LispBM Reference Manual

LispBM Core Reference

Complete reference for LispBM core functions, special forms, and language features.

Browse by Category:

• Arithmetic - +, -, *, /, mod
• Comparisons - eq, =, >, <, >=, <=
• Boolean Operators - and, or, not
• Quotes and Quasiquotation
• Built-in Operations
• Lists and Cons Cells
• Association Lists
• Pattern Matching
• Arrays
• String Manipulation
• Type Conversions
• Bit-level Operations
• Low-level Operations
• Concurrency

Display Library

Graphics and display functions for embedded platforms with limited memory.

Browse Functions:

• img-buffer - Create image buffers
• img-blit - Copy/transform images
• img-arc - Draw arcs
• img-circle - Draw circles
• img-circle-sector - Draw circle sectors
• img-circle-segment - Draw circle segments
• img-line - Draw lines
• img-rectangle - Draw rectangles
• img-setpix - Set pixels
• img-text - Draw text
• img-triangle - Draw triangles

TrueType Font Reference

Functions for rendering TrueType fonts on displays.

Browse Functions:

• ttf-prepare - Prepare font for rendering
• ttf-text - Render text
• ttf-line-height - Get line height
• ttf-ascender - Get ascender value
• ttf-descender - Get descender value
• ttf-line-gap - Get line gap
• ttf-glyph-dims - Get glyph dimensions
• ttf-text-dims - Get text dimensions

Dynamic Extensions

Documentation for dynamically loadable extensions.

Browse by Category:

• Functions - abs, filter, foldl, foldr, iota, second, third, str-cmp-asc, str-cmp-dsc, str-merge
• Macros - defun, defunret, defmacro
• Loop Macros - loopfor, loopwhile, looprange, loopforeach, loopwhile-thd
• Array Functions - list-to-array, array-to-list, array?
• defstruct - Structure definition and operations

Runtime Reference

Runtime system functions and configuration.

Browse by Category:

• Errors - hide-trapped-error, show-trapped-errors
• Environments - env-get, env-set, env-drop, local-env-get, global-env-size
• Garbage Collection - set-gc-stack-size, is-always-gc
• Memory - mem-num-free, mem-longest-free, mem-size, lbm-heap-state
• Scheduling - set-eval-quota
• Symbol Table - symtab-size, symtab-size-flash, symtab-size-names, symtab-size-names-flash
• Threads - mailbox-get
• Version - lbm-version, is-64bit, word-size

Array Extensions Reference

Functions for reading and writing typed values into byte buffers, copying buffer contents, and freeing arrays.

String Extensions Reference

Functions for manipulating strings, converting between strings and other types, and searching strings.

Math Extensions Reference

Mathematical functions including trigonometry, logarithms, rounding, and related utilities.

DSP Extensions Reference

Digital signal processing functions such as correlation, convolution, and fast Fourier transform operating on byte arrays of 32-bit floats.

Mutex Extensions Reference

Mutual exclusion primitives for synchronising concurrent LispBM processes.

Random Extensions Reference

Functions for seeding and generating pseudo-random numbers.

Set Extensions Reference

Operations for working with sets represented as lists of unique elements.

Crypto Extensions Reference

Cryptographic hash and block cipher primitives: SHA-256, AES-128, AES-256, and hex conversion utilities.

Browse Functions:

• sha256 - SHA-256 hash of a byte array
• sha256-str - SHA-256 hash of a string
• aes128-enc - AES-128 block encrypt
• aes128-dec - AES-128 block decrypt
• aes256-enc - AES-256 block encrypt
• aes256-dec - AES-256 block decrypt
• bytes-to-hex - Byte array to hex string
• hex-to-bytes - Hex string to byte array

VESC LispBM Documentation

VESC Only - Complete documentation for LispBM integration in VESC and VESC Express.

Browse by Category:

• Language Reference
• VESC Express Libraries
• VESC-Specific Commands
• CAN Messages
• Events
• Byte Arrays
• Native Libraries
• UAVCAN
• IO Boards
• GNSS
• ESP-NOW
• File System (SD Card)
• RGB LED
• Crypto

VESC Express Display

VESC Only - Graphics library and display drivers for VESC Express.

Browse Functions:

• Image Buffers - Creating and managing image buffers
• Rendering and Color Mapping
• SH8501B Display - disp-load-sh8501b
• ILI9341 Display - disp-load-ili9341
• SSD1306 Display - disp-load-ssd1306
• ST7789 Display - disp-load-st7789
• ST7735 Display - disp-load-st7735
• ILI9488 Display - disp-load-ili9488
• Display Rendering - disp-render, disp-clear, disp-reset
• Drawing Functions - img-arc, img-circle, img-line, img-rectangle, etc.