发表机构
Chalmers University of Technology; VESC Labs AB; Lind Art and Technology（查尔姆斯理工大学; VESC实验室有限公司; 林德艺术与技术）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文通过 LispBM 在 VESC 固件中的集成案例，探讨了语言设计因用户需求而演变的过程，并介绍了跨内存评估与快速启动镜像等核心贡献。
AI 中文摘要
LispBM 是一种面向微控制器和嵌入式系统的 Lisp 方言。本文讨论了 LispBM 因被集成到 VESC 固件系列并获得用户群而发生的变更。令作者 1 惊讶的是，LispBM 的新用户编写了比以往想象中更大的程序。这耗尽了所有可用的堆空间，我们被迫寻找一种方法来评估跨 RAM 和闪存分区的 Lisp 程序。这个故事以及另外几个故事，例如关于用于快速启动的 Lisp 镜像系统的故事，是本文的核心贡献。当带有内置 Lisp 运行时系统的 VESC 固件最初版本发布时，到处都有一些关于 Lisp 及其语法的抱怨，这在意料之中。令我们高兴的是，大多数人对固件中的脚本语言感到非常兴奋。对于工程师和制作者用户来说，语法的选择似乎不如它为他们开启的潜力重要。
英文摘要
LispBM is a Lisp dialect for microcontrollers and embedded systems. This paper is about the changes made to LispBM resulting from it being integrated into the VESC family of firmware and thus gaining a userbase. As a surprise to Author 1, the new users of LispBM wrote programs larger than ever imagined. This used up all available heap space and we were forced to find a way to evaluate Lisp programs partitioned across RAM and flash memory. This story and a couple more, like the one about the Lisp-image system for fast boots, are the core contribution of this paper. When the first versions of the VESC firmware with a built-in Lisp runtime system were released, there was some grumbling here and there about Lisp and its syntax, as expected. To our delight, most seemed very excited about a scripting language in the firmware. To the engineer and builder users, the choice of syntax seemed to matter less than the potential it opened up for them.
CommentsDraft submitted to IFL 2026 and accepted for presentation at the event
