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Updated rosserial_arduino to work with Teensy boards
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@warnerjon12
warnerjon12 committed Mar 4, 2022
1 parent e7d7794 commit 4f37a02
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Showing 3 changed files with 269 additions and 26 deletions.
265 changes: 239 additions & 26 deletions rosserial_arduino/arduino-cmake/cmake/Platform/Arduino.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -404,7 +404,8 @@ function(GENERATE_ARDUINO_LIBRARY INPUT_NAME)
COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${COMPILE_FLAGS} ${LIB_DEP_INCLUDES}"
LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}")

target_link_libraries(${INPUT_NAME} ${ALL_LIBS} "-lc -lm")
get_lib_flags(BOARD_LIB_FLAGS ${INPUT_BOARD})
target_link_libraries(${INPUT_NAME} ${ALL_LIBS} "${BOARD_LIB_FLAGS}")
endfunction()

#=============================================================================#
Expand Down Expand Up @@ -772,6 +773,49 @@ function(LOAD_GENERATOR_SETTINGS TARGET_NAME PREFIX)
endforeach()
endfunction()

#=============================================================================#
# [PRIVATE/INTERNAL]
#
# get_fcpu(FCPU BOARD_ID)
#
# FCPU_VAR -Variable holding output
# BOARD_ID - The board id name
#
# Sets the the cpu speed for the specified Arduino Board (if not set).
#
#=============================================================================#
function(get_fcpu FCPU_VAR BOARD_ID)
set(FCPU)
if(DEFINED ${BOARD_ID}.build.f_cpu)
set(FCPU "${${BOARD_ID}.build.f_cpu}")
elseif(BOARD_ID STREQUAL "teensy41")
set(FCPU "600000000")
elseif(BOARD_ID STREQUAL "teensyMM")
set(FCPU "600000000")
elseif(BOARD_ID STREQUAL "teensy40")
set(FCPU "600000000")
elseif(BOARD_ID STREQUAL "teensy36")
set(FCPU "180000000")
elseif(BOARD_ID STREQUAL "teensy35")
set(FCPU "120000000")
elseif(BOARD_ID STREQUAL "teensy31")
set(FCPU "72000000")
elseif(BOARD_ID STREQUAL "teensy30")
set(FCPU "48000000")
elseif(BOARD_ID STREQUAL "teensyLC")
set(FCPU "48000000")
elseif(BOARD_ID STREQUAL "teensypp2")
set(FCPU "16000000L")
elseif(BOARD_ID STREQUAL "teensy2")
set(FCPU "16000000L")
else()
message(FATAL_ERROR "Failed to set CPU speed for ${BOARD_ID}")
endif()

# output
set(${FCPU_VAR} "${FCPU}" PARENT_SCOPE)
endfunction()

#=============================================================================#
# [PRIVATE/INTERNAL]
#
Expand All @@ -786,7 +830,7 @@ endfunction()
#
#=============================================================================#
function(get_arduino_flags COMPILE_FLAGS_VAR LINK_FLAGS_VAR BOARD_ID MANUAL)

set(BOARD_CORE ${${BOARD_ID}.build.core})
if(BOARD_CORE)
if(ARDUINO_SDK_VERSION MATCHES "([0-9]+)[.]([0-9]+)")
Expand All @@ -804,18 +848,37 @@ function(get_arduino_flags COMPILE_FLAGS_VAR LINK_FLAGS_VAR BOARD_ID MANUAL)
message("Invalid Arduino SDK Version (${ARDUINO_SDK_VERSION})")
endif()

get_fcpu(${BOARD_ID}.build.f_cpu ${BOARD_ID})

# output
set(COMPILE_FLAGS "-DF_CPU=${${BOARD_ID}.build.f_cpu} -DARDUINO=${ARDUINO_VERSION_DEFINE} -mmcu=${${BOARD_ID}.build.mcu}")
set(COMPILE_FLAGS "-DF_CPU=${${BOARD_ID}.build.f_cpu} -DARDUINO=${ARDUINO_VERSION_DEFINE} -DLAYOUT_US_ENGLISH")
if(NOT DEFINED TEENSY)
set(COMPILE_FLAGS "${COMPILE_FLAGS} -mmcu=${${BOARD_ID}.build.mcu}")
elseif(BOARD_ID STREQUAL "teensy40")
set(COMPILE_FLAGS "${COMPILE_FLAGS} -DARDUINO_TEENSY40")
elseif(BOARD_ID STREQUAL "teensy41")
set(COMPILE_FLAGS "${COMPILE_FLAGS} -DARDUINO_TEENSY41")
endif()
foreach(CFLAGS common dep cpu defs)
set(COMPILE_FLAGS "${COMPILE_FLAGS} ${${BOARD_ID}.build.flags.${CFLAGS}}")
endforeach()
if(DEFINED ${BOARD_ID}.build.vid)
set(COMPILE_FLAGS "${COMPILE_FLAGS} -DUSB_VID=${${BOARD_ID}.build.vid}")
endif()
if(DEFINED ${BOARD_ID}.build.pid)
set(COMPILE_FLAGS "${COMPILE_FLAGS} -DUSB_PID=${${BOARD_ID}.build.pid}")
endif()
if(DEFINED TEENSY_USB_MODE)
set(COMPILE_FLAGS "${COMPILE_FLAGS} -D${${BOARD_ID}.menu.usb.${TEENSY_USB_MODE}.build.usbtype}")
endif()
if(NOT MANUAL)
set(COMPILE_FLAGS "${COMPILE_FLAGS} -I\"${${BOARD_CORE}.path}\" -I\"${ARDUINO_LIBRARIES_PATH}\"")
endif()
set(LINK_FLAGS "-mmcu=${${BOARD_ID}.build.mcu}")
set(LINK_FLAGS "${${BOARD_ID}.build.flags.cpu} ${${BOARD_ID}.build.flags.ld}")
string(REPLACE "{build.core.path}" "${${${BOARD_ID}.build.core}.path}" LINK_FLAGS ${LINK_FLAGS})
if(NOT DEFINED TEENSY)
set(LINK_FLAGS "-mmcu=${${BOARD_ID}.build.mcu} ${LINK_FLAGS}")
endif()
if(ARDUINO_SDK_VERSION VERSION_GREATER 1.0 OR ARDUINO_SDK_VERSION VERSION_EQUAL 1.0)
if(NOT MANUAL)
set(PIN_HEADER ${${${BOARD_ID}.build.variant}.path})
Expand All @@ -834,6 +897,33 @@ function(get_arduino_flags COMPILE_FLAGS_VAR LINK_FLAGS_VAR BOARD_ID MANUAL)
endif()
endfunction()

#=============================================================================#
# [PRIVATE/INTERNAL]
#
# get_lib_flags(LIB_FLAGS BOARD_ID)
#
# LIB_FLAGS_VAR -Variable holding library flags
# BOARD_ID - The board id name
#
# Configures the the build settings for the specified Arduino Board.
#
#=============================================================================#
function(get_lib_flags LIB_FLAGS_VAR BOARD_ID)

set(BOARD_LIB_FLAGS)
if(DEFINED ${BOARD_ID}.build.flags.libs)
set(BOARD_LIB_FLAGS "${${BOARD_ID}.build.flags.libs}")
if(DEFINED TEENSY AND EXISTS "${ARDUINO_SDK_PATH}/hardware/tools/arm/arm-none-eabi/lib")
set(BOARD_LIB_FLAGS "-L\"${ARDUINO_SDK_PATH}/hardware/tools/arm/arm-none-eabi/lib\" ${BOARD_LIB_FLAGS}")
endif()
else()
set(BOARD_LIB_FLAGS "-lc -lm")
endif()

# output
set(${LIB_FLAGS_VAR} "${BOARD_LIB_FLAGS}" PARENT_SCOPE)
endfunction()

#=============================================================================#
# [PRIVATE/INTERNAL]
#
Expand Down Expand Up @@ -1080,7 +1170,8 @@ function(setup_arduino_target TARGET_NAME BOARD_ID ALL_SRCS ALL_LIBS COMPILE_FLA
set_target_properties(${TARGET_NAME} PROPERTIES
COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${COMPILE_FLAGS}"
LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}")
target_link_libraries(${TARGET_NAME} ${ALL_LIBS} "-lc -lm")
get_lib_flags(TARGET_LIB_FLAGS ${BOARD_ID})
target_link_libraries(${TARGET_NAME} ${ALL_LIBS} "${TARGET_LIB_FLAGS}")

if(NOT EXECUTABLE_OUTPUT_PATH)
set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_BINARY_DIR})
Expand Down Expand Up @@ -1499,6 +1590,41 @@ function(detect_arduino_version VAR_NAME)
endfunction()


#=============================================================================#
# [PRIVATE/INTERNAL]
#
# detect_teensyduino_version(VAR_NAME)
#
# VAR_NAME - Variable name where the detected version will be saved
#
# Detects the Teensyduino Version based on the teensyduino.txt file. The
# following variables will be generated:
#
# ${VAR_NAME} -> the full version (major.minor.patch)
# ${VAR_NAME}_MAJOR -> the major version
# ${VAR_NAME}_MINOR -> the minor version
#
#=============================================================================#
function(detect_teensyduino_version VAR_NAME)
if(TEENSYDUINO_VERSION_PATH)
file(READ ${TEENSYDUINO_VERSION_PATH} RAW_VERSION)
if("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+)")
set(PARSED_VERSION ${CMAKE_MATCH_1})
endif()

if(NOT PARSED_VERSION STREQUAL "")
string(REPLACE "." ";" SPLIT_VERSION ${PARSED_VERSION})
list(GET SPLIT_VERSION 0 SPLIT_VERSION_MAJOR)
list(GET SPLIT_VERSION 1 SPLIT_VERSION_MINOR)

set(${VAR_NAME} "${PARSED_VERSION}" PARENT_SCOPE)
set(${VAR_NAME}_MAJOR "${SPLIT_VERSION_MAJOR}" PARENT_SCOPE)
set(${VAR_NAME}_MINOR "${SPLIT_VERSION_MINOR}" PARENT_SCOPE)
endif()
endif()
endfunction()


#=============================================================================#
# [PRIVATE/INTERNAL]
#
Expand All @@ -1514,9 +1640,9 @@ endfunction()
#
# Settings have to following format:
#
# entry.setting[.subsetting] = value
# entry.setting[[.subsetting].subsubsetting] = value
#
# where [.subsetting] is optional
# where [[.subsetting].subsubsetting] is optional
#
# For example, the following settings:
#
Expand All @@ -1539,8 +1665,9 @@ endfunction()
# set(uno.build.SUBSETTINGS mcu core) # List of sub-settings for uno.build
#
# The ${ENTRY_NAME}.SETTINGS variable lists all settings for the entry, while
# ${ENTRY_NAME}.SUBSETTINGS variables lists all settings for a sub-setting of
# a entry setting pair.
# ${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS variables list all settings for a
# sub-setting of an entry setting pair. Entries with sub-sub-settings will generate
# ${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}.SUBSUBSETTINGS lists as well.
#
# These variables are generated in order to be able to programatically traverse
# all settings (for a example see print_board_settings() function).
Expand All @@ -1552,16 +1679,16 @@ function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH)
file(STRINGS ${SETTINGS_PATH} FILE_ENTRIES) # Settings file split into lines

foreach(FILE_ENTRY ${FILE_ENTRIES})
if("${FILE_ENTRY}" MATCHES "^[^#]+=.*")
string(REGEX MATCH "^[^=]+" SETTING_NAME ${FILE_ENTRY})
string(REGEX MATCH "[^=]+$" SETTING_VALUE ${FILE_ENTRY})
if("${FILE_ENTRY}" MATCHES "^([^#=]+)=(.*)")
set(SETTING_NAME ${CMAKE_MATCH_1})
set(SETTING_VALUE ${CMAKE_MATCH_2})
string(REPLACE "." ";" ENTRY_NAME_TOKENS ${SETTING_NAME})
string(STRIP "${SETTING_VALUE}" SETTING_VALUE)

list(LENGTH ENTRY_NAME_TOKENS ENTRY_NAME_TOKENS_LEN)

# Add entry to settings list if it does not exist
list(GET ENTRY_NAME_TOKENS 0 ENTRY_NAME)
list(POP_FRONT ENTRY_NAME_TOKENS ENTRY_NAME)
list(FIND ${SETTINGS_LIST} ${ENTRY_NAME} ENTRY_NAME_INDEX)
if(ENTRY_NAME_INDEX LESS 0)
# Add entry to main list
Expand All @@ -1570,7 +1697,7 @@ function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH)

# Add entry setting to entry settings list if it does not exist
set(ENTRY_SETTING_LIST ${ENTRY_NAME}.SETTINGS)
list(GET ENTRY_NAME_TOKENS 1 ENTRY_SETTING)
list(POP_FRONT ENTRY_NAME_TOKENS ENTRY_SETTING)
list(FIND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING} ENTRY_SETTING_INDEX)
if(ENTRY_SETTING_INDEX LESS 0)
# Add setting to entry
Expand All @@ -1581,10 +1708,10 @@ function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH)

set(FULL_SETTING_NAME ${ENTRY_NAME}.${ENTRY_SETTING})

# Add entry sub-setting to entry sub-settings list if it does not exists
# Add entry sub-setting to entry sub-settings list if it does not exist
if(ENTRY_NAME_TOKENS_LEN GREATER 2)
set(ENTRY_SUBSETTING_LIST ${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS)
list(GET ENTRY_NAME_TOKENS 2 ENTRY_SUBSETTING)
list(POP_FRONT ENTRY_NAME_TOKENS ENTRY_SUBSETTING)
list(FIND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING} ENTRY_SUBSETTING_INDEX)
if(ENTRY_SUBSETTING_INDEX LESS 0)
list(APPEND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING})
Expand All @@ -1594,6 +1721,19 @@ function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH)
set(FULL_SETTING_NAME ${FULL_SETTING_NAME}.${ENTRY_SUBSETTING})
endif()

# Add entry sub-sub-setting to entry sub-sub-settings list if it does not exist
if(ENTRY_NAME_TOKENS_LEN GREATER 3)
set(ENTRY_SUBSUBSETTING_LIST ${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}.SUBSUBSETTINGS)
list(JOIN ENTRY_NAME_TOKENS "." ENTRY_SUBSUBSETTING)
list(FIND ${ENTRY_SUBSUBSETTING_LIST} ${ENTRY_SUBSUBSETTING} ENTRY_SUBSUBSETTING_INDEX)
if(ENTRY_SUBSUBSETTING_INDEX LESS 0)
list(APPEND ${ENTRY_SUBSUBSETTING_LIST} ${ENTRY_SUBSUBSETTING})
set(${ENTRY_SUBSUBSETTING_LIST} ${${ENTRY_SUBSUBSETTING_LIST}}
CACHE INTERNAL "Arduino ${ENTRY_NAME} Board sub-sub-settings list")
endif()
set(FULL_SETTING_NAME ${FULL_SETTING_NAME}.${ENTRY_SUBSUBSETTING})
endif()

# Save setting value
set(${FULL_SETTING_NAME} ${SETTING_VALUE}
CACHE INTERNAL "Arduino ${ENTRY_NAME} Board setting")
Expand Down Expand Up @@ -2079,29 +2219,36 @@ endfunction()



#=============================================================================#
# Optimization Flags
#=============================================================================#
if (NOT DEFINED ARDUINO_OPT_FLAGS)
set(ARDUINO_OPT_FLAGS "-Os")
endif (NOT DEFINED ARDUINO_OPT_FLAGS)

#=============================================================================#
# C Flags
#=============================================================================#
if (NOT DEFINED ARDUINO_C_FLAGS)
set(ARDUINO_C_FLAGS "-mcall-prologues -ffunction-sections -fdata-sections")
endif (NOT DEFINED ARDUINO_C_FLAGS)
set(CMAKE_C_FLAGS "-g -Os ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_DEBUG "-g ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS "${ARDUINO_OPT_FLAGS} -g ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_DEBUG "-Og -g ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_MINSIZEREL "${ARDUINO_OPT_FLAGS} -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_RELEASE "${ARDUINO_OPT_FLAGS} -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
set(CMAKE_C_FLAGS_RELWITHDEBINFO "${ARDUINO_OPT_FLAGS} -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "")

#=============================================================================#
# C++ Flags
#=============================================================================#
if (NOT DEFINED ARDUINO_CXX_FLAGS)
set(ARDUINO_CXX_FLAGS "${ARDUINO_C_FLAGS} -fno-exceptions")
endif (NOT DEFINED ARDUINO_CXX_FLAGS)
set(CMAKE_CXX_FLAGS "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_DEBUG "-g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS "${ARDUINO_OPT_FLAGS} -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_DEBUG "-Og -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_MINSIZEREL "${ARDUINO_OPT_FLAGS} -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_RELEASE "${ARDUINO_OPT_FLAGS} -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${ARDUINO_OPT_FLAGS} -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")

#=============================================================================#
# Executable Linker Flags #
Expand Down Expand Up @@ -2237,3 +2384,69 @@ if(NOT ARDUINO_FOUND AND ARDUINO_SDK_PATH)
AVRSIZE_PROGRAM)
endif()

if(DEFINED TEENSY)
register_hardware_platform(${ARDUINO_SDK_PATH}/hardware/teensy/)

find_file(TEENSY_LIBRARIES_PATH
NAMES libraries
PATHS ${TEENSY_PLATFORM_PATH}
DOC "Path to directory containing the Teensy libraries.")

find_file(TEENSYDUINO_VERSION_PATH
NAMES lib/teensyduino.txt
PATHS ${ARDUINO_SDK_PATH}
DOC "Path to Teensyduino version file.")

# TODO: actually use this or maybe hardware/tools/teensy_size
# TODO: also allow upload
find_program(ARMSIZE_PROGRAM
NAMES arm-none-eabi-size)

if(NOT CMAKE_OBJCOPY)
find_program(ARMOBJCOPY_PROGRAM
arm-none-eabi-objcopy)
set(ADDITIONAL_REQUIRED_VARS ARMOBJCOPY_PROGRAM)
set(CMAKE_OBJCOPY ${ARMOBJCOPY_PROGRAM})
endif(NOT CMAKE_OBJCOPY)

# Ensure that all required paths are found
required_variables(VARS
TEENSY_PLATFORM_PATH
TEENSY_CORES_PATH
TEENSY_LIBRARIES_PATH
TEENSY_BOARDS_PATH
TEENSYDUINO_VERSION_PATH
ARMSIZE_PROGRAM
${ADDITIONAL_REQUIRED_VARS}
MSG "Invalid Arduino SDK path (${ARDUINO_SDK_PATH}).\n")

detect_teensyduino_version(TEENSYDUINO_VERSION)
set(TEENSYDUINO_VERSION ${TEENSYDUINO_VERSION} CACHE STRING "Teensyduino Version")
set(TEENSYDUINO_VERSION_MAJOR ${TEENSYDUINO_VERSION_MAJOR} CACHE STRING "Teensyduino Major Version")
set(TEENSYDUINO_VERSION_MINOR ${TEENSYDUINO_VERSION_MINOR} CACHE STRING "Teensyduino Minor Version")

message(STATUS "Teensyduino version ${TEENSYDUINO_VERSION}: ${ARDUINO_SDK_PATH}")

# TODO update
setup_arduino_size_script(ARDUINO_SIZE_SCRIPT)
set(ARDUINO_SIZE_SCRIPT ${ARDUINO_SIZE_SCRIPT} CACHE INTERNAL "Arduino Size Script")

#print_board_list()
#print_programmer_list()

if(NOT DEFINED TEENSY_USB_MODE)
set(TEENSY_USB_MODE "SERIAL")
endif()
string(REPLACE "_" "" TEENSY_USB_MODE ${TEENSY_USB_MODE})
string(TOLOWER ${TEENSY_USB_MODE} TEENSY_USB_MODE)
set(TEENSY_USB_MODE "${TEENSY_USB_MODE}" CACHE STRING "What kind of USB device the Teensy should emulate")
#set_property(CACHE TEENSY_USB_MODE PROPERTY STRINGS serial hid serialhid midi rawhid flightsim)

mark_as_advanced(
TEENSY_PLATFORM_PATH
TEENSY_CORES_PATH
TEENSY_LIBRARIES_PATH
TEENSY_BOARDS_PATH
TEENSYDUINO_VERSION_PATH
ARMSIZE_PROGRAM)
endif()
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