Difference between revisions of "Colibri Forth"

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= Cookbook =
 
= Cookbook =
 
We are going to assemble useful snippets and words that will be useful, but not common enough to be included in the standard vocabulary. We call this the [[Colibri Forth Cookbook]] and will be a slowly growing document of Forth for the Colibri family.
 
We are going to assemble useful snippets and words that will be useful, but not common enough to be included in the standard vocabulary. We call this the [[Colibri Forth Cookbook]] and will be a slowly growing document of Forth for the Colibri family.
 +
 +
= Resources =
 +
https://mecrisp-stellaris-folkdoc.sourceforge.io/
 +
https://www.spyr.ch/twiki/bin/view/MecrispCube
 +
 +
= Default Word List =
 +
(It will take a while to document all this)
 +
<pre>
 +
dup
 +
drop
 +
?dup
 +
swap
 +
nip
 +
over
 +
tuck
 +
rot
 +
-rot
 +
pick
 +
2dup    (n m -- n m n m ) Duplicates the two top cells.
 +
2drop    (n m -- ) Drops the two top cells
 +
2swap    ( n1 n2 n3 n4 -- n3 n4 n1 n2 ) Swaps the two top cells with then next two cells
 +
2nip    ( n1 n2 n3 n4 -- n3 n4 ) Removes the two cells below the two top cells
 +
2over    ( n1 n2 n3 n4 -- n1 n2 n3 n4 n1 n2 ) Duplicates the two cells below the top two cells.
 +
2tuck    ( n1 n2 n3 n4 -- n3 n4 n1 n2 n3 n4 ) Put a two cell duplicate below the next two cells.
 +
2rot
 +
2-rot    ( n1 n2 n3 n4 n5 n6 -- n5 n6 n1 n2 n3 n4 ) Rotates the top two cells down two levels
 +
2>r
 +
2r>
 +
2r@
 +
2rdrop
 +
d2/
 +
d2*
 +
dshr
 +
dshl
 +
dabs
 +
dnegate
 +
d-
 +
d+
 +
s>d
 +
um*
 +
m*
 +
ud*
 +
udm*
 +
*/
 +
*/mod
 +
u*/
 +
u*/mod
 +
um/mod
 +
m/mod
 +
ud/mod
 +
d/mod
 +
d/
 +
x*
 +
x/
 +
2!
 +
2@
 +
du<
 +
du>
 +
d<
 +
d>
 +
d0<
 +
d0=
 +
d<>
 +
d=
 +
sp@
 +
sp!
 +
rp@
 +
rp!
 +
depth
 +
rdepth
 +
>r
 +
r>
 +
r@
 +
rdrop
 +
rpick
 +
roll
 +
-roll
 +
and
 +
bic
 +
or
 +
xor
 +
*
 +
clz
 +
ror
 +
rol
 +
arshift
 +
rshift
 +
lshift
 +
0=
 +
0<>
 +
0<
 +
true
 +
false
 +
>=
 +
<=
 +
<
 +
>
 +
u>=
 +
u<=
 +
u<
 +
u>
 +
<>
 +
=
 +
min
 +
max
 +
umax
 +
umin
 +
move
 +
fill
 +
@
 +
!
 +
+!
 +
h@
 +
h!
 +
h+!
 +
c@
 +
c!
 +
c+!
 +
bis!
 +
bic!
 +
xor!
 +
bit@
 +
hbis!
 +
hbic!
 +
hxor!
 +
hbit@
 +
cbis!
 +
cbic!
 +
cxor!
 +
cbit@
 +
8flash!
 +
flashpageerase
 +
eraseflash
 +
eraseflashfrom
 +
initflash
 +
hflash!
 +
flushflash
 +
+
 +
-
 +
1-
 +
1+
 +
2-
 +
2+
 +
cell+
 +
negate
 +
not
 +
shr
 +
shl
 +
2*
 +
cells
 +
2/
 +
abs
 +
u/mod
 +
/mod
 +
mod
 +
/
 +
even
 +
base
 +
binary
 +
decimal
 +
hex
 +
hook-emit
 +
hook-key
 +
hook-emit?
 +
hook-key?
 +
emit
 +
key
 +
emit?
 +
key?
 +
hook-pause
 +
pause
 +
uart
 +
redirect
 +
unredirect
 +
serial-emit
 +
serial-key
 +
serial-emit?
 +
serial-key?
 +
baudrate!
 +
wordlength!
 +
paritybit!
 +
stopbits!
 +
cexpect
 +
accept
 +
tib
 +
>in
 +
current-source
 +
setsource
 +
source
 +
query
 +
compare
 +
cr
 +
bl
 +
space
 +
spaces
 +
[char]
 +
char
 +
(
 +
\
 +
."
 +
c"
 +
s"
 +
count
 +
ctype
 +
type
 +
hex.
 +
h.s
 +
u.s
 +
.s
 +
words
 +
unused
 +
12bitencoding
 +
registerliteral,
 +
movwmovt,
 +
call,
 +
literal,
 +
create
 +
does>
 +
<builds
 +
[']
 +
'
 +
postpone
 +
inline,
 +
ret,
 +
exit
 +
recurse
 +
state
 +
]
 +
[
 +
:
 +
;
 +
execute
 +
immediate
 +
inline
 +
compileonly
 +
0-foldable
 +
1-foldable
 +
2-foldable
 +
3-foldable
 +
4-foldable
 +
5-foldable
 +
6-foldable
 +
7-foldable
 +
constant
 +
2constant
 +
smudge
 +
setflags
 +
aligned
 +
align
 +
align8,
 +
h,
 +
,
 +
><,
 +
string,
 +
allot
 +
forgetram
 +
compiletoram?
 +
compiletoram
 +
compiletoflash
 +
(create)
 +
variable
 +
2variable
 +
nvariable
 +
buffer:
 +
dictionarystart
 +
dictionarynext
 +
skipstring
 +
find
 +
hook-find
 +
(find)
 +
cjump,
 +
jump,
 +
here
 +
flashvar-here
 +
then
 +
else
 +
if
 +
ahead
 +
repeat
 +
while
 +
until
 +
again
 +
begin
 +
k
 +
j
 +
i
 +
leave
 +
unloop
 +
+loop
 +
loop
 +
do
 +
?do
 +
case
 +
?of
 +
of
 +
endof
 +
endcase
 +
token
 +
parse
 +
digit
 +
number
 +
.digit
 +
hold
 +
hold<
 +
sign
 +
#>
 +
x#S
 +
x#
 +
#S
 +
#
 +
<#
 +
x.
 +
x.n
 +
ud.
 +
d.
 +
u.
 +
.
 +
evaluate
 +
interpret
 +
hook-quit
 +
quit
 +
TCB
 +
threadid
 +
argument
 +
attr
 +
XT
 +
R0
 +
S0
 +
#user
 +
/user
 +
his
 +
task
 +
/task
 +
construct
 +
start-task
 +
stop
 +
awaken
 +
skeleton
 +
osNewDataStack
 +
[C
 +
C]
 +
terminate
 +
suspend
 +
resume
 +
halt
 +
kill
 +
mutex-init
 +
/mutex
 +
get
 +
release
 +
/osThreadAttr
 +
thName+
 +
thAttrBits+
 +
thCbMem+
 +
thCbSize+
 +
thStackMem+
 +
thStackSize+
 +
thPriority+
 +
thTzModule+
 +
/osEventFlagsAttr
 +
/osMessageQueueAttr
 +
/osMutexAttr
 +
/osSemaphoreAttr
 +
osKernelGetTickCount
 +
osKernelGetTickFreq
 +
osKernelGetSysTimerCount
 +
osKernelGetSysTimerFreq
 +
osDelay
 +
osDelayUntil
 +
osThreadNew
 +
osThreadGetId
 +
osThreadGetState
 +
osThreadGetName
 +
osThreadSetPriority
 +
osThreadGetPriority
 +
osThreadYield
 +
osThreadSuspend
 +
osThreadResume
 +
osThreadExit
 +
osThreadTerminate
 +
osThreadGetStackSpace
 +
osThreadGetCount
 +
osThreadEnumerate
 +
xPortGetFreeHeapSize
 +
pvPortMalloc
 +
vPortFree
 +
vTaskSetThreadLocalStoragePointer
 +
pvTaskGetThreadLocalStoragePointer
 +
osThreadFlagsSet
 +
osThreadFlagsClear
 +
osThreadFlagsGet
 +
osThreadFlagsWait
 +
osTimerNew
 +
osTimerGetName
 +
osTimerStart
 +
osTimerStop
 +
osTimerIsRunning
 +
osTimerDelete
 +
osEventFlagsNew
 +
osEventFlagsSet
 +
osEventFlagsClear
 +
osEventFlagsGet
 +
osEventFlagsWait
 +
osEventFlagsDelete
 +
osMutexNew
 +
osMutexAcquire
 +
osMutexRelease
 +
osMutexGetOwner
 +
osMutexDelete
 +
osSemaphoreNew
 +
osSemaphoreAcquire
 +
osSemaphoreRelease
 +
osSemaphoreGetCount
 +
osSemaphoreDelete
 +
osMessageQueueNew
 +
osMessageQueuePut
 +
osMessageQueueGet
 +
osMessageQueueGetCapacity
 +
osMessageQueueGetMsgSize
 +
osMessageQueueGetCount
 +
osMessageQueueGetSpace
 +
osMessageQueueReset
 +
osMessageQueueDelete
 +
eint?
 +
eint
 +
dint
 +
ipsr
 +
nop
 +
unhandled
 +
reset
 +
</pre>
 +
 +
= Pre-loaded for Colibri MCU1 =
 +
<pre>
 +
sm7391-pressure
 +
sm7391-rd
 +
sm7391-raw
 +
sm7391-init
 +
SM7391.ADDR
 +
ring>
 +
>ring
 +
ring?
 +
ring#
 +
ring-step
 +
c++@
 +
init-ring
 +
crc16
 +
crc16h
 +
crc16@
 +
crc16-table
 +
buffer.
 +
buffer-cpy
 +
stack>buffer
 +
spi!ssel
 +
fix-ssel
 +
spiN>
 +
>spiN
 +
spi2>
 +
>spi2
 +
spi-push0
 +
spi-push
 +
spi-rxdrop
 +
spi-rxrdy
 +
spi-txrdy
 +
spi1>dr
 +
>spi
 +
spi>
 +
>spi>
 +
-spi
 +
+spi
 +
spi?
 +
SPI1-DR
 +
SPI1-SR
 +
SPI1-CR2
 +
SPI1-CR1
 +
SPI1
 +
ssel.bit
 +
ssel.addr
 +
MOSI
 +
MISO
 +
SCLK
 +
ssel
 +
i2c-inspect
 +
i2c-xfer
 +
i2c-rd
 +
i2c-wr
 +
i2c-setn
 +
i2c-stop
 +
i2c-start
 +
i2c>h
 +
i2c>
 +
>i2c
 +
i2c++
 +
i2c-addr
 +
i2c-reset
 +
i2c.ptr
 +
i2c.buf
 +
i2c.
 +
I2C2-TXDR
 +
I2C2-RXDR
 +
I2C2-ICR
 +
I2C2-ISR
 +
I2C2-TIMINGR
 +
I2C2-CR2
 +
I2C2-CR1
 +
I2C2
 +
SDA
 +
SCL
 +
PA15
 +
PA14
 +
PA13
 +
PB12
 +
PA12
 +
PA11
 +
PA10
 +
PA9
 +
PA8
 +
PB7
 +
PA7
 +
PB6
 +
PA6
 +
PB5
 +
PA5
 +
PB4
 +
PA4
 +
PB3
 +
PA3
 +
PB2
 +
PA2
 +
PA1
 +
PA0
 +
io.
 +
io-mode!
 +
io-config
 +
OMODE-FAST
 +
OMODE-SLOW
 +
OMODE-WEAK
 +
OMODE-OD
 +
OMODE-PP
 +
OMODE-AF-OD
 +
OMODE-AF-PP
 +
IMODE-ADC
 +
IMODE-LOW
 +
IMODE-HIGH
 +
IMODE-FLOAT
 +
iox!
 +
io!
 +
ioc!
 +
ios!
 +
io@
 +
io-base
 +
io-port
 +
io-mask
 +
io#
 +
io
 +
bit!
 +
bit
 +
GPIO.AFRH
 +
GPIO.AFRL
 +
GPIO.BSRR
 +
GPIO.ODR
 +
GPIO.IDR
 +
GPIO.PUPDR
 +
GPIO.OSPEEDR
 +
GPIO.OTYPER
 +
GPIO.MODER
 +
GPIO-BASE
 +
dump
 +
dump16
 +
hexdump
 +
hex.empty
 +
h.2
 +
h.4
 +
u.2
 +
u.4
 +
.v
 +
[ifndef]
 +
[ifdef]
 +
[if]
 +
[then]
 +
[else]
 +
[else-match]
 +
nexttoken
 +
</pre>

Revision as of 11:58, 13 August 2023


Colibri Forth is built upon MECRISP (https://mecrisp.sourceforge.net, written by Matthias Koch), the Stellaris variant, an advanced Forth, that compiles to machine code on the target itself, for optimal performance. Additional work/inspiration has been source from Peter Schmid's Mecrisp-Cube project (https://github.com/spyren/Mecrisp-Cube).

Architecture

Forth is a stack-oriented language that has 2 stacks, one for data and one call stack for with return addresses. It has very simple syntactic rules;

1. Everything is a "word" which must be surrounded by whitespace. All non-whitespace bytes are allowed in word. 1. Backslash is start of comment, and everything will be filtered out until parser reaches new line. 1. Everything between a pair of parentheses " ( xyz ) " is a comment. They can be stretching multiple lines. Nested parentheses are not supported. 1. Thereafter, try to locate word in dictionary. If found, "use" (depends on whether compiling or executing) it. 1. If word is not found in dictionary, try to parse it as a number. If successful, push number on stack. 1. All words operate on the stacks. Typically manipulating the Top-Of-Stack (TOS), by popping value(s) off the top and pushing the result back on top.


Colon ":" is the word to define other words, and the definition ends with semicolon ";". Example 

 : add4 4 + ;  \ adds 4 to the value on TOS.

It is common to put the stack manipulation info as a comment after the defined word. Example 

 : add4 ( n -- n+4 ) 4 + ;

It is the same thing, just human-readable comment to hint at what the word does.

The Full Documentation of Mecrisp is written by Terry Porter and published at https://mecrisp-stellaris-folkdoc.sourceforge.io/

Interactivity

Forth is an interactive language, which is awesome for embedded development. One can simply hook up a serial terminal and do development on the target itself. One can interactively work with the MCU registers and peripherals to figure out the proper configuration/operation without doing a full erase+write cycle to the flash memory. We can execute code directly from RAM and not commit it to Flash until we have worked out the details.

Cookbook

We are going to assemble useful snippets and words that will be useful, but not common enough to be included in the standard vocabulary. We call this the Colibri Forth Cookbook and will be a slowly growing document of Forth for the Colibri family.

Resources

https://mecrisp-stellaris-folkdoc.sourceforge.io/ https://www.spyr.ch/twiki/bin/view/MecrispCube

Default Word List

(It will take a while to document all this) 

dup
drop
?dup
swap
nip
over
tuck
rot
-rot
pick
2dup     (n m -- n m n m ) Duplicates the two top cells.
2drop    (n m -- ) Drops the two top cells
2swap    ( n1 n2 n3 n4 -- n3 n4 n1 n2 ) Swaps the two top cells with then next two cells
2nip     ( n1 n2 n3 n4 -- n3 n4 ) Removes the two cells below the two top cells
2over    ( n1 n2 n3 n4 -- n1 n2 n3 n4 n1 n2 ) Duplicates the two cells below the top two cells.
2tuck    ( n1 n2 n3 n4 -- n3 n4 n1 n2 n3 n4 ) Put a two cell duplicate below the next two cells.
2rot
2-rot    ( n1 n2 n3 n4 n5 n6 -- n5 n6 n1 n2 n3 n4 ) Rotates the top two cells down two levels
2>r
2r>
2r@
2rdrop
d2/
d2*
dshr
dshl
dabs
dnegate
d-
d+
s>d
um*
m*
ud*
udm*
*/
*/mod
u*/
u*/mod
um/mod
m/mod
ud/mod
d/mod
d/
x*
x/
2!
2@
du<
du>
d<
d>
d0<
d0=
d<>
d=
sp@
sp!
rp@
rp!
depth
rdepth
>r
r>
r@
rdrop
rpick
roll
-roll
and
bic
or
xor
*
clz
ror
rol
arshift
rshift
lshift
0=
0<>
0<
true
false
>=
<=
<
>
u>=
u<=
u<
u>
<>
=
min
max
umax
umin
move
fill
@
!
+!
h@
h!
h+!
c@
c!
c+!
bis!
bic!
xor!
bit@
hbis!
hbic!
hxor!
hbit@
cbis!
cbic!
cxor!
cbit@
8flash!
flashpageerase
eraseflash
eraseflashfrom
initflash
hflash!
flushflash
+
-
1-
1+
2-
2+
cell+
negate
not
shr
shl
2*
cells
2/
abs
u/mod
/mod
mod
/
even
base
binary
decimal
hex
hook-emit
hook-key
hook-emit?
hook-key?
emit
key
emit?
key?
hook-pause
pause
uart
redirect
unredirect
serial-emit
serial-key
serial-emit?
serial-key?
baudrate!
wordlength!
paritybit!
stopbits!
cexpect
accept
tib
>in
current-source
setsource
source
query
compare
cr
bl
space
spaces
[char]
char
(
\
."
c"
s"
count
ctype
type
hex.
h.s
u.s
.s
words
unused
12bitencoding
registerliteral,
movwmovt,
call,
literal,
create
does>
<builds
[']
'
postpone
inline,
ret,
exit
recurse
state
]
[
:
;
execute
immediate
inline
compileonly
0-foldable
1-foldable
2-foldable
3-foldable
4-foldable
5-foldable
6-foldable
7-foldable
constant
2constant
smudge
setflags
aligned
align
align8,
h,
,
><,
string,
allot
forgetram
compiletoram?
compiletoram
compiletoflash
(create)
variable
2variable
nvariable
buffer:
dictionarystart
dictionarynext
skipstring
find
hook-find
(find)
cjump,
jump,
here
flashvar-here
then
else
if
ahead
repeat
while
until
again
begin
k
j
i
leave
unloop
+loop
loop
do
?do
case
?of
of
endof
endcase
token
parse
digit
number
.digit
hold
hold<
sign
#>
x#S
x#
#S
#
<#
x.
x.n
ud.
d.
u.
.
evaluate
interpret
hook-quit
quit
TCB
threadid
argument
attr
XT
R0
S0
#user
/user
his
task
/task
construct
start-task
stop
awaken
skeleton
osNewDataStack
[C
C]
terminate
suspend
resume
halt
kill
mutex-init
/mutex
get
release
/osThreadAttr
thName+
thAttrBits+
thCbMem+
thCbSize+
thStackMem+
thStackSize+
thPriority+
thTzModule+
/osEventFlagsAttr
/osMessageQueueAttr
/osMutexAttr
/osSemaphoreAttr
osKernelGetTickCount
osKernelGetTickFreq
osKernelGetSysTimerCount
osKernelGetSysTimerFreq
osDelay
osDelayUntil
osThreadNew
osThreadGetId
osThreadGetState
osThreadGetName
osThreadSetPriority
osThreadGetPriority
osThreadYield
osThreadSuspend
osThreadResume
osThreadExit
osThreadTerminate
osThreadGetStackSpace
osThreadGetCount
osThreadEnumerate
xPortGetFreeHeapSize
pvPortMalloc
vPortFree
vTaskSetThreadLocalStoragePointer
pvTaskGetThreadLocalStoragePointer
osThreadFlagsSet
osThreadFlagsClear
osThreadFlagsGet
osThreadFlagsWait
osTimerNew
osTimerGetName
osTimerStart
osTimerStop
osTimerIsRunning
osTimerDelete
osEventFlagsNew
osEventFlagsSet
osEventFlagsClear
osEventFlagsGet
osEventFlagsWait
osEventFlagsDelete
osMutexNew
osMutexAcquire
osMutexRelease
osMutexGetOwner
osMutexDelete
osSemaphoreNew
osSemaphoreAcquire
osSemaphoreRelease
osSemaphoreGetCount
osSemaphoreDelete
osMessageQueueNew
osMessageQueuePut
osMessageQueueGet
osMessageQueueGetCapacity
osMessageQueueGetMsgSize
osMessageQueueGetCount
osMessageQueueGetSpace
osMessageQueueReset
osMessageQueueDelete
eint?
eint
dint
ipsr
nop
unhandled
reset

Pre-loaded for Colibri MCU1

sm7391-pressure
sm7391-rd
sm7391-raw
sm7391-init
SM7391.ADDR
ring>
>ring
ring?
ring#
ring-step
c++@
init-ring
crc16
crc16h
crc16@
crc16-table
buffer.
buffer-cpy
stack>buffer
spi!ssel
fix-ssel
spiN>
>spiN
spi2>
>spi2
spi-push0
spi-push
spi-rxdrop
spi-rxrdy
spi-txrdy
spi1>dr
>spi
spi>
>spi>
-spi
+spi
spi?
SPI1-DR
SPI1-SR
SPI1-CR2
SPI1-CR1
SPI1
ssel.bit
ssel.addr
MOSI
MISO
SCLK
ssel
i2c-inspect
i2c-xfer
i2c-rd
i2c-wr
i2c-setn
i2c-stop
i2c-start
i2c>h
i2c>
>i2c
i2c++
i2c-addr
i2c-reset
i2c.ptr
i2c.buf
i2c.
I2C2-TXDR
I2C2-RXDR
I2C2-ICR
I2C2-ISR
I2C2-TIMINGR
I2C2-CR2
I2C2-CR1
I2C2
SDA
SCL
PA15
PA14
PA13
PB12
PA12
PA11
PA10
PA9
PA8
PB7
PA7
PB6
PA6
PB5
PA5
PB4
PA4
PB3
PA3
PB2
PA2
PA1
PA0
io.
io-mode!
io-config
OMODE-FAST
OMODE-SLOW
OMODE-WEAK
OMODE-OD
OMODE-PP
OMODE-AF-OD
OMODE-AF-PP
IMODE-ADC
IMODE-LOW
IMODE-HIGH
IMODE-FLOAT
iox!
io!
ioc!
ios!
io@
io-base
io-port
io-mask
io#
io
bit!
bit
GPIO.AFRH
GPIO.AFRL
GPIO.BSRR
GPIO.ODR
GPIO.IDR
GPIO.PUPDR
GPIO.OSPEEDR
GPIO.OTYPER
GPIO.MODER
GPIO-BASE
dump
dump16
hexdump
hex.empty
h.2
h.4
u.2
u.4
.v
[ifndef]
[ifdef]
[if]
[then]
[else]
[else-match]
nexttoken
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