Token-based Programming for Compact Code
10 Nov 98
Using a token-based programming language can produce smaller code and reduce hardware cost.
This is an advertisement for the programming language Forth and my services as a Forth programmer. Small embedded microcontrollers are usually programmed in either C or assembler, but there is an alternative - Forth.
Each language has its own good and bad points : Assembler gives byte by byte control of the hardware, C gives industry standard high level source code, and Forth gives flexibility. It is this flexibility which allows Forth to produce compact code. It does this in two ways :
1. The interactive, high-level aspect of
Forth allows the program to be well factored. While this is by no
means unique to Forth, the "trial and error" approach
where each Forth "word" (subroutine) can be tested
simply by typing its name, makes is possible to explore different
structures for the program, and evolve towards the ideal.
2. The token-based aspect of Forth means that subroutine calls occupy one token - in conventional 16 bit Forths this is two bytes - for highly optimised programs it can be one byte. In 8051 assembler or C there will be the ACALL and RET instructions - at least three bytes. A well factored program will have lots of subroutine calls, so that as much code is reused as possible. There is, of course, the overhead of the token interpreter - usually a few tens of bytes.
The price to be paid for token-based programs is speed. Each subroutine is represented by its token, usually its address, and the token interpreter must fetch the next token, save the return address on the return stack and execute the code for the subroutine, all of which takes more instructions and hence more time, than a simple subroutine call. All embedded Forths come with an assembler, so that time-critical parts of the program can be hand-coded for speed. A working high-level Forth program can be speeded up in this way, but with the increase in speed comes an increase in program size. You choose the trade-off which is right for your specific application.
The Atmel 89C2051 is ideal for Forth. The serial port can be used with a "talker program" (around 300 bytes) to debug the target hardware and software interactively using a PC. The 2K bytes of FLASH is enough to make a token-based program perform quite complex functions, and the 24MHz clock means that most of the program can be written in high-level Forth, thus minimising the development time.
Two examples : A two axis stepper motor
controller plus printer emulator software - the stepper motors
are software stepped, with ramp-up and ramp-down, mostly written
in assembler for speed. The printer escape sequence processor and
user interface are written in high-level Forth.
A temperature controller and timer - four 7-segment LEDs are used for low cost, the display scanning interrupt routine is written in assembler, the user interface in high-level Forth.
For more information please 'phone Howerd Oakford on
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