picobit-vm.h

   1 /* file: "picobit-vm.h" */
   2
   3 /*
   4  * Copyright 2004-2009 by Marc Feeley and Vincent St-Amour, All Rights Reserved.
   5  */
   6
   7 #ifndef PICOBIT_VM_H
   8 #define PICOBIT_VM_H
   9
  10 #define DEBUG_not
  11 #define DEBUG_GC_not
  12 #define INFINITE_PRECISION_BIGNUMS
  13
  14 /*---------------------------------------------------------------------------*/
  15
  16 // types
  17
  18 typedef char int8;
  19 typedef short int16;
  20 typedef long int32;
  21 typedef unsigned char uint8;
  22 typedef unsigned short uint16;
  23 typedef unsigned long uint32;
  24
  25 typedef uint8 word;
  26
  27 typedef uint16 ram_addr;
  28 typedef uint16 rom_addr;
  29
  30 // pointers are 13 bits
  31 typedef uint16 obj;
  32
  33 /*---------------------------------------------------------------------------*/
  34
  35 // environment
  36
  37 #ifdef PICOBOARD2
  38 #define ROBOT
  39 #endif
  40
  41 #ifdef HI_TECH_C
  42 #define ROBOT
  43 #endif
  44
  45 #ifndef ROBOT
  46 #define WORKSTATION
  47 #endif
  48
  49
  50 #ifdef HI_TECH_C
  51
  52 #include <pic18.h>
  53
  54 static volatile near uint8 FW_VALUE_UP       @ 0x33;
  55 static volatile near uint8 FW_VALUE_HI       @ 0x33;
  56 static volatile near uint8 FW_VALUE_LO       @ 0x33;
  57
  58 #define ACTIVITY_LED1_LAT LATB
  59 #define ACTIVITY_LED1_BIT 5
  60 #define ACTIVITY_LED2_LAT LATB
  61 #define ACTIVITY_LED2_BIT 4
  62 static volatile near bit ACTIVITY_LED1 @ ((unsigned)&ACTIVITY_LED1_LAT*8)+ACTIVITY_LED1_BIT;
  63 static volatile near bit ACTIVITY_LED2 @ ((unsigned)&ACTIVITY_LED2_LAT*8)+ACTIVITY_LED2_BIT;
  64
  65 #endif
  66
  67
  68 #ifdef WORKSTATION
  69
  70 #include <stdio.h>
  71 #include <stdlib.h>
  72 #include <pcap.h>
  73
  74 // for libpcap
  75 #define MAX_PACKET_SIZE BUFSIZ
  76 #define PROMISC 1
  77 #define TO_MSEC 1
  78 char errbuf[PCAP_ERRBUF_SIZE];
  79 pcap_t *handle;
  80 #define INTERFACE "eth0"
  81 char buf [MAX_PACKET_SIZE]; // buffer for writing
  82
  83
  84 #ifdef _WIN32
  85
  86 #include <sys/types.h>
  87 #include <sys/timeb.h>
  88 #include <conio.h>
  89
  90 #else
  91
  92 #include <sys/time.h>
  93
  94 #endif
  95
  96 #endif
  97
  98 /*---------------------------------------------------------------------------*/
  99
 100 // miscellaneous definitions
 101 // TODO put at the end ?
 102
 103 // TODO these 2 are only used in negp, use them elsewhere ?
 104 #define true  1
 105 #define false 0
 106
 107 #define CODE_START 0x5000
 108
 109 /*---------------------------------------------------------------------------*/
 110
 111 // debugging
 112
 113 #ifdef DEBUG
 114 #define IF_TRACE(x) x
 115 #define IF_GC_TRACE(x) x
 116 #else
 117 #define IF_TRACE(x)
 118 #define IF_GC_TRACE(x)
 119 #endif
 120
 121 /*---------------------------------------------------------------------------*/
 122
 123 // error handling
 124
 125 #ifdef PICOBOARD2
 126 #define ERROR(prim, msg) halt_with_error()
 127 #define TYPE_ERROR(prim, type) halt_with_error()
 128 #endif
 129
 130 #ifdef WORKSTATION
 131 #define ERROR(prim, msg) error (prim, msg)
 132 #define TYPE_ERROR(prim, type) type_error (prim, type)
 133 void error (char *prim, char *msg);
 134 void type_error (char *prim, char *type);
 135 #endif
 136
 137 /*---------------------------------------------------------------------------*/
 138
 139 // address space layout
 140 // TODO document each zone, also explain that since vector space is in ram, it uses the ram primitives
 141
 142 #define MAX_VEC_ENCODING 8191
 143 #define MIN_VEC_ENCODING 4096
 144 #define VEC_BYTES ((MAX_VEC_ENCODING - MIN_VEC_ENCODING + 1)*4)
 145 // if the pic has less than 8k of memory, start vector space lower
 146 // TODO the pic actually has 2k, so change these
 147 // TODO we'd only actually need 1024 or so for ram and vectors, since we can't address more. this gives us a lot of rom space
 148
 149 #define MAX_RAM_ENCODING 4095
 150 #define MIN_RAM_ENCODING 512
 151 #define RAM_BYTES ((MAX_RAM_ENCODING - MIN_RAM_ENCODING + 1)*4)
 152 // TODO watch out if we address more than what the PIC actually has
 153
 154 #define MIN_FIXNUM_ENCODING 3
 155 #define MIN_FIXNUM -1
 156 #define MAX_FIXNUM 255
 157 #define MIN_ROM_ENCODING (MIN_FIXNUM_ENCODING+MAX_FIXNUM-MIN_FIXNUM+1)
 158
 159 #define OBJ_TO_RAM_ADDR(o,f) (((ram_addr)((uint16)(o) - MIN_RAM_ENCODING) << 2) + (f))
 160 #define OBJ_TO_ROM_ADDR(o,f) (((rom_addr)((uint16)(o) - MIN_ROM_ENCODING) << 2) + (CODE_START + 4 + (f)))
 161
 162
 163 #ifdef PICOBOARD2
 164 #define ram_get(a) *(uint8*)(a+0x200)
 165 #define ram_set(a,x) *(uint8*)(a+0x200) = (x)
 166 #endif
 167
 168
 169 #ifdef WORKSTATION
 170 uint8 ram_mem[RAM_BYTES + VEC_BYTES];
 171 #define ram_get(a) ram_mem[a]
 172 #define ram_set(a,x) ram_mem[a] = (x)
 173 #endif
 174
 175 #ifdef PICOBOARD2
 176 uint8 rom_get (rom_addr a){
 177   return *(rom uint8*)a;
 178 }
 179 #endif
 180
 181
 182 #ifdef WORKSTATION
 183 #define ROM_BYTES 8192
 184 // TODO the new pics have 32k, change this ? minus the vm size, firmware ?
 185 uint8 rom_mem[ROM_BYTES];
 186 uint8 rom_get (rom_addr a);
 187 #endif
 188
 189 /*---------------------------------------------------------------------------*/
 190
 191 // memory access
 192
 193 #define RAM_GET_FIELD0_MACRO(o) ram_get (OBJ_TO_RAM_ADDR(o,0))
 194 #define RAM_SET_FIELD0_MACRO(o,val) ram_set (OBJ_TO_RAM_ADDR(o,0), val)
 195 #define ROM_GET_FIELD0_MACRO(o) rom_get (OBJ_TO_ROM_ADDR(o,0))
 196
 197 #define RAM_GET_GC_TAGS_MACRO(o) (RAM_GET_FIELD0_MACRO(o) & 0x60)
 198 #define RAM_GET_GC_TAG0_MACRO(o) (RAM_GET_FIELD0_MACRO(o) & 0x20)
 199 #define RAM_GET_GC_TAG1_MACRO(o) (RAM_GET_FIELD0_MACRO(o) & 0x40)
 200 #define RAM_SET_GC_TAGS_MACRO(o,tags)                                      \
 201   (RAM_SET_FIELD0_MACRO(o,(RAM_GET_FIELD0_MACRO(o) & 0x9f) | (tags)))
 202 #define RAM_SET_GC_TAG0_MACRO(o,tag)                                    \
 203   RAM_SET_FIELD0_MACRO(o,(RAM_GET_FIELD0_MACRO(o) & 0xdf) | (tag))
 204 #define RAM_SET_GC_TAG1_MACRO(o,tag)                                    \
 205   RAM_SET_FIELD0_MACRO(o,(RAM_GET_FIELD0_MACRO(o) & 0xbf) | (tag))
 206
 207 #define RAM_GET_FIELD1_MACRO(o) ram_get (OBJ_TO_RAM_ADDR(o,1))
 208 #define RAM_GET_FIELD2_MACRO(o) ram_get (OBJ_TO_RAM_ADDR(o,2))
 209 #define RAM_GET_FIELD3_MACRO(o) ram_get (OBJ_TO_RAM_ADDR(o,3))
 210 #define RAM_SET_FIELD1_MACRO(o,val) ram_set (OBJ_TO_RAM_ADDR(o,1), val)
 211 #define RAM_SET_FIELD2_MACRO(o,val) ram_set (OBJ_TO_RAM_ADDR(o,2), val)
 212 #define RAM_SET_FIELD3_MACRO(o,val) ram_set (OBJ_TO_RAM_ADDR(o,3), val)
 213 #define ROM_GET_FIELD1_MACRO(o) rom_get (OBJ_TO_ROM_ADDR(o,1))
 214 #define ROM_GET_FIELD2_MACRO(o) rom_get (OBJ_TO_ROM_ADDR(o,2))
 215 #define ROM_GET_FIELD3_MACRO(o) rom_get (OBJ_TO_ROM_ADDR(o,3))
 216
 217 word ram_get_gc_tags (obj o);
 218 word ram_get_gc_tag0 (obj o);
 219 word ram_get_gc_tag1 (obj o);
 220 void ram_set_gc_tags (obj o, word tags);
 221 void ram_set_gc_tag0 (obj o, word tag);
 222 void ram_set_gc_tag1 (obj o, word tag);
 223 word ram_get_field0 (obj o);
 224 word ram_get_field1 (obj o);
 225 word ram_get_field2 (obj o);
 226 word ram_get_field3 (obj o);
 227 word ram_get_fieldn (obj o, word n);
 228 void ram_set_field0 (obj o, word val);
 229 void ram_set_field1 (obj o, word val);
 230 void ram_set_field2 (obj o, word val);
 231 void ram_set_field3 (obj o, word val);
 232 void ram_set_fieldn (obj o, uint8 n, word val);
 233 word rom_get_field0 (obj o);
 234 word rom_get_field1 (obj o);
 235 word rom_get_field2 (obj o);
 236 word rom_get_field3 (obj o);
 237
 238 obj ram_get_car (obj o);
 239 obj rom_get_car (obj o);
 240 obj ram_get_cdr (obj o);
 241 obj rom_get_cdr (obj o);
 242 void ram_set_car (obj o, obj val);
 243 void ram_set_cdr (obj o, obj val);
 244
 245 obj ram_get_entry (obj o);
 246 obj rom_get_entry (obj o);
 247
 248 obj get_global (uint8 i);
 249 void set_global (uint8 i, obj o);
 250
 251 /*---------------------------------------------------------------------------*/
 252
 253 /*
 254   OBJECT ENCODING:
 255
 256   #f           0
 257   #t           1
 258   ()           2
 259   fixnum n     MIN_FIXNUM -> 3 ... MAX_FIXNUM -> 3 + (MAX_FIXNUM-MIN_FIXNUM)
 260   rom object   4 + (MAX_FIXNUM-MIN_FIXNUM) ... MIN_RAM_ENCODING-1
 261   ram object   MIN_RAM_ENCODING ... MAX_RAM_ENCODING
 262   u8vector     MIN_VEC_ENCODING ... 8191
 263
 264   layout of memory allocated objects:
 265
 266   Gs represent mark bits used by the gc
 267
 268   ifdef INFINITE_PRECISION_BIGNUMS
 269   bignum n     0GG***** **next** hhhhhhhh llllllll  (16 bit digit)
 270   TODO what to do with the gc tags for the bignums ? will this work ?
 271
 272   ifndef INFINITE_PRECISION_BIGNUMS
 273   bignum n     00000000 uuuuuuuu hhhhhhhh llllllll  (24 bit signed integer)
 274
 275   pair         1GGaaaaa aaaaaaaa 000ddddd dddddddd
 276   a is car
 277   d is cdr
 278   gives an address space of 2^13 * 4 = 32k divided between simple objects,
 279   rom, ram and vectors
 280
 281   symbol       1GG00000 00000000 00100000 00000000
 282
 283   string       1GG***** *chars** 01000000 00000000
 284
 285   u8vector     1GGxxxxx xxxxxxxx 011yyyyy yyyyyyyy
 286   x is length of the vector, in bytes (stored raw, not encoded as an object)
 287   y is pointer to the elements themselves (stored in vector space)
 288
 289   closure      01Gaaaaa aaaaaaaa aaaxxxxx xxxxxxxx
 290   0x5ff<a<0x4000 is entry
 291   x is pointer to environment
 292   the reason why the environment is on the cdr (and the entry is split on 3
 293   bytes) is that, when looking for a variable, a closure is considered to be a
 294   pair. The compiler adds an extra offset to any variable in the closure's
 295   environment, so the car of the closure (which doesn't really exist) is never
 296   checked, but the cdr is followed to find the other bindings
 297
 298   continuation 1GGxxxxx xxxxxxxx 100yyyyy yyyyyyyy
 299   x is parent continuation
 300   y is pointer to the second half, which is a closure (contains env and entry)
 301
 302   An environment is a list of objects built out of pairs.  On entry to
 303   a procedure the environment is the list of parameters to which is
 304   added the environment of the closure being called.
 305
 306   The first byte at the entry point of a procedure gives the arity of
 307   the procedure:
 308
 309   n = 0 to 127    -> procedure has n parameters (no rest parameter)
 310   n = -128 to -1  -> procedure has -n parameters, the last is
 311   a rest parameter
 312 */
 313
 314 #define OBJ_FALSE 0
 315 #define OBJ_TRUE  1
 316 #define encode_bool(x) ((obj)(x))
 317
 318 #define OBJ_NULL  2
 319
 320 // fixnum definitions in picobit-vm.h , address space layout section
 321
 322 #define ENCODE_FIXNUM(n) ((obj)(n) + (MIN_FIXNUM_ENCODING - MIN_FIXNUM))
 323 #define DECODE_FIXNUM(o) ((int32)(o) - (MIN_FIXNUM_ENCODING - MIN_FIXNUM))
 324
 325 #define IN_VEC(o) ((o) >= MIN_VEC_ENCODING)
 326 #define IN_RAM(o) (!IN_VEC(o) && ((o) >= MIN_RAM_ENCODING))
 327 #define IN_ROM(o) (!IN_VEC(o) && !IN_RAM(o) && ((o) >= MIN_ROM_ENCODING))
 328
 329 // bignum first byte : 00Gxxxxx
 330 #define BIGNUM_FIELD0 0
 331 #define RAM_BIGNUM(o) ((ram_get_field0 (o) & 0xc0) == BIGNUM_FIELD0)
 332 #define ROM_BIGNUM(o) ((rom_get_field0 (o) & 0xc0) == BIGNUM_FIELD0)
 333
 334 // composite first byte : 1GGxxxxx
 335 #define COMPOSITE_FIELD0 0x80
 336 #define RAM_COMPOSITE(o) ((ram_get_field0 (o) & 0x80) == COMPOSITE_FIELD0)
 337 #define ROM_COMPOSITE(o) ((rom_get_field0 (o) & 0x80) == COMPOSITE_FIELD0)
 338
 339 // pair third byte : 000xxxxx
 340 #define PAIR_FIELD2 0
 341 #define RAM_PAIR(o) (RAM_COMPOSITE (o) && ((ram_get_field2 (o) & 0xe0) == PAIR_FIELD2))
 342 #define ROM_PAIR(o) (ROM_COMPOSITE (o) && ((rom_get_field2 (o) & 0xe0) == PAIR_FIELD2))
 343
 344 // symbol third byte : 001xxxxx
 345 #define SYMBOL_FIELD2 0x20
 346 #define RAM_SYMBOL(o) (RAM_COMPOSITE (o) && ((ram_get_field2 (o) & 0xe0) == SYMBOL_FIELD2))
 347 #define ROM_SYMBOL(o) (ROM_COMPOSITE (o) && ((rom_get_field2 (o) & 0xe0) == SYMBOL_FIELD2))
 348
 349 // string third byte : 010xxxxx
 350 #define STRING_FIELD2 0x40
 351 #define RAM_STRING(o) (RAM_COMPOSITE (o) && ((ram_get_field2 (o) & 0xe0) == STRING_FIELD2))
 352 #define ROM_STRING(o) (ROM_COMPOSITE (o) && ((rom_get_field2 (o) & 0xe0) == STRING_FIELD2))
 353
 354 // vector third byte : 011xxxxx
 355 #define VECTOR_FIELD2 0x60
 356 #define RAM_VECTOR(o) (RAM_COMPOSITE (o) && ((ram_get_field2 (o) & 0xe0) == VECTOR_FIELD2))
 357 #define ROM_VECTOR(o) (ROM_COMPOSITE (o) && ((rom_get_field2 (o) & 0xe0) == VECTOR_FIELD2))
 358
 359 // continuation third byte : 100xxxxx
 360 #define CONTINUATION_FIELD2 0x80
 361 #define RAM_CONTINUATION(o) (RAM_COMPOSITE (o) && ((ram_get_field2 (o) & 0xe0) == CONTINUATION_FIELD2))
 362 #define ROM_CONTINUATION(o) (ROM_COMPOSITE (o) && ((rom_get_field2 (o) & 0xe0) == CONTINUATION_FIELD2))
 363
 364 // closure first byte : 01Gxxxxx
 365 #define CLOSURE_FIELD0 0x40
 366 #define RAM_CLOSURE(o) ((ram_get_field0 (o) & 0xc0) == CLOSURE_FIELD0)
 367 #define ROM_CLOSURE(o) ((rom_get_field0 (o) & 0xc0) == CLOSURE_FIELD0)
 368
 369 /*---------------------------------------------------------------------------*/
 370
 371 // bignum definitions
 372
 373 #ifdef INFINITE_PRECISION_BIGNUMS
 374
 375 #define digit_width 16
 376
 377 typedef obj integer;
 378 typedef uint16 digit; // TODO why these ? adds to the confusion
 379 typedef uint32 two_digit;
 380
 381 #define obj_eq(x,y) ((x) == (y))
 382 #define integer_hi_set(x,y) ram_set_car (x, y)
 383
 384 #define ZERO ENCODE_FIXNUM(0)
 385 #define NEG1 (ZERO-1)
 386 #define POS1 (ZERO+1)
 387
 388 integer make_integer (digit lo, integer hi);
 389 integer integer_hi (integer x);
 390 digit integer_lo (integer x);
 391
 392 integer norm (obj prefix, integer n);
 393 uint8 negp (integer x);
 394 int8 cmp (integer x, integer y);
 395 uint16 integer_length (integer x);
 396 integer shr (integer x);
 397 integer negative_carry (integer carry);
 398 integer shl (integer x);
 399 integer shift_left (integer x, uint16 n);
 400 integer add (integer x, integer y);
 401 integer invert (integer x);
 402 integer sub (integer x, integer y);
 403 integer neg (integer x);
 404 integer scale (digit n, integer x);
 405 integer mulnonneg (integer x, integer y);
 406 integer divnonneg (integer x, integer y);
 407
 408 int32 decode_int (obj o);
 409 obj encode_int (int32 n);
 410
 411 #endif
 412
 413 /*---------------------------------------------------------------------------*/
 414
 415 // garbage collector
 416
 417 // TODO explain what each tag means, with 1-2 mark bits
 418 #define GC_TAG_0_LEFT   (1<<5)
 419 #define GC_TAG_1_LEFT   (2<<5)
 420 #define GC_TAG_UNMARKED (0<<5)
 421
 422 /* Number of object fields of objects in ram */
 423 #define HAS_2_OBJECT_FIELDS(visit) (RAM_PAIR(visit) || RAM_CONTINUATION(visit))
 424 #ifdef INFINITE_PRECISION_BIGNUMS
 425 #define HAS_1_OBJECT_FIELD(visit)  (RAM_COMPOSITE(visit) \
 426                                     || RAM_CLOSURE(visit) || RAM_BIGNUM(visit))
 427 #else
 428 #define HAS_1_OBJECT_FIELD(visit)  (RAM_COMPOSITE(visit) || RAM_CLOSURE(visit))
 429 #endif
 430 // all composites except pairs and continuations have 1 object field
 431
 432 #define NIL OBJ_FALSE
 433
 434 obj free_list; /* list of unused cells */
 435 obj free_list_vec; /* list of unused cells in vector space */
 436
 437 obj arg1; /* root set */
 438 obj arg2;
 439 obj arg3;
 440 obj arg4;
 441 obj arg5;
 442 obj cont;
 443 obj env;
 444
 445 uint8 na; /* interpreter variables */
 446 rom_addr pc;
 447 uint8 glovars;
 448 rom_addr entry;
 449 uint8 bytecode;
 450 uint8 bytecode_hi4;
 451 uint8 bytecode_lo4;
 452 int32 a1;
 453 int32 a2;
 454 int32 a3;
 455
 456 /*---------------------------------------------------------------------------*/
 457
 458 // primitives
 459
 460 void prim_numberp (void);
 461 void prim_add (void);
 462 void prim_mul (void);
 463 void prim_div (void);
 464 void prim_rem (void);
 465 void prim_neg (void);
 466 void prim_eq (void);
 467 void prim_lt (void);
 468 void prim_gt (void);
 469 // TODO we have extra primitives, pring back geq, leq, and put them in a sensible place in the primitives
 470 void prim_ior (void);
 471 void prim_xor (void);
 472
 473 void prim_pairp (void);
 474 obj cons (obj car, obj cdr);
 475 void prim_cons (void);
 476 void prim_car (void);
 477 void prim_cdr (void);
 478 void prim_set_car (void);
 479 void prim_set_cdr (void);
 480 void prim_nullp (void);
 481
 482 void prim_u8vectorp (void);
 483 void prim_make_u8vector (void);
 484 void prim_u8vector_ref (void);
 485 void prim_u8vector_set (void);
 486 void prim_u8vector_length (void);
 487 void prim_u8vector_copy (void);
 488
 489 void prim_eqp (void);
 490 void prim_not (void);
 491 void prim_symbolp (void);
 492 void prim_stringp (void);
 493 void prim_string2list (void);
 494 void prim_list2string (void);
 495 void prim_booleanp (void);
 496
 497 #ifdef WORKSTATION
 498 void show (obj o);
 499 void print (obj o);
 500 #endif
 501 void prim_print (void);
 502 int32 read_clock (void);
 503 void prim_clock (void);
 504 void prim_motor (void);
 505 void prim_led (void);
 506 void prim_led2_color (void);
 507 void prim_getchar_wait (void);
 508 void prim_putchar (void);
 509 void prim_beep (void);
 510 void prim_adc (void);
 511 void prim_sernum (void);
 512
 513 void prim_network_init (void);
 514 void prim_network_cleanup (void);
 515 void prim_receive_packet_to_u8vector (void);
 516 void prim_send_packet_from_u8vector (void);
 517
 518 /*---------------------------------------------------------------------------*/
 519
 520 // debugging functions
 521
 522 void show_type (obj o);
 523 void show_state (rom_addr pc);
 524
 525 /*---------------------------------------------------------------------------*/
 526
 527 #endif
 528