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* altos/scheme: Let readline know if there's a list in progressKeith Packard2017-12-09
| | | | | | | This lets the interactive prompt change based on what state the lexer is in Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/drivers: Start adding defines to get mag data out of MPU9250Keith Packard2017-12-05
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/cortexelf-v1: Adapt to lisp->scheme name changeKeith Packard2017-12-05
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Add explicit dependency on ao_scheme_builtin.h for ↵Keith Packard2017-12-05
| | | | | | | | | ao_scheme_make_const This ensures that a parallel build will wait for ao_scheme_builtin.h to be complete before attempting to compile ao_scheme_make_const Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Move scheme test program to scheme sub-directoryKeith Packard2017-12-05
| | | | | | Keeps it away from the usual test setup Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Rename to 'scheme', clean up buildKeith Packard2017-12-05
| | | | | | | | | Constant block is now built in a subdir to avoid messing up source directory. Renamed to ao_scheme to reflect language target. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lisp: Switch to scheme formal syntax for varargsKeith Packard2017-12-03
| | | | | | | | | | Scheme uses bare symbols to indicate a varargs parameter; any bare (i.e., not wrapped in a cons cell) parameter will get the 'rest' of the parameter list. This works for lambdas, nlambdas and macros. As a result, the 'lexpr' form has been removed as it is equivalent to a lambda with a varargs formal. Signed-off-by: Keith Packard <keithp@keithp.com>
* 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>
* 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>
* 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>
* 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>
* 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>
* altos: Add MPU9250 support to self test and dataKeith Packard2017-10-12
| | | | | | The remaining hooks to make the MPU9250 work in flight. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add MPU9250 driver (accel/gyro only for now)Keith Packard2017-10-12
| | | | | | | This is almost an exact copy of the MPU6000 driver, just a few minor register changes. Signed-off-by: Keith Packard <keithp@keithp.com>
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