ulisp-esp32

A (patched) version of the Lisp programming language for ESP32-based boards. Heavily customized to fit my use case but most of the original remains. For more about the original ulisp-esp see http://www.ulisp.com/show?3M#esp-version

This is based off of uLisp 4.6. For the old patches (some of which don't work) for uLisp 4.3a please see the 4.3a-old branch.

Note

This version includes (requires?) the ESP32Servo library to get the analogWrite() and tone() functioning correctly. If you don't have it installed uLisp will compile but you won't have analogWrite() and tone().

New features, some care in editing required:

• Ability to add multiple (more than one) extension tables (using calloc()) may not be portable to other platforms
• Nonlocal exit: (throw) and (catch) (*)
• Templating: backquote/unquote/unquote-splicing (*)
• Macros: defmacro/macroexpand no support for destructuring lambda lists yet (*)

Copy-paste ready features (all in extensions.hpp):

• Gensym and intern
• Destructuring-bind
• Sizeof (not Common Lisp but useful nonetheless)

Also included is David's bigint library and the example (now) function.

Other patches:

• Deleted: load/save/autorunimage support
• Modified: garbage collect message
• Deleted: line-editor support
• Added: Auto-run contents of main.lisp (on microSD card) at startup
• Modified: SD-card functions now include filename in error messages
• Fixed: special forms don't need to call checkargs() because it is automatically called

Caution

If you are looking to use this patched version as a guide for adding any of the 3 starred (*) features listed above, please use this guide I prepared instead. There are many subtle changes in my patched version that are understandable to me, but will no doubt cause confusion for someone who is just copy-pasting my code. The aforementioned document is structured and designed to allow copy-pasting into vanilla uLisp without major problems arising.

term.py -- enhanced uLisp interface

This provides a cleaner interface to use uLisp in compared to the stupid Arduino serial monitor.

Dependencies:

• A VT100-compliant terminal
• Python 3
• pyserial (to communicate with your microcontroller)
• prompt_toolkit (to draw the interface)
• Pygments (for syntax highliting)

To run:

# use default port and baud (/dev/ttyUSB0 and 115200)
python3 term.py
# specify port and baud
python3 term.py -p COM3 -b 9600

UI Overview:

----------------------------------------------------
|                    ^|                           ^|
|                     |                            |
|       LISP          |       SERIAL               |
|       BUFFER        |       MONITOR              |
|                     |                            |
|                     |                            |
|                    v|                           v|
|--------------------------------------------------|
|cmd>  COMMAND AREA                                |
|--------------------------------------------------|
| STATUS BAR                          RIGHT STATUS |
| MEMORY USAGE                        LAST GC INFO |
----------------------------------------------------

• Lisp Buffer: You can type Lisp code in here.
• Serial Monitor: This shows the output from the serial port.
• Command Area: You can type one-line Lisp commands in here, or you can type "special" commands (press ENTER to run them):
  • .reset: Trips the RTS line of the serial port, to reset your microcontroller if it locks up and ~ doesn't work.
  • .run: Sends the contents of the Lisp Buffer to the serial port, and then empty the Lisp Buffer.
  • .quit: Closes the serial port, and exits from the application.
• Status Bar: Shows whether the program is running, waiting for input at the REPL, crashed because of an error, etc.
• Right Status: Doesn't do anything on its own, but if your program prints out something of the form $!rs=foo!$, it will hide that string in the Serial Monitor, and put foo in the Right Status area. This is useful if you want to monitor the state of a pin in a loop, and you don't want to overload the Serial Monitor with a barrage of text.
• Memory Usage: Shows the percentage of memory used by your program in a couple of different ways and also changes color depending on how much memory is used. This is updated after every garbage collection.
• Last GC Info: Shows how many garbage collections have been done since the start of the program, and how much was freed on the most recent GC.