Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

16 files changed, 178 insertions, 43 deletions

diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java
index 7ef9c637..f5961c8c 100644
--- a/altoslib/AltosTelemetryMegaData.java
+++ b/altoslib/AltosTelemetryMegaData.java
@@ -24,7 +24,9 @@ public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 
 	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); }
diff --git a/src/scheme/Makefile b/src/scheme/Makefile
index ea94c1c0..dc36dde1 100644
--- a/src/scheme/Makefile
+++ b/src/scheme/Makefile
@@ -5,8 +5,8 @@ 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 -o $@ ao_scheme_const.lisp
+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 > $@
diff --git a/src/scheme/Makefile-inc b/src/scheme/Makefile-inc
index d23ee3d7..1a080a4e 100644
--- a/src/scheme/Makefile-inc
+++ b/src/scheme/Makefile-inc
@@ -15,7 +15,8 @@ SCHEME_SRCS=\
 	ao_scheme_rep.c \
 	ao_scheme_save.c \
 	ao_scheme_stack.c \
-	ao_scheme_error.c 
+	ao_scheme_error.c \
+	ao_scheme_vector.c
 
 SCHEME_HDRS=\
 	ao_scheme.h \
diff --git a/src/scheme/README b/src/scheme/README
index 98932b44..a18457fd 100644
--- a/src/scheme/README
+++ b/src/scheme/README
@@ -5,6 +5,6 @@ This follows the R7RS with the following known exceptions:
 * No dynamic-wind or exceptions
 * No environments
 * No ports
-* No syntax-rules; (have classic macros)
+* No syntax-rules
 * No record types
 * No libraries
diff --git a/src/scheme/ao_scheme.h b/src/scheme/ao_scheme.h
index 4589f8a5..89616617 100644
--- a/src/scheme/ao_scheme.h
+++ b/src/scheme/ao_scheme.h
@@ -31,7 +31,7 @@
 typedef uint16_t	ao_poly;
 typedef int16_t		ao_signed_poly;
 
-#ifdef AO_SCHEME_SAVE
+#if AO_SCHEME_SAVE
 
 struct ao_scheme_os_save {
 	ao_poly		atoms;
@@ -77,6 +77,9 @@ extern uint8_t ao_scheme_const[AO_SCHEME_POOL_CONST] __attribute__((aligned(4)))
 #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
 
@@ -101,7 +104,8 @@ extern uint8_t		ao_scheme_pool[AO_SCHEME_POOL + AO_SCHEME_POOL_EXTRA] __attribut
 #define AO_SCHEME_BOOL		10
 #define AO_SCHEME_BIGINT	11
 #define AO_SCHEME_FLOAT		12
-#define AO_SCHEME_NUM_TYPE	13
+#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
@@ -189,6 +193,13 @@ struct ao_scheme_float {
 	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) {
@@ -497,6 +508,18 @@ ao_scheme_poly_float(ao_poly 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 int ao_scheme_collects[2];
@@ -677,6 +700,32 @@ 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);
@@ -745,6 +794,7 @@ 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;
diff --git a/src/scheme/ao_scheme_builtin.c b/src/scheme/ao_scheme_builtin.c
index 49f218f6..ae96df7f 100644
--- a/src/scheme/ao_scheme_builtin.c
+++ b/src/scheme/ao_scheme_builtin.c
@@ -267,7 +267,6 @@ ao_scheme_do_write(struct ao_scheme_cons *cons)
 		if (cons)
 			printf(" ");
 	}
-	printf("\n");
 	return _ao_scheme_bool_true;
 }
 
@@ -636,7 +635,7 @@ ao_scheme_do_collect(struct ao_scheme_cons *cons)
 	int	free;
 	(void) cons;
 	free = ao_scheme_collect(AO_SCHEME_COLLECT_FULL);
-	return ao_scheme_int_poly(free);
+	return ao_scheme_integer_poly(free);
 }
 
 ao_poly
@@ -751,7 +750,7 @@ ao_poly
 ao_scheme_do_listp(struct ao_scheme_cons *cons)
 {
 	ao_poly	v;
-	if (!ao_scheme_check_argc(_ao_scheme_atom_led, cons, 1, 1))
+	if (!ao_scheme_check_argc(_ao_scheme_atom_list3f, cons, 1, 1))
 		return AO_SCHEME_NIL;
 	v = ao_scheme_arg(cons, 0);
 	for (;;) {
@@ -864,5 +863,67 @@ ao_scheme_do_jiffies_per_second(struct ao_scheme_cons *cons)
 	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_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"
diff --git a/src/scheme/ao_scheme_builtin.txt b/src/scheme/ao_scheme_builtin.txt
index cb65e252..e7b3d75c 100644
--- a/src/scheme/ao_scheme_builtin.txt
+++ b/src/scheme/ao_scheme_builtin.txt
@@ -66,3 +66,10 @@ 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	list_to_vector	list->vector
+f_lambda	vector_to_list	vector->list
+f_lambda	vector_length	vector-length
+f_lambda	vectorp		vector?
diff --git a/src/scheme/ao_scheme_cons.c b/src/scheme/ao_scheme_cons.c
index 03dad956..21ee10cc 100644
--- a/src/scheme/ao_scheme_cons.c
+++ b/src/scheme/ao_scheme_cons.c
@@ -195,7 +195,7 @@ ao_scheme_cons_length(struct ao_scheme_cons *cons)
 	int	len = 0;
 	while (cons) {
 		len++;
-		cons = ao_scheme_poly_cons(cons->cdr);
+		cons = ao_scheme_cons_cdr(cons);
 	}
 	return len;
 }
diff --git a/src/scheme/ao_scheme_const.lisp b/src/scheme/ao_scheme_const.scheme
index 422bdd63..ab6a309a 100644
--- a/src/scheme/ao_scheme_const.lisp
+++ b/src/scheme/ao_scheme_const.scheme
@@ -641,7 +641,7 @@
 (char-whitespace? #\space)
 
 (define (char->integer c) c)
-(define (integer->char c) char-integer)
+(define integer->char char->integer)
 
 (define (char-upcase c) (if (char-lower-case? c) (+ c (- #\A #\a)) c))
 
diff --git a/src/scheme/ao_scheme_eval.c b/src/scheme/ao_scheme_eval.c
index 9b3cf63e..907ecf0b 100644
--- a/src/scheme/ao_scheme_eval.c
+++ b/src/scheme/ao_scheme_eval.c
@@ -108,13 +108,7 @@ ao_scheme_eval_sexpr(void)
 		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 */
-	case AO_SCHEME_BOOL:
-	case AO_SCHEME_INT:
-	case AO_SCHEME_BIGINT:
-	case AO_SCHEME_FLOAT:
-	case AO_SCHEME_STRING:
-	case AO_SCHEME_BUILTIN:
-	case AO_SCHEME_LAMBDA:
+	default:
 		ao_scheme_stack->state = eval_val;
 		break;
 	}
diff --git a/src/scheme/ao_scheme_float.c b/src/scheme/ao_scheme_float.c
index 541f0264..99249030 100644
--- a/src/scheme/ao_scheme_float.c
+++ b/src/scheme/ao_scheme_float.c
@@ -39,6 +39,10 @@ const struct ao_scheme_type ao_scheme_float_type = {
 	.name = "float",
 };
 
+#ifndef FLOAT_FORMAT
+#define FLOAT_FORMAT "%g"
+#endif
+
 void
 ao_scheme_float_write(ao_poly p)
 {
@@ -54,7 +58,7 @@ ao_scheme_float_write(ao_poly p)
 			printf("+");
 		printf("inf.0");
 	} else
-		printf ("%g", f->value);
+		printf (FLOAT_FORMAT, v);
 }
 
 float
diff --git a/src/scheme/ao_scheme_mem.c b/src/scheme/ao_scheme_mem.c
index acc726c8..fe4bc4f5 100644
--- a/src/scheme/ao_scheme_mem.c
+++ b/src/scheme/ao_scheme_mem.c
@@ -467,6 +467,7 @@ static const struct ao_scheme_type * const ao_scheme_types[AO_SCHEME_NUM_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
diff --git a/src/scheme/ao_scheme_poly.c b/src/scheme/ao_scheme_poly.c
index d726321c..553585db 100644
--- a/src/scheme/ao_scheme_poly.c
+++ b/src/scheme/ao_scheme_poly.c
@@ -68,6 +68,10 @@ static const struct ao_scheme_funcs ao_scheme_funcs[AO_SCHEME_NUM_TYPE] = {
 		.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 *
diff --git a/src/scheme/ao_scheme_read.c b/src/scheme/ao_scheme_read.c
index 6b1e9d66..9ed54b9f 100644
--- a/src/scheme/ao_scheme_read.c
+++ b/src/scheme/ao_scheme_read.c
@@ -151,7 +151,7 @@ static const uint16_t	lex_classes[128] = {
 static int lex_unget_c;
 
 static inline int
-lex_get()
+lex_get(void)
 {
 	int	c;
 	if (lex_unget_c) {
@@ -244,7 +244,7 @@ lex_quoted(void)
 	}
 }
 
-#define AO_SCHEME_TOKEN_MAX	32
+#define AO_SCHEME_TOKEN_MAX	128
 
 static char	token_string[AO_SCHEME_TOKEN_MAX];
 static int32_t	token_int;
@@ -340,6 +340,8 @@ _lex(void)
 				add_token(c);
 				end_token();
 				return BOOL;
+			case '(':
+				return OPEN_VECTOR;
 			case '\\':
 				for (;;) {
 					int alphabetic;
@@ -470,36 +472,40 @@ static inline int lex(void)
 
 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 cons, int read_state)
+push_read_stack(int read_state)
 {
 	RDBGI("push read stack %p 0x%x\n", ao_scheme_read_cons, read_state);
 	RDBG_IN();
-	if (cons) {
+	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(int cons)
+pop_read_stack(void)
 {
 	int	read_state = 0;
-	if (cons) {
+	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);
@@ -512,6 +518,7 @@ pop_read_stack(int cons)
 		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);
@@ -523,19 +530,20 @@ ao_scheme_read(void)
 {
 	struct ao_scheme_atom	*atom;
 	char			*string;
-	int			cons;
 	int			read_state;
 	ao_poly			v = AO_SCHEME_NIL;
 
-	cons = 0;
+	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) {
-			if (!push_read_stack(cons, read_state))
+		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;
-			cons++;
+			ao_scheme_read_list++;
 			read_state = 0;
 			parse_token = lex();
 		}
@@ -543,7 +551,7 @@ ao_scheme_read(void)
 		switch (parse_token) {
 		case END:
 		default:
-			if (cons)
+			if (ao_scheme_read_list)
 				ao_scheme_error(AO_SCHEME_EOF, "unexpected end of file");
 			return _ao_scheme_atom_eof;
 			break;
@@ -577,9 +585,9 @@ ao_scheme_read(void)
 		case QUASIQUOTE:
 		case UNQUOTE:
 		case UNQUOTE_SPLICING:
-			if (!push_read_stack(cons, read_state))
+			if (!push_read_stack(read_state))
 				return AO_SCHEME_NIL;
-			cons++;
+			ao_scheme_read_list++;
 			read_state = READ_IN_QUOTE;
 			switch (parse_token) {
 			case QUOTE:
@@ -597,16 +605,18 @@ ao_scheme_read(void)
 			}
 			break;
 		case CLOSE:
-			if (!cons) {
+			if (!ao_scheme_read_list) {
 				v = AO_SCHEME_NIL;
 				break;
 			}
 			v = ao_scheme_cons_poly(ao_scheme_read_cons);
-			--cons;
-			read_state = pop_read_stack(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 (!cons) {
+			if (!ao_scheme_read_list) {
 				ao_scheme_error(AO_SCHEME_INVALID, ". outside of cons");
 				return AO_SCHEME_NIL;
 			}
@@ -620,7 +630,7 @@ ao_scheme_read(void)
 
 		/* loop over QUOTE ends */
 		for (;;) {
-			if (!cons)
+			if (!ao_scheme_read_list)
 				return v;
 
 			if (read_state & READ_DONE_DOT) {
@@ -647,8 +657,8 @@ ao_scheme_read(void)
 				break;
 
 			v = ao_scheme_cons_poly(ao_scheme_read_cons);
-			--cons;
-			read_state = pop_read_stack(cons);
+			--ao_scheme_read_list;
+			read_state = pop_read_stack();
 		}
 	}
 	return v;
diff --git a/src/scheme/ao_scheme_read.h b/src/scheme/ao_scheme_read.h
index e9508835..e10a7d05 100644
--- a/src/scheme/ao_scheme_read.h
+++ b/src/scheme/ao_scheme_read.h
@@ -32,6 +32,7 @@
 # define FLOAT			10
 # define DOT			11
 # define BOOL			12
+# define OPEN_VECTOR		13
 
 /*
  * character classes
diff --git a/src/scheme/test/ao_scheme_test.c b/src/scheme/test/ao_scheme_test.c
index 15c71203..686e7169 100644
--- a/src/scheme/test/ao_scheme_test.c
+++ b/src/scheme/test/ao_scheme_test.c
@@ -78,7 +78,7 @@ ao_scheme_getc(void)
 		return getc(ao_scheme_file);
 
 	if (newline) {
-		if (ao_scheme_read_stack)
+		if (ao_scheme_read_list)
 			printf("+ ");
 		else
 			printf("> ");