Arduino and Teensy libraries

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Installation of Arduino and Teensy support

This is probably not needed if you intend to use MS Visual Studio.

Arduino (version 2.xx)

• Install the newest Arduino - see https://www.arduino.cc/en/software.

Add Teensy board support

• Add the Teensy hardware support - see https://www.pjrc.com/teensy/td_download.html, including

• Add https://www.pjrc.com/teensy/package_teensy_index.json to the file->preferences

• In the boards manager (Tools->Boards->Boards manager), search for Teensy and install support for Teensy boards.

Add libraries

• In the Library manager (Tools->Manage libraries), search for "MPU9250_asukiaaa" and "Adafruit GFX library" and install both, including dependencies. These are used to interface the IMU and support for the small display.

Board select

Select the Teensy 4.1 board (tool->board->Teensy->4.1).

Select the port the robot is connected to - it is easier to connect it first.

Arduino command line interface

See https://docs.arduino.cc/arduino-cli/

Install Arduino CLI

Get the install script and let it install arduino-cli into the directory ~/bin. It will detect the download platform and install an appropriate version.

cd
curl -fsSL https://raw.githubusercontent.com/arduino/arduino-cli/master/install.sh | sh
cd bin
pwd

Add this directory to the PATH.

nano ~/.bashrc

Add at the end (assuming your login name is local)

export PATH=$PATH:/home/local/bin

Add Teensy boards

Make a configuration file (in a hidden file called ~/.arduino15/arduino-cli.yaml).

arduino-cli config init

Copy the URL for Teensyduino https://www.pjrc.com/teensy/package_teensy_index.json and add it to the configuration file.

nano ~/.arduino15/arduino-cli.yaml

Make it look like this:

board_manager:
   additional_urls: ["https://www.pjrc.com/teensy/package_teensy_index.json"]

After this, update the index

arduino-cli core update-index

Install Teensy support

Find the install name of the board type to install

$ arduino-cli core search teensy
ID         Version Name
teensy:avr 1.59.0  Teensy (for Arduino IDE 2.0.4 or later)

Then, install and configure the Teensy support

arduino-cli core install teensy:avr

Install libraries

Robobot need (especially) these libraries.

• Adafruit GFX Library
• MPU9250_asukiaaa

If the exact name is not known, then search, e.g.:

arduino-cli lib search name:"Adafruit GFX Library"

Install

arduino-cli lib install "Adafruit GFX Library"
arduino-cli lib install "MPU9250_asukiaaa"

Compile

With the board connected, find the board type name:

$ Arduino-cli board list
Port          Protocol Type              Board Name FQBN                Core
/dev/ttyACM0  serial   Serial Port (USB) Unknown
/dev/ttyAMA10 serial   Serial Port       Unknown
usb3/3-2      teensy   Teensy Ports      Teensy 4.1 teensy:avr:teensy41 teensy:avr

In this case, the key name is "teensy:avr:teensy41"

Command line compile the teensy_firmware_8.ino in the directory ~/svn/robobot/teensy_firmware_8

cd ~/svn/robobot/teensy_firmware_8
arduino-cli compile --fqbn teensy:avr:teensy41 --build-path build ../teensy_firmware_8

The compile for Teensy 4.1 is copied into a script called compile (remember to chmod +x compile).

$ cat compile
#!/bin/bash
arduino-cli compile --fqbn teensy:avr:teensy41 --build-path build ../teensy_firmware_8

It takes a while to compile and should have a few warnings only.

$ ./compile
Memory Usage on Teensy 4.1:
 FLASH: code:149300, data:41316, headers:9060   free for files:7926788
  RAM1: variables:60352, code:146136, padding:17704   free for local variables:300096
  RAM2: variables:12640  free for malloc/new:511648
Used library         Version Path
ADC                  9.1     /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/ ADC
MPU9250_asukiaaa     1.5.13  /home/local/Arduino/libraries/MPU9250_asukiaaa
Wire                 1.0     /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/ Wire
Adafruit GFX Library 1.11.11 /home/local/Arduino/libraries/Adafruit_GFX_Library
Adafruit BusIO       1.16.2  /home/local/Arduino/libraries/Adafruit_BusIO
SPI                  1.0     /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/SPI
USBHost_t36          0.2     /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/ USBHost_t36
SdFat                2.1.2   /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/ SdFat
WS2812Serial                 /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/WS2812Serial
EEPROM               2.0     /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0/libraries/EEPROM
Used platform Version Path
teensy:avr    1.59.0  /home/local/.arduino15/packages/teensy/hardware/avr/1.59.0

The compiled code is in the build directory.

Upload

The arduino-cli upload for Teensy requires a graphical interface, but there is a command line alternative.

Install command line uploader

cd
cd git
git clone https://github.com/PaulStoffregen/teensy_loader_cli.git
cd teensy_loader_cli
make

This makes the executable binary teensy_loader_cli. This compiled file can be copied to /usr/local/bin for easy access.

sudo cp ~/git/teensy_loader_cli /usr/local/bin

The upload

The hex file is in the build directory.

$ cd ~/svn/robobot/teensy_firmware_8/build
$ sudo teensy_loader_cli -v -w --mcu=TEENSY41 teensy_firmware_8.ino.hex
Teensy Loader, Command Line, Version 2.3
Read "build/teensy_firmware_8.ino.hex": 199680 bytes, 2.5% usage
Waiting for Teensy device...
(hint: press the reset button)

The Teensy board will cut battery power during upload,

so, press the "power" button before the small reset button on the Teensy board.

Then it uploads:

Found HalfKay Bootloader
Programming..................................................................
Booting

After booting, you can release the power button.