Fix teensy patch and compiler (#1482) (#1483)

* Update teensy compiler and platform fix Signed-off-by: acuadros95 <acuadros1995@gmail.com> * Update Readme and CI Signed-off-by: acuadros95 <acuadros1995@gmail.com> * set specific version to teensy CI Signed-off-by: acuadros95 <acuadros1995@gmail.com> --------- Signed-off-by: acuadros95 <acuadros1995@gmail.com> (cherry picked from commit 69ca6d8) Co-authored-by: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
micro-ROS · Jul 27, 2023 · 084242c · 084242c
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -28,23 +28,23 @@ jobs:
               additional_urls:
                 - https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
                 - https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json
-                - https://www.pjrc.com/teensy/td_156/package_teensy_index.json
+                - https://www.pjrc.com/teensy/package_teensy_index.json
                 - https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json''' > arduino-cli.yaml
             curl -fsSL https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json -o /github/home/.arduino15/package_opencr_index.json
             curl -fsSL https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json -o /github/home/.arduino15/package_esp32_index.json
-            curl -fsSL https://www.pjrc.com/teensy/td_156/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
+            curl -fsSL https://www.pjrc.com/teensy/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
             curl -fsSL https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json -o /github/home/.arduino15/package_seeeduino_boards_index.json
             export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
             arduino-cli core install OpenCR:OpenCR -v
             arduino-cli core install arduino:samd -v
             arduino-cli core install arduino:sam -v
             arduino-cli core install arduino:mbed -v
             arduino-cli core install esp32:esp32 -v
-            arduino-cli core install teensy:avr -v
+            arduino-cli core install teensy:avr@1.58.0 -v
             arduino-cli core install Seeeduino:samd -v
             #
             # PATCHING TEENSY AND SAM
-            cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.57.2/platform.txt
+            cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.58.0/platform.txt
             # remove when https://github.com/arduino/ArduinoCore-sam/pull/115 merged
             cat checkout/extras/patching_boards/platform_arduinocore_sam.txt > /github/home/.arduino15/packages/arduino/hardware/sam/1.6.12/platform.txt
             #

diff --git a/README.md b/README.md
@@ -29,11 +29,11 @@ Supported boards are:
 | [Arduino Portenta H7 M7 Core](https://store.arduino.cc/portenta-h7)                                         | v1.8.5      | Supported  | Official Arduino support                                                                             | `colcon.meta`            |
 | [Arduino Nano RP2040 Connect](https://docs.arduino.cc/hardware/nano-rp2040-connect)                         | v1.8.5      | Supported  | Official Arduino support                                                                             | `colcon_verylowmem.meta` |
 | [OpenCR](https://emanual.robotis.com/docs/en/parts/controller/opencr10/)                                    | v1.4.16     | Supported  | [Based on custom board](https://emanual.robotis.com/docs/en/parts/controller/opencr10/#arduino-ide)  | `colcon.meta`            |
-| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                                                      | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon.meta`            |
-| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                                                      | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon.meta`            |
-| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                                                  | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
-| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                                                      | v1.8.5      | Not tested | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
-| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                                                      | v1.8.5      | Supported  | [Based on Teensyduino](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
+| [Teensy 4.0](https://www.pjrc.com/store/teensy40.html)                                                      | v1.8.5      | Not tested | [Based on Teensyduino (1.58.x)](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon.meta`            |
+| [Teensy 4.1](https://www.pjrc.com/store/teensy41.html)                                                      | v1.8.5      | Supported  | [Based on Teensyduino (1.58.x)](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon.meta`            |
+| [Teensy 3.2/3.1](https://www.pjrc.com/store/teensy32.html)                                                  | v1.8.5      | Supported  | [Based on Teensyduino (1.58.x)](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
+| [Teensy 3.5](https://www.pjrc.com/store/teensy35.html)                                                      | v1.8.5      | Not tested | [Based on Teensyduino (1.58.x)](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
+| [Teensy 3.6](https://www.pjrc.com/store/teensy36.html)                                                      | v1.8.5      | Supported  | [Based on Teensyduino (1.58.x)](https://www.pjrc.com/arduino-ide-2-0-0-teensy-support/)                       | `colcon_lowmem.meta`     |
 | [ESP32 Dev Module](https://docs.espressif.com/projects/arduino-esp32/en/latest/boards/ESP32-DevKitC-1.html) | v1.8.5      | Supported  | [Arduino core for the ESP32 (v2.0.2)](https://github.com/espressif/arduino-esp32/releases/tag/2.0.2) | `colcon.meta`            |
 
 Community contributed boards are:
@@ -99,12 +99,14 @@ You can [configure many parameters](https://micro.ros.org/docs/tutorials/advance
 Go inside your Arduino + Teensyduino installation and replace `platform.txt`:
 
 ```bash
-export TEENSYDUINO_VERSION=[Your Teensyduino library version, e.g: 1.57.2]
+export TEENSYDUINO_VERSION=[Your Teensyduino library version, e.g: 1.58.0]
 export ARDUINO_PATH=[Your Arduino + Teensyduino path]
 cd $ARDUINO_PATH/hardware/avr/$TEENSYDUINO_VERSION/
 curl https://raw.githubusercontent.com/micro-ROS/micro_ros_arduino/main/extras/patching_boards/platform_teensy.txt > platform.txt
 ```
 
+The patch applies the changes detailed on the first two sections of this post: [Solution for adding support for pre-compiled Libraries](https://forum.pjrc.com/threads/63256-Solution-for-adding-support-for-pre-compiled-Libraries)
+
 ### Patch SAM
 
 Go inside your Arduino installation and replace `platform.txt`:

diff --git a/extras/library_generation/library_generation.sh b/extras/library_generation/library_generation.sh
@@ -117,7 +117,7 @@ fi
 if [[ " ${PLATFORMS[@]} " =~ " teensy32 " ]]; then
     rm -rf firmware/build
 
-    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
+    export TOOLCHAIN_PREFIX=/uros_ws/teensy-compile/tools/arm/bin/arm-none-eabi-
     ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy32_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
 
     find firmware/build/include/ -name "*.c"  -delete
@@ -131,7 +131,7 @@ fi
 if [[ " ${PLATFORMS[@]} " =~ " teensy35 " ]]; then
     rm -rf firmware/build
 
-    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
+    export TOOLCHAIN_PREFIX=/uros_ws/teensy-compile/tools/arm/bin/arm-none-eabi-
     ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy35_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
 
     find firmware/build/include/ -name "*.c"  -delete
@@ -150,7 +150,7 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy36 " ]]; then
     if [[ " ${PLATFORMS[@]} " =~ " teensy35 " ]]; then
         ln /project/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a /project/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
     else
-        export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
+        export TOOLCHAIN_PREFIX=/uros_ws/teensy-compile/tools/arm/bin/arm-none-eabi-
         ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy35_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
 
         find firmware/build/include/ -name "*.c"  -delete
@@ -164,7 +164,7 @@ fi
 if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
     rm -rf firmware/build
 
-    export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
+    export TOOLCHAIN_PREFIX=/uros_ws/teensy-compile/tools/arm/bin/arm-none-eabi-
     ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy4_toolchain.cmake /project/extras/library_generation/colcon.meta
 
     find firmware/build/include/ -name "*.c"  -delete
@@ -237,8 +237,8 @@ popd > /dev/null
 
 apt -y install rsync
 for var in ${INCLUDE_ROS2_PACKAGES}; do
-    rsync -r /project/src/${var}/${var}/* /project/src/${var}/
-    rm -rf /project/src/${var}/${var}/
+    rsync -r /project/src/${var}/${var}/* /project/src/${var}/ > /dev/null 2>&1
+    rm -rf /project/src/${var}/${var}/ > /dev/null 2>&1
 done
 
 ######## Generate extra files ########

diff --git a/extras/patching_boards/platform_teensy.txt b/extras/patching_boards/platform_teensy.txt
@@ -1,3 +1,7 @@
+# https://www.pjrc.com/teensy/td_download.html
+# https://arduino.github.io/arduino-cli/latest/platform-specification/
+# https://arduino.github.io/arduino-cli/0.30/platform-specification/
+
 name=Teensyduino
 version=1.8.5
 rewriting=disabled
@@ -11,6 +15,15 @@ compiler.path={runtime.tools.teensy-compile.path}/
 teensytools.path={runtime.tools.teensy-tools.path}/
 
 
+## Debugger - Experimental
+#debug.executable={build.path}/{build.project_name}.elf
+#debug.toolchain=gcc
+#debug.toolchain.path={compiler.path}{build.toolchain}
+#debug.toolchain.prefix=arm-none-eabi-
+#debug.server=openocd
+#debug.server.openocd.path={teensytools.path}tdebug
+#debug.server.openocd.scripts_dir=unused
+#debug.server.openocd.script=toolspath:{teensytools.path}:buildpath:{build.path}:name:{build.project_name}:board:{build.board}
 
 ## EEPROM Data
 compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0
@@ -44,7 +57,7 @@ recipe.S.o.pattern="{compiler.path}{build.toolchain}{build.command.gcc}" -c {bui
 recipe.ar.pattern="{compiler.path}{build.toolchain}{build.command.ar}" rcs "{archive_file_path}" "{object_file}"
 
 ## Link
-recipe.c.combine.pattern="{compiler.path}{build.toolchain}{build.command.linker}" {build.flags.optimize} {build.flags.ld} {build.flags.ldspecs} {build.flags.cpu} -o "{build.path}/{build.project_name}.elf" {object_files} "{build.path}/{archive_file}" {compiler.libraries.ldflags} "-L{build.path}" {build.flags.libs}
+recipe.c.combine.pattern="{compiler.path}{build.toolchain}{build.command.linker}" {build.flags.optimize} {build.flags.ld} {build.flags.ldspecs} {build.flags.cpu} -o "{build.path}/{build.project_name}.elf" {object_files} {compiler.libraries.ldflags} "{build.path}/{archive_file}" "-L{build.path}" {build.flags.libs}
 
 ## Patch ELF - TODO: not supported by modern Arduino...  :(
 recipe.elfpatch.pattern="{teensytools.path}/{build.elfpatch}" -mmcu={build.mcu} "{build.path}/{build.project_name}.elf" "{sketch_path}/disk"
@@ -67,7 +80,7 @@ recipe.hooks.postbuild.3.pattern="{teensytools.path}teensy_size" "{build.path}/{
 # objdump to create .lst file is VERY SLOW for huge files
 # https://forum.pjrc.com/threads/68121?p=288306&viewfull=1#post288306
 #
-# recipe.hooks.postbuild.4.pattern="{teensytools.path}stdout_redirect" "{build.path}/{build.project_name}.lst" "{compiler.path}{build.toolchain}{build.command.objdump}" -d -S -C "{build.path}/{build.project_name}.elf"
+recipe.hooks.postbuild.4.pattern="{teensytools.path}stdout_redirect" "{build.path}/{build.project_name}.lst" "{compiler.path}{build.toolchain}{build.command.objdump}" -d -S -C "{build.path}/{build.project_name}.elf"
 
 
 ## Compute size