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* altos/scheme: Use AO_SCHEME_IS_CONS in cons memory funcsKeith Packard2017-12-17
| | | | | | | More efficient than ao_scheme_poly_type as it doesn't care about non-prim types. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lambdakey-v1.0: shrink scheme code to fit the ROMKeith Packard2017-12-14
| | | | | | scheme has grown a bit; adapt Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: swap BIGINT and STRING typesKeith Packard2017-12-14
| | | | | | | | This lets BIGINT be a primitive type, allowing it to use all 32 bits for storage. This does make strings another byte longer, and also slightly harder to deal with. It's a trade off. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: integer? is builtin on all versionsKeith Packard2017-12-12
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lambdakey-v1.0: Make stack largerKeith Packard2017-12-12
| | | | | | scheme doesn't like to run with less than a 1kB stack. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: inline some mem calls to reduce stack usage.Keith Packard2017-12-12
| | | | | | Also includes some code to display stack usage during collect calls. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Use direct calls from frame to frame_vals mem functionsKeith Packard2017-12-12
| | | | | | Avoids the extra stack depth of the poly versions. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: More compiler warning cleanupsKeith Packard2017-12-12
| | | | | | Make local funcs static. Don't mix decls and code.x Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: apply const to places taking const strings.Keith Packard2017-12-12
| | | | | | Mostly printf and friends. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/stm: Align 'data' to 8 bytes, just like textramKeith Packard2017-12-12
| | | | | | | | | | | | | | The textram section must be aligned to 8 bytes to keep the linker happy. However, if that section contains no data, the declaration will set the __data_start__ value to that alignment, but the data section itself would start on a 4-byte alignment, potentially 4 bytes lower than the value indicated by __data_start__. This completely scrambles initialized memory as the startup code will copy the data segment to __data_start__, 4 bytes off of the actual data segment start. Fix this by forcing the data segment to also be aligned to 8 bytes. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/kernel: Allow ao_cmd to be built without taskingKeith Packard2017-12-12
| | | | | | Useful for single-threaded applications, like lambdakey Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lambdakey-v1.0: Get this building againKeith Packard2017-12-12
| | | | | | | | | | The lambdakey can't hold a full implementation of the scheme interpreter, so use only a subset, removing floats, bigints and vectors. Also reduce the pre-loaded lisp code as well. It's pretty spare at this point; but it does fill the ROM. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Support scheme subsetting via feature settingsKeith Packard2017-12-12
| | | | | | | This provides for the creation of smaller versions of the interpreter, leaving out options like floating point numbers and vectors. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Add ao_scheme_vector.cKeith Packard2017-12-12
| | | | | | Useful to include the code for implementing vectors Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Actually store current MPU9250 data in data ringKeith Packard2017-12-11
| | | | | | | The ring is updated when the ADC finishes; all of the other sensor data needs to be copied in at that point. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Remove more software for hardware prototypesKeith Packard2017-12-11
| | | | | | These never saw the light of day. Signed-off-by: Keith Packard <keithp@keithp.com>
* take telescience out of the routine buildsBdale Garbee2017-12-11
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* altos/drivers: Hook up mag sensor for MPU9250Keith Packard2017-12-11
| | | | | | | Set mag sensor to provide data at 100Hz. Set i2c master to pull mag data at sample rate (200Hz). Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Allow ao_scheme_read_eval_print to be restartedKeith Packard2017-12-11
| | | | | | Reset exceptions at the top so that we can call it more than once. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Allow building with newlib + avr stdio on ARMKeith Packard2017-12-11
| | | | | | | Redefines some stdio bits so that we can build with either pdclib or newlib + avr stdio. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos: Add scheme for stm discovery board demoKeith Packard2017-12-11
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/lambdakey-v1.0: Switch to newlib, get things compiling againKeith Packard2017-12-11
| | | | | | | scheme is now way too large to fit on this device; some subsetting is clearly indicated. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Add Makefile for scheme test appKeith Packard2017-12-11
| | | | Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Make test scheme app heap maximum sizeKeith Packard2017-12-11
| | | | | | It's only 32kB. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Make eqv? work for numbers and stringsKeith Packard2017-12-11
| | | | | | | Large numbers, floats and strings need a value check, not just a comparison between ao_polys Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Stash cons across value allocation in compareKeith Packard2017-12-11
| | | | | | | Large ints, strings and floats can cause allocation, requiring that the 'cons' pointer be stashed and retrieved in case it moved. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: add list-copyKeith Packard2017-12-11
| | | | | | A lot easier as a built-in; the obvious scheme version is recursive. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Use 64-bit ints to track memory allocation statsKeith Packard2017-12-11
| | | | | | | These are only collected for debug purposes, but can get quite large if the interpreter runs for a while. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Add a bunch of string and vector builtinsKeith Packard2017-12-11
| | | | | | Just make the language closer to r7rs Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Avoid crashing with non-list in lengthKeith Packard2017-12-10
| | | | | | | Use ao_scheme_cons_cdr to fetch the next list element as that returns NULL for non-cons elements. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Add vectorsKeith Packard2017-12-10
| | | | | | Constant time and smaller can be a feature. Signed-off-by: Keith Packard <keithp@keithp.com>
* altos/scheme: Fix name of constant scheme fileKeith Packard2017-12-10
| | | | | | .lisp -> .scheme Signed-off-by: Keith Packard <keithp@keithp.com>
* 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>
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