Merge pull request #254 from Joe7M/master

Improved Teensy implementation

Author: chrisws

src/common/fs_serial.c

@@ -19,6 +19,7 @@
 #include <unistd.h>
 #include <sys/select.h>
 #include <errno.h>
+#include <sys/ioctl.h>
 
 /**
  * terminal speed
@@ -129,20 +130,9 @@ int serial_read(dev_file_t *f, byte *data, uint32_t size) {
 
 // Returns the number of the available data on serial port
 uint32_t serial_length(dev_file_t *f) {
-  fd_set readfs;
-  struct timeval tv;
-
-  FD_ZERO(&readfs);
-  FD_SET(f->handle, &readfs);
-
-  tv.tv_usec = 250; // milliseconds
-  tv.tv_sec = 0; // seconds
-
-  select(f->handle + 1, &readfs, NULL, NULL, &tv);
-  if (FD_ISSET(f->handle, &readfs)) {
-    return 1;
-  }
-  return 0;
+  uint32_t bytes;
+  ioctl(f->handle, FIONREAD, &bytes);
+  return bytes;
 }
 
 #elif defined(_Win32)

src/common/var_eval.c

@@ -23,6 +23,8 @@ var_p_t v_get_tmp(var_p_t map) {
   var_p_t result = map_get(map, MAP_TMP_FIELD);
   if (result == NULL) {
     result = map_add_var(map, MAP_TMP_FIELD, 0);
+  } else {
+    v_free(result);
   }
   return result;
 }

src/platform/teensy/CMakeLists.txt

@@ -6,21 +6,33 @@
 #
 
 cmake_minimum_required(VERSION 3.10)
+option(TEENSY40 "Build for teensy 4.0 instead of 4.1" OFF)
 project(SmallBASIC)
 include(ExternalProject)
 set(CMAKE_SYSTEM_NAME Generic)
 set(TARGET "smallbasic")
 
-# settings for teensy 4.0
-set(MODULES ${CMAKE_CURRENT_SOURCE_DIR}/build/modules)
-set(TEENSY_SRC ${MODULES}/cores/teensy4)
-set(MCU "IMXRT1062")
-set(MCU_LD ${TEENSY_SRC}/imxrt1062.ld)
-set(CPU_OPTIONS "-mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -mthumb")
+if(TEENSY40)
+  message("Building for TEENSY 4.0")
+  set(MODULES ${CMAKE_CURRENT_SOURCE_DIR}/build/modules)
+  set(TEENSY_SRC ${MODULES}/cores/teensy4)
+  set(MCU "IMXRT1062")
+  set(MCU_LD ${TEENSY_SRC}/imxrt1062.ld)
+  set(MCU_DEF "ARDUINO_TEENSY40")
+  set(CPU_OPTIONS "-mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -mthumb")
+else()
+  message("Building for TEENSY 4.1")
+  set(MODULES ${CMAKE_CURRENT_SOURCE_DIR}/build/modules)
+  set(TEENSY_SRC ${MODULES}/cores/teensy4)
+  set(MCU "IMXRT1062")
+  set(MCU_LD ${TEENSY_SRC}/imxrt1062_t41.ld)
+  set(MCU_DEF "ARDUINO_TEENSY41")
+  set(CPU_OPTIONS "-mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -mthumb")
+endif()
 
 # Preprocessor flags for both C and C++
 add_compile_options(-g -O2 -ffunction-sections -fdata-sections -DENABLE_LOGGING
-  -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -D__${MCU}__ -DARDUINO=10813 -DTEENSYDUINO=159 -DARDUINO_TEENSY40)
+  -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -D__${MCU}__ -DARDUINO=10813 -DTEENSYDUINO=159 -D${MCU_DEF})
 
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${CPU_OPTIONS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CPU_OPTIONS} -std=gnu++17 -felide-constructors -fno-exceptions -fpermissive -fno-rtti -Wno-error=narrowing")
@@ -44,6 +56,8 @@ include_directories(${MODULES}/SPI)
 include_directories(${MODULES}/Adafruit_SSD1306)
 include_directories(${MODULES}/USBHost_t36)
 include_directories(${MODULES}/Wire)
+include_directories(${MODULES}/SD/src)
+include_directories(${MODULES}/SdFat/src)
 
 # include config.h and common headers
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../..)
@@ -59,17 +73,9 @@ set(SOURCES
   src/ssd1306.cpp
 )
 
-option(INTERACTIVE "Whether to run programs via serial" OFF)
-
 # Add executable with the list of source files
 add_executable(${TARGET}.elf ${SOURCES})
 
-if (INTERACTIVE)
-  target_compile_definitions(${TARGET}.elf PRIVATE INTERACTIVE=1)
-else()
-  target_compile_definitions(${TARGET}.elf PRIVATE INTERACTIVE=0)
-endif()
-
 # enable all warnings in main.cpp
 target_compile_options(${TARGET}.elf PRIVATE -Wall)
 

src/platform/teensy/Makefile.am

@@ -6,7 +6,7 @@
 #
 
 tidy:
-		@cd build && make tidy
+	@cd build && make tidy
 
 build/modules/cores/teensy4/Makefile:
 	./setup.sh
@@ -31,6 +31,11 @@ build/smallbasic.elf : \
 all: build/smallbasic.elf
 
 install: build/smallbasic.elf
-	@build/modules/teensy_loader_cli/teensy_loader_cli --mcu=IMXRT1062 -w -v build/smallbasic.hex && \
+	@build/modules/teensy_loader_cli/teensy_loader_cli --mcu=TEENSY41 -w -v -s build/smallbasic.hex && \
+	sleep 1 && \
+	lsusb | grep -i teensy
+
+install40: build/smallbasic.elf
+	@build/modules/teensy_loader_cli/teensy_loader_cli --mcu=TEENSY40 -w -v -s build/smallbasic.hex && \
 	sleep 1 && \
 	lsusb | grep -i teensy

src/platform/teensy/README.md

@@ -0,0 +1,133 @@
+# Build
+
+## Build SmallBASIC
+
+Teensy 4.0 and Teensy 4.1 are supported. Both using the same processor and running at the same speed.
+But Teensy 4.1 offers more features than Teensy 4.0. The standard build is for Teensy 4.1.
+
+Download and build SmallBASIC as described [here](https://github.com/smallbasic/SmallBASIC).
+
+## Build Teensy firmware
+
+### Initial setup
+
+Install the following packages (Manjaro (arch)):
+
+```
+$ sudo pacman -S arm-none-eabi-binutils arm-none-eabi-gcc arm-none-eabi-newlib libusb-compat
+```
+
+Add udev rules for serial USB:
+
+```
+curl -sLO https://www.pjrc.com/teensy/00-teensy.rules
+sudo cp 00-teensy.rules /etc/udev/rules.d/
+```
+
+Download and build core libraries:
+
+```
+$ ./configure --enable-teensy
+$ cd src/platform/teensy
+$ ./setup.sh
+```
+
+### Build firmware for Teensy 4.1
+
+The following instructions will build and install the firmware for Teensy 4.1.
+
+```
+$ make
+```
+
+> If setup.sh displays an error massage that cmake minimum version is not set,
+> open `build/modules/CMSIS-DSP/CMakeLists.txt`
+> and add in the beginning of the file `cmake_minimum_required(VERSION 4.1)`
+
+Upload firmware:
+
+```
+make install
+```
+
+or
+
+```
+build/modules/teensy_loader_cli/teensy_loader_cli --mcu=TEENSY41 -w -v -s build/smallbasic.hex
+```
+
+### Build firmware for Tennsy 4.0
+
+If you want to build the firmware for Tennsy 4.0, you have to run the following commands after
+initial setup:
+
+```
+cd build
+cmake .. -DTEENSY40=ON
+```
+
+and run `./configure --enable-teensy` again. Next you can build the firmware:
+
+```
+$ make
+```
+
+> If setup.sh displays an error massage that cmake minimum version is not set,
+> open `build/modules/CMSIS-DSP/CMakeLists.txt`
+> and add in the beginning of the file `cmake_minimum_required(VERSION 4.1)`
+
+Upload firmware:
+
+```
+make install40
+```
+
+or
+
+```
+build/modules/teensy_loader_cli/teensy_loader_cli --mcu=TEENSY40 -w -v -s build/smallbasic.hex
+```
+
+# Run your SMALLBASIC program
+
+SMALLBASIC for Teensy offers three ways to upload and run a program.
+
+1. Format a SD card using FAT32. Rename your program to `MAIN.BAS` and copy it to the SD card.
+2. Include your program in the firmware. Replace `main.bas` in `src/platform/teensy` by your program and build
+   the firmware.
+3. Send your program via USB-serial connection to the Teensy. In Linux use ` cat YourProgram.bas > /dev/ttyACM0`
+   Change `/dev/ttyACM0` to the USB-serial port of your Teensy.
+4. Goto 3.
+
+When the Teensy starts up, it will check in the above indicated order for your program. If it finds
+a SD card and the SD card contains a file `MAIN.BAS`, it will execute it. Otherwise it will check, if a program
+was included in the firmware. If no program was included, the Teensy will switch to interactive mode and waits
+for a program upload via USB-serial.
+
+While your program is running, the Teensy will check continuously if data is available at the USB-serial port.
+If data is available for longer than one second your running program will be terminated and the queued data of the
+USB-serial port will be interpreted as the new program. Once the upload is finished, the new program will be executed.
+If you are using the USB-serial port for communication, read the queued data within one second. Alternately, you
+can turn on/off this behavior during runtime.
+
+If an error occurred, for example a syntax error, execution will stop and you have to read the error message from
+the USB-serial port.
+
+If the execution of your program comes to an end, for example when reaching the end of the program or when `STOP` is
+called, the program is terminated and the next section in the above list is performed.
+
+# Read output from your running program
+
+The `PRINT` command can be used to print to the USB-serial port. To access the output, connect to the serial
+port using, i.e. `PUTTY` or any other serial-port monitor / terminal. Using Linux, the easiest way is to run
+`cat /dev/ttyACM0`
+
+# Debugging the Teensy crash screen
+
+To find the line that failed (but no stack) run:
+
+```
+arm-none-eabi-addr2line -e smallbasic.elf ADDRESS
+```
+
+Where `ADDRESS` is the address shown in the crash screen, for example `0x17D04`

src/platform/teensy/libs/CMakeLists.txt

@@ -14,6 +14,8 @@ set(SPI_DIR ${MODULES_DIR}/SPI)
 set(SSD_DIR ${MODULES_DIR}/Adafruit_SSD1306)
 set(USB_DIR ${MODULES_DIR}/USBHost_t36)
 set(WIRE_DIR ${MODULES_DIR}/Wire)
+set(SD_DIR ${MODULES_DIR}/SD/src)
+set(SDFAT_DIR ${MODULES_DIR}/SdFat/src)
 
 set(SOURCES
   ${ADC_DIR}/ADC.cpp
@@ -115,6 +117,51 @@ set(SOURCES
   ${WIRE_DIR}/Wire.cpp
   ${WIRE_DIR}/WireIMXRT.cpp
   ${WIRE_DIR}/WireKinetis.cpp
+  ${SD_DIR}/SD.cpp  
+  ${SDFAT_DIR}/SdCard/SdCardInfo.cpp
+  ${SDFAT_DIR}/SdCard/SdioTeensy.cpp
+  ${SDFAT_DIR}/SdCard/SdSpiCard.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiChipSelect.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiArtemis.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiDue.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiESP.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiParticle.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiSTM32.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiSTM32Core.cpp
+  ${SDFAT_DIR}/SpiDriver/SdSpiTeensy3.cpp
+  ${SDFAT_DIR}/iostream/istream.cpp
+  ${SDFAT_DIR}/iostream/ostream.cpp
+  ${SDFAT_DIR}/iostream/StdioStream.cpp
+  ${SDFAT_DIR}/iostream/StreamBaseClass.cpp
+  ${SDFAT_DIR}/FsLib/FsFile.cpp
+  ${SDFAT_DIR}/FsLib/FsNew.cpp
+  ${SDFAT_DIR}/FsLib/FsVolume.cpp
+  ${SDFAT_DIR}/FatLib/FatDbg.cpp
+  ${SDFAT_DIR}/FatLib/FatFile.cpp
+  ${SDFAT_DIR}/FatLib/FatFileLFN.cpp
+  ${SDFAT_DIR}/FatLib/FatFilePrint.cpp
+  ${SDFAT_DIR}/FatLib/FatFileSFN.cpp
+  ${SDFAT_DIR}/FatLib/FatFormatter.cpp
+  ${SDFAT_DIR}/FatLib/FatName.cpp
+  ${SDFAT_DIR}/FatLib/FatPartition.cpp
+  ${SDFAT_DIR}/FatLib/FatVolume.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatDbg.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatFile.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatFilePrint.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatFileWrite.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatFormatter.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatName.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatPartition.cpp
+  ${SDFAT_DIR}/ExFatLib/ExFatVolume.cpp
+  ${SDFAT_DIR}/ExFatLib/upcase.cpp
+  ${SDFAT_DIR}/common/FmtNumber.cpp
+  ${SDFAT_DIR}/common/FsCache.cpp
+  ${SDFAT_DIR}/common/FsDateTime.cpp
+  ${SDFAT_DIR}/common/FsName.cpp
+  ${SDFAT_DIR}/common/FsStructs.cpp
+  ${SDFAT_DIR}/common/FsUtf.cpp
+  ${SDFAT_DIR}/common/PrintBasic.cpp
+  ${SDFAT_DIR}/common/upcase.cpp
 )
 
 add_library(libs STATIC ${SOURCES})
@@ -127,4 +174,6 @@ target_include_directories(libs PRIVATE ${MODULES_DIR}/SdFat/src)
 target_include_directories(libs PRIVATE ${SPI_DIR})
 target_include_directories(libs PRIVATE ${TEENSY_DIR})
 target_include_directories(libs PRIVATE ${WIRE_DIR})
+target_include_directories(libs PRIVATE ${SD_DIR})
+target_include_directories(libs PRIVATE ${SDFAT_DIR})
 

src/platform/teensy/main.bas

@@ -1,46 +0,0 @@
-import teensy
-import ssd1306 as display
-
-const welcome = "Hello SmallBASIC!!"
-display.init()
-display.dim(1)
-display.print(welcome)
-
-const sz = display.getTextSize(welcome)
-display.setCursor(0, sz.height + 2)
-display.flush()
-
-const out = teensy.openDigitalOutput(13)
-const usb = teensy.openSerial()
-
-sub show_data(byref s)
-  display.clear()
-  display.setCursor(0,0)
-  display.print("Received:")
-  display.setCursor(0, sz.height + 2)
-  display.print(s)
-  display.flush()
-end
-
-sub blink
-  local i
-  for i = 0 to 5
-    out.write(value)
-    value = !value
-    delay 10 + (i * 10)
-  next
-  out.write(0)
-end
-
-while 1
-  if usb.ready() then
-    s = usb.receive()
-    if (len(s) > 0) then
-      show_data(s)
-      usb.send(sbver)
-      blink
-    endif
-  else
-    delay 10
-  endif
-wend

src/platform/teensy/run.sh

@@ -4,9 +4,6 @@
 # Allows you to edit your SmallBASIC code in your favourite editor.
 # When you save, the program is transferred to the teensy and run.
 #
-# This works with the INTERACTIVE mode build
-#   $ cd build && cmake .. -DINTERACTIVE=ON
-#
 # Requires inotify-tools available via:
 #   $ sudo apt install inotify-tools
 #