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NOTE

Sense-VM has changed name to SynchronVM and is available in a new repository here.

Sense-VM

Sense-VM is a bytecode-vm for microcontrollers such as STM32, and NRF52. Sense-VM is based on the Categorical Abstract Machine but is augmented to support Concurrent ML style concurrency.

MPLR 2021 paper snapshot

V0.1.0

Building the compiler

The compiler is implemented in Haskell and uses the stack build system (get stack). Go to the frontend/CamIoT directory and issue the command:

stack build

The command above builds an executable called camiotc somewhere under the .stack-work directory that the stack tool generates.

To install the binary to $HOME/.local/bin issue the command:

stack install

Using the camiotc compiler

camiotc takes one or more arguments one of which should be a source file. For example, to compile one of the example programs under testcases do:

camiotc testcases/good11.cam

The output of this command should be:

compiling file `testcases/good11.cam` to output `out.svm`

Alternatively a specific output file can be specified using the -o parameter:

camiotc testcases/good11.cam -o good11.svm

and the output should be:

compiling file `testcases/good11.cam` to output `good11.svm`

Examples

Examples are located in the examples directory and are set up to build together with ChibiOS 20.3.3. Your copy of the Chibios source code should be located at position ../../../ChibiOS_20.3.3 relative to a given example directory.

The button_blinky example

The button_blinky example consists of the following files:

.
├── button_blinky.cam
├── Makefile
├── src-chibios
│   ├── chconf.h
│   ├── flash.sh
│   ├── halconf.h
│   ├── Makefile
│   ├── mcuconf.h
│   └── stm32f407g.cfg
├── svm_chibios_conf.h
└── vm-conf.h
  • button_blinky.cam is the source code of the example program.
  • Makefile compiles the example to bytecode and compiles the virtual machine with the specifications provided in svm_chibios_conf.h and vm-conf.h
  • The src-chibios directory contains files related to the configuration of ChibiOS.
  • svm_chibios_conf.h contains information related to peripherals on the target board.
  • vm-conf contains specification of virtual machine parameters.

The svm_chibios_conf.h contains microcontroller and board specific mappings of hardware (pins/peripherals) to concepts known to SenseVM.

#ifndef SVM_CHIBIOS_CONF_H_
#define SVM_CHIBIOS_CONF_H_

#define LED0_GPIO GPIOD
#define LED0_PIN  13
#define LED0_MODE PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST

#define LED1_GPIO GPIOD
#define LED1_PIN  12
#define LED1_MODE PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST

#define BUTTON0_GPIO GPIOA
#define BUTTON0_PIN  0
#define BUTTON0_MODE PAL_MODE_INPUT
#define BUTTON0_EVENT_MODE PAL_EVENT_MODE_BOTH_EDGES

#define SYS_TIMER  5 /*select tim5 for system time*/

#endif

vm-conf contains configuration of the virtual machine. Below is an excerpt from this file.

#define VMC_CONTAINER_1_HEAP_SIZE_BYTES       2048
#define VMC_CONTAINER_1_BYTECODE_FILE         "button_blinky.svm"
#define VMC_CONTAINER_1_STACK_SIZE_BYTES      1024
#define VMC_CONTAINER_1_ARRAY_MEM_SIZE_BYTES  0

#define VMC_CONTAINER_1_USE_BUTTON_0          1
#define VMC_CONTAINER_1_USE_LED_0             1

To build the example run make in the example directory. This relies on ChibiOS 20.3.3 being in the right location and that you have cross compilation tools installed (Get'em here). It also requires that you have built and "installed" the camiotc compiler using the instructions above.

The examples are set up to run on STM32F4-Discovery (the stm32f407 model) and to be flashed using OpenOCD. To flash a Discovery board, connect the programming interface USB cable and run make flash.

After flashing, the program will immediately start running on the board. Currently some debug information will be printed over the USB interface (the USB port on the oposite end to the programming interface on the discovery board).

What about Zephyr??!?!

SenseVM can be built on top of ChibiOS or ZephyrOS, currently the "user friendly" examples are just set up to use ChibiOS. There is no real reason for this other than it is what we had time to do first.

Examples on top of ZephyrOS will appear when time allows.

About

First commit 8 July 2020.

Papers on SenseVM

Higher-Order Concurrency for Microcontroller - MPLR '21