Using Swift to Program Embedded Devices

Embedded Swift allows developers to use Swift for programming microcontrollers and low-level library code for embedded devices, with its safety features and ease of use.

### Embedded Swift: Programming Embedded Devices with the Power of Swift
* 📱 "Today, you can use Swift to build many different types of software: You can target mobile devices, desktop computers, servers. In this session, we’re going to talk about using Swift in a new area: **on embedded devices**."
* ⚙ Embedded Swift is a new compilation mode specifically suited for constrained embedded devices, bringing to embedded developers the benefits of Swift, like its **ergonomics, safety features, and ease of use**.
* 🚀 "Embedded Swift is a subset of Swift, covering most of the language you know and love. It’s a full-featured subset that includes support for **value and reference types, closures, optionals, error handling, generics, and more**."
* 🔌 "Using Swift’s interoperability, you can call existing C APIs from the SDK directly in Swift code. But often it’s valuable to **wrap C APIs into a layer that provides ergonomic and intuitive APIs** for our core application logic."
* 🏠 "We have successfully built a HomeKit-enabled smart light using Embedded Swift. By leveraging Swift’s interop capabilities, we can **quickly build prototypes of smart home accessories**."
* 🧠 "Embedded environments are commonly very constrained, and they need **small and simple binaries** for programs to fit. Because of this, Embedded Swift disallows certain features to meet these requirements."
* 📄 "As part of the Swift Evolution process, a vision document for Embedded Swift has been published and accepted. If you’re trying out Embedded Swift, I recommend reading the '**Embedded Swift - User Manual**'."
* 💬 "The Swift forums now have a new '**Embedded**' subcategory, and that’s the right place to take your **experiments, questions, and discussions** next."

Hello and welcome. My name is Kuba Mracek, and as you know, Swift is a powerful language that can be used to build applications both for Apple platforms and beyond. Today, we’re going to take it to new and exciting, but smaller, places — embedded devices. I’ll start by introducing Embedded Swift. Then I’m going to show you in a demo how it can be used to build something practical. I’ll go over how Embedded Swift is different from the Swift you use to write desktop and mobile applications, and finally I’ll share resources that you can explore to learn more. Let’s jump in! Today, you can use Swift to build many different types of software: You can target mobile devices, desktop computers, servers. In this session, we’re going to talk about using Swift in a new area: on embedded devices, which we are surrounded by in our daily lives — smart lights, thermostats, alarms.

smart fans, music devices, light strips, and many other common gadgets are
built using programmable microcontrollers. Today, I would like
to show how you — as either a hobbyist or even a more serious developer — can use
Swift to program these embedded devices. For that, we’re introducing
Embedded Swift — a new compilation mode specifically
suited for constrained embedded devices. Historically, C and C++ were
the commonly used languages in this area. But now, we’re enabling
using Swift in these places, and that brings to embedded developers the benefits of Swift,
like its ergonomics, safety features, and ease of use. Embedded Swift is of course suitable to program microcontrollers
in embedded devices, but also kernel-level
code and other low-level library code that might be, for example,
sensitive to not gaining new dependencies. Apple devices use Embedded
Swift on the Secure Enclave Processor, and Swift’s memory
safety is a huge benefit for the platform.

Embedded Swift is a subset of Swift, covering most of the language you know
and love. It’s a full-featured subset that includes
support for value and reference types, closures, optionals,
error handling, generics, and more. Now, let’s take a look
at Embedded Swift in a live demo. Before we start, Embedded Swift
is currently an experimental feature. It’s not source stable yet. It’s under active development,
and the best way to use it is with a preview
toolchain from swift.org. In this demo, I’m going
to build a prototype of a very simple
HomeKit accessory: a color LED light. I’ll start by having a working HomeKit
setup. That means a WiFi network and some existing Apple devices
all connected to it. I’m going to take
a programmable embedded device, concretely an ESP32C6 development board, which has a RISC-V microcontroller, and it’ll have
a color LED attached to it.

I’ll use a Mac to connect
to the device over a USB cable, and I’ll write a program in Embedded Swift that implements a HomeKit accessory,
which I will then flash onto the device. The device will then
join my WiFi, and the HomeKit network, and it can be controlled from
the Home app on any of the Apple devices. Let’s get started. I’m using NeoVim and CMake, and right now, this is just
a template project to show the very basics and to get our Embedded Swift
code up and running. The project is using a 3rd party
SDK, which I got from my device vendor. It’s an SDK written in C. And because I don’t want
to modify that SDK, I can simply use a bridging header
to import all the SDK’s APIs into Swift. I need some simple CMake logic to be able to build my Swift code on top of the vendor’s SDK
and their build system.

which also requires a few more
boilerplate files: Like the YAML file, the CSV file, and the “sdkconfig” file. These are needed for any
project built on top of this SDK, and I have set those up based
on existing examples from the vendor, and just added Swift on top of that. Let’s go back to my Swift source code. My editor has LSP integration,
so it show me the definitions and documentation
for functions and types I’m using. It can give me
rich and semantical autocompletion. And if I write code
that doesn’t make sense... I get immediate errors
and warnings telling me what’s wrong. Let me now plug in the device. I’m going to be programming
this device over USB, but my breadboard also has a separate battery, so once it's programmed we will be able
to unplug the device and still use it. But first, let’s get the most basic Swift application working and running
on the device.

The SDK I’m using provides tools for that. I’m going to run this convenient Python
script that the vendor is providing. It allows me to build, flash, and monitor
the device, all with a single command. As I run it, we can observe
that the firmware is being built, then uploaded to the device, and then
we receive logs back from the device. And with that, we now have signs of life of our first Embedded Swift application
running on an embedded device. Now, let’s add code
that does something more useful. Swift’s interoperability gives us access
to all the APIs in the vendor’s SDK. If I want to control
the LED on the device, I can use the existing
C APIs in the SDK for that. Let’s call these APIs
with values that mean “blue color”, “100% saturation”,
“80%” brightness. And let’s save and upload
this version of our code to the device.

I’ll run the same command as last time. In a few seconds, once the firmware
is uploaded and the device reboots, we can now control the color
and brightness of the LED. Now, using Swift to just call C APIs for
everything would defeat the whole purpose. It’s very useful that we can do that, but it’s even better to build
some wrappers and abstractions over those, so that we can write our application in
clean, intuitive, and ergonomic Swift code. In this version, I have prepared an LED
object. Let’s jump to its definition. This is some helper code I wrote earlier, and it wraps the C
APIs into a nice Swift layer. It provides useful properties
with some ergonomic types, for example, the enabled
property is a boolean, the brightness property is an integer. Let’s go back to the file
with the main application logic. Using the LED object, we can now write
really straightforward and intuitive code.

On start, let’s set the color to red and brightness to 80%. Code like this
is extremely readable and clear. Let’s add some more. In a loop, we’ll wait 1 second,
flip the state of the LED, and if we’re turning it on,
then we’ll ask for a new color expressed by a hue
and a saturation value. The hue will be random,
and saturation will be 100%. All of this Embedded Swift code really
feels just like writing regular Swift. Most of the language is simply available. I’ll upload the firmware one more time. Let’s see if the result works.
Once the program boots and runs, our device should be blinking
its LED with a randomly changing color. Great! This is exactly what we wanted. Building the layer for the LED object is
what really gives us the power of Swift: High-level APIs that let us
write clean, readable code. So far, we’ve seen how Embedded Swift
can nicely integrate into your workflows.

You can use it with a vendor-provided SDK, and you can get your IDE or text
editor to provide full autocompletion, show definitions, and documentation. Using Swift’s interoperability, you can call existing C APIs
from the SDK directly in Swift code. But often it’s valuable
to wrap C APIs into a layer that provides ergonomic and intuitive
APIs for our core application logic. Now that we have the basics working, let’s continue building
an actual HomeKit accessory. For that, we’re going
to use “Matter” protocol. Matter is an open standard
for building smart home accessories. It’s described in depth
in a WWDC session from 2021. I encourage you to watch
it if you’d like to know more. In the SDK I’m using,
Matter is provided as C++ APIs, and we can use Swift’s interop again to
use this functionality that will gives us all the infrastructure pieces, like device
discovery and commissioning, for free.

And as soon as we have a device
that implements the Matter protocol, it will automatically work in HomeKit, because it supports
Matter accessories natively. Let’s start again with just an empty
application that doesn’t do anything. And to work with Matter, we need to know a little bit
about its data model and terminology. This is the rough high-level task list that we’ll have to do,
to implement a Matter device. We’ll need to create
what’s called a root node, which represents the
entire Matter accessory. Then we’ll need an endpoint, in our case
that’s going to be the color LED light, and that’s also going
to be the object that has a state, for example the color and brightness, and can receive commands,
for example to turn the light on or off. Then we’ll connect
the endpoint to the node, and the node to an “application” object. I already wrote a simple
wrapper layer around the C++ Matter APIs

that’s what I have in this “Matter” subdirectory. It’s exactly the same approach we used to give ourselves nice APIs for working with the LED light. Using that, we can fill in the top-level logic easily. First, we create the root node. Then we create and configure the endpoint. This is our color light, and notably it has an eventHandler — a closure that is triggered every time an event from HomeKit is sent to this endpoint. A closure is a very natural mechanism for a callback. We don’t have to deal with unsafe function pointers or untyped context arguments, which are a common solution for callbacks in C. Next, let’s register the endpoint. And finally, set up and start a Matter application. For now, the logic just prints all the events, but we’ve now built a valid Matter application. So let’s flash this application to the device. It will take a while to start up.

Now normally, you would go through
a setup process for a new accessory. I have already previously done that,
and I have registered this device in my HomeKit network already, so it
already knows which WiFi network to join. As soon as it does that,
it’ll shows up in the Home app on my Mac, and on my other
devices as a “Matter Accessory”. It shows up as a smart light, and I can control it right here
from the Home app on my Mac. I can turn the light on and off, and as I do that, we receive events for those commands
that show up in our device logs. So far, we have just been
logging the incoming events. Let’s make them really
do something! And let’s wire them up to our LED object that
we’ve used previously. Inside the event handler, we’ll want to
react to different attributes being set. And because the attribute is a Swift
enum, we can use a switch statement.

and the autocompletion will
tell us which cases we have to handle. Let’s fill in the code
for the different attributes. Based on which event we receive,
we will want to set the enabled property if we need to turn the light on or off. Or we’ll set the brightness property, where
we also need to scale the value appropriately. And very similarly, we can
handle color changes, setting a new hue, a new saturation,
or a new color temperature. This should be all we need. Let’s flash this program
to the device and test it out! While the program is starting, I’d like to point out
how useful and ergonomic Swift enums are. In the simplest case, enums
just represent one choice out of a set. For example the .onOff case or
the .levelControl case of the attribute. But they can also have associated values. For example the .colorControl
case has a payload, and thanks to Swift’s pattern matching,

I don’t need a second nested switch statement. I can just match the enum case together with the payload. I’m also using enums to represent the color property, which can either be hue plus saturation or a temperature. These cases even have different payload types. The first one has two integers as the payload, and the other one needs just one integer. This altogether makes Swift enums really powerful and expressive, and they allow us to write this simple, concise, readable logic. Now that the device has started, I can unplug the USB cable and use the battery to power it. And we can control this device wirelessly from the Home app. Let’s turn the light on and off. Let’s see if we can change the brightness or choose a different color temperature, or perhaps customize the color completely. Let’s try a few different ones. Awesome, I think our prototype of a smart light works great! We have successfully built a HomeKit-enabled smart light.

using Embedded Swift. And if you’d like, this demo project, and setup
instructions are available on GitHub. We’ve seen how we
can get a basic prototype of a HomeKit-enabled
device up and running very quickly, by leveraging Swift’s
interop capabilities. There is no need to re-implement
the entire Matter protocol in Swift. We can just use the existing
implementation from Swift. Swift encourages clean and intuitive
design and implementation of your code, and it improves readability
and safety over C and C++, as we’ve seen, for example,
when using closures as an ergonomic solution for callbacks. In the demo, we’ve seen how
Embedded Swift feels like regular Swift, and it does indeed
include most of Swift’s language features, but there are some differences. Embedded environments
are commonly very constrained, and they need small
and simple binaries for programs to fit. Memory, storage, and CPU
performance are typically very limited. Because of that, Embedded Swift disallows

certain features to
meet these requirements. As an example, let’s
consider how runtime reflection works. To inspect the children of a type, it needs to access
the metadata record for the type. This includes the fields’ names, offsets, and types, which in turn
reference other metadata records, and so on and so on. These records all add up and can have an unacceptable
codesize cost for embedded devices. To avoid that,
runtime reflection using the Mirror APIs is disallowed in Embedded Swift,
and it’s only available in full Swift. For the same reason,
to avoid needing metadata at runtime, metatypes and “any” types
are also disallowed. But don’t be alarmed, the vast majority of the Swift language
is available in Embedded Swift. Embedded Swift is strictly
a subset compared to full Swift, and not a variant or a dialect. So there won’t be any
differences in behavior between Embedded Swift and full Swift. All code that works in Embedded Swift
will also work in full Swift.

When you try to use a feature
that’s not available in Embedded Swift, the compiler will tell you. In this example, I have
tried to use an any type. To avoid that, I can replace
this use of any Countable with generics instead. In this code snippet, it’s as simple as
swapping any Countable for some Countable, which turns this function
into a generic function. Generics are fully
supported in Embedded Swift, as the compiler can
specialize generic functions. And the result of that is code that does
not need expensive runtime support or type metadata. There’s so much more
to explore about Embedded Swift. As part of the Swift Evolution process, a vision document for Embedded
Swift has been published and accepted. This document describes
the high-level design, requirements, and
approach of Embedded Swift, and it’s a great introduction into the
compilation mode and the language subset. If you’re trying out Embedded Swift,

I recommend reading the “Embedded Swift - User Manual”. It describes how to get started,
what you should and shouldn’t expect, and also some details
that you will likely need to know when interacting with
your vendor’s SDK and build system. For example, which compiler flags to use and which dependencies
you will need to satisfy. We have published
a set of example projects written in Embedded Swift on GitHub, and they cover a range
of embedded devices that have ARM or RISC-V microcontrollers. This includes popular
embedded development boards, as well as some other devices
like the Playdate gaming console. The examples also show how to use various
build systems and integration options. They can give you a sense
of what all can Embedded Swift do, but also serve as
templates for your own ideas. When writing code
that runs on an embedded device, you often need to interact with
low-level hardware registers. To help you with that,
we have published “Swift MMIO”.

a library that provides APIs for safe, structured, and ergonomic
operations on memory mapped registers. And finally, the Swift forums
now have a new “Embedded” subcategory, and that’s the right place
to take your experiments, questions, and discussions next. We have seen how to use
the new compilation mode — Embedded Swift —
to program embedded devices. It’s currently available as a preview and works best with
nightly toolchains from swift.org. Currently, ARM and RISC-V chips of both 32-bit and 64-bit variants are supported, but Embedded Swift is not really
hardware specific, and it’s quite easy to bring it to new instruction sets. Go try out Embedded Swift,
build some cool electronics projects, and share your experience
and feedback on the Swift forums. Thanks for watching,
and have a great WWDC.

WWDC24: Go small with Embedded Swift | Apple

Hello and welcome to the official Apple Developer YouTube channel.

Apple Developer

Introducing Embedded Swift for Programming Embedded Devices

Embedded Swift is a new compilation mode for constrained embedded devices, bringing the benefits of Swift to programmable microcontrollers and low-level library code.

It is currently an experimental feature under active development, best used with a preview toolchain from swift.

In a live demo, the presenter shows how to use Embedded Swift to build a prototype of a HomeKit accessory, a color LED light, using an ESP32C6 development board and a Mac for programming.

The project uses a 3rd party SDK written in C, which is imported into Swift using a bridging header, allowing the Swift code to work with the vendor's SDK and build system.

Using Swift for Embedded Device Programming

Swift is being used for programming an embedded device, with the help of an SDK and LSP integration for code definitions and documentation.

The device is programmed over USB, with the ability to run on a separate battery after programming.

A Python script provided by the vendor is used to build, flash, and monitor the device, with the first Embedded Swift application successfully running.

The process involves using Swift's interoperability to access the vendor's SDK APIs, initially calling C APIs and later creating wrappers to write clean and intuitive Swift code for controlling the LED on the device.

Using Embedded Swift for Matter Protocol in HomeKit Accessories

The code allows for controlling LED color and brightness, with Embedded Swift seamlessly integrating into workflows.

Embedded Swift enables the use of Matter protocol for building smart home accessories, with the SDK providing C++ APIs.

The high-level task list for implementing a Matter device includes creating a root node, defining an endpoint for the LED light, and connecting the endpoint to the node for HomeKit compatibility.

Setting Up a Matter Application for a Smart Light

The process involves creating a root node, configuring the endpoint, and registering the endpoint with a closure eventHandler.

The device is then set up and started, appearing as a "Matter Accessory" in the Home app.

The next steps include reacting to different attributes using a switch statement, handling color changes, and testing the program by flashing it to the device.

Swift enums are highlighted for their usefulness in representing choices and associated values, making the process more ergonomic.

The Power of Swift Enums in Embedded Systems

Swift enums can effectively represent different cases with varying payload types, making the logic simple and readable.

Embedded Swift provides a constrained environment with limited resources like memory and CPU performance.

It disallows certain features such as runtime reflection and metatypes to meet the requirements of embedded devices.

However, Embedded Swift remains a subset of full Swift, with no differences in behavior, allowing all code to work in both environments.

The Power of Embedded Swift for Embedded Devices

Embedded Swift does not support the use of the any type, but it fully supports generics, which can be used as a replacement.

The language subset of Embedded Swift is described in the vision document for Embedded Swift, which has been published and accepted as part of the Swift Evolution process.

There are example projects available on GitHub, demonstrating the use of Embedded Swift on a range of embedded devices and providing templates for new ideas.