Functional MCU programming

1. Functional MCU programming
Metasepi Project / Kiwamu Okabe

2. Who am I ?
☆ http://www.masterq.net/
☆ Twitter: @master_q
☆ Organizer of Metasepi Project
☆ A developer of Ajhc Haskell compiler
☆ A Debian Maintainer
☆ 10 years' experience in developing
OS using NetBSD

3. Kick off workshop at Nagoya !
Functional MCU programing workshop
☆ At Nagoya
☆ Meeting minutes
http://metasepi.org/posts/2014-01-05-mbed_fp_0.html
☆ Now planning the next workshop...

4. Why functional lang for MCU?
☆ Internet of Things (IoT)
☆ We will live in IoT world
☆ Can't debug IoT device on the field
☆ Should avoid runtime error
☆ We need strong type !

5. What is functional app?

6. Choice of cross compiler

7. Cross compiler: (A)jhc
http://ajhc.metasepi.org/
☆ Language: Haskell
☆ Haskell language is major !
☆ Need GC heap = Need more memory
☆ Experience running on MCU
ARM Cortex-M
https://github.com/ajhc/demo-cortex-m3

8. Cross compiler: ATS
http://www.ats-lang.org/
☆ Language: ML
☆ Optional GC = Need low memory
☆ No experience running on MCU
☆ Document translated into Japanese
http://jats-ug.metasepi.org/

9. Cross compiler: Rust
http://www.rust-lang.org/
☆ Language: Own syntax like C or JS
☆ Optional GC = Need low memory
☆ Experience running on MCU
ARM Cortex-M
https://github.com/neykov/armboot
☆ Developing by Mozilla
☆ @pirapira knows the detail of it

10. Choice of MCU board

11. Which MCU? Of course mbed!?
Why?
☆ Major
☆ 32bit
☆ Large memory size (> 20kB)
☆ Debugger
☆ Ethernet

12. Which board is good for us...
☆ mbed LPC1768 (¥5,200)
RAM 32kB+32kB
Ethernet
https://mbed.org/platforms/mbed-LPC1768/
☆ Seeeduino Arch Pro ($43.41)
RAM 32kB+32kB
Ethernet
http://www.seeedstudio.com/depot/arch-pro-p-1677.html
☆ FRDM-KL46Z (¥1,634)
RAM 32kB
No Ethernet
http://www.freescale.com/webapp/sps/site/prod_summary.jsp?
code=FRDM-KL46Z

13. Choice of debugger

14. gdbserver: pyOCD
https://github.com/mbedmicro/pyOCD
☆ Only for MCU using CMSIS-DAP
☆ But now support only mbed LPC1768
☆ In future, support more board ?

15. gdbserver: OpenOCD
http://openocd.sourceforge.net/
☆ Comming CMSIS-DAP support!
☆ Need HIDAPI library
http://www.signal11.us/oss/hidapi/

16. OpenOCD enabling CMSIS-DAP
$
$
$
$
$
$
git clone git://github.com/signal11/hidapi.git
cd hidapi
./bootstrap
./configure
make
sudo make install
$ git clone https://github.com/master-q/openocd.git
$ cd openocd
$ git checkout masterq-mbedfest-201401
$ ./bootstrap
$ ./configure --enable-cmsis-dap
--ship-Olimex ARM-JTAG-EW Programmer
yes (auto)
CMSIS-DAP Compliant Debugger
yes
$ make
Some time the following FRDM-KL46Z patch is useful.
http://permalink.gmane.org/gmane.comp.debugging.openocd.devel/24258

17. On mbed LPC1768
$ sudo ./src/openocd -f tcl/board/mbed-lpc1768.cfg
$ arm-none-eabi-gdb
(gdb) target remote
(gdb) monitor reset
(gdb) load
Blink.elf
localhost:3333
halt
Push hard rest button.
(gdb) c
But too slow...
Transfer rate: 50 bytes/sec, 3818 bytes/write.
:(

18. On Seeeduino Arch Pro
Same as mbed LPC1768.

19. On FRDM-KL46Z
Use project at https://github.com/0xc0170/kinetis_klxx_gcc.
$ sudo ./src/openocd -f tcl/board/frdm-kl46z.cfg
--snip-cortex_m reset_config sysresetreq
Info : CMSIS-DAP: FW Version = 1.0
Info : SWCLK/TCK = 0 SWDIO/TMS = 1 TDI = 0 TDO = 0 nTRST = 0
nRESET = 1
Info : DAP_SWJ Sequence (reset: 50+ '1' followed by 0)
Info : CMSIS-DAP: Interface ready
Info : clock speed 100 kHz
Info : IDCODE 0x0bc11477
Info : MKL46Z256VLL4.cpu: hardware has 2 breakpoints, 2 watchpoints
Info : accepting 'gdb' connection from 3333
Warn : Cannot communicate... target not halted.
Error: auto_probe failed
Error: Connect failed. Consider setting up a gdb-attach event for
the target to prepare.
Error: attempted 'gdb' connection rejected
X(

20. Be a hacker such as ねむいさん
http://nemuisan.blog.bai.ne.jp/
☆ OpenOCD hacker
☆ There is his patch at following URL
http://nemuisan.blog.bai.ne.jp/?eid=192848#OPENOCD

21. Functional programming fanzine
☆ http://www.paraiso-lang.org/ikmsm/
☆ About Haskell or OCaml or . . .
☆ About Ajhc in C84 book
☆ About Android app with Haskell in
C85 book
☆ Call me if you read it!
http://www.paraiso-lang.org/ikmsm/books/c85.html