ZZ-Cat · ZZ-Cat · Oct 9, 2023 · Sep 16, 2023 · Sep 16, 2023 · Sep 18, 2023
diff --git a/README.md b/README.md
@@ -362,6 +362,9 @@ While CRSF for Arduino is primarily developed on the Adafruit Metro M4 Express,
   - Adafruit Metro M4 Express AirLift Lite
 - SAME51 based boards:
   - Adafruit Feather M4 CAN Express
+- Teensy 3.x
+  **NB:** The entire Teensy 3.x line is discontinued by the manufacturer, and is _not_ recommended for new projects.
+- Teensy 4.x
 
 Compatibility with other microcontroller boards may be added in future, if there is demand for it. Keep in mind that this will be subject to hardware limitations of the host microcontroller itself.
 

diff --git a/examples/channels/channels.ino b/examples/channels/channels.ino
@@ -2,8 +2,8 @@
  * @file channels.ino
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief This example sketch shows how to receive RC channels from a CRSF receiver using the CRSF for Arduino library.
- * @version 0.4.0
- * @date 2023-08-01
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *

diff --git a/examples/gps_telemetry/gps_telemetry.ino b/examples/gps_telemetry/gps_telemetry.ino
@@ -2,8 +2,8 @@
  * @file gps_telemetry.ino
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief This example sketch demonstrates how to pass data from a GPS module into CRSF for Arduino & transmit it as telemetry.
- * @version 0.4.0
- * @date 2023-08-01
+ * @version 0.5.0
+ * @date 2023-09-17
  * 
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=CRSFforArduino
-version=0.4.0
+version=0.5.0
 author=Cassandra Robinson <nicad.heli.flier@gmail.com>
 maintainer=Cassandra Robinson <nicad.heli.flier@gmail.com>
 sentence=An Arduino Library for communicating with ExpressLRS receivers.

diff --git a/platformio.ini b/platformio.ini
@@ -251,6 +251,60 @@ debug_tool = ${common_samd51.debugger}
 lib_deps = ${common_samd51.lib_deps}
 upload_protocol = ${common_samd51.sketch_upload_protocol}
 
+; Teensy Boards
+[env:teensy_30]
+platform = teensy
+board = teensy30
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
+[env:teensy_31]
+platform = teensy
+board = teensy31
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
+[env:teensy_32]
+# I am pretty much having to fake Teensy 3.2 support here,
+# because PlatformIO lumps Teensy 3.1 and Teensy 3.2 together as one board.
+# Yet, the Arduino IDE sees Teensy 3.1 and Teensy 3.2 as two separate boards.
+# This can cause a "false negative" in the Compatibility Table with Teensy 3.2.
+platform = teensy
+board = teensy31
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
+[env:teensy_35]
+platform = teensy
+board = teensy35
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
+[env:teensy_36]
+platform = teensy
+board = teensy36
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
+[env:teensy_40]
+platform = teensy
+board = teensy40
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
+[env:teensy_41]
+platform = teensy
+board = teensy41
+build_flags =
+    -DUSE_ABSTRACTION_LAYER
+    -DCRC_OPTIMISATION_LEVEL=0
+
 [platformio]
 default_envs = adafruit_metro_m0
 include_dir = src/include

diff --git a/src/CRSFforArduino.h b/src/CRSFforArduino.h
@@ -2,8 +2,8 @@
  * @file CRSFforArduino.h
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief Top level header for CRSF for Arduino, to help with Arduino IDE compatibility.
- * @version 0.4.0
- * @date 2023-08-08
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *

diff --git a/src/lib/CRSFforArduino/src/CRSFforArduino.cpp b/src/lib/CRSFforArduino/src/CRSFforArduino.cpp
@@ -2,8 +2,8 @@
  * @file CRSFforArduino.cpp
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief CRSF for Arduino facilitates the use of ExpressLRS RC receivers in Arduino projects.
- * @version 0.4.0
- * @date 2023-08-08
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *

diff --git a/src/lib/CRSFforArduino/src/CRSFforArduino.h b/src/lib/CRSFforArduino/src/CRSFforArduino.h
@@ -2,8 +2,8 @@
  * @file CRSFforArduino.h
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief CRSF for Arduino facilitates the use of ExpressLRS RC receivers in Arduino projects.
- * @version 0.4.0
- * @date 2023-08-08
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *

diff --git a/src/lib/CRSFforArduino/src/Hardware/CompatibilityTable/CompatibilityTable.cpp b/src/lib/CRSFforArduino/src/Hardware/CompatibilityTable/CompatibilityTable.cpp
@@ -3,8 +3,8 @@
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief This is the implementation of the Compatibility Table.
  * It is used to determine if the target development board is compatible with CRSF for Arduino.
- * @version 0.4.0
- * @date 2023-08-08
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *
@@ -175,6 +175,55 @@ namespace hal
         device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
 #endif // ARDUINO_SAMD_ADAFRUIT
 
+#elif defined(CORE_TEENSY)
+#if defined(__MK20DX128__)
+#if defined(ARDUINO_TEENSY30)
+        device.type.devboard = DEVBOARD_TEENSY_30;
+#pragma message "Teensy 3.x is not recommended for new projects. Please consider using Teensy 4.0 or later instead."
+#else
+#warning "Devboard not supported. Please check the compatibility table."
+        device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
+#endif
+#elif defined(__MK20DX256__)
+/* PlatformIO treats Teensy 3.1 and Teensy 3.2 as the same board, but the Arduino IDE treats them
+as two separate boards. To prevent a false negative, check for both boards. */
+#if defined(ARDUINO_TEENSY31) || defined(ARDUINO_TEENSY32)
+        device.type.devboard = DEVBOARD_TEENSY_31_32;
+#pragma message "Teensy 3.x is not recommended for new projects. Please consider using Teensy 4.0 or later instead."
+#else // Incompatible devboards
+#warning "Devboard not supported. Please check the compatibility table."
+        device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
+#endif
+#elif defined(__MK64FX512__)
+#if defined(ARDUINO_TEENSY35)
+        device.type.devboard = DEVBOARD_TEENSY_35;
+#pragma message "Teensy 3.x is not recommended for new projects. Please consider using Teensy 4.0 or later instead."
+#else // Incompatible devboards
+#warning "Devboard not supported. Please check the compatibility table."
+        device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
+#endif
+#elif defined(__MK66FX1M0__)
+#if defined(ARDUINO_TEENSY36)
+        device.type.devboard = DEVBOARD_TEENSY_36;
+#pragma message "Teensy 3.x is not recommended for new projects. Please consider using Teensy 4.0 or later instead."
+#else // Incompatible devboards
+#warning "Devboard not supported. Please check the compatibility table."
+        device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
+#endif
+#elif defined(__IMXRT1062__)
+#if defined(ARDUINO_TEENSY40)
+        device.type.devboard = DEVBOARD_TEENSY_40;
+#elif defined(ARDUINO_TEENSY41)
+        device.type.devboard = DEVBOARD_TEENSY_41;
+#else // Incompatible devboards
+#warning "Devboard not supported. Please check the compatibility table."
+        device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
+#endif
+#else // Incompatible devboards
+#warning "Devboard not supported. Please check the compatibility table."
+        device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
+#endif
+
 #else // Unsupported architecture
 #error "Unsupported architecture. Please check the compatibility table."
         device.type.devboard = DEVBOARD_IS_INCOMPATIBLE;
@@ -197,7 +246,26 @@ namespace hal
      */
     bool CompatibilityTable::isDevboardCompatible(const char *name)
     {
-        return strcmp(name, deviceNames[DEVBOARD_IS_INCOMPATIBLE]) != 0 ? true : false;
+        // Debug.
+        Serial.print("[Compatibility Table | DEBUG]: Board is ");
+
+        if (strcmp(name, deviceNames[DEVBOARD_IS_INCOMPATIBLE]) == 0)
+        {
+            // Debug.
+            Serial.println("incompatible.");
+
+            return false;
+        }
+
+        else
+        {
+            // Debug.
+            Serial.println("compatible.");
+
+            return true;
+        }
+
+        // return strcmp(name, deviceNames[DEVBOARD_IS_INCOMPATIBLE]) != 0 ? true : false;
     }
 
     /**
@@ -207,11 +275,18 @@ namespace hal
      */
     const char *CompatibilityTable::getDevboardName()
     {
-        if (device.type.devboard > DEVBOARD_COUNT)
+        if (device.type.devboard >= DEVBOARD_COUNT)
         {
+            // Debug.
+            Serial.println("\r\n[Compatibility Table | FATAL ERROR]: Board index is out of bounds.");
+
             return deviceNames[DEVBOARD_IS_INCOMPATIBLE];
         }
 
+        // Debug.
+        Serial.print("\r\n[Compatibility Table | DEBUG]: Board is ");
+        Serial.println(deviceNames[device.type.devboard]);
+
         return deviceNames[device.type.devboard];
     }
 } // namespace hal
diff --git a/src/lib/CRSFforArduino/src/Hardware/CompatibilityTable/CompatibilityTable.h b/src/lib/CRSFforArduino/src/Hardware/CompatibilityTable/CompatibilityTable.h
@@ -2,8 +2,8 @@
  * @file CompatibilityTable.h
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief This is the Compatibility Table header file.
- * @version 0.4.0
- * @date 2023-08-08
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *
@@ -79,6 +79,14 @@ namespace hal
             // Seeed Studio boards.
             DEVBOARD_SEEEDSTUDIO_XIAO_M0,
 
+            // Teensy boards.
+            DEVBOARD_TEENSY_30,
+            DEVBOARD_TEENSY_31_32,
+            DEVBOARD_TEENSY_35,
+            DEVBOARD_TEENSY_36,
+            DEVBOARD_TEENSY_40,
+            DEVBOARD_TEENSY_41,
+
             DEVBOARD_COUNT
         } ct_devboards_t;
 
@@ -119,6 +127,12 @@ namespace hal
             "Arduino MKRZERO",
             "Arduino Nano 33 IoT",
             "Arduino Zero",
-            "Seeed Studio Xiao SAMD21"};
+            "Seeed Studio Xiao SAMD21",
+            "Teensy 3.0",
+            "Teensy 3.1/3.2",
+            "Teensy 3.5",
+            "Teensy 3.6",
+            "Teensy 4.0",
+            "Teensy 4.1"};
     };
 } // namespace hal
diff --git a/src/lib/CRSFforArduino/src/Hardware/DevBoards/DevBoards.cpp b/src/lib/CRSFforArduino/src/Hardware/DevBoards/DevBoards.cpp
@@ -2,8 +2,8 @@
  * @file DevBoards.cpp
  * @author Cassandra "ZZ Cat" Robinson (nicad.heli.flier@gmail.com)
  * @brief This is the DevBoards implementation file. It is used to configure CRSF for Arduino for specific development boards.
- * @version 0.4.0
- * @date 2023-08-08
+ * @version 0.5.0
+ * @date 2023-09-17
  *
  * @copyright Copyright (c) 2023, Cassandra "ZZ Cat" Robinson. All rights reserved.
  *
@@ -84,25 +84,46 @@ namespace hal
         if (uart_port != nullptr)
         {
             uart_port->~Uart();
+
+            // Debug.
+            Serial.println("[Development Board | DEBUG]: Deleted previous UART port.");
         }
 
         // Set the UART port.
         switch (port)
         {
             case 0:
                 uart_port = &Serial1;
+
+                // Debug.
+                Serial.println("[Development Board | DEBUG]: Using Serial1.");
                 break;
 
             case 1: // TO-DO: Fix this.
                 uart_port = new Uart(&sercom2, rx, tx, SERCOM_RX_PAD_1, UART_TX_PAD_0);
+
+                // Debug.
+                Serial.println("[Development Board | DEBUG]: Using Serial2.");
                 break;
 
             default:
                 uart_port = nullptr;
+
+                // Debug.
+                Serial.println("[Development Board | ERROR]: No UART port was defined.");
                 break;
         }
+#elif defined(TEENSYDUINO)
+        // Default to Serial1 if Teensyduino is being used. May expand this in the future, if requested.
+        uart_port = &Serial1;
+
+        // Debug.
+        Serial.println("[Development Board | DEBUG]: Using Serial1.");
 #else
         uart_port = nullptr;
+
+        // Debug.
+        Serial.println("[Development Board | ERROR]: No UART port was defined.");
 #endif
     }
 
@@ -111,7 +132,9 @@ namespace hal
         // If UART port was defined beforehand, delete it.
         if (uart_port != nullptr)
         {
+#ifndef TEENSYDUINO
             uart_port->~Uart();
+#endif
         }
     }
 
@@ -157,6 +180,14 @@ namespace hal
         return uart_port->write(c);
     }
 
+#if defined(TEENSYDUINO)
+    size_t DevBoards::write(const uint8_t *buffer, size_t size)
+    {
+        // Write a buffer to the UART port.
+        return uart_port->write(buffer, size);
+    }
+#endif
+
     DevBoards::operator bool()
     {
         // Return if the UART port is available.