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Add teensy 3.6 support (backport #674) #676

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Merged
merged 1 commit into from
Jan 11, 2022
Merged

Add teensy 3.6 support (backport #674) #676

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1 change: 1 addition & 0 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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20 changes: 20 additions & 0 deletions extras/library_generation/library_generation.sh
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Expand Up @@ -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")
Expand Down Expand Up @@ -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
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