prepare for quicklisp submission; add gdb support

examples/analog-to-serial.lisp

@@ -7,6 +7,8 @@
 (defun analog-to-serial ()
   "Test that the analog voltage gets sent over serial UART."
 
+  (load-foreign-libraries)
+
   (in-suite analog-to-serial)
 
   (runtest "Sends Hello World on boot"

examples/at-least-two.lisp

@@ -6,6 +6,8 @@
 (defun at-least-two ()
   "Test that an LED turns on when at least two of three buttons are depressed."
 
+  (load-foreign-libraries)
+
   (in-suite at-least-two)
 
   (runtest "Light starts in the off state"

examples/blink.lisp

@@ -7,6 +7,8 @@
   "Test that a blinking LED on the Arduino UNO actually blinks."
   ;; light starts off, turns on after .5s, then turns off after .5s, etc.
 
+  (load-foreign-libraries)
+
   (in-suite blink)
 
   (runtest "Light starts in the off state."

examples/serial-spongebob.lisp

@@ -8,6 +8,8 @@
   "Test that our text gets spongebobified, and explore some nuances of uart
 simulation"
 
+  (load-foreign-libraries)
+
   ;; Two compounding issues: simavr is bugged and thinks 8N1 has 11 bits per
   ;; byte instead of 10, and 115200 has a -3.5% error at 16MHz.
   (let ((*suite* 'serial-spongebob)

gooptest.asd

@@ -4,7 +4,7 @@
   :description "A microcontroller testing framework."
   :author "Mark Polyakov"
   :license  "GPL-3.0"
-  :version "0.0.1"
+  :version "0.1.0"
   :serial t
   :depends-on (#:cffi #:cl-autowrap #:cl-plus-c #:alexandria #:uiop #:babel)
   :components ((:file "package")
@@ -29,7 +29,7 @@
   :description "Examples for a microcontroller testing framework."
   :author "Mark Polyakov"
   :license "GPL-3.0"
-  :version "0.0.1"
+  :version "0.1.0"
   :serial t
   :depends-on (#:gooptest)
   :pathname "examples"

package.lisp

@@ -20,6 +20,8 @@
            #:uart-send
            #:uart-string
            #:until-uart
+           #:set-spi-handler
+           #:spi-handle
 
            #:defsuite
            #:in-suite
@@ -60,9 +62,13 @@
         #:plus-c)
   (:export #:make-core
 
-           ;; non-functions
-           #:avr-core                   ; class
+           #:load-foreign-libraries
 
            #:make-arduino-uno
            #:make-arduino-nano
+
+           ;; non-functions
+           #:avr-core                   ; class
+
+           #:*gdb-port*
            ))

src/gooptest-avr.lisp

@@ -1,7 +1,8 @@
 (in-package :gooptest-avr)
 
-(cffi:load-foreign-library "libelf.so")
-(cffi:load-foreign-library "libsimavr.so")
+(defun load-foreign-libraries ()
+  (cffi:load-foreign-library "libelf.so")
+  (cffi:load-foreign-library "libsimavr.so"))
 
 (defclass avr-core (core)
   ((avr-ptr :accessor get-ptr :type avr-t)
@@ -11,6 +12,10 @@
 or a vector of unsigned bytes, representing everything received over
 that uart so far.")))
 
+(defvar *gdb-port* nil
+  "When non-nil, simulations will not start until a GDB debugger attaches to the
+given port.")
+
 (defun avr-ioctl-def (c1 c2 c3 c4)
   "See simavr/sim_io.h"
   (flet ((intify (arg)
@@ -191,6 +196,22 @@ cffi:get-callback)"
         )
     fifo-space-p))
 
+(defmethod core-spi-default-channel ((instance avr-core))
+  0)
+
+(defmethod core-spi-set-handler ((instance avr-core) handler channel)
+  "Channel is an integer indicating the SPI port as understood by simavr."
+  (declare ((integer 0) channel))
+  (let* ((irq-def (avr-ioctl-def #\s #\p #\i channel))
+         ;; TODO: replace with +spi-irq-input+ (and output, later)
+         (output-irq (avr-io-getirq irq-def 0))
+         (input-irq (avr-io-getirq irq-def 1)))
+    (avr-irq-register-notify
+     input-irq
+     (make-irq-callback byte
+       `(avr-raise-irq ,output-irq (funcall ,handler byte)))
+     (cffi:null-pointer))))
+
 (defmethod core-one-cycle ((instance avr-core))
   (avr-run (get-ptr instance))
   (setf (core-elapsed instance) (c-ref (get-ptr instance) avr-t :cycle))
@@ -241,6 +262,12 @@ cffi:get-callback)"
       (setf (c-ref (get-ptr instance) avr-t :avcc) (floor (* 1000 vcc)))
       )
 
+    (when *gdb-port*
+      (setf (c-ref (get-ptr instance) avr-t :gdb-port) *gdb-port*)
+      ;; prevents core from starting until gdb attaches
+      (setf (c-ref (get-ptr instance) avr-t :state) +cpu-stopped+)
+      (avr-gdb-init (get-ptr instance)))
+
     ;; TODO
     ;; (trivial-garbage:finalize instance (lambda ()
     ;;                                      ()))

src/gooptest.lisp

@@ -247,24 +247,34 @@ Respects *core*."
               do (cycles-rel ,skip))
          (cycles-abs ,finally)))))
 
-(defun pin-duty-cycle (p stop &optional (skip *skip*))
+(defun pin-duty-cycle (p &key stop (skip *skip*) pull)
   "Returns the duty cycle of the given pin, as a fraction. Records for the
 length given by the timespec. Works for digital output pins; will throw an error
-if a pin state other than :high or :low is detected. skip-timespec can be used
-to improve performance by specifying how many cycles to let pass between polling
-the pin.
+if a pin state other than :high or :low is detected. pull can be :up or :down to
+measure as if there's a pullup or pulldown resistor. skip can be used to improve
+performance by specifying how many cycles to let pass between polling the pin.
 
 Respects *core*"
+  (declare ((or (member :up :down) null) pull))
+  ;; required key arguments :|
+  (assert stop)
   (resolve-timespecs (stop) (skip)
     ;; TODO: verify off-by-one errors (i.e, does it stop one poll-timespec
     ;; before timespec? Or after? Does it always run exactly timespec cycles?)
     (loop
        with positive-samples = 0
        for total-samples from 1
        ;; use ecase to throw errors on non-digital values.
-       when (ecase (pin p)
-              (:high t)
-              (:low nil))
+       when (ecase pull
+              ((nil) (ecase (pin p)
+                       (:high t)
+                       (:low nil)))
+              (:up (ecase (pin p)
+                     (:low t)
+                     (:float nil)))
+              (:down (ecase (pin p)
+                       (:high t)
+                       (:float nil))))
        do (incf positive-samples)
        while (<= (+ (elapsed) skip) stop)
        do (cycles-rel skip)
@@ -314,7 +324,7 @@ the delay between characters. If finally is non-nil (the default), will wait at
 the end of transmission the equivalent of one characters length, so that it is
 safe to call (uart-send) multiple times in a row.
 
-Respects *core*"
+Respects *core*."
   (setf data
         (etypecase data
           ((or string character) (babel:string-to-octets (string data)))