Implement Zephyr support for Teensy

.github/workflows/examples.yml

@@ -16,6 +16,8 @@ jobs:
           - "examples/mbed-blink"
           - "examples/mbed-dsp"
           - "examples/mbed-serial"
+          - "examples/zephyr-blink"
+          - "examples/zephyr-synchronization"
     runs-on: ${{ matrix.os }}
     steps:
       - uses: actions/checkout@v2

boards/teensy40.json

@@ -7,7 +7,10 @@
     "cpu": "cortex-m7",
     "extra_flags": "-D__IMXRT1062__ -DARDUINO_TEENSY40",
     "f_cpu": "600000000",
-    "mcu": "imxrt1062"
+    "mcu": "imxrt1062",
+    "zephyr": {
+        "variant": "teensy40"
+    }
   },
   "connectivity": [
     "can"
@@ -16,7 +19,8 @@
     "jlink_device": "MIMXRT1062xxxxA"
   },
   "frameworks": [
-    "arduino"
+    "arduino",
+    "zephyr"
   ],
   "name": "Teensy 4.0",
   "upload": {

boards/teensy41.json

@@ -7,7 +7,10 @@
     "cpu": "cortex-m7",
     "extra_flags": "-D__IMXRT1062__ -DARDUINO_TEENSY41",
     "f_cpu": "600000000",
-    "mcu": "imxrt1062"
+    "mcu": "imxrt1062",
+    "zephyr": {
+        "variant": "teensy41"
+    }
   },
   "connectivity": [
     "can"
@@ -16,7 +19,8 @@
     "jlink_device": "MIMXRT1062xxxxA"
   },
   "frameworks": [
-    "arduino"
+    "arduino",
+    "zephyr"
   ],
   "name": "Teensy 4.1",
   "upload": {

builder/frameworks/zephyr.py

@@ -0,0 +1,29 @@
+# Copyright 2019-present PlatformIO <[email protected]>
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+"""
+The Zephyr Project is a scalable real-time operating system (RTOS) supporting multiple
+hardware architectures, optimized for resource constrained devices, and built with
+safety and security in mind.
+https://github.com/zephyrproject-rtos/zephyr
+"""
+
+from os.path import join
+
+from SCons.Script import Import, SConscript
+
+Import("env")
+
+SConscript(
+    join(env.PioPlatform().get_package_dir("framework-zephyr"), "scripts",
+         "platformio", "platformio-build.py"), exports="env")

builder/main.py

@@ -147,6 +147,13 @@
 # Target: Build executable and linkable firmware
 #
 
+if "zephyr" in env.get("PIOFRAMEWORK", []):
+    env.SConscript(
+        join(platform.get_package_dir(
+            "framework-zephyr"), "scripts", "platformio", "platformio-build-pre.py"),
+        exports={"env": env}
+    )
+
 target_elf = None
 if "nobuild" in COMMAND_LINE_TARGETS:
     target_elf = join("$BUILD_DIR", "${PROGNAME}.elf")

examples/zephyr-blink/.gitignore

@@ -0,0 +1 @@
+.pio

examples/zephyr-blink/.travis.yml

@@ -0,0 +1,67 @@
+# Continuous Integration (CI) is the practice, in software
+# engineering, of merging all developer working copies with a shared mainline
+# several times a day < https://docs.platformio.org/page/ci/index.html >
+#
+# Documentation:
+#
+# * Travis CI Embedded Builds with PlatformIO
+#   < https://docs.travis-ci.com/user/integration/platformio/ >
+#
+# * PlatformIO integration with Travis CI
+#   < https://docs.platformio.org/page/ci/travis.html >
+#
+# * User Guide for `platformio ci` command
+#   < https://docs.platformio.org/page/userguide/cmd_ci.html >
+#
+#
+# Please choose one of the following templates (proposed below) and uncomment
+# it (remove "# " before each line) or use own configuration according to the
+# Travis CI documentation (see above).
+#
+
+
+#
+# Template #1: General project. Test it using existing `platformio.ini`.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio run
+
+
+#
+# Template #2: The project is intended to be used as a library with examples.
+#
+
+# language: python
+# python:
+#     - "2.7"
+#
+# sudo: false
+# cache:
+#     directories:
+#         - "~/.platformio"
+#
+# env:
+#     - PLATFORMIO_CI_SRC=path/to/test/file.c
+#     - PLATFORMIO_CI_SRC=examples/file.ino
+#     - PLATFORMIO_CI_SRC=path/to/test/directory
+#
+# install:
+#     - pip install -U platformio
+#     - platformio update
+#
+# script:
+#     - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N

examples/zephyr-blink/README.md

@@ -0,0 +1,32 @@
+..  Copyright 2020-present PlatformIO <[email protected]>
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+       http://www.apache.org/licenses/LICENSE-2.0
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+
+How to build PlatformIO based project
+=====================================
+
+1. [Install PlatformIO Core](http://docs.platformio.org/page/core.html)
+2. Download [development platform with examples](https://github.com/platformio/platform-teensy/archive/develop.zip)
+3. Extract ZIP archive
+4. Run these commands:
+
+```shell
+# Change directory to example
+$ cd platform-teensy/examples/zephyr-blink
+
+# Build project
+$ pio run
+
+# Upload firmware
+$ pio run --target upload
+
+# Clean build files
+$ pio run --target clean
+```

examples/zephyr-blink/include/README

@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

examples/zephyr-blink/lib/README

@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

examples/zephyr-blink/platformio.ini

@@ -0,0 +1,18 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter, extra scripting
+;   Upload options: custom port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;
+; Please visit documentation for the other options and examples
+; http://docs.platformio.org/page/projectconf.html
+
+[env:teensy40]
+platform = teensy
+framework = zephyr 
+board = teensy40
+
+[env:teensy41]
+platform = teensy
+framework = zephyr 
+board = teensy41

examples/zephyr-blink/src/main.c

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2016 Intel Corporation
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr.h>
+#include <device.h>
+#include <devicetree.h>
+#include <drivers/gpio.h>
+
+/* 1000 msec = 1 sec */
+#define SLEEP_TIME_MS   1000
+
+/* The devicetree node identifier for the "led0" alias. */
+#define LED0_NODE DT_ALIAS(led0)
+
+#if DT_NODE_HAS_STATUS(LED0_NODE, okay)
+#define LED0	DT_GPIO_LABEL(LED0_NODE, gpios)
+#define PIN	DT_GPIO_PIN(LED0_NODE, gpios)
+#define FLAGS	DT_GPIO_FLAGS(LED0_NODE, gpios)
+#else
+/* A build error here means your board isn't set up to blink an LED. */
+#error "Unsupported board: led0 devicetree alias is not defined"
+#define LED0	""
+#define PIN	0
+#define FLAGS	0
+#endif
+
+void main(void)
+{
+	const struct device *dev;
+	bool led_is_on = true;
+	int ret;
+
+	dev = device_get_binding(LED0);
+	if (dev == NULL) {
+		return;
+	}
+
+	ret = gpio_pin_configure(dev, PIN, GPIO_OUTPUT_ACTIVE | FLAGS);
+	if (ret < 0) {
+		return;
+	}
+
+	while (1) {
+		gpio_pin_set(dev, PIN, (int)led_is_on);
+		led_is_on = !led_is_on;
+		k_msleep(SLEEP_TIME_MS);
+	}
+}

examples/zephyr-blink/test/README

@@ -0,0 +1,11 @@
+
+This directory is intended for PIO Unit Testing and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PIO Unit Testing:
+- https://docs.platformio.org/page/plus/unit-testing.html

examples/zephyr-blink/zephyr/CMakeLists.txt

@@ -0,0 +1,7 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.13.1)
+include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE)
+project(blinky)
+
+target_sources(app PRIVATE ../src/main.c)

examples/zephyr-blink/zephyr/prj.conf

@@ -0,0 +1,2 @@
+CONFIG_GPIO=y
+CONFIG_SERIAL=n

examples/zephyr-synchronization/.gitignore

@@ -0,0 +1 @@
+.pio