diff options
Diffstat (limited to 'src/test')
| -rw-r--r-- | src/test/Makefile | 15 | ||||
| -rw-r--r-- | src/test/ao_aprs_test.c | 16 | ||||
| -rw-r--r-- | src/test/ao_flight_test.c | 4 | ||||
| -rw-r--r-- | src/test/ao_lisp_os.h | 59 | ||||
| -rw-r--r-- | src/test/ao_lisp_test.c | 134 | ||||
| -rw-r--r-- | src/test/hanoi.lisp | 155 |
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 + ) |