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Lean on the ESP32-C3

This is a proof-of-concept project for running Lean code on the ESP32-C3, a RISC-V microcontroller with 384 KiB of RAM.

How it works

Summary in a few bullet points:

  • The Lean compiler and standard library are unmodified, though the library initialization is stubbed out to reduce code size.
  • There is a slimmed down Lean runtime located in this repo.
  • Picolibc and libc++ are used as the standard C and C++ libraries respectively.
  • No pre-compiled toolchain, binary blobs, bootloader, or anything from ESP-IDF is used, everything is defined in flake.nix and compiled from source (or comes from the NixOS cache).
  • Everything fits into RAM, including the code and the heap.

Building and running

The only tool you need is Nix (with flakes enabled), everything else is managed through it. (Tested on x86_64-linux and aarch64-linux.)

Run nix build .#example-app. result/main.bin can be flashed onto an ESP32-C3 device that has a WS2812 compatible LED connected to GPIO 10. (I used the Waveshare ESP32-C3-Zero development board.)

Alternately, you can run nix run .#qemu to run the example application in QEMU. (Note that this will create a temporary image file at /tmp/merged-flash.bin.)

Development

  1. Run nix develop to enter a development shell.
  2. If your editor supports using Lean and/or clangd, you can open it from this devshell to have it use the correct versions of those. For using clangd, run ln -s $compile_flags compile_flags.txt to set up the compiler flags. This should work for all C/C++ files found in this project. (In particular, this was tested with VSCode with the clangd and lean4 extensions.)
  3. Enter the example-app directory.
  4. Make modifications to Main.lean
  5. Run eval "$buildPhase" to compile the app. (Note that the compilation of start.c is not hooked up to Lake yet, and modifications might not get picked up. Delete the .lake directory and recompile after you modify start.c.)
  6. Run out=. eval "$installPhase" to generate main.bin in the current directory.
  7. Run esptool.py --port /dev/ttyACM0 --no-stub load_ram main.bin to load the program to RAM and execute it. (Substitute /dev/ttyACM0 appropriately.)
  8. Go to step 4.