Smart Embedded Control with Armpit Scheme (LISP)

摘要

The development and application of Armpit Scheme, a lexically scoped LISP interpreter for embedded microcontrollers, are presented and discussed. The software was developed to run autonomously on ARM-core microcontrollers (ARM7TDMI) of the NXP LPC2000 and ATMEL AT91SAM7 families. It governs the operation of the microcontroller using the Scheme language developed at MIT and provides a simple, interactive interface to its user. Armpit Scheme allows the efficient development of multithreaded, distributed, and intelligent embedded control systems that make smart actuation decisions, in real-time, based on sensor inputs. Potential applications include robotics, education, and wearable devices. Two application examples are presented, including one from an undergraduate capstone design course, where students used the system to monitor an autoclave that sterilizes bioreactor growth media. Armpit Scheme is open source and available on the internet at SourceForge