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A Bare-Metal Smalltalk-80 System for the Raspberry Pi
0:00 Introduction: Michael Engel introduces the talk about creating a Smalltalk-80 system that runs directly on Raspberry Pi hardware, without a traditional operating system ("bare-metal").
3:34 Inspiration from Oberon: Discusses Niklaus Wirth's Oberon system as an inspiration – a minimalistic language, OS, and hardware environment designed to be understandable and run on bare metal.
7:06 Motivation for Simplicity: The project stemmed from a need for simpler systems (compared to Linux) for teaching operating system and compiler concepts to students, initially exploring systems like Plan 9 and Oberon.
9:36 Choosing Smalltalk-80: Influenced by colleague Michael Haupt and Smalltalk's history, Smalltalk-80 was chosen for its elegance, simplicity, historical significance (Xerox PARC), and good documentation (the "Blue Book").
11:39 Leveraging Open Source VMs: Utilized recent open-source Smalltalk-80 virtual machine implementations, notably one by Dan Bennet (C++/SDL based) and resources from Hans Hübner.
13:16 Crucial Resource - Mario Wolczko: Highlights Mario Wolczko's 1980s work porting Smalltalk-80 to the PERQ workstation and his crucial role in preserving and making the original Smalltalk-80 VM image available.
16:35 The Bare-Metal Goal: Inspired by Dan Ingalls' idea that an OS shouldn't be necessary if the language is complete, the goal was to run Smalltalk directly on Raspberry Pi hardware.
17:29 Target Hardware: Raspberry Pi Zero: The affordable Raspberry Pi Zero ($5) was chosen as the target, possessing vastly more resources than the original Xerox machines Smalltalk ran on.
19:05 System Requirements: Identified the essential hardware interfaces needed: framebuffer (HDMI), keyboard/mouse (USB), and storage (SD card).
20:22 Initial Implementation Strategy: Leveraged an existing bare-metal Pi environment (by Marco Maccaferri) providing SDL2 (for graphics/input) and uspi (USB driver), adapting Dan Bennet's VM and adding a FAT filesystem layer (FatFs).
24:25 Bring-Up Technique: To simplify initial development, the Smalltalk VM image was embedded directly into the executable as a large array, bypassing the need for a working file system at first.
29:30 First Prototype Issues: The initial version worked but was slow (due to SDL), had USB hub compatibility problems (critical for Pi Zero's single port), and lacked support for newer Pi models.
30:45 Second Implementation (Circle Library): Switched to René Stange's "Circle" C++ bare-metal environment, enabling direct framebuffer access (faster graphics) and providing better USB and SD card support.
31:52 Current Status ("CrossTalk"): The project, named "CrossTalk" and available on GitHub, runs on Pi models 1-4 but still has limitations like Smalltalk-80's inherent memory/resolution constraints and a bug affecting drawing on Pi 1/Zero.
34:04 Positive Reception: The project gained significant attention online (Twitter, Hacker News), indicating strong interest in simpler, alternative computing systems.
36:05 Future Vision: Leaner Systems & Open Hardware: Critiques the large size of the Circle library ("an OS hiding as a library") and proposes exploring minimal runtimes (like nopsys) or building fully open systems (software + hardware) using FPGAs and RISC-V.
41:13 Historical Context & Preservation: Notes the collection of historical computers (Xerox Star, Tektronix Smalltalk machines, Lisp machines) at NTNU and the goal of restoring them.
1:04:34 Real-Time Smalltalk Discussion: Q&A highlights the interest and challenges (primarily garbage collection) in adapting Smalltalk for real-time embedded systems, referencing past efforts like Tektronix oscilloscopes.