Will the PulsePosition Library work with Teensy 4.0?

[rebootxl]

Can the PulsePosition library work with the newest Teensy 4.0?



I am running the LoopBack example sketch (without modification) and receiving compilation errors when I attempt to compile with 4.0 (compilation dump below). If I change the board to Teensy 3.2, then the example compiles successfully.



I went to find out why the CLOCKS_PER_MICROSECOND defines was not being included. I found that there are #if define checks for KINETISK and KINETISL (Kinetis family of microcontrollers) in the PulsePosition.cpp file on lines 74 and 76, that do not get included for the Teensy 4.0 (RT1060 family of microcontrollers). Here is a snippet:

// convert from microseconds to I/O clock ticks
#if defined(KINETISK)
#define CLOCKS_PER_MICROSECOND ((double)F_BUS / 1000000.0)
#elif defined(KINETISL)
#define CLOCKS_PER_MICROSECOND ((double)F_PLL / 2000000.0)
#endif
#define TX_MINIMUM_SIGNAL_CLOCKS (uint32_t)(TX_MINIMUM_SIGNAL * CLOCKS_PER_MICROSECOND)
#define TX_MAXIMUM_SIGNAL_CLOCKS (uint32_t)(TX_MAXIMUM_SIGNAL * CLOCKS_PER_MICROSECOND)
#define TX_DEFAULT_SIGNAL_CLOCKS (uint32_t)(TX_DEFAULT_SIGNAL * CLOCKS_PER_MICROSECOND)
#define TX_MINIMUM_SPACE_CLOCKS (uint32_t)(TX_MINIMUM_SPACE * CLOCKS_PER_MICROSECOND)
#define TX_MINIMUM_FRAME_CLOCKS (uint32_t)(TX_MINIMUM_FRAME * CLOCKS_PER_MICROSECOND)
#define TX_PULSE_WIDTH_CLOCKS (uint32_t)(TX_PULSE_WIDTH * CLOCKS_PER_MICROSECOND)
#define RX_MINIMUM_SPACE_CLOCKS (uint32_t)(RX_MINIMUM_SPACE * CLOCKS_PER_MICROSECOND)



Here is the complete compilation dump with verbose compilation enabled:

Arduino: 1.8.9 (Linux), TD: 1.47, Board: "Teensy 4.0, Serial, Faster, US English"

/home/rebootxl/Downloads/arduino-1.8.9/arduino-builder -dump-prefs -logger=machine -hardware /home/rebootxl/Downloads/arduino-1.8.9/hardware -tools /home/rebootxl/Downloads/arduino-1.8.9/tools-builder -tools /home/rebootxl/Downloads/arduino-1.8.9/hardware/tools/avr -built-in-libraries /home/rebootxl/Downloads/arduino-1.8.9/libraries -libraries /home/rebootxl/Arduino/libraries -fqbn=teensy:avr:teensy40:usb=serial,opt=o2std,keys =en-us -ide-version=10809 -build-path /tmp/arduino_build_567675 -warnings=none -build-cache /tmp/arduino_cache_446934 -verbose /home/rebootxl/Arduino/libraries/PulsePosition/examples/LoopBack/LoopBack.ino
/home/rebootxl/Downloads/arduino-1.8.9/arduino-builder -compile -logger=machine -hardware /home/rebootxl/Downloads/arduino-1.8.9/hardware -tools /home/rebootxl/Downloads/arduino-1.8.9/tools-builder -tools /home/rebootxl/Downloads/arduino-1.8.9/hardware/tools/avr -built-in-libraries /home/rebootxl/Downloads/arduino-1.8.9/libraries -libraries /home/rebootxl/Arduino/libraries -fqbn=teensy:avr:teensy40:usb=serial,opt=o2std,keys =en-us -ide-version=10809 -build-path /tmp/arduino_build_567675 -warnings=none -build-cache /tmp/arduino_cache_446934 -verbose /home/rebootxl/Arduino/libraries/PulsePosition/examples/LoopBack/LoopBack.ino
Using board 'teensy40' from platform in folder: /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr
Using core 'teensy4' from platform in folder: /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr
Detecting libraries used...
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 /tmp/arduino_build_567675/sketch/LoopBack.ino.cpp -o /dev/null
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 -I/home/rebootxl/Arduino/libraries/PulsePosition /tmp/arduino_build_567675/sketch/LoopBack.ino.cpp -o /dev/null
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 -I/home/rebootxl/Arduino/libraries/PulsePosition /home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp -o /dev/null
Generating function prototypes...
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -E -CC -x c++ -w -g -Wall -ffunction-sections -fdata-sections -nostdlib -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 -I/home/rebootxl/Arduino/libraries/PulsePosition /tmp/arduino_build_567675/sketch/LoopBack.ino.cpp -o /tmp/arduino_build_567675/preproc/ctags_target_for_gcc_minus_e.cpp
/home/rebootxl/Downloads/arduino-1.8.9/tools-builder/ctags/5.8-arduino11/ctags -u --language-force=c++ -f - --c++-kinds=svpf --fields=KSTtzns --line-directives /tmp/arduino_build_567675/preproc/ctags_target_for_gcc_minus_e.cpp
Compiling sketch...
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/precompile_helper /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 /tmp/arduino_build_567675 /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -x c++-header -O2 -g -Wall -ffunction-sections -fdata-sections -nostdlib -MMD -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 /tmp/arduino_build_567675/pch/Arduino.h -o /tmp/arduino_build_567675/pch/Arduino.h.gch
Using previously compiled file: /tmp/arduino_build_567675/pch/Arduino.h.gch
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -c -O2 -g -Wall -ffunction-sections -fdata-sections -nostdlib -MMD -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/tmp/arduino_build_567675/pch -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 -I/home/rebootxl/Arduino/libraries/PulsePosition /tmp/arduino_build_567675/sketch/LoopBack.ino.cpp -o /tmp/arduino_build_567675/sketch/LoopBack.ino.cpp.o
Compiling libraries...
Compiling library "PulsePosition"
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/../tools/arm/bin/arm-none-eabi-g++ -c -O2 -g -Wall -ffunction-sections -fdata-sections -nostdlib -MMD -std=gnu++14 -fno-exceptions -fpermissive -fno-rtti -fno-threadsafe-statics -felide-constructors -Wno-error=narrowing -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-d16 -D__IMXRT1062__ -DTEENSYDUINO=147 -DARDUINO=10809 -DF_CPU=600000000 -DUSB_SERIAL -DLAYOUT_US_ENGLISH -I/tmp/arduino_build_567675/pch -I/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4 -I/home/rebootxl/Arduino/libraries/PulsePosition /home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp -o /tmp/arduino_build_567675/libraries/PulsePosition/PulsePosition.cpp.o
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In constructor 'PulsePositionOutput::PulsePositionOutput()':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:83:65: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
#define TX_MINIMUM_FRAME_CLOCKS (uint32_t)(TX_MINIMUM_FRAME * CLOCKS_PER_MICROSECOND)
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:109:19: note: in expansion of macro 'TX_MINIMUM_FRAME_CLOCKS'
pulse_width[0] = TX_MINIMUM_FRAME_CLOCKS;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In constructor 'PulsePositionOutput::PulsePositionOutput(int)':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:83:65: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
#define TX_MINIMUM_FRAME_CLOCKS (uint32_t)(TX_MINIMUM_FRAME * CLOCKS_PER_MICROSECOND)
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:119:19: note: in expansion of macro 'TX_MINIMUM_FRAME_CLOCKS'
pulse_width[0] = TX_MINIMUM_FRAME_CLOCKS;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In member function 'bool PulsePositionOutput::begin(uint8_t, uint8_t)':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:142:6: error: 'FTM0_MOD' was not declared in this scope
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:142:29: error: 'FTM0_SC' was not declared in this scope
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:88:24: error: 'FTM_SC_TOIE' was not declared in this scope
#define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:142:48: note: in expansion of macro 'FTM0_SC_VALUE'
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:88:51: error: 'FTM_SC_CLKS' was not declared in this scope
#define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:142:48: note: in expansion of macro 'FTM0_SC_VALUE'
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:88:66: error: 'FTM_SC_PS' was not declared in this scope
#define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:142:48: note: in expansion of macro 'FTM0_SC_VALUE'
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:144:3: error: 'FTM0_CNT' was not declared in this scope
FTM0_CNT = 0;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:152:33: error: 'FTM0_C4SC' was not declared in this scope
case 6: channel = 4; reg = &FTM0_C4SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:153:33: error: 'FTM0_C2SC' was not declared in this scope
case 9: channel = 2; reg = &FTM0_C2SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:154:33: error: 'FTM0_C3SC' was not declared in this scope
case 10: channel = 3; reg = &FTM0_C3SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:155:33: error: 'FTM0_C5SC' was not declared in this scope
case 20: channel = 5; reg = &FTM0_C5SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:156:33: error: 'FTM0_C0SC' was not declared in this scope
case 22: channel = 0; reg = &FTM0_C0SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:157:33: error: 'FTM0_C1SC' was not declared in this scope
case 23: channel = 1; reg = &FTM0_C1SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:166:15: error: cannot convert 'volatile uint32_t* {aka volatile long unsigned int*}' to 'volatile uint8_t* {aka volatile unsigned char*}' in assignment
framePinReg = portOutputRegister(framePin);
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:169:17: error: 'FRAME_PIN_SET' was not declared in this scope
FRAME_PIN_SET();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:178:24: error: 'CSC_CHANGE' was not declared in this scope
CSC_CHANGE(ftm, cscSet); // set on compare match & interrupt
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:181:45: error: 'PORT_PCR_MUX' was not declared in this scope
*portConfigRegister(txPin) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:181:49: error: 'PORT_PCR_DSE' was not declared in this scope
*portConfigRegister(txPin) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:181:64: error: 'PORT_PCR_SRE' was not declared in this scope
*portConfigRegister(txPin) = PORT_PCR_MUX(4) | PORT_PCR_DSE | PORT_PCR_SRE;
^
In file included from /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/core_pins.h:32:0,
from /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/wiring.h:38,
from /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/WProgram.h:45,
from /tmp/arduino_build_567675/pch/Arduino.h:6,
from /home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.h:29,
from /home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:31:
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:182:20: error: 'IRQ_FTM0' was not declared in this scope
NVIC_SET_PRIORITY(IRQ_FTM0, 32);
^
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/imxrt.h:8201:83: note: in definition of macro 'NVIC_SET_PRIORITY'
#define NVIC_SET_PRIORITY(irqnum, priority) (*((volatile uint8_t *)0xE000E400 + (irqnum)) = (uint8_t)(priority))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In member function 'bool PulsePositionOutput::write(uint8_t, float)':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:193:26: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
clocks = microseconds * CLOCKS_PER_MICROSECOND;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In member function 'void PulsePositionOutput::isr()':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:84:63: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
#define TX_PULSE_WIDTH_CLOCKS (uint32_t)(TX_PULSE_WIDTH * CLOCKS_PER_MICROSECOND)
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:223:14: note: in expansion of macro 'TX_PULSE_WIDTH_CLOCKS'
ftm->cv += TX_PULSE_WIDTH_CLOCKS;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:224:34: error: 'CSC_CHANGE_INTACK' was not declared in this scope
CSC_CHANGE_INTACK(ftm, cscClear); // clear on compare match & interrupt
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:84:63: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
#define TX_PULSE_WIDTH_CLOCKS (uint32_t)(TX_PULSE_WIDTH * CLOCKS_PER_MICROSECOND)
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:237:36: note: in expansion of macro 'TX_PULSE_WIDTH_CLOCKS'
width = pulse_buffer[channel] - TX_PULSE_WIDTH_CLOCKS;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:244:20: error: 'FRAME_PIN_SET' was not declared in this scope
FRAME_PIN_SET();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:246:22: error: 'FRAME_PIN_CLEAR' was not declared in this scope
FRAME_PIN_CLEAR();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:255:33: error: 'CSC_CHANGE_INTACK' was not declared in this scope
CSC_CHANGE_INTACK(ftm, cscSet); // set on compare match & interrupt
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:259:28: error: 'CSC_INTACK' was not declared in this scope
CSC_INTACK(ftm, cscClear); // clear on compare match & interrupt
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In function 'void ftm0_isr()':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:268:6: error: 'FTM0_SC' was not declared in this scope
if (FTM0_SC & 0x80) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:279:26: error: 'FTM0_C0SC' was not declared in this scope
if ((maskin & 0x01) && (FTM0_C0SC & 0x80)) PulsePositionInput::list[0]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:280:26: error: 'FTM0_C1SC' was not declared in this scope
if ((maskin & 0x02) && (FTM0_C1SC & 0x80)) PulsePositionInput::list[1]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:281:26: error: 'FTM0_C2SC' was not declared in this scope
if ((maskin & 0x04) && (FTM0_C2SC & 0x80)) PulsePositionInput::list[2]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:282:26: error: 'FTM0_C3SC' was not declared in this scope
if ((maskin & 0x08) && (FTM0_C3SC & 0x80)) PulsePositionInput::list[3]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:283:26: error: 'FTM0_C4SC' was not declared in this scope
if ((maskin & 0x10) && (FTM0_C4SC & 0x80)) PulsePositionInput::list[4]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:284:26: error: 'FTM0_C5SC' was not declared in this scope
if ((maskin & 0x20) && (FTM0_C5SC & 0x80)) PulsePositionInput::list[5]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:290:27: error: 'FTM0_C0SC' was not declared in this scope
if ((maskout & 0x01) && (FTM0_C0SC & 0x80)) PulsePositionOutput::list[0]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:291:27: error: 'FTM0_C1SC' was not declared in this scope
if ((maskout & 0x02) && (FTM0_C1SC & 0x80)) PulsePositionOutput::list[1]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:292:27: error: 'FTM0_C2SC' was not declared in this scope
if ((maskout & 0x04) && (FTM0_C2SC & 0x80)) PulsePositionOutput::list[2]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:293:27: error: 'FTM0_C3SC' was not declared in this scope
if ((maskout & 0x08) && (FTM0_C3SC & 0x80)) PulsePositionOutput::list[3]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:294:27: error: 'FTM0_C4SC' was not declared in this scope
if ((maskout & 0x10) && (FTM0_C4SC & 0x80)) PulsePositionOutput::list[4]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:295:27: error: 'FTM0_C5SC' was not declared in this scope
if ((maskout & 0x20) && (FTM0_C5SC & 0x80)) PulsePositionOutput::list[5]->isr();
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In member function 'bool PulsePositionInput::begin(uint8_t)':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:327:6: error: 'FTM0_MOD' was not declared in this scope
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:327:29: error: 'FTM0_SC' was not declared in this scope
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:88:24: error: 'FTM_SC_TOIE' was not declared in this scope
#define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:327:48: note: in expansion of macro 'FTM0_SC_VALUE'
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:88:51: error: 'FTM_SC_CLKS' was not declared in this scope
#define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:327:48: note: in expansion of macro 'FTM0_SC_VALUE'
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:88:66: error: 'FTM_SC_PS' was not declared in this scope
#define FTM0_SC_VALUE (FTM_SC_TOIE | FTM_SC_CLKS(1) | FTM_SC_PS(0))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:327:48: note: in expansion of macro 'FTM0_SC_VALUE'
if (FTM0_MOD != 0xFFFF || (FTM0_SC & 0x7F) != FTM0_SC_VALUE) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:329:3: error: 'FTM0_CNT' was not declared in this scope
FTM0_CNT = 0;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:337:33: error: 'FTM0_C4SC' was not declared in this scope
case 6: channel = 4; reg = &FTM0_C4SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:338:33: error: 'FTM0_C2SC' was not declared in this scope
case 9: channel = 2; reg = &FTM0_C2SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:339:33: error: 'FTM0_C3SC' was not declared in this scope
case 10: channel = 3; reg = &FTM0_C3SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:340:33: error: 'FTM0_C5SC' was not declared in this scope
case 20: channel = 5; reg = &FTM0_C5SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:341:33: error: 'FTM0_C0SC' was not declared in this scope
case 22: channel = 0; reg = &FTM0_C0SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:342:33: error: 'FTM0_C1SC' was not declared in this scope
case 23: channel = 1; reg = &FTM0_C1SC; break;
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:356:43: error: 'PORT_PCR_MUX' was not declared in this scope
*portConfigRegister(pin) = PORT_PCR_MUX(4);
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:357:25: error: 'CSC_CHANGE' was not declared in this scope
CSC_CHANGE(ftm, cscEdge); // input capture & interrupt on rising edge
^
In file included from /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/core_pins.h:32:0,
from /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/wiring.h:38,
from /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/WProgram.h:45,
from /tmp/arduino_build_567675/pch/Arduino.h:6,
from /home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.h:29,
from /home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:31:
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:358:20: error: 'IRQ_FTM0' was not declared in this scope
NVIC_SET_PRIORITY(IRQ_FTM0, 32);
^
/home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/cores/teensy4/imxrt.h:8201:83: note: in definition of macro 'NVIC_SET_PRIORITY'
#define NVIC_SET_PRIORITY(irqnum, priority) (*((volatile uint8_t *)0xE000E400 + (irqnum)) = (uint8_t)(priority))
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In member function 'void PulsePositionInput::isr()':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:368:25: error: 'CSC_INTACK' was not declared in this scope
CSC_INTACK(ftm, cscEdge); // input capture & interrupt on rising edge
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:85:65: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
#define RX_MINIMUM_SPACE_CLOCKS (uint32_t)(RX_MINIMUM_SPACE * CLOCKS_PER_MICROSECOND)
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:377:15: note: in expansion of macro 'RX_MINIMUM_SPACE_CLOCKS'
if (count >= RX_MINIMUM_SPACE_CLOCKS) {
^
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp: In member function 'float PulsePositionInput::read(uint8_t)':
/home/rebootxl/Arduino/libraries/PulsePosition/PulsePosition.cpp:417:31: error: 'CLOCKS_PER_MICROSECOND' was not declared in this scope
return (float)value / (float)CLOCKS_PER_MICROSECOND;
^
Multiple libraries were found for "PulsePosition.h"
Used: /home/rebootxl/Arduino/libraries/PulsePosition
Not used: /home/rebootxl/Downloads/arduino-1.8.9/hardware/teensy/avr/libraries/PulsePosition
Using library PulsePosition at version 1.0 in folder: /home/rebootxl/Arduino/libraries/PulsePosition
Error compiling for board Teensy 4.0.

[manitou]

Can the PulsePosition library work with the newest Teensy 4.0?

It is not ported to T4 yet. It's on Paul's TODO list. But you are welcome to port it yourself.

https://forum.pjrc.com/threads/54711...l=1#post193717

https://forum.pjrc.com/threads/57894...l=1#post218016

[rebootxl]

Thank you for the clarity! I'd be happy to port it.

I may purchase some Teensy 3.2s in the meantime.

[manitou]

Re: T4 PulsePosition

see proof-of-concept sketches and discussion at
https://forum.pjrc.com/threads/57894...l=1#post219681