Arduino command line support

back to Robobot_B Back to Basebot

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

Implement the new path

source ~/.bashrc

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
mkdir -p git
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/teensy_loader_cli /usr/local/bin

Make the Teensy device recognizable

Copy the needed udev rules:

cd /etc/udev/rules.d
sudo wget https://www.pjrc.com/teensy/00-teensy.rules

They can also be found in ~/svn/robobot/setup and copied from there.

NB! The new rules will be implemented after a reboot or an unplug - plug of the Teensy USB, or:

sudo reboot

The upload

The hex file is in the build directory and can be uploaded using the commands

• cd ~/svn/robobot/teensy_firmware_8/build
• sudo teensy_loader_cli -v -w --mcu=TEENSY41 teensy_firmware_8.ino.hex

This command is available in the firmware directory as upload

$ cd ~/svn/robobot/teenst_firmware_8
$ ./upload
Teensy Loader, Command Line, Version 2.3
Read "build/teensy_firmware_8.ino.hex": 201728 bytes, 2.5% usage
Waiting for Teensy device...
(hint: press the reset button)

The Teensy board will cut battery power during upload,

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

Then it uploads:

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

After booting, you can release the power button.