);
+ case AO_SCHEME_OTHER:
+ if (ao_scheme_other_type(ao_scheme_poly_other(p)) == AO_SCHEME_BIGINT)
+ return ao_scheme_bigint_int(ao_scheme_poly_bigint(p)->value);
+ }
+ return AO_SCHEME_NOT_INTEGER;
+}
+
+ao_poly
+ao_scheme_integer_poly(int32_t p)
+{
+ struct ao_scheme_bigint *bi;
+
+ if (AO_SCHEME_MIN_INT <= p && p <= AO_SCHEME_MAX_INT)
+ return ao_scheme_int_poly(p);
+ bi = ao_scheme_alloc(sizeof (struct ao_scheme_bigint));
+ bi->value = ao_scheme_int_bigint(p);
+ return ao_scheme_bigint_poly(bi);
+}
+
+static void bigint_mark(void *addr)
+{
+ (void) addr;
+}
+
+static int bigint_size(void *addr)
+{
+ if (!addr)
+ return 0;
+ return sizeof (struct ao_scheme_bigint);
+}
+
+static void bigint_move(void *addr)
+{
+ (void) addr;
+}
+
+const struct ao_scheme_type ao_scheme_bigint_type = {
+ .mark = bigint_mark,
+ .size = bigint_size,
+ .move = bigint_move,
+ .name = "bigint",
+};
+
+void
+ao_scheme_bigint_write(ao_poly p)
+{
+ struct ao_scheme_bigint *bi = ao_scheme_poly_bigint(p);
+
+ printf("%d", ao_scheme_bigint_int(bi->value));
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#include "ao_scheme.h"
+
+int
+lambda_size(void *addr)
+{
+ (void) addr;
+ return sizeof (struct ao_scheme_lambda);
+}
+
+void
+lambda_mark(void *addr)
+{
+ struct ao_scheme_lambda *lambda = addr;
+
+ ao_scheme_poly_mark(lambda->code, 0);
+ ao_scheme_poly_mark(lambda->frame, 0);
+}
+
+void
+lambda_move(void *addr)
+{
+ struct ao_scheme_lambda *lambda = addr;
+
+ ao_scheme_poly_move(&lambda->code, 0);
+ ao_scheme_poly_move(&lambda->frame, 0);
+}
+
+const struct ao_scheme_type ao_scheme_lambda_type = {
+ .size = lambda_size,
+ .mark = lambda_mark,
+ .move = lambda_move,
+ .name = "lambda",
+};
+
+void
+ao_scheme_lambda_write(ao_poly poly)
+{
+ struct ao_scheme_lambda *lambda = ao_scheme_poly_lambda(poly);
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(lambda->code);
+
+ printf("(");
+ printf("%s", ao_scheme_args_name(lambda->args));
+ while (cons) {
+ printf(" ");
+ ao_scheme_poly_write(cons->car);
+ cons = ao_scheme_poly_cons(cons->cdr);
+ }
+ printf(")");
+}
+
+ao_poly
+ao_scheme_lambda_alloc(struct ao_scheme_cons *code, int args)
+{
+ struct ao_scheme_lambda *lambda;
+ ao_poly formal;
+ struct ao_scheme_cons *cons;
+
+ formal = ao_scheme_arg(code, 0);
+ while (formal != AO_SCHEME_NIL) {
+ switch (ao_scheme_poly_type(formal)) {
+ case AO_SCHEME_CONS:
+ cons = ao_scheme_poly_cons(formal);
+ if (ao_scheme_poly_type(cons->car) != AO_SCHEME_ATOM)
+ return ao_scheme_error(AO_SCHEME_INVALID, "formal %p is not atom", cons->car);
+ formal = cons->cdr;
+ break;
+ case AO_SCHEME_ATOM:
+ formal = AO_SCHEME_NIL;
+ break;
+ default:
+ return ao_scheme_error(AO_SCHEME_INVALID, "formal %p is not atom", formal);
+ }
+ }
+
+ ao_scheme_cons_stash(0, code);
+ lambda = ao_scheme_alloc(sizeof (struct ao_scheme_lambda));
+ code = ao_scheme_cons_fetch(0);
+ if (!lambda)
+ return AO_SCHEME_NIL;
+
+ lambda->type = AO_SCHEME_LAMBDA;
+ lambda->args = args;
+ lambda->code = ao_scheme_cons_poly(code);
+ lambda->frame = ao_scheme_frame_mark(ao_scheme_frame_current);
+ DBGI("build frame: "); DBG_POLY(lambda->frame); DBG("\n");
+ DBG_STACK();
+ return ao_scheme_lambda_poly(lambda);
+}
+
+ao_poly
+ao_scheme_do_lambda(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_lambda_alloc(cons, AO_SCHEME_FUNC_LAMBDA);
+}
+
+ao_poly
+ao_scheme_do_nlambda(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_lambda_alloc(cons, AO_SCHEME_FUNC_NLAMBDA);
+}
+
+ao_poly
+ao_scheme_do_macro(struct ao_scheme_cons *cons)
+{
+ return ao_scheme_lambda_alloc(cons, AO_SCHEME_FUNC_MACRO);
+}
+
+ao_poly
+ao_scheme_lambda_eval(void)
+{
+ struct ao_scheme_lambda *lambda = ao_scheme_poly_lambda(ao_scheme_v);
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(ao_scheme_stack->values);
+ struct ao_scheme_cons *code = ao_scheme_poly_cons(lambda->code);
+ ao_poly formals;
+ struct ao_scheme_frame *next_frame;
+ int args_wanted;
+ ao_poly varargs = AO_SCHEME_NIL;
+ int args_provided;
+ int f;
+ struct ao_scheme_cons *vals;
+
+ DBGI("lambda "); DBG_POLY(ao_scheme_lambda_poly(lambda)); DBG("\n");
+
+ args_wanted = 0;
+ for (formals = ao_scheme_arg(code, 0);
+ ao_scheme_is_pair(formals);
+ formals = ao_scheme_poly_cons(formals)->cdr)
+ ++args_wanted;
+ if (formals != AO_SCHEME_NIL) {
+ if (ao_scheme_poly_type(formals) != AO_SCHEME_ATOM)
+ return ao_scheme_error(AO_SCHEME_INVALID, "bad lambda form");
+ varargs = formals;
+ }
+
+ /* Create a frame to hold the variables
+ */
+ args_provided = ao_scheme_cons_length(cons) - 1;
+ if (varargs == AO_SCHEME_NIL) {
+ if (args_wanted != args_provided)
+ return ao_scheme_error(AO_SCHEME_INVALID, "need %d args, got %d", args_wanted, args_provided);
+ } else {
+ if (args_provided < args_wanted)
+ return ao_scheme_error(AO_SCHEME_INVALID, "need at least %d args, got %d", args_wanted, args_provided);
+ }
+
+ ao_scheme_poly_stash(1, varargs);
+ next_frame = ao_scheme_frame_new(args_wanted + (varargs != AO_SCHEME_NIL));
+ varargs = ao_scheme_poly_fetch(1);
+ if (!next_frame)
+ return AO_SCHEME_NIL;
+
+ /* Re-fetch all of the values in case something moved */
+ lambda = ao_scheme_poly_lambda(ao_scheme_v);
+ cons = ao_scheme_poly_cons(ao_scheme_stack->values);
+ code = ao_scheme_poly_cons(lambda->code);
+ formals = ao_scheme_arg(code, 0);
+ vals = ao_scheme_poly_cons(cons->cdr);
+
+ next_frame->prev = lambda->frame;
+ ao_scheme_frame_current = next_frame;
+ ao_scheme_stack->frame = ao_scheme_frame_poly(ao_scheme_frame_current);
+
+ for (f = 0; f < args_wanted; f++) {
+ struct ao_scheme_cons *arg = ao_scheme_poly_cons(formals);
+ DBGI("bind "); DBG_POLY(arg->car); DBG(" = "); DBG_POLY(vals->car); DBG("\n");
+ ao_scheme_frame_bind(next_frame, f, arg->car, vals->car);
+ formals = arg->cdr;
+ vals = ao_scheme_poly_cons(vals->cdr);
+ }
+ if (varargs) {
+ DBGI("bind "); DBG_POLY(varargs); DBG(" = "); DBG_POLY(ao_scheme_cons_poly(vals)); DBG("\n");
+ /*
+ * Bind the rest of the arguments to the final parameter
+ */
+ ao_scheme_frame_bind(next_frame, f, varargs, ao_scheme_cons_poly(vals));
+ } else {
+ /*
+ * Mark the cons cells from the actuals as freed for immediate re-use, unless
+ * the actuals point into the source function (nlambdas and macros), or if the
+ * stack containing them was copied as a part of a continuation
+ */
+ if (lambda->args == AO_SCHEME_FUNC_LAMBDA && !ao_scheme_stack_marked(ao_scheme_stack)) {
+ ao_scheme_stack->values = AO_SCHEME_NIL;
+ ao_scheme_cons_free(cons);
+ }
+ }
+ DBGI("eval frame: "); DBG_POLY(ao_scheme_frame_poly(next_frame)); DBG("\n");
+ DBG_STACK();
+ DBGI("eval code: "); DBG_POLY(code->cdr); DBG("\n");
+ return code->cdr;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
--- /dev/null
+#!/usr/bin/nickle
+
+typedef struct {
+ string type;
+ string c_name;
+ string[*] lisp_names;
+} builtin_t;
+
+string[string] type_map = {
+ "lambda" => "LAMBDA",
+ "nlambda" => "NLAMBDA",
+ "macro" => "MACRO",
+ "f_lambda" => "F_LAMBDA",
+ "atom" => "atom",
+};
+
+string[*]
+make_lisp(string[*] tokens)
+{
+ string[...] lisp = {};
+
+ if (dim(tokens) < 3)
+ return (string[1]) { tokens[dim(tokens) - 1] };
+ return (string[dim(tokens)-2]) { [i] = tokens[i+2] };
+}
+
+builtin_t
+read_builtin(file f) {
+ string line = File::fgets(f);
+ string[*] tokens = String::wordsplit(line, " \t");
+
+ return (builtin_t) {
+ .type = dim(tokens) > 0 ? type_map[tokens[0]] : "#",
+ .c_name = dim(tokens) > 1 ? tokens[1] : "#",
+ .lisp_names = make_lisp(tokens),
+ };
+}
+
+builtin_t[*]
+read_builtins(file f) {
+ builtin_t[...] builtins = {};
+
+ while (!File::end(f)) {
+ builtin_t b = read_builtin(f);
+
+ if (b.type[0] != '#')
+ builtins[dim(builtins)] = b;
+ }
+ return builtins;
+}
+
+bool is_atom(builtin_t b) = b.type == "atom";
+
+void
+dump_ids(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_ID\n");
+ printf("#undef AO_SCHEME_BUILTIN_ID\n");
+ printf("enum ao_scheme_builtin_id {\n");
+ for (int i = 0; i < dim(builtins); i++)
+ if (!is_atom(builtins[i]))
+ printf("\tbuiltin_%s,\n", builtins[i].c_name);
+ printf("\t_builtin_last\n");
+ printf("};\n");
+ printf("#endif /* AO_SCHEME_BUILTIN_ID */\n");
+}
+
+void
+dump_casename(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_CASENAME\n");
+ printf("#undef AO_SCHEME_BUILTIN_CASENAME\n");
+ printf("static char *ao_scheme_builtin_name(enum ao_scheme_builtin_id b) {\n");
+ printf("\tswitch(b) {\n");
+ for (int i = 0; i < dim(builtins); i++)
+ if (!is_atom(builtins[i]))
+ printf("\tcase builtin_%s: return ao_scheme_poly_atom(_atom(\"%s\"))->name;\n",
+ builtins[i].c_name, builtins[i].lisp_names[0]);
+ printf("\tdefault: return \"???\";\n");
+ printf("\t}\n");
+ printf("}\n");
+ printf("#endif /* AO_SCHEME_BUILTIN_CASENAME */\n");
+}
+
+void
+cify_lisp(string l) {
+ for (int j = 0; j < String::length(l); j++) {
+ int c= l[j];
+ if (Ctype::isalnum(c) || c == '_')
+ printf("%c", c);
+ else
+ printf("%02x", c);
+ }
+}
+
+void
+dump_arrayname(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_ARRAYNAME\n");
+ printf("#undef AO_SCHEME_BUILTIN_ARRAYNAME\n");
+ printf("static const ao_poly builtin_names[] = {\n");
+ for (int i = 0; i < dim(builtins); i++) {
+ if (!is_atom(builtins[i])) {
+ printf("\t[builtin_%s] = _ao_scheme_atom_",
+ builtins[i].c_name);
+ cify_lisp(builtins[i].lisp_names[0]);
+ printf(",\n");
+ }
+ }
+ printf("};\n");
+ printf("#endif /* AO_SCHEME_BUILTIN_ARRAYNAME */\n");
+}
+
+void
+dump_funcs(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_FUNCS\n");
+ printf("#undef AO_SCHEME_BUILTIN_FUNCS\n");
+ printf("const ao_scheme_func_t ao_scheme_builtins[] = {\n");
+ for (int i = 0; i < dim(builtins); i++) {
+ if (!is_atom(builtins[i]))
+ printf("\t[builtin_%s] = ao_scheme_do_%s,\n",
+ builtins[i].c_name,
+ builtins[i].c_name);
+ }
+ printf("};\n");
+ printf("#endif /* AO_SCHEME_BUILTIN_FUNCS */\n");
+}
+
+void
+dump_decls(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_DECLS\n");
+ printf("#undef AO_SCHEME_BUILTIN_DECLS\n");
+ for (int i = 0; i < dim(builtins); i++) {
+ if (!is_atom(builtins[i])) {
+ printf("ao_poly\n");
+ printf("ao_scheme_do_%s(struct ao_scheme_cons *cons);\n",
+ builtins[i].c_name);
+ }
+ }
+ printf("#endif /* AO_SCHEME_BUILTIN_DECLS */\n");
+}
+
+void
+dump_consts(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_CONSTS\n");
+ printf("#undef AO_SCHEME_BUILTIN_CONSTS\n");
+ printf("struct builtin_func funcs[] = {\n");
+ for (int i = 0; i < dim(builtins); i++) {
+ if (!is_atom(builtins[i])) {
+ for (int j = 0; j < dim(builtins[i].lisp_names); j++) {
+ printf ("\t{ .name = \"%s\", .args = AO_SCHEME_FUNC_%s, .func = builtin_%s },\n",
+ builtins[i].lisp_names[j],
+ builtins[i].type,
+ builtins[i].c_name);
+ }
+ }
+ }
+ printf("};\n");
+ printf("#endif /* AO_SCHEME_BUILTIN_CONSTS */\n");
+}
+
+void
+dump_atoms(builtin_t[*] builtins) {
+ printf("#ifdef AO_SCHEME_BUILTIN_ATOMS\n");
+ printf("#undef AO_SCHEME_BUILTIN_ATOMS\n");
+ for (int i = 0; i < dim(builtins); i++) {
+ for (int j = 0; j < dim(builtins[i].lisp_names); j++) {
+ printf("#define _ao_scheme_atom_");
+ cify_lisp(builtins[i].lisp_names[j]);
+ printf(" _atom(\"%s\")\n", builtins[i].lisp_names[j]);
+ }
+ }
+ printf("#endif /* AO_SCHEME_BUILTIN_ATOMS */\n");
+}
+
+void main() {
+ if (dim(argv) < 2) {
+ File::fprintf(stderr, "usage: %s <file>\n", argv[0]);
+ exit(1);
+ }
+ twixt(file f = File::open(argv[1], "r"); File::close(f)) {
+ builtin_t[*] builtins = read_builtins(f);
+ dump_ids(builtins);
+ dump_casename(builtins);
+ dump_arrayname(builtins);
+ dump_funcs(builtins);
+ dump_decls(builtins);
+ dump_consts(builtins);
+ dump_atoms(builtins);
+ }
+}
+
+main();
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include <stdlib.h>
+#include <ctype.h>
+#include <unistd.h>
+#include <getopt.h>
+
+static struct ao_scheme_builtin *
+ao_scheme_make_builtin(enum ao_scheme_builtin_id func, int args) {
+ struct ao_scheme_builtin *b = ao_scheme_alloc(sizeof (struct ao_scheme_builtin));
+
+ b->type = AO_SCHEME_BUILTIN;
+ b->func = func;
+ b->args = args;
+ return b;
+}
+
+struct builtin_func {
+ char *name;
+ int args;
+ enum ao_scheme_builtin_id func;
+};
+
+#define AO_SCHEME_BUILTIN_CONSTS
+#include "ao_scheme_builtin.h"
+
+#define N_FUNC (sizeof funcs / sizeof funcs[0])
+
+struct ao_scheme_frame *globals;
+
+static int
+is_atom(int offset)
+{
+ struct ao_scheme_atom *a;
+
+ for (a = ao_scheme_atoms; a; a = ao_scheme_poly_atom(a->next))
+ if (((uint8_t *) a->name - ao_scheme_const) == offset)
+ return strlen(a->name);
+ return 0;
+}
+
+#define AO_FEC_CRC_INIT 0xffff
+
+static inline uint16_t
+ao_fec_crc_byte(uint8_t byte, uint16_t crc)
+{
+ uint8_t bit;
+
+ for (bit = 0; bit < 8; bit++) {
+ if (((crc & 0x8000) >> 8) ^ (byte & 0x80))
+ crc = (crc << 1) ^ 0x8005;
+ else
+ crc = (crc << 1);
+ byte <<= 1;
+ }
+ return crc;
+}
+
+uint16_t
+ao_fec_crc(const uint8_t *bytes, uint8_t len)
+{
+ uint16_t crc = AO_FEC_CRC_INIT;
+
+ while (len--)
+ crc = ao_fec_crc_byte(*bytes++, crc);
+ return crc;
+}
+
+struct ao_scheme_macro_stack {
+ struct ao_scheme_macro_stack *next;
+ ao_poly p;
+};
+
+struct ao_scheme_macro_stack *macro_stack;
+
+int
+ao_scheme_macro_push(ao_poly p)
+{
+ struct ao_scheme_macro_stack *m = macro_stack;
+
+ while (m) {
+ if (m->p == p)
+ return 1;
+ m = m->next;
+ }
+ m = malloc (sizeof (struct ao_scheme_macro_stack));
+ m->p = p;
+ m->next = macro_stack;
+ macro_stack = m;
+ return 0;
+}
+
+void
+ao_scheme_macro_pop(void)
+{
+ struct ao_scheme_macro_stack *m = macro_stack;
+
+ macro_stack = m->next;
+ free(m);
+}
+
+#define DBG_MACRO 0
+#if DBG_MACRO
+int macro_scan_depth;
+
+void indent(void)
+{
+ int i;
+ for (i = 0; i < macro_scan_depth; i++)
+ printf(" ");
+}
+#define MACRO_DEBUG(a) a
+#else
+#define MACRO_DEBUG(a)
+#endif
+
+ao_poly
+ao_has_macro(ao_poly p);
+
+ao_poly
+ao_macro_test_get(ao_poly atom)
+{
+ ao_poly *ref = ao_scheme_atom_ref(atom, NULL);
+ if (ref)
+ return *ref;
+ return AO_SCHEME_NIL;
+}
+
+ao_poly
+ao_is_macro(ao_poly p)
+{
+ struct ao_scheme_builtin *builtin;
+ struct ao_scheme_lambda *lambda;
+ ao_poly ret;
+
+ MACRO_DEBUG(indent(); printf ("is macro "); ao_scheme_poly_write(p); printf("\n"); ++macro_scan_depth);
+ switch (ao_scheme_poly_type(p)) {
+ case AO_SCHEME_ATOM:
+ if (ao_scheme_macro_push(p))
+ ret = AO_SCHEME_NIL;
+ else {
+ if (ao_is_macro(ao_macro_test_get(p)))
+ ret = p;
+ else
+ ret = AO_SCHEME_NIL;
+ ao_scheme_macro_pop();
+ }
+ break;
+ case AO_SCHEME_CONS:
+ ret = ao_has_macro(p);
+ break;
+ case AO_SCHEME_BUILTIN:
+ builtin = ao_scheme_poly_builtin(p);
+ if ((builtin->args & AO_SCHEME_FUNC_MASK) == AO_SCHEME_FUNC_MACRO)
+ ret = p;
+ else
+ ret = 0;
+ break;
+
+ case AO_SCHEME_LAMBDA:
+ lambda = ao_scheme_poly_lambda(p);
+ if (lambda->args == AO_SCHEME_FUNC_MACRO)
+ ret = p;
+ else
+ ret = ao_has_macro(lambda->code);
+ break;
+ default:
+ ret = AO_SCHEME_NIL;
+ break;
+ }
+ MACRO_DEBUG(--macro_scan_depth; indent(); printf ("... "); ao_scheme_poly_write(ret); printf("\n"));
+ return ret;
+}
+
+ao_poly
+ao_has_macro(ao_poly p)
+{
+ struct ao_scheme_cons *cons;
+ struct ao_scheme_lambda *lambda;
+ ao_poly m;
+ ao_poly list;
+
+ if (p == AO_SCHEME_NIL)
+ return AO_SCHEME_NIL;
+
+ MACRO_DEBUG(indent(); printf("has macro "); ao_scheme_poly_write(p); printf("\n"); ++macro_scan_depth);
+ switch (ao_scheme_poly_type(p)) {
+ case AO_SCHEME_LAMBDA:
+ lambda = ao_scheme_poly_lambda(p);
+ p = ao_has_macro(lambda->code);
+ break;
+ case AO_SCHEME_CONS:
+ cons = ao_scheme_poly_cons(p);
+ if ((p = ao_is_macro(cons->car)))
+ break;
+
+ list = cons->cdr;
+ p = AO_SCHEME_NIL;
+ while (list != AO_SCHEME_NIL && ao_scheme_poly_type(list) == AO_SCHEME_CONS) {
+ cons = ao_scheme_poly_cons(list);
+ m = ao_has_macro(cons->car);
+ if (m) {
+ p = m;
+ break;
+ }
+ list = cons->cdr;
+ }
+ break;
+
+ default:
+ p = AO_SCHEME_NIL;
+ break;
+ }
+ MACRO_DEBUG(--macro_scan_depth; indent(); printf("... "); ao_scheme_poly_write(p); printf("\n"));
+ return p;
+}
+
+int
+ao_scheme_read_eval_abort(void)
+{
+ ao_poly in, out = AO_SCHEME_NIL;
+ for(;;) {
+ in = ao_scheme_read();
+ if (in == _ao_scheme_atom_eof)
+ break;
+ out = ao_scheme_eval(in);
+ if (ao_scheme_exception)
+ return 0;
+ ao_scheme_poly_write(out);
+ putchar ('\n');
+ }
+ return 1;
+}
+
+static FILE *in;
+static FILE *out;
+
+int
+ao_scheme_getc(void)
+{
+ return getc(in);
+}
+
+static const struct option options[] = {
+ { .name = "out", .has_arg = 1, .val = 'o' },
+ { 0, 0, 0, 0 }
+};
+
+static void usage(char *program)
+{
+ fprintf(stderr, "usage: %s [--out=<output>] [input]\n", program);
+ exit(1);
+}
+
+int
+main(int argc, char **argv)
+{
+ int f, o;
+ ao_poly val;
+ struct ao_scheme_atom *a;
+ struct ao_scheme_builtin *b;
+ int in_atom = 0;
+ char *out_name = NULL;
+ int c;
+ enum ao_scheme_builtin_id prev_func;
+
+ in = stdin;
+ out = stdout;
+
+ while ((c = getopt_long(argc, argv, "o:", options, NULL)) != -1) {
+ switch (c) {
+ case 'o':
+ out_name = optarg;
+ break;
+ default:
+ usage(argv[0]);
+ break;
+ }
+ }
+
+ ao_scheme_frame_init();
+
+ /* Boolean values #f and #t */
+ ao_scheme_bool_get(0);
+ ao_scheme_bool_get(1);
+
+ prev_func = _builtin_last;
+ for (f = 0; f < (int) N_FUNC; f++) {
+ if (funcs[f].func != prev_func)
+ b = ao_scheme_make_builtin(funcs[f].func, funcs[f].args);
+ a = ao_scheme_atom_intern(funcs[f].name);
+ ao_scheme_atom_def(ao_scheme_atom_poly(a),
+ ao_scheme_builtin_poly(b));
+ }
+
+ /* end of file value */
+ a = ao_scheme_atom_intern("eof");
+ ao_scheme_atom_def(ao_scheme_atom_poly(a),
+ ao_scheme_atom_poly(a));
+
+ /* 'else' */
+ a = ao_scheme_atom_intern("else");
+
+ if (argv[optind]){
+ in = fopen(argv[optind], "r");
+ if (!in) {
+ perror(argv[optind]);
+ exit(1);
+ }
+ }
+ if (!ao_scheme_read_eval_abort()) {
+ fprintf(stderr, "eval failed\n");
+ exit(1);
+ }
+
+ /* Reduce to referenced values */
+ ao_scheme_collect(AO_SCHEME_COLLECT_FULL);
+
+ for (f = 0; f < ao_scheme_frame_global->num; f++) {
+ struct ao_scheme_frame_vals *vals = ao_scheme_poly_frame_vals(ao_scheme_frame_global->vals);
+ val = ao_has_macro(vals->vals[f].val);
+ if (val != AO_SCHEME_NIL) {
+ printf("error: function %s contains unresolved macro: ",
+ ao_scheme_poly_atom(vals->vals[f].atom)->name);
+ ao_scheme_poly_write(val);
+ printf("\n");
+ exit(1);
+ }
+ }
+
+ if (out_name) {
+ out = fopen(out_name, "w");
+ if (!out) {
+ perror(out_name);
+ exit(1);
+ }
+ }
+
+ fprintf(out, "/* Generated file, do not edit */\n\n");
+
+ fprintf(out, "#define AO_SCHEME_POOL_CONST %d\n", ao_scheme_top);
+ fprintf(out, "extern const uint8_t ao_scheme_const[AO_SCHEME_POOL_CONST] __attribute__((aligned(4)));\n");
+ fprintf(out, "#define ao_builtin_atoms 0x%04x\n", ao_scheme_atom_poly(ao_scheme_atoms));
+ fprintf(out, "#define ao_builtin_frame 0x%04x\n", ao_scheme_frame_poly(ao_scheme_frame_global));
+ fprintf(out, "#define ao_scheme_const_checksum ((uint16_t) 0x%04x)\n", ao_fec_crc(ao_scheme_const, ao_scheme_top));
+
+ fprintf(out, "#define _ao_scheme_bool_false 0x%04x\n", ao_scheme_bool_poly(ao_scheme_false));
+ fprintf(out, "#define _ao_scheme_bool_true 0x%04x\n", ao_scheme_bool_poly(ao_scheme_true));
+
+ for (a = ao_scheme_atoms; a; a = ao_scheme_poly_atom(a->next)) {
+ char *n = a->name, c;
+ fprintf(out, "#define _ao_scheme_atom_");
+ while ((c = *n++)) {
+ if (isalnum(c))
+ fprintf(out, "%c", c);
+ else
+ fprintf(out, "%02x", c);
+ }
+ fprintf(out, " 0x%04x\n", ao_scheme_atom_poly(a));
+ }
+ fprintf(out, "#ifdef AO_SCHEME_CONST_BITS\n");
+ fprintf(out, "const uint8_t ao_scheme_const[AO_SCHEME_POOL_CONST] __attribute((aligned(4))) = {");
+ for (o = 0; o < ao_scheme_top; o++) {
+ uint8_t c;
+ if ((o & 0xf) == 0)
+ fprintf(out, "\n\t");
+ else
+ fprintf(out, " ");
+ c = ao_scheme_const[o];
+ if (!in_atom)
+ in_atom = is_atom(o);
+ if (in_atom) {
+ fprintf(out, " '%c',", c);
+ in_atom--;
+ } else {
+ fprintf(out, "0x%02x,", c);
+ }
+ }
+ fprintf(out, "\n};\n");
+ fprintf(out, "#endif /* AO_SCHEME_CONST_BITS */\n");
+ exit(0);
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#define AO_SCHEME_CONST_BITS
+
+#include "ao_scheme.h"
+#include <stdio.h>
+#include <assert.h>
+
+#ifdef AO_SCHEME_MAKE_CONST
+
+/*
+ * When building the constant table, it is the
+ * pool for allocations.
+ */
+
+#include <stdlib.h>
+uint8_t ao_scheme_const[AO_SCHEME_POOL_CONST] __attribute__((aligned(4)));
+#define ao_scheme_pool ao_scheme_const
+#undef AO_SCHEME_POOL
+#define AO_SCHEME_POOL AO_SCHEME_POOL_CONST
+
+#else
+
+uint8_t ao_scheme_pool[AO_SCHEME_POOL + AO_SCHEME_POOL_EXTRA] __attribute__((aligned(4)));
+
+#endif
+
+#ifndef DBG_MEM_STATS
+#define DBG_MEM_STATS DBG_MEM
+#endif
+
+#if DBG_MEM
+int dbg_move_depth;
+int dbg_mem = DBG_MEM_START;
+int dbg_validate = 0;
+
+struct ao_scheme_record {
+ struct ao_scheme_record *next;
+ const struct ao_scheme_type *type;
+ void *addr;
+ int size;
+};
+
+static struct ao_scheme_record *record_head, **record_tail;
+
+static void
+ao_scheme_record_free(struct ao_scheme_record *record)
+{
+ while (record) {
+ struct ao_scheme_record *next = record->next;
+ free(record);
+ record = next;
+ }
+}
+
+static void
+ao_scheme_record_reset(void)
+{
+ ao_scheme_record_free(record_head);
+ record_head = NULL;
+ record_tail = &record_head;
+}
+
+static void
+ao_scheme_record(const struct ao_scheme_type *type,
+ void *addr,
+ int size)
+{
+ struct ao_scheme_record *r = malloc(sizeof (struct ao_scheme_record));
+
+ r->next = NULL;
+ r->type = type;
+ r->addr = addr;
+ r->size = size;
+ *record_tail = r;
+ record_tail = &r->next;
+}
+
+static struct ao_scheme_record *
+ao_scheme_record_save(void)
+{
+ struct ao_scheme_record *r = record_head;
+
+ record_head = NULL;
+ record_tail = &record_head;
+ return r;
+}
+
+static void
+ao_scheme_record_compare(char *where,
+ struct ao_scheme_record *a,
+ struct ao_scheme_record *b)
+{
+ while (a && b) {
+ if (a->type != b->type || a->size != b->size) {
+ printf("%s record difers %d %s %d -> %d %s %d\n",
+ where,
+ MDBG_OFFSET(a->addr),
+ a->type->name,
+ a->size,
+ MDBG_OFFSET(b->addr),
+ b->type->name,
+ b->size);
+ ao_scheme_abort();
+ }
+ a = a->next;
+ b = b->next;
+ }
+ if (a) {
+ printf("%s record differs %d %s %d -> NULL\n",
+ where,
+ MDBG_OFFSET(a->addr),
+ a->type->name,
+ a->size);
+ ao_scheme_abort();
+ }
+ if (b) {
+ printf("%s record differs NULL -> %d %s %d\n",
+ where,
+ MDBG_OFFSET(b->addr),
+ b->type->name,
+ b->size);
+ ao_scheme_abort();
+ }
+}
+
+#else
+#define ao_scheme_record_reset()
+#endif
+
+uint8_t ao_scheme_exception;
+
+struct ao_scheme_root {
+ const struct ao_scheme_type *type;
+ void **addr;
+};
+
+static struct ao_scheme_cons *save_cons[2];
+static char *save_string[2];
+static struct ao_scheme_frame *save_frame[1];
+static ao_poly save_poly[3];
+
+static const struct ao_scheme_root ao_scheme_root[] = {
+ {
+ .type = &ao_scheme_cons_type,
+ .addr = (void **) &save_cons[0],
+ },
+ {
+ .type = &ao_scheme_cons_type,
+ .addr = (void **) &save_cons[1],
+ },
+ {
+ .type = &ao_scheme_string_type,
+ .addr = (void **) &save_string[0],
+ },
+ {
+ .type = &ao_scheme_string_type,
+ .addr = (void **) &save_string[1],
+ },
+ {
+ .type = &ao_scheme_frame_type,
+ .addr = (void **) &save_frame[0],
+ },
+ {
+ .type = NULL,
+ .addr = (void **) (void *) &save_poly[0]
+ },
+ {
+ .type = NULL,
+ .addr = (void **) (void *) &save_poly[1]
+ },
+ {
+ .type = NULL,
+ .addr = (void **) (void *) &save_poly[2]
+ },
+ {
+ .type = &ao_scheme_atom_type,
+ .addr = (void **) &ao_scheme_atoms
+ },
+ {
+ .type = &ao_scheme_frame_type,
+ .addr = (void **) &ao_scheme_frame_global,
+ },
+ {
+ .type = &ao_scheme_frame_type,
+ .addr = (void **) &ao_scheme_frame_current,
+ },
+ {
+ .type = &ao_scheme_stack_type,
+ .addr = (void **) &ao_scheme_stack,
+ },
+ {
+ .type = NULL,
+ .addr = (void **) (void *) &ao_scheme_v,
+ },
+ {
+ .type = &ao_scheme_cons_type,
+ .addr = (void **) &ao_scheme_read_cons,
+ },
+ {
+ .type = &ao_scheme_cons_type,
+ .addr = (void **) &ao_scheme_read_cons_tail,
+ },
+ {
+ .type = &ao_scheme_cons_type,
+ .addr = (void **) &ao_scheme_read_stack,
+ },
+#ifdef AO_SCHEME_MAKE_CONST
+ {
+ .type = &ao_scheme_bool_type,
+ .addr = (void **) &ao_scheme_false,
+ },
+ {
+ .type = &ao_scheme_bool_type,
+ .addr = (void **) &ao_scheme_true,
+ },
+#endif
+};
+
+#define AO_SCHEME_ROOT (sizeof (ao_scheme_root) / sizeof (ao_scheme_root[0]))
+
+static const void ** const ao_scheme_cache[] = {
+ (const void **) &ao_scheme_cons_free_list,
+ (const void **) &ao_scheme_stack_free_list,
+ (const void **) &ao_scheme_frame_free_list[0],
+ (const void **) &ao_scheme_frame_free_list[1],
+ (const void **) &ao_scheme_frame_free_list[2],
+ (const void **) &ao_scheme_frame_free_list[3],
+ (const void **) &ao_scheme_frame_free_list[4],
+ (const void **) &ao_scheme_frame_free_list[5],
+};
+
+#if AO_SCHEME_FRAME_FREE != 6
+#error Unexpected AO_SCHEME_FRAME_FREE value
+#endif
+
+#define AO_SCHEME_CACHE (sizeof (ao_scheme_cache) / sizeof (ao_scheme_cache[0]))
+
+#define AO_SCHEME_BUSY_SIZE ((AO_SCHEME_POOL + 31) / 32)
+
+static uint8_t ao_scheme_busy[AO_SCHEME_BUSY_SIZE];
+static uint8_t ao_scheme_cons_note[AO_SCHEME_BUSY_SIZE];
+static uint8_t ao_scheme_cons_last[AO_SCHEME_BUSY_SIZE];
+static uint8_t ao_scheme_cons_noted;
+
+uint16_t ao_scheme_top;
+
+struct ao_scheme_chunk {
+ uint16_t old_offset;
+ union {
+ uint16_t size;
+ uint16_t new_offset;
+ };
+};
+
+#define AO_SCHEME_NCHUNK 64
+
+static struct ao_scheme_chunk ao_scheme_chunk[AO_SCHEME_NCHUNK];
+
+/* Offset of an address within the pool. */
+static inline uint16_t pool_offset(void *addr) {
+#if DBG_MEM
+ if (!AO_SCHEME_IS_POOL(addr))
+ ao_scheme_abort();
+#endif
+ return ((uint8_t *) addr) - ao_scheme_pool;
+}
+
+static inline void mark(uint8_t *tag, int offset) {
+ int byte = offset >> 5;
+ int bit = (offset >> 2) & 7;
+ tag[byte] |= (1 << bit);
+}
+
+static inline void clear(uint8_t *tag, int offset) {
+ int byte = offset >> 5;
+ int bit = (offset >> 2) & 7;
+ tag[byte] &= ~(1 << bit);
+}
+
+static inline int busy(uint8_t *tag, int offset) {
+ int byte = offset >> 5;
+ int bit = (offset >> 2) & 7;
+ return (tag[byte] >> bit) & 1;
+}
+
+static inline int min(int a, int b) { return a < b ? a : b; }
+static inline int max(int a, int b) { return a > b ? a : b; }
+
+static inline int limit(int offset) {
+ return min(AO_SCHEME_POOL, max(offset, 0));
+}
+
+static void
+note_cons(uint16_t offset)
+{
+ MDBG_MOVE("note cons %d\n", offset);
+ ao_scheme_cons_noted = 1;
+ mark(ao_scheme_cons_note, offset);
+}
+
+static uint16_t chunk_low, chunk_high;
+static uint16_t chunk_first, chunk_last;
+
+static int
+find_chunk(uint16_t offset)
+{
+ int l, r;
+ /* Binary search for the location */
+ l = chunk_first;
+ r = chunk_last - 1;
+ while (l <= r) {
+ int m = (l + r) >> 1;
+ if (ao_scheme_chunk[m].old_offset < offset)
+ l = m + 1;
+ else
+ r = m - 1;
+ }
+ return l;
+}
+
+static void
+note_chunk(uint16_t offset, uint16_t size)
+{
+ int l;
+
+ if (offset < chunk_low || chunk_high <= offset)
+ return;
+
+ l = find_chunk(offset);
+
+ /*
+ * The correct location is always in 'l', with r = l-1 being
+ * the entry before the right one
+ */
+
+#if DBG_MEM
+ /* Off the right side */
+ if (l >= AO_SCHEME_NCHUNK)
+ ao_scheme_abort();
+
+ /* Off the left side */
+ if (l == 0 && chunk_last && offset > ao_scheme_chunk[0].old_offset)
+ ao_scheme_abort();
+#endif
+
+ /* Shuffle existing entries right */
+ int end = min(AO_SCHEME_NCHUNK, chunk_last + 1);
+
+ memmove(&ao_scheme_chunk[l+1],
+ &ao_scheme_chunk[l],
+ (end - (l+1)) * sizeof (struct ao_scheme_chunk));
+
+ /* Add new entry */
+ ao_scheme_chunk[l].old_offset = offset;
+ ao_scheme_chunk[l].size = size;
+
+ /* Increment the number of elements up to the size of the array */
+ if (chunk_last < AO_SCHEME_NCHUNK)
+ chunk_last++;
+
+ /* Set the top address if the array is full */
+ if (chunk_last == AO_SCHEME_NCHUNK)
+ chunk_high = ao_scheme_chunk[AO_SCHEME_NCHUNK-1].old_offset +
+ ao_scheme_chunk[AO_SCHEME_NCHUNK-1].size;
+}
+
+static void
+reset_chunks(void)
+{
+ chunk_high = ao_scheme_top;
+ chunk_last = 0;
+ chunk_first = 0;
+}
+
+/*
+ * Walk all referenced objects calling functions on each one
+ */
+
+static void
+walk(int (*visit_addr)(const struct ao_scheme_type *type, void **addr),
+ int (*visit_poly)(ao_poly *p, uint8_t do_note_cons))
+{
+ int i;
+
+ ao_scheme_record_reset();
+ memset(ao_scheme_busy, '\0', sizeof (ao_scheme_busy));
+ memset(ao_scheme_cons_note, '\0', sizeof (ao_scheme_cons_note));
+ ao_scheme_cons_noted = 0;
+ for (i = 0; i < (int) AO_SCHEME_ROOT; i++) {
+ if (ao_scheme_root[i].type) {
+ void **a = ao_scheme_root[i].addr, *v;
+ if (a && (v = *a)) {
+ MDBG_MOVE("root ptr %d\n", MDBG_OFFSET(v));
+ visit_addr(ao_scheme_root[i].type, a);
+ }
+ } else {
+ ao_poly *a = (ao_poly *) ao_scheme_root[i].addr, p;
+ if (a && (p = *a)) {
+ MDBG_MOVE("root poly %d\n", MDBG_OFFSET(ao_scheme_ref(p)));
+ visit_poly(a, 0);
+ }
+ }
+ }
+ while (ao_scheme_cons_noted) {
+ memcpy(ao_scheme_cons_last, ao_scheme_cons_note, sizeof (ao_scheme_cons_note));
+ memset(ao_scheme_cons_note, '\0', sizeof (ao_scheme_cons_note));
+ ao_scheme_cons_noted = 0;
+ for (i = 0; i < AO_SCHEME_POOL; i += 4) {
+ if (busy(ao_scheme_cons_last, i)) {
+ void *v = ao_scheme_pool + i;
+ MDBG_MOVE("root cons %d\n", MDBG_OFFSET(v));
+ visit_addr(&ao_scheme_cons_type, &v);
+ }
+ }
+ }
+}
+
+#if MDBG_DUMP
+static void
+dump_busy(void)
+{
+ int i;
+ MDBG_MOVE("busy:");
+ for (i = 0; i < ao_scheme_top; i += 4) {
+ if ((i & 0xff) == 0) {
+ MDBG_MORE("\n");
+ MDBG_MOVE("%s", "");
+ }
+ else if ((i & 0x1f) == 0)
+ MDBG_MORE(" ");
+ if (busy(ao_scheme_busy, i))
+ MDBG_MORE("*");
+ else
+ MDBG_MORE("-");
+ }
+ MDBG_MORE ("\n");
+}
+#define DUMP_BUSY() dump_busy()
+#else
+#define DUMP_BUSY()
+#endif
+
+static const struct ao_scheme_type * const ao_scheme_types[AO_SCHEME_NUM_TYPE] = {
+ [AO_SCHEME_CONS] = &ao_scheme_cons_type,
+ [AO_SCHEME_INT] = NULL,
+ [AO_SCHEME_STRING] = &ao_scheme_string_type,
+ [AO_SCHEME_OTHER] = (void *) 0x1,
+ [AO_SCHEME_ATOM] = &ao_scheme_atom_type,
+ [AO_SCHEME_BUILTIN] = &ao_scheme_builtin_type,
+ [AO_SCHEME_FRAME] = &ao_scheme_frame_type,
+ [AO_SCHEME_FRAME_VALS] = &ao_scheme_frame_vals_type,
+ [AO_SCHEME_LAMBDA] = &ao_scheme_lambda_type,
+ [AO_SCHEME_STACK] = &ao_scheme_stack_type,
+ [AO_SCHEME_BOOL] = &ao_scheme_bool_type,
+ [AO_SCHEME_BIGINT] = &ao_scheme_bigint_type,
+ [AO_SCHEME_FLOAT] = &ao_scheme_float_type,
+ [AO_SCHEME_VECTOR] = &ao_scheme_vector_type,
+};
+
+static int
+ao_scheme_mark_ref(const struct ao_scheme_type *type, void **ref)
+{
+ return ao_scheme_mark(type, *ref);
+}
+
+static int
+ao_scheme_poly_mark_ref(ao_poly *p, uint8_t do_note_cons)
+{
+ return ao_scheme_poly_mark(*p, do_note_cons);
+}
+
+#if DBG_MEM_STATS
+uint64_t ao_scheme_collects[2];
+uint64_t ao_scheme_freed[2];
+uint64_t ao_scheme_loops[2];
+#endif
+
+int ao_scheme_last_top;
+
+int
+ao_scheme_collect(uint8_t style)
+{
+ int i;
+ int top;
+#if DBG_MEM_STATS
+ int loops = 0;
+#endif
+#if DBG_MEM
+ struct ao_scheme_record *mark_record = NULL, *move_record = NULL;
+
+ MDBG_MOVE("collect %d\n", ao_scheme_collects[style]);
+#endif
+ MDBG_DO(ao_scheme_frame_write(ao_scheme_frame_poly(ao_scheme_frame_global)));
+
+ /* The first time through, we're doing a full collect */
+ if (ao_scheme_last_top == 0)
+ style = AO_SCHEME_COLLECT_FULL;
+
+ /* Clear references to all caches */
+ for (i = 0; i < (int) AO_SCHEME_CACHE; i++)
+ *ao_scheme_cache[i] = NULL;
+ if (style == AO_SCHEME_COLLECT_FULL) {
+ chunk_low = top = 0;
+ } else {
+ chunk_low = top = ao_scheme_last_top;
+ }
+ for (;;) {
+#if DBG_MEM_STATS
+ loops++;
+#endif
+ MDBG_MOVE("move chunks from %d to %d\n", chunk_low, top);
+ /* Find the sizes of the first chunk of objects to move */
+ reset_chunks();
+ walk(ao_scheme_mark_ref, ao_scheme_poly_mark_ref);
+#if DBG_MEM
+
+ ao_scheme_record_free(mark_record);
+ mark_record = ao_scheme_record_save();
+ if (mark_record && move_record)
+ ao_scheme_record_compare("mark", move_record, mark_record);
+#endif
+
+ DUMP_BUSY();
+
+ /* Find the first moving object */
+ for (i = 0; i < chunk_last; i++) {
+ uint16_t size = ao_scheme_chunk[i].size;
+
+#if DBG_MEM
+ if (!size)
+ ao_scheme_abort();
+#endif
+
+ if (ao_scheme_chunk[i].old_offset > top)
+ break;
+
+ MDBG_MOVE("chunk %d %d not moving\n",
+ ao_scheme_chunk[i].old_offset,
+ ao_scheme_chunk[i].size);
+#if DBG_MEM
+ if (ao_scheme_chunk[i].old_offset != top)
+ ao_scheme_abort();
+#endif
+ top += size;
+ }
+
+ /*
+ * Limit amount of chunk array used in mapping moves
+ * to the active region
+ */
+ chunk_first = i;
+ chunk_low = ao_scheme_chunk[i].old_offset;
+
+ /* Copy all of the objects */
+ for (; i < chunk_last; i++) {
+ uint16_t size = ao_scheme_chunk[i].size;
+
+#if DBG_MEM
+ if (!size)
+ ao_scheme_abort();
+#endif
+
+ MDBG_MOVE("chunk %d %d -> %d\n",
+ ao_scheme_chunk[i].old_offset,
+ size,
+ top);
+ ao_scheme_chunk[i].new_offset = top;
+
+ memmove(&ao_scheme_pool[top],
+ &ao_scheme_pool[ao_scheme_chunk[i].old_offset],
+ size);
+
+ top += size;
+ }
+
+ if (chunk_first < chunk_last) {
+ /* Relocate all references to the objects */
+ walk(ao_scheme_move, ao_scheme_poly_move);
+
+#if DBG_MEM
+ ao_scheme_record_free(move_record);
+ move_record = ao_scheme_record_save();
+ if (mark_record && move_record)
+ ao_scheme_record_compare("move", mark_record, move_record);
+#endif
+ }
+
+ /* If we ran into the end of the heap, then
+ * there's no need to keep walking
+ */
+ if (chunk_last != AO_SCHEME_NCHUNK)
+ break;
+
+ /* Next loop starts right above this loop */
+ chunk_low = chunk_high;
+ }
+
+#if DBG_MEM_STATS
+ /* Collect stats */
+ ++ao_scheme_collects[style];
+ ao_scheme_freed[style] += ao_scheme_top - top;
+ ao_scheme_loops[style] += loops;
+#endif
+
+ ao_scheme_top = top;
+ if (style == AO_SCHEME_COLLECT_FULL)
+ ao_scheme_last_top = top;
+
+ MDBG_DO(memset(ao_scheme_chunk, '\0', sizeof (ao_scheme_chunk));
+ walk(ao_scheme_mark_ref, ao_scheme_poly_mark_ref));
+
+ return AO_SCHEME_POOL - ao_scheme_top;
+}
+
+#if DBG_FREE_CONS
+void
+ao_scheme_cons_check(struct ao_scheme_cons *cons)
+{
+ ao_poly cdr;
+ int offset;
+
+ chunk_low = 0;
+ reset_chunks();
+ walk(ao_scheme_mark_ref, ao_scheme_poly_mark_ref);
+ while (cons) {
+ if (!AO_SCHEME_IS_POOL(cons))
+ break;
+ offset = pool_offset(cons);
+ if (busy(ao_scheme_busy, offset)) {
+ ao_scheme_printf("cons at %p offset %d poly %d is busy\n\t%v\n", cons, offset, ao_scheme_cons_poly(cons), ao_scheme_cons_poly(cons));
+ abort();
+ }
+ cdr = cons->cdr;
+ if (!ao_scheme_is_pair(cdr))
+ break;
+ cons = ao_scheme_poly_cons(cdr);
+ }
+}
+#endif
+
+/*
+ * Mark interfaces for objects
+ */
+
+
+/*
+ * Mark a block of memory with an explicit size
+ */
+
+int
+ao_scheme_mark_block(void *addr, int size)
+{
+ int offset;
+ if (!AO_SCHEME_IS_POOL(addr))
+ return 1;
+
+ offset = pool_offset(addr);
+ MDBG_MOVE("mark memory %d\n", MDBG_OFFSET(addr));
+ if (busy(ao_scheme_busy, offset)) {
+ MDBG_MOVE("already marked\n");
+ return 1;
+ }
+ mark(ao_scheme_busy, offset);
+ note_chunk(offset, size);
+ return 0;
+}
+
+/*
+ * Note a reference to memory and collect information about a few
+ * object sizes at a time
+ */
+
+int
+ao_scheme_mark_memory(const struct ao_scheme_type *type, void *addr)
+{
+ int offset;
+ if (!AO_SCHEME_IS_POOL(addr))
+ return 1;
+
+ offset = pool_offset(addr);
+ MDBG_MOVE("mark memory %d\n", MDBG_OFFSET(addr));
+ if (busy(ao_scheme_busy, offset)) {
+ MDBG_MOVE("already marked\n");
+ return 1;
+ }
+ mark(ao_scheme_busy, offset);
+ note_chunk(offset, ao_scheme_size(type, addr));
+ return 0;
+}
+
+/*
+ * Mark an object and all that it refereces
+ */
+int
+ao_scheme_mark(const struct ao_scheme_type *type, void *addr)
+{
+ int ret;
+ MDBG_MOVE("mark %d\n", MDBG_OFFSET(addr));
+ MDBG_MOVE_IN();
+ ret = ao_scheme_mark_memory(type, addr);
+ if (!ret) {
+ MDBG_MOVE("mark recurse\n");
+ type->mark(addr);
+ }
+ MDBG_MOVE_OUT();
+ return ret;
+}
+
+/*
+ * Mark an object, unless it is a cons cell and
+ * do_note_cons is set. In that case, just
+ * set a bit in the cons note array; those
+ * will be marked in a separate pass to avoid
+ * deep recursion in the collector
+ */
+int
+ao_scheme_poly_mark(ao_poly p, uint8_t do_note_cons)
+{
+ uint8_t type;
+ void *addr;
+
+ type = ao_scheme_poly_base_type(p);
+
+ if (type == AO_SCHEME_INT)
+ return 1;
+
+ addr = ao_scheme_ref(p);
+ if (!AO_SCHEME_IS_POOL(addr))
+ return 1;
+
+ if (type == AO_SCHEME_CONS && do_note_cons) {
+ note_cons(pool_offset(addr));
+ return 1;
+ } else {
+ if (type == AO_SCHEME_OTHER)
+ type = ao_scheme_other_type(addr);
+
+ const struct ao_scheme_type *lisp_type = ao_scheme_types[type];
+#if DBG_MEM
+ if (!lisp_type)
+ ao_scheme_abort();
+#endif
+
+ return ao_scheme_mark(lisp_type, addr);
+ }
+}
+
+/*
+ * Find the current location of an object
+ * based on the original location. For unmoved
+ * objects, this is simple. For moved objects,
+ * go search for it
+ */
+
+static uint16_t
+move_map(uint16_t offset)
+{
+ int l;
+
+ if (offset < chunk_low || chunk_high <= offset)
+ return offset;
+
+ l = find_chunk(offset);
+
+#if DBG_MEM
+ if (ao_scheme_chunk[l].old_offset != offset)
+ ao_scheme_abort();
+#endif
+ return ao_scheme_chunk[l].new_offset;
+}
+
+int
+ao_scheme_move_memory(const struct ao_scheme_type *type, void **ref)
+{
+ void *addr = *ref;
+ uint16_t offset, orig_offset;
+
+ if (!AO_SCHEME_IS_POOL(addr))
+ return 1;
+
+ (void) type;
+
+ MDBG_MOVE("move memory %d\n", MDBG_OFFSET(addr));
+ orig_offset = pool_offset(addr);
+ offset = move_map(orig_offset);
+ if (offset != orig_offset) {
+ MDBG_MOVE("update ref %d %d -> %d\n",
+ AO_SCHEME_IS_POOL(ref) ? MDBG_OFFSET(ref) : -1,
+ orig_offset, offset);
+ *ref = ao_scheme_pool + offset;
+ }
+ if (busy(ao_scheme_busy, offset)) {
+ MDBG_MOVE("already moved\n");
+ return 1;
+ }
+ mark(ao_scheme_busy, offset);
+ MDBG_DO(ao_scheme_record(type, addr, ao_scheme_size(type, addr)));
+ return 0;
+}
+
+int
+ao_scheme_move(const struct ao_scheme_type *type, void **ref)
+{
+ int ret;
+ MDBG_MOVE("move object %d\n", MDBG_OFFSET(*ref));
+ MDBG_MOVE_IN();
+ ret = ao_scheme_move_memory(type, ref);
+ if (!ret) {
+ MDBG_MOVE("move recurse\n");
+ type->move(*ref);
+ }
+ MDBG_MOVE_OUT();
+ return ret;
+}
+
+int
+ao_scheme_poly_move(ao_poly *ref, uint8_t do_note_cons)
+{
+ uint8_t type;
+ ao_poly p = *ref;
+ int ret;
+ void *addr;
+ uint16_t offset, orig_offset;
+ uint8_t base_type;
+
+ base_type = type = ao_scheme_poly_base_type(p);
+
+ if (type == AO_SCHEME_INT)
+ return 1;
+
+ addr = ao_scheme_ref(p);
+ if (!AO_SCHEME_IS_POOL(addr))
+ return 1;
+
+ orig_offset = pool_offset(addr);
+ offset = move_map(orig_offset);
+
+ if (type == AO_SCHEME_CONS && do_note_cons) {
+ note_cons(orig_offset);
+ ret = 1;
+ } else {
+ if (type == AO_SCHEME_OTHER)
+ type = ao_scheme_other_type(ao_scheme_pool + offset);
+
+ const struct ao_scheme_type *lisp_type = ao_scheme_types[type];
+#if DBG_MEM
+ if (!lisp_type)
+ ao_scheme_abort();
+#endif
+
+ ret = ao_scheme_move(lisp_type, &addr);
+ }
+
+ /* Re-write the poly value */
+ if (offset != orig_offset) {
+ ao_poly np = ao_scheme_poly(ao_scheme_pool + offset, base_type);
+ MDBG_MOVE("poly %d moved %d -> %d\n",
+ type, orig_offset, offset);
+ *ref = np;
+ }
+ return ret;
+}
+
+#if DBG_MEM
+void
+ao_scheme_validate(void)
+{
+ chunk_low = 0;
+ memset(ao_scheme_chunk, '\0', sizeof (ao_scheme_chunk));
+ walk(ao_scheme_mark_ref, ao_scheme_poly_mark_ref);
+}
+
+int dbg_allocs;
+
+#endif
+
+void *
+ao_scheme_alloc(int size)
+{
+ void *addr;
+
+ MDBG_DO(++dbg_allocs);
+ MDBG_DO(if (dbg_validate) ao_scheme_validate());
+ size = ao_scheme_size_round(size);
+ if (AO_SCHEME_POOL - ao_scheme_top < size &&
+ ao_scheme_collect(AO_SCHEME_COLLECT_INCREMENTAL) < size &&
+ ao_scheme_collect(AO_SCHEME_COLLECT_FULL) < size)
+ {
+ ao_scheme_error(AO_SCHEME_OOM, "out of memory");
+ return NULL;
+ }
+ addr = ao_scheme_pool + ao_scheme_top;
+ ao_scheme_top += size;
+ MDBG_MOVE("alloc %d size %d\n", MDBG_OFFSET(addr), size);
+ return addr;
+}
+
+void
+ao_scheme_cons_stash(int id, struct ao_scheme_cons *cons)
+{
+ assert(save_cons[id] == 0);
+ save_cons[id] = cons;
+}
+
+struct ao_scheme_cons *
+ao_scheme_cons_fetch(int id)
+{
+ struct ao_scheme_cons *cons = save_cons[id];
+ save_cons[id] = NULL;
+ return cons;
+}
+
+void
+ao_scheme_poly_stash(int id, ao_poly poly)
+{
+ assert(save_poly[id] == AO_SCHEME_NIL);
+ save_poly[id] = poly;
+}
+
+ao_poly
+ao_scheme_poly_fetch(int id)
+{
+ ao_poly poly = save_poly[id];
+ save_poly[id] = AO_SCHEME_NIL;
+ return poly;
+}
+
+void
+ao_scheme_string_stash(int id, char *string)
+{
+ assert(save_string[id] == NULL);
+ save_string[id] = string;
+}
+
+char *
+ao_scheme_string_fetch(int id)
+{
+ char *string = save_string[id];
+ save_string[id] = NULL;
+ return string;
+}
+
+void
+ao_scheme_frame_stash(int id, struct ao_scheme_frame *frame)
+{
+ assert(save_frame[id] == NULL);
+ save_frame[id] = frame;
+}
+
+struct ao_scheme_frame *
+ao_scheme_frame_fetch(int id)
+{
+ struct ao_scheme_frame *frame = save_frame[id];
+ save_frame[id] = NULL;
+ return frame;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+struct ao_scheme_funcs {
+ void (*write)(ao_poly);
+ void (*display)(ao_poly);
+};
+
+static const struct ao_scheme_funcs ao_scheme_funcs[AO_SCHEME_NUM_TYPE] = {
+ [AO_SCHEME_CONS] = {
+ .write = ao_scheme_cons_write,
+ .display = ao_scheme_cons_display,
+ },
+ [AO_SCHEME_STRING] = {
+ .write = ao_scheme_string_write,
+ .display = ao_scheme_string_display,
+ },
+ [AO_SCHEME_INT] = {
+ .write = ao_scheme_int_write,
+ .display = ao_scheme_int_write,
+ },
+ [AO_SCHEME_ATOM] = {
+ .write = ao_scheme_atom_write,
+ .display = ao_scheme_atom_write,
+ },
+ [AO_SCHEME_BUILTIN] = {
+ .write = ao_scheme_builtin_write,
+ .display = ao_scheme_builtin_write,
+ },
+ [AO_SCHEME_FRAME] = {
+ .write = ao_scheme_frame_write,
+ .display = ao_scheme_frame_write,
+ },
+ [AO_SCHEME_FRAME_VALS] = {
+ .write = NULL,
+ .display = NULL,
+ },
+ [AO_SCHEME_LAMBDA] = {
+ .write = ao_scheme_lambda_write,
+ .display = ao_scheme_lambda_write,
+ },
+ [AO_SCHEME_STACK] = {
+ .write = ao_scheme_stack_write,
+ .display = ao_scheme_stack_write,
+ },
+ [AO_SCHEME_BOOL] = {
+ .write = ao_scheme_bool_write,
+ .display = ao_scheme_bool_write,
+ },
+ [AO_SCHEME_BIGINT] = {
+ .write = ao_scheme_bigint_write,
+ .display = ao_scheme_bigint_write,
+ },
+ [AO_SCHEME_FLOAT] = {
+ .write = ao_scheme_float_write,
+ .display = ao_scheme_float_write,
+ },
+ [AO_SCHEME_VECTOR] = {
+ .write = ao_scheme_vector_write,
+ .display = ao_scheme_vector_display
+ },
+};
+
+static const struct ao_scheme_funcs *
+funcs(ao_poly p)
+{
+ uint8_t type = ao_scheme_poly_type(p);
+
+ if (type < AO_SCHEME_NUM_TYPE)
+ return &ao_scheme_funcs[type];
+ return NULL;
+}
+
+void
+ao_scheme_poly_write(ao_poly p)
+{
+ const struct ao_scheme_funcs *f = funcs(p);
+
+ if (f && f->write)
+ f->write(p);
+}
+
+void
+ao_scheme_poly_display(ao_poly p)
+{
+ const struct ao_scheme_funcs *f = funcs(p);
+
+ if (f && f->display)
+ f->display(p);
+}
+
+void *
+ao_scheme_ref(ao_poly poly) {
+ if (poly == AO_SCHEME_NIL)
+ return NULL;
+ if (poly & AO_SCHEME_CONST)
+ return (void *) (ao_scheme_const + (poly & AO_SCHEME_REF_MASK) - 4);
+ return (void *) (ao_scheme_pool + (poly & AO_SCHEME_REF_MASK) - 4);
+}
+
+ao_poly
+ao_scheme_poly(const void *addr, ao_poly type) {
+ const uint8_t *a = addr;
+ if (a == NULL)
+ return AO_SCHEME_NIL;
+ if (AO_SCHEME_IS_CONST(a))
+ return AO_SCHEME_CONST | (a - ao_scheme_const + 4) | type;
+ return (a - ao_scheme_pool + 4) | type;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include "ao_scheme_read.h"
+#include <math.h>
+#include <stdlib.h>
+
+static const uint16_t lex_classes[128] = {
+ IGNORE, /* ^@ */
+ IGNORE, /* ^A */
+ IGNORE, /* ^B */
+ IGNORE, /* ^C */
+ IGNORE, /* ^D */
+ IGNORE, /* ^E */
+ IGNORE, /* ^F */
+ IGNORE, /* ^G */
+ IGNORE, /* ^H */
+ WHITE, /* ^I */
+ WHITE, /* ^J */
+ WHITE, /* ^K */
+ WHITE, /* ^L */
+ WHITE, /* ^M */
+ IGNORE, /* ^N */
+ IGNORE, /* ^O */
+ IGNORE, /* ^P */
+ IGNORE, /* ^Q */
+ IGNORE, /* ^R */
+ IGNORE, /* ^S */
+ IGNORE, /* ^T */
+ IGNORE, /* ^U */
+ IGNORE, /* ^V */
+ IGNORE, /* ^W */
+ IGNORE, /* ^X */
+ IGNORE, /* ^Y */
+ IGNORE, /* ^Z */
+ IGNORE, /* ^[ */
+ IGNORE, /* ^\ */
+ IGNORE, /* ^] */
+ IGNORE, /* ^^ */
+ IGNORE, /* ^_ */
+ PRINTABLE|WHITE, /* */
+ PRINTABLE, /* ! */
+ PRINTABLE|STRINGC, /* " */
+ PRINTABLE|POUND, /* # */
+ PRINTABLE, /* $ */
+ PRINTABLE, /* % */
+ PRINTABLE, /* & */
+ PRINTABLE|SPECIAL, /* ' */
+ PRINTABLE|SPECIAL, /* ( */
+ PRINTABLE|SPECIAL, /* ) */
+ PRINTABLE, /* * */
+ PRINTABLE|SIGN, /* + */
+ PRINTABLE|SPECIAL, /* , */
+ PRINTABLE|SIGN, /* - */
+ PRINTABLE|DOTC|FLOATC, /* . */
+ PRINTABLE, /* / */
+ PRINTABLE|DIGIT, /* 0 */
+ PRINTABLE|DIGIT, /* 1 */
+ PRINTABLE|DIGIT, /* 2 */
+ PRINTABLE|DIGIT, /* 3 */
+ PRINTABLE|DIGIT, /* 4 */
+ PRINTABLE|DIGIT, /* 5 */
+ PRINTABLE|DIGIT, /* 6 */
+ PRINTABLE|DIGIT, /* 7 */
+ PRINTABLE|DIGIT, /* 8 */
+ PRINTABLE|DIGIT, /* 9 */
+ PRINTABLE, /* : */
+ PRINTABLE|COMMENT, /* ; */
+ PRINTABLE, /* < */
+ PRINTABLE, /* = */
+ PRINTABLE, /* > */
+ PRINTABLE, /* ? */
+ PRINTABLE, /* @ */
+ PRINTABLE, /* A */
+ PRINTABLE, /* B */
+ PRINTABLE, /* C */
+ PRINTABLE, /* D */
+ PRINTABLE|FLOATC, /* E */
+ PRINTABLE, /* F */
+ PRINTABLE, /* G */
+ PRINTABLE, /* H */
+ PRINTABLE, /* I */
+ PRINTABLE, /* J */
+ PRINTABLE, /* K */
+ PRINTABLE, /* L */
+ PRINTABLE, /* M */
+ PRINTABLE, /* N */
+ PRINTABLE, /* O */
+ PRINTABLE, /* P */
+ PRINTABLE, /* Q */
+ PRINTABLE, /* R */
+ PRINTABLE, /* S */
+ PRINTABLE, /* T */
+ PRINTABLE, /* U */
+ PRINTABLE, /* V */
+ PRINTABLE, /* W */
+ PRINTABLE, /* X */
+ PRINTABLE, /* Y */
+ PRINTABLE, /* Z */
+ PRINTABLE, /* [ */
+ PRINTABLE|BACKSLASH, /* \ */
+ PRINTABLE, /* ] */
+ PRINTABLE, /* ^ */
+ PRINTABLE, /* _ */
+ PRINTABLE|SPECIAL, /* ` */
+ PRINTABLE, /* a */
+ PRINTABLE, /* b */
+ PRINTABLE, /* c */
+ PRINTABLE, /* d */
+ PRINTABLE|FLOATC, /* e */
+ PRINTABLE, /* f */
+ PRINTABLE, /* g */
+ PRINTABLE, /* h */
+ PRINTABLE, /* i */
+ PRINTABLE, /* j */
+ PRINTABLE, /* k */
+ PRINTABLE, /* l */
+ PRINTABLE, /* m */
+ PRINTABLE, /* n */
+ PRINTABLE, /* o */
+ PRINTABLE, /* p */
+ PRINTABLE, /* q */
+ PRINTABLE, /* r */
+ PRINTABLE, /* s */
+ PRINTABLE, /* t */
+ PRINTABLE, /* u */
+ PRINTABLE, /* v */
+ PRINTABLE, /* w */
+ PRINTABLE, /* x */
+ PRINTABLE, /* y */
+ PRINTABLE, /* z */
+ PRINTABLE, /* { */
+ PRINTABLE, /* | */
+ PRINTABLE, /* } */
+ PRINTABLE, /* ~ */
+ IGNORE, /* ^? */
+};
+
+static int lex_unget_c;
+
+static inline int
+lex_get(void)
+{
+ int c;
+ if (lex_unget_c) {
+ c = lex_unget_c;
+ lex_unget_c = 0;
+ } else {
+ c = ao_scheme_getc();
+ }
+ return c;
+}
+
+static inline void
+lex_unget(int c)
+{
+ if (c != EOF)
+ lex_unget_c = c;
+}
+
+static uint16_t lex_class;
+
+static int
+lexc(void)
+{
+ int c;
+ do {
+ c = lex_get();
+ if (c == EOF) {
+ c = 0;
+ lex_class = ENDOFFILE;
+ } else {
+ c &= 0x7f;
+ lex_class = lex_classes[c];
+ }
+ } while (lex_class & IGNORE);
+ return c;
+}
+
+static int
+lex_quoted(void)
+{
+ int c;
+ int v;
+ int count;
+
+ c = lex_get();
+ if (c == EOF) {
+ lex_class = ENDOFFILE;
+ return 0;
+ }
+ lex_class = 0;
+ c &= 0x7f;
+ switch (c) {
+ case 'n':
+ return '\n';
+ case 'f':
+ return '\f';
+ case 'b':
+ return '\b';
+ case 'r':
+ return '\r';
+ case 'v':
+ return '\v';
+ case 't':
+ return '\t';
+ case '0':
+ case '1':
+ case '2':
+ case '3':
+ case '4':
+ case '5':
+ case '6':
+ case '7':
+ v = c - '0';
+ count = 1;
+ while (count <= 3) {
+ c = lex_get();
+ if (c == EOF)
+ return EOF;
+ c &= 0x7f;
+ if (c < '0' || '7' < c) {
+ lex_unget(c);
+ break;
+ }
+ v = (v << 3) + c - '0';
+ ++count;
+ }
+ return v;
+ default:
+ return c;
+ }
+}
+
+#define AO_SCHEME_TOKEN_MAX 128
+
+static char token_string[AO_SCHEME_TOKEN_MAX];
+static int32_t token_int;
+static int token_len;
+static float token_float;
+
+static inline void add_token(int c) {
+ if (c && token_len < AO_SCHEME_TOKEN_MAX - 1)
+ token_string[token_len++] = c;
+}
+
+static inline void del_token(void) {
+ if (token_len > 0)
+ token_len--;
+}
+
+static inline void end_token(void) {
+ token_string[token_len] = '\0';
+}
+
+struct namedfloat {
+ const char *name;
+ float value;
+};
+
+static const struct namedfloat namedfloats[] = {
+ { .name = "+inf.0", .value = INFINITY },
+ { .name = "-inf.0", .value = -INFINITY },
+ { .name = "+nan.0", .value = NAN },
+ { .name = "-nan.0", .value = NAN },
+};
+
+#define NUM_NAMED_FLOATS (sizeof namedfloats / sizeof namedfloats[0])
+
+static int
+_lex(void)
+{
+ int c;
+
+ token_len = 0;
+ for (;;) {
+ c = lexc();
+ if (lex_class & ENDOFFILE)
+ return END;
+
+ if (lex_class & WHITE)
+ continue;
+
+ if (lex_class & COMMENT) {
+ while ((c = lexc()) != '\n') {
+ if (lex_class & ENDOFFILE)
+ return END;
+ }
+ continue;
+ }
+
+ if (lex_class & (SPECIAL|DOTC)) {
+ add_token(c);
+ end_token();
+ switch (c) {
+ case '(':
+ case '[':
+ return OPEN;
+ case ')':
+ case ']':
+ return CLOSE;
+ case '\'':
+ return QUOTE;
+ case '.':
+ return DOT;
+ case '`':
+ return QUASIQUOTE;
+ case ',':
+ c = lexc();
+ if (c == '@') {
+ add_token(c);
+ end_token();
+ return UNQUOTE_SPLICING;
+ } else {
+ lex_unget(c);
+ return UNQUOTE;
+ }
+ }
+ }
+ if (lex_class & POUND) {
+ c = lexc();
+ switch (c) {
+ case 't':
+ add_token(c);
+ end_token();
+ return BOOL;
+ case 'f':
+ add_token(c);
+ end_token();
+ return BOOL;
+ case '(':
+ return OPEN_VECTOR;
+ case '\\':
+ for (;;) {
+ int alphabetic;
+ c = lexc();
+ alphabetic = (('a' <= c && c <= 'z') || ('A' <= c && c <= 'Z'));
+ if (token_len == 0) {
+ add_token(c);
+ if (!alphabetic)
+ break;
+ } else {
+ if (alphabetic)
+ add_token(c);
+ else {
+ lex_unget(c);
+ break;
+ }
+ }
+ }
+ end_token();
+ if (token_len == 1)
+ token_int = token_string[0];
+ else if (!strcmp(token_string, "space"))
+ token_int = ' ';
+ else if (!strcmp(token_string, "newline"))
+ token_int = '\n';
+ else if (!strcmp(token_string, "tab"))
+ token_int = '\t';
+ else if (!strcmp(token_string, "return"))
+ token_int = '\r';
+ else if (!strcmp(token_string, "formfeed"))
+ token_int = '\f';
+ else {
+ ao_scheme_error(AO_SCHEME_INVALID, "invalid character token #\\%s", token_string);
+ continue;
+ }
+ return NUM;
+ }
+ }
+ if (lex_class & STRINGC) {
+ for (;;) {
+ c = lexc();
+ if (lex_class & BACKSLASH)
+ c = lex_quoted();
+ if (lex_class & (STRINGC|ENDOFFILE)) {
+ end_token();
+ return STRING;
+ }
+ add_token(c);
+ }
+ }
+ if (lex_class & PRINTABLE) {
+ int isfloat;
+ int hasdigit;
+ int isneg;
+ int isint;
+ int epos;
+
+ isfloat = 1;
+ isint = 1;
+ hasdigit = 0;
+ token_int = 0;
+ isneg = 0;
+ epos = 0;
+ for (;;) {
+ if (!(lex_class & NUMBER)) {
+ isint = 0;
+ isfloat = 0;
+ } else {
+ if (!(lex_class & INTEGER))
+ isint = 0;
+ if (token_len != epos &&
+ (lex_class & SIGN))
+ {
+ isint = 0;
+ isfloat = 0;
+ }
+ if (c == '-')
+ isneg = 1;
+ if (c == '.' && epos != 0)
+ isfloat = 0;
+ if (c == 'e' || c == 'E') {
+ if (token_len == 0)
+ isfloat = 0;
+ else
+ epos = token_len + 1;
+ }
+ if (lex_class & DIGIT) {
+ hasdigit = 1;
+ if (isint)
+ token_int = token_int * 10 + c - '0';
+ }
+ }
+ add_token (c);
+ c = lexc ();
+ if ((lex_class & (NOTNAME)) && (c != '.' || !isfloat)) {
+ unsigned int u;
+// if (lex_class & ENDOFFILE)
+// clearerr (f);
+ lex_unget(c);
+ end_token ();
+ if (isint && hasdigit) {
+ if (isneg)
+ token_int = -token_int;
+ return NUM;
+ }
+ if (isfloat && hasdigit) {
+ token_float = strtof(token_string, NULL);
+ return FLOAT;
+ }
+ for (u = 0; u < NUM_NAMED_FLOATS; u++)
+ if (!strcmp(namedfloats[u].name, token_string)) {
+ token_float = namedfloats[u].value;
+ return FLOAT;
+ }
+ return NAME;
+ }
+ }
+ }
+ }
+}
+
+static inline int lex(void)
+{
+ int parse_token = _lex();
+ RDBGI("token %d (%s)\n", parse_token, token_string);
+ return parse_token;
+}
+
+static int parse_token;
+
+int ao_scheme_read_list;
+struct ao_scheme_cons *ao_scheme_read_cons;
+struct ao_scheme_cons *ao_scheme_read_cons_tail;
+struct ao_scheme_cons *ao_scheme_read_stack;
+static int ao_scheme_read_state;
+
+#define READ_IN_QUOTE 0x01
+#define READ_SAW_DOT 0x02
+#define READ_DONE_DOT 0x04
+#define READ_SAW_VECTOR 0x08
+
+static int
+push_read_stack(int read_state)
+{
+ RDBGI("push read stack %p 0x%x\n", ao_scheme_read_cons, read_state);
+ RDBG_IN();
+ if (ao_scheme_read_list) {
+ ao_scheme_read_stack = ao_scheme_cons_cons(ao_scheme_cons_poly(ao_scheme_read_cons),
+ ao_scheme__cons(ao_scheme_int_poly(read_state),
+ ao_scheme_cons_poly(ao_scheme_read_stack)));
+ if (!ao_scheme_read_stack)
+ return 0;
+ } else
+ ao_scheme_read_state = read_state;
+ ao_scheme_read_cons = NULL;
+ ao_scheme_read_cons_tail = NULL;
+ return 1;
+}
+
+static int
+pop_read_stack(void)
+{
+ int read_state = 0;
+ if (ao_scheme_read_list) {
+ ao_scheme_read_cons = ao_scheme_poly_cons(ao_scheme_read_stack->car);
+ ao_scheme_read_stack = ao_scheme_poly_cons(ao_scheme_read_stack->cdr);
+ read_state = ao_scheme_poly_int(ao_scheme_read_stack->car);
+ ao_scheme_read_stack = ao_scheme_poly_cons(ao_scheme_read_stack->cdr);
+ for (ao_scheme_read_cons_tail = ao_scheme_read_cons;
+ ao_scheme_read_cons_tail && ao_scheme_read_cons_tail->cdr;
+ ao_scheme_read_cons_tail = ao_scheme_poly_cons(ao_scheme_read_cons_tail->cdr))
+ ;
+ } else {
+ ao_scheme_read_cons = 0;
+ ao_scheme_read_cons_tail = 0;
+ ao_scheme_read_stack = 0;
+ read_state = ao_scheme_read_state;
+ }
+ RDBG_OUT();
+ RDBGI("pop read stack %p %d\n", ao_scheme_read_cons, read_state);
+ return read_state;
+}
+
+ao_poly
+ao_scheme_read(void)
+{
+ struct ao_scheme_atom *atom;
+ char *string;
+ int read_state;
+ ao_poly v = AO_SCHEME_NIL;
+
+ ao_scheme_read_list = 0;
+ read_state = 0;
+ ao_scheme_read_cons = ao_scheme_read_cons_tail = ao_scheme_read_stack = 0;
+ for (;;) {
+ parse_token = lex();
+ while (parse_token == OPEN || parse_token == OPEN_VECTOR) {
+ if (parse_token == OPEN_VECTOR)
+ read_state |= READ_SAW_VECTOR;
+ if (!push_read_stack(read_state))
+ return AO_SCHEME_NIL;
+ ao_scheme_read_list++;
+ read_state = 0;
+ parse_token = lex();
+ }
+
+ switch (parse_token) {
+ case END:
+ default:
+ if (ao_scheme_read_list)
+ ao_scheme_error(AO_SCHEME_EOF, "unexpected end of file");
+ return _ao_scheme_atom_eof;
+ break;
+ case NAME:
+ atom = ao_scheme_atom_intern(token_string);
+ if (atom)
+ v = ao_scheme_atom_poly(atom);
+ else
+ v = AO_SCHEME_NIL;
+ break;
+ case NUM:
+ v = ao_scheme_integer_poly(token_int);
+ break;
+ case FLOAT:
+ v = ao_scheme_float_get(token_float);
+ break;
+ case BOOL:
+ if (token_string[0] == 't')
+ v = _ao_scheme_bool_true;
+ else
+ v = _ao_scheme_bool_false;
+ break;
+ case STRING:
+ string = ao_scheme_string_copy(token_string);
+ if (string)
+ v = ao_scheme_string_poly(string);
+ else
+ v = AO_SCHEME_NIL;
+ break;
+ case QUOTE:
+ case QUASIQUOTE:
+ case UNQUOTE:
+ case UNQUOTE_SPLICING:
+ if (!push_read_stack(read_state))
+ return AO_SCHEME_NIL;
+ ao_scheme_read_list++;
+ read_state = READ_IN_QUOTE;
+ switch (parse_token) {
+ case QUOTE:
+ v = _ao_scheme_atom_quote;
+ break;
+ case QUASIQUOTE:
+ v = _ao_scheme_atom_quasiquote;
+ break;
+ case UNQUOTE:
+ v = _ao_scheme_atom_unquote;
+ break;
+ case UNQUOTE_SPLICING:
+ v = _ao_scheme_atom_unquote2dsplicing;
+ break;
+ }
+ break;
+ case CLOSE:
+ if (!ao_scheme_read_list) {
+ v = AO_SCHEME_NIL;
+ break;
+ }
+ v = ao_scheme_cons_poly(ao_scheme_read_cons);
+ --ao_scheme_read_list;
+ read_state = pop_read_stack();
+ if (read_state & READ_SAW_VECTOR)
+ v = ao_scheme_vector_poly(ao_scheme_list_to_vector(ao_scheme_poly_cons(v)));
+ break;
+ case DOT:
+ if (!ao_scheme_read_list) {
+ ao_scheme_error(AO_SCHEME_INVALID, ". outside of cons");
+ return AO_SCHEME_NIL;
+ }
+ if (!ao_scheme_read_cons) {
+ ao_scheme_error(AO_SCHEME_INVALID, ". first in cons");
+ return AO_SCHEME_NIL;
+ }
+ read_state |= READ_SAW_DOT;
+ continue;
+ }
+
+ /* loop over QUOTE ends */
+ for (;;) {
+ if (!ao_scheme_read_list)
+ return v;
+
+ if (read_state & READ_DONE_DOT) {
+ ao_scheme_error(AO_SCHEME_INVALID, ". not last in cons");
+ return AO_SCHEME_NIL;
+ }
+
+ if (read_state & READ_SAW_DOT) {
+ read_state |= READ_DONE_DOT;
+ ao_scheme_read_cons_tail->cdr = v;
+ } else {
+ struct ao_scheme_cons *read = ao_scheme_cons_cons(v, AO_SCHEME_NIL);
+ if (!read)
+ return AO_SCHEME_NIL;
+
+ if (ao_scheme_read_cons_tail)
+ ao_scheme_read_cons_tail->cdr = ao_scheme_cons_poly(read);
+ else
+ ao_scheme_read_cons = read;
+ ao_scheme_read_cons_tail = read;
+ }
+
+ if (!(read_state & READ_IN_QUOTE) || !ao_scheme_read_cons->cdr)
+ break;
+
+ v = ao_scheme_cons_poly(ao_scheme_read_cons);
+ --ao_scheme_read_list;
+ read_state = pop_read_stack();
+ }
+ }
+ return v;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#ifndef _AO_SCHEME_READ_H_
+#define _AO_SCHEME_READ_H_
+
+/*
+ * token classes
+ */
+
+# define END 0
+# define NAME 1
+# define OPEN 2
+# define CLOSE 3
+# define QUOTE 4
+# define QUASIQUOTE 5
+# define UNQUOTE 6
+# define UNQUOTE_SPLICING 7
+# define STRING 8
+# define NUM 9
+# define FLOAT 10
+# define DOT 11
+# define BOOL 12
+# define OPEN_VECTOR 13
+
+/*
+ * character classes
+ */
+
+# define PRINTABLE 0x0001 /* \t \n ' ' - ~ */
+# define SPECIAL 0x0002 /* ( [ { ) ] } ' ` , */
+# define DOTC 0x0004 /* . */
+# define WHITE 0x0008 /* ' ' \t \n */
+# define DIGIT 0x0010 /* [0-9] */
+# define SIGN 0x0020 /* +- */
+# define FLOATC 0x0040 /* . e E */
+# define ENDOFFILE 0x0080 /* end of file */
+# define COMMENT 0x0100 /* ; */
+# define IGNORE 0x0200 /* \0 - ' ' */
+# define BACKSLASH 0x0400 /* \ */
+# define STRINGC 0x0800 /* " */
+# define POUND 0x1000 /* # */
+
+# define NOTNAME (STRINGC|COMMENT|ENDOFFILE|WHITE|SPECIAL)
+# define INTEGER (DIGIT|SIGN)
+# define NUMBER (INTEGER|FLOATC)
+
+#endif /* _AO_SCHEME_READ_H_ */
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+ao_poly
+ao_scheme_read_eval_print(void)
+{
+ ao_poly in, out = AO_SCHEME_NIL;
+
+ ao_scheme_exception = 0;
+ for(;;) {
+ in = ao_scheme_read();
+ if (in == _ao_scheme_atom_eof)
+ break;
+ out = ao_scheme_eval(in);
+ if (ao_scheme_exception) {
+ if (ao_scheme_exception & AO_SCHEME_EXIT)
+ break;
+ ao_scheme_exception = 0;
+ } else {
+ ao_scheme_poly_write(out);
+ putchar ('\n');
+ }
+ }
+ return out;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+ao_poly
+ao_scheme_do_save(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_save, cons, 0, 0))
+ return AO_SCHEME_NIL;
+
+#ifdef AO_SCHEME_SAVE
+ struct ao_scheme_os_save *os = (struct ao_scheme_os_save *) (void *) &ao_scheme_pool[AO_SCHEME_POOL];
+
+ ao_scheme_collect(AO_SCHEME_COLLECT_FULL);
+ os->atoms = ao_scheme_atom_poly(ao_scheme_atoms);
+ os->globals = ao_scheme_frame_poly(ao_scheme_frame_global);
+ os->const_checksum = ao_scheme_const_checksum;
+ os->const_checksum_inv = (uint16_t) ~ao_scheme_const_checksum;
+
+ if (ao_scheme_os_save())
+ return _ao_scheme_bool_true;
+#endif
+ return _ao_scheme_bool_false;
+}
+
+ao_poly
+ao_scheme_do_restore(struct ao_scheme_cons *cons)
+{
+ if (!ao_scheme_check_argc(_ao_scheme_atom_save, cons, 0, 0))
+ return AO_SCHEME_NIL;
+
+#ifdef AO_SCHEME_SAVE
+ struct ao_scheme_os_save save;
+ struct ao_scheme_os_save *os = (struct ao_scheme_os_save *) (void *) &ao_scheme_pool[AO_SCHEME_POOL];
+
+ if (!ao_scheme_os_restore_save(&save, AO_SCHEME_POOL))
+ return ao_scheme_error(AO_SCHEME_INVALID, "header restore failed");
+
+ if (save.const_checksum != ao_scheme_const_checksum ||
+ save.const_checksum_inv != (uint16_t) ~ao_scheme_const_checksum)
+ {
+ return ao_scheme_error(AO_SCHEME_INVALID, "image is corrupted or stale");
+ }
+
+ if (ao_scheme_os_restore()) {
+
+ ao_scheme_atoms = ao_scheme_poly_atom(os->atoms);
+ ao_scheme_frame_global = ao_scheme_poly_frame(os->globals);
+
+ /* Clear the eval global variabls */
+ ao_scheme_eval_clear_globals();
+
+ /* Reset the allocator */
+ ao_scheme_top = AO_SCHEME_POOL;
+ ao_scheme_collect(AO_SCHEME_COLLECT_FULL);
+
+ /* Re-create the evaluator stack */
+ if (!ao_scheme_eval_restart())
+ return _ao_scheme_bool_false;
+
+ return _ao_scheme_bool_true;
+ }
+#endif
+ return _ao_scheme_bool_false;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+
+const struct ao_scheme_type ao_scheme_stack_type;
+
+static int
+stack_size(void *addr)
+{
+ (void) addr;
+ return sizeof (struct ao_scheme_stack);
+}
+
+static void
+stack_mark(void *addr)
+{
+ struct ao_scheme_stack *stack = addr;
+ for (;;) {
+ ao_scheme_poly_mark(stack->sexprs, 0);
+ ao_scheme_poly_mark(stack->values, 0);
+ /* no need to mark values_tail */
+ ao_scheme_poly_mark(stack->frame, 0);
+ ao_scheme_poly_mark(stack->list, 0);
+ stack = ao_scheme_poly_stack(stack->prev);
+ if (ao_scheme_mark_memory(&ao_scheme_stack_type, stack))
+ break;
+ }
+}
+
+static void
+stack_move(void *addr)
+{
+ struct ao_scheme_stack *stack = addr;
+
+ while (stack) {
+ struct ao_scheme_stack *prev;
+ int ret;
+ (void) ao_scheme_poly_move(&stack->sexprs, 0);
+ (void) ao_scheme_poly_move(&stack->values, 0);
+ (void) ao_scheme_poly_move(&stack->values_tail, 0);
+ (void) ao_scheme_poly_move(&stack->frame, 0);
+ (void) ao_scheme_poly_move(&stack->list, 0);
+ prev = ao_scheme_poly_stack(stack->prev);
+ if (!prev)
+ break;
+ ret = ao_scheme_move_memory(&ao_scheme_stack_type, (void **) &prev);
+ if (prev != ao_scheme_poly_stack(stack->prev))
+ stack->prev = ao_scheme_stack_poly(prev);
+ if (ret)
+ break;
+ stack = prev;
+ }
+}
+
+const struct ao_scheme_type ao_scheme_stack_type = {
+ .size = stack_size,
+ .mark = stack_mark,
+ .move = stack_move,
+ .name = "stack"
+};
+
+struct ao_scheme_stack *ao_scheme_stack_free_list;
+
+void
+ao_scheme_stack_reset(struct ao_scheme_stack *stack)
+{
+ stack->state = eval_sexpr;
+ stack->sexprs = AO_SCHEME_NIL;
+ stack->values = AO_SCHEME_NIL;
+ stack->values_tail = AO_SCHEME_NIL;
+}
+
+static struct ao_scheme_stack *
+ao_scheme_stack_new(void)
+{
+ struct ao_scheme_stack *stack;
+
+ if (ao_scheme_stack_free_list) {
+ stack = ao_scheme_stack_free_list;
+ ao_scheme_stack_free_list = ao_scheme_poly_stack(stack->prev);
+ } else {
+ stack = ao_scheme_alloc(sizeof (struct ao_scheme_stack));
+ if (!stack)
+ return 0;
+ stack->type = AO_SCHEME_STACK;
+ }
+ ao_scheme_stack_reset(stack);
+ return stack;
+}
+
+int
+ao_scheme_stack_push(void)
+{
+ struct ao_scheme_stack *stack;
+
+ stack = ao_scheme_stack_new();
+
+ if (!stack)
+ return 0;
+
+ stack->prev = ao_scheme_stack_poly(ao_scheme_stack);
+ stack->frame = ao_scheme_frame_poly(ao_scheme_frame_current);
+ stack->list = AO_SCHEME_NIL;
+
+ ao_scheme_stack = stack;
+
+ DBGI("stack push\n");
+ DBG_FRAMES();
+ DBG_IN();
+ return 1;
+}
+
+void
+ao_scheme_stack_pop(void)
+{
+ ao_poly prev;
+ struct ao_scheme_frame *prev_frame;
+
+ if (!ao_scheme_stack)
+ return;
+ prev = ao_scheme_stack->prev;
+ if (!ao_scheme_stack_marked(ao_scheme_stack)) {
+ ao_scheme_stack->prev = ao_scheme_stack_poly(ao_scheme_stack_free_list);
+ ao_scheme_stack_free_list = ao_scheme_stack;
+ }
+
+ ao_scheme_stack = ao_scheme_poly_stack(prev);
+ prev_frame = ao_scheme_frame_current;
+ if (ao_scheme_stack)
+ ao_scheme_frame_current = ao_scheme_poly_frame(ao_scheme_stack->frame);
+ else
+ ao_scheme_frame_current = NULL;
+ if (ao_scheme_frame_current != prev_frame)
+ ao_scheme_frame_free(prev_frame);
+ DBG_OUT();
+ DBGI("stack pop\n");
+ DBG_FRAMES();
+}
+
+void
+ao_scheme_stack_clear(void)
+{
+ ao_scheme_stack = NULL;
+ ao_scheme_frame_current = NULL;
+ ao_scheme_v = AO_SCHEME_NIL;
+}
+
+void
+ao_scheme_stack_write(ao_poly poly)
+{
+ struct ao_scheme_stack *s = ao_scheme_poly_stack(poly);
+
+ while (s) {
+ if (s->type & AO_SCHEME_STACK_PRINT) {
+ printf("[recurse...]");
+ return;
+ }
+ s->type |= AO_SCHEME_STACK_PRINT;
+ printf("\t[\n");
+ printf("\t\texpr: "); ao_scheme_poly_write(s->list); printf("\n");
+ printf("\t\tstate: %s\n", ao_scheme_state_names[s->state]);
+ ao_scheme_error_poly ("values: ", s->values, s->values_tail);
+ ao_scheme_error_poly ("sexprs: ", s->sexprs, AO_SCHEME_NIL);
+ ao_scheme_error_frame(2, "frame: ", ao_scheme_poly_frame(s->frame));
+ printf("\t]\n");
+ s->type &= ~AO_SCHEME_STACK_PRINT;
+ s = ao_scheme_poly_stack(s->prev);
+ }
+}
+
+/*
+ * Copy a stack, being careful to keep everybody referenced
+ */
+static struct ao_scheme_stack *
+ao_scheme_stack_copy(struct ao_scheme_stack *old)
+{
+ struct ao_scheme_stack *new = NULL;
+ struct ao_scheme_stack *n, *prev = NULL;
+
+ while (old) {
+ ao_scheme_stack_stash(0, old);
+ ao_scheme_stack_stash(1, new);
+ ao_scheme_stack_stash(2, prev);
+ n = ao_scheme_stack_new();
+ prev = ao_scheme_stack_fetch(2);
+ new = ao_scheme_stack_fetch(1);
+ old = ao_scheme_stack_fetch(0);
+ if (!n)
+ return NULL;
+
+ ao_scheme_stack_mark(old);
+ ao_scheme_frame_mark(ao_scheme_poly_frame(old->frame));
+ *n = *old;
+
+ if (prev)
+ prev->prev = ao_scheme_stack_poly(n);
+ else
+ new = n;
+ prev = n;
+
+ old = ao_scheme_poly_stack(old->prev);
+ }
+ return new;
+}
+
+/*
+ * Evaluate a continuation invocation
+ */
+ao_poly
+ao_scheme_stack_eval(void)
+{
+ struct ao_scheme_stack *new = ao_scheme_stack_copy(ao_scheme_poly_stack(ao_scheme_v));
+ if (!new)
+ return AO_SCHEME_NIL;
+
+ struct ao_scheme_cons *cons = ao_scheme_poly_cons(ao_scheme_stack->values);
+
+ if (!cons || !cons->cdr)
+ return ao_scheme_error(AO_SCHEME_INVALID, "continuation requires a value");
+
+ new->state = eval_val;
+
+ ao_scheme_stack = new;
+ ao_scheme_frame_current = ao_scheme_poly_frame(ao_scheme_stack->frame);
+
+ return ao_scheme_poly_cons(cons->cdr)->car;
+}
+
+/*
+ * Call with current continuation. This calls a lambda, passing
+ * it a single argument which is the current continuation
+ */
+ao_poly
+ao_scheme_do_call_cc(struct ao_scheme_cons *cons)
+{
+ struct ao_scheme_stack *new;
+ ao_poly v;
+
+ /* Make sure the single parameter is a lambda */
+ if (!ao_scheme_check_argc(_ao_scheme_atom_call2fcc, cons, 1, 1))
+ return AO_SCHEME_NIL;
+ if (!ao_scheme_check_argt(_ao_scheme_atom_call2fcc, cons, 0, AO_SCHEME_LAMBDA, 0))
+ return AO_SCHEME_NIL;
+
+ /* go get the lambda */
+ ao_scheme_v = ao_scheme_arg(cons, 0);
+
+ /* Note that the whole call chain now has
+ * a reference to it which may escape
+ */
+ new = ao_scheme_stack_copy(ao_scheme_stack);
+ if (!new)
+ return AO_SCHEME_NIL;
+
+ /* re-fetch cons after the allocation */
+ cons = ao_scheme_poly_cons(ao_scheme_poly_cons(ao_scheme_stack->values)->cdr);
+
+ /* Reset the arg list to the current stack,
+ * and call the lambda
+ */
+
+ cons->car = ao_scheme_stack_poly(new);
+ cons->cdr = AO_SCHEME_NIL;
+ v = ao_scheme_lambda_eval();
+ ao_scheme_stack->sexprs = v;
+ ao_scheme_stack->state = eval_begin;
+ return AO_SCHEME_NIL;
+}
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#include "ao_scheme.h"
+
+static void string_mark(void *addr)
+{
+ (void) addr;
+}
+
+static int string_size(void *addr)
+{
+ if (!addr)
+ return 0;
+ return strlen(addr) + 1;
+}
+
+static void string_move(void *addr)
+{
+ (void) addr;
+}
+
+const struct ao_scheme_type ao_scheme_string_type = {
+ .mark = string_mark,
+ .size = string_size,
+ .move = string_move,
+ .name = "string",
+};
+
+char *
+ao_scheme_string_copy(char *a)
+{
+ int alen = strlen(a);
+
+ ao_scheme_string_stash(0, a);
+ char *r = ao_scheme_alloc(alen + 1);
+ a = ao_scheme_string_fetch(0);
+ if (!r)
+ return NULL;
+ strcpy(r, a);
+ return r;
+}
+
+char *
+ao_scheme_string_cat(char *a, char *b)
+{
+ int alen = strlen(a);
+ int blen = strlen(b);
+
+ ao_scheme_string_stash(0, a);
+ ao_scheme_string_stash(1, b);
+ char *r = ao_scheme_alloc(alen + blen + 1);
+ a = ao_scheme_string_fetch(0);
+ b = ao_scheme_string_fetch(1);
+ if (!r)
+ return NULL;
+ strcpy(r, a);
+ strcpy(r+alen, b);
+ return r;
+}
+
+ao_poly
+ao_scheme_string_pack(struct ao_scheme_cons *cons)
+{
+ int len = ao_scheme_cons_length(cons);
+ ao_scheme_cons_stash(0, cons);
+ char *r = ao_scheme_alloc(len + 1);
+ cons = ao_scheme_cons_fetch(0);
+ char *s = r;
+
+ while (cons) {
+ if (!ao_scheme_integer_typep(ao_scheme_poly_type(cons->car)))
+ return ao_scheme_error(AO_SCHEME_INVALID, "non-int passed to pack");
+ *s++ = ao_scheme_poly_integer(cons->car);
+ cons = ao_scheme_poly_cons(cons->cdr);
+ }
+ *s++ = 0;
+ return ao_scheme_string_poly(r);
+}
+
+ao_poly
+ao_scheme_string_unpack(char *a)
+{
+ struct ao_scheme_cons *cons = NULL, *tail = NULL;
+ int c;
+ int i;
+
+ for (i = 0; (c = a[i]); i++) {
+ ao_scheme_cons_stash(0, cons);
+ ao_scheme_cons_stash(1, tail);
+ ao_scheme_string_stash(0, a);
+ struct ao_scheme_cons *n = ao_scheme_cons_cons(ao_scheme_int_poly(c), AO_SCHEME_NIL);
+ a = ao_scheme_string_fetch(0);
+ cons = ao_scheme_cons_fetch(0);
+ tail = ao_scheme_cons_fetch(1);
+
+ if (!n) {
+ cons = NULL;
+ break;
+ }
+ if (tail)
+ tail->cdr = ao_scheme_cons_poly(n);
+ else
+ cons = n;
+ tail = n;
+ }
+ return ao_scheme_cons_poly(cons);
+}
+
+void
+ao_scheme_string_write(ao_poly p)
+{
+ char *s = ao_scheme_poly_string(p);
+ char c;
+
+ putchar('"');
+ while ((c = *s++)) {
+ switch (c) {
+ case '\n':
+ printf ("\\n");
+ break;
+ case '\r':
+ printf ("\\r");
+ break;
+ case '\t':
+ printf ("\\t");
+ break;
+ default:
+ if (c < ' ')
+ printf("\\%03o", c);
+ else
+ putchar(c);
+ break;
+ }
+ }
+ putchar('"');
+}
+
+void
+ao_scheme_string_display(ao_poly p)
+{
+ char *s = ao_scheme_poly_string(p);
+ char c;
+
+ while ((c = *s++))
+ putchar(c);
+}
--- /dev/null
+ao_scheme_make_const
--- /dev/null
+include ../Makefile-inc
+
+vpath %.o .
+vpath %.c ..
+vpath %.h ..
+
+SRCS=$(SCHEME_SRCS) ao_scheme_make_const.c
+HDRS=$(SCHEME_HDRS) ao_scheme_os.h
+
+OBJS=$(SRCS:.c=.o)
+
+CC=cc
+CFLAGS=-DAO_SCHEME_MAKE_CONST -O0 -g -I. -Wall -Wextra
+
+.c.o:
+ $(CC) -c $(CFLAGS) $< -o $@
+
+all: ao_scheme_make_const
+
+ao_scheme_make_const: $(OBJS)
+ $(CC) $(CFLAGS) -o $@ $^ -lm
+
+clean:
+ rm -f $(OBJS) ao_scheme_make_const
+
+$(OBJS): $(SCHEME_HDRS)
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef _AO_SCHEME_OS_H_
+#define _AO_SCHEME_OS_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+
+extern int ao_scheme_getc(void);
+
+static inline void
+ao_scheme_os_flush(void) {
+ fflush(stdout);
+}
+
+static inline void
+ao_scheme_abort(void)
+{
+ abort();
+}
+
+static inline void
+ao_scheme_os_led(int led)
+{
+ printf("leds set to 0x%x\n", led);
+}
+
+#define AO_SCHEME_JIFFIES_PER_SECOND 100
+
+static inline void
+ao_scheme_os_delay(int jiffies)
+{
+ struct timespec ts = {
+ .tv_sec = jiffies / AO_SCHEME_JIFFIES_PER_SECOND,
+ .tv_nsec = (jiffies % AO_SCHEME_JIFFIES_PER_SECOND) * (1000000000L / AO_SCHEME_JIFFIES_PER_SECOND)
+ };
+ nanosleep(&ts, NULL);
+}
+
+static inline int
+ao_scheme_os_jiffy(void)
+{
+ struct timespec tp;
+ clock_gettime(CLOCK_MONOTONIC, &tp);
+ return tp.tv_sec * AO_SCHEME_JIFFIES_PER_SECOND + (tp.tv_nsec / (1000000000L / AO_SCHEME_JIFFIES_PER_SECOND));
+}
+#endif
--- /dev/null
+ao_scheme_test
--- /dev/null
+include ../Makefile-inc
+
+vpath %.o .
+vpath %.c ..
+vpath %.h ..
+
+SRCS=$(SCHEME_SRCS) ao_scheme_test.c
+
+OBJS=$(SRCS:.c=.o)
+
+CFLAGS=-O2 -g -Wall -Wextra -I. -I..
+
+ao_scheme_test: $(OBJS)
+ cc $(CFLAGS) -o $@ $(OBJS) -lm
+
+$(OBJS): $(SCHEME_HDRS)
+
+clean::
+ rm -f $(OBJS) ao_scheme_test
+
+install: ao_scheme_test
+ cp ao_scheme_test $$HOME/bin/ao-scheme
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_SCHEME_OS_H_
+#define _AO_SCHEME_OS_H_
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <time.h>
+
+#define AO_SCHEME_POOL_TOTAL 32768
+#define AO_SCHEME_SAVE 1
+#define DBG_MEM_STATS 1
+
+extern int ao_scheme_getc(void);
+
+static inline void
+ao_scheme_os_flush() {
+ fflush(stdout);
+}
+
+static inline void
+ao_scheme_abort(void)
+{
+ abort();
+}
+
+static inline void
+ao_scheme_os_led(int led)
+{
+ printf("leds set to 0x%x\n", led);
+}
+
+#define AO_SCHEME_JIFFIES_PER_SECOND 100
+
+static inline void
+ao_scheme_os_delay(int jiffies)
+{
+ struct timespec ts = {
+ .tv_sec = jiffies / AO_SCHEME_JIFFIES_PER_SECOND,
+ .tv_nsec = (jiffies % AO_SCHEME_JIFFIES_PER_SECOND) * (1000000000L / AO_SCHEME_JIFFIES_PER_SECOND)
+ };
+ nanosleep(&ts, NULL);
+}
+
+static inline int
+ao_scheme_os_jiffy(void)
+{
+ struct timespec tp;
+ clock_gettime(CLOCK_MONOTONIC, &tp);
+ return tp.tv_sec * AO_SCHEME_JIFFIES_PER_SECOND + (tp.tv_nsec / (1000000000L / AO_SCHEME_JIFFIES_PER_SECOND));
+}
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include "ao_scheme.h"
+#include <stdio.h>
+
+static FILE *ao_scheme_file;
+static int newline = 1;
+
+static char save_file[] = "scheme.image";
+
+int
+ao_scheme_os_save(void)
+{
+ FILE *save = fopen(save_file, "w");
+
+ if (!save) {
+ perror(save_file);
+ return 0;
+ }
+ fwrite(ao_scheme_pool, 1, AO_SCHEME_POOL_TOTAL, save);
+ fclose(save);
+ return 1;
+}
+
+int
+ao_scheme_os_restore_save(struct ao_scheme_os_save *save, int offset)
+{
+ FILE *restore = fopen(save_file, "r");
+ size_t ret;
+
+ if (!restore) {
+ perror(save_file);
+ return 0;
+ }
+ fseek(restore, offset, SEEK_SET);
+ ret = fread(save, sizeof (struct ao_scheme_os_save), 1, restore);
+ fclose(restore);
+ if (ret != 1)
+ return 0;
+ return 1;
+}
+
+int
+ao_scheme_os_restore(void)
+{
+ FILE *restore = fopen(save_file, "r");
+ size_t ret;
+
+ if (!restore) {
+ perror(save_file);
+ return 0;
+ }
+ ret = fread(ao_scheme_pool, 1, AO_SCHEME_POOL_TOTAL, restore);
+ fclose(restore);
+ if (ret != AO_SCHEME_POOL_TOTAL)
+ return 0;
+ return 1;
+}
+
+int
+ao_scheme_getc(void)
+{
+ int c;
+
+ if (ao_scheme_file)
+ return getc(ao_scheme_file);
+
+ if (newline) {
+ if (ao_scheme_read_list)
+ printf("+ ");
+ else
+ printf("> ");
+ newline = 0;
+ }
+ c = getchar();
+ if (c == '\n')
+ newline = 1;
+ return c;
+}
+
+int
+main (int argc, char **argv)
+{
+ (void) argc;
+
+ while (*++argv) {
+ ao_scheme_file = fopen(*argv, "r");
+ if (!ao_scheme_file) {
+ perror(*argv);
+ exit(1);
+ }
+ ao_scheme_read_eval_print();
+ fclose(ao_scheme_file);
+ ao_scheme_file = NULL;
+ }
+ ao_scheme_read_eval_print();
+
+ printf ("collects: full: %lu incremental %lu\n",
+ ao_scheme_collects[AO_SCHEME_COLLECT_FULL],
+ ao_scheme_collects[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf ("freed: full %lu incremental %lu\n",
+ ao_scheme_freed[AO_SCHEME_COLLECT_FULL],
+ ao_scheme_freed[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf("loops: full %lu incremental %lu\n",
+ ao_scheme_loops[AO_SCHEME_COLLECT_FULL],
+ ao_scheme_loops[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf("loops per collect: full %f incremental %f\n",
+ (double) ao_scheme_loops[AO_SCHEME_COLLECT_FULL] /
+ (double) ao_scheme_collects[AO_SCHEME_COLLECT_FULL],
+ (double) ao_scheme_loops[AO_SCHEME_COLLECT_INCREMENTAL] /
+ (double) ao_scheme_collects[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf("freed per collect: full %f incremental %f\n",
+ (double) ao_scheme_freed[AO_SCHEME_COLLECT_FULL] /
+ (double) ao_scheme_collects[AO_SCHEME_COLLECT_FULL],
+ (double) ao_scheme_freed[AO_SCHEME_COLLECT_INCREMENTAL] /
+ (double) ao_scheme_collects[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf("freed per loop: full %f incremental %f\n",
+ (double) ao_scheme_freed[AO_SCHEME_COLLECT_FULL] /
+ (double) ao_scheme_loops[AO_SCHEME_COLLECT_FULL],
+ (double) ao_scheme_freed[AO_SCHEME_COLLECT_INCREMENTAL] /
+ (double) ao_scheme_loops[AO_SCHEME_COLLECT_INCREMENTAL]);
+}
--- /dev/null
+;
+; Towers of Hanoi
+;
+; Copyright © 2016 Keith Packard <keithp@keithp.com>
+;
+; This program is free software; you can redistribute it and/or modify
+; it under the terms of the GNU 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
+; General Public License for more details.
+;
+
+ ; ANSI control sequences
+
+(define (move-to col row)
+ (for-each display (list "\033[" row ";" col "H"))
+ )
+
+(define (clear)
+ (display "\033[2J")
+ )
+
+(define (display-string x y str)
+ (move-to x y)
+ (display str)
+ )
+
+(define (make-piece num max)
+ ; A piece for position 'num'
+ ; is num + 1 + num stars
+ ; centered in a field of max *
+ ; 2 + 1 characters with spaces
+ ; on either side. This way,
+ ; every piece is the same
+ ; number of characters
+
+ (define (chars n c)
+ (if (zero? n) ""
+ (+ c (chars (- n 1) c))
+ )
+ )
+ (+ (chars (- max num 1) " ")
+ (chars (+ (* num 2) 1) "*")
+ (chars (- max num 1) " ")
+ )
+ )
+
+(define (make-pieces max)
+ ; Make a list of numbers from 0 to max-1
+ (define (nums cur max)
+ (if (= cur max) ()
+ (cons cur (nums (+ cur 1) max))
+ )
+ )
+ ; Create a list of pieces
+
+ (map (lambda (x) (make-piece x max)) (nums 0 max))
+ )
+
+ ; Here's all of the towers of pieces
+ ; This is generated when the program is run
+
+(define towers ())
+
+ ; position of the bottom of
+ ; the stacks set at runtime
+(define bottom-y 0)
+(define left-x 0)
+
+(define move-delay 25)
+
+ ; Display one tower, clearing any
+ ; space above it
+
+(define (display-tower x y clear tower)
+ (cond ((= 0 clear)
+ (cond ((not (null? tower))
+ (display-string x y (car tower))
+ (display-tower x (+ y 1) 0 (cdr tower))
+ )
+ )
+ )
+ (else
+ (display-string x y " ")
+ (display-tower x (+ y 1) (- clear 1) tower)
+ )
+ )
+ )
+
+ ; Position of the top of the tower on the screen
+ ; Shorter towers start further down the screen
+
+(define (tower-pos tower)
+ (- bottom-y (length tower))
+ )
+
+ ; Display all of the towers, spaced 20 columns apart
+
+(define (display-towers x towers)
+ (cond ((not (null? towers))
+ (display-tower x 0 (tower-pos (car towers)) (car towers))
+ (display-towers (+ x 20) (cdr towers)))
+ )
+ )
+
+ ; Display all of the towers, then move the cursor
+ ; out of the way and flush the output
+
+(define (display-hanoi)
+ (display-towers left-x towers)
+ (move-to 1 23)
+ (flush-output)
+ (delay move-delay)
+ )
+
+ ; Reset towers to the starting state, with
+ ; all of the pieces in the first tower and the
+ ; other two empty
+
+(define (reset-towers len)
+ (set! towers (list (make-pieces len) () ()))
+ (set! bottom-y (+ len 3))
+ )
+
+ ; Move a piece from the top of one tower
+ ; to the top of another
+
+(define (move-piece from to)
+
+ ; references to the cons holding the two towers
+
+ (define from-tower (list-tail towers from))
+ (define to-tower (list-tail towers to))
+
+ ; stick the car of from-tower onto to-tower
+
+ (set-car! to-tower (cons (caar from-tower) (car to-tower)))
+
+ ; remove the car of from-tower
+
+ (set-car! from-tower (cdar from-tower))
+ )
+
+ ; The implementation of the game
+
+(define (_hanoi n from to use)
+ (cond ((= 1 n)
+ (move-piece from to)
+ (display-hanoi)
+ )
+ (else
+ (_hanoi (- n 1) from use to)
+ (_hanoi 1 from to use)
+ (_hanoi (- n 1) use to from)
+ )
+ )
+ )
+
+ ; A pretty interface which
+ ; resets the state of the game,
+ ; clears the screen and runs
+ ; the program
+
+(define (hanoi len)
+ (reset-towers len)
+ (clear)
+ (display-hanoi)
+ (_hanoi len 0 1 2)
+ #t
+ )
--- /dev/null
+*.elf
+*.map
+*.syms
+ao_product.h
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+include ../scheme/Makefile-inc
+
+NEWLIB_FULL=-lm -lc -lgcc
+
+LIBS=$(NEWLIB_FULL)
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_pins.h \
+ ao_product.h \
+ ao_task.h \
+ $(SCHEME_HDRS)
+
+#
+# Common AltOS sources
+#
+ALTOS_SRC = \
+ ao_interrupt.c \
+ ao_boot_chain.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio_newlib.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_dma_stm.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ $(SCHEME_SRCS)
+
+PRODUCT=StmScheme-v0.0
+PRODUCT_DEF=-DSTM_SCHEME
+IDPRODUCT=0x000a
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) -g -Os
+
+PROG=stm-scheme-$(VERSION)
+ELF=$(PROG).elf
+IHX=$(PROG).ihx
+LIBSYMS=$(PROG).syms
+MAP=$(PROG).map
+
+NEWLIB=/local/newlib-mini
+MAPFILE=-Wl,-M=$(MAP)
+LDFLAGS=-L../stm -L$(NEWLIB)/arm-none-eabi/lib/thumb/v7-m/ -Wl,-Taltos.ld $(MAPFILE) -nostartfiles
+AO_CFLAGS=-I. -I../stm -I../kernel -I../drivers -I.. -I../scheme -isystem $(NEWLIB)/arm-none-eabi/include -DNEWLIB
+
+SRC=$(ALTOS_SRC) ao_demo.c
+OBJ=$(SRC:.c=.o)
+
+all: $(ELF) $(IHX) $(LIBSYMS)
+
+$(ELF): Makefile $(OBJ)
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $@ $(OBJ) $(LIBS)
+
+$(LIBSYMS): $(ELF)
+ grep '^ ' $(MAP) | grep -v 'size before relaxing' > $@
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+$(OBJ): $(INC)
+
+distclean: clean
+
+clean:
+ rm -f *.o *.elf *.ihx *.map *.syms
+ rm -f ao_product.h
+
+install:
+
+uninstall:
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#include "ao.h"
+#include <ao_exti.h>
+#include <ao_boot.h>
+#include <ao_scheme.h>
+
+static void scheme_cmd() {
+ ao_scheme_read_eval_print();
+}
+
+
+__code struct ao_cmds ao_demo_cmds[] = {
+ { scheme_cmd, "l\0Run scheme interpreter" },
+ { 0, NULL }
+};
+
+int
+main(void)
+{
+ ao_clock_init();
+
+ ao_task_init();
+
+ ao_led_init(LEDS_AVAILABLE);
+ ao_timer_init();
+ ao_dma_init();
+ ao_cmd_init();
+ ao_usb_init();
+
+ ao_cmd_register(&ao_demo_cmds[0]);
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* Bridge SB17 on the board and use the MCO from the other chip */
+#define AO_HSE 8000000
+#define AO_HSE_BYPASS 1
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHZ (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at HCLK/1 */
+#define AO_APB1_PRESCALER 1
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_1
+
+/* Run APB2 at HCLK/1 */
+#define AO_APB2_PRESCALER 1
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_1
+
+#define HAS_SERIAL_1 0
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 1
+#define SERIAL_1_PA9_PA10 0
+
+#define HAS_SERIAL_2 0
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 0
+#define SERIAL_2_PD5_PD6 1
+
+#define HAS_SERIAL_3 0
+#define USE_SERIAL_3_STDIN 1
+#define SERIAL_3_PB10_PB11 0
+#define SERIAL_3_PC10_PC11 0
+#define SERIAL_3_PD8_PD9 1
+
+#define HAS_SPI_1 0
+#define SPI_1_PB3_PB4_PB5 1
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 0
+
+#define HAS_USB 1
+#define HAS_BEEP 0
+#define PACKET_HAS_SLAVE 0
+
+#define AO_BOOT_CHAIN 1
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOBEN
+#define LED_PORT (&stm_gpiob)
+#define LED_PIN_GREEN 7
+#define LED_PIN_BLUE 6
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+#define AO_LED_BLUE (1 << LED_PIN_BLUE)
+#define AO_LED_PANIC AO_LED_BLUE
+
+#define LEDS_AVAILABLE (AO_LED_BLUE | AO_LED_GREEN)
+
+#define HAS_ADC 0
+
+#define AO_TICK_TYPE uint32_t
+#define AO_TICK_SIGNED int32_t
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_SCHEME_OS_H_
+#define _AO_SCHEME_OS_H_
+
+#include "ao.h"
+
+#define AO_SCHEME_POOL 10240
+
+#ifndef __BYTE_ORDER
+#define __LITTLE_ENDIAN 1234
+#define __BIG_ENDIAN 4321
+#define __BYTE_ORDER __LITTLE_ENDIAN
+#endif
+
+static inline int
+ao_scheme_getc() {
+ static uint8_t at_eol;
+ int c;
+
+ if (at_eol) {
+ ao_cmd_readline();
+ at_eol = 0;
+ }
+ c = ao_cmd_lex();
+ if (c == '\n')
+ at_eol = 1;
+ return c;
+}
+
+static inline void
+ao_scheme_os_flush(void)
+{
+ flush();
+}
+
+static inline void
+ao_scheme_abort(void)
+{
+ ao_panic(1);
+}
+
+static inline void
+ao_scheme_os_led(int led)
+{
+ ao_led_set(led);
+}
+
+#define AO_SCHEME_JIFFIES_PER_SECOND AO_HERTZ
+
+static inline void
+ao_scheme_os_delay(int delay)
+{
+ ao_delay(delay);
+}
+
+static inline int
+ao_scheme_os_jiffy(void)
+{
+ return ao_tick_count;
+}
+
+#endif
--- /dev/null
+/*
+ * Copyright © 2016 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ */
+
+#include <ao.h>
+#include "ao_scheme.h"
+#include <ao_flash.h>
+
+extern uint8_t __flash__[];
+
+/* saved variables to rebuild the heap
+
+ ao_scheme_atoms
+ ao_scheme_frame_global
+ */
+
+int
+ao_scheme_os_save(void)
+{
+ int i;
+
+ for (i = 0; i < AO_SCHEME_POOL_TOTAL; i += 256) {
+ uint32_t *dst = (uint32_t *) (void *) &__flash__[i];
+ uint32_t *src = (uint32_t *) (void *) &ao_scheme_pool[i];
+
+ ao_flash_page(dst, src);
+ }
+ return 1;
+}
+
+int
+ao_scheme_os_restore_save(struct ao_scheme_os_save *save, int offset)
+{
+ memcpy(save, &__flash__[offset], sizeof (struct ao_scheme_os_save));
+ return 1;
+}
+
+int
+ao_scheme_os_restore(void)
+{
+ memcpy(ao_scheme_pool, __flash__, AO_SCHEME_POOL_TOTAL);
+ return 1;
+}
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=stm-scheme
+include $(TOPDIR)/stm/Makefile-flash.defs
--- /dev/null
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* Bridge SB17 on the board and use the MCO from the other chip */
+#define AO_HSE 8000000
+#define AO_HSE_BYPASS 1
+
+#include <ao_flash_stm_pins.h>
+
+/* Use the 'user switch' to force boot loader on power on */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpioa
+#define AO_BOOT_APPLICATION_PIN 0
+#define AO_BOOT_APPLICATION_VALUE 0
+#define AO_BOOT_APPLICATION_MODE 0
+
+#endif /* _AO_PINS_H_ */
-vpath % ../stm:../product:../drivers:../kernel:../util:../kalman:../aes:../math:../draw:../lisp:..
+vpath % ../stm:../product:../drivers:../kernel:../util:../kalman:../aes:../math:../draw:../scheme:..
vpath make-altitude ../util
vpath make-kalman ../util
vpath kalman.5c ../kalman
#endif
#if HAS_MPU6000
ao_data_ring[ao_data_head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MPU9250
+ ao_data_ring[ao_data_head].mpu9250 = ao_mpu9250_current;
#endif
ao_data_ring[ao_data_head].tick = ao_tick_count;
ao_data_head = ao_data_ring_next(ao_data_head);
#if AO_NUM_ADC > 18
#error "need to finish stm_adc.sqr settings"
#endif
-
+
/* Turn ADC on */
stm_adc.cr2 = AO_ADC_CR2_VAL;
#define AO_EXTI_MODE_RISING 1
#define AO_EXTI_MODE_FALLING 2
+#define AO_EXTI_MODE_PULL_NONE 0
#define AO_EXTI_MODE_PULL_UP 4
#define AO_EXTI_MODE_PULL_DOWN 8
#define AO_EXTI_PRIORITY_LOW 16
#endif
static void
-_ao_usart_rx(struct ao_stm_usart *usart, int stdin)
+_ao_usart_rx(struct ao_stm_usart *usart, int is_stdin)
{
if (usart->reg->sr & (1 << STM_USART_SR_RXNE)) {
if (!ao_fifo_full(usart->rx_fifo)) {
ao_fifo_insert(usart->rx_fifo, usart->reg->dr);
ao_wakeup(&usart->rx_fifo);
- if (stdin)
+ if (is_stdin)
ao_wakeup(&ao_stdin_ready);
#if HAS_SERIAL_SW_FLOW
/* If the fifo is nearly full, turn off RTS and wait
}
static void
-ao_usart_isr(struct ao_stm_usart *usart, int stdin)
+ao_usart_isr(struct ao_stm_usart *usart, int is_stdin)
{
- _ao_usart_rx(usart, stdin);
+ _ao_usart_rx(usart, is_stdin);
if (!_ao_usart_tx_start(usart))
usart->reg->cr1 &= ~(1<< STM_USART_CR1_TXEIE);
include $(TOPDIR)/Makedefs
-vpath % $(TOPDIR)/stmf0:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR)/aes:$(TOPDIR):$(TOPDIR)/math:$(TOPDIR)/lisp
+vpath % $(TOPDIR)/stmf0:$(TOPDIR)/product:$(TOPDIR)/drivers:$(TOPDIR)/kernel:$(TOPDIR)/util:$(TOPDIR)/kalman:$(TOPDIR)/aes:$(TOPDIR):$(TOPDIR)/math:$(TOPDIR)/scheme
vpath make-altitude $(TOPDIR)/util
vpath make-kalman $(TOPDIR)/util
vpath kalman.5c $(TOPDIR)/kalman
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMETRUM
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
#define AO_CONFIG_DEFAULT_RADIO_POWER 0xc0
#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX 496 * 1024
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEGPS
/*
* GPS
#define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
#define AO_CONFIG_DEFAULT_RADIO_POWER 0xc0
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEGPS
/*
* GPS
#define AO_CONFIG_DEFAULT_APRS_INTERVAL 0
#define AO_CONFIG_DEFAULT_RADIO_POWER 0xc0
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEGPS
/*
* GPS
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
--- /dev/null
+ao_product.h
+telemega-*.elf
--- /dev/null
+#
+# AltOS build
+#
+#
+
+include ../stm/Makefile.defs
+
+INC = \
+ ao.h \
+ ao_arch.h \
+ ao_arch_funcs.h \
+ ao_boot.h \
+ ao_companion.h \
+ ao_data.h \
+ ao_sample.h \
+ ao_pins.h \
+ altitude-pa.h \
+ ao_kalman.h \
+ ao_product.h \
+ ao_ms5607.h \
+ ao_mpu9250.h \
+ ao_mma655x.h \
+ ao_cc1200_CC1200.h \
+ ao_profile.h \
+ ao_task.h \
+ ao_whiten.h \
+ ao_sample_profile.h \
+ ao_quaternion.h \
+ math.h \
+ ao_mpu.h \
+ stm32l.h \
+ math.h \
+ ao_ms5607_convert.c \
+ Makefile
+
+#
+# Common AltOS sources
+#
+
+#PROFILE=ao_profile.c
+#PROFILE_DEF=-DAO_PROFILE=1
+
+#SAMPLE_PROFILE=ao_sample_profile.c \
+# ao_sample_profile_timer.c
+#SAMPLE_PROFILE_DEF=-DHAS_SAMPLE_PROFILE=1
+
+#STACK_GUARD=ao_mpu_stm.c
+#STACK_GUARD_DEF=-DHAS_STACK_GUARD=1
+
+MATH_SRC=\
+ ef_acos.c \
+ ef_sqrt.c \
+ ef_rem_pio2.c \
+ kf_cos.c \
+ kf_sin.c \
+ kf_rem_pio2.c \
+ sf_copysign.c \
+ sf_cos.c \
+ sf_fabs.c \
+ sf_floor.c \
+ sf_scalbn.c \
+ sf_sin.c \
+ ef_log.c
+
+ALTOS_SRC = \
+ ao_boot_chain.c \
+ ao_interrupt.c \
+ ao_product.c \
+ ao_romconfig.c \
+ ao_cmd.c \
+ ao_config.c \
+ ao_task.c \
+ ao_led.c \
+ ao_stdio.c \
+ ao_panic.c \
+ ao_timer.c \
+ ao_mutex.c \
+ ao_serial_stm.c \
+ ao_gps_ublox.c \
+ ao_gps_show.c \
+ ao_gps_report_mega.c \
+ ao_ignite.c \
+ ao_freq.c \
+ ao_dma_stm.c \
+ ao_spi_stm.c \
+ ao_cc1200.c \
+ ao_data.c \
+ ao_ms5607.c \
+ ao_mma655x.c \
+ ao_adc_stm.c \
+ ao_beep_stm.c \
+ ao_eeprom_stm.c \
+ ao_storage.c \
+ ao_m25.c \
+ ao_usb_stm.c \
+ ao_exti_stm.c \
+ ao_report.c \
+ ao_i2c_stm.c \
+ ao_mpu9250.c \
+ ao_convert_pa.c \
+ ao_convert_volt.c \
+ ao_log.c \
+ ao_log_mega.c \
+ ao_sample.c \
+ ao_kalman.c \
+ ao_flight.c \
+ ao_telemetry.c \
+ ao_packet_slave.c \
+ ao_packet.c \
+ ao_companion.c \
+ ao_pyro.c \
+ ao_aprs.c \
+ ao_pwm_stm.c \
+ $(MATH_SRC) \
+ $(PROFILE) \
+ $(SAMPLE_PROFILE) \
+ $(STACK_GUARD)
+
+PRODUCT=TeleMega-v3.0
+PRODUCT_DEF=-DTELEMEGA
+IDPRODUCT=0x0023
+
+CFLAGS = $(PRODUCT_DEF) $(STM_CFLAGS) $(PROFILE_DEF) $(SAMPLE_PROFILE_DEF) $(STACK_GUARD_DEF) -Os -g
+
+PROGNAME=telemega-v3.0
+PROG=$(PROGNAME)-$(VERSION).elf
+HEX=$(PROGNAME)-$(VERSION).ihx
+
+SRC=$(ALTOS_SRC) ao_telemega.c
+OBJ=$(SRC:.c=.o)
+
+all: $(PROG) $(HEX)
+
+$(PROG): Makefile $(OBJ) altos.ld
+ $(call quiet,CC) $(LDFLAGS) $(CFLAGS) -o $(PROG) $(OBJ) $(LIBS)
+
+../altitude-pa.h: make-altitude-pa
+ nickle $< > $@
+
+$(OBJ): $(INC)
+
+ao_product.h: ao-make-product.5c ../Version
+ $(call quiet,NICKLE,$<) $< -m altusmetrum.org -i $(IDPRODUCT) -p $(PRODUCT) -v $(VERSION) > $@
+
+distclean: clean
+
+clean:
+ rm -f *.o $(PROGNAME)-*.elf $(PROGNAME)-*.ihx
+ rm -f ao_product.h
+
+install:
+
+uninstall:
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+#define HAS_TASK_QUEUE 1
+
+/* 8MHz High speed external crystal */
+#define AO_HSE 8000000
+
+/* PLLVCO = 96MHz (so that USB will work) */
+#define AO_PLLMUL 12
+#define AO_RCC_CFGR_PLLMUL (STM_RCC_CFGR_PLLMUL_12)
+
+/* SYSCLK = 32MHz (no need to go faster than CPU) */
+#define AO_PLLDIV 3
+#define AO_RCC_CFGR_PLLDIV (STM_RCC_CFGR_PLLDIV_3)
+
+/* HCLK = 32MHz (CPU clock) */
+#define AO_AHB_PRESCALER 1
+#define AO_RCC_CFGR_HPRE_DIV STM_RCC_CFGR_HPRE_DIV_1
+
+/* Run APB1 at 16MHz (HCLK/2) */
+#define AO_APB1_PRESCALER 2
+#define AO_RCC_CFGR_PPRE1_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+/* Run APB2 at 16MHz (HCLK/2) */
+#define AO_APB2_PRESCALER 2
+#define AO_RCC_CFGR_PPRE2_DIV STM_RCC_CFGR_PPRE2_DIV_2
+
+#define HAS_SERIAL_1 0
+#define USE_SERIAL_1_STDIN 0
+#define SERIAL_1_PB6_PB7 0
+#define SERIAL_1_PA9_PA10 1
+
+#define HAS_SERIAL_2 0
+#define USE_SERIAL_2_STDIN 0
+#define SERIAL_2_PA2_PA3 0
+#define SERIAL_2_PD5_PD6 0
+
+#define HAS_SERIAL_3 1
+#define USE_SERIAL_3_STDIN 0
+#define SERIAL_3_PB10_PB11 0
+#define SERIAL_3_PC10_PC11 1
+#define SERIAL_3_PD8_PD9 0
+
+#define ao_gps_getchar ao_serial3_getchar
+#define ao_gps_putchar ao_serial3_putchar
+#define ao_gps_set_speed ao_serial3_set_speed
+#define ao_gps_fifo (ao_stm_usart3.rx_fifo)
+
+#define AO_CONFIG_DEFAULT_FLIGHT_LOG_MAX (1024 * 1024)
+#define AO_CONFIG_MAX_SIZE 1024
+#define LOG_ERASE_MARK 0x55
+#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA_3
+
+#define HAS_EEPROM 1
+#define USE_INTERNAL_FLASH 0
+#define USE_EEPROM_CONFIG 1
+#define USE_STORAGE_CONFIG 0
+#define HAS_USB 1
+#define HAS_BEEP 1
+#define HAS_BATTERY_REPORT 1
+#define HAS_RADIO 1
+#define HAS_TELEMETRY 1
+#define HAS_APRS 1
+#define HAS_COMPANION 1
+
+#define HAS_SPI_1 1
+#define SPI_1_PA5_PA6_PA7 1 /* Barometer */
+#define SPI_1_PB3_PB4_PB5 0
+#define SPI_1_PE13_PE14_PE15 1 /* Accelerometer, Gyro */
+#define SPI_1_OSPEEDR STM_OSPEEDR_10MHz
+
+#define HAS_SPI_2 1
+#define SPI_2_PB13_PB14_PB15 1 /* Flash, Companion */
+#define SPI_2_PD1_PD3_PD4 0
+#define SPI_2_OSPEEDR STM_OSPEEDR_10MHz
+
+#define SPI_2_PORT (&stm_gpiob)
+#define SPI_2_SCK_PIN 13
+#define SPI_2_MISO_PIN 14
+#define SPI_2_MOSI_PIN 15
+
+#define HAS_I2C_1 1
+#define I2C_1_PB8_PB9 1
+
+#define HAS_I2C_2 0
+#define I2C_2_PB10_PB11 0
+
+#define PACKET_HAS_SLAVE 1
+#define PACKET_HAS_MASTER 0
+
+#define LOW_LEVEL_DEBUG 0
+
+#define LED_PORT_ENABLE STM_RCC_AHBENR_GPIOCEN
+#define LED_PORT (&stm_gpioc)
+#define LED_PIN_RED 8
+#define LED_PIN_GREEN 9
+#define AO_LED_RED (1 << LED_PIN_RED)
+#define AO_LED_GREEN (1 << LED_PIN_GREEN)
+
+#define LEDS_AVAILABLE (AO_LED_RED | AO_LED_GREEN)
+
+#define HAS_GPS 1
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_ADC_TEMP 1
+#define HAS_LOG 1
+
+/*
+ * Igniter
+ */
+
+#define HAS_IGNITE 1
+#define HAS_IGNITE_REPORT 1
+
+#define AO_SENSE_PYRO(p,n) ((p)->adc.sense[n])
+#define AO_SENSE_DROGUE(p) ((p)->adc.sense[4])
+#define AO_SENSE_MAIN(p) ((p)->adc.sense[5])
+#define AO_IGNITER_CLOSED 400
+#define AO_IGNITER_OPEN 60
+
+/* Pyro A */
+#define AO_PYRO_PORT_0 (&stm_gpiod)
+#define AO_PYRO_PIN_0 6
+
+/* Pyro B */
+#define AO_PYRO_PORT_1 (&stm_gpiod)
+#define AO_PYRO_PIN_1 7
+
+/* Pyro C */
+#define AO_PYRO_PORT_2 (&stm_gpiob)
+#define AO_PYRO_PIN_2 5
+
+/* Pyro D */
+#define AO_PYRO_PORT_3 (&stm_gpioe)
+#define AO_PYRO_PIN_3 4
+
+/* Drogue */
+#define AO_IGNITER_DROGUE_PORT (&stm_gpioe)
+#define AO_IGNITER_DROGUE_PIN 6
+
+/* Main */
+#define AO_IGNITER_MAIN_PORT (&stm_gpioe)
+#define AO_IGNITER_MAIN_PIN 5
+
+/* Number of general purpose pyro channels available */
+#define AO_PYRO_NUM 4
+
+#define AO_IGNITER_SET_DROGUE(v) stm_gpio_set(AO_IGNITER_DROGUE_PORT, AO_IGNITER_DROGUE_PIN, v)
+#define AO_IGNITER_SET_MAIN(v) stm_gpio_set(AO_IGNITER_MAIN_PORT, AO_IGNITER_MAIN_PIN, v)
+
+/*
+ * ADC
+ */
+#define AO_DATA_RING 32
+#define AO_ADC_NUM_SENSE 6
+
+struct ao_adc {
+ int16_t sense[AO_ADC_NUM_SENSE];
+ int16_t v_batt;
+ int16_t v_pbatt;
+ int16_t temp;
+};
+
+#define AO_ADC_DUMP(p) \
+ printf("tick: %5u A: %5d B: %5d C: %5d D: %5d drogue: %5d main: %5d batt: %5d pbatt: %5d temp: %5d\n", \
+ (p)->tick, \
+ (p)->adc.sense[0], (p)->adc.sense[1], (p)->adc.sense[2], \
+ (p)->adc.sense[3], (p)->adc.sense[4], (p)->adc.sense[5], \
+ (p)->adc.v_batt, (p)->adc.v_pbatt, (p)->adc.temp)
+
+#define AO_ADC_SENSE_A 0
+#define AO_ADC_SENSE_A_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_A_PIN 0
+
+#define AO_ADC_SENSE_B 1
+#define AO_ADC_SENSE_B_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_B_PIN 1
+
+#define AO_ADC_SENSE_C 2
+#define AO_ADC_SENSE_C_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_C_PIN 2
+
+#define AO_ADC_SENSE_D 3
+#define AO_ADC_SENSE_D_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_D_PIN 3
+
+#define AO_ADC_SENSE_DROGUE 4
+#define AO_ADC_SENSE_DROGUE_PORT (&stm_gpioa)
+#define AO_ADC_SENSE_DROGUE_PIN 4
+
+#define AO_ADC_SENSE_MAIN 22
+#define AO_ADC_SENSE_MAIN_PORT (&stm_gpioe)
+#define AO_ADC_SENSE_MAIN_PIN 7
+
+#define AO_ADC_V_BATT 8
+#define AO_ADC_V_BATT_PORT (&stm_gpiob)
+#define AO_ADC_V_BATT_PIN 0
+
+#define AO_ADC_V_PBATT 9
+#define AO_ADC_V_PBATT_PORT (&stm_gpiob)
+#define AO_ADC_V_PBATT_PIN 1
+
+#define AO_ADC_TEMP 16
+
+#define AO_ADC_RCC_AHBENR ((1 << STM_RCC_AHBENR_GPIOAEN) | \
+ (1 << STM_RCC_AHBENR_GPIOEEN) | \
+ (1 << STM_RCC_AHBENR_GPIOBEN))
+
+#define AO_NUM_ADC_PIN (AO_ADC_NUM_SENSE + 2)
+
+#define AO_ADC_PIN0_PORT AO_ADC_SENSE_A_PORT
+#define AO_ADC_PIN0_PIN AO_ADC_SENSE_A_PIN
+#define AO_ADC_PIN1_PORT AO_ADC_SENSE_B_PORT
+#define AO_ADC_PIN1_PIN AO_ADC_SENSE_B_PIN
+#define AO_ADC_PIN2_PORT AO_ADC_SENSE_C_PORT
+#define AO_ADC_PIN2_PIN AO_ADC_SENSE_C_PIN
+#define AO_ADC_PIN3_PORT AO_ADC_SENSE_D_PORT
+#define AO_ADC_PIN3_PIN AO_ADC_SENSE_D_PIN
+#define AO_ADC_PIN4_PORT AO_ADC_SENSE_DROGUE_PORT
+#define AO_ADC_PIN4_PIN AO_ADC_SENSE_DROGUE_PIN
+#define AO_ADC_PIN5_PORT AO_ADC_SENSE_MAIN_PORT
+#define AO_ADC_PIN5_PIN AO_ADC_SENSE_MAIN_PIN
+#define AO_ADC_PIN6_PORT AO_ADC_V_BATT_PORT
+#define AO_ADC_PIN6_PIN AO_ADC_V_BATT_PIN
+#define AO_ADC_PIN7_PORT AO_ADC_V_PBATT_PORT
+#define AO_ADC_PIN7_PIN AO_ADC_V_PBATT_PIN
+
+#define AO_NUM_ADC (AO_ADC_NUM_SENSE + 3)
+
+#define AO_ADC_SQ1 AO_ADC_SENSE_A
+#define AO_ADC_SQ2 AO_ADC_SENSE_B
+#define AO_ADC_SQ3 AO_ADC_SENSE_C
+#define AO_ADC_SQ4 AO_ADC_SENSE_D
+#define AO_ADC_SQ5 AO_ADC_SENSE_DROGUE
+#define AO_ADC_SQ6 AO_ADC_SENSE_MAIN
+#define AO_ADC_SQ7 AO_ADC_V_BATT
+#define AO_ADC_SQ8 AO_ADC_V_PBATT
+#define AO_ADC_SQ9 AO_ADC_TEMP
+
+/*
+ * Voltage divider on ADC battery sampler
+ */
+#define AO_BATTERY_DIV_PLUS 56 /* 5.6k */
+#define AO_BATTERY_DIV_MINUS 100 /* 10k */
+
+/*
+ * Voltage divider on ADC igniter samplers
+ */
+#define AO_IGNITE_DIV_PLUS 100 /* 100k */
+#define AO_IGNITE_DIV_MINUS 27 /* 27k */
+
+/*
+ * ADC reference in decivolts
+ */
+#define AO_ADC_REFERENCE_DV 33
+
+/*
+ * Pressure sensor settings
+ */
+#define HAS_MS5607 1
+#define HAS_MS5611 0
+#define AO_MS5607_PRIVATE_PINS 1
+#define AO_MS5607_CS_PORT (&stm_gpioc)
+#define AO_MS5607_CS_PIN 4
+#define AO_MS5607_CS_MASK (1 << AO_MS5607_CS)
+#define AO_MS5607_MISO_PORT (&stm_gpioa)
+#define AO_MS5607_MISO_PIN 6
+#define AO_MS5607_MISO_MASK (1 << AO_MS5607_MISO)
+#define AO_MS5607_SPI_INDEX AO_SPI_1_PA5_PA6_PA7
+
+/*
+ * SPI Flash memory
+ */
+
+#define M25_MAX_CHIPS 1
+#define AO_M25_SPI_CS_PORT (&stm_gpiod)
+#define AO_M25_SPI_CS_MASK (1 << 3)
+#define AO_M25_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Radio (cc1120)
+ */
+
+/* gets pretty close to 434.550 */
+
+#define AO_RADIO_CAL_DEFAULT 5695733
+
+#define AO_FEC_DEBUG 0
+#define AO_CC1200_SPI_CS_PORT (&stm_gpioc)
+#define AO_CC1200_SPI_CS_PIN 5
+#define AO_CC1200_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+#define AO_CC1200_SPI stm_spi2
+#define AO_CC1200_SPI_SPEED AO_SPI_SPEED_FAST
+
+#define AO_CC1200_INT_PORT (&stm_gpioe)
+#define AO_CC1200_INT_PIN 1
+#define AO_CC1200_MCU_WAKEUP_PORT (&stm_gpioc)
+#define AO_CC1200_MCU_WAKEUP_PIN (0)
+
+#define AO_CC1200_INT_GPIO 2
+#define AO_CC1200_INT_GPIO_IOCFG CC1200_IOCFG2
+
+#define AO_CC1200_MARC_GPIO 3
+#define AO_CC1200_MARC_GPIO_IOCFG CC1200_IOCFG3
+
+#define HAS_BOOT_RADIO 0
+
+/*
+ * mpu9250
+ */
+
+#define HAS_MPU9250 1
+#define AO_MPU9250_INT_PORT (&stm_gpioe)
+#define AO_MPU9250_INT_PIN 0
+#define AO_MPU9250_SPI_BUS AO_SPI_1_PE13_PE14_PE15
+#define AO_MPU9250_SPI_CS_PORT (&stm_gpiod)
+#define AO_MPU9250_SPI_CS_PIN 2
+#define HAS_IMU 1
+
+/*
+ * mma655x
+ */
+
+#define HAS_MMA655X 1
+#define AO_MMA655X_INVERT 0
+#define AO_MMA655X_SPI_INDEX AO_SPI_1_PE13_PE14_PE15
+#define AO_MMA655X_CS_PORT (&stm_gpiod)
+#define AO_MMA655X_CS_PIN 4
+
+#define NUM_CMDS 16
+
+/*
+ * Companion
+ */
+
+#define AO_COMPANION_CS_PORT (&stm_gpiob)
+#define AO_COMPANION_CS_PIN_0 (6)
+#define AO_COMPANION_CS_PIN AO_COMPANION_CS_PIN_0
+#define AO_COMPANION_CS_PIN_1 (7)
+#define AO_COMPANION_SPI_BUS AO_SPI_2_PB13_PB14_PB15
+
+/*
+ * Monitor
+ */
+
+#define HAS_MONITOR 0
+#define LEGACY_MONITOR 0
+#define HAS_MONITOR_PUT 1
+#define AO_MONITOR_LED 0
+#define HAS_RSSI 0
+
+/*
+ * Profiling Viterbi decoding
+ */
+
+#ifndef AO_PROFILE
+#define AO_PROFILE 0
+#endif
+
+/*
+ * PWM output
+ */
+
+#define NUM_PWM 4
+#define PWM_MAX 20000
+#define AO_PWM_TIMER stm_tim4
+#define AO_PWM_TIMER_ENABLE STM_RCC_APB1ENR_TIM4EN
+#define AO_PWM_TIMER_SCALE 32
+
+#define AO_PWM_0_GPIO (&stm_gpiod)
+#define AO_PWM_0_PIN 12
+
+#define AO_PWM_1_GPIO (&stm_gpiod)
+#define AO_PWM_1_PIN 13
+
+#define AO_PWM_2_GPIO (&stm_gpiod)
+#define AO_PWM_2_PIN 14
+
+#define AO_PWM_3_GPIO (&stm_gpiod)
+#define AO_PWM_3_PIN 15
+
+#endif /* _AO_PINS_H_ */
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#include <ao.h>
+#include <ao_mpu9250.h>
+#include <ao_mma655x.h>
+#include <ao_log.h>
+#include <ao_exti.h>
+#include <ao_packet.h>
+#include <ao_companion.h>
+#include <ao_profile.h>
+#include <ao_eeprom.h>
+#if HAS_SAMPLE_PROFILE
+#include <ao_sample_profile.h>
+#endif
+#include <ao_pyro.h>
+#if HAS_STACK_GUARD
+#include <ao_mpu.h>
+#endif
+#include <ao_pwm.h>
+
+int
+main(void)
+{
+ ao_clock_init();
+
+#if HAS_STACK_GUARD
+ ao_mpu_init();
+#endif
+
+ ao_task_init();
+ ao_serial_init();
+ ao_led_init(LEDS_AVAILABLE);
+ ao_led_on(LEDS_AVAILABLE);
+ ao_timer_init();
+
+ ao_i2c_init();
+ ao_spi_init();
+ ao_dma_init();
+ ao_exti_init();
+
+ ao_adc_init();
+#if HAS_BEEP
+ ao_beep_init();
+#endif
+ ao_cmd_init();
+
+#if HAS_MS5607
+ ao_ms5607_init();
+#endif
+#if HAS_MPU9250
+ ao_mpu9250_init();
+#endif
+#if HAS_MMA655X
+ ao_mma655x_init();
+#endif
+
+ ao_eeprom_init();
+ ao_storage_init();
+
+ ao_flight_init();
+ ao_log_init();
+ ao_report_init();
+
+ ao_usb_init();
+ ao_gps_init();
+ ao_gps_report_mega_init();
+ ao_telemetry_init();
+ ao_radio_init();
+ ao_packet_slave_init(FALSE);
+ ao_igniter_init();
+ ao_companion_init();
+ ao_pyro_init();
+
+ ao_config_init();
+#if AO_PROFILE
+ ao_profile_init();
+#endif
+#if HAS_SAMPLE_PROFILE
+ ao_sample_profile_init();
+#endif
+
+ ao_pwm_init();
+
+ ao_led_off(LEDS_AVAILABLE);
+
+ ao_start_scheduler();
+ return 0;
+}
--- /dev/null
+#
+# AltOS flash loader build
+#
+#
+
+TOPDIR=../..
+HARDWARE=telemega-v3.0
+include $(TOPDIR)/stm/Makefile-flash.defs
--- /dev/null
+/*
+ * Copyright © 2017 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU 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
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU 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.
+ */
+
+#ifndef _AO_PINS_H_
+#define _AO_PINS_H_
+
+/* External crystal at 8MHz */
+#define AO_HSE 8000000
+
+#include <ao_flash_stm_pins.h>
+
+/* Companion port cs_companion0 PB6 */
+
+#define AO_BOOT_PIN 1
+#define AO_BOOT_APPLICATION_GPIO stm_gpiob
+#define AO_BOOT_APPLICATION_PIN 6
+#define AO_BOOT_APPLICATION_VALUE 1
+#define AO_BOOT_APPLICATION_MODE AO_EXTI_MODE_PULL_UP
+
+#endif /* _AO_PINS_H_ */
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMETRUM
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define AO_CONFIG_MAX_SIZE 1024
#define LOG_ERASE_MARK 0x55
#define LOG_MAX_ERASE 128
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMETRUM
#define HAS_EEPROM 1
#define USE_INTERNAL_FLASH 0
#define HAS_ADC 1
#define HAS_ADC_TEMP 1
#define HAS_LOG 1
+#define AO_LOG_FORMAT AO_LOG_FORMAT_TELESCIENCE
/*
* SPI Flash memory
#define HAS_TELEMETRY 0
#define AO_VALUE_32 0
+
+ #define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMETRY
#endif
#if DBG_ON_P1
-vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
+vpath %.o .
+vpath %.c ..:../kernel:../drivers:../util:../micropeak:../aes:../product
+vpath %.h ..:../kernel:../drivers:../util:../micropeak:../aes:../product
+vpath make-kalman ..:../kernel:../drivers:../util:../micropeak:../aes:../product
PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
ao_flight_test_metrum ao_flight_test_mini \
ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
- ao_ms5607_convert_test ao_quaternion_test ao_lisp_test
+ ao_ms5607_convert_test ao_quaternion_test
INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quaternion.h ao_eeprom_read.h
TEST_SRC=ao_flight_test.c
all: $(PROGS) ao_aprs_data.wav
-clean:
+clean::
rm -f $(PROGS) ao_aprs_data.wav run-out.baro run-out.full
install:
ao_quaternion_test: ao_quaternion_test.c ao_quaternion.h
cc $(CFLAGS) -o $@ ao_quaternion_test.c -lm
-AO_LISP_OBJS = ao_lisp_test.o ao_lisp_mem.o ao_lisp_cons.o ao_lisp_string.o \
- ao_lisp_atom.o ao_lisp_int.o ao_lisp_eval.o ao_lisp_poly.o \
- ao_lisp_builtin.o ao_lisp_read.o ao_lisp_rep.o ao_lisp_frame.o \
- ao_lisp_lambda.o ao_lisp_error.o ao_lisp_save.o ao_lisp_stack.o
-
-ao_lisp_test: $(AO_LISP_OBJS)
- cc $(CFLAGS) -o $@ $(AO_LISP_OBJS)
-
-$(AO_LISP_OBJS): ao_lisp.h ao_lisp_const.h ao_lisp_os.h
#include <string.h>
#include <getopt.h>
#include <math.h>
+#define log ao_log_data
#define GRAVITY 9.80665
typedef int16_t accel_t;
uint16_t ao_serial_number;
-uint16_t ao_flight_number;
+int16_t ao_flight_number;
extern uint16_t ao_sample_tick;
#else
emulator_app="baro";
#endif
- while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "sdpi:", options, NULL)) != -1) {
switch (c) {
case 's':
summary = 1;
case 'd':
ao_flight_debug = 1;
break;
+ case 'p':
+#if PYRO_DBG
+ pyro_dbg = 1;
+#endif
+ break;
case 'i':
info = optarg;
break;
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * 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
- * General Public License for more details.
- *
- * You should have received a copy of the GNU 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.
- */
-
-#ifndef _AO_LISP_OS_H_
-#define _AO_LISP_OS_H_
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <time.h>
-
-#define AO_LISP_POOL_TOTAL 3072
-#define AO_LISP_SAVE 1
-#define DBG_MEM_STATS 1
-
-extern int ao_lisp_getc(void);
-
-static inline void
-ao_lisp_os_flush() {
- fflush(stdout);
-}
-
-static inline void
-ao_lisp_abort(void)
-{
- abort();
-}
-
-static inline void
-ao_lisp_os_led(int led)
-{
- printf("leds set to 0x%x\n", led);
-}
-
-static inline void
-ao_lisp_os_delay(int delay)
-{
- if (!delay)
- return;
- struct timespec ts = {
- .tv_sec = delay / 1000,
- .tv_nsec = (delay % 1000) * 1000000,
- };
- nanosleep(&ts, NULL);
-}
-#endif
+++ /dev/null
-/*
- * Copyright © 2016 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU 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
- * General Public License for more details.
- */
-
-#include "ao_lisp.h"
-#include <stdio.h>
-
-static FILE *ao_lisp_file;
-static int newline = 1;
-
-static char save_file[] = "lisp.image";
-
-int
-ao_lisp_os_save(void)
-{
- FILE *save = fopen(save_file, "w");
-
- if (!save) {
- perror(save_file);
- return 0;
- }
- fwrite(ao_lisp_pool, 1, AO_LISP_POOL_TOTAL, save);
- fclose(save);
- return 1;
-}
-
-int
-ao_lisp_os_restore_save(struct ao_lisp_os_save *save, int offset)
-{
- FILE *restore = fopen(save_file, "r");
- size_t ret;
-
- if (!restore) {
- perror(save_file);
- return 0;
- }
- fseek(restore, offset, SEEK_SET);
- ret = fread(save, sizeof (struct ao_lisp_os_save), 1, restore);
- fclose(restore);
- if (ret != 1)
- return 0;
- return 1;
-}
-
-int
-ao_lisp_os_restore(void)
-{
- FILE *restore = fopen(save_file, "r");
- size_t ret;
-
- if (!restore) {
- perror(save_file);
- return 0;
- }
- ret = fread(ao_lisp_pool, 1, AO_LISP_POOL_TOTAL, restore);
- fclose(restore);
- if (ret != AO_LISP_POOL_TOTAL)
- return 0;
- return 1;
-}
-
-int
-ao_lisp_getc(void)
-{
- int c;
-
- if (ao_lisp_file)
- return getc(ao_lisp_file);
-
- if (newline) {
- printf("> ");
- newline = 0;
- }
- c = getchar();
- if (c == '\n')
- newline = 1;
- return c;
-}
-
-int
-main (int argc, char **argv)
-{
- while (*++argv) {
- ao_lisp_file = fopen(*argv, "r");
- if (!ao_lisp_file) {
- perror(*argv);
- exit(1);
- }
- ao_lisp_read_eval_print();
- fclose(ao_lisp_file);
- ao_lisp_file = NULL;
- }
- ao_lisp_read_eval_print();
-
- printf ("collects: full: %d incremental %d\n",
- ao_lisp_collects[AO_LISP_COLLECT_FULL],
- ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]);
-
- printf ("freed: full %d incremental %d\n",
- ao_lisp_freed[AO_LISP_COLLECT_FULL],
- ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL]);
-
- printf("loops: full %d incremental %d\n",
- ao_lisp_loops[AO_LISP_COLLECT_FULL],
- ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL]);
-
- printf("loops per collect: full %f incremental %f\n",
- (double) ao_lisp_loops[AO_LISP_COLLECT_FULL] /
- (double) ao_lisp_collects[AO_LISP_COLLECT_FULL],
- (double) ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL] /
- (double) ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]);
-
- printf("freed per collect: full %f incremental %f\n",
- (double) ao_lisp_freed[AO_LISP_COLLECT_FULL] /
- (double) ao_lisp_collects[AO_LISP_COLLECT_FULL],
- (double) ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL] /
- (double) ao_lisp_collects[AO_LISP_COLLECT_INCREMENTAL]);
-
- printf("freed per loop: full %f incremental %f\n",
- (double) ao_lisp_freed[AO_LISP_COLLECT_FULL] /
- (double) ao_lisp_loops[AO_LISP_COLLECT_FULL],
- (double) ao_lisp_freed[AO_LISP_COLLECT_INCREMENTAL] /
- (double) ao_lisp_loops[AO_LISP_COLLECT_INCREMENTAL]);
-}
+++ /dev/null
-;
-; Towers of Hanoi
-;
-; Copyright © 2016 Keith Packard <keithp@keithp.com>
-;
-; This program is free software; you can redistribute it and/or modify
-; it under the terms of the GNU 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
-; General Public License for more details.
-;
-
- ; ANSI control sequences
-
-(defun move-to (col row)
- (patom "\033[" row ";" col "H")
- )
-
-(defun clear ()
- (patom "\033[2J")
- )
-
-(defun display-string (x y str)
- (move-to x y)
- (patom str)
- )
-
- ; Here's the pieces to display
-
-(setq stack '(" * " " *** " " ***** " " ******* " " ********* " "***********"))
-
- ; Here's all of the stacks of pieces
- ; This is generated when the program is run
-
-(setq stacks nil)
-
- ; Display one stack, clearing any
- ; space above it
-
-(defun display-stack (x y clear stack)
- (cond ((= 0 clear)
- (cond (stack
- (display-string x y (car stack))
- (display-stack x (1+ y) 0 (cdr stack))
- )
- )
- )
- (t
- (display-string x y " ")
- (display-stack x (1+ y) (1- clear) stack)
- )
- )
- )
-
- ; Position of the top of the stack on the screen
- ; Shorter stacks start further down the screen
-
-(defun stack-pos (y stack)
- (- y (length stack))
- )
-
- ; Display all of the stacks, spaced 20 columns apart
-
-(defun display-stacks (x y stacks)
- (cond (stacks
- (display-stack x 0 (stack-pos y (car stacks)) (car stacks))
- (display-stacks (+ x 20) y (cdr stacks)))
- )
- )
-
- ; Display all of the stacks, then move the cursor
- ; out of the way and flush the output
-
-(defun display ()
- (display-stacks 0 top stacks)
- (move-to 1 21)
- (flush)
- )
-
- ; Reset stacks to the starting state, with
- ; all of the pieces in the first stack and the
- ; other two empty
-
-(defun reset-stacks ()
- (setq stacks (list stack nil nil))
- (setq top (+ (length stack) 3))
- (length stack)
- )
-
- ; more functions which could usefully
- ; be in the rom image
-
-(defun min (a b)
- (cond ((< a b) a)
- (b)
- )
- )
-
- ; Replace a stack in the list of stacks
- ; with a new value
-
-(defun replace (list pos member)
- (cond ((= pos 0) (cons member (cdr list)))
- ((cons (car list) (replace (cdr list) (1- pos) member)))
- )
- )
-
- ; Move a piece from the top of one stack
- ; to the top of another
-
-(setq move-delay 100)
-
-(defun move-piece (from to)
- (let ((from-stack (nth stacks from))
- (to-stack (nth stacks to))
- (piece (car from-stack)))
- (setq from-stack (cdr from-stack))
- (setq to-stack (cons piece to-stack))
- (setq stacks (replace stacks from from-stack))
- (setq stacks (replace stacks to to-stack))
- (display)
- (delay move-delay)
- )
- )
-
-; The implementation of the game
-
-(defun _hanoi (n from to use)
- (cond ((= 1 n)
- (move-piece from to)
- )
- (t
- (_hanoi (1- n) from use to)
- (_hanoi 1 from to use)
- (_hanoi (1- n) use to from)
- )
- )
- )
-
- ; A pretty interface which
- ; resets the state of the game,
- ; clears the screen and runs
- ; the program
-
-(defun hanoi ()
- (setq len (reset-stacks))
- (clear)
- (_hanoi len 0 1 2)
- (move-to 0 23)
- t
- )
public class TeleGPS
extends AltosUIFrame
- implements AltosFlightDisplay, AltosFontListener, AltosUnitsListener, ActionListener
+ implements AltosFlightDisplay, AltosFontListener, AltosUnitsListener, ActionListener, AltosEepromGrapher
{
static String[] telegps_icon_names = {
}
void download(){
- new AltosEepromManage(this, AltosLib.product_telegps);
+ new AltosEepromManage(this, this, AltosLib.product_telegps);
}
void configure() {
}
}
+ public void graph_flights(AltosEepromList list) {
+ for (AltosEepromLog log : list) {
+ if (log.file != null) {
+ AltosRecordSet set = record_set(log.file);
+ if (set != null) {
+ try {
+ new TeleGPSGraphUI(set, log.file);
+ } catch (InterruptedException ie) {
+ } catch (IOException ie) {
+ }
+ }
+ }
+ }
+ }
+
void flash() {
AltosFlashUI.show(this);
}
import org.jfree.chart.JFreeChart;
import org.jfree.ui.RefineryUtilities;
-public class TeleGPSGraphUI extends AltosUIFrame implements AltosFontListener, AltosUnitsListener
+public class TeleGPSGraphUI extends AltosUIFrame implements AltosFontListener, AltosUnitsListener, AltosFilterListener
{
JTabbedPane pane;
AltosGraph graph;
enable.units_changed(imperial_units);
}
+ AltosUIFlightSeries flight_series;
+
+ public void filter_changed(double speed_filter, double accel_filter) {
+ flight_series.set_filter(speed_filter, accel_filter);
+ graph.filter_changed();
+ stats = new AltosFlightStats(flight_series);
+ statsTable.filter_changed(stats);
+ }
+
+ public double speed_filter() {
+ return flight_series.speed_filter_width;
+ }
+
+ public double accel_filter() {
+ return flight_series.accel_filter_width;
+ }
+
TeleGPSGraphUI(AltosRecordSet set, File file) throws InterruptedException, IOException {
super(file.getName());
AltosCalData cal_data = set.cal_data();
- AltosUIFlightSeries flight_series = new AltosUIFlightSeries(cal_data);
+ flight_series = new AltosUIFlightSeries(cal_data);
set.capture_series(flight_series);
flight_series.finish();
pane = new JTabbedPane();
- enable = new AltosUIEnable();
+ graph = new AltosGraph(enable, stats, flight_series);
+
stats = new AltosFlightStats(flight_series);
- graph = new AltosGraph(enable, stats, flight_series);
+ enable = new AltosUIEnable(this);
statsTable = new AltosFlightStatsTable(stats);
projects / fw / altos / commitdiff
