Merge branch 'branch-1.7' into debian

6 files changed, 379 insertions, 4 deletions

diff --git a/src/test/Makefile b/src/test/Makefile
index 02e1d22b..a22abe46 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,16 +1,16 @@
-vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product
+vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
 
 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_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_ms5607_convert_test ao_quaternion_test ao_lisp_test
 
 INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h ao_quaternion.h
 
 KALMAN=make-kalman 
 
-CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -O0 -g -Wall
+CFLAGS=-I.. -I. -I../kernel -I../drivers -I../micropeak -I../product -I../lisp -O0 -g -Wall -DAO_LISP_TEST -no-pie
 
 all: $(PROGS) ao_aprs_data.wav
 
@@ -88,3 +88,12 @@ ao_ms5607_convert_test: ao_ms5607_convert_test.c ao_ms5607_convert_8051.c ao_int
 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
diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c
index 3852668a..941bf954 100644
--- a/src/test/ao_aprs_test.c
+++ b/src/test/ao_aprs_test.c
@@ -60,6 +60,20 @@ ao_aprs_bit(uint8_t bit)
 void
 ao_radio_send_aprs(ao_radio_fill_func fill);
 
+static void
+aprs_bit_debug(uint8_t tx_bit)
+{
+	fprintf (stderr, "bit %d\n", tx_bit);
+}
+
+static void
+aprs_byte_debug(uint8_t tx_byte)
+{
+	fprintf(stderr, "byte %02x\n", tx_byte);
+}
+#define APRS_BIT_DEBUG(x) aprs_bit_debug(x)
+#define APRS_BYTE_DEBUG(y) aprs_byte_debug(y)
+
 #include <ao_aprs.c>
 
 /*
@@ -103,7 +117,7 @@ audio_gap(int secs)
 // This is where we go after reset.
 int main(int argc, char **argv)
 {
-    audio_gap(1);
+//    audio_gap(1);
 
     ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000;
     ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000;
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index bd7f2ff8..25ddb48f 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -58,6 +58,7 @@ int ao_gps_new;
 #define HAS_HMC5883 		1
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
+#define AO_MMA655X_INVERT	0
 
 struct ao_adc {
 	int16_t			sense[AO_ADC_NUM_SENSE];
@@ -71,6 +72,7 @@ struct ao_adc {
 #define AO_ADC_NUM_SENSE	2
 #define HAS_MS5607		1
 #define HAS_MMA655X		1
+#define AO_MMA655X_INVERT	1
 #define HAS_BEEP		1
 #define AO_CONFIG_MAX_SIZE	1024
 
@@ -373,6 +375,8 @@ uint16_t	prev_tick;
 #define AO_PYRO_2	2
 #define AO_PYRO_3	3
 
+#define PYRO_DBG	1
+
 static void
 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 {
diff --git a/src/test/ao_lisp_os.h b/src/test/ao_lisp_os.h
new file mode 100644
index 00000000..9ff2e1fe
--- /dev/null
+++ b/src/test/ao_lisp_os.h
@@ -0,0 +1,59 @@
+/*
+ * 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
diff --git a/src/test/ao_lisp_test.c b/src/test/ao_lisp_test.c
new file mode 100644
index 00000000..68e3a202
--- /dev/null
+++ b/src/test/ao_lisp_test.c
@@ -0,0 +1,134 @@
+/*
+ * 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]);
+}
diff --git a/src/test/hanoi.lisp b/src/test/hanoi.lisp
new file mode 100644
index 00000000..e2eb0fa0
--- /dev/null
+++ b/src/test/hanoi.lisp
@@ -0,0 +1,155 @@
+;
+; 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
+  )