This repository contains the Toit language implementation. It consists of the compiler, virtual machine, and standard libraries that together enable Toit programs to run on an ESP32.
You can use Toit to develop, update, and restart your ESP32 applications in less than two seconds through Jaguar. Jaguar is a small Toit program that runs on your ESP32. It uses the capabilities of the Toit virtual machine to let you update and restart your ESP32 applications written in Toit over WiFi whenever your source files change. Once set up, it is as easy as:
jag watch examples/hello.toitIt is also straightforward to install extra drivers and services that can extend the core functionality of your device. Add automatic NTP-based time synchronization without having to write a single line of code:
jag container install ntp examples/ntp/ntp.toitYou can watch a short video that shows how you can experience Jaguar on your ESP32 in less two minutes:
Use this invite to join our Discord server, and follow the development and get help. We're eager to hear of your experience building with Toit. The Discord chat is publicly accessible through our Linen.
We also use GitHub Discussions to discuss and learn.
We follow a code of conduct in all our community interactions.
The Toit language is the foundation for the Toit platform that brings robust serviceability to your ESP32-based devices. You can read more about the language and the standard libraries in the platform documentation:
We welcome and value your open source contributions to the language implementation and the broader ecosystem. Building or porting drivers to the Toit language is a great place to start. Read about how to get started building I2C-based drivers and get ready to publish your new driver to the package registry.
If you're interested in pitching in, we could use your help with these drivers and more!
The Toit compiler, the virtual machine, and all the supporting infrastructure is licensed under
the LGPL-2.1 license. The standard libraries contained in the lib/ directory
are licensed under the MIT license. The examples contained in the examples/
directory are licensed under the 0BSD license.
Certain subdirectories are under their own open source licenses, detailed in those directories and the files they contain. These subdirectories are:
- The subdirectory
lib/font/matthew_welch/ - Every subdirectory under
packages/ - Every subdirectory under
lib/font/x11_100dpi/ - Every subdirectory under
src/compiler/third_party/ - Every subdirectory under
src/third_party/ - Every subdirectory under
third_party/
The instructions in this section don't cover the IDE integration. Follow the instructions below to set up Toit support for your editor.
For Arch Linux (or variants such as Manjaro) use your favorite AUR helper to install the toit or toit-git package.
For example:
yay -S toit
We're actively working on simple installation steps for other platforms. For now, please use the build instructions below or download the .tar.gz files from the
release page.
To build Toit and its dependencies the build host requires:
- GNU Make
- CMake >= 3.13.3
- Ninja
- GCC
- Go >= 1.16
- python-is-python3: on Ubuntu machines
- glibc-tools: optional and only available on newer Ubuntus
If you are using a Linux distribution with apt capabilities, you can
issue the following command to install these:
sudo apt install build-essential cmake ninja-build golangYou can then build Toit by running the following commands in a checkout of this repository:
git submodule update --init --recursive
makeFor builds targeting ESP32 hardware additional requirements might be in effect depending on the build host's architecture, see paragraph ESP32 tools.
For builds targeting RISC-V, ARM32, or ARM64 hardware, see the Other platforms README.
If you are using Windows you can use Chocolatey to install the required dependencies.
After installing Chocolatey, you can install the required dependencies by running the following command in an elevated shell (usually the same you just used to install Chocolatey):
choco install git ninja mingw make golang ccache
choco install cmake.install --installargs '"ADD_CMAKE_TO_PATH=System"'After that you can use the bash that comes with Git ('git-bash') and compile Toit in a checkout of this repository by running the following commands:
git submodule update --init --recursive
makeThe Toit VM has a requirement for the Espressif IoT Development Framework, both for Linux and ESP32 builds (for Linux it's for the Mbed TLS implementation).
We recommend you use Toitware's ESP-IDF fork that comes with a few changes:
- Custom malloc implementation
- Allocation-fixes for UART, etc.
- LWIP fixes
The fork's repository has been added as a submodule reference to this repository, so doing a recursive submodule init & update will establish everything nedded:
git submodule update --init --recursive
If the submodule update step fails with:
Submodule path 'esp-idf/components/coap/libcoap': checked out '98954eb30a2e728e172a6cd29430ae5bc999b585'
fatal: remote error: want 7f8c86e501e690301630029fa9bae22424adf618 not valid
Fetched in submodule path 'esp-idf/components/coap/libcoap/ext/tinydtls', but it did not contain 7f8c86e501e690301630029fa9bae22424adf618. Direct fetching of that commit failed.
try following the steps outlined here. It is an issue in the upstream ESP-IDF repository
caused by the tinydtls component having changed its remote URL.
To use the offical ESP-IDF, or any other variation, you need to add the Toit specific patches first.
Then make sure it is available in your file system and point IDF_PATH to its path instead before building.
export IDF_PATH=<A_DIFFERENT_ESP_IDF>If you want to build an image for the ESP32, install the ESP32 tools.
On Linux:
$IDF_PATH/install.shThe default location of $IDF_PATH is under ./third_party/esp-idf
For other platforms, see Espressif's documentation.
Remember to update your environment variables:
source $IDF_PATH/export.shMake sure the required build tools are installed as described in dependency sections ESP-IDF and Build system above.
Then run the following commands at the root of your checkout.
make allNOTE
These instructions have been tested on Linux and macOS.
Windows support is still preliminary, and the build instructions may differ for Windows. Let us know on the discussions forum how we can improve this README.
This builds the Toit VM, the compiler, the language server and the package manager.
You should then be able to execute a toit file:
build/host/sdk/bin/toit.run examples/hello.toitThe package manager is found at build/host/sdk/bin/toit.pkg:
build/host/sdk/bin/toit.pkg init --project-root=<some-directory>
build/host/sdk/bin/toit.pkg install --project-root=<some-directory> <package-id>See https://github.com/toitlang/toit/wiki/Debugging.
Toit has a VS Code extension. You can either use the published extension or build it yourself from the sources.
In the VS Code extension (version 1.3.7+) set the toitLanguageServer.command setting to
["PATH_TO_SDK/bin/toit.lsp", "--toitc=PATH_TO_SDK/bin/toit.compile"], where
PATH_TO_SDK is the path to your build/host/sdk/ folder in the Toit repository.
This makes the extension use the language server that was compiled in the build step.
The Toit language server is independent of VSCode and can be used with other IDEs. It can be started with:
build/host/sdk/bin/toit.lsp --toitc=build/host/sdk/bin/toit.compileSee the instructions of your IDE on how to integrate the language server.
There are syntax highlighters for VIM and CodeMirror in the ide-tools repository.
Make sure the environment variables for the ESP32 tools are set, as described in the dependencies section. Typically this consists of running the following command:
# On Linux and Mac OS X:
third_party/esp-idf/install.sh# On Windows:
third_party\esp-idf\install.batBuild firmware that can be flashed onto your ESP32 device. The firmware is generated
in build/esp32/firmware.envelope:
make esp32If you want to flash the generated firmware on your device, you can use the firmware
too. Internally, the firmware tool calls out to esptool.py so you need to build
that first using make esptool. Assuming your device is connected through /dev/ttyUSB0
you can achieve all of this through:
make esptool
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
flash --port /dev/ttyUSB0 --baud 921600By default, the image boots up but does not run any application code. You can use your
own entry point by installing it into the firmware envelope before extracting the
firmware.bin file:
build/host/sdk/bin/toit.compile -w hello.snapshot examples/hello.toit
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
container install hello hello.snapshot
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
extract --format=binary -o firmware.binAlternatively, you can also specify the entry point through the ESP32_ENTRY make variable
and let the Makefile handle the flashing:
make flash ESP32_ENTRY=examples/hello.toit ESP32_PORT=/dev/ttyUSB0You can add more containers before you extract firmware.bin, so you firmware
envelope can have any number of containers.
build/host/sdk/bin/toit.compile -w hello.snapshot examples/hello.toit
build/host/sdk/bin/toit.compile -w ntp.snapshot examples/ntp/ntp.toit
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
container install hello hello.snapshot
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
container install ntp ntp.snapshotYou can list the containers in a given firmware envelope:
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
container listThe listing produces JSON output that can be processed by other tools:
{ "hello": {
"kind" : "snapshot",
"id" : "f0b7e859-9188-52d9-8be3-856bd0e75919"
},
"ntp": {
"kind" : "snapshot",
"id" : "6efefb4b-aa91-5600-ba7d-f76a8dc0ac01"
}
}
Containers have associated assets that they can access at runtime. Add the
following code to a file named assets.toit:
import system.assets
main:
print assets.decode
If you run this on an ESP32, you'll get an empty map printed becase you haven't associated any assets with the container that holds the code.
To associate assets with the container, we first construct an encoded
assets file and add this README.md file to it.
build/host/sdk/tools/assets -e encoded.assets create
build/host/sdk/tools/assets -e encoded.assets add readme README.mdNow we can add the encoded.assets to the assets container at
install time:
build/host/sdk/bin/toit.compile -w assets.snapshot assets.toit
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
container install --assets=encoded.assets assets assets.snapshotIf you update the source code in assets.toit slightly, the
printed information will be more digestible:
import system.assets
main:
readme := assets.decode["readme"]
// Guard against splitting a unicode character by
// making this non-throwing.
print readme[0..80].to_string_non_throwing
You'll need to reinstall the container after this by recompiling
the assets.toit file to assets.snapshot and re-running:
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
container install --assets=encoded.assets assets assets.snapshotNOTE
To access the device /dev/ttyUSB0 on Linux you probably need to be a member
of some group, normally either uucp or dialout. To see which groups you are
a member of and which group owns the device, plug in an ESP32 to the USB port
and try:
groups
ls -g /dev/ttyUSB0If you lack a group membership, you can add it with
sudo usermod -aG dialout $USERYou will have to log out and log back in for this to take effect.
You can easily configure the ESP32's builtin WiFi passing it as configuration
when you extract the firmware.bin file:
echo '{ "wifi.ssid": "myssid", "wifi.password": "mypassword" }' > config.json
build/host/sdk/tools/firmware -e build/esp32/firmware.envelope \
extract --format=binary -o firmware.bin --config config.jsonThe Makefile also has the ESP32_WIFI_SSID and ESP32_WIFI_PASSWORD make variables
to support this, if you prefer flashing through make:
make flash ESP32_ENTRY=examples/http/http.toit ESP32_WIFI_SSID=myssid ESP32_WIFI_PASSWORD=mypasswordThis allows the WiFi to automatically start up when a network interface is opened.
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