-all: ao_scheme_builtin.h ao_scheme_const.h
+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.lisp make-const/ao_scheme_make_const
make-const/ao_scheme_make_const: FRC
+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
+ao_scheme_test
--- /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 16384
+#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_stack)
+ 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: %d incremental %d\n",
+ ao_scheme_collects[AO_SCHEME_COLLECT_FULL],
+ ao_scheme_collects[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf ("freed: full %d incremental %d\n",
+ ao_scheme_freed[AO_SCHEME_COLLECT_FULL],
+ ao_scheme_freed[AO_SCHEME_COLLECT_INCREMENTAL]);
+
+ printf("loops: full %d incremental %d\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
+ )
vpath %.o .
-vpath %.c ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
-vpath %.h ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
-vpath make-kalman ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
+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
ao_quaternion_test: ao_quaternion_test.c ao_quaternion.h
cc $(CFLAGS) -o $@ ao_quaternion_test.c -lm
-include ../lisp/Makefile-inc
-
-AO_LISP_SRCS=$(LISP_SRCS) ao_lisp_test.c
-
-AO_LISP_OBJS=$(AO_LISP_SRCS:.c=.o)
-
-ao_lisp_test: $(AO_LISP_OBJS)
- cc $(CFLAGS) -o $@ $(AO_LISP_OBJS) -lm
-
-$(AO_LISP_OBJS): $(LISP_HDRS) ao_lisp_const.h
-
-clean::
- rm -f $(AO_LISP_OBJS)
+++ /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 16384
-#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);
-}
-
-#define AO_LISP_JIFFIES_PER_SECOND 100
-
-static inline void
-ao_lisp_os_delay(int jiffies)
-{
- struct timespec ts = {
- .tv_sec = jiffies / AO_LISP_JIFFIES_PER_SECOND,
- .tv_nsec = (jiffies % AO_LISP_JIFFIES_PER_SECOND) * (1000000000L / AO_LISP_JIFFIES_PER_SECOND)
- };
- nanosleep(&ts, NULL);
-}
-
-static inline int
-ao_lisp_os_jiffy(void)
-{
- struct timespec tp;
- clock_gettime(CLOCK_MONOTONIC, &tp);
- return tp.tv_sec * AO_LISP_JIFFIES_PER_SECOND + (tp.tv_nsec / (1000000000L / AO_LISP_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_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
-
-(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)
- )
-
- ; Here's the pieces to display
-
-(define tower '(" * " " *** " " ***** " " ******* " " ********* " "***********"))
-
- ; Here's all of the towers of pieces
- ; This is generated when the program is run
-
-(define towers ())
-
-(define (one- x) (- x 1))
-(define (one+ x) (+ x 1))
- ; 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 (one+ y) 0 (cdr tower))
- )
- )
- )
- (else
- (display-string x y " ")
- (display-tower x (one+ y) (one- clear) tower)
- )
- )
- )
-
- ; Position of the top of the tower on the screen
- ; Shorter towers start further down the screen
-
-(define (tower-pos y tower)
- (- y (length tower))
- )
-
- ; Display all of the towers, spaced 20 columns apart
-
-(define (display-towers x y towers)
- (cond ((not (null? towers))
- (display-tower x 0 (tower-pos y (car towers)) (car towers))
- (display-towers (+ x 20) y (cdr towers)))
- )
- )
-
-(define top 0)
- ; Display all of the towers, then move the cursor
- ; out of the way and flush the output
-
-(define (display-hanoi)
- (display-towers 0 top towers)
- (move-to 1 21)
- (flush-output)
- )
-
- ; Reset towers to the starting state, with
- ; all of the pieces in the first tower and the
- ; other two empty
-
-(define (reset-towers)
- (set! towers (list tower () ()))
- (set! top (+ (length tower) 3))
- (length tower)
- )
-
- ; Replace a tower in the list of towers
- ; with a new value
-
-(define (replace list pos member)
- (cond ((= pos 0) (cons member (cdr list)))
- (else (cons (car list) (replace (cdr list) (one- pos) member)))
- )
- )
-
- ; Move a piece from the top of one tower
- ; to the top of another
-
-(define move-delay 10)
-
-(define (move-piece from to)
- (let* ((from-tower (list-ref towers from))
- (to-tower (list-ref towers to))
- (piece (car from-tower)))
- (set! from-tower (cdr from-tower))
- (set! to-tower (cons piece to-tower))
- (set! towers (replace towers from from-tower))
- (set! towers (replace towers to to-tower))
- (display-hanoi)
- (delay move-delay)
- )
- )
-
-; The implementation of the game
-
-(define (_hanoi n from to use)
- (cond ((= 1 n)
- (move-piece from to)
- )
- (else
- (_hanoi (one- n) from use to)
- (_hanoi 1 from to use)
- (_hanoi (one- n) use to from)
- )
- )
- )
-
- ; A pretty interface which
- ; resets the state of the game,
- ; clears the screen and runs
- ; the program
-
-(define (hanoi)
- (let ((len (reset-towers)))
- (clear)
- (_hanoi len 0 1 2)
- (move-to 0 23)
- #t
- )
- )
- )
projects / fw / altos / commitdiff