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* altos/lisp: Fix stash usage across frame allocationKeith Packard2017-12-03
| | | | | | | Must un-stash before allocation failure check. Use frame_stash instead of poly_stash for frames. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Check only cdr base type when moving cons cellsKeith Packard2017-12-03
| | | | | | | | 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>
* altos/lisp: Split out read debug, add memory validationKeith Packard2017-12-03
| | | | | | | | 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>
* altos/lisp: use strtof instead of atofKeith Packard2017-12-02
| | | | | | atof returns double, strtof returns float. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Convert more builtin lisp code to scheme formatKeith Packard2017-12-02
| | | | | | Use defines where possible, use (define (name args ...)) form for lambdas Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Overflow int computations to floatKeith Packard2017-12-02
| | | | | | When an int computation overflows, switch to float. Signed-off-by: Keith Packard <keithp@keithp.com>
* altoslib: Add support for TeleMega v3.0 log filesKeith Packard2017-12-02
| | | | | | | | | 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>
* altos: Build TeleMega v3.0 by defaultKeith Packard2017-12-02
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add TeleMega v3.0Keith Packard2017-12-02
| | | | | | Adds files to build telemega v3.0 flash loader and firmware Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/kernel: MPU9250 supportKeith Packard2017-12-02
| | | | | | | Use MPU9250 for accel, gyro and mag data in logging, telemetry and flight status computations. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: split set/def. Add def support to lambdasKeith Packard2017-12-01
| | | | | | | | 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>
* altos/lisp: Split out frame vals from frame structKeith Packard2017-12-01
| | | | | | | 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>
* altos/lisp: Make let distinct from let*Keith Packard2017-12-01
| | | | | | | | 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>
* altos/lisp: return from unmatched cond is #f, not nilKeith Packard2017-12-01
| | | | | | | 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>
* altos/lisp: Fix pairp builtinKeith Packard2017-12-01
| | | | | | Pairs are non-nil cons values; add an explicit check for nil here Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Add quasiquoteKeith Packard2017-12-01
| | | | | | | This adds read support for quasiquote syntax, and then adds a quasiquote implementation in lisp Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Rename progn to beginKeith Packard2017-11-25
| | | | | | Match scheme name. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Update to build altos lisp test appKeith Packard2017-11-19
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Add floatsKeith Packard2017-11-19
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Fix some scheme compat issuesKeith Packard2017-11-18
| | | | | | | | | | 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>
* altos/lisp: Add 'big' ints -- 24 bits wideKeith Packard2017-11-18
| | | | | | | 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>
* altos/cortexelf-v1: Make lisp compile againKeith Packard2017-11-17
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Add jiffy funcs to lisp testKeith Packard2017-11-17
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Finish first pass through r7rsKeith Packard2017-11-17
| | | | | | | | | | * 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>
* altos/lisp: Add applyKeith Packard2017-11-17
| | | | | | And all of the library routines that use it, map, string-map and friends. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Character consts. String and assoc builtins.Keith Packard2017-11-17
| | | | | | Also add back escaped characters in strings. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Generate built-in lambda atoms for const creationKeith Packard2017-11-17
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: More lisp test Makefile fixesKeith Packard2017-11-16
| | | | | | Depend on ao_lisp_const.h Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Lots more scheme bitsKeith Packard2017-11-16
| | | | | | | | * Arithmetic functions and tests * append, reverse and list-tail * set-car! and set-cdr! Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Get lisp test building using Makefile-incKeith Packard2017-11-16
| | | | | | Instead of re-defining all of the lisp sources and headers Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: More schemismsKeith Packard2017-11-16
| | | | | | | | | | 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>
* altos/lisp: Add 'else' sematics to condKeith Packard2017-11-16
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Add scheme-style bools (#t and #f)Keith Packard2017-11-16
| | | | | | Cond and while compare against #f, just like scheme says to. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Add non-cons cdr supportKeith Packard2017-11-16
| | | | | | | The cdr of a cons can be any value; add support for lexing and printing them. Signed-off-by: Keith Packard <keithp@keithp.com>
* doc: Update for 1.8.3Keith Packard2017-11-11
| | | | | | Also added a pile of docinfo files for older release notes files. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Fix new GCC warningsKeith Packard2017-11-11
| | | | | | | | * 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>
* altos: Fix inverted test for corrupt flight logKeith Packard2017-11-11
| | | | | | Was reporting correct flight log as corrupted. Oops. Signed-off-by: Keith Packard <keithp@keithp.com>
* altoslib: Improve EEprom downloadKeith Packard2017-11-11
| | | | | | | | | * 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>
* altoslib: Remove spurious semicolon in AltosReplayReader.javaKeith Packard2017-11-11
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altoslib: Don't write KML record when height data is missingKeith Packard2017-11-11
| | | | | | This avoids a crash dealing with corrupted flight data Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/test: Adapt flight test to int16_t flight number typeKeith Packard2017-11-11
| | | | | | | Flight numbers are now limited to 32767 to allow for negative values for corrupted slots. Signed-off-by: Keith Packard <keithp@keithp.com>
* altosuilib: New line styles and colors for graphs. Selectable line widthKeith Packard2017-11-11
| | | | | | | | 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>
* altos/stm: Add AO_EXTI_MODE_PULL_NONEKeith Packard2017-11-11
| | | | | | This is clearer than using '0'. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: whitespace cleanup in ao_adc_stm.cKeith Packard2017-11-11
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Share common logging code. Deal with corrupt initial flight recordsKeith Packard2017-10-28
| | | | | | | | | | | 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>
* altos: Define AO_LOG_FORMAT in */ao_pins.h. Use in ao_cmd.cKeith Packard2017-10-22
| | | | | | | 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>
* altos: Remove cross-block storage I/O on cc1111Keith Packard2017-10-22
| | | | | | | | 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>
* altoslib: Move temp GPS API from cal_data to data_listenerKeith Packard2017-10-22
| | | | | | | | 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>
* altoslib: Save separate config for local and remote. Use in idleKeith Packard2017-10-14
| | | | | | | | | | | 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>
* altoslib: Report un-adjusted ground accel in idle IMU monitorKeith Packard2017-10-14
| | | | | | | 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>
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