Compile TMCStepper arduino library for Rust project

.cargo/config.toml

@@ -1,5 +1,7 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# for BluePill
 # runner = "probe-run --probe C296C294070132124647524B4E00 --chip STM32F103C8"
+# for BigTreeTech v1.1
 runner = "probe-run --probe 15003200090000524A51544E --chip STM32F103RE"
 rustflags = [
   "-C", "linker=flip-link",

Cargo.toml

@@ -5,6 +5,14 @@ name = "drawer-robot"
 version = "0.1.0"
 edition = "2021"
 
+[build-dependencies]
+envmnt = "0.10.4"
+serde = { version = "1.0", features = ["derive"] }
+serde_yaml = "0.9"
+glob = "0.3"
+cc = "1.0.74"
+bindgen = "0.68.1"
+
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 critical-section = "1.1.1"

arduino.yaml

@@ -0,0 +1,86 @@
+arduino_home: $HOME/Library/Arduino15
+external_home: $HOME/Documents/Arduino
+
+core_version: STM32F1
+# for BluePill
+variant: generic_stm32f103c
+# for BigTreeTech v1.1
+# variant: generic_stm32f103r
+
+arm_none_eabi_gcc_version: 4.8.3-2014q1
+arduino_libraries:
+external_libraries:
+  - TMCStepper
+
+definitions:
+  ARDUINO: '10607'
+  F_CPU: 72000000L
+  # TODO: maybe I would need to add that, but better in code, manually, cause we have the same value in 'variant'
+  # ARDUINO_GENERIC_STM32F103C: '1'
+  __STM32F1__: '1'
+  ARDUINO_ARCH_STM32F1: '1'
+  MCU_STM32F103C8: '1'
+  # MCU_STM32F103RE: '1'
+flags:
+  - '-mcpu=cortex-m3'
+
+
+bindgen_lists:
+  allowlist_function:
+    - TMCStepper.*
+    - TMC2209Stepper.*
+  allowlist_type:
+    - TMCStepper.*
+    - TMC2209Stepper.*
+  blocklist_function:
+    - Print.*
+    - String.*
+    - Stream_readString
+    - Stream_readStringUntil
+  blocklist_type:
+    - Print.*
+    - String.*
+
+
+# Arduino IDE shows me this line:
+#
+# /Users/pronvis/Library/Arduino15/packages/arduino/tools/arm-none-eabi-gcc/4.8.3-2014q1/bin/arm-none-eabi-gcc
+# -c
+# -g
+# -Os
+# -w
+# -DDEBUG_LEVEL=DEBUG_NONE
+# -std=gnu11
+# -MMD
+# -ffunction-sections
+# -fdata-sections
+# -nostdlib
+# --param
+# max-inline-insns-single=500
+# -DBOARD_generic_stm32f103c
+# -DVECT_TAB_ADDR=0x8000000
+# -DERROR_LED_PORT=GPIOC
+# -DERROR_LED_PIN=13
+# -mcpu=cortex-m3
+# -DF_CPU=72000000L
+# -DARDUINO=10607
+# -DARDUINO_GENERIC_STM32F103C
+# -DARDUINO_ARCH_STM32F1
+# -DCONFIG_MAPLE_MINI_NO_DISABLE_DEBUG=1
+# -DSERIAL_USB
+# -DGENERIC_BOOTLOADER
+# -D
+# -mthumb
+# -march=armv7-m
+# -D__STM32F1__
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/system/libmaple
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/system/libmaple/include
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/system/libmaple/stm32f1/include
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/system/libmaple/usb/stm32f1
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/system/libmaple/usb/usb_lib
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/cores/maple
+# -I/Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/variants/generic_stm32f103c
+# /Users/pronvis/Documents/Arduino/hardware/Arduino_STM32/STM32F1/variants/generic_stm32f103c/wirish/syscalls.c
+# -o
+# /private/var/folders/n3/xdk6njln73sg_kmlcd076cth0000gn/T/arduino/sketches/879DAD20BC9E9FAD6E52CDDC4903C2B9/core/wirish/syscalls.c.o
+

build.rs

@@ -1,3 +1,267 @@
+use bindgen::{Bindings, Builder};
+use cc::Build;
+use glob::glob;
+use serde::Deserialize;
+use std::collections::HashMap;
+use std::path::PathBuf;
+
+const CONFIG_FILE: &str = "arduino.yaml";
+
+#[derive(Debug, Deserialize)]
+struct BindgenLists {
+    pub allowlist_function: Vec<String>,
+    pub allowlist_type: Vec<String>,
+    pub blocklist_function: Vec<String>,
+    pub blocklist_type: Vec<String>,
+}
+
+#[derive(Debug, Deserialize)]
+struct Config {
+    pub arduino_home: String,
+    pub external_home: String,
+    pub core_version: String,
+    pub variant: String,
+    pub arm_none_eabi_gcc_version: String,
+    pub arduino_libraries: Vec<String>,
+    pub external_libraries: Vec<String>,
+    pub definitions: HashMap<String, String>,
+    pub flags: Vec<String>,
+    pub bindgen_lists: BindgenLists,
+}
+
+impl Config {
+    fn arduino_package_path(&self) -> PathBuf {
+        let expanded = envmnt::expand(&self.arduino_home, None);
+        let arduino_home_path = PathBuf::from(expanded);
+        arduino_home_path.join("packages").join("arduino")
+    }
+
+    fn core_path(&self) -> PathBuf {
+        let expanded = envmnt::expand(&self.external_home, None);
+        PathBuf::from(expanded)
+            .join("hardware")
+            .join("Arduino_STM32")
+            .join(&self.core_version)
+    }
+
+    fn arm_none_eabi_gcc_home(&self) -> PathBuf {
+        self.arduino_package_path()
+            .join("tools")
+            .join("arm-none-eabi-gcc")
+            .join(&self.arm_none_eabi_gcc_version)
+    }
+
+    fn arm_none_eabi_gcc(&self) -> PathBuf {
+        self.arm_none_eabi_gcc_home()
+            .join("bin")
+            .join("arm-none-eabi-g++")
+    }
+
+    fn arduino_core_path(&self) -> PathBuf {
+        self.core_path().join("cores")
+    }
+
+    fn arduino_include_dirs(&self) -> Vec<PathBuf> {
+        let variant_path = self.core_path().join("variants").join(&self.variant);
+        let arm_none_eabi_gcc_include_path = self
+            .arm_none_eabi_gcc_home()
+            .join("arm-none-eabi")
+            .join("include");
+        vec![
+            self.arduino_core_path(),
+            variant_path,
+            arm_none_eabi_gcc_include_path,
+        ]
+    }
+
+    fn arduino_libraries_path(&self) -> Vec<PathBuf> {
+        let library_root = self.core_path().join("libraries");
+        let mut result = vec![];
+        for library in &self.arduino_libraries {
+            result.push(library_root.join(library).join("src"))
+        }
+        result
+    }
+
+    fn external_libraries_path(&self) -> Vec<PathBuf> {
+        let expanded = envmnt::expand(&self.external_home, None);
+        let external_library_root = PathBuf::from(expanded).join("libraries");
+        let mut result = vec![];
+        for library in &self.external_libraries {
+            result.push(external_library_root.join(library).join("src"))
+        }
+        result
+    }
+
+    fn include_dirs(&self) -> Vec<PathBuf> {
+        let mut result = self.arduino_include_dirs();
+        result.extend(self.arduino_libraries_path());
+        result.extend(self.external_libraries_path());
+        result.push(self.arduino_core_path().join("maple")); //for 'Arduino.h'
+        result.push(self.core_path().join("system/libmaple/include")); // for 'libmaple/stm32.h'
+        result.push(self.core_path().join("system/libmaple")); // for 'stm32f1/include/series/stm32.h'
+        result.push(self.core_path().join("system/libmaple/stm32f1/include")); // for 'series/usart.h'
+        result.push(self.core_path().join("libraries/SPI/src")); // for 'SPI.h'
+        result
+    }
+
+    fn project_files(&self, patten: &str) -> Vec<PathBuf> {
+        let mut result =
+            files_in_folder(self.arduino_core_path().to_string_lossy().as_ref(), patten);
+        let mut libraries = self.arduino_libraries_path();
+        libraries.extend(self.external_libraries_path());
+
+        let pattern = format!("**/{}", patten);
+        for library in libraries {
+            let lib_sources = files_in_folder(library.to_string_lossy().as_ref(), &pattern);
+            result.extend(lib_sources);
+        }
+
+        result
+    }
+
+    fn cpp_files(&self) -> Vec<PathBuf> {
+        self.project_files("*.cpp")
+    }
+
+    fn c_files(&self) -> Vec<PathBuf> {
+        self.project_files("*.c")
+    }
+
+    fn bindgen_headers(&self) -> Vec<PathBuf> {
+        let mut result = vec![];
+        for library in self.external_libraries_path() {
+            let lib_headers = files_in_folder(library.to_string_lossy().as_ref(), "*.h");
+            result.extend(lib_headers);
+        }
+        result
+    }
+}
+
+fn files_in_folder(folder: &str, pattern: &str) -> Vec<PathBuf> {
+    let cpp_pattern = format!("{}/{}", folder, pattern);
+    let mut results = vec![];
+    for cpp_file in glob(&cpp_pattern).unwrap() {
+        let file = cpp_file.unwrap();
+        if !file.ends_with("main.cpp") {
+            results.push(file);
+        }
+    }
+    results
+}
+
+fn configure_arduino(config: &Config) -> Build {
+    let mut builder = Build::new();
+    for (k, v) in &config.definitions {
+        builder.define(k, v.as_str());
+    }
+    for flag in &config.flags {
+        builder.flag(flag);
+    }
+    builder
+        .compiler(config.arm_none_eabi_gcc())
+        .flag("-Os")
+        .cpp_set_stdlib(None)
+        .flag("-fno-exceptions")
+        .flag("-ffunction-sections")
+        .flag("-fdata-sections");
+
+    for include_dir in config.include_dirs() {
+        builder.include(include_dir);
+    }
+    builder
+}
+
+pub fn add_source_file(builder: &mut Build, files: Vec<PathBuf>) {
+    for file in files {
+        println!("cargo:rerun-if-changed={}", file.to_string_lossy());
+        builder.file(file);
+    }
+}
+
+fn compile_arduino(config: &Config) {
+    if config.cpp_files().len() > 0 {
+        let mut builder = configure_arduino(&config);
+        builder
+            .cpp(true)
+            .flag("-std=gnu++11")
+            .flag("-fpermissive")
+            .flag("-fno-threadsafe-statics");
+        add_source_file(&mut builder, config.cpp_files());
+        builder.compile("libarduino_c++.a");
+        println!("cargo:rustc-link-lib=static=arduino_c++");
+    }
+
+    //Looks like in my concrete case there is no 'C' files.
+    if config.c_files().len() > 0 {
+        let mut builder = configure_arduino(&config);
+        builder.flag("-std=gnu11");
+        add_source_file(&mut builder, config.c_files());
+        builder.compile("libarduino_c.a");
+        println!("cargo:rustc-link-lib=static=arduino_c");
+    }
+}
+
+fn configure_bindgen_for_arduino(config: &Config) -> Builder {
+    let mut builder = Builder::default();
+    for (k, v) in &config.definitions {
+        builder = builder.clang_arg(&format!("-D{}={}", k, v));
+    }
+    for flag in &config.flags {
+        builder = builder.clang_arg(flag);
+    }
+    builder = builder
+        .clang_args(&["-x", "c++", "-std=gnu++11"])
+        .use_core()
+        .layout_tests(false)
+        .parse_callbacks(Box::new(bindgen::CargoCallbacks));
+
+    for include_dir in config.include_dirs() {
+        builder = builder.clang_arg(&format!("-I{}", include_dir.to_string_lossy()));
+    }
+    for header in config.bindgen_headers() {
+        builder = builder.header(header.to_string_lossy());
+    }
+    for item in &config.bindgen_lists.allowlist_function {
+        builder = builder.allowlist_function(item);
+    }
+    for item in &config.bindgen_lists.allowlist_type {
+        builder = builder.allowlist_type(item);
+    }
+    for item in &config.bindgen_lists.blocklist_function {
+        builder = builder.blocklist_function(item);
+    }
+    for item in &config.bindgen_lists.blocklist_type {
+        builder = builder.blocklist_type(item);
+    }
+
+    builder
+}
+
+fn generate_bindings(config: &Config) {
+    let bindings: Bindings = configure_bindgen_for_arduino(&config)
+        .generate()
+        .expect("Unable to generate bindings");
+    let project_root = PathBuf::from(env!("CARGO_MANIFEST_DIR"))
+        .join("src")
+        .join("arduino.rs");
+    bindings
+        .write_to_file(project_root)
+        .expect("Couldn't write bindings!");
+}
+
 fn main() {
     println!("cargo:rustc-env=DEFMT_LOG=trace");
+
+    println!("cargo:rerun-if-changed={}", CONFIG_FILE);
+    let config_string = std::fs::read_to_string(CONFIG_FILE)
+        .unwrap_or_else(|e| panic!("Unable to read {} file: {}", CONFIG_FILE, e));
+    let config: Config = serde_yaml::from_str(&config_string)
+        .unwrap_or_else(|e| panic!("Unable to parse {} file: {}", CONFIG_FILE, e));
+
+    println!("Arduino configuration: {:#?}", config);
+
+    compile_arduino(&config);
+    println!("Arduino compled successfully! Generate buildings...");
+    generate_bindings(&config);
 }