This document provides an overview of using functional programming languages for microcontroller (MCU) development. It discusses common MCU architectures like ARM Cortex-M, MSP430, and AVR. It recommends the Ajhc Haskell compiler, Rust, and ATS as functional languages suitable for MCUs. It also discusses debuggers like OpenOCD, pyOCD, STLINK, and AVaRICE. Real-time operating systems like FreeRTOS, ChibiOS/RT, and mbed RTOS are presented. Setup instructions are provided for Ajhc, GCC toolchain, pyOCD, and STLINK. Example code links are included.

1. Functional MCU programming
#0: Development environment
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. Why functional lang for MCU?
☆ We will live in IoT world
☆ Can't debug IoT device on field
☆ Should avoid runtime error
☆ We need strong type !

4. Overview

5. MCU (Microcontroller)
Many architecture are on the earth.

6. MCU: ARM Cortex-M
☆ Major
☆ 32bit
☆ Large memory size (> 20kB)
Good MCU Board is ...
☆ mbed LPC1768 (5,200 YEN)
https://mbed.org/platforms/mbed-LPC1768/
☆ STM32F4DISCOVERY (1,650 YEN)
http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/PF252419

7. MCU: TI MSP430
☆ Minor
☆ 16bit
☆ Small memory size (< 4kB)
Good MCU Board is ...
☆ MSP-EXP430G2 (1,202 YEN)
http://www.ti.com/tool/msp-exp430g2

8. MCU: Atmel AVR
☆ Major
☆ 8bit and Harvard architecture
☆ Small memory size (< 8kB)
Good MCU Board is ...
☆ Arduino Mega 2560 compat board
(2,690 YEN)
http://www.amazon.co.jp/dp/B00CF2REXC

9. Cross compiler
☆ Functional language implementation
☆ many many many ...
☆ Which language good for MCU ?

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

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

12. 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
☆ @pirapira knows detail of it

13. gdbserver (Debugger)
☆ Gdb is major debugger
☆ But gdb is only for the program
running on your PC
☆ How debug program running on
MCU ?
☆ Gdbserver is good for the use case
☆ There are many implementation

14. gdbserver: OpenOCD
http://openocd.sourceforge.net/
☆ Support many MCU
ARM7, ARM9, ARM11, ARM Cortex-M,
XScale, MIPS m4k, Orion SoC
☆ Support many JTAG
☆ Need config file

15. gdbserver: pyOCD
https://github.com/mbedmicro/pyOCD
☆ Only for MCU using CMSIS-DAP
☆ But now support only mbed LPC1768
☆ In future, support more board ?
Seeeduino Arch Pro ($43.41)
http://www.seeedstudio.com/depot/arch-pro-p-1677.html
FRDM-KL46Z (1,634 YEN)
http://www.freescale.com/webapp/sps/site/prod_summary.jsp?
code=FRDM-KL46Z

16. gdbserver: STLINK
https://github.com/texane/stlink
☆ Only for STM32 MCU
☆ STM32 is based on ARM Cortex-M
☆ No config is good config

17. gdbserver: AVaRICE
http://avarice.sourceforge.net/
☆ Only for Atmel AVR

18. Serial console
☆ Some MCU boards support "USB
Virtual Serial Port"
☆ If not, need USB serial converter

19. Peripheral
☆ GPIO
☆ I2C / SMBus
☆ USB host / device
☆ Bluetooth (LE)
☆ Sensor
☆ LCD Display
......

20. Ethernet
Use lwIP TCP/IP stack.
http://savannah.nongnu.org/projects/lwip/
But it needs thread supported by OS.

21. OS: FreeRTOS
http://www.freertos.org/
☆ Major
☆ Bad document ?

22. OS: ChibiOS/RT
http://www.chibios.org/
☆ Support ARM7, ARM Cortex-M, AVR,
PPC, MSP430
☆ OS is written by C
☆ Small
☆ Good document
☆ Used by gniibe

23. OS: mbed RTOS
http://mbed.org/handbook/RTOS
☆ Only for mbed
☆ OS core is written by C
☆ C++ wrapper for API

24. Choose our environment set

25. Setup Ajhc
http://ajhc.metasepi.org/
$
$
$
$
$
sudo apt-get install haskell-platform
sudo apt-get install gcc m4 patch libncurses5-dev
cabal install drift
export PATH=$PATH:$HOME/.cabal/bin
cabal install ajhc
Able to use it on Windows/Mac OS X ?

26. Setup cross gcc and gdb
☆ Use summon-arm-toolchain
$ git clone https://github.com/master-q/summon-arm-toolchain.git
$ sudo apt-get install build-essential git flex bison libgmp3-dev
libmpfr-dev libncurses5-dev libmpc-dev autoconf texinfo libtool
libftdi-dev libusb-1.0-0-dev zlib1g zlib1g-dev python-yaml
$ cd summon-arm-toolchain/
$ ./summon-arm-toolchain
$ export PATH=$HOME/sat/bin:$PATH
なにやら不穏なmaster-qというリポジトリからcloneしているのは、
"unknown command `colophon'" とか言われるケースがあるため
詳細: http://trac.cross-lfs.org/ticket/926
☆ Use GCC ARM Embedded
https://launchpad.net/gcc-arm-embedded/

27. Setup pyOCD
☆ Upgrade mbed firmware
http://mbed.org/handbook/Firmware-LPC1768-LPC11U24
☆ Install pyOCD
http://mbed.org/blog/entry/Debugging-from-GDB-using-pyOCD/
$
$
$
$
$
$
$
sudo apt-get install python libusb-1.0-0-dev
git clone https://github.com/walac/pyusb.git
cd pyusb
sudo python setup.py install
git clone https://github.com/mbedmicro/pyOCD.git
cd pyOCD
sudo python setup.py install
__bootstrap_innerとかなんかgdb_test.pyがエラーを吐く場合
http://mbed.org/forum/mbed/topic/4544/
を参考にpatchをあてるらしい...

28. Compile example
https://github.com/ajhc/demo-cortex-m3/tree/master/mbed-nxp-lpc1768
$
$
$
$
git clone https://github.com/ajhc/demo-cortex-m3.git
cd demo-cortex-m3/mbed-nxp-lpc1768
cd samples/Haskell
make

29. Setup STLINK
https://github.com/texane/stlink
$
$
$
$
$
$
$
sudo apt-get install libsgutils2-dev libusb-1.0-0-dev
git clone https://github.com/texane/stlink.git
cd stlink/
./autogen.sh
./configure
make
sudo make install

30. Get mbed LPC1768 !
☆ マルツパーツ館
http://www.marutsu.co.jp/shohin_72981/
☆ スイッチサイエンス
http://www.switch-science.com/catalog/250/
☆ 秋月電子通商
http://akizukidenshi.com/catalog/g/gM-03596/