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Add teensy 3.6 support (#674)
* Add teensy 3.6 support * Add teensy 3.6 lib * Revert "Add teensy 3.6 lib" This reverts commit fd80553.
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-11
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+32
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‎.github/workflows/ci.yml

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Original file line numberDiff line numberDiff line change
@@ -68,6 +68,7 @@ jobs:
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arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
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arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
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arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v

‎extras/library_generation/library_generation.sh

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Original file line numberDiff line numberDiff line change
@@ -1,19 +1,20 @@
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#!/bin/bash
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PLATFORMS=()
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while getopts "p:" o; do
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while getopts "p:" o; do
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case "$o" in
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p)
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PLATFORMS+=(${OPTARG})
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;;
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esac
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done
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if [ $OPTIND -eq 1 ]; then
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if [ $OPTIND -eq 1 ]; then
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PLATFORMS+=("opencr1")
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PLATFORMS+=("teensy4")
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PLATFORMS+=("teensy32")
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PLATFORMS+=("teensy35")
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PLATFORMS+=("teensy36")
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PLATFORMS+=("cortex_m0")
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PLATFORMS+=("cortex_m3")
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PLATFORMS+=("cortex_m4")
@@ -26,7 +27,7 @@ shift $((OPTIND-1))
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######## Init ########
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apt update
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apt update
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cd /uros_ws
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@@ -63,7 +64,7 @@ if [[ " ${PLATFORMS[@]} " =~ " opencr1 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/opencr_toolchain.cmake /project/extras/library_generation/colcon.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/cortex-m7/fpv5-sp-d16-softfp
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cp -R firmware/build/libmicroros.a /project/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
@@ -77,7 +78,7 @@ if [[ " ${PLATFORMS[@]} " =~ " cortex_m0 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/cortex_m0_toolchain.cmake /project/extras/library_generation/colcon_verylowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/cortex-m0plus
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cp -R firmware/build/libmicroros.a /project/src/cortex-m0plus/libmicroros.a
@@ -91,7 +92,7 @@ if [[ " ${PLATFORMS[@]} " =~ " cortex_m3 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/cortex_m3_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/cortex-m3
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cp -R firmware/build/libmicroros.a /project/src/cortex-m3/libmicroros.a
@@ -119,7 +120,7 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy32 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy32_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/mk20dx256
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cp -R firmware/build/libmicroros.a /project/src/mk20dx256/libmicroros.a
@@ -133,12 +134,31 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy35 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy35_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/mk64fx512/fpv4-sp-d16-hard
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cp -R firmware/build/libmicroros.a /project/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
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fi
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######## Build for Teensy 3.6 ########
144+
if [[ " ${PLATFORMS[@]} " =~ " teensy36 " ]]; then
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rm -rf firmware/build
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mkdir -p /project/src/mk66fx1m0/fpv4-sp-d16-hard
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# Reuse Teensy 3.5 build if possible
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if [[ " ${PLATFORMS[@]} " =~ " teensy35 " ]]; then
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ln /project/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a /project/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
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else
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export TOOLCHAIN_PREFIX=/uros_ws/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy35_toolchain.cmake /project/extras/library_generation/colcon_lowmem.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/libmicroros.a /project/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
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fi
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fi
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######## Build for Teensy 4 ########
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if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
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rm -rf firmware/build
@@ -147,7 +167,7 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/teensy4_toolchain.cmake /project/extras/library_generation/colcon.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/imxrt1062/fpv5-d16-hard
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cp -R firmware/build/libmicroros.a /project/src/imxrt1062/fpv5-d16-hard/libmicroros.a
@@ -161,7 +181,7 @@ fi
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# ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/portenta-m4_toolchain.cmake /project/extras/library_generation/colcon.meta
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# find firmware/build/include/ -name "*.c" -delete
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# cp -R firmware/build/include/* /project/src/
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# cp -R firmware/build/include/* /project/src/
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# mkdir -p /project/src/cortex-m4/fpv4-sp-d16-softfp
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# cp -R firmware/build/libmicroros.a /project/src/cortex-m4/fpv4-sp-d16-softfp/libmicroros.a
@@ -175,7 +195,7 @@ if [[ " ${PLATFORMS[@]} " =~ " portenta-m7 " ]]; then
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ros2 run micro_ros_setup build_firmware.sh /project/extras/library_generation/portenta-m7_toolchain.cmake /project/extras/library_generation/colcon.meta
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find firmware/build/include/ -name "*.c" -delete
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cp -R firmware/build/include/* /project/src/
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cp -R firmware/build/include/* /project/src/
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mkdir -p /project/src/cortex-m7/fpv5-d16-softfp
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cp -R firmware/build/libmicroros.a /project/src/cortex-m7/fpv5-d16-softfp/libmicroros.a

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