From 5c113a14aacb86655511a03cb3cb29cf7ec6b020 Mon Sep 17 00:00:00 2001
From: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
Date: Tue, 11 Jan 2022 10:59:12 +0100
Subject: [PATCH] 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 fd8055398a93af70823d96a969c7821cb8688de4.

(cherry picked from commit f55e8b36906b0ae596b4386bb23dc13860a0c608)
---
 .github/workflows/ci.yml                      |  1 +
 .../library_generation/library_generation.sh  | 20 +++++++++++++++++++
 2 files changed, 21 insertions(+)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 537a2df12..3fc8bd307 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -72,6 +72,7 @@ jobs:
             arduino-cli compile --fqbn arduino:mbed:nanorp2040connect /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher_wifi -v
             arduino-cli compile --fqbn teensy:avr:teensy31 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy35 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
+            arduino-cli compile --fqbn teensy:avr:teensy36 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn teensy:avr:teensy41 /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:samd:arduino_zero_native /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
             arduino-cli compile --fqbn arduino:sam:arduino_due_x /github/home/Arduino/libraries/micro_ros_arduino/examples/micro-ros_publisher -v
diff --git a/extras/library_generation/library_generation.sh b/extras/library_generation/library_generation.sh
index d15aeb564..b524a6a22 100755
--- a/extras/library_generation/library_generation.sh
+++ b/extras/library_generation/library_generation.sh
@@ -14,6 +14,7 @@ if [ $OPTIND -eq 1 ]; then
     PLATFORMS+=("teensy4")
     PLATFORMS+=("teensy32")
     PLATFORMS+=("teensy35")
+    PLATFORMS+=("teensy36")
     PLATFORMS+=("cortex_m0")
     PLATFORMS+=("cortex_m3")
     PLATFORMS+=("cortex_m4")
@@ -139,6 +140,25 @@ if [[ " ${PLATFORMS[@]} " =~ " teensy35 " ]]; then
     cp -R firmware/build/libmicroros.a /project/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
 fi
 
+######## Build for Teensy 3.6 ########
+if [[ " ${PLATFORMS[@]} " =~ " teensy36 " ]]; then
+    rm -rf firmware/build
+    mkdir -p /project/src/mk66fx1m0/fpv4-sp-d16-hard
+
+    # Reuse Teensy 3.5 build if possible
+    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-
+        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
+        cp -R firmware/build/include/* /project/src/
+
+        cp -R firmware/build/libmicroros.a /project/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
+    fi
+fi
+
 ######## Build for Teensy 4 ########
 if [[ " ${PLATFORMS[@]} " =~ " teensy4 " ]]; then
     rm -rf firmware/build