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Fix teensy compile and board discovery for arduino-cli (#1261)
* Fix teensy compile and board discovery for arduino-cli * Updated CI workflow * Updated to newest platform.txt
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‎.github/workflows/ci.yml‎

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@@ -27,32 +27,21 @@ jobs:
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echo '''board_manager:
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additional_urls:
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- https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json
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- https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json''' > arduino-cli.yaml
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- https://github.com/espressif/arduino-esp32/releases/download/2.0.2/package_esp32_index.json
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- https://www.pjrc.com/teensy/td_156/package_teensy_index.json''' > arduino-cli.yaml
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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
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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
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curl -fsSL https://www.pjrc.com/teensy/td_156/package_teensy_index.json -o /github/home/.arduino15/package_teensy_index.json
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export PATH=$PATH:/github/workspace/bin:/__w/micro_ros_arduino/micro_ros_arduino/bin
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arduino-cli core install OpenCR:OpenCR -v
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arduino-cli core install arduino:samd -v
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arduino-cli core install arduino:sam -v
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arduino-cli core install arduino:mbed -v
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arduino-cli core install esp32:esp32 -v
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#
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# INSTALLING TEENSY SUPPORT
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wget https://downloads.arduino.cc/arduino-1.8.19-linux64.tar.xz
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tar -xf arduino-1.8.19-linux64.tar.xz
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wget https://www.pjrc.com/teensy/td_156/TeensyduinoInstall.linux64
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chmod 755 TeensyduinoInstall.linux64
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./TeensyduinoInstall.linux64 --dir=arduino-1.8.19
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# Faking Teensy loader
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TRUE_PATH=$(which true)
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rm -rf arduino-1.8.19/hardware/tools/teensy_post_compile
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cp $TRUE_PATH arduino-1.8.19/hardware/tools/teensy_post_compile
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cp -R arduino-1.8.19/hardware/teensy/ /github/home/.arduino15/packages/
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rsync -a arduino-1.8.19/hardware/tools/ /github/home/.arduino15/packages/tools/
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rm -rf arduino-1.8.19 arduino-1.8.19-linux64.tar.xz
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arduino-cli core install teensy:avr -v
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#
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# PATCHING TEENSY AND SAM
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cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/avr/platform.txt
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cat checkout/extras/patching_boards/platform_teensy.txt > /github/home/.arduino15/packages/teensy/hardware/avr/1.57.2/platform.txt
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# remove when https://github.com/arduino/ArduinoCore-sam/pull/115 merged
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cat checkout/extras/patching_boards/platform_arduinocore_sam.txt > /github/home/.arduino15/packages/arduino/hardware/sam/1.6.12/platform.txt
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#

‎extras/patching_boards/platform_teensy.txt‎

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@@ -1,9 +1,18 @@
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# http://www.pjrc.com/teensy/teensyduino.html
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name=Teensyduino
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version=1.8.5
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rewriting=disabled
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compiler.path={runtime.hardware.path}/../tools/
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# Teensyduino Installer
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#compiler.path={runtime.hardware.path}/../tools/
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#teensytools.path={runtime.hardware.path}/../tools/
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# Arduino Boards Manager
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compiler.path={runtime.tools.teensy-compile.path}/
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teensytools.path={runtime.tools.teensy-tools.path}/
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## EEPROM Data
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compiler.objcopy.eep.flags=-O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load --no-change-warnings --change-section-lma .eeprom=0
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compiler.elf2hex.flags=-O ihex -R .eeprom
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compiler.libraries.ldflags=
@@ -20,7 +29,7 @@ tools.arduino-preprocessor.cmd.path={path}/arduino-preprocessor
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tools.arduino-preprocessor.pattern="{cmd.path}" "{source_file}" "{codecomplete}" -- -std=gnu++14
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## Precompile Arduino.h header
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recipe.hooks.sketch.prebuild.1.pattern="{compiler.path}precompile_helper" "{runtime.platform.path}/cores/{build.core}" "{build.path}" "{compiler.path}{build.toolchain}{build.command.g++}" -x c++-header {build.flags.optimize} {build.flags.common} {build.flags.dep} {build.flags.cpp} {build.flags.cpu} {build.flags.defs} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DF_CPU={build.fcpu} -D{build.usbtype} -DLAYOUT_{build.keylayout} "-I{runtime.platform.path}/cores/{build.core}" "{build.path}/pch/Arduino.h" -o "{build.path}/pch/Arduino.h.gch"
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recipe.hooks.sketch.prebuild.1.pattern="{teensytools.path}precompile_helper" "{runtime.platform.path}/cores/{build.core}" "{build.path}" "{compiler.path}{build.toolchain}{build.command.g++}" -x c++-header {build.flags.optimize} {build.flags.common} {build.flags.dep} {build.flags.cpp} {build.flags.cpu} {build.flags.defs} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DF_CPU={build.fcpu} -D{build.usbtype} -DLAYOUT_{build.keylayout} "-I{runtime.platform.path}/cores/{build.core}" "{build.path}/pch/Arduino.h" -o "{build.path}/pch/Arduino.h.gch"
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## Compile c++ files
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recipe.cpp.o.pattern="{compiler.path}{build.toolchain}{build.command.g++}" -c {build.flags.optimize} {build.flags.common} {build.flags.dep} {build.flags.cpp} {build.flags.cpu} {build.flags.defs} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DF_CPU={build.fcpu} -D{build.usbtype} -DLAYOUT_{build.keylayout} "-I{build.path}/pch" {includes} "{source_file}" -o "{object_file}"
@@ -37,46 +46,74 @@ recipe.ar.pattern="{compiler.path}{build.toolchain}{build.command.ar}" rcs "{arc
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## Link
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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}
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## Patch ELF - TODO: not supported by Arduino 1.6.6 builder
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recipe.elfpatch.pattern="{compiler.path}/hardware/tools/{build.elfpatch}" -mmcu={build.mcu} "{build.path}/{build.project_name}.elf" "{sketch_path}/disk"
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## Patch ELF - TODO: not supported by modern Arduino... :(
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recipe.elfpatch.pattern="{teensytools.path}/{build.elfpatch}" -mmcu={build.mcu} "{build.path}/{build.project_name}.elf" "{sketch_path}/disk"
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## Create eeprom
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recipe.objcopy.eep.pattern="{compiler.path}{build.toolchain}{build.command.objcopy}" {compiler.objcopy.eep.flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.eep"
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## Create hex
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recipe.objcopy.hex.pattern="{compiler.path}{build.toolchain}{build.command.objcopy}" {compiler.elf2hex.flags} "{build.path}/{build.project_name}.elf" "{build.path}/{build.project_name}.hex"
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## EHEX file - for Teensy 4.x secure mode
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recipe.hooks.objcopy.postobjcopy.1.pattern="{teensytools.path}teensy_secure" encrypthex {build.board} "{build.path}/{build.project_name}.hex"
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## Post Build - inform Teensy Loader of new file
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recipe.hooks.postbuild.1.pattern="{compiler.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"
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recipe.hooks.postbuild.2.pattern="{compiler.path}stdout_redirect" "{build.path}/{build.project_name}.sym" "{compiler.path}{build.toolchain}{build.command.objdump}" -t -C "{build.path}/{build.project_name}.elf"
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recipe.hooks.postbuild.3.pattern="{compiler.path}teensy_post_compile" "-file={build.project_name}" "-path={build.path}" "-tools={compiler.path}" "-board={build.board}"
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recipe.hooks.postbuild.1.pattern="{teensytools.path}teensy_post_compile" "-file={build.project_name}" "-path={build.path}" "-tools={teensytools.path}" "-board={build.board}"
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recipe.hooks.postbuild.2.pattern="{teensytools.path}stdout_redirect" "{build.path}/{build.project_name}.sym" "{compiler.path}{build.toolchain}{build.command.objdump}" -t -C "{build.path}/{build.project_name}.elf"
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recipe.hooks.postbuild.3.pattern="{teensytools.path}teensy_size" "{build.path}/{build.project_name}.elf"
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#
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# objdump to create .lst file is VERY SLOW for huge files
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# https://forum.pjrc.com/threads/68121?p=288306&viewfull=1#post288306
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#
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# 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"
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## Compute size
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recipe.size.pattern="{compiler.path}{build.toolchain}{build.command.size}" -A "{build.path}/{build.project_name}.elf"
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recipe.size.regex=^(?:\.text|\.text\.progmem|\.text\.itcm|\.data)\s+([0-9]+).*
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recipe.size.regex=^(?:\.text|\.text\.progmem|\.text\.itcm|\.data|\.text\.csf)\s+([0-9]+).*
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recipe.size.regex.data=^(?:\.usbdescriptortable|\.dmabuffers|\.usbbuffers|\.data|\.bss|\.noinit|\.text\.itcm|\.text\.itcm\.padding)\s+([0-9]+).*
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recipe.size.regex.eeprom=^(?:\.eeprom)\s+([0-9]+).*
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## Teensy Ports Discovery (Arduino 1.8.9 with pathPrefs patch)
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discovery.teensy.pattern="{runtime.hardware.path}/../tools/teensy_ports" -J2
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## Teensy Ports Discovery
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## Arduino 1.8.9 requires pathPrefs patch
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## discovery patters have only limited support for substitution macros,
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## so we can not use {teensytools.path} or {compiler.path} here
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# Teensyduino Installer
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#discovery.teensy.pattern="{runtime.hardware.path}/../tools/teensy_ports" -J2
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# Arduino Boards Manager
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discovery.teensy.pattern="{runtime.tools.teensy-tools.path}/teensy_ports" -J2
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pluggable_discovery.required=teensy:teensy-discovery
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pluggable_monitor.required.teensy=teensy:teensy-monitor
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## Teensy Ports Discovery (Arduino 1.8.9)
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#discovery.teensy.pattern="{runtime.ide.path}/hardware/tools/teensy_ports" -J2
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## Teensy Loader
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tools.teensyloader.cmd.path={runtime.hardware.path}/../tools
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# Teensyduino Installer
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#tools.teensyloader.cmd.path={runtime.hardware.path}/../tools
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# Arduino Boards Manager
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tools.teensyloader.cmd.path={runtime.tools.teensy-tools.path}
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tools.teensyloader.upload.params.quiet=
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tools.teensyloader.upload.params.verbose=-verbose
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tools.teensyloader.upload.pattern="{cmd.path}/teensy_post_compile" "-file={build.project_name}" "-path={build.path}" "-tools={cmd.path}" "-board={build.board}" -reboot "-port={serial.port}" "-portlabel={serial.port.label}" "-portprotocol={serial.port.protocol}"
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## Export hex
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recipe.output.tmp_file={build.project_name}.hex
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recipe.output.save_file={build.project_name}.{build.board}.hex
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recipe.hooks.savehex.postsavehex.1.pattern="{teensytools.path}teensy_secure" encrypthex {build.board} "{sketch_path}/{build.project_name}.{build.board}.hex"
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# TODO: missing patch in 1.6.6...
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recipe.output.tmp_file2={build.project_name}.elf
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recipe.output.save_file2={build.project_name}.elf
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# documentation on this file's format
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# https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5-3rd-party-Hardware-specification
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# https://arduino.github.io/arduino-cli/latest/platform-specification/

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