Sometimes I need to be able to take photographs of very small things, and the so-called macro mode on my point-and-shoot camera just won’t cut it. And it never hurts to have an inspection scope on hand for tiny soldering jobs, either, though I prefer a simple jeweler’s loupe in one eye for most tasks. So I sent just over $40 off to my close friend Alibaba, and a few weeks later was the proud owner of a halfway usable inspection scope that records stills or video to an SD card.
Unfortunately, it’s only halfway useable because of chintzy interface design and a wobbly mount. So I spent an afternoon, took the microscope apart, and got it under microcontroller control, complete with WiFi and a scripting language. Much better! Now I can make microscope time-lapses, but much more importantly I can take blur-free photos without touching the wiggly rig. It was a fun hack, so I thought I’d share. Read on!
In the last two articles on Forth, I’ve ranted about how it’s beautiful but strange, and then gotten you set up on a basic system and blinked some LEDs. And while I’ve pointed you at the multitasker, we haven’t made much real use of it yet. Getting started on a Forth system like this is about half the battle. Working inside the microcontroller is different from compiling for the microcontroller, and figuring out the workflow, how to approach problems, and where the useful resources are isn’t necessarily obvious. Plus, there’s some wonderful features of Mecrisp-Stellaris Forth that you might not notice until you’ve hacked on the system for a while.
Ideally, you’d peek over the shoulder of someone doing their thing, and you’d see some of how they work. That’s the aim of this piece. If you’ve already flashed in our version of Mecrisp-Stellaris-plus-Embello, you’re ready to follow along. If not, go back and do your homework real quick. We’ll still be here when you’re done. A lot of this article will be very specific to the Mecrisp-Stellaris flavor of Forth, but given that it runs on tons of ARM chips out there, this isn’t a bad place to be.
In the last episode, I advocated a little bit for Forth on microcontrollers being a still-viable development platform, not just for industry where it’s usually seen these days, but also for hackers. I maybe even tricked you into buying a couple pieces of cheap hardware. This time around, we’re going to get the Forth system set up on that hardware, and run the compulsory “hello world” and LED blinky. But then we’ll also take a dip into one of the features that make Forth very neat on microcontrollers: easy multitasking.
Mecrisp-Stellaris Forth runs on a great number of ARM microcontrollers, but I’ll focus here on the STM32F103 chips that are available for incredibly little money in the form of a generic copy of the Maple Mini, often called a “STM32F103 Minimum System Board” or “Blue Pill” because of the form-factor, and the fact that there used to be red ones for sale. The microcontroller on board can run at 72 MHz, has 20 kB of RAM and either 64 or 128 kB of flash. It has plenty of pins, the digital-only ones are 5 V tolerant, and it has all the usual microcontroller peripherals. It’s not the most power-efficient, and it doesn’t have a floating-point unit or a DAC, but it’s a rugged old design that’s available for much less money than it should be.
Similar wonders of mass production work for the programmer that you’ll need to initially flash the chip. Any of the clones of the ST-Link v2 will work just fine. (Ironically enough, the hardware inside the programmer is almost identical to the target.) Finally, since Forth runs as in interactive shell, you’re going to need a serial connection to the STM32 board. That probably means a USB/serial adapter.
This whole setup isn’t going to cost much more than a fast food meal, and the programmer and USB/serial adapter are things that you’ll want to have in your kit anyway, if you don’t already.
You can power the board directly through the various 3.3 and GND pins scattered around the board, or through the micro USB port or the 5V pins on the target board. The latter two options pass through a 3.3 V regulator before joining up with the 3.3 pins. All of the pins are interconnected, so it’s best if you only use one power supply at a time.
Sometimes I see a component that’s bizarre enough that I buy it just to see if I can actually do something with it. That’s the case with today’s example, the ESP-14. At first glance, you’d ask yourself what AI Thinker, the maker of many of the more popular ESP8266 modules, was thinking.
The ESP-14 takes the phenomenally powerful ESP8266 chip and buries it underneath one of the cheapest microcontrollers around: the 8-bit STM8S003 “value line” chip. Almost all of the pins of the ESP chip are locked inside the RF cage’s metal tomb — only the power, bootloader, and serial TX/RX pins see the light of day, and the TX/RX pins are shared with the STM8S. The rest of the module’s pins are dedicated to the STM8S. Slaving the ESP8266 to an STM8S is like taking a Ferrari and wrapping it inside a VW Beetle.
I had never touched an STM8 chip before, and just wanted to see what I could do with this strange beast. In the end, ironically, I ended up doing something that wouldn’t be too far out of place on Alibaba, but with a few very Hackaday twists: a monitor for our washer and dryer that reports power usage over MQTT, programmed in Forth with a transparent WiFi serial bridge into the chip for interactive debugging without schlepping down into the basement. Everything’s open, tweakable, and the Forth implementation for the STM8S was even developed here on Hackaday.io.
It’s a weird project for the weirdest of ESP modules. I thought I’d walk you through it and see if it sparks you to come up with any alternative uses for the ESP8266-and-STM8S odd couple that is the ESP-14.
Let’s start right off with a controversial claim: Forth is the hacker’s programming language. Coding in Forth is a little bit like writing assembly language, interactively, for a strange CPU architecture that doesn’t exist. Forth is a virtual machine, an interpreted command-line, and a compiler all in one. And all of this is simple enough that it’s easily capable of running in a few kilobytes of memory. When your Forth code is right, it reads just like a natural-language sentence but getting there involves a bit of puzzle solving.
Forth is what you’d get if Python slept with Assembly Language: interactive, expressive, and without syntactical baggage, but still very close to the metal. Is it a high-level language or a low-level language? Yes! Or rather, it’s the shortest path from one to the other. You can, and must, peek and poke directly into memory in Forth, but you can also build up a body of higher-level code fast enough that you won’t mind. In my opinion, this combination of live coding and proximity to the hardware makes Forth great for exploring new microcontrollers or working them into your projects. It’s a fun language to write a hardware abstraction layer in. Continue reading “Forth: The Hacker’s Language”→
Forth has a strong following among embedded developers. There are a couple of reasons for that. Almost any computer can run Forth, even very small CPUs that would be a poor candidate for running programs written in C, much less host a full-blown development environment. At its core, Forth is very simple. Parse a word, look the word up in a dictionary. The dictionary either points to some machine language code or some more Forth words. Arguments and other things are generally carried on a stack. A lot of higher-level Forth constructs can be expressed in Forth, so if your Forth system reaches a certain level of maturity, it can suddenly become very powerful if you have enough memory to absorb those definitions.
If you want to experiment with Forth, you probably want to start learning it on a PC. There are several you can install, including gForth (the GNU offering). But sometimes that’s a barrier to have to install some complex software just to kick the tires on a system.
Forth is one of those interesting languages that has a cult-like following. If you’ve never looked into it, its strength is that it is dead simple to put on most CPUs, yet it is very powerful and productive. There are two main principles that make this possible. First, parsing is easy because any sequence of non-space characters makes up a legitimate Forth word. So while words like “double” and “solve” are legal Forth words, so is “#$#” if that’s what you want to define.
The other thing that makes Forth both simple and powerful is that it is stack-based. If you are used to a slide rule or an HP calculator, it is very natural to think of “5+2*3” as “5 2 3 * +” but it is also very simple for the computer to interpret.
[Zeroflag] created PunyForth–a Forth-like language for the ESP8266. You can also run PunyForth for cross development purposes on Linux (including the Raspberry Pi). The system isn’t quite proper Forth, but it is close enough that if you know Forth, you’ll have no trouble.